WO2023197730A1 - 洗地机、清洁设备的自清洁方法、清洁设备及存储介质 - Google Patents

洗地机、清洁设备的自清洁方法、清洁设备及存储介质 Download PDF

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Publication number
WO2023197730A1
WO2023197730A1 PCT/CN2023/074539 CN2023074539W WO2023197730A1 WO 2023197730 A1 WO2023197730 A1 WO 2023197730A1 CN 2023074539 W CN2023074539 W CN 2023074539W WO 2023197730 A1 WO2023197730 A1 WO 2023197730A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
self
equipment
component
base station
Prior art date
Application number
PCT/CN2023/074539
Other languages
English (en)
French (fr)
Inventor
郭振科
杨雯
Original Assignee
追觅创新科技(苏州)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202220863921.0U external-priority patent/CN217408725U/zh
Priority claimed from CN202220863859.5U external-priority patent/CN217987472U/zh
Priority claimed from CN202210389958.9A external-priority patent/CN116942020A/zh
Priority claimed from CN202210389941.3A external-priority patent/CN116942034A/zh
Application filed by 追觅创新科技(苏州)有限公司 filed Critical 追觅创新科技(苏州)有限公司
Publication of WO2023197730A1 publication Critical patent/WO2023197730A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • This application belongs to the field of automatic control technology, and specifically relates to control methods of cleaning equipment, cleaning equipment and storage media.
  • Cleaning equipment refers to equipment that has the function of cleaning the surface to be cleaned. When performing cleaning work, the cleaning mechanism of the cleaning equipment will come into contact with the surface to be cleaned, causing the cleaning mechanism to become dirty. Based on this, traditional cleaning equipment has a self-cleaning function, that is, the function of automatically cleaning the cleaning mechanism.
  • the traditional self-cleaning method of the cleaning equipment includes: the floor scrubber is connected to the base station, and if a self-cleaning instruction is received, the self-cleaning operation is performed.
  • This application provides a self-cleaning method, cleaning equipment and storage medium for cleaning equipment, which can solve the problem that during the self-cleaning process of the floor washing machine, if the floor washing machine is removed from the base station, the floor washing machine will be connected to the base station again. Afterwards, self-cleaning will start only after receiving the self-cleaning command again. This will cause the floor washing machine to be inconvenient to use and the self-cleaning process to be less intelligent.
  • This application provides the following technical solutions:
  • a self-cleaning method of cleaning equipment is provided.
  • the cleaning equipment is docked with a base station during the self-cleaning process.
  • the method includes:
  • the method when it is detected that the cleaning device is docked with the base station, before executing the self-cleaning process based on the self-cleaning state, the method further includes:
  • the method also includes:
  • the self-cleaning process is performed based on the initial state.
  • the determining whether to perform the self-cleaning process based on the initial state of the self-cleaning process includes:
  • the first equipment status includes the remaining power of the power supply component on the cleaning equipment, the first water volume of the clean water tank on the cleaning equipment, and the second water volume of the sewage tank on the cleaning equipment. , and/or the time period to which the cleaning equipment currently belongs; the clean water tank is used to accommodate cleaning liquid to self-clean the cleaning equipment; the sewage tank is used to accommodate the self-cleaning of the cleaning equipment. sewage;
  • performing the self-cleaning process based on the initial state includes:
  • the second equipment status includes the degree of contamination of the mechanism to be cleaned on the cleaning equipment, the mechanism type of the mechanism to be cleaned, and the remaining power supply components on the cleaning equipment.
  • the clean water tank is used to contain cleaning liquid to self-clean the cleaning equipment;
  • the sewage tank is used to contain sewage after self-cleaning of the cleaning equipment;
  • the cleaning device Determining a current self-cleaning mode based on the second device state, the cleaning device including at least two self-cleaning modes;
  • the self-cleaning process is performed based on the initial state of the current self-cleaning mode.
  • the determining whether to perform the self-cleaning process based on the self-cleaning state includes:
  • the self-cleaning state includes the second operating parameter.
  • a power supply component and a charging circuit connected to the power supply component are installed in the cleaning equipment, and a charging component is installed on the base station, and the charging component is used to charge the power supply component through the charging circuit.
  • the method also includes:
  • the cleaning device Based on the connection state between the charging component and the charging circuit, it is determined that the cleaning device is separated from or docked with the base station.
  • a sensing component is installed on the cleaning device, and the sensing component is used to identify whether the cleaning device is connected to the base station; the method further includes:
  • the cleaning device is separated from or docked with the base station.
  • the method further includes:
  • a cleaning device in a second aspect, includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to realize self-cleaning of the cleaning device provided in the first aspect. method.
  • a computer-readable storage medium is provided, and a program is stored in the storage medium.
  • the program is executed by a processor, the program is used to implement the self-cleaning method of the cleaning equipment provided in the first aspect.
  • the beneficial effects of this application at least include: obtaining the current self-cleaning status of the cleaning equipment when it is detected that the cleaning equipment is separated from the base station or the self-cleaning process of the cleaning equipment is interrupted; when the docking of the cleaning equipment with the base station or the self-cleaning interruption condition is detected
  • the self-cleaning process is performed based on the self-cleaning state; it can be solved that during the self-cleaning process of the floor washing machine, if the floor washing machine is removed from the base station, after the floor washing machine is connected to the base station again, it needs to Self-cleaning will not start until the cleaning command is received again, leading to the problem of low self-cleaning efficiency; because when the cleaning equipment is detected to be connected to the base station or the self-cleaning interruption condition is eliminated, the self-cleaning process is executed based on the self-cleaning state without the need for The cleaning instructions are received again, therefore, the use of the cleaning equipment can be facilitated and the intelligence of the self-cleaning process can be improved.
  • the self-cleaning process is executed based on the self-cleaning state. Therefore, the problem of resource waste caused by repeated execution of the self-cleaning process that has been executed can be avoided, and the intelligence of the self-cleaning process can be improved.
  • the cleaning device since the interval between the cleaning device being separated from the base station and being connected to the base station is longer than the duration threshold, the cleaning device may have performed a cleaning operation after being separated from the base station, which will cause the equipment status of the cleaning device to change.
  • the self-cleaning process is performed based on the self-cleaning state, it may lead to poor self-cleaning effect and/or interruption of the self-cleaning process. Therefore, the self-cleaning process is only performed based on the self-cleaning process when the interval is less than or equal to the preset time threshold. Status execution of self-cleaning can avoid the problem of poor self-cleaning effect due to changes in the equipment status of the cleaning equipment, and improve the self-cleaning effect.
  • the cleaning equipment may not perform the self-cleaning process, or may perform the self-cleaning process based on the initial state of the self-cleaning process. Therefore, in the initial state based on the cleaning process, Before executing the cleaning process, determining whether to execute the self-cleaning process based on the initial state of the self-cleaning process can improve the intelligence of the cleaning process.
  • the self-cleaning process is performed based on the initial state of the self-cleaning process.
  • the process may cause the self-cleaning equipment to have problems such as insufficient battery, insufficient first water volume in the clean water tank, overfull second water volume in the sewage tank, and self-cleaning time that does not conform to user habits. Therefore, the intelligence of the cleaning process can be improved.
  • the determined self-cleaning mode can be matched with the equipment status of the cleaning equipment, thereby preventing the self-cleaning process from being caused by insufficient power, insufficient first water in the clean water tank, or insufficient water in the sewage tank.
  • the second problem is that the self-cleaning is interrupted due to excessive water volume and the self-cleaning mode does not match the degree of contamination of the parts to be cleaned. Therefore, the efficiency and self-cleaning effect of self-cleaning can be improved.
  • the self-cleaning stop command since in the case of receiving the self-cleaning stop command, it is determined based on the self-cleaning stop command whether to perform the step of executing the self-cleaning process based on the self-cleaning status when the cleaning device is detected to be docked with the base station next time or the self-cleaning interruption condition is eliminated. Whether to perform the self-cleaning process based on the self-cleaning state is determined according to the user's usage habits. Therefore, the intelligence of the cleaning process can be improved.
  • the cleaning device is determined based on the connection state between the charging component and the charging circuit, Therefore, there is no need to set up additional sensing components to detect the separation or docking between the cleaning equipment and the base station, which can reduce the requirements for the cleaning equipment hardware.
  • the first sensing component can not only detect whether the cleaning device is docked with the base station, but also detect whether the docking posture of the cleaning device and the base station is accurate, the accuracy of separation and docking detection between the cleaning device and the base station can be improved.
  • Cleaning equipment refers to equipment that has the function of cleaning the surface to be cleaned. When performing cleaning work, the cleaning mechanism of the cleaning equipment will come into contact with the surface to be cleaned, causing the cleaning mechanism to become dirty. Based on this, existing cleaning equipment usually also has a self-cleaning function, that is, the function of automatically cleaning the cleaning mechanism.
  • the traditional self-cleaning method of cleaning equipment includes: the floor washer is connected to the base station, and if a self-cleaning instruction is received, it is judged whether the power supply of the power supply component in the floor washer meets the power requirements; When the power does not meet the power requirements, use the base station to charge the floor scrubber. Afterwards, when the charged power meets the power requirements, the self-cleaning operation will only be performed if the self-cleaning command is received again.
  • This application provides a self-cleaning method, cleaning equipment and storage medium for cleaning equipment. It can solve the problem that when the power of a traditional floor washing machine does not meet the power requirements, it needs to receive two self-cleaning instructions before it can start self-cleaning, which will cause self-cleaning to start. The problem of lower efficiency.
  • This application provides the following technical solutions:
  • a self-cleaning method of cleaning equipment which is used in a floor washing machine.
  • the method includes:
  • the cleaning equipment is controlled to work according to the self-cleaning mode to perform self-cleaning on the cleaning equipment.
  • determining whether the equipment status of the cleaning equipment meets preset self-cleaning conditions includes:
  • adjusting the equipment status includes:
  • the power supply component When the remaining power is less than the minimum power threshold, the power supply component is charged.
  • determining whether the equipment status of the cleaning equipment meets preset self-cleaning conditions includes:
  • the clean water tank is used to contain cleaning liquid to self-clean the cleaning equipment
  • adjusting the equipment status includes:
  • the first water volume is adjusted to be greater than or equal to the first water volume threshold.
  • determining whether the equipment status of the cleaning equipment meets preset self-cleaning conditions includes:
  • adjusting the equipment status includes:
  • the second water volume is adjusted to be less than the second water volume threshold.
  • determining the self-cleaning mode of the cleaning component in the cleaning device includes:
  • the self-cleaning mode is determined based on the component information.
  • controlling the cleaning equipment to work according to the self-cleaning mode includes:
  • the power supply mode includes a base station power supply mode and a local power supply mode; wherein the base station power supply mode refers to a way of powering the self-cleaning process through the base station, and the local power supply mode It refers to the method of supplying power to the self-cleaning process through the power supply component in the cleaning equipment; the base station is used to dock with the cleaning equipment;
  • the power supply method is used to power the cleaning equipment.
  • determining the power supply mode corresponding to the self-cleaning mode includes:
  • the power supply mode is determined to be the base station power supply mode.
  • the method before determining the self-cleaning mode of the cleaning component in the cleaning device, the method further includes:
  • the cleaning device is controlled to work in a default self-cleaning mode to self-clean the cleaning device.
  • a cleaning device in a second aspect, includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to realize the automatic operation of the cleaning device provided in the first aspect. Cleaning methods.
  • a computer-readable storage medium is provided, and a program is stored in the storage medium.
  • the program is executed by a processor, the program is used to implement the self-cleaning method of the cleaning equipment provided in the first aspect.
  • the beneficial effects of this application at least include: determining whether the equipment status of the cleaning equipment meets the preset self-cleaning conditions by responding to the self-cleaning instructions for the cleaning equipment; adjusting the equipment status if the equipment status does not meet the self-cleaning conditions, So that the adjusted equipment status meets the self-cleaning conditions; after the equipment status is adjusted, determine the self-cleaning mode of the cleaning component in the cleaning equipment; control the cleaning equipment to work according to the self-cleaning mode to self-clean the cleaning equipment; it can solve the problem of floor washing When the power of the machine does not meet the power requirements, it needs to receive two self-cleaning instructions before it can start self-cleaning, and the interval between the two self-cleaning instructions is long, resulting in inconvenient use of the floor washing machine and low self-cleaning start-up efficiency; Since the self-cleaning mode of the cleaning component in the cleaning device is determined after the device status is adjusted, and the cleaning device is controlled to work according to the cleaning mode, it only needs to receive a self-cleaning instruction once to start self
  • the power supply component since the remaining power of the power supply component is less than the maximum power threshold, the power supply component is charged first, and then the cleaning equipment is controlled to perform self-cleaning. This can avoid the interruption of the self-cleaning process due to insufficient power of the cleaning equipment during the self-cleaning process. situation to improve the self-cleaning efficiency of cleaning equipment.
  • the first water amount in the clean water tank is less than the first water amount threshold
  • the first water amount is first adjusted to be greater than or equal to the first water amount threshold, and then the cleaning equipment is controlled to perform self-cleaning, which can avoid the cleaning equipment being self-cleaning.
  • the self-cleaning effect is poor due to insufficient cleaning fluid. Improve the self-cleaning effect of the cleaning equipment.
  • the second water amount in the sewage tank is greater than or equal to the second water amount threshold, the second water amount is first adjusted to be less than the second water amount threshold, and the cleaning equipment is controlled to perform self-cleaning, which can avoid the cleaning equipment being self-cleaning.
  • the self-cleaning process is interrupted due to the overfilling of the sewage tank, so as to improve the self-cleaning efficiency of the cleaning equipment.
  • the self-cleaning mode is determined based on the component information of the component to be cleaned, the determined self-cleaning mode can be matched with the status of the component to be cleaned, which can not only improve the cleaning effect of the component to be cleaned, but also avoid unnecessary cleaning processes. , saving resources consumed by the self-cleaning process.
  • the base station power supply mode to power the self-cleaning process can avoid using the local power supply mode when the output power of the power supply component does not meet the requirements of the self-cleaning mode.
  • Demand leads to the problem of reduced cleaning effect of cleaning equipment. Improving the self-cleaning efficiency of cleaning equipment can also avoid losses to power supply components and extend the service life of power supply components.
  • the cleaning equipment is controlled to work in the default self-cleaning mode, which can adapt to the needs of different usage scenarios. Expand the use scenarios of self-cleaning methods.
  • Cleaning equipment includes a floor washer and a base station. After the floor washer completes its cleaning work, it will generally be connected to the base station to charge the battery pack on the floor washer and/or enable the cleaning components of the floor washer to self-clean.
  • the floor washing machine After the floor washing machine is connected to the base station, if the power of its own battery pack is lower than a certain value, the battery pack needs to be charged first until the power of the battery pack reaches a certain value, and then the battery pack is used.
  • the cleaning equipment provides electricity to perform self-cleaning, resulting in low self-cleaning efficiency of the floor washing machine.
  • the technical problem to be solved by this application is that after the cleaning equipment is connected to the base station, the base station needs to charge the battery of the cleaning equipment first. After the charging is completed, the cleaning equipment then performs self-cleaning work, and the cleaning speed is slow.
  • cleaning equipment including:
  • a floor washing machine includes a first power supply branch and a cleaning component, the first power supply branch is electrically connected to the cleaning component;
  • the base station includes a power conversion and transmission branch, the input end of the power conversion and transmission branch is connected to the mains power, and the first output end of the power conversion and transmission branch outputs direct current;
  • the first output end of the electric energy conversion and transmission branch is electrically connected to the first power supply branch, and the electric energy conversion and transmission branch The electric energy output by the first output end is sequentially transmitted to the first power supply branch and the cleaning component to provide the electric energy required by the cleaning component for self-cleaning.
  • the above-mentioned floor washing machine further includes a rechargeable battery and a second power supply branch, the rechargeable battery is electrically connected to the second power supply branch, and the power conversion and transmission branch further includes a second output end, The second output end of the electric energy conversion and transmission branch outputs direct current.
  • the second output end of the electric energy conversion and transmission branch is electrically connected to the second power supply branch, and the second output end of the electric energy conversion and transmission branch is electrically connected.
  • the output electric energy is sequentially transmitted to the second power supply branch and the rechargeable battery to charge the rechargeable battery.
  • the above-mentioned power conversion and transmission branch includes an AC/DC conversion unit, and the AC/DC conversion unit is connected to the mains power to perform step-down rectification of the mains power to form direct current.
  • the above-mentioned floor washing machine further includes a control unit and a self-cleaning trigger circuit.
  • the control unit is electrically connected to the self-cleaning trigger circuit and the cleaning component respectively.
  • the self-cleaning trigger circuit is electrically connected to the self-cleaning trigger circuit.
  • the cleaning trigger circuit sends a trigger signal to the control unit, so After receiving the trigger signal, the control unit sends a control signal to the cleaning component to cause the cleaning component to perform self-cleaning.
  • the above-mentioned floor washing machine further includes a docking detection part for detecting whether the floor washing machine is docked with the base station, and the docking detection part is electrically connected to the control unit to transmit the detection result to the control unit. unit.
  • the above-mentioned docking detection component is a switching device, and the switching device is displaced under the action of external force to be triggered.
  • the above-mentioned docking detection component is a pressure sensor, and the pressure sensor is triggered when the cleaning device is docked with the base station.
  • This application provides a power conversion and transmission branch on the base station, and a first power supply branch electrically connected to the cleaning component in the floor washing machine.
  • the first output end is electrically connected to the first power supply branch; the power conversion and transmission branch is suitable for converting the mains power to output direct current, so that after the floor washing machine is connected to the base station, the first output of the power conversion and transmission branch
  • the first power supply branch of the floor washing machine is connected to the first power supply branch of the floor washing machine, and the first power supply branch of the floor washing machine supplies power for the self-cleaning of the floor washing machine. Therefore, no matter how much power the floor washing machine has, the floor washing machine is connected to the base station for charging. At any time, self-cleaning can be started immediately to improve the self-cleaning efficiency of the cleaning equipment.
  • the floor scrubber includes a body and a cleaning station connected to the body. After completing the cleaning work, the body will generally be connected to the cleaning station to charge the battery pack on the body and/or enable the cleaning components of the body to self-clean.
  • the battery pack needs to be charged first until the power of the battery pack reaches a certain value, and then the battery pack is used for cleaning.
  • the components provide electricity to perform self-cleaning, resulting in low self-cleaning efficiency of the floor washing machine.
  • the technical problem to be solved by this application is how to improve the self-cleaning efficiency of the floor washing machine.
  • this application provides a floor washing machine, which includes:
  • Body including power supply components and cleaning components
  • a cleaning station including an external power input unit connected to the mains power;
  • a circuit switching unit installed on the fuselage or the cleaning station
  • the circuit switching unit selectively electrically connects the power supply component and the cleaning component, or electrically connects the external power input unit and the cleaning component, so as to switch the power supply component or the external power input unit
  • the electric energy is transmitted to the cleaning component to provide the electric energy required by the cleaning component for self-cleaning.
  • the cleaning component when the cleaning component is located on the cleaning station and is in a self-cleaning state, the body is docked with the cleaning station.
  • the circuit switching unit includes a single-pole double-throw switch
  • the single-pole double-throw switch includes a common terminal, a first terminal and a second terminal, and the common terminal is connected to the cleaning component. Electrically connected, the first terminal is electrically connected to the power supply component, the second terminal is electrically connected to the external power input unit, and the single-pole double-throw switch selectively conducts the common The terminal is connected to the first terminal or the common terminal is connected to the second terminal.
  • the circuit switching unit includes a relay, and the relay includes the single-pole double-throw switch and a coil;
  • the common terminal When the coil is not energized, the common terminal is electrically connected to the first terminal; when the coil is energized, the common terminal is electrically connected to the second terminal; or,
  • the common terminal When the coil is not energized, the common terminal is electrically connected to the second terminal; when the coil is energized, the common terminal is electrically connected to the first terminal.
  • the circuit switching unit further includes a control unit, and the control unit is electrically connected to the coil to control the energization of the coil.
  • the circuit switching unit includes a first switch and a second switch, one end of the first switch is electrically connected to the power supply component, and the other end is electrically connected to the cleaning component; the third switch One end of the two switches is electrically connected to the external power input unit, and the other end is electrically connected to the cleaning component.
  • the external power input unit includes a rectification unit, which is connected to the mains power and converts the mains power into direct current by step-down and rectification processing.
  • the above-mentioned floor washing machine further includes a first detection piece
  • the first detection component is connected to the external power input unit and is suitable for detecting whether the external power input unit is connected to commercial power.
  • the above-mentioned floor washing machine further includes a second detection piece, and the second A detection component is provided on the body and/or the base station to detect whether the body is docked with the base station.
  • This application is provided with an external power input unit and a circuit switching unit.
  • the external power input unit is connected to the mains to transmit the power of the mains, and the circuit switching unit can selectively power Connect the power supply component and the cleaning component of the fuselage, or connect the external power input unit and the cleaning component to provide power for the self-cleaning of the cleaning component; through the above method, when the power of the power supply component is sufficient to support the self-cleaning of the cleaning component, the body and After the cleaning station is docked, the cleaning component can perform self-cleaning immediately.
  • the external power input unit can instantly provide power for the cleaning component to perform self-cleaning. Cleaning, thereby ensuring the self-cleaning efficiency of the floor washing machine.
  • Figure 1 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • Figure 2 is a schematic diagram of a self-cleaning method for cleaning equipment provided by an embodiment of the present application
  • Figure 3 is a block diagram of a self-cleaning device of a cleaning device provided by an embodiment of the present application
  • Figure 4 is a block diagram of an electronic device provided by an embodiment of the present application.
  • Figure 5 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • Figure 6 is a flow chart of a self-cleaning method for cleaning equipment provided by an embodiment of the present application.
  • Figure 7 is a block diagram of a self-cleaning device of a cleaning device provided by an embodiment of the present application.
  • Figure 8 is a block diagram of an electronic device provided by an embodiment of the present application.
  • Figure 9 is a module schematic diagram of a cleaning device according to an embodiment of the present application.
  • Figure 10 is a circuit diagram of the AC/DC conversion unit shown in Figure 9;
  • Figure 11 is a circuit diagram of the connection between the control unit shown in Figure 9 and the self-cleaning trigger circuit.
  • Figure 12 is a partial circuit module block diagram of a floor washing machine according to an embodiment of the present application.
  • Figure 13 is a partial circuit schematic diagram of a floor scrubber according to an embodiment of the present application.
  • the directional words used such as “up, down, top, bottom” usually refer to the direction shown in the drawings, or to the vertical or vertical position of the component itself. Or in the direction of gravity; similarly, for ease of understanding and description, “inside and outside” refer to the inside and outside relative to the outline of each component itself, but the above directional terms are not used to limit this application.
  • FIG. 1 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • cleaning equipment includes but is not limited to: sweepers, floor washers, integrated sweeping and mopping machines, and other equipment that can clean the surface to be cleaned.
  • This embodiment does not limit the type of equipment of the cleaning equipment.
  • the surface to be cleaned can be the floor, desktop, wall, solar cell surface, etc.
  • This embodiment does not limit the type of surface to be cleaned.
  • the cleaning equipment at least includes a mechanism to be cleaned 1010, a cleaning component 1020, a power supply component 1030 and a controller 1040.
  • the mechanism to be cleaned 1010 is the cleaning object when the cleaning equipment performs self-cleaning.
  • the to-be-cleaned mechanism 1010 is a cleaning piece that contacts the surface to be cleaned when the cleaning device performs cleaning work to clean the surface to be cleaned.
  • the cleaning parts may be brushes, roller brushes, rags, etc., and the number of cleaning parts installed on the cleaning equipment may be one or at least two. This embodiment does not limit the implementation manner and number of cleaning parts.
  • the cleaning piece is installed at the bottom of the cleaning equipment, for example, at the center of the bottom, the front end of the bottom, and/or the edge of the bottom. This embodiment does not limit the installation position of the cleaning piece.
  • the mechanism to be cleaned 1010 can also be a clean water tank, a sewage tank, a water pipeline, etc. on the cleaning equipment. This embodiment does not limit the implementation of the mechanism to be cleaned 1010 .
  • the mechanism 1010 to be cleaned is taken as a cleaning piece as an example for explanation.
  • the cleaning component 1020 is used to assist the mechanism 1010 to be cleaned in performing cleaning work.
  • the cleaning assembly 1020 is used to clean the mechanism 1010 to be cleaned.
  • the cleaning component 1020 may be a water delivery component, a water absorption component, and/or a heating component. This embodiment does not limit the type of the cleaning component 1020 .
  • the cleaning component 1020 is installed relative to the mechanism 1010 to be cleaned.
  • the cleaning component 1020 is located at the rear side, the front side, and/or above the mechanism 1010 to be cleaned. This embodiment does not limit the installation position of the cleaning component 1020.
  • the cleaning equipment is docked with the base station during the self-cleaning process, and the base station is provided with a cleaning equipment docking portion that matches the cleaning equipment.
  • the base station is provided with self-cleaning auxiliary components, such as cleaning pools, drying components, ozone generators, etc.
  • the self-cleaning auxiliary component is used to self-clean the component to be cleaned 1020 during the self-cleaning process of the cleaning equipment.
  • the cleaning component 1020 includes a water delivery component 1021.
  • the cleaning equipment further includes a clean water tank 1050, which is used to contain cleaning liquid to perform self-cleaning on the cleaning equipment.
  • the clean water tank 1050 includes one or at least two accommodation chambers. When the number of the accommodation chambers is at least two, the cleaning liquid stored in different accommodation chambers may be the same or different.
  • the cleaning liquid may be clean water, or may be a mixture of water and cleaning agent. This embodiment does not limit the type of cleaning liquid.
  • One end of the water delivery component 1021 is connected to the clean water tank 1050, and the other end faces the mechanism to be cleaned. 1010 to transport the liquid in the clean water tank 1050 to the mechanism 1010 to be cleaned.
  • the water delivery component 1021 includes a water pump and a water delivery pipeline connected to the water pump.
  • the water pump is located in the water pipeline, one end of the water pipeline is connected to the clean water tank 1050, and the other end faces the mechanism 1010 to be cleaned.
  • the water delivery component 1021 sprays water to the mechanism 1010 to be cleaned or the surface to be cleaned to improve the cleaning effect of the surface to be cleaned.
  • the water delivery component 1021 sprays water to the mechanism 1010 to be cleaned or the cleaning device docking part of the base station to improve the cleaning effect of the mechanism 1010 to be cleaned.
  • the cleaning component 1020 includes a water absorbing component 1022.
  • the cleaning equipment further includes a sewage tank 1060.
  • the sewage tank 1060 is used to accommodate sewage after self-cleaning of the cleaning equipment.
  • the water absorption assembly 1022 is used to absorb the sewage from the mechanism 1010 to be cleaned and transport it to the sewage tank 1060 .
  • the water suction assembly 1022 includes a water suction motor (or main motor) and a water suction pipe matching the water suction motor.
  • the water suction motor is connected to the sewage tank 1060 for sucking the air in the sewage tank 1060 to form a negative pressure in the sewage tank 1060; one end of the water suction pipe is connected to the sewage tank 1060, and the other end faces the mechanism 1010 to be cleaned.
  • the water suction pipe absorbs the sewage from the cleaning mechanism 1010 and transports it to the sewage tank 1060 .
  • the power supply component 1030 is used to power the cleaning equipment.
  • the controller 1040 can be a microcontrol unit installed inside the cleaning equipment, or any component with a control function. This embodiment does not limit the type of the controller 1040 .
  • the controller 1040 is configured to: during the self-cleaning process of the cleaning equipment, when it is detected that the cleaning equipment is separated from the base station or the self-cleaning process of the cleaning equipment is interrupted, obtain the current self-cleaning status of the cleaning equipment; When the cleaning equipment is connected to the base station or the self-cleaning interruption condition is eliminated, the self-cleaning process is executed based on the self-cleaning state.
  • the water delivery component 1021 and the water suction component 1022 are respectively connected to the controller 1040 to transport the liquid in the clean water tank 1050 to the mechanism to be cleaned 1010 and to spray the liquid to the mechanism to be cleaned 1010 under the control of the controller 1040 The sewage produced is then sucked into the sewage tank 1060.
  • the power supply component 1030 is connected to the controller 1040 to obtain the remaining power of the power supply component 1030 .
  • the cleaning device further includes a charging circuit 1070 connected to the power supply component 1030.
  • the charging circuit 1070 is connected to the controller 1040 to control the connection and disconnection of the charging circuit 1070 and the power supply component 1030 .
  • the charging loop 1070 is connected to the charging component of the base station to charge the power supply component 1030 through the charging component of the base station.
  • ways to detect the separation or docking of the cleaning equipment with the base station include but are not limited to the following:
  • the first method based on the connection status between the charging component and the charging circuit 1070, determine whether the cleaning equipment is separated or docked with the base station. At this time, the controller 1040 is also used to detect the connection state between the power supply component 1030 and the charging circuit 1070 .
  • determining that the cleaning device is separated or docked with the base station includes: in the case of determining the connection between the charging component and the charging circuit 1070, determining that the cleaning device Connect with the base station; when the disconnection between the charging component and the charging circuit 1070 is determined, it is determined that the cleaning device is separated from the base station.
  • connection method between the charging component and the charging circuit 1070 can be contact connection, or it can also be a non-contact connection. This embodiment does not cover the connection method between the charging component and the charging circuit 1070. Make restrictions.
  • the charging component includes a first guide piece
  • the charging circuit 1070 includes a second guide piece
  • the first guide piece and the second guide piece are arranged oppositely; when the cleaning device is docked with the base station, the first guide piece and the second guide piece are connected to the base station. The two guide pieces are in contact.
  • the charging component and the charging circuit 1070 are connected; when the cleaning equipment is separated from the base station, the first guide piece is not in contact with the second guide piece.
  • the charging assembly and the charging circuit 1070 are connected. Intermittent disconnection.
  • the charging component includes a magnetic induction transmitting coil for converting electrical energy into magnetic energy output.
  • the charging loop 1070 includes a magnetic induction receiving coil for converting the received magnetic energy into electrical energy.
  • the magnetic induction transmitting coil Set opposite to the magnetic induction receiving coil; when the cleaning equipment is connected to the base station, the magnetic induction receiving coil can receive the magnetic energy output by the magnetic induction transmitting coil.
  • the charging component and the charging circuit 1070 are connected; when the cleaning equipment and the base station are connected, the magnetic induction receiving coil can receive the magnetic energy output by the magnetic induction transmitting coil.
  • the base station is separated, the magnetic induction receiving coil cannot receive the magnetic energy output by the magnetic induction transmitting coil.
  • the charging component and the charging circuit 1070 are disconnected.
  • the cleaning equipment is provided with a first sensing component 1080, and the first sensing component 1080 and The controller 1040 is connected to determine whether the cleaning device is separated from or docked with the base station based on the sensing result of the first sensing component 1080 .
  • the first sensing component 1080 may be a laser sensor, an infrared sensor, an ultrasonic sensor or an image sensor. This embodiment does not limit the type of the first sensing component 1080 .
  • a marking piece is provided on the docking part of the cleaning equipment of the base station, and the first sensing component 1080 is arranged opposite to the marking piece. If the sensing result indicates that the marker is detected, it is determined that the cleaning device is connected to the base station; if the sensing result indicates that the marker is not detected, it is determined that the cleaning device is separated from the base station.
  • a signal transmitting component opposite to the first sensing component 1080 is provided on the cleaning device docking part of the base station. If the sensing result indicates that the signal emitted by the signal transmitting component is detected, it is determined that the cleaning device is docked with the base station; if the sensing result indicates that the signal emitted by the signal emitting component is not detected, it is determined that the cleaning device is separated from the base station.
  • a second sensing component 1090 is provided in the clean water tank 1050.
  • the second sensing component 1090 is connected to the controller 1040 to obtain the amount of water in the clean water tank 1050.
  • the second sensing component 1090 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 sensing component 1090.
  • a third sensing component 1100 is provided in the sewage tank 1060, and the third sensing component 1100 is connected to the controller 1040 to obtain the water content in the sewage tank 1060.
  • the type of the third sensing component 1100 is the same as or different from the type of the second sensing component 1090.
  • the third sensing component 1100 can be a laser sensor, a capacitive sensor, a radar sensor or an image sensor. This embodiment does not apply to the third sensing component. 1100 type is limited.
  • a fourth sensing component 1110 is installed on the cleaning device.
  • the fourth sensing component 1110 is connected to the controller 1040 for determining the degree of contamination of the mechanism 1010 to be cleaned. degree.
  • the implementation methods of the fourth sensing component 1110 include but are not limited to the following:
  • the fourth sensing component 1110 is an image sensor.
  • the image sensor is used to collect component images of the mechanism 1010 to be cleaned, so as to obtain the degree of contamination of the mechanism 1010 to be cleaned by performing image recognition on the component images.
  • the acquisition range of the image sensor includes the Cleaning Mechanism 1010.
  • the image sensor is used to collect the sewage image of the sewage tank 1060 to obtain the degree of contamination of the sewage through image recognition of the sewage image. The degree of contamination of the sewage is positively correlated with the degree of contamination of the mechanism 1010 to be cleaned.
  • the fourth sensing component 1110 is an infrared sensor and/or a photoelectric sensor. At this time, the fourth sensing component 1110 is installed in the water absorption component 1022 and/or the sewage tank 1060 to collect the transparency of the sewage.
  • the transparency of the sewage has a negative correlation with the degree of dirt of the mechanism 1010 to be cleaned.
  • the cleaning equipment may also include other components, such as handles, mechanism driving components, etc. This embodiment does not enumerate the components included in the cleaning equipment one by one.
  • the current self-cleaning status of the cleaning device is obtained when it is detected that the cleaning device is separated from the base station or the self-cleaning process of the cleaning device is interrupted; when it is detected that the cleaning device is docked with the base station or the self-cleaning interruption condition is eliminated.
  • the self-cleaning process is performed based on the self-cleaning state; it can be solved that during the self-cleaning process of the floor washing machine, if the floor washing machine is removed from the base station, it needs to receive the signal again after the floor washing machine is connected to the base station again.
  • the cleaning command will start self-cleaning, which leads to the problem of low self-cleaning efficiency; because when the cleaning equipment is detected to be connected to the base station or the self-cleaning interruption condition is eliminated, the self-cleaning process is executed based on the self-cleaning state without the need to receive cleaning again. Instructions, therefore, can facilitate the use of cleaning equipment and increase the intelligence of the self-cleaning process.
  • the self-cleaning process is executed based on the self-cleaning state. Therefore, the problem of resource waste caused by repeated execution of the self-cleaning process that has been executed can be avoided, and the intelligence of the self-cleaning process can be improved.
  • the separation or docking of the cleaning equipment and the base station is determined based on the connection state between the charging component and the charging circuit, there is no need to set up an additional sensing component to detect the separation or docking of the cleaning equipment and the base station, which can reduce Requirements for cleaning equipment hardware.
  • the first sensing component can not only detect whether the cleaning device is docked with the base station, but also detect whether the docking posture of the cleaning device and the base station is accurate, the accuracy of separation and docking detection between the cleaning device and the base station can be improved.
  • the self-cleaning method of cleaning equipment provided by this embodiment is shown in Figure 2.
  • This embodiment illustrates the method using the cleaning equipment shown in FIG. 1 as an example.
  • it can also be executed by other devices that are communicatively connected to the cleaning device, such as remotely controlling the cleaning device through mobile phones, computers, tablets and other devices.
  • This embodiment does not cover the implementation of other devices and the implementation of each embodiment.
  • the execution subject is limited.
  • This self-cleaning method includes at least the following steps:
  • Step 201 During the self-cleaning process of the cleaning equipment, if it is detected that the cleaning equipment is separated from the base station or the self-cleaning process of the cleaning equipment is interrupted, obtain the current self-cleaning status of the cleaning equipment.
  • interrupting the self-cleaning process of the cleaning equipment includes: the cleaning equipment detects the current status of the cleaning equipment during the self-cleaning process; and when the current status meets the self-cleaning interruption conditions, controlling the cleaning equipment to stop self-cleaning.
  • the types of self-cleaning interruption conditions include but are not limited to the following:
  • Type 1 the first water volume in the clean water tank is less than the preset first water volume threshold.
  • detecting the current status of the cleaning equipment includes: obtaining the second sensing signal collected by the second sensing component; and determining the first water volume based on the second sensing signal.
  • the first water volume threshold is stored in the cleaning device in advance. In one example, the first water volume threshold is close to zero.
  • the second type the second water volume in the sewage tank is greater than or equal to the preset second water volume threshold.
  • detecting the current status of the cleaning equipment includes: obtaining the third sensing signal collected by the third sensing component, and determining the second water volume based on the third sensing signal.
  • the second water volume threshold is stored in the cleaning device in advance.
  • the second water volume threshold is close to the sewage tank volume.
  • the third type the remaining power of the power supply component is less than the preset first power threshold. At this time, the current status of the cleaning equipment is detected, including: obtaining the remaining power of the power supply component.
  • the first power threshold is stored in the cleaning device in advance.
  • the first power threshold is determined based on the minimum power required for the cleaning device to stand by.
  • Type 4 The current time period of the cleaning equipment is non-working time period. At this time, detecting the current status of the cleaning equipment includes: obtaining the current time period to which the cleaning equipment belongs.
  • the non-working time period is stored in the cleaning equipment in advance.
  • the non-working time period is the night time period.
  • the self-cleaning interruption condition may also be of other types, and this embodiment does not limit the type of the self-cleaning interruption condition.
  • the methods for obtaining the current self-cleaning status of the cleaning equipment include but are not limited to the following:
  • the self-cleaning state includes the working time of the self-cleaning process and/or the remaining working time of the self-cleaning process.
  • obtaining the current self-cleaning status of the cleaning equipment includes: obtaining the execution time of the self-cleaning process and/or the remaining time of the self-cleaning process.
  • the working time of the self-cleaning process is 20 minutes, and it is detected that the cleaning equipment is separated from the base station or the self-cleaning process of the cleaning equipment is interrupted at the 9th minute, the working time will be 8 minutes and/or the remaining working time will be 12 minutes. is the current self-cleaning state.
  • the self-cleaning state includes a self-cleaning step, and the self-cleaning process includes at least two self-cleaning steps.
  • obtaining the current self-cleaning status of the cleaning equipment includes: obtaining the currently executed self-cleaning step.
  • the self-cleaning process includes three steps: cleaning, dehydration, and drying.
  • the cleaning step if it is detected that the cleaning equipment is separated from the base station or the self-cleaning process of the cleaning equipment is interrupted, the cleaning step will be determined as the current self-cleaning state. .
  • the self-cleaning process includes two steps: roller brush self-cleaning and complete machine deodorization.
  • the complete machine deodorization step if it is detected that the cleaning equipment is separated from the base station or the self-cleaning process of the cleaning equipment is interrupted, the complete machine will be The deodorization step is determined to be the current self-cleaning state.
  • the self-cleaning state of the self-cleaning equipment can also be of other types, and accordingly, other methods can be used to obtain the self-cleaning state.
  • This embodiment does not limit the type of self-cleaning state and the method of obtaining the self-cleaning state.
  • Step 202 When it is detected that the cleaning device is connected to the base station or the self-cleaning interruption condition is eliminated, a self-cleaning process is executed based on the self-cleaning state.
  • eliminating the self-cleaning interruption condition includes: the cleaning equipment detects the current status of the cleaning equipment after controlling the cleaning equipment to terminate self-cleaning; and the interruption recovery conditions are met in the current status. In this case, it is determined that the self-cleaning interruption condition is eliminated.
  • interruption recovery conditions include but are not limited to the following situations:
  • the first type the first water volume in the clean water tank is greater than or equal to the preset third water volume threshold.
  • the third water volume threshold is stored in the cleaning equipment in advance.
  • the amount of cleaning liquid required in the self-cleaning process in different self-cleaning modes is the same or different, and the third water amount threshold is determined based on the minimum amount of cleaning liquid required by the cleaning equipment when performing self-cleaning.
  • the second type the second water volume in the sewage tank is less than the preset fourth water volume threshold.
  • the fourth water volume threshold is stored in the cleaning equipment in advance.
  • the amount of sewage generated by different self-cleaning modes during the self-cleaning process is the same or different, and the fourth water volume threshold is determined based on the minimum amount of sewage generated by the cleaning equipment during the self-cleaning process and the volume of the sewage tank.
  • the third type the remaining power of the power supply component is greater than or equal to the preset second power threshold.
  • the second power threshold is stored in the cleaning device in advance.
  • the power consumed by different self-cleaning modes is the same or different, and the second power threshold is determined based on the minimum power required by the cleaning device for self-cleaning.
  • Type 4 The current time period of the cleaning equipment is not a non-working time period.
  • the self-cleaning interruption condition may also be of other types, and this embodiment does not limit the type of the self-cleaning interruption condition.
  • the equipment status of the cleaning equipment may change after the cleaning equipment is separated from the base station, at this time, if the cleaning equipment is connected to the base station, directly performing the self-cleaning process based on the self-cleaning status may cause the self-cleaning process to be inconsistent with the cleaning equipment.
  • the current status does not match, resulting in poor self-cleaning effect.
  • the cleaning equipment when it is detected that the cleaning equipment is docked with the base station, before executing the self-cleaning process based on the self-cleaning state, it also includes: when it is detected that the cleaning equipment is docked with the base station, determining whether to perform the self-cleaning process based on the self-cleaning state.
  • ways to determine whether to perform a self-cleaning process based on the self-cleaning state include but are not limited to the following:
  • the first method is to obtain the degree of contamination of the mechanism to be cleaned on the cleaning equipment; determine whether to perform the self-cleaning process based on the self-cleaning state based on the degree of contamination of the mechanism.
  • the degree of contamination can be expressed by the degree of contamination.
  • the degree of contamination can be divided into different levels. The higher the degree of contamination, the greater the degree of contamination of the mechanism to be cleaned.
  • the degree of contamination can also be expressed by the contamination index.
  • the degree of dirtiness for example: the greater the dirtiness index, the greater the degree of dirtiness of the mechanism to be cleaned. This embodiment does not limit the expression of the degree of dirtiness.
  • the cleaning equipment may have performed a cleaning operation after being separated from the base station, this will cause the mechanism to be cleaned to become more dirty.
  • the self-cleaning process is performed based on the self-cleaning state, the self-cleaning effect may be poor. question.
  • whether to perform the self-cleaning process based on the self-cleaning state is determined according to the degree of soiling of the mechanism. This can avoid the situation that the self-cleaning process is performed based on the self-cleaning state when the degree of soiling of the mechanism of the mechanism to be cleaned changes. The problem of poor self-cleaning effect can be solved. Therefore, the self-cleaning effect can be improved.
  • the fourth sensing component is an image sensor
  • the collection range of the image sensor includes the mechanism to be cleaned.
  • obtaining the mechanism dirtiness degree of the mechanism to be cleaned on the cleaning equipment includes: determining the mechanism based on the mechanism image collected by the image sensor. Degree of soiling.
  • determining the degree of dirtiness of an institution based on institutional images collected by an image sensor includes: inputting the institutional images into a pre-trained dirt recognition model to obtain the degree of dirtiness.
  • the dirt recognition model is obtained by training the neural network using training data.
  • Each set of training data includes sample images and dirt label data in the sample images.
  • the training process of the dirt recognition model includes: creating an initial network model; inputting the sample image and the dirt label data in the sample image into the initial network model to obtain the model results; iterating based on the model results and the corresponding dirt label data Update the parameters of the initial network model, and obtain the dirt recognition model when the number of iterations reaches the preset number, or when the updated model converges.
  • the initial network model can be a BP neural network (Back Propagation Neural Network), an ART neural network (Adaptive Resonance Theory) or a radial basis function (Radial Basis Function, RBF) neural network.
  • BP neural network Back Propagation Neural Network
  • ART neural network Adaptive Resonance Theory
  • RBF Radial Basis Function
  • determining the degree of dirtiness of the mechanism based on the institutional image collected by the image sensor includes: obtaining the pixel range of the mechanism to be cleaned; The pixel position within the range is determined as a non-dirty position; the degree of pollution is determined based on the non-dirty position.
  • obtaining the pixel range of the mechanism to be cleaned includes: obtaining a standard image when the mechanism to be cleaned is not dirty, and determining the pixel range in the standard image as the pixel range of the mechanism to be cleaned.
  • Determining the pixel positions with pixel values within the pixel range in the institutional image as non-dirty positions includes: traversing the pixel positions in the institutional image, connecting the pixel positions with pixel values within the pixel range, and obtaining at least one connected area; Among each connected area, the area greater than the area threshold is determined as a non-dirty area, and the pixel position in the non-dirty area is a non-dirty position.
  • Determining the degree of contamination based on non-dirty locations includes: determining the contamination location based on non-dirty locations; determining the contamination area based on the contamination area formed by the contamination location; and/or determining contamination based on the pixel value of the contamination location. density. Among them, the dirt density is positively correlated with the average value of pixels at each dirt location or with the maximum value of pixels at each dirt location.
  • the degree of contamination of the mechanism to be cleaned is determined based on the degree of contamination of the sewage in the sewage tank. This embodiment does not determine the degree of contamination of the mechanism to be cleaned. Limitation by degree.
  • determining whether to perform the self-cleaning process based on the self-cleaning state according to the degree of dirt of the mechanism includes: when the degree of dirt meets the preset dirt conditions, determining to perform the self-cleaning process based on the self-cleaning state; If the degree does not meet the preset conditions, it is determined not to execute the self-cleaning process based on the self-cleaning state.
  • different dirt degree expression modes correspond to different dirt conditions.
  • the degree of dirtiness is represented by a dirtiness level
  • the dirtiness condition includes: the dirtiness level is lower than a preset maximum dirtiness level.
  • the maximum dirt level is stored in the cleaning device in advance.
  • the degree of dirtiness is represented by a dirtiness index
  • the dirtiness condition includes: the dirtiness index is less than a preset maximum dirtiness index.
  • the maximum dirty index is stored in the cleaning equipment in advance.
  • Second type Obtain the interval time between separation from the base station and docking with the base station; determine whether to perform the self-cleaning process based on the self-cleaning state based on the interval time.
  • obtaining the interval between separation from the base station and docking with the base station includes: obtaining the separation time when it is detected that the cleaning equipment is separated from the base station; When the cleaning equipment is docked with the base station, the docking time is obtained; the difference between the docking time and the separation time is determined as the interval length.
  • obtaining the interval between separation from the base station and docking with the base station includes: when it is detected that the cleaning device is separated from the base station, starting to calculate the interval; when it is detected that the cleaning device is docked with the base station , stop calculating the interval length.
  • the interval duration can also be obtained through other methods. This embodiment does not limit the method for obtaining the interval duration.
  • determining whether to perform the self-cleaning process based on the self-cleaning state according to the interval length includes: determining not to perform the self-cleaning process based on the self-cleaning state when the interval length is greater than a preset time length threshold; and determining not to perform the self-cleaning process based on the self-cleaning state when the interval length is less than or equal to In the case of a duration threshold, it is determined to execute the self-cleaning process based on the self-cleaning state.
  • the duration threshold is stored in the cleaning device in advance.
  • the cleaning device may have performed a cleaning operation after being separated from the base station, which will cause the equipment status of the cleaning device to change, such as: The degree of dirtiness of the mechanism to be cleaned increases, the first amount of water in the clean water tank decreases, and/or the second amount of water in the sewage tank increases.
  • the self-cleaning process is performed based on the self-cleaning state, the self-cleaning effect may occur. Problems with poor and/or interrupted self-cleaning process.
  • self-cleaning is performed based on the self-cleaning state only when the interval length is less than or equal to the preset time threshold, which can avoid the problem of poor self-cleaning effect due to changes in the equipment status of the cleaning equipment. Improve self-cleaning effect.
  • the third method is to obtain the first working parameters of the mechanism to be cleaned; determine whether to perform the self-cleaning process based on the self-cleaning state based on the first working parameters and the second working parameters of the cleaning mechanism when separated from the base station.
  • the self-cleaning state includes the third 2. Working parameters.
  • the working parameter may be the number of rotations of the cleaning mechanism, or it may also be the last working time of the cleaning mechanism. This embodiment does not limit the type of working parameters of the cleaning mechanism.
  • the working parameter includes the number of rotations of the cleaning mechanism.
  • determining whether to perform the self-cleaning process based on the self-cleaning state is based on the first working parameter and the second working parameter, including: between the first working parameter and the second working parameter.
  • the parameter difference is greater than the preset threshold of weeks In this case, it is determined not to perform the self-cleaning process based on the self-cleaning state; when the difference between the first working parameter and the second working parameter is less than or equal to the preset cycle threshold, the self-cleaning process is performed based on the self-cleaning state.
  • the cycle threshold is stored in the cleaning device in advance.
  • the cleaning equipment may perform a cleaning operation after being separated from the base station, which will cause the equipment status of the cleaning equipment to change. If the self-cleaning process is performed based on the self-cleaning state, it may cause problems such as poor self-cleaning effect and/or interruption of the self-cleaning process.
  • self-cleaning is performed based on the self-cleaning state only when the difference between the first working parameter and the second working parameter is less than or equal to the preset cycle threshold, which can avoid the problem of cleaning equipment being damaged.
  • the change of equipment status leads to the problem of poor self-cleaning effect.
  • Improve the self-cleaning effect is performed based on the self-cleaning state only when the difference between the first working parameter and the second working parameter is less than or equal to the preset cycle threshold, which can avoid the problem of cleaning equipment being damaged.
  • the self-cleaning process when it is determined that the self-cleaning process is not to be performed based on the self-cleaning state, it is determined whether to perform the self-cleaning process based on the initial state of the self-cleaning process; when it is determined that the self-cleaning process is performed based on the initial state, it is determined based on the initial state.
  • the state executes the self-cleaning process; when it is determined that the self-cleaning process is not executed based on the initial state, the cleaning equipment is controlled to terminate the self-cleaning.
  • the self-cleaning process Since the equipment status of the cleaning equipment may not meet the conditions for self-cleaning from the initial state, at this time, if the self-cleaning process is performed based on the initial state of the self-cleaning process, it may cause insufficient power in the self-cleaning equipment and insufficient first water in the clean water tank. , the second water volume in the sewage tank is too full, and the self-cleaning time does not meet the user's habits.
  • determining whether to execute the self-cleaning process based on the initial state of the self-cleaning process includes: obtaining the first equipment state of the cleaning device; and determining whether to execute the self-cleaning process based on the initial state based on the first equipment state.
  • the first equipment status includes the remaining power of the power supply component on the cleaning equipment, the first water volume in the clean water tank on the cleaning equipment, the second water volume in the sewage tank on the cleaning equipment, and/or the current time period of the cleaning equipment.
  • ways of determining whether to perform a self-cleaning process based on the initial state based on the first equipment state include but are not limited to the following:
  • the first equipment state includes the first water volume of the clean water tank.
  • determining whether to perform a self-cleaning process based on the initial state based on the first equipment state includes: determining whether the first water volume is Whether it is greater than or equal to the third water volume threshold. When the first water volume is greater than or equal to the third water volume threshold, it is determined to perform the self-cleaning process based on the initial state; when the first water volume is less than the third water volume threshold, it is determined not to perform the self-cleaning process based on the initial state.
  • the first equipment state includes the second water volume of the sewage tank.
  • determining whether to perform a self-cleaning process based on the initial state based on the first equipment state includes: determining whether the second water volume is less than a fourth water volume threshold. When the second water volume is less than the fourth water volume threshold, it is determined to perform the self-cleaning process based on the initial state; when the second water volume is greater than or equal to the fourth water volume threshold, it is determined not to perform the self-cleaning process based on the initial state.
  • the first device state includes the remaining power of the power supply component.
  • determining whether to perform a self-cleaning process based on the initial state based on the first device state includes: determining whether the remaining power is greater than or equal to the second power threshold. When the remaining power is greater than or equal to the second power threshold, it is determined to perform the self-cleaning process based on the initial state; when the remaining power is less than the second power threshold, it is determined not to perform the self-cleaning process based on the initial state.
  • the first equipment state includes the current time period of the cleaning equipment.
  • determining whether to perform the self-cleaning process based on the initial state based on the first equipment state includes: determining whether the current time period is a non-working time period. When the current time period is a non-working time period, it is determined not to execute the self-cleaning process based on the initial state; when the current time period is not a non-working time period, it is determined to execute the self-cleaning process based on the initial state.
  • the first equipment state of the cleaning equipment may also be of other types.
  • the method of determining whether to perform the self-cleaning process based on the initial state based on the first equipment state is also different. This embodiment does not specify the type of the first equipment state. and a method of determining whether to perform the self-cleaning process based on the initial state based on the first equipment state.
  • the cleaning equipment includes at least two self-cleaning modes, and different self-cleaning modes have different self-cleaning processes.
  • executing the self-cleaning process based on the initial status includes: obtaining the second equipment status of the cleaning equipment; determining the current self-cleaning mode based on the second equipment status; The initial state performs a self-cleaning process.
  • the second equipment status includes the degree of contamination of the mechanism to be cleaned on the cleaning equipment, the mechanism type of the mechanism to be cleaned, the remaining power of the power supply component on the cleaning equipment, the first water volume of the clean water tank on the cleaning equipment and/or the amount of water on the cleaning equipment.
  • ways of determining the current self-cleaning mode based on the second device status include but are not limited to the following:
  • Type 1 The second equipment status includes the degree of dirtiness of the mechanism of the mechanism to be cleaned. At this time, determining the current self-cleaning mode based on the second equipment status includes: matching the cleaning capacity in each self-cleaning mode with the degree of dirtiness of the mechanism. The self-cleaning mode is determined as the current self-cleaning mode.
  • the cleaning equipment includes a first self-cleaning mode and a second self-cleaning mode.
  • the first self-cleaning mode has a self-cleaning ability of dirt level three
  • the second self-cleaning mode has a cleaning ability of dirt level six. (The higher the degree of dirtiness, the stronger the cleaning ability.) If the degree of dirtiness of the mechanism to be cleaned is level four, then the second self-cleaning mode is determined as the current self-cleaning mode.
  • the second equipment status includes the mechanism type of the mechanism to be cleaned.
  • determining the current self-cleaning mode based on the second equipment status includes: selecting the self-cleaning mode in each self-cleaning mode that matches the mechanism type of the mechanism to be cleaned. The cleaning mode is determined to be the current self-cleaning mode.
  • the cleaning equipment includes a roller brush self-cleaning mode and a mop self-cleaning mode.
  • the roller brush self-cleaning mode is used to self-clean the roller brush
  • the mop self-cleaning mode is used to self-clean the mop
  • the mechanism to be cleaned is a roller brush.
  • the roller brush self-cleaning mode is determined as the current self-cleaning mode.
  • the third type includes the remaining power of the power supply component.
  • the current self-cleaning mode is determined based on the second equipment state, including: in each self-cleaning mode, the power required for the cleaning process is less than the remaining power and the first power
  • the self-cleaning mode with the difference between the thresholds is determined as the current self-cleaning mode.
  • the cleaning equipment includes a third self-cleaning mode and a fourth self-cleaning mode.
  • the power required to perform the self-cleaning process based on the initial state of the third self-cleaning mode is 20%, and the self-cleaning process is performed based on the initial state of the fourth self-cleaning mode.
  • the required power is 40%, the remaining power of the power supply component is 50%, and the first power threshold is 20%, then the third self-cleaning mode is determined as the current self-cleaning mode.
  • the second equipment state includes the first water volume of the clean water tank.
  • determining the current self-cleaning mode based on the second equipment state includes: in each self-cleaning mode, the amount of cleaning liquid required for the self-cleaning process is less than the first The self-cleaning mode of the difference between the water amount and the first water amount threshold is determined as the current self-cleaning mode.
  • the cleaning equipment includes the fifth self-cleaning mode and the sixth self-cleaning mode, based on the fifth
  • the amount of cleaning liquid required to perform the self-cleaning process in the initial state of the self-cleaning mode is 400 ml.
  • the amount of cleaning liquid required to perform the self-cleaning process based on the initial state of the sixth self-cleaning mode is 800 ml.
  • the first water volume is 600 ml. If the water volume threshold is 0 ml, the fifth self-cleaning mode is determined as the current self-cleaning mode.
  • the fifth type: the second equipment state includes the second water volume of the sewage tank. At this time, determining the current self-cleaning mode based on the second equipment state includes: in each self-cleaning mode, the amount of sewage generated during the self-cleaning process is smaller than the second water volume in the sewage tank. The self-cleaning mode of the difference between the water volume threshold and the second water volume is determined as the current self-cleaning mode.
  • the cleaning equipment includes the seventh self-cleaning mode and the eighth self-cleaning mode.
  • the amount of sewage generated during the self-cleaning process based on the initial state of the seventh self-cleaning mode is 200 ml.
  • the amount of sewage generated during the self-cleaning process based on the initial state of the eighth self-cleaning mode is The amount of sewage generated during the cleaning process is 400 ml, the second water amount is 200 ml, and the second water amount threshold is 500 ml, then the seventh self-cleaning mode is determined as the current self-cleaning mode.
  • the second equipment status of the cleaning equipment can also be of other types.
  • determining the current self-cleaning mode based on the second equipment status is also different. This embodiment does not make any difference between the type of the second equipment status and the type based on the second equipment status. The way to determine the current self-cleaning mode is limited.
  • the self-cleaning process based on the self-cleaning state after executing the self-cleaning process based on the self-cleaning state, it also includes: upon receiving the self-cleaning stop instruction, determining based on the self-cleaning stop instruction the next time the cleaning device is detected to be docked with the base station or the self-cleaning interruption condition is eliminated. Whether to perform the steps to perform the self-cleaning process based on the self-cleaning status.
  • the ways in which the cleaning equipment receives the self-cleaning stop command include but are not limited to the following:
  • Type 1 The cleaning equipment is equipped with a stop self-cleaning button. Correspondingly, the cleaning device generates a self-cleaning stop instruction when receiving a trigger operation acting on the stop self-cleaning button.
  • the stop self-cleaning button may be a physical button installed on the cleaning device, or it may be a virtual button displayed on the touch screen. This embodiment does not limit the implementation of the stop self-cleaning button.
  • the cleaning equipment receives the self-cleaning stop command sent by other equipment.
  • Other devices are connected to the cleaning device through communication.
  • the other devices can be remote controls, mobile phones, tablets, or Wearable devices, etc., this embodiment does not limit the device types of other devices.
  • the way in which the cleaning equipment receives the self-cleaning stop command may also be in other ways. This embodiment does not limit the way in which the self-cleaning stop command is received.
  • the self-cleaning stop instruction determines based on the self-cleaning stop instruction whether to perform the step of executing the self-cleaning process based on the self-cleaning status next time it is detected that the cleaning device is docked with the base station or the self-cleaning interruption condition is eliminated, This includes: upon receiving a self-cleaning stop command, ensuring that the next time the cleaning device is detected to be connected to the base station or the self-cleaning interruption condition is eliminated, the steps of executing the self-cleaning process based on the self-cleaning status will not be executed.
  • the cleaning device Since the self-cleaning process performed by the cleaning device based on the self-cleaning state may not be in line with the user's usage habits, the cleaning device will record the user's usage habits after receiving the self-cleaning stop command sent by the user, and will not perform self-cleaning based on the next docking.
  • the state executes the steps of the self-cleaning process, therefore, the intelligence of the self-cleaning process can be improved.
  • the self-cleaning method of the cleaning equipment obtains the current self-cleaning status of the cleaning equipment when it is detected that the cleaning equipment is separated from the base station or the self-cleaning process of the cleaning equipment is interrupted;
  • the self-cleaning process is performed based on the self-cleaning state; it can be solved that during the self-cleaning process of the floor washing machine, if the floor washing machine is removed from the base station, the problem will occur during the washing process.
  • the ground machine After the ground machine is connected to the base station again, it needs to receive cleaning instructions again before it can start self-cleaning, leading to the problem of low self-cleaning efficiency; because when the cleaning equipment is detected to be connected to the base station or the self-cleaning interruption condition is eliminated, the self-cleaning The state executes the self-cleaning process without receiving cleaning instructions again. Therefore, the use of the cleaning equipment can be facilitated and the intelligence of the self-cleaning process can be improved.
  • the self-cleaning process is executed based on the self-cleaning state. Therefore, the problem of resource waste caused by repeated execution of the self-cleaning process that has been executed can be avoided, and the intelligence of the self-cleaning process can be improved.
  • the cleaning device since the interval between the cleaning device being separated from the base station and being connected to the base station is longer than the duration threshold, the cleaning device may have performed a cleaning operation after being separated from the base station, which will cause the equipment status of the cleaning device to change.
  • the self-cleaning process is performed based on the self-cleaning state, it may lead to poor self-cleaning effect and/or interruption of the self-cleaning process. Therefore, the self-cleaning process is only performed based on the self-cleaning process when the interval is less than or equal to the preset time threshold. Status execution of self-cleaning can avoid the problem of poor self-cleaning effect due to changes in the equipment status of the cleaning equipment, and improve the self-cleaning effect.
  • the cleaning equipment may not perform the self-cleaning process, or may perform the self-cleaning process based on the initial state of the self-cleaning process. Therefore, in the initial state based on the cleaning process, Before executing the cleaning process, determining whether to execute the self-cleaning process based on the initial state of the self-cleaning process can improve the intelligence of the cleaning process.
  • the self-cleaning process is performed based on the initial state of the self-cleaning process.
  • the process may cause the self-cleaning equipment to have problems such as insufficient battery, insufficient first water volume in the clean water tank, overfull second water volume in the sewage tank, and self-cleaning time that does not conform to user habits. Therefore, the intelligence of the cleaning process can be improved.
  • the determined self-cleaning mode can be matched with the equipment status of the cleaning equipment, thereby preventing the self-cleaning process from being caused by insufficient power, insufficient first water in the clean water tank, or insufficient water in the sewage tank.
  • the second problem is that the self-cleaning is interrupted due to excessive water volume and the self-cleaning mode does not match the degree of contamination of the parts to be cleaned. Therefore, the efficiency and self-cleaning effect of self-cleaning can be improved.
  • the self-cleaning stop command since in the case of receiving the self-cleaning stop command, it is determined based on the self-cleaning stop command whether to perform the step of executing the self-cleaning process based on the self-cleaning status when the cleaning device is detected to be docked with the base station next time or the self-cleaning interruption condition is eliminated. According to user usage habits It is used to determine whether to perform the self-cleaning process based on the self-cleaning state, therefore, the intelligence of the cleaning process can be improved.
  • This embodiment provides a self-cleaning device for cleaning equipment, as shown in Figure 3 .
  • this device is applied to the cleaning equipment shown in FIG. 1 .
  • the device includes at least the following modules: a first detection module 310 and a second detection module 320 .
  • the first detection module 310 is used to obtain the current self-cleaning status of the cleaning equipment when it is detected that the cleaning equipment is separated from the base station or the self-cleaning process of the cleaning equipment is interrupted during the self-cleaning process of the cleaning equipment;
  • the second detection module 320 is configured to perform a self-cleaning process based on the self-cleaning state when it is detected that the cleaning device is docked with the base station or the self-cleaning interruption condition is eliminated.
  • the self-cleaning device of the cleaning equipment provided in the above embodiment performs self-cleaning of the cleaning equipment
  • only the division of the above functional modules is used as an example.
  • the above functions can be allocated as needed. It is completed by different functional modules, that is, the internal structure of the self-cleaning device of the cleaning equipment is divided into different functional modules to complete all or part of the functions described above.
  • the self-cleaning device of the cleaning equipment provided in the above embodiments and the self-cleaning method embodiment of the cleaning equipment belong to the same concept. The specific implementation process can be found in the method embodiments and will not be described again here.
  • the electronic device may be the cleaning device in Figure 1 .
  • the electronic device includes at least a processor 401 and a memory 402.
  • the processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc.
  • the processor 401 can adopt at least one hardware form among DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), and PLA (Programmable Logic Array, programmable logic array).
  • the processor 401 may also include a main processor and a co-processor.
  • the main processor is a processor used to process data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); the co-processor is A low-power processor used to process data in standby mode.
  • processor 401 may be integrated with a GPU (Graphics Processing Unit, image processor), the GPU is responsible for the rendering and drawing of the content that needs to be displayed on the display screen.
  • the processor 401 may also include an AI (Artificial Intelligence, artificial intelligence) processor, which is used to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 401 to implement the cleaning device provided by the method embodiment in this application. self-cleaning method.
  • the electronic device optionally further includes: a peripheral device interface and at least one peripheral device.
  • the processor 401, the memory 402 and the peripheral device interface may be connected through a bus or a signal line.
  • Each peripheral device can be connected to the peripheral device interface through a bus, a signal line or a circuit board.
  • peripheral devices include but are not limited to: radio frequency circuits, touch display screens, audio circuits, power supplies, etc.
  • the electronic device may also include fewer or more components, which is not limited in this embodiment.
  • this application also provides a computer-readable storage medium in which a program is stored, and the program is loaded and executed by the processor to implement the self-cleaning method of the cleaning equipment of the above method embodiment.
  • this application also provides a computer product, which computer product includes a computer-readable storage medium.
  • a program is stored in the computer-readable storage medium. The program is loaded and executed by a processor to implement the cleaning equipment of the above method embodiment. Self-cleaning method.
  • FIG. 5 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • cleaning equipment includes but is not limited to: sweepers, floor washers, integrated sweeping and mopping machines, and other equipment that can clean the surface to be cleaned.
  • This embodiment does not limit the type of equipment of the cleaning equipment.
  • the surface to be cleaned can be the floor, desktop, wall, solar cell surface, etc.
  • This embodiment does not limit the type of surface to be cleaned.
  • the cleaning equipment at least includes a component to be cleaned 110, a cleaning component 120, and a controller 130.
  • the component 110 to be cleaned is the cleaning object when the cleaning equipment performs self-cleaning.
  • the component to be cleaned 110 is a cleaning piece that contacts the surface to be cleaned when the cleaning device performs cleaning work to clean the surface to be cleaned.
  • the cleaning parts may be brushes, roller brushes, rags, etc., and the number of cleaning parts installed on the cleaning equipment may be one or at least two. This embodiment does not limit the implementation manner and number of cleaning parts.
  • the cleaning piece is installed at the bottom of the cleaning equipment, for example, at the center of the bottom, the front end of the bottom, and/or the edge of the bottom. This embodiment does not limit the installation position of the cleaning piece.
  • the component 110 to be cleaned may also be a water tank, a water pipe, etc. on the cleaning equipment. This embodiment does not limit the implementation of the component 110 to be cleaned.
  • the component 110 to be cleaned is a cleaning component as an example for description.
  • the cleaning assembly 120 is used to assist the component to be cleaned 110 in cleaning work.
  • the cleaning assembly 120 is used to clean the component 110 to be cleaned.
  • the cleaning component 120 may be a water delivery component, a water absorption component, and/or a heating component. This embodiment does not limit the type of the cleaning component 120 .
  • the cleaning component 120 is installed opposite the component 110 to be cleaned.
  • the cleaning component 120 is located behind, front, and/or above the component 110 to be cleaned. This embodiment does not limit the installation position of the cleaning component 120 .
  • the cleaning assembly 120 includes a water delivery assembly 121.
  • the cleaning equipment further includes a clean water tank 140.
  • the clean water tank 140 is used to contain cleaning liquid to perform self-cleaning of the cleaning equipment.
  • the clean water tank 140 includes one or at least two accommodation chambers. When the number of the accommodation chambers is at least two, the cleaning liquid stored in different accommodation chambers may be the same or different.
  • the cleaning liquid may be clean water, or may be a mixture of water and cleaning agent. This embodiment does not limit the type of cleaning liquid.
  • One end of the water delivery assembly 121 is connected to the clean water tank 140 , and the other end faces the component to be cleaned 110 to transport the liquid in the clean water tank 140 to the component to be cleaned 110 .
  • the water delivery assembly 121 includes a water pump and a water delivery pipeline connected to the water pump.
  • the water pump is located in a water pipeline, one end of the water pipeline is connected to the clean water tank 140, and the other end faces the component to be cleaned 110.
  • the water delivery assembly 121 Water is sprayed onto the cleaning component 110 or the surface to be cleaned to improve the cleaning effect of the surface to be cleaned.
  • the water delivery component 121 sprays water to the component to be cleaned 110 or the base station of the cleaning device to improve the cleaning effect of the component to be cleaned 110 .
  • the cleaning component 120 includes a water absorbing component 122.
  • the cleaning equipment further includes a sewage tank 150.
  • the sewage tank 150 is used to accommodate sewage after self-cleaning of the cleaning equipment.
  • the water absorbing assembly 122 is used to absorb the sewage from the component 110 to be cleaned and transport it to the sewage tank 150 .
  • the water suction assembly 122 includes a water suction motor (or main motor) and a water suction pipe connected to the water suction motor.
  • the water suction motor is located in the water suction pipe.
  • One end of the water suction pipe is connected to the sewage tank 150 and the other end faces the component to be cleaned 110 .
  • the cleaning assembly 120 is connected to the controller 130 to clean the component 110 to be cleaned under the control of the controller 130 .
  • the controller 130 can be a microcontrol unit installed inside the cleaning equipment, or any component with a control function. This embodiment does not limit the type of the controller 130 .
  • the controller 130 is configured to: in response to a self-cleaning instruction for the cleaning equipment, determine whether the equipment status of the cleaning equipment meets the preset self-cleaning conditions; if the equipment status does not meet the self-cleaning conditions, adjust the equipment state, so that the adjusted equipment state meets the self-cleaning conditions; after the equipment state is adjusted, determine the self-cleaning mode of the cleaning component 120 in the cleaning equipment; control the cleaning equipment to work according to the self-cleaning mode to self-clean the cleaning equipment.
  • the water delivery component 121 and the water suction component 122 are respectively connected to the controller 130 to transport the liquid in the clean water tank 140 to the component to be cleaned 110 and to spray the liquid to the component to be cleaned 110 under the control of the controller 130 The sewage produced is then sucked into the sewage tank 150 .
  • a first sensor 160 is provided in the clean water tank 140.
  • the first sensor 160 is connected to the controller 130 to obtain the first amount of water in the clean water tank 140.
  • the first sensor 160 may be a laser sensor, a capacitive sensor, a radar sensor or an image sensor. This embodiment does not limit the type of the first sensor 160 .
  • a second sensor 170 is provided in the sewage tank 150.
  • the second sensor 170 is connected to the controller 130 to obtain the second amount of water in the sewage tank 150.
  • the second sensor 170 is of the same type as the first sensor 160 The type may be the same or different.
  • the second sensor 170 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 170 .
  • a third sensor 180 is provided on the cleaning equipment.
  • the third sensor 180 is connected to the controller 130 to obtain the degree of contamination of the component 110 to be cleaned.
  • the implementation methods of the third sensor 180 include but are not limited to the following:
  • the third sensor 180 is an image sensor.
  • the image sensor is used to collect the component image of the component 110 to be cleaned, so as to obtain the degree of contamination of the component 110 to be cleaned by performing image recognition on the component image.
  • the acquisition range of the image sensor includes the component 110 to be cleaned.
  • the image sensor is used to collect the sewage image of the sewage tank 150 to obtain the degree of contamination of the sewage through image recognition of the sewage image.
  • the degree of contamination of the sewage is positively correlated with the degree of contamination of the component to be cleaned 110 .
  • the third sensor 180 is an infrared sensor and/or a photoelectric sensor.
  • a preset sensor is installed in the water absorption component 122 and/or the sewage tank 150 to collect the transparency of the sewage.
  • the transparency of the sewage has a negative correlation with the degree of dirt of the component 110 to be cleaned.
  • the cleaning equipment also includes a power supply circuit 190.
  • the power supply methods of the cleaning equipment during the self-cleaning process include at least the following:
  • the first way local power supply. At this time, the power supply component 191 in the power supply circuit 190 is turned on, and the cleaning device supplies power for the self-cleaning process through the power supply component 191 .
  • the power supply component 191 is a component in the cleaning equipment that can convert chemical energy into electrical energy, such as a battery.
  • the second method base station power supply, that is, power supply for the self-cleaning process through the base station, which is used to interface with cleaning equipment.
  • the power supply module 192 in the power supply circuit 190 is connected to the power output module of the base station to provide power for the self-cleaning process through the base station.
  • the output of the power output module of the base station is commercial power, that is, the voltage is 220 volts.
  • the power supply circuit 190 is connected to the controller 130 to adjust the power supply mode of the cleaning device during the self-cleaning process under the control of the controller 130 .
  • the cleaning equipment may also include other components, such as handles, mechanism driving components, etc. This embodiment does not enumerate the components included in the cleaning equipment one by one.
  • the cleaning device by responding to a self-cleaning instruction to the cleaning device, it is determined that the cleaning device Whether the equipment status meets the preset self-cleaning conditions; if the equipment status does not meet the self-cleaning conditions, adjust the equipment status so that the adjusted equipment status meets the self-cleaning conditions; after the equipment status is adjusted, determine whether the equipment is being cleaned
  • the self-cleaning mode of the cleaning component controls the cleaning equipment to work in the self-cleaning mode to self-clean the cleaning equipment; it can solve the problem that when the power of the floor washing machine does not meet the power requirements, it needs to receive two self-cleaning instructions before it starts self-cleaning.
  • the long interval between two self-cleaning instructions makes the floor washing machine inconvenient to use and the self-cleaning start-up efficiency is low; because after the equipment status is adjusted, the self-cleaning mode of the cleaning component in the cleaning equipment is determined and the cleaning equipment is controlled. It works according to the cleaning mode, so it only needs to receive a self-cleaning instruction once to start self-cleaning. Therefore, the intelligence of the cleaning equipment and the efficiency of self-cleaning startup can be improved.
  • the self-cleaning method of cleaning equipment provided by this embodiment is shown in Figure 6.
  • This embodiment illustrates the method using the cleaning equipment shown in FIG. 5 as an example.
  • it can also be executed by other devices that are communicatively connected to the cleaning device, such as remotely controlling the cleaning device through mobile phones, computers, tablets and other devices.
  • This embodiment does not cover the implementation of other devices and the implementation of each embodiment.
  • the execution subject is limited.
  • This self-cleaning method includes at least the following steps:
  • Step 301 In response to a self-cleaning instruction for the cleaning equipment, determine whether the equipment status of the cleaning equipment meets the preset self-cleaning conditions.
  • the way in which the cleaning equipment obtains the self-cleaning instruction includes but is not limited to at least one of the following ways:
  • the first way the cleaning equipment is equipped with a self-cleaning button.
  • the cleaning device generates a self-cleaning instruction when receiving a trigger operation acting on the self-cleaning button.
  • the self-cleaning button may be a physical button installed on the cleaning device, or may be a virtual button displayed on the touch screen. This embodiment does not limit the implementation of the self-cleaning button.
  • the second method After detecting the connection with the base station, the cleaning device generates a self-cleaning instruction.
  • the base station is used to charge cleaning equipment.
  • the third method the cleaning device receives self-cleaning instructions sent by other devices.
  • Other equipment Communicatively connected to the cleaning device the other device may be a remote control, a mobile phone, a tablet computer, a wearable device, etc. This embodiment does not limit the device type of the other device.
  • the cleaning device may also obtain the self-cleaning instruction in other ways. This embodiment does not limit the acquisition method of the self-cleaning instruction.
  • different types of equipment status correspond to different self-cleaning conditions.
  • the device status includes but is not limited to the following: the remaining power of the power supply component, the first amount of water in the clean water tank, and/or the second amount of water in the sewage tank. Accordingly, determining whether the equipment status of the cleaning equipment meets the cleaning conditions includes but is not limited to at least one of the following situations:
  • the first situation: when the equipment status includes the remaining power of the power supply component of the cleaning equipment, at this time, determining whether the equipment status of the cleaning equipment meets the preset self-cleaning conditions includes: determining the remaining power of the power supply component in the cleaning equipment. Whether the battery level is greater than or equal to the minimum battery threshold. When the remaining power is greater than or equal to the minimum power threshold, it is determined that the device status meets the self-cleaning conditions; when the remaining power is less than the minimum power threshold, it is determined that the device status does not meet the self-cleaning conditions.
  • the minimum power threshold is stored in the cleaning device in advance.
  • the power consumed by different self-cleaning modes is the same or different, and the minimum power threshold is determined based on the maximum power required by the cleaning device for self-cleaning.
  • the second case: when the equipment status includes the first amount of water in the clean water tank of the cleaning equipment, at this time, determining whether the equipment status of the cleaning equipment meets the preset self-cleaning conditions includes: determining the amount of water in the clean water tank in the cleaning equipment. Whether the first water amount is greater than or equal to the first water amount threshold. When the first water volume is greater than or equal to the first water volume threshold, it is determined that the equipment status satisfies the self-cleaning condition; when the first water volume is less than the first water volume threshold, it is determined that the equipment status does not meet the self-cleaning condition.
  • the first water volume threshold is stored in the cleaning device in advance.
  • the amounts of cleaning fluid consumed by different self-cleaning modes are the same or different, and the first water volume threshold is determined based on the maximum amount of cleaning fluid required by the cleaning device for self-cleaning.
  • the third situation: when the equipment status includes the second amount of water in the sewage tank of the cleaning equipment, at this time, determining whether the equipment status of the cleaning equipment meets the preset self-cleaning conditions includes: determining the amount of water in the sewage tank in the cleaning equipment. Whether the second water amount is less than the second water amount threshold. When the second water volume is less than the second water volume threshold, it is determined that the equipment status satisfies the self-cleaning condition; in the first When the second water amount is greater than or equal to the second water amount threshold, it is determined that the equipment status does not meet the self-cleaning condition.
  • the second water volume threshold is stored in the cleaning device in advance.
  • the amount of sewage generated by different self-cleaning modes is the same or different, and the second water amount threshold is determined based on the maximum amount of sewage generated by the cleaning equipment during the self-cleaning process and the volume of the sewage tank.
  • the equipment status of the cleaning equipment may also be of other types, such as the type of the installed cleaning mechanism. This embodiment does not list the equipment status types one by one.
  • Step 302 If the equipment status does not meet the self-cleaning conditions, adjust the equipment status so that the adjusted equipment status meets the self-cleaning conditions.
  • adjusting the equipment status includes but is not limited to at least one of the following situations:
  • the self-cleaning condition includes that the remaining power of the power supply component in the cleaning equipment is greater than or equal to the minimum power threshold. At this time, if the device status does not meet the self-cleaning conditions, the device status is adjusted, including: charging the power supply component when the remaining power is less than the minimum power threshold.
  • charging the power supply component includes: detecting the remaining power during the process of charging the power supply component; and determining that the state adjustment is completed when it is detected that the remaining power is greater than a preset target power threshold.
  • the target power threshold is greater than or equal to the minimum power threshold.
  • charging the power supply component includes: determining the target charging time based on the remaining power of the power supply component before charging and the target power threshold; and determining the state adjustment when the time for charging the power supply component reaches the target charging time. Finish.
  • the self-cleaning condition includes that the first water volume in the clean water tank in the cleaning equipment is greater than or equal to the first water volume threshold.
  • adjusting the equipment status includes: if the first water amount is less than the first water amount threshold, adjusting the first water amount to be greater than or equal to the first water amount threshold.
  • adjusting the first water volume to be greater than or equal to the first water volume threshold includes: controlling the cleaning equipment to deliver water to the clean water tank; detecting the first water volume during the water delivery process; and detecting that the first water volume is greater than or equal to a predetermined value.
  • the first water volume threshold is set, it is determined that the status adjustment is completed.
  • the cleaning equipment is controlled to continue delivering water into the clean water tank so that the first water amount reaches the first target water amount.
  • the first target water volume is greater than the first water volume threshold.
  • the first target water volume is the volume of the clean water tank.
  • adjusting the first water volume to be greater than or equal to the first water volume threshold includes: outputting an insufficient water volume prompt to instruct the user to add water to the clean water tank; and determining the status if it is detected that the clean water tank is connected to the cleaning equipment. Adjustment completed.
  • the insufficient water prompt may be an audio prompt, and accordingly, the insufficient water prompt is output through an audio playback component installed on the cleaning device.
  • the water shortage prompt can be a light prompt, and accordingly, the water shortage prompt is output through an indicator light on the cleaning device.
  • the water shortage prompt is a prompt message sent to the user device or the server.
  • the water shortage prompt is output through the communication component on the cleaning device. This embodiment does not limit the way in which the cleaning device outputs the water shortage prompt.
  • the prompt for insufficient water is a voice prompt "Insufficient water in the clean water tank.”
  • the user can add water to the clean water tank based on the voice prompt.
  • determining that the status adjustment is completed includes: when it is detected that the clean water tank is connected to the cleaning equipment, determining whether the first water volume is greater than or equal to the first water volume threshold; When the first water volume is greater than or equal to the first water volume threshold, it is determined that the state adjustment is completed; when the first water volume is less than the first water volume threshold, the step of outputting a water volume shortage prompt is continued.
  • the self-cleaning condition includes that the second water volume of the sewage tank in the cleaning equipment is less than the second water volume threshold.
  • adjusting the equipment status includes: if the second water amount is greater than or equal to the second water amount threshold, adjusting the second water amount to be less than the second water amount threshold.
  • adjusting the second water volume to be less than the second water volume threshold includes: controlling the cleaning equipment to pump water from the sewage tank; and when detecting that the second water volume is less than the second water volume threshold, determining Fixed status adjustment is completed.
  • the cleaning equipment is controlled to continue pumping water from the sewage tank so that the second water amount reaches the second target water amount.
  • the second target water volume is less than the second water volume threshold.
  • the second target water amount is zero.
  • adjusting the second water volume to be less than the second water volume threshold includes: outputting an over-full water prompt to instruct the user to pour out the water in the sewage tank; and detecting that the sewage tank is connected to a cleaning device. , confirm that the status adjustment is completed.
  • the water volume overfill prompt can be an audio prompt.
  • the water volume overfill prompt is output through the audio playback component installed on the cleaning device.
  • the water volume overfill prompt can be a light prompt, and accordingly, the water volume overfill prompt is output through an indicator light on the cleaning device.
  • the over-water prompt is a prompt message sent to the user device or the server.
  • the over-water prompt is output through the communication component on the cleaning device. This embodiment does not limit the way in which the cleaning device outputs the over-water prompt.
  • the over-full water prompt is that the water over-full indicator light flashes. At this time, the user can pour out the water in the sewage tank based on the light prompt.
  • determining that the status adjustment is completed includes: when it is detected that the sewage tank is connected to the cleaning equipment, determining whether the second water volume is less than the second water volume threshold; in the first When the second water volume is less than the second water volume threshold, it is determined that the state adjustment is completed; when the second water volume is greater than or equal to the second water volume threshold, the step of outputting an over-full water volume prompt is continued.
  • Step 303 After the equipment status is adjusted, determine the self-cleaning mode of the cleaning component in the cleaning equipment.
  • determining the self-cleaning mode of the cleaning component in the cleaning equipment includes: obtaining component information of the component to be cleaned, and determining the self-cleaning mode based on the component information.
  • the component information may be the degree of contamination of the component to be cleaned, or may be the last working time of the component to be cleaned. This embodiment does not limit the type of component information.
  • the following describes the corresponding methods of determining the self-cleaning mode for different types of component information.
  • determining the self-cleaning mode based on component information includes: based on the component to be cleaned
  • the degree of soiling of the components determines the operating power of the cleaning components. Among them, there is a positive correlation between working power and degree of dirt.
  • the self-cleaning mode includes the operating power of the cleaning components.
  • the working power of the cleaning components can be the total working power of each cleaning component; or it can also be the working power of each cleaning component.
  • determining the self-cleaning mode based on the component information includes: determining the working duration of the cleaning component based on the last working duration of the component to be cleaned. Among them, the working time of the cleaning component is positively correlated with the last working time of the component to be cleaned.
  • the cleaning device can also determine the current self-cleaning mode of the cleaning component based on the historical self-cleaning mode of the cleaning component. For example, obtain historical equipment component information corresponding to the historical self-cleaning mode, and match the current component information with The historical self-cleaning mode corresponding to the historical equipment component information is determined as the current self-cleaning mode; this embodiment does not limit the method of determining the self-cleaning mode of the cleaning component.
  • determining the self-cleaning mode of the cleaning component in the cleaning equipment it also includes: determining whether to automatically determine the self-cleaning mode; if it is determined that the self-cleaning mode is not automatically determined, controlling the cleaning equipment to work in the default self-cleaning mode, To self-clean cleaning equipment.
  • the default self-cleaning mode is pre-stored in the cleaning device.
  • determining whether to automatically determine the self-cleaning mode includes: determining whether the current time belongs to the night time period; if the current time period is the night time period, determining not to automatically determine the self-cleaning mode, and controlling the cleaning equipment to automatically determine the self-cleaning mode by default. Cleaning mode works to self-clean the cleaning equipment.
  • the default self-cleaning mode produces less noise than other cleaning modes.
  • determining whether to automatically determine the self-cleaning mode includes: determining the interval length since the last self-cleaning; when the interval length is greater than a preset duration threshold, determining not to automatically determine the self-cleaning mode, and controlling the cleaning equipment Works in default self-cleaning mode to self-clean the cleaning equipment.
  • the total power of the default self-cleaning mode is greater than other cleaning modes.
  • the cleaning device may also determine whether to automatically determine the self-cleaning mode in other ways. This embodiment does not limit the way in which the cleaning device determines whether to automatically determine the self-cleaning mode.
  • Step 304 Control the cleaning equipment to work in a self-cleaning mode to self-clean the cleaning equipment.
  • controlling the cleaning device to work in the self-cleaning mode includes: in response to determining that the self-cleaning mode is in, automatically controlling the cleaning device to work in the self-cleaning mode.
  • the cleaning device once the cleaning device is determined to be in the self-cleaning mode, it immediately works in the self-cleaning mode without manual control by the user.
  • controlling the cleaning equipment to work in the self-cleaning mode includes: determining whether to start self-cleaning; if it is determined to start self-cleaning, controlling the cleaning equipment to work in the self-cleaning mode.
  • determining whether to start self-cleaning includes: determining whether the current time belongs to a preset self-cleaning time period; if the current time belongs to the self-cleaning time period, determining to start self-cleaning.
  • the self-cleaning time period refers to the time allowed for self-cleaning.
  • the self-cleaning time period is pre-stored in the self-cleaning device.
  • the self-cleaning period may be a night time period.
  • the self-cleaning time period can also be set by the user, or determined based on the historical time period for starting self-cleaning. This embodiment does not limit the setting method of the self-cleaning time period.
  • determining whether to start self-cleaning includes: determining to start self-cleaning when receiving an instruction to start self-cleaning immediately.
  • the immediate start self-cleaning instruction may be generated by other equipment and sent to the cleaning equipment, and the other equipment is connected to the cleaning equipment through communication, or it may also be caused by the cleaning equipment receiving a trigger that acts on a start self-cleaning button installed on the cleaning equipment. Generated during operation, this embodiment does not limit the way in which the cleaning device obtains the instruction to immediately start self-cleaning.
  • determining whether to start self-cleaning includes: determining to start self-cleaning when the self-cleaning start command is not received within a preset waiting time after exiting the cleaning mode.
  • controlling the cleaning equipment to work in the self-cleaning mode includes: determining the power supply mode corresponding to the self-cleaning mode.
  • the power supply mode includes the base station power supply mode and the local power supply mode; when controlling the cleaning equipment to work in the self-cleaning mode, use the determined The power supply method supplies power to cleaning equipment.
  • the base station power supply method refers to the method of powering the self-cleaning process through the base station.
  • the machine The power supply method refers to the method of powering the self-cleaning process through the power supply components in the cleaning equipment; the base station is used to interface with the cleaning equipment.
  • the power supply mode is determined to be the base station power supply mode.
  • the total power of the self-cleaning mode refers to the sum of the working power of each cleaning component when the cleaning equipment performs self-cleaning according to the cleaning mode.
  • the power threshold is pre-stored in the cleaning device.
  • the power threshold is less than or equal to the maximum output power of the powered component.
  • the self-cleaning method of the cleaning equipment determines whether the equipment status of the cleaning equipment meets the preset self-cleaning conditions by responding to the self-cleaning instruction for the cleaning equipment; when the equipment status does not meet the self-cleaning conditions, If the conditions are met, adjust the equipment status so that the adjusted equipment status meets the self-cleaning conditions; after the equipment status is adjusted, determine the self-cleaning mode of the cleaning component in the cleaning equipment; control the cleaning equipment to work in the self-cleaning mode to clean
  • the equipment performs self-cleaning; it can solve the problem that when the power of the floor washing machine does not meet the power requirements, it needs to receive two self-cleaning instructions before it starts self-cleaning, and the interval between the two self-cleaning instructions is long, making the floor washing machine inconvenient to use.
  • the power supply component since the remaining power of the power supply component is less than the maximum power threshold, the power supply component is charged first, and then the cleaning equipment is controlled to perform self-cleaning. This can avoid the interruption of the self-cleaning process due to insufficient power of the cleaning equipment during the self-cleaning process. situation to improve the self-cleaning efficiency of cleaning equipment.
  • the first water amount in the clean water tank is less than the first water amount threshold
  • the first water amount is first adjusted to be greater than or equal to the first water amount threshold, and then the cleaning equipment is controlled to automatically Cleaning can avoid the problem of poor self-cleaning effect of cleaning equipment due to insufficient cleaning fluid during the self-cleaning process, and improve the self-cleaning effect of cleaning equipment.
  • the second water amount in the sewage tank is greater than or equal to the second water amount threshold, the second water amount is first adjusted to be less than the second water amount threshold, and the cleaning equipment is controlled to perform self-cleaning, which can avoid the cleaning equipment being self-cleaning.
  • the self-cleaning process is interrupted due to the overfilling of the sewage tank, so as to improve the self-cleaning efficiency of the cleaning equipment.
  • the self-cleaning mode is determined based on the component information of the component to be cleaned, the determined self-cleaning mode can be matched with the status of the component to be cleaned, which can not only improve the cleaning effect of the component to be cleaned, but also avoid unnecessary cleaning processes. , saving resources consumed by the self-cleaning process.
  • the base station power supply mode to power the self-cleaning process can avoid using the local power supply mode when the output power of the power supply component does not meet the requirements of the self-cleaning mode.
  • Demand leads to the problem of reduced cleaning effect of cleaning equipment. Improving the self-cleaning efficiency of cleaning equipment can also avoid losses to power supply components and extend the service life of power supply components.
  • the cleaning equipment is controlled to work in the default self-cleaning mode, which can adapt to the needs of different usage scenarios. Expand the use scenarios of self-cleaning methods.
  • This embodiment provides a self-cleaning device for cleaning equipment, as shown in Figure 7 .
  • this device is applied to the cleaning equipment shown in FIG. 5 .
  • the device includes at least the following modules: a status determination module 410 , a status adjustment module 420 , a mode determination module 430 and a cleaning control module 440 .
  • Status determination module 410 configured to determine whether the equipment status of the cleaning equipment satisfies preset self-cleaning conditions in response to a self-cleaning instruction to the cleaning equipment;
  • the state adjustment module 420 is used to adjust the state of the equipment when the state of the equipment does not meet the self-cleaning condition. Under such circumstances, adjust the equipment status so that the adjusted equipment status satisfies the self-cleaning condition;
  • Mode determination module 430 configured to determine the self-cleaning mode of the cleaning component in the cleaning device after the device status is adjusted
  • the cleaning control module 440 is used to control the cleaning equipment to work according to the self-cleaning mode to perform self-cleaning on the cleaning equipment.
  • the self-cleaning device of the cleaning equipment provided in the above embodiment performs self-cleaning
  • only the division of the above functional modules is used as an example.
  • the above functions can be allocated to different modules as needed.
  • the internal structure of the self-cleaning device of the cleaning equipment is divided into different functional modules to complete all or part of the functions described above.
  • the self-cleaning device of the cleaning equipment provided in the above embodiments and the self-cleaning method embodiment of the cleaning equipment belong to the same concept. The specific implementation process can be found in the method embodiments and will not be described again here.
  • the electronic device may be the cleaning device in Figure 5.
  • the electronic device includes at least a processor 501 and a memory 502 .
  • the processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc.
  • the processor 501 can adopt at least one hardware form among DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), and PLA (Programmable Logic Array, programmable logic array).
  • the processor 501 may also include a main processor and a co-processor.
  • the main processor is a processor used to process data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); the co-processor is A low-power processor used to process data in standby mode.
  • the processor 501 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is responsible for rendering and drawing the content that needs to be displayed on the display screen.
  • the processor 501 may also include an AI (Artificial Intelligence, artificial intelligence) processor, which is used to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash 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 implement the cleaning device provided by the method embodiment in this application. self-cleaning method.
  • the electronic device optionally further includes: 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 to the peripheral device interface through a bus, a signal line or a circuit board.
  • peripheral devices include but are not limited to: radio frequency circuits, touch display screens, audio circuits, power supplies, etc.
  • the electronic device may also include fewer or more components, which is not limited in this embodiment.
  • this application also provides a computer-readable storage medium in which a program is stored, and the program is loaded and executed by the processor to implement the self-cleaning method of the cleaning equipment of the above method embodiment.
  • this application also provides a computer product, which computer product includes a computer-readable storage medium.
  • a program is stored in the computer-readable storage medium. The program is loaded and executed by a processor to implement the cleaning equipment of the above method embodiment. Self-cleaning method.
  • the cleaning equipment provided in this embodiment includes a floor washing machine and a base station connected to the floor washing machine.
  • the floor washing machine is connected to the base station for charging, or the floor washing machine is connected to the base station for self-cleaning, or the floor washing machine is connected to the base station for charging and self-cleaning at the same time.
  • the self-cleaning of the floor washing machine is as follows: the cleaning component 2 of the floor washing machine is operated so that the dirt attached to the cleaning component 2 falls off the cleaning component 2, thereby ensuring the cleaning efficiency of the floor washing machine.
  • the floor washing machine is used to perform cleaning actions on the surface to be cleaned to achieve a cleaning effect on the surface to be cleaned.
  • the surface to be cleaned can be floors or carpets with different roughness and heights.
  • the cleaning action may be a vacuuming action, a mopping action, or both vacuuming and mopping actions at the same time. This application does not specifically limit the type of cleaning surface and the cleaning actions that the floor washing machine can perform.
  • the floor washing machine includes a cleaning component 2 .
  • the cleaning assembly 2 includes a cleaning unit and a driving unit for driving the cleaning unit.
  • the cleaning unit is driven by the driving unit and is in contact with the object to be cleaned. surface contact to perform cleaning actions.
  • the type of cleaning unit can be adjusted according to the type of surface to be cleaned or the cleaning actions that the scrubber can perform, such as roller brushes, rag trays, etc.
  • the driving unit can be adjusted according to the type of cleaning unit, such as motor, cylinder, etc.
  • the driving unit is a motor
  • the motor can be directly connected to the cleaning unit;
  • the driving unit is a cylinder, the driving unit is connected to the cleaning unit through a transmission member.
  • the transmission unit can be a gear transmission, etc., to convert the linear motion of the cylinder into rotational motion.
  • the structure of the transmission unit is a conventional structure and will not be described in detail here.
  • the cleaning assembly 2 also includes a negative pressure unit adapted to generate negative pressure.
  • the negative pressure unit cooperates with the dirt storage unit of the floor washing machine, so that the negative pressure unit generates negative pressure in the dirt storage unit, thereby causing external dirt to be removed.
  • the dirt enters the dirt storage unit and is stored to ensure the cleaning effect of the floor washing machine.
  • the negative pressure unit may be a fan, which is an integrated device that drives a motor and a fan blade.
  • the negative pressure unit can also be provided separately for the drive motor and the fan blades, and the fan blades are arranged on the output shaft of the drive motor, etc.
  • the dirt storage unit may be a dust box for storing dust waste, and the dust box may be used only to store solid dirt.
  • the dust box has at least two separation chambers, one of which is suitable for solid-liquid separation to store solid dirt, and the other separation chamber is suitable for storing liquid dirt.
  • the dirt storage unit can also be an independent dust box and a sewage bucket.
  • the dirt is initially separated in the dust box, so that the solid dirt falls and is stored in the dust box, and the liquid dirt enters and is stored in the sewage bucket.
  • the floor washing machine also includes a clean water tank suitable for holding clean water.
  • the liquid in the clean water tank is transported to the cleaning component 2 through the water transmission unit to soak the cleaning component 2 to clean the surface to be cleaned, thereby ensuring the cleanliness of the floor washing machine. efficiency.
  • the floor washing machine only includes a water transmission unit.
  • the water transmission unit is connected to an external water source to transport the external water source to the cleaning component 2 so as to soak the cleaning component 2. This is not done here.
  • the waterway transportation unit includes a transportation pipeline and a pump body connected with the transportation pipeline.
  • the floor washing machine also includes a rechargeable battery 4.
  • the rechargeable battery 4 is connected to the cleaning component 2 and is suitable for providing power to the cleaning component 2 when the cleaning component 2 is running.
  • the rechargeable battery 4 makes the whole floor washing machine not limited by the length of the power cord, which facilitates user operation while ensuring the overall cleaning efficiency of the floor washing machine.
  • the rechargeable battery 4 is generally used as a battery
  • the bag is installed on the pole body of the floor washing machine.
  • the battery pack can be charged. Or, place the floor scrubber directly on the base station to charge the battery pack through the base station.
  • the floor washing machine includes a second power supply branch 5 electrically connected to the rechargeable battery 4 .
  • the base station includes a power conversion and transmission branch, and the input end of the power conversion and transmission branch is connected to the mains power.
  • the second output terminal 6 of the electric energy conversion and transmission branch is electrically connected to the second power supply branch 5 for conduction, and the electric energy output by the second output terminal 6 of the conversion and transmission branch can be transmitted sequentially.
  • the second output terminal 6 of the electric energy conversion and transmission branch outputs direct current.
  • the base station In order to prevent the power of the rechargeable battery 4 from falling below the set value when the floor washing machine is connected to the base station, the base station first charges the rechargeable battery 4 and cannot directly perform self-cleaning of the cleaning component 2.
  • the floor washing machine also includes The first power supply branch 1 is electrically connected to the cleaning component 2 .
  • the first output end 3 of the electric energy conversion and transmission branch is connected to the first power supply branch 1, and the electric energy output by the first output end 3 of the electric energy conversion and transmission branch is sequentially transmitted to the first power supply branch 1 and the cleaning component. 2.
  • the first output terminal 3 of the electric energy conversion and transmission branch outputs direct current.
  • the floor washing machine After the floor washing machine is connected to the base station, there is no need to detect the power of the rechargeable battery 4, and the first output end 3 of the power conversion transmission branch is electrically connected to the first power supply branch of the floor washing machine. , to directly provide electric energy to the cleaning component 2, the floor washing machine can immediately start self-cleaning, ensuring the cleaning efficiency of the floor washing machine.
  • the base station When the base station is connected to the floor scrubber and receives the self-cleaning command, after the first output end 3 of the power conversion transmission branch is electrically connected to the first power supply branch 1, it can provide power to the drive unit, negative pressure unit and water transport unit. One or more provide electrical energy.
  • the first power supply branch 1 and the second power supply branch 5 are provided on the floor washing machine, and the power conversion and transmission branch is provided with the first output terminal 3 and the second output terminal 6 .
  • the first output terminal 3, the first power supply branch 1 and the cleaning component 2 are electrically connected, and the second output terminal 6, the second power supply branch 5 and the rechargeable battery 4 are electrically connected.
  • the power conversion and transmission branch includes an AC/DC conversion unit 10, and the AC/DC conversion unit 10 is connected to The mains power is step-down rectified to form direct current.
  • the AC/DC conversion unit 10 has a first pin DC+, a second pin DC-, a third pin AC_L and a fourth pin AC_N, where the first pin DC+ is used to receive a cleaning command. , the second pin DC-signal is grounded.
  • the AC/DC conversion unit 10 converts alternating current into direct current through a diode rectifier circuit or a switching circuit.
  • the working flow of the AC/DC conversion unit 10 is mains access - power transformer - rectifier circuit - filter circuit - voltage stabilizing circuit. Specifically, the power frequency AC power is converted into pulsating DC power through a rectifier circuit, and then the AC component in the pulsating DC power is filtered out through a filter circuit, reducing the AC component and increasing the DC component. Finally, the voltage stabilizing circuit uses negative feedback technology to rectify the rectified DC power. The DC voltage is further stabilized.
  • the working principle and structure of the AC/DC conversion unit 10 are well known to those skilled in the art and will not be described in detail here.
  • the floor washing machine also includes a control unit 7 and a self-cleaning trigger circuit 9.
  • the control unit 7 is electrically connected to the self-cleaning trigger circuit 9 and the cleaning component 2 respectively.
  • the self-cleaning trigger circuit 9 sends a trigger signal to the control unit 7.
  • the control unit 7 sends a control signal to the cleaning component 2 to cause the cleaning component 2 to perform self-cleaning.
  • the control unit 7 is the control chip MCU in the figure, and the self-cleaning trigger circuit 9 is the switch SW in the figure.
  • the control chip MCU has a fifth pin 11, a sixth pin 12 and a seventh pin 13.
  • One end of the switch SW, one end of the resistor R and one end of the capacitor C are electrically connected to the fifth pin 11, and the other end of the resistor R Connect the power supply VCC, and the other end of the capacitor C and the other end of the switch SW are connected to the signal ground.
  • the self-cleaning trigger circuit 9 is triggered, thereby causing the control chip MCU to control the cleaning component 2 to perform self-cleaning.
  • Control chip MCU also known as micro control unit or single-chip microcomputer, appropriately reduces the frequency and specifications of the central processor, and integrates peripheral interfaces such as memory, counter, USB, A/D conversion, UART, PLC, DMA, etc., and even LCD drive circuits are integrated on a single chip to form a chip-level computer, which can perform different combinations of controls for different applications. It has the advantages of small size, low power consumption, strong control function, flexible expansion, miniaturization and ease of use. It is widely used in instruments and meters. Combined with different types of sensors, it can realize the measurement of physical quantities such as voltage, current, power, pressure, etc. Measurement. Its type, structure and working principle are all known to those skilled in the art. It is well known and will not be described in detail here. In other embodiments, a logic circuit can also be used to electrically connect the self-cleaning trigger circuit 9 and the cleaning component 2. The selection can be made according to actual needs and is not specifically limited here.
  • the floor washing machine also includes a docking detection part 8 for detecting whether the floor washing machine is docked with the base station.
  • the docking detection part 8 is electrically connected to the control unit to transmit the detection results to Control chip MCU.
  • the docking detection component 8 is a switching device, and the switching device is displaced under the action of external force to be triggered.
  • the external force can be human power or the object's own gravity or squeezing force, etc., and is not specifically limited here.
  • the base station and the floor washing machine are both provided with docking parts for docking with each other.
  • the switching device can be provided at the docking part of the base station, or at the docking part of the floor washing machine, or between the docking part of the base station and the floor washing machine.
  • the docking parts are equipped with switching devices.
  • the switch device When the floor scrubber is connected to the base station, the switch device is pressed by the floor scrubber and is displaced under the pressure so that the switch device is triggered.
  • the switch device has a transmission element on the outside and a contact that matches the transmission element on the inside. There is a certain distance between the transmission element and the contact.
  • the transmission element can be a push pin, a button, a lever, a roller, etc.
  • the wiring method, structure and working principle of the switching device are conventional technologies, and their types are not specifically limited here.
  • the docking detection component 8 is a pressure sensor, and the pressure sensor is triggered when the cleaning device is docked with the base station.
  • the pressure sensor may be provided on the docking part of the base station, or on the docking part of the floor washing machine, or pressure sensors may be provided on both the docking parts of the base station and the floor washing machine.
  • the floor washing machine When the floor washing machine is connected to the base station, the floor washing machine contacts the pressure sensor and exerts pressure on the pressure sensor. At this time, the pressure sensor is triggered by force and sends a signal to the control chip MCU.
  • a pressure sensor is a device or device that can sense pressure signals and convert the pressure signals into usable output electrical signals according to certain rules.
  • Pressure sensors usually consist of pressure sensitive elements It consists of software and signal processing unit. According to different test pressure types, pressure sensors can be divided into gauge pressure sensors, differential pressure sensors and absolute pressure sensors. Its wiring method, structure and working principle are conventional technologies and will not be discussed in detail here.
  • the floor washing machine provided in this embodiment includes a fuselage and a cleaning station connected to the fuselage.
  • the fuselage is docked with the cleaning station for charging, or the fuselage is docked with the cleaning station for self-cleaning, or the fuselage is docked with the cleaning station for charging and self-cleaning at the same time.
  • the cleaning component 23 of the fuselage is located on the cleaning station for self-cleaning, the fuselage is docked with the cleaning station.
  • the self-cleaning of the fuselage is as follows: the cleaning component 23 of the fuselage is operated to make the dirt attached to the cleaning component 23 fall off from the cleaning component 23, thereby ensuring the cleaning efficiency of the fuselage.
  • the body is suitable for performing cleaning actions on the surface to be cleaned to achieve a cleaning effect.
  • the surface to be cleaned can be floors, walls with different roughness, or surfaces of objects to be cleaned. This application does not specifically limit the type of surface to be cleaned.
  • the cleaning action can be a vacuuming action, a mopping action, or both vacuuming and mopping actions at the same time to ensure the cleaning efficiency of the fuselage.
  • the body includes a cleaning component 23 .
  • the cleaning assembly 23 at least includes a cleaning unit and a driving unit connected to the cleaning unit.
  • the cleaning unit is driven by the driving unit to rotate to clean the surface to be cleaned.
  • the cleaning unit can be a roller brush, a rag tray, etc., which can be set according to actual needs to mainly meet the cleaning needs of the surface to be cleaned.
  • the driving unit can be a motor, a cylinder, an electric cylinder, etc.
  • the driving unit is a motor
  • the motor has an output shaft that performs rotational motion, so the motor can be directly connected to the cleaning unit to drive the cleaning unit to rotate.
  • the driving unit is a pneumatic cylinder or an electric cylinder
  • the pneumatic cylinder and the electric cylinder make linear motion.
  • the cleaning assembly 23 also includes a transmission unit that connects the driving unit and the cleaning unit.
  • the transmission unit is suitable for connecting the pneumatic cylinder or the electric cylinder.
  • the linear motion of the safety ring is satisfied with the rotational motion.
  • the transmission unit may be a gear, a screw, etc., which is a conventional structure and will not be described in detail here.
  • the cleaning assembly 23 also includes a negative pressure unit adapted to generate negative pressure.
  • the negative pressure unit is connected with the dirt storage unit in the fuselage to form a negative pressure in the dirt storage unit, so that external dirt can be stored in the negative pressure unit. It enters the dirt storage unit and is stored under pressure to ensure the cleaning effect of the fuselage.
  • the negative pressure unit can be a fan, which is an integrated arrangement of a drive motor and fan blades. It has a compact structure and small volume, thereby reducing the overall volume of the fuselage.
  • the negative pressure unit can also be a separately provided drive motor and fan blades, and the fan blades are provided on the output shaft of the drive motor.
  • the dirt storage unit may be a dust box.
  • the dust box has only one separation chamber, and the separation chamber is used to store solid dirt.
  • the dust box has at least two separation chambers, one of which is suitable for performing solid-liquid separation and storing solid dirt, and the other separation chamber is suitable for storing liquid dirt. It is worth noting that when the dust box has at least two separation chambers, the negative pressure unit is connected to the separation chamber used to store liquid dirt, and the separation chamber used to store solid dirt is connected to the dust suction port of the fuselage.
  • the dirt storage unit can also be an independent dust box and a sewage bucket.
  • the dirt is initially separated in the dust box, so that the solid dirt falls and is stored in the dust box, and the liquid dirt enters and is stored in the sewage bucket.
  • the body also includes a fresh water tank suitable for holding fresh water.
  • the liquid in the clean water tank is transported to the cleaning unit through the water transport unit to soak the cleaning unit to clean the surface to be cleaned, thereby ensuring the cleaning efficiency of the floor washing machine.
  • the floor washing machine only includes a water transmission unit.
  • the water transmission unit is connected to an external water source to transport the external water source to the cleaning unit, thereby soaking the cleaning unit.
  • the waterway transportation unit includes a transportation pipeline and a pump body connected with the transportation pipeline.
  • the fuselage also includes a power supply component 22, which is electrically connected to the cleaning component 23 to provide power for the operation of the cleaning component 23.
  • the power supply component 22 is a battery pack.
  • the power supply assembly 22 is detachably installed on the fuselage, so that the fuselage is not limited by the length of the power cord during the cleaning process, which facilitates user operation while ensuring the cleaning efficiency of the fuselage.
  • the power supply component 22 has a set value, which is a power value that can support the operation of the cleaning component 23 .
  • the power supply component 22 can be disassembled from the fuselage for separate charging.
  • the fuselage is directly placed on the cleaning station to charge the power supply assembly 22 through the cleaning station.
  • the fuselage may also include a prompt component, which is connected to the power supply component 22 .
  • the prompt component When the power of the power supply component 22 is lower than the preset value, the prompt component is suitable for prompting the user to charge the power supply component 22 .
  • the prompt component can be in the form of a sound reminder, a color reminder or a flashing reminder.
  • the prompt component may be a buzzer, and when the power of the power supply component 22 is lower than the preset value, the buzzer will sound an alarm.
  • the prompt component may be an LED light. When the power of the power supply component 22 is lower than a preset value, the color of the LED light changes from green to red, or the LED light flashes to prompt the user.
  • the cleaning station also includes an external power input unit 21, which is connected to the commercial power. After the fuselage is connected to the cleaning station, the external power input unit 21 can transmit the power from the mains to the power supply component 22 .
  • the external power input unit 21 includes a rectifier unit, which is connected to the mains power and performs step-down and rectification processing on the mains power to convert it into direct current.
  • the rectifier unit is a circuit that uses the unidirectional conductivity of the diode to convert the positive and negative changing AC voltage into a unidirectional pulsating voltage. Under the action of the AC power supply, the rectifier diode turns on and off periodically, so that the load receives pulsating DC power.
  • the diode During the positive half cycle of the power supply, the diode is turned on, making the current and voltage waveform shapes on the load exactly the same; during the negative half cycle of the power supply voltage, the diode is in a reverse cutoff state, withstanding the negative half cycle voltage of the power supply, and the load voltage is almost zero, thus achieving Rectifier. It is a conventional structure and will not be described in detail here.
  • the external power input unit 21 may also include a voltage reduction unit connected to the rectification unit, and the voltage reduction unit is suitable for reducing the voltage of the rectified direct current.
  • the buck unit also has a conventional structure, such as an integrated inductor, etc., which will not be described again here.
  • the order of the voltage-reducing unit and the rectifying unit is not specifically limited. That is, in this embodiment, the mains power can be rectified first and then reduced, or it can be reduced first and then rectified, depending on the actual situation.
  • the cleaning station In order to prevent the power supply component 22 from being lower than the set value when the fuselage is connected to the cleaning station, the cleaning station needs to charge the power supply component 22 first and cannot control the cleaning component 23 to perform self-cleaning immediately.
  • the circuit switching unit is disposed on the fuselage or cleaning station, and selectively electrically connects the power supply component 22 and the cleaning component 23 , or electrically connects the external power input unit 21 and the cleaning component 23 , so as to switch the power supply component 22 or the external power input unit 21
  • the electric energy is transmitted to the cleaning component 23 to provide the electric energy required by the cleaning component 23 for self-cleaning.
  • the cleaning component 23 can immediately perform self-cleaning after the body is docked with the cleaning station; or, when the power of the power supply component 22 cannot support the cleaning component 23 to perform self-cleaning During self-cleaning, the body and cleaning After the station is docked, the external power input unit 21 can instantly provide power to the cleaning component 23 for self-cleaning, thereby ensuring the self-cleaning efficiency of the floor washing machine; or, regardless of whether the power of the power supply component 22 can support the cleaning component 23 for self-cleaning, After the machine body is docked with the cleaning station, the external power input unit 21 directly provides power to the cleaning component 23 for self-cleaning, thereby saving the power of the power supply component 22 and reducing the charging time of the power supply component 22 .
  • the circuit switching unit 24 includes a single pole double throw switch.
  • the single-pole double-throw switch includes a common terminal, a first terminal and a second terminal.
  • the common terminal is electrically connected to the cleaning component 23, the first terminal is electrically connected to the power supply component 22, and the second terminal is electrically connected to the external power supply.
  • the input unit 21 is electrically connected, and the single-pole double-throw switch selectively connects the common terminal to the first terminal or the common terminal to the second terminal.
  • the first terminal is connected to the common terminal so that the power from the external power input unit 21 is transmitted to the cleaning component 23 to provide power for self-cleaning of the cleaning component 23 .
  • the second terminal is connected to the common terminal, so that the power of the power supply component 22 is transmitted to the cleaning component 23 , thereby providing power for self-cleaning of the cleaning component 23 .
  • the circuit switching unit 24 also includes a control unit 41, and the body also includes a power detection unit connected to the power supply component 22.
  • the power detection unit is adapted to detect the power of the power supply component 22 and send the final power detection result.
  • the control unit 41 controls the first terminal to be connected to the common terminal or the second terminal to be connected to the common terminal according to the received power detection result.
  • the circuit switching unit 24 includes a relay including a single pole double throw switch and a coil.
  • the structure of the single-pole double-throw switch is the same as that of the above embodiment, and will not be described again here.
  • the circuit switching unit 24 also includes a control unit 41, which is electrically connected to the coil to control energization of the coil. Taking the energized common terminal of the coil as connected to the first terminal and the non-energized common terminal of the coil as connected to the second terminal as an example, similarly, when the power of the power supply component 22 is lower than the preset value, the control unit 41 controls the coil not to When powered on, the second terminal is connected to the common terminal, so that the electric energy from the external power input unit 21 is transmitted to the cleaning component 23 , thereby providing electric energy for self-cleaning of the cleaning component 23 .
  • control unit 41 controls the line The ring is energized, and the first terminal is connected to the common terminal, so that the electric energy of the power supply component 22 is transmitted to the cleaning component 23, thereby providing electric energy for the self-cleaning of the cleaning component 23.
  • the circuit switching unit 24 includes a first switch and a second switch.
  • One end of the first switch is electrically connected to the power supply component 22 and the other end is electrically connected to the cleaning component 23; one end of the second switch is electrically connected to the external power input unit. 21. The other end is electrically connected to the cleaning component 23.
  • the first switch and the second switch are both mechanical switches and need to be closed or opened under the action of external force.
  • the external force can be human or mechanical force, etc., which is not specifically limited here and depends on the actual situation.
  • the first switch when the power of the power supply component 22 is lower than the preset value, the first switch is closed and the second switch is opened, so that the power from the external power input unit 21 is transmitted to the cleaning component 23, thereby providing self-cleaning of the cleaning component 23. electrical energy.
  • the first switch is opened and the second switch is closed, so that the power of the power supply component 22 is transmitted to the cleaning component 23 to provide power for self-cleaning of the cleaning component 23 .
  • the floor washing machine also includes a first detection component 25.
  • the first detection component 25 is connected to the external power input unit 21 and is suitable for detecting whether the external power input unit 21 is connected to the commercial power.
  • the first detection component 25 may be a current sensor, a voltage sensor, etc., suitable for detecting whether there is current or whether the current flows to the external power input unit 21 .
  • the floor scrubber also includes a second detection component, which is arranged on the body and/or the base station to detect whether the body is docked with the base station.
  • the second detection component may be a pressure sensor, a Hall sensor, etc.
  • the second detection component is a pressure sensor
  • the body has a bottom
  • the cleaning station has a top that cooperates with the bottom support
  • the pressure sensor can be provided on the top or bottom.
  • a pressure sensor is a device or device that can sense pressure signals and convert the pressure signals into usable output electrical signals according to certain rules.
  • Pressure sensors usually consist of pressure sensitive components and signal processing units. According to different test pressure types, pressure sensors can be divided into gauge pressure sensors, differential pressure sensors and absolute pressure sensors. Its wiring method, structure and working principle are conventional technologies and will not be discussed in detail here.
  • the second detection component is a Hall sensor
  • it is set on one of the fuselage and the cleaning station.
  • the other side of the fuselage and the cleaning station is also equipped with a magnet that cooperates with the Hall sensor.
  • the Hall sensor can also be set on the top or bottom, and the magnet is set on the top or bottom.
  • the fuselage also includes a self-cleaning trigger component that causes the cleaning component 23 to perform self-cleaning when triggered.
  • the self-cleaning trigger component includes a trigger switch unit and a conduction switch unit. The trigger switch unit is triggered by an external force to close the conduction switch unit, thereby causing the circuit switching unit 24 to operate so that the cleaning component 23 performs self-cleaning.
  • Figure 13 is a schematic diagram of the floor washing machine in this embodiment.
  • the rectifier unit U39 in the example in the figure is equivalent to the above-mentioned rectifier unit, which converts the mains power into direct current.
  • the relay LS3 in the example in the figure is equivalent to the above-mentioned circuit switching unit 24 including the relay.
  • the control chip U38 in the example in the figure is equivalent to the above-mentioned control unit 41.
  • the switch SW5, the resistor R245 and the capacitor C148 in the example in the figure constitute the above-mentioned trigger.
  • Switching unit, in the example shown in the figure, resistor R243, resistor R244 and transistor Q2 form the above-mentioned conduction switching unit.
  • the first pin 1 and the second pin 2 of the rectifier unit are connected to the mains power
  • the third pin 3 of the rectifier unit is connected to the ground
  • the fourth pin 4 of the rectifier unit is connected to the third pin of the single pole double throw switch of the relay.
  • Two terminals 5 (DC+) the second terminal 5 is connected to the cleaning component 3 .
  • the first terminal 4 (BATTERY+) of the SPDT switch is connected to the power supply component 2, and the common terminal 3 of the SPDT switch is connected to the cleaning component 3.
  • One end 1 of the coil is connected to the power supply, the other end 2 of the coil is connected to the collector of transistor Q2, the emitter of transistor Q2 is connected to ground, the base of transistor Q2 is connected to one end of resistor R243, and the other end of resistor R243 is connected to the control chip U38 Output 2 is connected.
  • One end of resistor R244 is connected to resistor R243, and the other end of resistor R244 is connected to ground.
  • the input terminal 1 of the control chip U38 is connected to the common connection terminal of the switch SW4, the resistor R245, and the capacitor C148.
  • the other end of the resistor R245 is connected to the power supply, and the other ends of the capacitor C148 and the switch SW4 are grounded respectively.
  • the trigger switch unit is triggered, the conduction switch unit is closed, the control chip controls the coil to be energized through the conduction switch unit, and then controls the second terminal 5 of the single pole double throw switch of the relay to be connected to the common terminal 3.
  • the electric energy from the external power input unit 1 is transmitted to the cleaning component 3, thereby providing electric energy for self-cleaning of the cleaning component 3.

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Abstract

一种清洁设备的自清洁方法、清洁设备及存储介质，属于自动控制技术领域。清洁设备的自清洁方法包括：在清洁设备进行自清洁过程中，在检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态（201）；在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程（202）；可以解决在洗地机进行自清洁的过程中，如果将洗地机从基站中移走，则在洗地机再次接入基站后，需要再次接收到清洁指令才会开始自清洁，导致自清洁效率低的问题；由于在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程，而不需要再次接收清洁指令，因此，可以提高自清洁效率。

Description

洗地机、清洁设备的自清洁方法、清洁设备及存储介质
本公开要求如下专利申请的优先权：于2022年4月14日提交中国专利局、申请号为CN202210389941.3、发明名称为“清洁设备的自清洁方法、清洁设备及存储介质”的中国专利申请；于2022年4月14日提交中国专利局、申请号为CN202210389958.9、发明名称为“清洁设备的自清洁方法、清洁设备及存储介质”的中国专利申请；于2022年4月14日提交中国专利局、申请号为CN202220863921.0、发明名称为“清洁设备”的中国专利申请；于2022年4月14日提交中国专利局、申请号为CN202220863859.5、发明名称为“洗地机”的中国专利申请，上述专利申请的全部内容通过引用结合在本公开中。
技术领域
本申请属于自动控制技术领域，具体涉及清洁设备的控制方法、清洁设备及存储介质。
背景技术
清洁设备是指具有对待清洁表面进行清洁功能的设备。在执行清洁工作时，清洁设备的清洁机构会与待清洁表面接触，导致清洁机构脏污的问题。基于此，传统的清洁设备具有自清洁功能，即自动对清洁机构进行清洁的功能。
以清洁设备为洗地机为例，传统的清洁设备的自清洁方法，包括：洗地机与基站对接，若接收到自清洁指令，则执行自清洁操作。
然而，在洗地机进行自清洁的过程中，如果将洗地机从基站中移走，则在洗地机再次接入基站后，需要再次接收到自清洁指令才会开始自清洁，这就会导致洗地机使用不便利，自清洁过程智能性差的问题。
发明内容
本申请提供了清洁设备的自清洁方法、清洁设备及存储介质，可以解决在洗地机进行自清洁的过程中，如果将洗地机从基站中移走，则在洗地机再次接入基站后，需要再次接收到自清洁指令才会开始自清洁， 会导致洗地机使用不便利，自清洁过程智能性差问题。本申请提供如下技术方案：
第一方面，提供一种清洁设备的自清洁方法，所述清洁设备在自清洁过程中与基站对接，所述方法包括：
在所述清洁设备进行自清洁过程中，在检测到所述清洁设备与所述基站分离或者所述清洁设备自清洁过程中断的情况下，获取所述清洁设备当前的自清洁状态；
在检测到所述清洁设备与所述基站对接或者自清洁中断条件消除的情况下，基于所述自清洁状态执行自清洁过程。
可选地，在检测到所述清洁设备与所述基站对接的情况下，基于所述自清洁状态执行自清洁过程之前，还包括：
在检测到所述清洁设备与所述基站对接的情况下，确定是否基于所述自清洁状态执行所述自清洁过程；
在确定出基于所述自清洁状态执行所述自清洁过程的情况下，触发执行所述基于所述自清洁状态执行自清洁过程。
可选地，所述方法还包括：
在确定出不基于所述自清洁状态执行所述自清洁过程的情况下，确定是否基于所述自清洁过程的初始状态执行所述自清洁过程；
在确定出基于所述初始状态执行所述自清洁过程的情况下，基于所述初始状态执行所述自清洁过程。
可选地，所述确定是否基于所述自清洁过程的初始状态执行所述自清洁过程，包括：
获取所述清洁设备的第一设备状态，所述第一设备状态包括清洁设备上供电组件的剩余电量、所述清洁设备上清水箱的第一水量、所述清洁设备上污水箱的第二水量、和/或所述清洁设备当前所属时间段；所述清水箱用于容纳清洗液，以对所述清洁设备进行自清洁；所述污水箱用于容纳对所述清洁设备进行自清洁后的污水；
基于所述第一设备状态确定是否基于所述初始状态执行所述自清洁过程。
可选地，所述基于所述初始状态执行所述自清洁过程，包括：
获取所述清洁设备的第二设备状态，所述第二设备状态包括所述清洁设备上待清洁机构的机构脏污程度、所述待清洁机构的机构类型、所述清洁设备上供电组件的剩余电量、所述清洁设备上清水箱的第一水量和/或所述清洁设备上污水箱的第二水量；所述清水箱用于容纳清洗液，以对所述清洁设备进行自清洁；所述污水箱用于容纳对所述清洁设备进行自清洁后的污水；
基于所述第二设备状态确定当前自清洁模式，所述清洁设备包括至少两种自清洁模式；
基于所述当前自清洁模式的初始状态执行所述自清洁过程。
可选地，所述确定是否基于所述自清洁状态执行所述自清洁过程，包括：
获取所述清洁设备上待清洁机构的机构脏污程度；按照所述机构脏污程度确定是否基于所述自清洁状态执行所述自清洁过程；
或者，
获取与所述基站分离至与所述基站对接之间的间隔时长；按照所述间隔时长确定是否基于所述自清洁状态执行所述自清洁过程；
或者，
获取所述待清洁机构的第一工作参数；基于所述第一工作参数和与所述基站分离时所述清洁机构的第二工作参数确定是否基于所述自清洁状态执行自清洁过程，此时，所述自清洁状态包括所述第二工作参数。
可选地，所述清洁设备中安装有供电组件和与所述供电组件相连的充电回路，所述基站上安装有充电组件，所述充电组件用于通过所述充电回路为所述供电组件充电；所述方法还包括：
基于所述充电组件与所述充电回路之间的接通状态，确定所述清洁设备与所述基站分离或对接。
可选地，所述清洁设备上安装有传感组件，所述传感组件用于识别所述清洁设备与所述基站是否对接；所述方法还包括：
基于所述传感组件的传感结果，确定所述清洁设备与所述基站分离或对接。
可选地，所述基于所述自清洁状态执行自清洁过程之后，还包括：
在接收到自清洁停止指令的情况下，基于所述自清洁停止指令确定下一次检测到所述清洁设备与所述基站对接或者自清洁中断条件消除时是否执行所述基于所述自清洁状态执行自清洁过程的步骤。
第二方面，提供一种清洁设备，所述设备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第一方面提供的清洁设备的自清洁方法。
第三方面，提供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第一方面提供的清洁设备的自清洁方法。
本申请的有益效果至少包括：通过在检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态；在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程；可以解决在洗地机进行自清洁的过程中，如果将洗地机从基站中移走，则在洗地机再次接入基站后，需要再次接收到清洁指令才会开始自清洁，导致自清洁效率低的问题；由于在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程，而不需要再次接收清洁指令，因此，可以便于清洁设备的使用，提高自清洁过程的智能性。
同时，由于在自清洁过程中检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态，并在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程，因此，可以避免重复执行已执行的自清洁过程造成资源浪费的问题，提高自清洁过程的智能性。
另外，由于在检测到清洁设备与基站对接的情况下，确定是否基于自清洁状态执行自情况过程，可以避免在清洁设备与基站分离后清洁设备的设备状态发生改变的情况下，基于自清洁状态执行自清洁过程导致自清洁过程会导致自清洁效果差的问题，因此，可以提高自清洁的效果。
另外，由于按照机构脏污程度确定是否基于自清洁状态执行自清洁过程，可以避免在待清洁机构的机构脏污程度改变的情况下，基于自清洁状态执行自清洁过程导致的自清洁效果不佳的问题，因此，可以提高 自清洁的效果。
另外，由于在清洁设备与基站分离至与基站对接之间的间隔时长大于时长阈值的情况下，清洁设备在与基站分离后可能执行了清洁操作，这就会导致清洁设备的设备状态会改变，此时，如果基于自清洁状态执行自清洁过程可能会导致自清洁效果不佳和/或自清洁过程中断的问题，因此，在间隔时长小于或等于预设时长阈值的情况下，才基于自清洁状态执行自清洁，可以避免由于清洁设备的设备状态改变导致自清洁效果不佳的问题，提高自清洁的效果。
另外，由于在确定出不基于自清洁状态执行自清洁过程情况下，清洁设备可以不执行自清洁过程，或者也可以基于自清洁过程的初始状态执行自清洁过程，因此，在基于清洁过程的初始状态执行清洁过程之前，判断是否基于自清洁过程的初始状态执行自清洁过程，可以提高清洁过程的智能性。
另外，由于基于第一设备状态确定是否基于初始状态执行自清洁过程，可以解决在清洁设备的设备状态不满足从初始状态进行自清洁的条件的情况下，基于自清洁过程的初始状态执行自清洁过程可能会导致自清洁设备出现电量不足、清水箱中第一水量不足、污水箱中第二水量过满、自清洁时间不符合用户习惯等问题，因此，可以提高清洁过程的智能性。
另外，由于基于第二设备状态确定当前自清洁模式，可以使确定出的自清洁模式与清洁设备的设备状态相匹配，避免自清洁过程因电量不足、清水箱中第一水量不足、污水箱中第二水量过满而导致的自清洁中断的问题和自清洁模式与待清洁部件脏污程度不符的问题，因此，可以提高自清洁的效率和自清洁效果。
另外，由于在接收到自清洁停止指令的情况下，基于自清洁停止指令确定下一次检测到清洁设备与基站对接或者自清洁中断条件消除时是否执行基于自清洁状态执行自清洁过程的步骤，可以根据用户的使用习惯确定是否基于自清洁状态执行自清洁过程，因此，可以提高清洁过程的智能性。
另外，由于基于充电组件与充电回路之间的接通状态，确定清洁设 备与基站分离或对接，因此，不需要额外设置传感组件即可检测清洁设备与基站之间分离或对接，可以减小对清洁设备硬件的要求。
另外，由于第一传感组件不仅可以检测清洁设备与基站是否对接，还可以检测清洁设备与基站的对接姿态是否准确，因此，可以提高清洁设备与基站之间分离与对接检测的准确性。
清洁设备是指具有对待清洁表面进行清洁功能的设备。在执行清洁工作时，清洁设备的清洁机构会与待清洁表面接触，导致清洁机构脏污的问题。基于此，现有的清洁设备通常还具有自清洁功能，即自动对清洁机构进行清洁的功能。
以清洁设备为洗地机为例，传统的清洁设备的自清洁方法，包括：洗地机与基站对接，若接收到自清洁指令，判断洗地机中供电组件的电量是否满足电量要求；在电量不满足电量要求的情况下，利用基站对洗地机进行充电。之后，在充电后的电量满足电量要求的情况下，若再次接收到自清洁指令才执行自清洁操作。
然而，洗地机的电量不满足电量要求时，需要接收两次自清洁指令才会开始自清洁，且两次自清洁指令的间隔时间长，这就会导致洗地机使用不便利，自清洁启动效率较低的问题。
本申请提供了清洁设备的自清洁方法、清洁设备及存储介质，可以解决传统的洗地机在电量不满足电量要求时，需要接收两次自清洁指令才会开始自清洁，会导致自清洁启动效率较低的问题。本申请提供如下技术方案：
第一方面，提供一种清洁设备的自清洁方法，用于洗地机中，所述方法包括：
响应于对所述清洁设备的自清洁指令，确定所述清洁设备的设备状态是否满足预设的自清洁条件；
在所述设备状态未满足所述自清洁条件的情况下，调整所述设备状态，以使调整后的设备状态满足所述自清洁条件；
在所述设备状态调整后，确定所述清洁设备中清洁组件的自清洁模式；
控制所述清洁设备按照所述自清洁模式工作，以对所述清洁设备进行自清洁。
可选地，所述确定所述清洁设备的设备状态是否满足预设的自清洁条件，包括：
确定所述清洁设备中供电组件的剩余电量是否大于或等于最低电量阈值；
在所述设备状态未满足所述自清洁条件的情况下，调整所述设备状态，包括：
在所述剩余电量小于所述最低电量阈值的情况下，对所述供电组件进行充电。
可选地，所述确定所述清洁设备的设备状态是否满足预设的自清洁条件，包括：
确定所述清洁设备中清水箱的第一水量是否大于或等于第一水量阈值；所述清水箱用于容纳清洗液，以对所述清洁设备进行自清洁；
在所述设备状态未满足所述自清洁条件的情况下，调整所述设备状态，包括：
在所述第一水量小于所述第一水量阈值的情况下，将所述第一水量调整至大于或等于所述第一水量阈值。
可选地，所述确定所述清洁设备的设备状态是否满足预设的自清洁条件，包括：
确定所述清洁设备中污水箱的第二水量是否小于第二水量阈值；所述污水箱用于容纳对所述清洁设备进行自清洁后的污水；
在所述设备状态未满足所述自清洁条件的情况下，调整所述设备状态，包括：
在所述第二水量大于或等于所述第二水量阈值的情况下，将所述第二水量调整至小于所述第二水量阈值。
可选地，所述确定所述清洁设备中清洁组件的自清洁模式，包括：
获取待清洁部件的部件信息；
基于所述部件信息确定所述自清洁模式。
可选地，所述控制所述清洁设备按照所述自清洁模式工作，包括：
确定所述自清洁模式对应的供电方式，所述供电方式包括基站供电方式和本机供电方式；其中，所述基站供电方式是指通过基站为自清洁过程供电的方式，所述本机供电方式是指通过所述清洁设备中的供电组件为自清洁过程供电的方式；所述基站用于与所述清洁设备对接；
在控制所述清洁设备按照所述自清洁模式工作时，使用所述供电方式为所述清洁设备供电。
可选地，所述确定所述自清洁模式对应的供电方式，包括：
在所述自清洁模式的总功率大于或等于功率阈值的情况下，确定所述供电方式为所述基站供电方式。
可选地，所述确定所述清洁设备中清洁组件的自清洁模式之前，还包括：
确定是否自动确定所述自清洁模式；
在确定出不自动确定所述自清洁模式的情况下，控制所述清洁设备按照默认自清洁模式工作，以对所述清洁设备进行自清洁。
第二方面，提供一种清洁设备，所述清洁设备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第一方面提供的清洁设备的自清洁方法。
第三方面，提供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第一方面提供的清洁设备的自清洁方法。
本申请的有益效果至少包括：通过响应于对清洁设备的自清洁指令，确定清洁设备的设备状态是否满足预设的自清洁条件；在设备状态未满足自清洁条件的情况下，调整设备状态，以使调整后的设备状态满足自清洁条件；在设备状态调整后，确定清洁设备中清洁组件的自清洁模式；控制清洁设备按照自清洁模式工作，以对清洁设备进行自清洁；可以解决洗地机的电量不满足电量要求时，需要接收两次自清洁指令才会开始自清洁，且两次自清洁指令的间隔时间长，导致洗地机使用不便利，自清洁启动效率较低的问题；由于在设备状态调整后，确定清洁设备中清洁组件的自清洁模式，并控制清洁设备按照清洁模式工作，所以只需要接收一次自清洁指令即可开始自清洁，因此，可以提高清洁设备的智能 性和自清洁启动的效率。
另外，由于在供电组件的剩余电量小于最大电量阈值的情况下，先对供电组件进行充电，再控制清洁设备进行自清洁，可以避免清洁设备在自清洁过程中因电量不足而导致自清洁过程中断的情形，提高清洁设备的自清洁的效率。
另外，由于在清水箱中的第一剩余水量小于第一水量阈值的情况下，先将第一水量调整至大于或等于第一水量阈值，再控制清洁设备进行自清洁，可以避免清洁设备在自清洁过程中由于清洗液不足导致自清洁效果差的问题，提高清洁设备的自清洁效果。
另外，由于在污水箱中的第二剩余水量大于或等于第二水量阈值的情况下，先将第二水量调整至小于第二水量阈值，在控制清洁设备进行自清洁，可以避免清洁设备在自清洁过程中由于污水箱过满而导致自清洁过程中断的情形，提高清洁设备的自清洁的效率。
另外，由于基于待清洁部件的部件信息确定自清洁模式，可以使确定出的自清洁模式与待清洁部件的状态相匹配，既可以提高待清洁部件的清洁效果，也可以避免不必要的清洁过程，节省自清洁过程耗费的资源。
另外，由于可以选择采用基站供电或者本机供电的方式为自清洁过程供电，因此，可以针对不同的自清洁模式设置不同的供电方式，以满足不同清洁模式对供电功率的需求，提高清洁设备的自清洁效果。
另外，由于在自清洁模式的总功率大于或等于功率阈值的情况下，使用基站供电方式为自清洁过程供电，既可以避免使用本机供电方式供电时供电组件的输出功率不满足自清洁模式的需求导致清洁设备的清洁效果降低的问题，提高清洁设备的自清洁效率，也可以避免对供电组件造成损耗，延长供电组件的使用寿命。
另外，由于在自动确定自清洁模式之前确定是否自动确定自清洁模式，在确定出不自动确定自清洁模式的情况下，控制清洁设备按照默认自清洁模式工作，可以适应不同使用场景下的需求，拓宽自清洁方法的使用场景。
清洁设备包括洗地机和基站，在洗地机完成清洁工作后，一般会与基站对接，以对洗地机上的电池包进行充电和/或使洗地机的清洁组件进行自清洁。现有技术中，洗地机在接入基站后，如果自身的电池包的电量低于一定值时，需先对电池包进行充电，直至电池包的电量满足一定值后，再由电池包为清洁设备提供电量进而进行自清洁，导致洗地机的自清洁效率低下。
因此，本申请所要解决的技术问题是清洁设备与基站对接后，基站需要先对清洁设备的电池进行充电，充电完成后，清洁设备再进行自清洁工作，清洁速度慢。
为解决上述技术问题，本申请提供清洁设备，包括：
洗地机，包括第一供电支路和清洁组件，所述第一供电支路与所述清洁组件电性连接；以及
基站，包括电能转换传输支路，所述电能转换传输支路的输入端接入市电，所述电能转换传输支路的第一输出端输出直流电；
其中，当所述洗地机与所述基站对接且启动自清洁指令后，所述电能转换传输支路的第一输出端与所述第一供电支路电导通，所述电能转换传输支路的第一输出端输出的电能依次传输至所述第一供电支路、所述清洁组件，以提供所述清洁组件自清洁时所需的电能。
优选地，上述洗地机还包括可充电电池和第二供电支路，所述可充电电池与所述第二供电支路电性连接，所述电能转换传输支路还包括第二输出端，所述电能转换传输支路的第二输出端输出直流电。
优选地，当上述洗地机与所述基站对接后，所述电能转换传输支路的第二输出端与所述第二供电支路电导通，所述电能转换传输支路的第二输出端输出的电能依次传输至所述第二供电支路、所述可充电电池，以给所述可充电电池充电。
优选地，上述电能转换传输支路包括AC/DC转换单元，所述AC/DC转换单元接入市电以对所述市电进行降压整流形成直流电。
优选地，上述洗地机还包括控制单元和自清洁触发回路，所述控制单元分别与所述自清洁触发回路、所述清洁组件电性连接，当启动所述自清洁指令时，所述自清洁触发回路发出触发信号至所述控制单元，所 述控制单元在接收到所述触发信号后，发出控制信号至所述清洁组件以使所述清洁组件进行自清洁。
优选地，上述洗地机还包括用于检测所述洗地机是否与所述基站对接的对接检测件，所述对接检测件与所述控制单元电性连接以将检测结果传输至所述控制单元。
优选地，上述对接检测件为开关器件，所述开关器件在外力作用下发生位移以被触发。
优选地，上述对接检测件为压力传感器，所述压力传感器在所述清洁设备和所述基站对接时被触发。
本申请提供的技术方案，具有以下优点：本申请通过在基站上设置有电能转换传输支路，在洗地机内设置有与清洁组件电性连接的第一供电支路，电能转换传输支路的第一输出端与第一供电支路电性连接；该电能转换传输支路适于将市电转换以输出直流电，以在洗地机与基站对接后，电能转换传输支路的第一输出端与洗地机的第一供电支路导通，而洗地机的第一供电支路为洗地机的自清洁供电，因而无论洗地机自身电量多少，洗地机在与基站对接充电时，皆可立即启动自清洁，提高清洁设备的自清洁效率。
洗地机包括机体及与机体对接的清洁站，机体在完成清洁工作后，一般会与清洁站对接，以对机体上的电池包进行充电和/或使机体的清洁组件进行自清洁。现有技术中，机体在与清洁站对接后，如果自身的电池包的电量低于一定值时，需先对电池包进行充电，直至电池包的电量满足一定值后，再由电池包为清洁组件提供电量进而进行自清洁，导致洗地机的自清洁效率低下。
因此，本申请所要解决的技术问题是如何提高洗地机的自清洁效率。
为解决上述技术问题，本申请提供的洗地机，所述洗地机包括：
机身，包括供电组件和清洁组件；
清洁站，包括外部电源输入单元，所述外部电源输入单元连接市电；以及
电路切换单元，设置于所述机身或所述清洁站；
其中，所述电路切换单元选择性的电连通所述供电组件与所述清洁组件、或者电连通所述外部电源输入单元与所述清洁组件，以将所述供电组件或所述外部电源输入单元的电能传送至所述清洁组件，以提供所述清洁组件自清洁时所需的电能。
可选地，上述的洗地机，当所述清洁组件位于所述清洁站上且处于自清洁状态时，所述机身与所述清洁站对接。
可选地，上述的洗地机，所述电路切换单元包括单刀双掷开关，所述单刀双掷开关包括公共端、第一接线端和第二接线端，所述公共端与所述清洁组件电性连接，所述第一接线端与所述供电组件电性连接，所述第二接线端与所述外部电源输入单元电性连接，所述单刀双掷开关选择性的导通所述公共端与所述第一接线端或者导通所述公共端与所述第二接线端。
可选地，上述的洗地机，所述电路切换单元包括继电器，所述继电器包括所述单刀双掷开关和线圈；
当所述线圈不通电时，所述公共端与所述第一接线端电导通；当所述线圈通电时，所述公共端与所述第二接线端电导通；或者，
当所述线圈不通电时，所述公共端与所述第二接线端电导通；当所述线圈通电时，所述公共端与所述第一接线端电导通。
可选地，上述的洗地机，所述电路切换单元还包括控制单元，所述控制单元与所述线圈电性连接以控制所述线圈通电。
可选地，上述的洗地机，所述电路切换单元包括第一开关和第二开关，所述第一开关的一端电连接所述供电组件，另一端电连接所述清洁组件；所述第二开关的一端电连接所述外部电源输入单元，另一端电连接所述清洁组件。
可选地，上述的洗地机，外部电源输入单元包括整流单元，所述整流单元接入市电并将所述市电进行降压和整流处理转换成直流电。
可选地，上述的洗地机，所述洗地机还包括第一检测件；
所述第一检测件与所述外部电源输入单元连接，适于检测所述外部电源输入单元是否接入市电。
可选地，上述的洗地机，所述洗地机还包括第二检测件，所述第二 检测件设置在所述机体和/或所述基站上，以检测所述机体是否与所述基站对接。
本申请提供的技术方案，具有以下优点：本申请通过设置有外部电源输入单元及电路切换单元，外部电源输入单元连接市电以将市电的电能传输，而电路切换单元则可选择性地电连通机身的供电组件与清洁组件，或连接外部电源输入单元和清洁组件，从而为清洁组件的自清洁提供电能；通过上述方式，在供电组件的电量足以支持清洁组件进行自清洁时，机体与清洁站对接后可使清洁组件即时进行自清洁，或者，在供电组件的电量不能支持清洁组件进行自清洁时，机体与清洁站对接后可通过外部电源输入单元即时为清洁组件提供电量以进行自清洁，从而保证洗地机的自清洁效率。
附图说明
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。
图1是本申请一个实施例提供的清洁设备的结构示意图；
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示意图；
图3是本申请一个实施例提供的清洁设备的自清洁装置的框图；
图4是本申请一个实施例提供的电子设备的框图。
图5是本申请一个实施例提供的清洁设备的结构示意图；
图6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；
图7是本申请一个实施例提供的清洁设备的自清洁装置的框图；
图8是本申请一个实施例提供的电子设备的框图。
图9为本申请一实施例的清洁设备的模块示意图；
图10为图9所示的AC/DC转换单元的电路图；
图11为图9所示的控制单元与自清洁触发回路连接的电路图。
图12为本申请一实施例的洗地机的部分电路模块框图；
图13为本申请一实施例的洗地机的部分电路原理图。
附图标记说明：
1-第一供电支路；11-第五引脚；12-第六引脚；13-第七引脚；2-清洁组件；3-第一输出端；4-可充电电池；5-第二供电支路；6-第二输出端；7-控制单元；8-对接检测件；9-自清洁触发回路；10-AC/DC转换单元。
21-外部电源输入单元；
22-供电组件；
23-清洁组件；
24-电路切换单元；41-控制单元；
25-第一检测件。
具体实施方式
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。
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。
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。
图1是本申请一个实施例提供的清洁设备的结构示意图。其中，清洁设备包括但不限于：扫地机、洗地机、扫拖一体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。该清洁设备至少包括待清洁机构1010、清洁组件1020、供电组件1030和控制器1040。
待清洁机构1010为清洁设备进行自清洁时的清洁对象。
在一个示例中，待清洁机构1010是清洁件，该清洁件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。清洁件可以为毛刷、滚刷或者抹布等，清洁设备上安装的清洁件的数量可以为一个或者至少两个，本实施例不对清洁件的实现方式和数量作限定。
一般地，清洁件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/或底部边缘等位置，本实施例不对清洁件的安装位置作限定。
在其它实现方式中，待清洁机构1010也可以为清洁设备上的清水箱、污水箱、输水管道等，本实施例不对待清洁机构1010的实现方式作限定。本实施例中，以待清洁机构1010为清洁件为例进行说明。
清洁组件1020用于辅助待清洁机构1010进行清洁工作。在清洁设备进行自清洁时，清洁组件1020用于对待清洁机构1010进行清洁。
可选地，清洁组件1020可以为输水组件、吸水组件和/或加热组件，本实施例不对清洁组件1020的类型作限定。
一般地，清洁组件1020与待清洁机构1010相对安装，比如：清洁组件1020位于待清洁机构1010后侧、前侧、和/或上方等位置，本实施例不对清洁组件1020的安装位置作限定。
本实施例中，清洁设备在自清洁过程中与基站对接，基站上设置有与清洁设备相匹配的清洁设备对接部。
在一个示例中，基站上设置有自清洁辅助组件，比如清洗池、烘干组件、臭氧发生器等。自清洁辅助组件用于在清洁设备进行自清洁的过程中对待清洁组件1020进行自清洁。
可选地，清洁组件1020包括输水组件1021，相应地，清洁设备还包括清水箱1050，清水箱用于容纳清洗液，以对清洁设备进行自清洁。清水箱1050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清洗液相同或不同。
其中，清洗液可以为清水，或者，也可以为水和清洗剂的混合物，本实施例不对清洗液类型作限定。
输水组件1021的一端与清水箱1050相连，另一端朝向待清洁机构 1010，以将清水箱1050中的液体输送至待清洁机构1010。
示意性地，输水组件1021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1050相连、另一端朝向待清洁机构1010。
在一个示例中，在清洁设备执行清洁工作时，输水组件1021向待清洁机构1010或者待清洁表面喷水，以提升对待清洁表面的清洁效果。
在另一个示例中，在清洁设备执行自清洁工作时，输水组件1021向待清洁机构1010或者基站的清洁设备对接部喷水，以提升对待清洁机构1010的清洁效果。
可选地，清洁组件1020包括吸水组件1022，相应地，清洁设备还包括污水箱1060，污水箱1060用于容纳对清洁设备进行自清洁后的污水。吸水组件1022用于吸取待清洁机构1010的污水并输送至污水箱1060。
示意性地，吸水组件1022包括吸水电机(或称主电机)和与吸水电机相配合的吸水管道。其中，吸水电机与污水箱1060相连，用于吸取污水箱1060内的空气，使得污水箱1060内形成负压；吸水管道的一端与污水箱1060相连、另一端朝向待清洁机构1010。在污水箱内的气压小于外界环境中的气压时，吸水管道吸取清洁机构1010的污水并输送至污水箱1060。
供电组件1030用于为清洁设备的供电。
控制器1040可以为清洁设备内部安装的微控制单元，或者任何具有控制功能的组件，本实施例不对控制器1040的类型作限定。
本实施例中，控制器1040用于：在清洁设备进行自清洁过程中，在检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态；在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程。
在一个示例中，输水组件1021和吸水组件1022分别与控制器1040相连，以在控制器1040的控制下，将清水箱1050的液体输送至待清洁机构1010，以及将喷向待清洁机构1010后产生污水吸取至污水箱1060。
在一个示例中，供电组件1030与控制器1040相连，以获取供电组件1030的剩余电量。
可选地，清洁设备还包括与供电组件1030相连的充电回路1070。充电回路1070与控制器1040相连，以控制充电回路1070与供电组件1030的接通与断开。
可选地，在清洁设备与基站对接时，充电回路1070与基站的充电组件接通，以通过基站的充电组件为供电组件1030充电。
可选地，检测清洁设备与基站分离或对接的方式包括但不限于以下几种：
第一种：基于充电组件与充电回路1070之间的接通状态，确定清洁设备与基站分离或对接。此时，控制器1040还用于检测供电组件1030与充电回路1070的接通状态。
可选地，基于充电组件与充电回路1070之间的接通状态，确定清洁设备与基站分离或对接，包括：在确定出充电组件与充电回路1070之间的接通的情况下，确定清洁设备与基站对接；在确定出充电组件与充电回路1070之间的断开的情况下，确定清洁设备与基站分离。
可选地，充电组件与充电回路1070之间的接通方式可以为接触式接通，或者，也可以为非接触式接通，本实施例不对充电组件与充电回路1070之间的接通方式作限定。
在一个示例中，充电组件包括第一导片，充电回路1070包括第二导片，第一导片与第二导片相对设置；在清洁设备与基站对接的情况下，第一导片与第二导片接触，此时，充电组件与充电回路1070之间接通；在清洁设备与基站分离的情况下，第一导片不与第二导片接触，此时，充电组件与充电回路1070之间断开。
在另一个示例中，充电组件包括磁感发射线圈，用于将电能转换为磁能输出，相应地，充电回路1070包括磁感接收线圈，用于将接收到的磁能转换为电能，磁感发射线圈与磁感接收线圈相对设置；在清洁设备与基站对接的情况下，磁感接收线圈可以接收到磁感发射线圈输出的磁能，此时，充电组件与充电回路1070之间接通；在清洁设备与基站分离的情况下，磁感接收线圈不能接收到磁感发射线圈输出的磁能，此时，充电组件与充电回路1070之间断开。
第二种：清洁设备设置有第一传感组件1080，第一传感组件1080与 控制器1040相连，以基于第一传感组件1080的传感结果确定清洁设备与基站分离或对接。第一传感组件1080可以为激光传感器、红外传感器、超声波传感器或者图像传感器，本实施例不对第一传感组件1080的类型作限定。
在一个示例中，基站的清洁设备对接部上设置有标记件，第一传感组件1080与标记件相对设置。在传感结果指示检测到标记件的情况下，确定清洁设备与基站对接；在传感结果指示未检测到标记件的情况下，确定清洁设备与基站分离。
在另一个示例中，基站的清洁设备对接部上设置有与第一传感组件1080相对的信号发射组件。在传感结果指示检测到信号发射组件发射的信号的情况下，确定清洁设备与基站对接；在传感结果指示未检测到信号发射组件发射的信号的情况下，确定清洁设备与基站分离。
可选地，为了实现对清水箱1050中的第一水量进行监控，清水箱1050中设置有第二传感组件1090，第二传感组件1090与控制器1040相连，以获取清水箱1050中的第一水量。第二传感组件1090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组件1090的类型作限定。
可选地，为了实现对污水箱1060中的第二水量进行监控，污水箱1060中设置有第三传感组件1100，第三传感组件1100与控制器1040相连，以获取污水箱1060中的第二水量。第三传感组件1100的类型与第二传感组件1090的类型相同或不同，第三传感组件1100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，本实施例不对第三传感组件1100的类型作限定。
可选地，为了对待清洁机构1010的脏污程度进行检测，清洁设备上安装有第四传感组件1110，第四传感组件1110与控制器1040相连，用于确定待清洁机构1010的脏污程度。其中，第四传感组件1110的实现方式包括但不限于以下几种：
第一种：第四传感组件1110为图像传感器。此时，图像传感器用于采集待清洁机构1010的部件图像，以通过对部件图像进行图像识别，得到待清洁机构1010的脏污程度。相应地，图像传感器的采集范围包括待 清洁机构1010。或者，图像传感器用于采集污水箱1060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待清洁机构1010的脏污程度呈正相关关系。
第二种：第四传感组件1110为红外传感器、和/或光电传感器。此时，第四传感组件1110安装在吸水组件1022和/或污水箱1060内，以采集污水的透明程度，污水的透明程度与待清洁机构1010的脏污程度呈负相关关系。
在实际实现时，清洁设备还可以包括其它组件，比如：手柄、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。
本实施例中，通过在检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态；在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程；可以解决在洗地机进行自清洁的过程中，如果将洗地机从基站中移走，则在洗地机再次接入基站后，需要再次接收到清洁指令才会开始自清洁，导致自清洁效率低的问题；由于在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程，而不需要再次接收清洁指令，因此，可以便于清洁设备的使用，提高自清洁过程的智能性。
同时，由于在自清洁过程中检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态，并在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程，因此，可以避免重复执行已执行的自清洁过程造成资源浪费的问题，提高自清洁过程的智能性。
另外，由于基于充电组件与充电回路之间的接通状态，确定清洁设备与基站分离或对接，因此，不需要额外设置传感组件即可检测清洁设备与基站之间分离或对接，可以减小对清洁设备硬件的要求。
另外，由于第一传感组件不仅可以检测清洁设备与基站是否对接，还可以检测清洁设备与基站的对接姿态是否准确，因此，可以提高清洁设备与基站之间分离与对接检测的准确性。
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。
本实施例提供的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：
步骤201，在清洁设备进行自清洁过程中，在检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态。
检测清洁设备与基站分离或对接的方式参见上述设备实施例，本实施例在此不再赘述。
可选地，清洁设备自清洁过程中断，包括：清洁设备在自清洁过程中检测清洁设备的当前状态；在当前状态满足自清洁中断条件的情况下，控制清洁设备中止自清洁。
可选地，自清洁中断条件的类型包括但不限于以下几种：
第一种：清水箱中的第一水量小于预设的第一水量阈值。此时，检测清洁设备的当前状态，包括：获取第二传感组件采集的第二传感信号；基于第二传感信号确定第一水量。
其中，第一水量阈值预先存储在清洁设备中。在一个示例中，第一水量阈值接近于零。
第二种：污水箱中的第二水量大于或等于预设的第二水量阈值。此时，检测清洁设备的当前状态，包括：获取第三传感组件采集的第三传感信号，基于第三传感信号确定第二水量。
其中，第二水量阈值预先存储在清洁设备中。在一个示例中，第二水量阈值接近于污水箱容积。
第三种：供电组件的剩余电量小于预设的第一电量阈值。此时，检测清洁设备的当前状态，包括：获取供电组件的剩余电量。
其中，第一电量阈值预先存储在清洁设备中。
可选地，第一电量阈值基于清洁设备待机所需的最小电量确定。
第四种：清洁设备当前所属时间段为非工作时间段。此时，检测清洁设备的当前状态，包括：获取清洁设备当前所属时间段。
其中，非工作时间段预先存储在清洁设备中。
在一个示例中，非工作时间段为夜间时间段。
在实际实现时，自清洁中断条件也可以是其它类型，本实施例不对自清洁中断条件的类型作限定。
本实施例中，获取清洁设备当前的自清洁状态的方式包括但不限于以下几种：
第一种，自清洁状态包括自清洁过程的已工作时长和/或自清洁过程的剩余工作时长。相应地，获取清洁设备当前的自清洁状态，包括：获取自清洁过程的执行时长和/或自清洁过程的剩余时长。
比如，自清洁过程的工作时长为20分钟，在工作至第9分钟时检测到清洁设备与基站分离或者清洁设备自清洁过程中断，则将已工作时长8分钟和/或剩余工作时长12分钟确定为当前的自清洁状态。
第二种，自清洁状态包括自清洁步骤，自清洁过程包括至少两个自清洁步骤。相应地，获取清洁设备的当前自清洁状态，包括：获取当前执行的自清洁步骤。
比如，自清洁过程包括清洗、脱水和烘干三个步骤，在执行清洗步骤的过程中，检测到清洁设备与基站分离或者清洁设备自清洁过程中断，则将清洗步骤确定为当前的自清洁状态。
又比如，自清洁过程包括滚刷自清洁、整机除臭两个步骤，在执行整机除臭步骤的过程中，检测到清洁设备与基站分离或者清洁设备自清洁过程中断，则将整机除臭步骤确定为当前的自清洁状态。
在实际实现时，自清洁设备的自清洁状态也可以为其它类型，相应地，也可以采用其它方式获取自清洁状态，本实施例不对自清洁状态的类型和获取自清洁状态的方式作限定。
步骤202，在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程。
可选地，自清洁中断条件消除，包括：清洁设备在控制清洁设备中止自清洁后，检测清洁设备的当前状态；在当前状态满足中断恢复条件 的情况下，确定自清洁中断条件消除。
可选地，中断恢复条件包括但不限于以下几种情况：
第一种：清水箱中的第一水量大于或等于预设的第三水量阈值。
其中，第三水量阈值预先存储在清洁设备中。
可选地，不同自清洁模式在自清洁过程所需的清洗液量相同或不同，第三水量阈值根据清洁设备进行自清洁时所需的最小清洗液量确定。
第二种：污水箱中的第二水量小于预设的第四水量阈值。
其中，第四水量阈值预先存储在清洁设备中。
可选地，不同自清洁模式在自清洁过程中产生的污水量相同或不同，第四水量阈值根据清洁设备进行自清洁过程中产生的最小污水量和污水箱的容积确定。
第三种：供电组件的剩余电量大于或等于预设的第二电量阈值。
其中，第二电量阈值预先存储在清洁设备中。
可选地，不同自清洁模式所消耗的电量相同或不同，第二电量阈值根据清洁设备进行自清洁时所需的最小电量确定。
第四种：清洁设备当前所属时间段不为非工作时间段。
在实际实现时，自清洁中断条件也可以是其它类型，本实施例不对自清洁中断条件的类型作限定。
由于在清洁设备与基站分离后，清洁设备的设备状态可能发生改变，此时，如果清洁设备与基站对接的情况下，直接基于自清洁状态执行自清洁过程可能会导致自清洁过程与清洁设备的当前状态不匹配，从而导致自清洁效果差的问题。
基于上述问题，本实施例中，在检测到清洁设备与基站对接的情况下，基于自清洁状态执行自清洁过程之前，还包括：在检测到清洁设备与基站对接的情况下，确定是否基于自清洁状态执行自清洁过程；在确定出基于自清洁状态执行自清洁过程的情况下，触发执行基于自清洁状态执行自清洁过程；在确定出不基于自清洁状态执行自清洁过程的情况下，确定是否基于自清洁过程的初始状态执行自清洁过程。
可选地，确定是否基于自清洁状态执行自清洁过程的方式包括但不限于以下几种：
第一种：获取清洁设备上待清洁机构的机构脏污程度；按照机构脏污程度确定是否基于自清洁状态执行自清洁过程。
其中，脏污程度可以通过脏污等级表示，比如：将脏污程度划分为不同的等级，脏污等级越高，待清洁机构的脏污程度越大；或者，也可以用脏污指数表示不同的脏污程度，比如：脏污指数越大，待清洁机构的脏污程度越大，本实施例不对脏污程度的表示方式作限定。
由于清洁设备在与基站分离后可能执行了清洁操作，这就会导致待清洁机构的机构脏污程度变大，此时，如果基于自清洁状态执行自清洁过程可能会导致自清洁效果不佳的问题。
基于上述问题，本实施例中，按照机构脏污程度确定是否基于自清洁状态执行自清洁过程，可以避免在待清洁机构的机构脏污程度改变的情况下，基于自清洁状态执行自清洁过程导致的自清洁效果不佳的问题，因此，可以提高自清洁的效果。
可选地，第四传感组件为图像传感器，图像传感器的采集范围包括待清洁机构，此时，获取清洁设备上待清洁机构的机构脏污程度，包括：基于图像传感器采集的机构图像确定机构脏污程度。
在一个示例中，基于图像传感器采集的机构图像确定机构脏污程度，包括：将机构图像输入预先训练的脏污识别模型中，得到脏污程度。
其中，脏污识别模型是使用训练数据对神经网络训练得到的，每组训练数据包括样本图像和样本图像中的脏污标签数据。
可选地，脏污识别模型的训练过程包括：创建初始网络模型；将样本图像和样本图像中的脏污标签数据输入初始网络模型，得到模型结果；基于模型结果和对应的脏污标签数据迭代更新初始网络模型的参数，在迭代次数达到预设次数，或者更新后的模型收敛时，得到脏污识别模型。
其中，初始网络模型可以为BP神经网络(Back Propagation Neural Network)、ART神经网络(Adaptive Resonance Theory)或者径向基函数(Radial Basis Function,RBF)神经网络，本实施例不对初始网络模型的类型作限定。
在另一个示例中，基于图像传感器采集的机构图像确定机构脏污程度，包括：获取待清洁机构的像素范围；将机构图像中像素值在像素范 围内的像素位置，确定为非脏污位置；基于非脏污位置确定脏污程度。
可选地，获取待清洁机构的像素范围，包括：获取待清洁机构无脏污时的标准图像，将标准图像中的像素范围确定为待清洁机构的像素范围。
将机构图像中像素值在像素范围内的像素位置，确定为非脏污位置，包括：遍历机构图像中的像素位置，将像素值在像素范围内的像素位置连通，得到至少一个连通区域；将各个连通区域中面积大于面积阈值的连通区域确定为非脏污区域，非脏污区域中的像素位置为非脏污位置。
基于非脏污位置确定脏污程度，包括：基于非脏污位置确定脏污位置；基于脏污位置构成的脏污区域确定脏污面积；和/或，基于脏污位置的像素值确定脏污密度。其中，脏污密度与各个脏污位置的像素平均值呈正相关或者，与各个脏污位置的像素最大值呈正相关。
在实际实现时，也可以采用其它方式确定待清洁机构的脏污程度，比如：根据污水箱中污水的脏污程度确定待清洁机构的脏污程度，本实施例不对确定待清洁机构的脏污程度的方式作限定。
可选地，按照机构脏污程度确定是否基于自清洁状态执行自清洁过程，包括：在脏污程度满足预设的脏污条件的情况下，确定基于自清洁状态执行自清洁过程；在脏污程度不满足预设条件的情况下，确定不基于自清洁状态执行自清洁过程。
可选地，不同的脏污程度表现方式对应脏污条件不同。
在一个示例中，脏污程度通过脏污等级表示，相应地，脏污条件包括：脏污等级低于预设的最大脏污等级。
其中，最大脏污等级预先存储在清洁设备中。
在另一个示例中，脏污程度通过脏污指数表示，相应地，脏污条件包括：脏污指数小于预设的最大脏污指数。
其中，最大脏污指数预先存储在清洁设备中。
第二种：获取与基站分离至与基站对接之间的间隔时长；按照间隔时长确定是否基于自清洁状态执行自清洁过程。
在一个示例中，获取与基站分离至与基站对接之间的间隔时长，包括：在检测到清洁设备与基站分离的情况下，获取分离时间；在检测到 清洁设备与基站对接的情况下，获取对接时间；将对接时间与分离时间的差值确定为间隔时长。
在另一个示例中，获取与基站分离至与基站对接之间的间隔时长，包括：在检测到清洁设备与基站分离的情况下，开始计算间隔时长；在检测到清洁设备与基站对接的情况下，停止计算间隔时长。
在实际实现时，也可以通过其它方式获取间隔时长，本实施例不对获取间隔时长的方式作限定。
可选地，按照间隔时长确定是否基于自清洁状态执行自清洁过程，包括：在间隔时长大于预设的时长阈值的情况下，确定不基于自清洁状态执行自清洁过程；在间隔时长小于或等于时长阈值的情况下，确定基于自清洁状态执行自清洁过程。
其中，时长阈值预先存储在清洁设备中。
由于在清洁设备与基站分离至与基站对接之间的间隔时长大于时长阈值的情况下，清洁设备在与基站分离后可能执行了清洁操作，这就会导致清洁设备的设备状态会改变，比如：待清洁机构的脏污程度变大、清水箱中的第一水量减少、和/或污水箱中的第二水量增大，此时，如果基于自清洁状态执行自清洁过程可能会导致自清洁效果不佳和/或自清洁过程中断的问题。
基于上述问题，本实施例中，在间隔时长小于或等于预设时长阈值的情况下，才基于自清洁状态执行自清洁，可以避免由于清洁设备的设备状态改变导致自清洁效果不佳的问题，提高自清洁的效果。
第三种，获取待清洁机构的第一工作参数；基于第一工作参数和与基站分离时清洁机构的第二工作参数确定是否基于自清洁状态执行自清洁过程，此时，自清洁状态包括第二工作参数。
可选地，工作参数可以为清洁机构的转动周数，或者，也可以为清洁机构的上一次工作时间，本实施例不对清洁机构的工作参数的类型作限定。
在一个示例中，工作参数包括清洁机构的转动周数，此时，基于第一工作参数和第二工作参数确定是否基于自清洁状态执行自清洁过程，包括：在第一工作参数与第二工作参数的差值大于预设的周数阈值的情 况下，确定不基于自清洁状态执行自清洁过程；在第一工作参数与第二工作参数的差值小于或等于预设的周数阈值的情况下基于自清洁状态执行自清洁过程。
可选地，周数阈值预先存储在清洁设备中。
由于在第一工作参数与第二工作参数的差值大于预设的周数阈值的情况下，清洁设备在与基站分离后可能执行了清洁操作，这就会导致清洁设备的设备状态会改变，如果基于自清洁状态执行自清洁过程可能会导致自清洁效果不佳和/或自清洁过程中断的问题。
基于上述问题，本实施例中，在第一工作参数与第二工作参数的差值小于或等于预设的周数阈值的情况下，才基于自清洁状态执行自清洁，可以避免由于清洁设备的设备状态改变导致自清洁效果不佳的问题，提高自清洁的效果。
可选地，在确定出不基于自清洁状态执行自清洁过程的情况下，确定是否基于自清洁过程的初始状态执行自清洁过程；在确定出基于初始状态执行自清洁过程的情况下，基于初始状态执行自清洁过程；在确定出不基于初始状态执行自清洁过程的情况下，控制清洁设备中止自清洁。
由于清洁设备的设备状态可能不满足从初始状态进行自清洁的条件，此时，如果基于自清洁过程的初始状态执行自清洁过程可能会导致自清洁设备出现电量不足、清水箱中第一水量不足、污水箱中第二水量过满、自清洁时间不符合用户习惯等问题。
基于上述问题，本实施例中，确定是否基于自清洁过程的初始状态执行自清洁过程，包括：获取清洁设备的第一设备状态；基于第一设备状态确定是否基于初始状态执行自清洁过程。
其中，第一设备状态包括清洁设备上供电组件的剩余电量、清洁设备上清水箱的第一水量、清洁设备上污水箱的第二水量、和/或清洁设备当前所属时间段。
相应地，基于第一设备状态确定是否基于初始状态执行自清洁过程的方式包括但不限于以下几种：
第一种：第一设备状态包括清水箱的第一水量，此时，基于第一设备状态确定是否基于初始状态执行自清洁过程，包括：确定第一水量是 否大于或等于第三水量阈值。在第一水量大于或等于第三水量阈值的情况下，确定基于初始状态执行自清洁过程；在第一水量小于第三水量阈值的情况下，确定不基于初始状态执行自清洁过程。
第二种：第一设备状态包括污水箱的第二水量，此时，基于第一设备状态确定是否基于初始状态执行自清洁过程，包括：确定第二水量是否小于第四水量阈值。在第二水量小于第四水量阈值的情况下，确定基于初始状态执行自清洁过程；在第二水量大于或等于第四水量阈值的情况下，确定不基于初始状态执行自清洁过程。
第三种：第一设备状态包括供电组件的剩余电量，此时，基于第一设备状态确定是否基于初始状态执行自清洁过程，包括：确定剩余电量是否大于或等于第二电量阈值。在剩余电量大于或等于第二电量阈值的情况下，确定基于初始状态执行自清洁过程；在剩余电量小于第二电量阈值的情况下，确定不基于初始状态执行自清洁过程。
第四种：第一设备状态包括清洁设备当前所属时间段，此时，基于第一设备状态确定是否基于初始状态执行自清洁过程，包括：确定当前所属时间段是否为非工作时间段。在当前所属时间段为非工作时间段的情况下，确定不基于初始状态执行自清洁过程；在当前所属时间段不为非工作时间段的情况下，确定基于初始状态执行自清洁过程。
在实际实现时，清洁设备的第一设备状态也可以为其它类型，相应地，基于第一设备状态确定是否基于初始状态执行自清洁过程的方式也不同，本实施例不对第一设备状态的类型和基于第一设备状态确定是否基于初始状态执行自清洁过程的方式作限定。
本实施例中，清洁设备包括至少两种自清洁模式，不同自清洁模式的自清洁过程不同。为了使自清洁过程与清洁设备的设备状态相匹配，基于初始状态执行自清洁过程，包括：获取清洁设备的第二设备状态；基于第二设备状态确定当前自清洁模式；基于当前自清洁模式的初始状态执行自清洁过程。
其中，第二设备状态包括清洁设备上待清洁机构的机构脏污程度、待清洁机构的机构类型、清洁设备上供电组件的剩余电量、清洁设备上清水箱的第一水量和/或清洁设备上污水箱的第二水量。
可选地，基于第二设备状态确定当前自清洁模式的方式包括但不限于以下几种：
第一种：第二设备状态包括待清洁机构的机构脏污程度，此时，基于第二设备状态确定当前自清洁模式，包括：将各个自清洁模式中，清洁能力与机构脏污程度相匹配的自清洁模式确定为当前自清洁模式。
比如：清洁设备包括第一自清洁模式和第二自清洁模式，其中，第一自清洁模式的自清洁能力为脏污程度三级，第二自清洁模式对应的清洁能力为脏污程度六级(脏污程度等级越高，清洁能力越强)，待清洁机构的脏污程度为四级，则将第二自清洁模式确定为当前自清洁模式。
第二种：第二设备状态包括待清洁机构的机构类型，此时，基于第二设备状态确定当前自清洁模式，包括：将各个自清洁模式中，与待清洁机构的机构类型相匹配的自清洁模式确定为当前自清洁模式。
比如：清洁设备包括滚刷自清洁模式和拖布自清洁模式，其中，滚刷自清洁模式用于对滚刷进行自清洁，拖布自清洁模式用于对拖布进行自清洁，待清洁机构为滚刷，则将滚刷自清洁模式确定为当前自清洁模式。
第三种：第二设备状态包括供电组件的剩余电量，此时，基于第二设备状态确定当前自清洁模式，包括：将各个自清洁模式中，清洁过程所需电量小于剩余电量与第一电量阈值的差值的自清洁模式确定为当前自清洁模式。
比如：清洁设备包括第三自清洁模式和第四自清洁模式，基于第三自清洁模式的初始状态执行自清洁过程所需电量为20％，基于第四自清洁模式的初始状态执行自清洁过程所需电量为40％，供电组件的剩余电量为50％，第一电量阈值为20％，则将第三自清洁模式确定为当前自清洁模式。
第四种：第二设备状态包括清水箱的第一水量，此时，基于第二设备状态确定当前自清洁模式，包括：将各个自清洁模式中，自清洁过程所需清洗液量小于第一水量与第一水量阈值的差值的自清洁模式确定为当前自清洁模式。
比如：清洁设备包括第五自清洁模式和第六自清洁模式，基于第五 自清洁模式的初始状态执行自清洁过程所需清洗液量为400毫升，基于第六自清洁模式的初始状态执行自清洁过程所需清洗液量为800毫升，第一水量为600毫升，第一水量阈值为0毫升，则将第五自清洁模式确定为当前自清洁模式。
第五种：第二设备状态包括污水箱的第二水量，此时，基于第二设备状态确定当前自清洁模式，包括：将各个自清洁模式中，自清洁过程中产生的污水量小于第二水量阈值与第二水量的差值的自清洁模式确定为当前自清洁模式。
比如：清洁设备包括第七自清洁模式和第八自清洁模式，基于第七自清洁模式的初始状态执行自清洁过程中产生的污水量为200毫升，基于第八自清洁模式的初始状态执行自清洁过程中产生的污水量为400毫升，第二水量为200毫升，第二水量阈值为500毫升，则将第七自清洁模式确定为当前自清洁模式。
在实际实现时，清洁设备的第二设备状态也可以为其它类型，相应的，基于第二设备状态确定当前自清洁模式也不同，本实施例不对第二设备状态的类型和基于第二设备状态确定当前自清洁模式的方式作限定。
可选地，基于自清洁状态执行自清洁过程之后，还包括：在接收到自清洁停止指令的情况下，基于自清洁停止指令确定下一次检测到清洁设备与基站对接或者自清洁中断条件消除时是否执行基于自清洁状态执行自清洁过程的步骤。
可选地，清洁设备接收自清洁停止指令的方式包括但不限于以下几种：
第一种：清洁设备安装有停止自清洁按键。相应地，清洁设备在接收到作用于停止自清洁按键的触发操作的情况下，生成自清洁停止指令。
其中，停止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，本实施例不对停止自清洁按键的实现方式作限定。
第二种：清洁设备接收其它设备发送的自清洁停止指令。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。
在实际实现时，清洁设备接收自清洁停止指令的方式也可以为其它方式，本实施例不对自清洁停止指令的接收方式作限定。
可选地，在接收到自清洁停止指令的情况下，基于自清洁停止指令确定下一次检测到清洁设备与基站对接或者自清洁中断条件消除时是否执行基于自清洁状态执行自清洁过程的步骤，包括：在接收到自清洁停止指令的情况下，确下一次检测到清洁设备与基站对接或者自清洁中断条件消除时不执行基于自清洁状态执行自清洁过程的步骤。
由于清洁设备基于自清洁状态执行自清洁的过程可能不符合用户的使用习惯，清洁设备在接收到用户发送的自清洁停止指令后，会记录用户的使用习惯，在下一次对接时不执行基于自清洁状态执行自清洁过程的步骤，因此，可以提高自清洁过程的智能化程度。
综上所述，本实施例提供的清洁设备的自清洁方法，通过在检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态；在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程；可以解决在洗地机进行自清洁的过程中，如果将洗地机从基站中移走，则在洗地机再次接入基站后，需要再次接收到清洁指令才会开始自清洁，导致自清洁效率低的问题；由于在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程，而不需要再次接收清洁指令，因此，可以便于清洁设备的使用，提高自清洁过程的智能性。
同时，由于在自清洁过程中检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态，并在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程，因此，可以避免重复执行已执行的自清洁过程造成资源浪费的问题，提高自清洁过程的智能性。
另外，由于在检测到清洁设备与基站对接的情况下，确定是否基于自清洁状态执行自情况过程，可以避免在清洁设备与基站分离后清洁设备的设备状态发生改变的情况下，基于自清洁状态执行自清洁过程导致自清洁过程会导致自清洁效果差的问题，因此，可以提高自清洁的效果。
另外，由于按照机构脏污程度确定是否基于自清洁状态执行自清洁过程，可以避免在待清洁机构的机构脏污程度改变的情况下，基于自清洁状态执行自清洁过程导致的自清洁效果不佳的问题，因此，可以提高自清洁的效果。
另外，由于在清洁设备与基站分离至与基站对接之间的间隔时长大于时长阈值的情况下，清洁设备在与基站分离后可能执行了清洁操作，这就会导致清洁设备的设备状态会改变，此时，如果基于自清洁状态执行自清洁过程可能会导致自清洁效果不佳和/或自清洁过程中断的问题，因此，在间隔时长小于或等于预设时长阈值的情况下，才基于自清洁状态执行自清洁，可以避免由于清洁设备的设备状态改变导致自清洁效果不佳的问题，提高自清洁的效果。
另外，由于在确定出不基于自清洁状态执行自清洁过程情况下，清洁设备可以不执行自清洁过程，或者也可以基于自清洁过程的初始状态执行自清洁过程，因此，在基于清洁过程的初始状态执行清洁过程之前，判断是否基于自清洁过程的初始状态执行自清洁过程，可以提高清洁过程的智能性。
另外，由于基于第一设备状态确定是否基于初始状态执行自清洁过程，可以解决在清洁设备的设备状态不满足从初始状态进行自清洁的条件的情况下，基于自清洁过程的初始状态执行自清洁过程可能会导致自清洁设备出现电量不足、清水箱中第一水量不足、污水箱中第二水量过满、自清洁时间不符合用户习惯等问题，因此，可以提高清洁过程的智能性。
另外，由于基于第二设备状态确定当前自清洁模式，可以使确定出的自清洁模式与清洁设备的设备状态相匹配，避免自清洁过程因电量不足、清水箱中第一水量不足、污水箱中第二水量过满而导致的自清洁中断的问题和自清洁模式与待清洁部件脏污程度不符的问题，因此，可以提高自清洁的效率和自清洁效果。
另外，由于在接收到自清洁停止指令的情况下，基于自清洁停止指令确定下一次检测到清洁设备与基站对接或者自清洁中断条件消除时是否执行基于自清洁状态执行自清洁过程的步骤，可以根据用户的使用习 惯确定是否基于自清洁状态执行自清洁过程，因此，可以提高清洁过程的智能性。
本实施例提供一种清洁设备的自清洁装置，如图3所示。本实施例以该装置应用于图1所示的清洁设备中，该装置包括至少以下几个模块：第一检测模块310和第二检测模块320。
第一检测模块310，用于在清洁设备进行自清洁过程中，在检测到清洁设备与基站分离或者清洁设备自清洁过程中断的情况下，获取清洁设备当前的自清洁状态；
第二检测模块320，用于在检测到清洁设备与基站对接或者自清洁中断条件消除的情况下，基于自清洁状态执行自清洁过程。
相关细节参考上述方法和设备实施例。
需要说明的是：上述实施例中提供的清洁设备的自清洁装置在进行清洁设备的自清洁时，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，即将清洁设备的自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设备的自清洁装置与清洁设备的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。
本实施例提供一种电子设备，如图4所示。电子设备可以为图1中的清洁设备。该电子设备至少包括处理器401和存储器402。
处理器401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401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401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 Processing Unit，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401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401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。
存储器402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402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402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401所执行以实现本申请中方法实施例提供的清洁设备的自清洁方法。
在一些实施例中，电子设备还可选包括有：***设备接口和至少一个***设备。处理器401、存储器402和***设备接口之间可以通过总线或信号线相连。各个***设备可以通过总线、信号线或电路板与***设备接口相连。示意性地，***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。
当然，电子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。
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清洁设备的自清洁方法。
可选地，本申请还提供有一种计算机产品，该计算机产品包括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清洁设备的自清洁方法。
图5是本申请一个实施例提供的清洁设备的结构示意图。其中，清洁设备包括但不限于：扫地机、洗地机、扫拖一体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。该清洁设备至少包括待清洁部件110、清洁组件120、和控制器130。
待清洁部件110为清洁设备进行自清洁时的清洁对象。
在一个示例中，待清洁部件110是清洁件，该清洁件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。清洁件可以为毛刷、滚刷或者抹布等，清洁设备上安装的清洁件的数量可以为一个或者至少两个，本实施例不对清洁件的实现方式和数量作限定。
一般地，清洁件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/或底部边缘等位置，本实施例不对清洁件的安装位置作限定。
在其它实现方式中，待清洁部件110也可以为清洁设备上的水箱、输水管道等，本实施例不对待清洁部件110的实现方式作限定。本实施例中，以待清洁部件110为清洁件为例进行说明。
清洁组件120用于辅助待清洁部件110进行清洁工作。在清洁设备进行自清洁时，清洁组件120用于对待清洁部件110进行清洁。
可选地，清洁组件120可以为输水组件、吸水组件和/或加热组件，本实施例不对清洁组件120的类型作限定。
一般地，清洁组件120与待清洁部件110相对安装，比如：清洁组件120位于待清洁部件110后侧、前侧、和/或上方等位置，本实施例不对清洁组件120的安装位置作限定。
可选地，清洁组件120包括输水组件121，相应地，清洁设备还包括清水箱140，清水箱140用于容纳清洗液，以对清洁设备进行自清洁。清水箱140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清洗液相同或不同。
其中，清洗液可以为清水，或者，也可以为水和清洗剂的混合物，本实施例不对清洗液类型作限定。
输水组件121的一端与清水箱140相连，另一端朝向待清洁部件110，以将清水箱140中的液体输送至待清洁部件110。
示意性地，输水组件121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140相连、另一端朝向待清洁部件110。
在一个示例中，在清洁设备执行清洁工作时，输水组件121向待清 洁部件110或者待清洁表面喷水，以提升对待清洁表面的清洁效果。
在另一个示例中，在清洁设备执行自清洁工作时，输水组件121向待清洁部件110或者清洁设备的基站喷水，以提升对待清洁部件110的清洁效果。
可选地，清洁组件120包括吸水组件122，相应地，清洁设备还包括污水箱150，污水箱150用于容纳对清洁设备进行自清洁后的污水。吸水组件122用于吸取待清洁部件110的污水并输送至污水箱150。
示意性地，吸水组件122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150相连、另一端朝向待清洁部件110。
清洁组件120与控制器130相连，以在控制器130的控制下对待清洁部件110进行清洁。
控制器130可以为清洁设备内部安装的微控制单元，或者任何具有控制功能的组件，本实施例不对控制器130的类型作限定。
本实施例中，控制器130用于：响应于对清洁设备的自清洁指令，确定清洁设备的设备状态是否满足预设的自清洁条件；在设备状态未满足自清洁条件的情况下，调整设备状态，以使调整后的设备状态满足自清洁条件；在设备状态调整后，确定清洁设备中清洁组件120的自清洁模式；控制清洁设备按照自清洁模式工作，以对清洁设备进行自清洁。
在一个示例中，输水组件121和吸水组件122分别与控制器130相连，以在控制器130的控制下，将清水箱140的液体输送至待清洁部件110，以及将喷向待清洁部件110后产生污水吸取至污水箱150。
可选地，为了实现对清水箱140中的第一水量进行监控，清水箱140中设置有第一传感器160，第一传感器160与控制器130相连，以获取清水箱140中的第一水量。第一传感器160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160的类型作限定。
可选地，为了实现对污水箱150中的第二水量进行监控，污水箱150中设置有第二传感器170，第二传感器170与控制器130相连，以获取污水箱150中的第二水量。第二传感器170的类型与第一传感器160的类 型相同或不同，第二传感器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，本实施例不对第二传感器170的类型作限定。
可选地，为了对待清洁机构110的脏污程度进行检测，清洁设备上设置有第三传感器180，第三传感器180与控制器130相连，以获取待清洁部件110的脏污程度。其中，第三传感器180的实现方式包括但不限于以下几种：
第一种方式：第三传感器180为图像传感器。此时，图像传感器用于采集待清洁部件110的部件图像，以通过对部件图像进行图像识别，得到待清洁部件110的脏污程度。相应地，图像传感器的采集范围包括待清洁部件110。或者，图像传感器用于采集污水箱150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待清洁部件110的脏污程度呈正相关关系。
第二种方式：第三传感器180为红外传感器、和/或光电传感器。此时，预设传感器安装在吸水组件122和/或污水箱150内，以采集污水的透明程度，污水的透明程度与待清洁部件110的脏污程度呈负相关关系。
本实施例中，清洁设备还包括供电电路190，清洁设备在自清洁过程中的供电方式至少包括以下几种：
第一种方式：本机供电。此时，供电电路190中的供电组件191导通，清洁设备通过供电组件191为自清洁过程供电。
其中，供电组件191为清洁设备中能够将化学能转换成电能的组件，比如：电池。
第二种方式：基站供电，即通过基站为自清洁过程供电，基站用于与清洁设备对接。此时，供电电路190中的供电模块192与基站的电源输出模块导通，以通过基站为自清洁过程供电。
可选地，基站的电源输出模块的输出为市电，即电压为220伏。
可选地，供电电路190与控制器130相连，以在控制器130的控制下，调整清洁设备在自清洁过程中的供电方式。
在实际实现时，清洁设备还可以包括其它组件，比如：手柄、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。
本实施例中，通过响应于对清洁设备的自清洁指令，确定清洁设备 的设备状态是否满足预设的自清洁条件；在设备状态未满足自清洁条件的情况下，调整设备状态，以使调整后的设备状态满足自清洁条件；在设备状态调整后，确定清洁设备中清洁组件的自清洁模式；控制清洁设备按照自清洁模式工作，以对清洁设备进行自清洁；可以解决洗地机的电量不满足电量要求时，需要接收两次自清洁指令才会开始自清洁，且两次自清洁指令的间隔时间长，导致洗地机使用不便利，自清洁启动效率较低的问题；由于在设备状态调整后，确定清洁设备中清洁组件的自清洁模式，并控制清洁设备按照清洁模式工作，所以只需要接收一次自清洁指令即可开始自清洁，因此，可以提高清洁设备的智能性和自清洁启动的效率。
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。
本实施例提供的清洁设备的自清洁方法，如图6所示。本实施例以该方法用于图5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：
步骤301，响应于对清洁设备的自清洁指令，确定清洁设备的设备状态是否满足预设的自清洁条件。
可选地，清洁设备获取自清洁指令的方式包括但不限于以下几种方式中的至少一种：
第一种方式：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。
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。
第二种方式：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。
第三种方式：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。
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。
可选地，不同类型的设备状态对应不同的自清洁条件。设备状态包括但不限于以下几种：供电组件的剩余电量、清水箱中的第一水量、和/或污水箱中的第二水量。相应地，确定清洁设备的设备状态是否满足清洁条件包括但不限于以下几种情况中的至少一种：
第一种情况：在设备状态包括清洁设备的供电组件的剩余电量的情况相下，此时，确定清洁设备的设备状态是否满足预设的自清洁条件，包括：确定清洁设备中供电组件的剩余电量是否大于或等于最低电量阈值。在剩余电量大于或等于最低电量阈值的情况下，确定设备状态满足自清洁条件；在剩余电量小于最低电量阈值的情况下，确定设备状态不满足自清洁条件。
其中，最低电量阈值预先存储在清洁设备中。
可选地，不同自清洁模式所消耗的电量相同或不同，最低电量阈值根据清洁设备进行自清洁时所需的最大电量确定。
第二种情况：在设备状态包括清洁设备的清水箱中的第一水量的情况下，此时，确定清洁设备的设备状态是否满足预设的自清洁条件，包括：确定清洁设备中清水箱的第一水量是否大于或等于第一水量阈值。在第一水量大于或等于第一水量阈值的情况下，确定设备状态满足自清洁条件；在第一水量小于第一水量阈值的情况下，确定设备状态不满足自清洁条件。
其中，第一水量阈值预先存储在清洁设备中。
可选地，不同自清洁模式所消耗的清洗液的量相同或不同，第一水量阈值根据清洁设备进行自清洁时所需的最大清洗液量确定。
第三种情况：在设备状态包括清洁设备的污水箱中的第二水量的情况下，此时，确定清洁设备的设备状态是否满足预设的自清洁条件，包括：确定清洁设备中污水箱的第二水量是否小于第二水量阈值。在第二水量小于第二水量阈值的情况下，确定设备状态满足自清洁条件；在第 二水量大于或等于第二水量阈值的情况下，确定设备状态不满足自清洁条件。
其中，第二水量阈值预先存储在清洁设备中。
可选地，不同自清洁模式所产生的污水量相同或不同，第二水量阈值根据清洁设备进行自清洁过程中产生的最大污水量和污水箱的容积确定。
在实际实现时，清洁设备的设备状态也可以为其它类型，比如：安装的清洁机构的类型，本实施例不对设备状态的类型一一列举。
相应地，不同的设备状态类型对应的自清洁条件不同，因此，本实施例不对自清洁条件作限定。
步骤302，在设备状态未满足自清洁条件的情况下，调整设备状态，以使调整后的设备状态满足自清洁条件。
由于不同不满足自清洁条件的情况对应的设备状态调整方式不同，因此，在设备状态未满足自清洁条件的情况下，调整设备状态，包括但不限于以下几种情况中的至少一种：
第一种情况：自清洁条件包括清洁设备中供电组件的剩余电量大于或等于最低电量阈值。此时，在设备状态未满足自清洁条件的情况下，调整设备状态，包括：在剩余电量小于最低电量阈值的情况下，对供电组件进行充电。
在一个示例中，对供电组件进行充电，包括：在对供电组件进行充电的过程中检测剩余电量；在检测到剩余电量大于预设的目标电量阈值的情况下，确定状态调整完成。
其中，目标电量阈值大于或等于最低电量阈值。
在另一个示例中，对供电组件进行充电，包括：基于充电前供电组件的剩余电量和目标电量阈值确定目标充电时长；在对供电组件进行充电的时长达到目标充电时长的情况下，确定状态调整完成。
第二种情况：自清洁条件包括清洁设备中清水箱的第一水量大于或等于第一水量阈值。此时，在设备状态未满足自清洁条件的情况下，调整设备状态，包括：在第一水量小于第一水量阈值的情况下，将第一水量调整至大于或等于第一水量阈值。
在一个示例中，将第一水量调整至大于或等于第一水量阈值，包括：控制清洁设备向清水箱输水；在输水过程中检测第一水量，在检测到第一水量大于或等于预设的第一水量阈值时，确定状态调整完成。
可选地，在状态调整完成后，控制清洁设备继续向清水箱中输水以使第一水量达到第一目标水量。
其中，第一目标水量大于第一水量阈值。
示意性地，第一目标水量为清水箱的容积。
可选地，在状态调整完成后，停止向清水箱中输水。
在另一个示例中，将第一水量调整至大于或等于第一水量阈值，包括：输出水量不足提示，以指示用户为清水箱加水；在检测到清水箱接入清洁设备的情况下，确定状态调整完成。
可选地，水量不足提示可以为音频提示，相应地，水量不足提示通过清洁设备上安装的音频播放组件输出。或者，水量不足提示可以为灯光提示，相应地，水量不足提示通过清洁设备上的指示灯输出。或者，水量不足提示为向用户设备或者服务器发送的提示信息，相应地，水量不足提示通过清洁设备上的通信组件输出，本实施例不对清洁设备输出水量不足提示的方式作限定。
比如：水量不足提示为语音提示“清水箱水量不足”，此时，用户可以基于语音提示为清水箱加水。
可选地，在检测到清水箱接入清洁设备的情况下，确定状态调整完成，包括：在检测到清水箱接入清洁设备的情况下，确定第一水量是否大于或等于第一水量阈值；在第一水量大于或等于第一水量阈值的情况下，确定状态调整完成；在第一水量小于第一水量阈值的情况下，继续执行输出水量不足提示的步骤。
第三种情况：自清洁条件包括清洁设备中污水箱的第二水量小于第二水量阈值。此时，在设备状态未满足自清洁条件的情况下，调整设备状态，包括：在第二水量大于或等于第二水量阈值的情况下，将第二水量调整至小于第二水量阈值。
在一个示例中，将第二水量调整至小于第二水量阈值，包括：控制清洁设备从污水箱中抽水；在检测到第二水量小于第二水量阈值时，确 定状态调整完成。
可选地，在状态调整完成后，控制清洁设备继续从污水箱中抽水以使第二水量达到第二目标水量。
其中，第二目标水量小于第二水量阈值。
示意性地，第二目标水量为零。
可选地，在状态调整完成后，停止从污水箱中抽水。
在另一个示例中，将第二水量调整至小于第二水量阈值，包括：输出水量过满提示，以指示用户将污水箱中的水倒出；在检测到污水箱接入清洁设备的情况下，确定状态调整完成。
可选地，水量过满提示可以为音频提示，相应地，水量过满提示通过清洁设备上安装的音频播放组件输出。或者，水量过满提示可以为灯光提示，相应地，水量过满提示通过清洁设备上的指示灯输出。或者，水量过满提示为向用户设备或者服务器发送的提示信息，相应地，水量过满提示通过清洁设备上的通信组件输出，本实施例不对清洁设备输出水量过满提示的方式作限定。
比如：水量过满提示为水量过满指示灯闪烁，此时，用户可以基于灯光提示将污水箱中的水倒出。
可选地，在检测到污水箱接入清洁设备的情况下，确定状态调整完成，包括：在检测到污水箱接入清洁设备的情况下，确定第二水量是否小于第二水量阈值；在第二水量小于第二水量阈值的情况下，确定状态调整完成；在第二水量大于或等于第二水量阈值的情况下，继续执行输出水量过满提示的步骤。
步骤303，在设备状态调整后，确定清洁设备中清洁组件的自清洁模式。
本实施例中，确定清洁设备中清洁组件的自清洁模式，包括：获取待清洁部件的部件信息，基于部件信息确定自清洁模式。
其中，部件信息可以为待清洁部件的脏污程度，或者，也可以为待清洁部件的上一次工作时长，本实施例不对部件信息的类型的作限定。下面针对不同类型的部件信息，分别介绍对应的确定自清洁模式的方式。
在一个示例中，基于部件信息确定自清洁模式，包括：基于待清洁 部件的脏污程度确定清洁组件的工作功率。其中，工作功率与脏污程度呈正相关关系。
本示例中，自清洁模式包括清洁组件的工作功率。其中，清洁组件的工作功率可以为各个清洁组件的总工作功率；或者，也可以为每个清洁组件的工作功率。
在另一个示例中，基于部件信息确定自清洁模式，包括：基于待清洁部件的上一次工作时长确定清洁组件的工作时长。其中，清洁组件的工作时长与待清洁部件的上一次工作时长呈正相关关系。
在其他实施例中，清洁设备也可以根据清洁组件的历史自清洁模式确定清洁组件当前的自清洁模式，比如：获取历史自清洁模式对应的历史设备部件信息，将与当前的部件信息相匹配的历史设备部件信息所对应的历史自清洁模式确定为当前的自清洁模式；本实施例不对确定清洁组件的自清洁模式的方式作限定。
可选地，确定清洁设备中清洁组件的自清洁模式之前，还包括：确定是否自动确定自清洁模式；在确定出不自动确定自清洁模式的情况下，控制清洁设备按照默认自清洁模式工作，以对清洁设备进行自清洁。
其中，默认自清洁模式预先存储在清洁设备中。
在一个示例中，确定是否自动确定自清洁模式，包括：确定当前时间是否属于夜间时间段；在当前时间段为夜间时间段的情况下，确定不自动确定自清洁模式，控制清洁设备按照默认自清洁模式工作，以对清洁设备进行自清洁。
此时，默认自清洁模式所产生的噪声小于其它清洁模式。
在另一个示例中，确定是否自动确定自清洁模式，包括：确定距离上一次自清洁的间隔时长；在间隔时长大于预设的时长阈值的情况下，确定不自动确定自清洁模式，控制清洁设备按照默认自清洁模式工作，以对清洁设备进行自清洁。
此时，默认自清洁模式的总功率大于其它清洁模式。
在实际实现时，清洁设备也可以以其它方式确定是否自动确定自清洁模式，本实施例不对清洁设备确定是否自动确定自清洁模式的方式作限定。
步骤304，控制清洁设备按照自清洁模式工作，以对清洁设备进行自清洁。
在一个示例中，控制清洁设备按照自清洁模式工作，包括：响应于确定出自清洁模式，自动控制清洁设备按照自清洁模式工作。
在本示例中，清洁设备一旦确定出自清洁模式，则立即按照该自清洁模式工作，而无需用户手动控制。
在另一个示例中，控制清洁设备按照自清洁模式工作，包括：确定是否启动自清洁；在确定出启动自清洁的情况下，控制清洁设备按照自清洁模式工作。
可选地，确定是否启动自清洁，包括：确定当前时间是否属于预设的自清洁时间段；在当前时间属于自清洁时间段的情况下，确定启动自清洁。
其中，自清洁时间段是指：允许进行自清洁的时间。自清洁时间段预先存储在自清洁设备中。
自清洁时间段可以是夜间时间段。在实际实现时，自清洁时间段也可以由用户设置，或者基于历史启动自清洁的时间段确定，本实施例不对自清洁时间段的设置方式作限定。
或者，确定是否启动自清洁，包括：在接收到立即启动自清洁指令的情况下，确定启动自清洁。
其中，立即启动自清洁指令可以是其它设备生成并向清洁设备发送的，其它设备与清洁设备通信相连，或者，也可以是清洁设备在接收到作用于清洁设备上安装的启动自清洁按键的触发操作的情况下生成的，本实施例不对清洁设备获取立即启动自清洁指令的方式作限定。
亦或者，确定是否启动自清洁，包括：在确定出自清洁模式后的预设的等待时长内未接收到自清洁启动指令的情形下，确定启动自清洁。
可选地，控制清洁设备按照自清洁模式工作，包括：确定自清洁模式对应的供电方式，供电方式包括基站供电方式和本机供电方式；在控制清洁设备按照自清洁模式工作时，使用确定出的供电方式为清洁设备供电。
其中，基站供电方式是指通过基站为自清洁过程供电的方式，本机 供电方式是指通过清洁设备中的供电组件为自清洁过程供电的方式；基站用于与清洁设备对接。
由于清洁设备中供电组件的输出电压的大小是有限的，这就导致在清洁设备采用本机供电方式所能提供的最大功率也是有限的，而为了提升清洁设备的清洁效果，自清洁模式的总功率可能会大于供电组件的最大输出功率，此时，如果采用本机供电方式为自清洁过程供电会导致清洁设备的清洁效果降低，同时也会对供电组件造成损耗，因此，在自清洁模式的总功率大于或等于功率阈值的情况下，确定供电方式为基站供电方式。
其中，自清洁模式的总功率是指：清洁设备在按照清洁模式进行自清洁的过程中，各个清洁组件的工作功率之和。
功率阈值预先存储在清洁设备中。功率阈值小于或等于供电组件的最大输出功率。
综上所述，本实施例提供的清洁设备的自清洁方法，通过响应于对清洁设备的自清洁指令，确定清洁设备的设备状态是否满足预设的自清洁条件；在设备状态未满足自清洁条件的情况下，调整设备状态，以使调整后的设备状态满足自清洁条件；在设备状态调整后，确定清洁设备中清洁组件的自清洁模式；控制清洁设备按照自清洁模式工作，以对清洁设备进行自清洁；可以解决洗地机的电量不满足电量要求时，需要接收两次自清洁指令才会开始自清洁，且两次自清洁指令的间隔时间长，导致洗地机使用不便利，自清洁启动效率较低的问题；由于在设备状态调整后，确定清洁设备中清洁组件的自清洁模式，并控制清洁设备按照清洁模式工作，所以只需要接收一次自清洁指令即可开始自清洁，因此，可以提高清洁设备的智能性和自清洁启动的效率。
另外，由于在供电组件的剩余电量小于最大电量阈值的情况下，先对供电组件进行充电，再控制清洁设备进行自清洁，可以避免清洁设备在自清洁过程中因电量不足而导致自清洁过程中断的情形，提高清洁设备的自清洁的效率。
另外，由于在清水箱中的第一剩余水量小于第一水量阈值的情况下，先将第一水量调整至大于或等于第一水量阈值，再控制清洁设备进行自 清洁，可以避免清洁设备在自清洁过程中由于清洗液不足导致自清洁效果差的问题，提高清洁设备的自清洁效果。
另外，由于在污水箱中的第二剩余水量大于或等于第二水量阈值的情况下，先将第二水量调整至小于第二水量阈值，在控制清洁设备进行自清洁，可以避免清洁设备在自清洁过程中由于污水箱过满而导致自清洁过程中断的情形，提高清洁设备的自清洁的效率。
另外，由于基于待清洁部件的部件信息确定自清洁模式，可以使确定出的自清洁模式与待清洁部件的状态相匹配，既可以提高待清洁部件的清洁效果，也可以避免不必要的清洁过程，节省自清洁过程耗费的资源。
另外，由于可以选择采用基站供电或者本机供电的方式为自清洁过程供电，因此，可以针对不同的自清洁模式设置不同的供电方式，以满足不同清洁模式对供电功率的需求，提高清洁设备的自清洁效果。
另外，由于在自清洁模式的总功率大于或等于功率阈值的情况下，使用基站供电方式为自清洁过程供电，既可以避免使用本机供电方式供电时供电组件的输出功率不满足自清洁模式的需求导致清洁设备的清洁效果降低的问题，提高清洁设备的自清洁效率，也可以避免对供电组件造成损耗，延长供电组件的使用寿命。
另外，由于在自动确定自清洁模式之前确定是否自动确定自清洁模式，在确定出不自动确定自清洁模式的情况下，控制清洁设备按照默认自清洁模式工作，可以适应不同使用场景下的需求，拓宽自清洁方法的使用场景。
本实施例提供一种清洁设备的自清洁装置，如图7所示。本实施例以该装置应用于图5所示的清洁设备中，该装置包括至少以下几个模块：状态确定模块410、状态调整模块420、模式确定模块430和清洁控制模块440。
状态确定模块410，用于响应于对所述清洁设备的自清洁指令，确定所述清洁设备的设备状态是否满足预设的自清洁条件；
状态调整模块420，用于在所述设备状态未满足所述自清洁条件的情 况下，调整所述设备状态，以使调整后的设备状态满足所述自清洁条件；
模式确定模块430，用于在所述设备状态调整后，确定所述清洁设备中清洁组件的自清洁模式；
清洁控制模块440，用于控制所述清洁设备按照所述自清洁模式工作，以对所述清洁设备进行自清洁。
相关细节参考上述方法和设备实施例。
需要说明的是：上述实施例中提供的清洁设备的自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，即将清洁设备的自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设备的自清洁装置与清洁设备的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。
本实施例提供一种电子设备，如图8所示。电子设备可以为图5中清洁设备。该电子设备至少包括处理器501和存储器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 Processing Unit，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。
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清洁设备的自清洁方法。
在一些实施例中，电子设备还可选包括有：***设备接口和至少一个***设备。处理器501、存储器502和***设备接口之间可以通过总线或信号线相连。各个***设备可以通过总线、信号线或电路板与***设备接口相连。示意性地，***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。
当然，电子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。
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清洁设备的自清洁方法。
可选地，本申请还提供有一种计算机产品，该计算机产品包括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清洁设备的自清洁方法。
请参见图9至图11，本实施例提供的清洁设备包括洗地机及与洗地机对接的基站。其中，洗地机与基站对接后以充电，或洗地机与基站对接后以进行自清洁，或洗地机与基站对接后同时进行充电和自清洁。在本实施例中，洗地机的自清洁为：洗地机的清洁组件2运行，以使附着在清洁组件2上的污物于清洁组件2脱落，从而保证洗地机的清洁效率。
具体的，洗地机用于在待清洁面上执行清洁动作以实现对待清洁面的清洁效果，待清洁面可以为不同粗糙程度和高度的地面或地毯。该清洁动作可以为吸尘动作，亦或者拖地动作，亦或者吸尘和拖地动作同时进行。本申请不对待清洁面的类型以及洗地机可执行的清洁动作做具体限定。
由前述可知，洗地机包括清洁组件2。清洁组件2包括清洁单元及用于驱动清洁单元的驱动单元，该清洁单元在驱动单元的驱动下与待清洁 面接触以执行清洁动作。清洁单元的种类可根据待清洁面的类型或洗地机可执行的清洁动作进行调整，具体如滚刷、抹布盘等。驱动单元可根据清洁单元的种类进行调整，具体如马达、气缸等。当驱动单元为马达时，马达可直接与清洁单元连接；当驱动单元为气缸时，驱动单元通过传动件与清洁单元连接。其中，传动单元可以为齿轮传动等，以将气缸的直线运动转换为旋转运动。传动单元的结构为常规结构，在此不做赘述。
清洁组件2还包括适于产生负压的负压单元，该负压单元与洗地机的污物存储单元配合，以使负压单元在污物存储单元内产生负压，进而使外部的污物进入至污物存储单元内储存，以保证洗地机的清洁效果。
负压单元可为风机，该风机为驱动电机和扇叶的集成设置。或者，该负压单元也可为驱动电机和扇叶单独设置，扇叶设置在驱动电机的输出轴上等。
污物存储单元可为用于存放灰尘垃圾的尘盒，该尘盒可以仅用来存储固体污物。亦或者，尘盒具有至少两个分离腔，其中一个分离腔适于进行固液分离以存储固体污物，另一个分离腔适于存储液体污物。
污物存储单元也可为独立设置的尘盒和污水桶，污物在尘盒内进行初步分离，以使固体污物掉落存储在尘盒内，液体污物进入至污水桶内存储。
洗地机还包括适于盛放清水的清水箱，清水箱内的液体通过水路输送单元输送至清洁组件2，以将清洁组件2浸湿从而对待清洁面进行清洁，从而保证洗地机的清洁效率。或者，洗地机仅包括水路输送单元，在洗地机运行时，水路输送单元与外部水源连通，以将外部水源输送至清洁组件2，从而将清洁组件2浸湿皆可，在此不做具体限定，根据实际情况而定。其中，水路输送单元包括输送管道及与输送管道连接的泵体。
洗地机还包括可充电电池4，可充电电池4与清洁组件2连接，适于在清洁组件2运行时为清洁组件2提供电量。可充电电池4在洗地机进行清洁过程中，使得洗地机整体不受电源线的长度的限制，方便用户操作的同时，保证洗地机整体的清洁效率。
为了保证洗地机的工作时长及清洁效率，可充电电池4一般以电池 包的形式安装于洗地机的杆体上。当电池包的电量低于设定值时，如可充电电池4的电量不足以支持洗地机的清洁组件2运行时，可对电池包进行充电。或者，直接将洗地机放置于基站上，以通过基站对电池包进行充电。
相应的，洗地机包括与可充电电池4电性连接的第二供电支路5。同样的，基站包括电能转换传输支路，电能转换传输支路的输入端接入市电。当洗地机与基站对接后，电能转换传输支路的第二输出端6与第二供电支路5电性连接以导通，能转换传输支路的第二输出端6输出的电能依次传输至第二供电支路5、可充电电池4，以给可充电电池4充电。其中，电能转换传输支路的第二输出端6输出直流电。
为了防止洗地机与基站对接时、可充电电池4的电量低于设定值，基站先为可充电电池4进行充电，而无法直接进行清洁组件2的自清洁的情况，洗地机还包括第一供电支路1，第一供电支路1与清洁组件2电性连接。同样的，电能转换传输支路的第一输出端3与第一供电支路1导通，电能转换传输支路的第一输出端3输出的电能依次传输至第一供电支路1及清洁组件2，以提供清洁组件自清洁时所需的电能。其中，电能转换传输支路的第一输出端3输出直流电。
通过上述方式，使得洗地机与基站对接后，无需检测可充电电池4的电量的多少，电能转换传输支路的第一输出端3与洗地机的第一供电支路电性连接导通，以为清洁组件2直接提供电能，洗地机可立即启动自清洁，保证洗地机的清洁效率。
当基站与洗地机对接并接收到自清洁指令，电能转换传输支路的第一输出端3与第一供电支路1电导通后，可给驱动单元、负压单元及水路输送单元中的一个或多个提供电能。
呈上述，在洗地机上设置第一供电支路1与第二供电支路5，并将电能转换传输支路设置有第一输出端3和第二输出端6。第一输出端3、第一供电支路1及清洁组件2电连接，第二输出端6、第二供电支路5与可充电电池4电连接，以此，当洗地机与基站对接且启动自清洁指令后，基站可为洗地机提供自清洁时所需的电能，同时为洗地机的可充电电池4充电，进一步提高清洁设备的工作效率，节省时间。
呈上述，电能转换传输支路的第一输出端3和第二输出端6所输出的皆为直流电，因此，电能转换传输支路包括AC/DC转换单元10，AC/DC转换单元10接入市电以对市电进行降压整流以形成直流电。具体的，如图10，AC/DC转换单元10具有第一引脚DC+、第二引脚DC-、第三引脚AC_L和第四引脚AC_N，其中第一引脚DC+用于接收清洁指令，第二引脚DC-信号接地。
AC/DC转换单元10通过二极管整流电路或开关电路将交流电转换成直流电。AC/DC转换单元10的工作流程为市电接入-电源变压器-整流电路-滤波电路-稳压电路。具体的，先通过整流电路将工频交流电转换为脉动直流电，再通过滤波电路将脉动直流中的交流成分滤除，减少交流成分并增加直流成分，最后稳压电路采用负反馈技术对整流后的直流电压进行再进一步的稳定。AC/DC转换单元10的工作原理及构成为本领域技术人员熟知的，在此不做赘述。
洗地机还包括控制单元7和自清洁触发回路9，控制单元7分别与自清洁触发回路9、清洁组件2电性连接。当启动自清洁指令时，自清洁触发回路9发出触发信号至控制单元7，控制单元7在接收到触发信号后，发出控制信号至清洁组件2以使清洁组件2进行自清洁。请参见图11，控制单元7为图示里的控制芯片MCU，自清洁触发回路9为图示里的开关SW。控制芯片MCU具有第五引脚11、第六引脚12和第七引脚13，开关SW的一端、电阻R的一端和电容C的一端与第五引脚11电连接，电阻R的另一端接电源VCC，电容C的另一端与开关SW的另一端信号接地。当开关SW被按压以使自清洁触发回路9被触发，从而使得控制芯片MCU控制清洁组件2进行自清洁。
控制芯片MCU又称微控制单元或单片微型计算机，是把中央处理器的频率与规格做适当缩减，并将内存、计数器、USB、A/D转换、UART、PLC、DMA等周边接口，甚至LCD驱动电路都整合在单一芯片上，形成芯片级的计算机，为不同的应用场合做不同组合控制。其具有体积小、功耗低、控制功能强、扩展灵活、微型化和使用方便等优点，广泛应用于仪器仪表中，结合不同类型的传感器，可实现诸如电压、电流、功率、压力等物理量的测量。其种类、结构及工作原理均为本领域技术人员所 熟知的，在此不作赘述。在其他实施例中，还可选用逻辑电路与自清洁触发回路9和清洁组件2电性连接，可以根据实际需求进行选择，在此不做具体限定。
为了提高清洁设备的使用精准度及使用安全性，洗地机还包括用于检测洗地机是否与基站对接的对接检测件8，对接检测件8与控制单元电性连接以将检测结果传输至控制芯片MCU。通过设置对接检测件8，可以确保洗地机与基站完成对接，避免因洗地机故障或基站故障，而无法检测到基站和洗地机已对接，从而使洗地机无法顺利进行充电或者执行自清洁指令。
在本实施例中，对接检测件8为开关器件，开关器件在外力作用下发生位移以被触发。该外力作用可以为人力或者物体自身的重力或者挤压力等，在此不做具体限定。
具体的，基站和洗地机上均设置有用以相互对接的对接部，该开关器件可设置在基站的对接部，或设置在洗地机的对接部，或在基站的对接部与洗地机的对接部上均设置有开关器件。当洗地机与基站对接后，开关器件受到洗地机对其的压力，并于该压力作用下发生位移以使开关器件被触发。具体的，开关器件的外部具有传动元件，内部具有与传动元件配合的触点，传动元件与触点之间具有一定间距，该传动元件可以为按销、按钮、杠杆、滚轮等。外力作用在传动元件上，以使传动元件朝触点移动直至传动元件与触点接触，此时开关器件被触发以发送信号至控制芯片MCU。开关器件的接线方式、结构及工作原理为常规技术，在此不对其种类做具体限定。
在另一可选的实施例中，对接检测件8为压力传感器，压力传感器在清洁设备和基站对接时被触发。该压力传感器可设置在基站的对接部上，或设置在洗地机的对接部上，或在基站的对接部与洗地机的对接部上均设置有压力传感器。当洗地机与基站对接后，洗地机与压力传感器接触并施加压力于压力传感器上，此时，压力传感器受力被触发，并发送信号至控制芯片MCU。
压力传感器是能感受压力信号，并能按照一定的规律将压力信号转换成可用的输出的电信号的器件或装置。压力传感器通常由压力敏感元 件和信号处理单元组成。按不同的测试压力类型，压力传感器可分为表压传感器、差压传感器和绝压传感器。其接线方式、结构及工作原理为常规技术，在此不详细展开。
请参见图12，本实施例提供的洗地机，包括机身及与机身对接的清洁站。其中，机身与清洁站对接后以充电，或机身与清洁站对接后以进行自清洁，或机身与清洁站对接后同时进行充电和自清洁。在本实施例中，当机身的清洁组件23位于清洁站上进行自清洁时，机身与清洁站对接。机身的自清洁为：机身的清洁组件23运行，以使附着在清洁组件23上的污物与清洁组件23脱落，从而保证机身的清洁效率。
具体的，机身适于在待清洁面上进行清洁动作以实现清洁效果。其中，待清洁面可以为不同粗糙程度的地面、墙面，或待清洁物体的表面，本申请不对待清洁面的类型做具体限定。
该清洁动作可以为吸尘动作，亦或者拖地动作，亦或者吸尘和拖地动作同时进行，以保证机身的清洁效率。
呈上述，机身包括清洁组件23。清洁组件23至少包括清洁单元及与清洁单元连接的驱动单元，清洁单元在驱动单元的驱动下转动以对待清洁面进行清洁。其中，清洁单元可以为滚刷、抹布盘等，可根据实际需求进行设定，以满足对待清洁面的清洁需求为主。
驱动单元可以为马达、气缸、电缸等。当驱动单元为马达时，习知的，马达具有输出轴，其做旋转运动，因而马达可直接与清洁单元连接，以驱动清洁单元旋转。当驱动单元为气缸或电缸时，习知的，气缸和电缸做线性运动，此时，清洁组件23还包括连接驱动单元和清洁单元的传动单元，该传动单元适于将气缸或电缸的线性运动很知足安环为旋转运动。其中，传动单元可以为齿轮、丝杠等，其为常规结构，在此不做赘述。
清洁组件23还包括适于产生负压的负压单元，该负压单元与机身内的污物存储单元对接，以在污物存储单元内形成负压，从而使外部的污物能够在负压的作用下进入至污物存储单元内储存，从而保证机身的清洁效果。
负压单元可以为风机，该风机为驱动电机和扇叶的集成设置，其结构紧凑且体积小，从而减小机身的整体体积。或者，该负压单元也可为单独设置的驱动电机和扇叶，扇叶设置在驱动电机的输出轴上。
污物存储单元可为尘盒。在其中一个实施例中，该尘盒只有一个分离腔，该分离腔用来存储固体污物。在另一个实施例中，尘盒具有至少两个分离腔，其中一个分离腔适于进行固液分离已存储固体污物，另一个分离腔适于存储液体污物。值得注意的是，当尘盒具有至少两个分离腔时，负压单元与用于存储液体污物的分离腔对接，用于存储固体污物的分离腔与机身的吸尘口对接。
污物存储单元也可为独立设置的尘盒和污水桶，污物在尘盒内进行初步分离，以使固体污物掉落存储在尘盒内，液体污物进入至污水桶内存储。
机身还包括适于盛放清水的清水箱。清水箱内的液体通过水路输送单元输送至清洁单元，以将清洁单元浸湿从而对待清洁面进行清洁，从而保证洗地机的清洁效率。或者，洗地机仅包括水路输送单元，在洗地机运行时，水路输送单元与外部水源连通，以将外部水源输送至清洁单元，从而将清洁单元浸湿皆可，在此不做具体限定，根据实际情况而定。其中，水路输送单元包括输送管道及与输送管道连接的泵体。
机身还包括供电组件22，供电组件22与清洁组件23电性连接，以为清洁组件23的运行提供电量。在本实施例中，该供电组件22为电池包。供电组件22可拆卸地安装于机身上，以使机身在进行清洁工作的过程中，不受电源线的长度的限制，方便用户操作的同时，保证机身的清洁效率。
供电组件22具有设定值，该设定值为可支持清洁组件23运行的电量值。当供电组件22的电量低于设定值时，可将供电组件22与机身拆卸进行单独充电。或者，直接将机身放置于清洁站上，以通过清洁站对供电组件22进行充电。
其中，机身还可包括提示组件，该提示组件与供电组件22连接。在供电组件22的电量低于预设值时，提示组件适于提示用户对供电组件22进行充电。提示组件的形式可以为声音提醒、颜色提醒或闪烁提醒。相 应的，提示组件可以为蜂鸣器，在供电组件22的电量低于预设值时，蜂鸣器发出警报。或者，该提示组件可以为LED灯，在供电组件22的电量低于预设值时，LED灯的颜色自绿色转换为红色，或LED灯闪烁以对用户进行提示。
由上述可知，当供电组件22的电量低于预设值时，可将机身整体放置于清洁站上进行充电。相应的，清洁站还包括外部电源输入单元21，该外部电源输入单元21连接市电。在机身与清洁站对接后，外部电源输入单元21可将市电的电能输送至供电组件22。
外部电源输入单元21包括整流单元，整流单元接入市电并将市电进行降压和整流处理转换成直流电。整流单元是利用二极管的单向导电性将正负变化的交流电压变为单向脉动电压的电路。在交流电源的作用下，整流二极管周期性地导通和截止，使负载得到脉动直流电。在电源的正半周，二极管导通，使负载上的电流与电压波形形状完全相同；在电源电压的负半周，二极管处于反向截止状态，承受电源负半周电压，负载电压几乎为零，从而实现整流。其为常规结构，在此不做赘述。
外部电源输入单元21还可包括与整流单元连接的降压单元，该降压单元适于将整流后的直流电进行降压。该降压单元也为常规结构，例如一体成型式电感等，在此不做赘述。其中，降压单元和整流单元的次序不做具体限定，即，在本实施例中，市电可先整流后降压，也可先降压后整流，根据实际情况而定。
为了防止机身与清洁站对接时、供电组件22的电量低于设定值，清洁站需先为供电组件22进行充电，而无法控制清洁组件23立即进行自清洁的情况发生，洗地机还包括电路切换单元。电路切换单元设置于机身或清洁站上，其选择性地电连通供电组件22及清洁组件23，或电连通外部电源输入单元21与清洁组件23，以将供电组件22或外部电源输入单元21的电能传送至清洁组件23，以提供清洁组件23自清洁时所需的电能。
通过上述设置，在供电组件22的电量足以支持清洁组件23进行自清洁时，机体与清洁站对接后可使清洁组件23即时进行自清洁；或者，在供电组件22的电量不能支持清洁组件23进行自清洁时，机体与清洁 站对接后可通过外部电源输入单元21即时为清洁组件23提供电量以进行自清洁，从而保证洗地机的自清洁效率；或者，无论供电组件22的电量是否可以支持清洁组件23进行自清洁，机体与清洁站对接后直接通过外部电源输入单元21即时为清洁组件23提供电量以进行自清洁，从而节省供电组件22的电量，减少供电组件22的充电时间。
在其中一个实施例中，电路切换单元24包括单刀双掷开关。具体的，单刀双掷开关包括公共端、第一接线端和第二接线端，公共端与清洁组件23电性连接，第一接线端与供电组件22电性连接，第二接线端与外部电源输入单元21电性连接，单刀双掷开关选择性的导通公共端与第一接线端或者导通公共端与第二接线端。当供电组件22的电量低于预设值时，第一接线端与公共端导通，以使外部电源输入单元21的电能传送至清洁组件23，从而为清洁组件23的自清洁提供电能。当供电组件22的电量大于预设值时，第二接线端与公共端导通，以使供电组件22的电能传送至清洁组件23，从而为清洁组件23的自清洁提供电能。
在该实施例中，电路切换单元24还包括控制单元41，机身还包括与供电组件22连接的电量检测单元，电量检测单元适于检测供电组件22的电量，并将最终的电量检测结果发送至控制单元41，该控制单元41根据接收的电量检测结果控制第一接线端与公共端导通或第二接线端与公共端导通。
在另一个实施例中，电路切换单元24包括继电器，继电器包括单刀双掷开关和线圈。其中，单刀双掷开关的结构同上述实施例相同，在此不做赘述。当线圈不通电时，公共端与第一接线端电导通；当线圈通电时，公共端与第二接线端电导通；或者，当线圈不通电时，公共端与第二接线端电导通；当线圈通电时，公共端与第一接线端电导通。
电路切换单元24还包括控制单元41，控制单元41与线圈电性连接以控制线圈通电。以线圈通电公共端与第一接线端导通、线圈不通电公共端与第二接线端导通为例，同样的，当供电组件22的电量低于预设值时，控制单元41控制线圈不通电，第二接线端与公共端导通，以使外部电源输入单元21的电能传送至清洁组件23，从而为清洁组件23的自清洁提供电能。当供电组件22的电量大于预设值时，控制单元41控制线 圈通电，第一接线端与公共端导通，以使供电组件22的电能传送至清洁组件23，从而为清洁组件23的自清洁提供电能。
在另一个实施例中，电路切换单元24包括第一开关和第二开关，第一开关的一端电连接供电组件22，另一端电连接清洁组件23；第二开关的一端电连接外部电源输入单元21，另一端电连接清洁组件23。在该实施例中，该第一开关和第二开关皆为机械开关，需在外力作用下闭合或断开。其中，外力作用可以为人力或者机械力等，在此不做具体限定，根据实际情况而定。
相应的，当供电组件22的电量低于预设值时，第一开关闭合，第二开关打开，以使外部电源输入单元21的电能传送至清洁组件23，从而为清洁组件23的自清洁提供电能。当供电组件22的电量大于预设值时，第一开关打开，第二开关闭合，以使供电组件22的电能传送至清洁组件23，从而为清洁组件23的自清洁提供电能。
为了确保清洁组件23的自清洁的正常进行，洗地机还包括第一检测件25。第一检测件25与外部电源输入单元21连接，适于检测外部电源输入单元21是否接入市电。其中，该第一检测件25可以为电流传感器、电压传感器等，适于检测是否有电流或电流流向至外部电源输入单元21。
洗地机还包括第二检测件，第二检测件设置在机体和/或基站上，以检测机体是否与基站对接。其中，第二检测件可以为压力传感器、霍尔传感器等。
当第二检测件为压力传感器时，可设置在机身和清洁站的任一个上。例如，机身具有底部，清洁站具有与底部支撑配合的顶部，压力传感器可设置在顶部或底部上。当机身与清洁站对接时，压力传感器受力被触发。
压力传感器是能感受压力信号，并能按照一定的规律将压力信号转换成可用的输出的电信号的器件或装置。压力传感器通常由压力敏感元件和信号处理单元组成。按不同的测试压力类型，压力传感器可分为表压传感器、差压传感器和绝压传感器。其接线方式、结构及工作原理为常规技术，在此不详细展开。
当第二检测件为霍尔传感器时，其设置在机身和清洁站的其中一个 上，此时，机身与清洁站的另一个上还设置有与霍尔传感器配合的磁铁。相应的，霍尔传感器也可设置在顶部或底部上，磁铁设置在顶部或底部上，当机身与清洁站对接时，霍尔传感器感受到磁场以被触发。
机身还包括自清洁触发组件，其在被触发时使得清洁组件23进行自清洁。其中，自清洁触发组件包括触发开关单元及导通开关单元，触发开关单元在外力作用下触发以使导通开关单元闭合，进而使得电路切换单元24动作，以使清洁组件23进行自清洁。
请具体参见图13，图13为本实施例中的洗地机的原理图。图示例中的整流单元U39相当于上述的整流单元，其将市电转换为直流电。图示例中的继电器LS3相当于上述的包括继电器的电路切换单元24，图示例中的控制芯片U38相当于上述的控制单元41，图示例中的开关件SW5、电阻R245及电容C148组成上述的触发开关单元，图示例中的电阻R243、电阻R244及三极管Q2组成上述的导通开关单元。
具体的，整流单元的第一引脚1和第二引脚2接入市电，整流单元的第三引脚3接地，整流单元的第四引脚4接入继电器的单刀双掷开关的第二接线端5(DC+)，该第二接线端5与清洁组件3连接。单刀双掷开关的第一接线端4(BATTERY+)接入供电组件2，单刀双掷开关的公共端3接入清洁组件3。线圈的一端1接入电源，线圈的另一端2与三极管Q2的集电极连接，三极管Q2的发射极接地，三极管Q2的基极与电阻R243的一端连接，电阻R243的另一端与控制芯片U38的输出端2连接。电阻R244的一端与电阻R243连接，电阻R244的另一端接地。控制芯片U38的输入端1与开关件SW4、电阻R245、电容C148的公共连接端连接，电阻R245的另一端接入电源，电容C148和开关件SW4的另一端分别接地。
按下开关件SW4，触发开关单元被触发，导通开关单元闭合，控制芯片通过导通开关单元控制线圈通电，进而控制继电器的单刀双掷开关的第二接线端5与公共端3导通，外部电源输入单元1的电能传送至清洁组件3，从而为清洁组件3的自清洁提供电能。
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。
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。

Claims (38)

  1. 一种清洁设备的自清洁方法，其特征在于，所述清洁设备在自清洁过程中与基站对接，所述方法包括：
    在所述清洁设备进行自清洁过程中，在检测到所述清洁设备与所述基站分离或者所述清洁设备自清洁过程中断的情况下，获取所述清洁设备当前的自清洁状态；
    在检测到所述清洁设备与所述基站对接或者自清洁中断条件消除的情况下，基于所述自清洁状态执行自清洁过程。
  2. 根据权利要求1所述的方法，其特征在于，在检测到所述清洁设备与所述基站对接的情况下，基于所述自清洁状态执行自清洁过程之前，还包括：
    在检测到所述清洁设备与所述基站对接的情况下，确定是否基于所述自清洁状态执行所述自清洁过程；
    在确定出基于所述自清洁状态执行所述自清洁过程的情况下，触发执行所述基于所述自清洁状态执行自清洁过程。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    在确定出不基于所述自清洁状态执行所述自清洁过程的情况下，确定是否基于所述自清洁过程的初始状态执行所述自清洁过程；
    在确定出基于所述初始状态执行所述自清洁过程的情况下，基于所述初始状态执行所述自清洁过程。
  4. 根据权利要求3所述的方法，其特征在于，所述确定是否基于所述自清洁过程的初始状态执行所述自清洁过程，包括：
    获取所述清洁设备的第一设备状态，所述第一设备状态包括清洁设备上供电组件的剩余电量、所述清洁设备上清水箱的第一水量、所述清洁设备上污水箱的第二水量、和/或所述清洁设备当前所属时间段；所述清水箱用于容纳清洗液，以对所述清洁设备进行自清洁；所述污水箱用于容纳对所述清洁设备进行自清洁后的污水；
    基于所述第一设备状态确定是否基于所述初始状态执行所述自清洁过程。
  5. 根据权利要求3所述的方法，其特征在于，所述基于所述初始状态执行所述自清洁过程，包括：
    获取所述清洁设备的第二设备状态，所述第二设备状态包括所述清洁设备上待清洁机构的机构脏污程度、所述待清洁机构的机构类型、所述清洁设备上供电组件的剩余电量、所述清洁设备上清水箱的第一水量和/或所述清洁设备上污水箱的第二水量；所述清水箱用于容纳清洗液，以对所述清洁设备进行自清洁；所述污水箱用于容纳对所述清洁设备进行自清洁后的污水；
    基于所述第二设备状态确定当前自清洁模式，所述清洁设备包括至少两种自清洁模式；
    基于所述当前自清洁模式的初始状态执行所述自清洁过程。
  6. 根据权利要求2所述的方法，其特征在于，所述确定是否基于所述自清洁状态执行所述自清洁过程，包括：
    获取所述清洁设备上待清洁机构的机构脏污程度；按照所述机构脏污程度确定是否基于所述自清洁状态执行所述自清洁过程；
    或者，
    获取与所述基站分离至与所述基站对接之间的间隔时长；按照所述间隔时长确定是否基于所述自清洁状态执行所述自清洁过程；
    或者，
    获取所述待清洁机构的第一工作参数；基于所述第一工作参数和与所述基站分离时所述清洁机构的第二工作参数确定是否基于所述自清洁状态执行自清洁过程，此时，所述自清洁状态包括所述第二工作参数。
  7. 根据权利要求1所述的方法，其特征在于，所述清洁设备中安装有供电组件和与所述供电组件相连的充电回路，所述基站上安装有充电组件，所述充电组件用于通过所述充电回路为所述供电组件充电；所述方法还包括：
    基于所述充电组件与所述充电回路之间的接通状态，确定所述清洁设备与所述基站分离或对接。
  8. 根据权利要求1所述的方法，其特征在于，所述清洁设备上安装有传感组件，所述传感组件用于识别所述清洁设备与所述基站是否对接；所述方法还包括：
    基于所述传感组件的传感结果，确定所述清洁设备与所述基站分离 或对接。
  9. 根据权利要求1所述的方法，其特征在于，所述基于所述自清洁状态执行自清洁过程之后，还包括：
    在接收到自清洁停止指令的情况下，基于所述自清洁停止指令确定下一次检测到所述清洁设备与所述基站对接或者自清洁中断条件消除时是否执行所述基于所述自清洁状态执行自清洁过程的步骤。
  10. 一种清洁设备，其特征在于，所述设备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权利要求1至9任一项所述的清洁设备的自清洁方法。
  11. 一种计算机可读存储介质，其特征在于，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权利要求1至9任一项所述的清洁设备的自清洁方法。
  12. 一种清洁设备的自清洁方法，其特征在于，用于洗地机中，所述方法包括：
    响应于对所述清洁设备的自清洁指令，确定所述清洁设备的设备状态是否满足预设的自清洁条件；
    在所述设备状态未满足所述自清洁条件的情况下，调整所述设备状态，以使调整后的设备状态满足所述自清洁条件；
    在所述设备状态调整后，确定所述清洁设备中清洁组件的自清洁模式；
    控制所述清洁设备按照所述自清洁模式工作，以对所述清洁设备进行自清洁。
  13. 根据权利要求12所述的方法，其特征在于，
    所述确定所述清洁设备的设备状态是否满足预设的自清洁条件，包括：
    确定所述清洁设备中供电组件的剩余电量是否大于或等于最低电量阈值；
    在所述设备状态未满足所述自清洁条件的情况下，调整所述设备状态，包括：
    在所述剩余电量小于所述最低电量阈值的情况下，对所述供电组件 进行充电。
  14. 根据权利要求12所述的方法，其特征在于，
    所述确定所述清洁设备的设备状态是否满足预设的自清洁条件，包括：
    确定所述清洁设备中清水箱的第一水量是否大于或等于第一水量阈值；所述清水箱用于容纳清洗液，以对所述清洁设备进行自清洁；
    在所述设备状态未满足所述自清洁条件的情况下，调整所述设备状态，包括：
    在所述第一水量小于所述第一水量阈值的情况下，将所述第一水量调整至大于或等于所述第一水量阈值。
  15. 根据权利要求12所述的方法，其特征在于，
    所述确定所述清洁设备的设备状态是否满足预设的自清洁条件，包括：
    确定所述清洁设备中污水箱的第二水量是否小于第二水量阈值；所述污水箱用于容纳对所述清洁设备进行自清洁后的污水；
    在所述设备状态未满足所述自清洁条件的情况下，调整所述设备状态，包括：
    在所述第二水量大于或等于所述第二水量阈值的情况下，将所述第二水量调整至小于所述第二水量阈值。
  16. 根据权利要求12所述的方法，其特征在于，所述确定所述清洁设备中清洁组件的自清洁模式，包括：
    获取待清洁部件的部件信息；
    基于所述部件信息确定所述自清洁模式。
  17. 根据权利要求12所述的方法，其特征在于，所述控制所述清洁设备按照所述自清洁模式工作，包括：
    确定所述自清洁模式对应的供电方式，所述供电方式包括基站供电方式和本机供电方式；其中，所述基站供电方式是指通过基站为自清洁过程供电的方式，所述本机供电方式是指通过所述清洁设备中的供电组件为自清洁过程供电的方式；所述基站用于与所述清洁设备对接；
    在控制所述清洁设备按照所述自清洁模式工作时，使用所述供电方 式为所述清洁设备供电。
  18. 根据权利要求17所述的方法，其特征在于，所述确定所述自清洁模式对应的供电方式，包括：
    在所述自清洁模式的总功率大于或等于功率阈值的情况下，确定所述供电方式为所述基站供电方式。
  19. 根据权利要求12所述的方法，其特征在于，所述确定所述清洁设备中清洁组件的自清洁模式之前，还包括：
    确定是否自动确定所述自清洁模式；
    在确定出不自动确定所述自清洁模式的情况下，控制所述清洁设备按照默认自清洁模式工作，以对所述清洁设备进行自清洁。
  20. 一种清洁设备，其特征在于，所述清洁设备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权利要求12至19任一项所述的清洁设备的自清洁方法。
  21. 一种计算机可读存储介质，其特征在于，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权利要求12至19任一项所述的清洁设备的自清洁方法。
  22. 一种清洁设备，其特征在于，包括：
    洗地机，包括第一供电支路和清洁组件，所述第一供电支路与所述清洁组件电性连接；以及
    基站，包括电能转换传输支路，所述电能转换传输支路的输入端接入市电，所述电能转换传输支路的第一输出端输出直流电；
    其中，当所述洗地机与所述基站对接且启动自清洁指令后，所述电能转换传输支路的第一输出端与所述第一供电支路电导通，所述电能转换传输支路的第一输出端输出的电能依次传输至所述第一供电支路、所述清洁组件，以提供所述清洁组件自清洁时所需的电能。
  23. 如权利要求22所述的清洁设备，其特征在于，所述洗地机还包括可充电电池和第二供电支路，所述可充电电池与所述第二供电支路电性连接，所述电能转换传输支路还包括第二输出端，所述电能转换传输支路的第二输出端输出直流电。
  24. 如权利要求23所述的清洁设备，其特征在于，当所述洗地机与所 述基站对接后，所述电能转换传输支路的第二输出端与所述第二供电支路电导通，所述电能转换传输支路的第二输出端输出的电能依次传输至所述第二供电支路、所述可充电电池，以给所述可充电电池充电。
  25. 如权利要求22所述的清洁设备，其特征在于，所述电能转换传输支路包括AC/DC转换单元，所述AC/DC转换单元接入市电以对所述市电进行降压整流形成直流电。
  26. 如权利要求22所述的清洁设备，其特征在于，所述洗地机还包括控制单元和自清洁触发回路，所述控制单元分别与所述自清洁触发回路、所述清洁组件电性连接，当启动所述自清洁指令时，所述自清洁触发回路发出触发信号至所述控制单元，所述控制单元在接收到所述触发信号后，发出控制信号至所述清洁组件以使所述清洁组件进行自清洁。
  27. 如权利要求26所述的清洁设备，其特征在于，所述洗地机还包括用于检测所述洗地机是否与所述基站对接的对接检测件，所述对接检测件与所述控制单元电性连接以将检测结果传输至所述控制单元。
  28. 如权利要求27所述的清洁设备，其特征在于，所述对接检测件为开关器件，所述开关器件在外力作用下发生位移以被触发。
  29. 如权利要求27所述的清洁设备，其特征在于，所述对接检测件为压力传感器，所述压力传感器在所述清洁设备和所述基站对接时被触发。
  30. 一种洗地机，其特征在于，所述洗地机包括：
    机身，包括供电组件和清洁组件；
    清洁站，包括外部电源输入单元，所述外部电源输入单元连接市电；以及
    电路切换单元，设置于所述机身或所述清洁站；
    其中，所述电路切换单元选择性的电连通所述供电组件与所述清洁组件、或者电连通所述外部电源输入单元与所述清洁组件，以将所述供电组件或所述外部电源输入单元的电能传送至所述清洁组件，以提供所述清洁组件自清洁时所需的电能。
  31. 如权利要求30所述的洗地机，其特征在于，当所述清洁组件位于所述清洁站上且处于自清洁状态时，所述机身与所述清洁站对接。
  32. 如权利要求30所述的洗地机，其特征在于，所述电路切换单元包 括单刀双掷开关，所述单刀双掷开关包括公共端、第一接线端和第二接线端，所述公共端与所述清洁组件电性连接，所述第一接线端与所述供电组件电性连接，所述第二接线端与所述外部电源输入单元电性连接，所述单刀双掷开关选择性的导通所述公共端与所述第一接线端或者导通所述公共端与所述第二接线端。
  33. 如权利要求32所述的洗地机，其特征在于，所述电路切换单元包括继电器，所述继电器包括所述单刀双掷开关和线圈；
    当所述线圈不通电时，所述公共端与所述第一接线端电导通；当所述线圈通电时，所述公共端与所述第二接线端电导通；或者，
    当所述线圈不通电时，所述公共端与所述第二接线端电导通；当所述线圈通电时，所述公共端与所述第一接线端电导通。
  34. 如权利要求33所述的洗地机，其特征在于，所述电路切换单元还包括控制单元，所述控制单元与所述线圈电性连接以控制所述线圈通电。
  35. 如权利要求30所述的洗地机，其特征在于，所述电路切换单元包括第一开关和第二开关，所述第一开关的一端电连接所述供电组件，另一端电连接所述清洁组件；所述第二开关的一端电连接所述外部电源输入单元，另一端电连接所述清洁组件。
  36. 如权利要求30至35中任一项所述的洗地机，其特征在于，外部电源输入单元包括整流单元，所述整流单元接入市电并将所述市电进行降压和整流处理转换成直流电。
  37. 如权利要求30至35中任一项所述的洗地机，其特征在于，所述洗地机还包括第一检测件；
    所述第一检测件与所述外部电源输入单元连接，适于检测所述外部电源输入单元是否接入市电。
  38. 如权利要求30至35中任一项所述的清洁设备，其特征在于，所述洗地机还包括第二检测件，所述第二检测件设置在所述机体和/或所述基站上，以检测所述机体是否与所述基站对接。
PCT/CN2023/074539 2022-04-14 2023-02-06 洗地机、清洁设备的自清洁方法、清洁设备及存储介质 WO2023197730A1 (zh)

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