CN117547186A

CN117547186A - Self-cleaning method, equipment and storage medium for cleaning equipment

Info

Publication number: CN117547186A
Application number: CN202210932075.8A
Authority: CN
Inventors: 刘凯; 杨彦平; 鲍齐斌
Original assignee: Dreame Technology Suzhou Co ltd
Current assignee: Dreame Technology Suzhou Co ltd
Priority date: 2022-08-04
Filing date: 2022-08-04
Publication date: 2024-02-13

Abstract

The application relates to a self-cleaning method and device of cleaning equipment and a storage medium, and belongs to the technical field of computers. The method comprises the following steps: under the condition that the cleaning equipment is in butt joint with the base station, responding to a self-cleaning instruction of the cleaning equipment, controlling the cleaning equipment to execute a first self-cleaning action, wherein the first self-cleaning action comprises the operation of a cleaning piece, the operation of a negative pressure generator and the closing of a water spraying mechanism; after the first self-cleaning action is completed, the cleaning device is controlled to execute a second self-cleaning action. The problem that liquid or foam generated by the cleaning accessory overflows out of the base station excessively due to the fact that the water content of the cleaning accessory is large when the water spraying mechanism sprays water to the cleaning accessory in the initial stage of self-cleaning can be solved. Because the sewage can be pumped by starting the negative pressure transmitter, the water content of the cleaning accessory can be reduced at the initial stage, so that the probability of liquid or foam overflowing the base station is reduced, and the self-cleaning effect of the cleaning equipment is improved.

Description

Self-cleaning method of cleaning equipment, equipment and storage medium

Technical Field

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

Background

The cleaning device refers to an electronic device that cleans a surface to be cleaned. The cleaning device is generally provided with a cleaning member which is operated and brought into contact with the surface to be cleaned to clean the surface to be cleaned when the cleaning device is used to clean the surface to be cleaned. At this time, after the cleaning of the surface to be cleaned is completed, the cleaning member is contaminated to a high degree, and therefore, the cleaning member needs to be cleaned.

At present, the cleaning mode of the cleaning member on the cleaning device comprises the following steps: after the cleaning device is docked with the base station, the cleaning member is automatically self-cleaned by the base station. In a typical self-cleaning mode, the cleaning device, upon receiving a self-cleaning command to the cleaning member, rotates the cleaning member while a water pump on the cleaning device is activated to spray water to the cleaning member.

However, in the initial stage of self-cleaning, the cleaning member may have more liquid or foam, which overflows the base station, resulting in a problem of poor self-cleaning effect.

Disclosure of Invention

The technical problem to be solved by the application includes that the existing cleaning equipment is in the initial stage of self-cleaning, when the water spraying mechanism sprays water to the cleaning piece, liquid or foam is generated and overflows the base station even, so that the problem of poor cleaning effect is solved.

To solve the above technical problem, in one aspect, the present application provides a self-cleaning method of a cleaning apparatus, the cleaning apparatus including a cleaning member, a water spraying mechanism for spraying water to a cleaning attachment of the cleaning member, and a negative pressure generator, the method including:

under the condition that the cleaning equipment is in butt joint with a base station, responding to a self-cleaning instruction of the cleaning equipment, and controlling the cleaning equipment to execute a first self-cleaning action, wherein the first self-cleaning action comprises the operation of the cleaning piece, the operation of the negative pressure generator and the closing of the water spraying mechanism;

after the first self-cleaning action is completed, the cleaning device is controlled to execute a second self-cleaning action, wherein the second self-cleaning action comprises the operation of the cleaning piece, the operation or closing of the negative pressure generator and the operation of the water spraying mechanism.

Optionally, the controlling the cleaning device to perform a first self-cleaning action includes:

controlling the cleaning equipment to execute the first self-cleaning action until the execution time length reaches a preset time length; or (b)

And controlling the cleaning device to execute a first self-cleaning action until the water content of the cleaning piece is smaller than a first water content threshold value.

controlling the negative pressure generator to work according to a first preset power; and

and controlling the cleaning member to work according to the second preset power.

acquiring a first operating power of the negative pressure generator determined based on the water content of the cleaning member; wherein the first operating power is in positive correlation with the water content of the cleaning member; controlling the negative pressure generator to work according to the first working power; and

acquiring a second operating power of the cleaning member determined based on the water content of the cleaning member; wherein the second operating power is in positive correlation with the water content of the cleaning member; and controlling the cleaning member to work according to the second working power.

controlling the cleaning device to perform a first self-cleaning action if the moisture content of the cleaning member is greater than a second moisture content threshold;

and in the case that the water content of the cleaning member is less than or equal to the second water content threshold value, canceling the cleaning device to execute the first self-cleaning action.

Optionally, the cleaning device and/or the base station further comprises a drying assembly, the first self-cleaning action further comprising: the drying assembly works;

wherein the drying assembly comprises a heating assembly and/or a blowing assembly. Optionally, the method further comprises:

and controlling the drying assembly to work under the condition that the water content of the cleaning piece is larger than a third water content threshold value.

Optionally, the method further comprises:

acquiring the water content acquired by a sensing assembly on the cleaning member;

or,

acquiring working parameters of the cleaning equipment when cleaning a surface to be cleaned; the moisture content is determined based on the operating parameter.

Optionally, the controlling the cleaning device to perform a second self-cleaning action includes:

the cleaning member is controlled to perform at least one forward rotation and at least one reverse rotation.

Optionally, the controlling the cleaning member to perform at least one forward rotation and at least one reverse rotation includes:

controlling the cleaning piece to rotate positively, controlling the water spraying mechanism to work, and controlling the negative pressure generator of the cleaning equipment to be closed so as to clean the cleaning piece;

under the condition that the forward rotation reaches a first preset time period, controlling the cleaning piece to alternately rotate forward and reverse, controlling the water spraying mechanism to be closed, and controlling the negative pressure generator of the cleaning equipment to work so as to clean a pipeline of the cleaning equipment;

Controlling the cleaning piece to rotate positively and controlling the water spraying mechanism to be started and the negative pressure generator to be closed under the condition that the cleaning time length of the pipeline reaches a second preset time length; and then controlling the cleaning piece to alternately rotate forward and backward, controlling the water spraying mechanism to be closed and controlling the negative pressure generator of the cleaning equipment to work so as to deeply clean the cleaning equipment.

In another aspect, the present application provides a cleaning apparatus comprising a cleaning member, a water spray mechanism for spraying water, and a negative pressure generator;

the cleaning device comprises a cleaning piece, a water spraying mechanism, a processor and a memory, wherein the processor is respectively connected with the cleaning piece, the water spraying mechanism and the negative pressure generator, the memory is connected with the processor, a program is stored in the memory, and the processor is used for realizing the self-cleaning method of the cleaning device provided by the aspect when executing the program.

In yet another aspect, the present application further provides a computer readable storage medium, characterized in that the storage medium has stored therein a program for implementing the self-cleaning method of the cleaning device provided in the above aspect when the program is executed by a processor.

According to the self-cleaning method of the cleaning equipment, under the condition that the cleaning equipment is in butt joint with the base station, the cleaning equipment is controlled to execute a first self-cleaning action in response to a self-cleaning instruction of the cleaning equipment, and the first self-cleaning action comprises the operation of a cleaning piece, the operation of a negative pressure generator and the closing of a water spraying mechanism; after the first self-cleaning action is finished, controlling the cleaning equipment to execute a second self-cleaning action, wherein the second self-cleaning action comprises the operation of a cleaning piece, the operation or closing of a negative pressure generator and the operation of a water spraying mechanism; the problem that liquid or foam generated by the cleaning accessory in the initial stage overflows out of the base station excessively due to the fact that the water content of the cleaning accessory is large after the cleaning accessory is subjected to cleaning operation when the water spraying mechanism is started in the initial stage to spray water to the cleaning accessory can be solved; meanwhile, the problem that water content is increased due to the fact that water remains in the cleaning groove to enable the cleaning accessory to absorb water, and liquid or foam generated by the cleaning accessory overflows out of the base station excessively when water is sprayed to the cleaning accessory in the initial stage is solved; the sewage can be pumped by starting the negative pressure generator, so that the content of the sewage in the cleaning accessory and the cleaning groove of the base station can be reduced at the initial stage, and when the cleaning accessory is sprayed with water at the subsequent stage, particularly when a user adds cleaning liquid in the cleaning groove, the content of the cleaning accessory and the liquid in the cleaning groove cannot be excessive, the probability of secondary sewage on the ground caused by overflow of the liquid or foam from the base station can be reduced, and the self-cleaning effect of the cleaning equipment is improved; meanwhile, the water content of the cleaning piece can be prevented from being too low, so that the water spraying quantity is not required to be consumed when the cleaning accessory is sprayed subsequently, and the consumption of energy sources is reduced.

In addition, by stopping the execution of the first self-cleaning action in the case where the water content is smaller than the first water content threshold value, the cleaning apparatus can be made to adaptively determine the stop timing of the first self-cleaning action based on the water content of the cleaning member, improving the degree of intellectualization of the cleaning apparatus.

In addition, the negative pressure generator and the cleaning piece are respectively controlled to work according to the first preset power and the second preset power which are matched in a photographing way, so that on one hand, the water content of the cleaning piece can be ensured not to be too high, and the problem that liquid or foam overflows from a base station to cause secondary pollution on the ground when water is sprayed to the cleaning accessory in the follow-up process is avoided; on the other hand, the water content of the cleaning piece can be ensured not to be too low, so that the problem that a large amount of water needs to be sprayed to the cleaning piece to cause more resource consumption is avoided.

In addition, by adjusting the first operating power of the negative pressure generator and the second operating power of the cleaning member based on the water content of the cleaning member, the degree of intellectualization of the cleaning device can be improved.

In addition, by directly executing the second self-cleaning action without executing the first self-cleaning action when the water content is less than or equal to the second water content threshold value, the cleaning device can adaptively decide whether to skip the first self-cleaning action based on the water content of the cleaning accessory, on the one hand, the self-cleaning efficiency can be improved, and on the other hand, the resources consumed by the cleaning device can be saved.

In addition, through setting up first automatically cleaning action and including dry subassembly work for dry subassembly can assist the water content of reduction cleaning member, further improves the speed of reducing the water content of cleaning member.

In addition, through the water content of cleaning member is greater than the condition of third water content threshold value, control drying assembly work can make cleaning device decide whether to start drying assembly based on the water content self-adaptation of cleaning member to supplementary reduction cleaning member's water content improves cleaning device's intelligent degree.

In addition, by calculating the water content based on the operation parameters when the cleaning device performs the cleaning operation, the sensor assembly does not need to be mounted on the cleaning member, and the device structure can be simplified.

In addition, through combining the forward rotation and the reverse rotation of the cleaning piece in the process of executing the second self-cleaning action, garbage on the cleaning piece can be cleaned during the forward rotation, and after the rolling brush is reversed, the fluff of the rolling brush becomes relatively fluffy, so that impurities in gaps among the fluff fall down, the cleaning effect of the cleaning piece is improved, meanwhile, the pipeline on the cleaning equipment can be cleaned through the reverse rotation, and the control effect of the cleaning equipment is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly explain the drawings needed in the embodiments or the prior art description, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIGS. 1 to 4B are schematic structural views of a cleaning apparatus according to an embodiment of the present application;

FIG. 5 is a flow chart of a method of controlling a cleaning device provided in one embodiment of the present application;

FIG. 6 is a schematic diagram of the control actions of a cleaning device provided in one embodiment of the present application;

FIG. 7 is a schematic illustration of control actions of a cleaning apparatus provided in accordance with yet another embodiment of the present application;

FIG. 8 is a schematic diagram of a drying action of a cleaning apparatus provided in one embodiment of the present application;

FIG. 9 is a block diagram of a control device of a cleaning apparatus provided in one embodiment of the present application;

fig. 10 is a block diagram of an electronic device provided in one embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

In this application, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present application.

In this application, the cleaning apparatus 100 refers to an electronic apparatus capable of cleaning a surface to be cleaned, and the cleaning apparatus 100 includes, but is not limited to: a sweeper, a scrubber or a wall washer, etc. The surface to be cleaned varies based on the cleaning apparatus 100, including but not limited to: ground, wall, etc.

Fig. 1 is a schematic structural diagram of a cleaning apparatus 100 according to an embodiment of the present application, and fig. 1 illustrates the cleaning apparatus 100 as a floor scrubber. As can be seen from fig. 1 and the drawings, the cleaning apparatus 100 includes at least a cleaning member 110, a water spraying mechanism, a negative pressure generator, and a controller (not shown).

The cleaning member 110 is a member of the cleaning apparatus 100 adapted to clean a surface to be cleaned. The cleaning member 110 is generally disposed at the bottom of the cleaning apparatus 100. Taking the floor scrubber of fig. 1 as an example, the cleaning member 110 is mounted to the floor brush body 10. In other embodiments, the cleaning member 110 may be mounted at the front end, the rear end, or the like of the apparatus 100, and the mounting position of the cleaning member 110 is not limited in this embodiment.

Referring to fig. 2, the cleaning member 110 includes a cleaning accessory 111 and an accessory housing 112. Wherein the cleaning attachment 111 is adapted to contact a surface to be cleaned. In operation of the cleaning device 100, the cleaning attachment 111 is in rotational motion. The accessory housing 112 wraps around a portion of the surface of the cleaning accessory 111 to prevent dirt and/or water stains on the cleaning accessory 111 from splashing during rotation.

Illustratively, the cleaning attachment 111 includes a drum and a lint disposed on the drum, and the lint may absorb dirt on the surface to be cleaned to the lint surface after the lint contacts the surface to be cleaned, so as to improve the cleaning ability of the cleaning member 110. Optionally, the cleaning attachments 111 include, but are not limited to: the implementation of the cleaning attachment 111 is not limited in this embodiment by a roller brush, etc.

Alternatively, the connection mode of the fluff and the roller may be integrally set, or may be attached to the periphery of the roller by a magic tape, or may be other connection modes, and the connection mode of the roller and the cleaning attachment 111 is not limited in this embodiment.

Alternatively, the number of cleaning attachments 111 may be one or at least two, and in the case where the number of cleaning attachments 111 is at least two, the types of different cleaning attachments 111 are the same or different, and the functions of the different types of cleaning attachments 111 are the same or different.

The cleaning attachment 111 has a drive mechanism connected thereto for driving the cleaning member 110 to operate to clean a surface to be cleaned or to self-clean the cleaning attachment 111. Wherein, the actuating mechanism includes driving motor.

Generally, there is a certain gap between the cleaning accessory 111 and the accessory housing 112, so that the problem of increasing the load of the driving motor due to an increase in friction force caused when the cleaning accessory 111 is connected to the accessory housing 112 can be avoided, and the load of the driving motor can be reduced by providing the gap to reduce the friction force, thereby saving the device resources of the cleaning device 100. Meanwhile, the clearance between the cleaning accessory 111 and the accessory housing 112 can prevent dirt on the cleaning accessory 111 from being stuck in the cleaning device 100, so that the dirt removing effect on the cleaning accessory 111 can be ensured.

In this embodiment, description will be given taking an example in which, when the cleaning apparatus 100 performs a cleaning operation, the direction in which the driving mechanism drives the cleaning attachment 111 to rotate is a forward direction, and the direction opposite to the rotation direction is a reverse direction.

Specifically, in the case where the cleaning apparatus 100 includes one cleaning attachment 111, if the cleaning attachment 111 rotates in the counterclockwise direction when the cleaning apparatus 100 performs a cleaning operation, the counterclockwise direction is the forward direction and the clockwise direction is the reverse direction.

In the case where the cleaning apparatus 100 includes at least two cleaning attachments 111, for example, the cleaning apparatus 100 includes two cleaning attachments 111, if the first cleaning attachment 111 rotates counterclockwise when the cleaning apparatus 100 performs a cleaning operation, the counterclockwise direction is the forward direction and the clockwise direction is the reverse direction for the first cleaning attachment 111. If the second cleaning attachment 111 is rotated clockwise when the cleaning apparatus 100 is performing a cleaning operation, the clockwise direction is the forward direction and the counterclockwise direction is the reverse direction for the second cleaning attachment 111.

In order to enhance the cleaning effect of the cleaning member 110, a water spraying mechanism that sprays water to the cleaning attachment 111 in the cleaning member 110 is also provided in the cleaning apparatus 100. The water spraying mechanism sprays the liquid in the upper water tank 202 of the cleaning apparatus 100 onto the cleaning attachment 111, so that the cleaning attachment 111 can be wetted to improve the cleaning effect of the cleaning attachment 111, and to improve the self-cleaning effect of the cleaning attachment 111.

In one example, the water spray mechanism includes a water conduit for delivering a water source to the cleaning attachment 111, and a water pump 203 disposed on the water conduit. Alternatively, referring to fig. 3, a water pump 203 is provided in the floor brush body. In other embodiments, the water pump 203 may be provided in the apparatus main body 20 shown in fig. 1, and the present embodiment does not limit the provision of the water pump 203.

Referring to fig. 4A, the water pipe has one end connected to a water tank 202 (which may be a clean water tank 202 in particular) in the cleaning apparatus 100 and the other end connected to a diverter 121 on the floor brush body 10, the diverter 121 being adapted to spray liquid onto the cleaning attachment 111.

The negative pressure generator is used for absorbing dirt. Suction generated by the negative pressure generator sucks dirt of the cleaning member 110 or the surface to be cleaned through the suction pipe.

Alternatively, a negative pressure generator is installed in the apparatus body 20 of the cleaning apparatus 100, and a soil sucking pipe is provided in the cleaning apparatus 100, the negative pressure generator being provided on the soil sucking pipe. One end of the dirt suction duct is connected to the dirt tank 201 of the cleaning apparatus 100 and the other end is directed towards the cleaning attachment 111. Specifically, referring to fig. 4A in combination, a sewage suction port 101 is opened at one end of the sewage suction pipe so that the negative pressure generator sucks the cleaning attachment 111 or the sewage of the surface to be cleaned into the sewage tank 201 through the sewage suction port 101.

In this embodiment, the negative pressure generator may also use the generated suction force to suck the moisture on the cleaning attachment 111 to reduce the moisture content of the cleaning member 110.

The controller is used to control the cleaning apparatus 100. The control content of the controller comprises: the cleaning apparatus 100 is controlled to perform a cleaning operation, and the cleaning apparatus 100 is controlled to perform a self-cleaning operation.

The controller is connected to the driving mechanism, the water spraying mechanism and the negative pressure generator, respectively, and controls the driving mechanism to be started, the water spraying mechanism to be started and the negative pressure generator to be started in a case where the controller controls the cleaning device 100 to perform cleaning work. At this time, the driving mechanism drives the cleaning accessory 111 in the cleaning member 110 to rotate forward, so that the cleaning accessory 111 absorbs dirt on the surface to be cleaned, and the water spraying mechanism sprays water to the cleaning accessory 111 to wet the cleaning accessory 111, thereby improving the cleaning effect of the cleaning accessory 111 and absorbing dirt generated in the cleaning process of the cleaning accessory 111 by the negative pressure generator.

Alternatively, the liquid sprayed from the water spraying mechanism to the cleaning attachment 111 may be clean water or cleaning liquid mixed with a cleaning agent, and the type of liquid sprayed from the water spraying mechanism is not limited in this embodiment.

After the cleaning device 100 performs a cleaning operation, if self-cleaning of the cleaning accessory 111 on the cleaning device 100 is required, it is generally necessary to interface the cleaning device 100 with the base station 200. Wherein the base station 200 is used to provide a self-cleaning function for the cleaning device 100. In other embodiments, the base station 200 may also provide other auxiliary functions for the cleaning device 100, such as: the present embodiment does not limit the auxiliary functions provided by the base station 200, for charging the cleaning apparatus 100, for adding water to the clean water tank 202 in the cleaning apparatus 100, for draining the sewage tank 201 in the cleaning apparatus 100, and the like.

Referring to the schematic view of the docking of the cleaning device 100 with the base station 200 shown in fig. 4B, as can be seen from fig. 4B, in the case of docking the cleaning device 100 with the base station 200, the cleaning accessory 111 is placed in the cleaning slot 42 of the base station 200, and a gap 41 is provided between the cleaning slot 42 and the accessory housing 112. According to the above cleaning process, the cleaning accessory 111 absorbs moisture during the cleaning process, and the wet cleaning accessory 111 is disposed in the cleaning tank 42, and if not cleaned in time, the moisture remains in the cleaning tank 42, so that the cleaning accessory 111 disposed in the cleaning tank 42 absorbs water, resulting in an increase of the moisture content of the cleaning accessory 111. At this time, after the cleaning member 110 is placed on the base station 200, if water is directly sprayed to the cleaning attachment 111 during the self-cleaning process, the water content of the cleaning attachment 111 may be too high, so that the liquid or foam mixed sewage on the cleaning attachment 111 overflows from the gap 41, thereby causing a problem that the liquid or foam mixed sewage overflows outside the base station 200. At this time, secondary pollution of the surface to be cleaned is caused, and the self-cleaning effect of the cleaning apparatus 100 is affected.

Based on the above technical problem, in this embodiment, the controller is configured to: in the case where the cleaning apparatus 100 is docked with the base station 200, in response to a self-cleaning instruction to the cleaning apparatus 100, controlling the cleaning apparatus 100 to perform a first self-cleaning action including operation of the cleaning member 110, operation of the negative pressure generator, and turning off of the water spraying mechanism;

After the first self-cleaning action is completed, the cleaning apparatus 100 is controlled to perform a second self-cleaning action including operation of the cleaning member 110, operation or shut down of the negative pressure generator, and operation of the water spraying mechanism.

Referring to fig. 4B, in the course of performing the first self-cleaning action, the negative pressure generator is operated, and at this time, a negative pressure is formed at the peripheral side of the cleaning attachment (including the gap between the cleaning tank and the cleaning attachment), so that dirt and moisture on the cleaning attachment, and dirt and moisture in the cleaning tank are sucked into the sewage tank through the sewage suction port, and a specific suction path is shown by a dotted arrow in fig. 4B, so that the water content in the cleaning member and the cleaning tank can be reduced, and overflow of liquid or foam mixed sewage can be avoided.

In the embodiment, the water spraying mechanism is not started at the initial stage of self-cleaning, but the negative pressure transmitter is started at first; the problem that foam or excessive liquid mixed sewage generated by the cleaning accessory 111 in the initial stage overflows the cleaning equipment 100 body due to the fact that the water content of the cleaning accessory 111 is large after the cleaning work is performed when the water spraying mechanism is started to spray water to the cleaning accessory 111 in the initial stage can be solved; meanwhile, the problem that the water content is increased due to the fact that the cleaning accessory 111 absorbs water due to the fact that the water remains in the cleaning groove 42, and liquid or foam generated by the cleaning accessory 111 overflows out of the base station 200 excessively when water is sprayed to the cleaning accessory 111 in the initial stage is solved; because the sewage can be pumped by starting the negative pressure transmitter, the water content of the sewage in the cleaning attachment 111 and the cleaning tank 42 of the base station 200 can be reduced at the initial stage, so that when water is sprayed to the cleaning attachment 111 later, particularly when the cleaning liquid is added into the cleaning tank 42 by a user, the content of the liquid in the cleaning attachment 111 and the cleaning tank 42 is not excessive, the probability that the liquid or foam overflows the base station 200 can be reduced, and the self-cleaning effect of the cleaning device 100 is improved; meanwhile, the water content of the cleaning member 110 is not too low, so that the water spraying amount is not required to be consumed when the cleaning accessory 111 is sprayed subsequently, and the consumption of energy is reduced.

Optionally, to further increase the rate of reducing the water content of the cleaning attachment 111, a drying assembly is also included on the cleaning device 100 and/or the base station 200, the drying assembly being adapted to reduce the water content of the cleaning attachment 111.

In one example, the drying assembly includes a heating assembly, such as: and a drying component, or a heating wire, etc., wherein the heating component is used for evaporating the water on the cleaning accessory 111 in a heating manner, thereby reducing the water content of the cleaning accessory 111.

And/or the drying assembly includes a blowing assembly, such as: a fan, etc., for taking away moisture from the cleaning attachment 111 by the air flow, thereby reducing the moisture content of the cleaning attachment 111.

Optionally, the cleaning apparatus 100 may further determine whether to activate the water spraying mechanism in the initial stage based on the water content of the cleaning attachment 111, and at this time, a sensing assembly may be further provided on the cleaning member 110 to detect the water content of the cleaning member 110.

Wherein the sensing assembly includes, but is not limited to: the implementation of the sensor assembly is not limited by the humidity resistance, humidity capacitance, or the like.

In actual implementation, the cleaning device 100 may also include other components required for operation, such as: the power supply assembly, the moving assembly, the handle, etc., are not specifically recited herein.

Next, a self-cleaning method of the cleaning apparatus provided in the present application will be described. The following embodiments are described taking as an example a controller in which the method is applied in a cleaning device, and in actual implementation, the method may also be applied in other devices communicatively connected to the cleaning device, including but not limited to: a mobile phone, a computer, a wearable device, etc., the implementation manner of other devices and the implementation manner of the user terminal are not limited in this embodiment.

The communication connection mode may be wired communication or wireless communication, and the wireless communication mode may be short-distance communication or wireless communication, etc., and the communication mode between the cleaning device and other devices is not limited in this embodiment.

FIG. 5 is a flow chart of a method of self-cleaning a cleaning apparatus provided in one embodiment of the present application, the method comprising at least the following steps:

in step 501, in the case of docking the cleaning device with the base station, in response to a self-cleaning instruction to the cleaning device, the cleaning device is controlled to perform a first self-cleaning action, the first self-cleaning action including operation of the cleaning member, operation of the negative pressure generator, and closing of the water spraying mechanism.

The first self-cleaning action serves to reduce the moisture content (or humidity) of the cleaning member to ensure that the moisture content of the cleaning member is within a suitable range. The proper range can prevent liquid or foam which can overflow the base station when the cleaning accessory is wetted again, and meanwhile, the cleaning accessory can not consume a large amount of water resources when the cleaning accessory is wetted again. The suitable range may be determined based on empirical values after a number of water spray experiments on cleaning attachments of varying humidity by a developer. Illustratively, suitable ranges include an upper limit value that causes no liquid or foam to be generated that can overflow the base station if the cleaning attachment is re-wetted, and a lower limit value that causes no significant water resources to be consumed by the cleaning attachment if it is re-wetted.

The self-cleaning instruction is used for instructing the cleaning device to perform self-cleaning work on the cleaning accessory. Optionally, the self-cleaning instruction is obtained by at least one of the following ways:

first kind: the cleaning device is provided with a self-cleaning button, and a self-cleaning instruction is generated under the condition that triggering operation acting on the self-cleaning button is received.

The self-cleaning key may be an entity key or a virtual key displayed by touching the display screen, and the implementation manner of the self-cleaning key is not limited in this embodiment.

Second kind: the cleaning device determines whether a self-cleaning condition is currently satisfied, and generates a self-cleaning instruction if the self-cleaning condition is satisfied.

Wherein the self-cleaning condition may be user-set or may be stored in the cleaning device by default, including but not limited to at least one of the following: the cleaning device is completely in butt joint with the base station, the dirt degree of the cleaning piece is greater than or equal to a dirt threshold value, the residual electric quantity of the cleaning device is greater than an electric quantity threshold value, the clean water quantity of the cleaning device is greater than a first water quantity threshold value, and the sewage quantity of the cleaning device is smaller than a second water quantity threshold value.

Third kind: the cleaning device receives self-cleaning instructions sent by other devices. At this time, the other devices are provided with self-cleaning keys, and when a trigger operation acting on the self-cleaning keys is received, a self-cleaning instruction is generated and sent to the cleaning device.

In one example, controlling the cleaning device to perform a first self-cleaning action includes: and controlling the cleaning equipment to execute the first self-cleaning action until the execution time reaches the preset time.

The preset duration is preset in the cleaning device, the preset duration can be set by a user or fixedly set in the cleaning device, the value of the preset duration can be s, and other values can be obtained in actual implementation, and the embodiment does not limit the acquisition mode and the value of the preset duration.

Alternatively, controlling the cleaning device to perform a first self-cleaning action comprises: the cleaning device is controlled to perform a first self-cleaning action until the moisture content of the cleaning member is less than a first moisture content threshold.

Wherein the first moisture content threshold value is pre-stored in the cleaning device, and the first moisture content threshold value can be set by a user or fixedly set in the cleaning device. The first moisture content threshold is determined based on an upper value in a suitable range, and in the event that the moisture content is below the first moisture content threshold, even wetting the cleaning attachment does not cause liquid or foam on the cleaning attachment to overflow. Illustratively, the first moisture content threshold is less than or equal to an upper value in a suitable range.

At this time, the cleaning apparatus can acquire the water content of the cleaning member during self-cleaning. The water content is obtained by one of the following ways:

first, in the case where a sensing assembly is provided on a cleaning member, the water content collected by the sensing assembly on the cleaning member is obtained.

Secondly, acquiring working parameters of the cleaning equipment when cleaning the surface to be cleaned; the water content is determined based on the operating parameters.

Illustratively, the operating parameters include the amount of water sprayed by the water spraying mechanism, the operating power of the negative pressure generator, the operating power of the cleaning member, and the execution time of the cleaning operation corresponding to at least one operating time. Alternatively, the operating parameters include an operating mode of the cleaning device and an execution time period of the cleaning operation. Such as: referring to fig. 6, the cleaning device includes 3 modes of operation, respectively: the working power of the negative pressure generator corresponding to different working modes is different in the low gear, the middle gear and the high gear.

Determining the moisture content based on the operating parameters includes: and inputting the working parameters into a pre-trained water content prediction model to obtain the water content corresponding to the working parameters.

The water content prediction model is built based on a neural network, and training data is used for training the neural network to obtain the water content prediction model. The training data includes a sample operating parameter and an actual moisture content corresponding to the sample operating parameter. The parameter type of the sample working parameter is the same as the parameter type of the input water content preset model, and the actual water content refers to the actual water content of the cleaning accessory after cleaning according to the sample working parameter.

Alternatively, the neural network model may be a convolutional neural network or a probabilistic model, and the type of the neural network model is not limited in this embodiment.

In other embodiments, the cleaning device may also control the cleaning device to perform a first self-cleaning action until stopped upon receipt of an action stop instruction, which is generated based on a user operation. Such as: the cleaning device is provided with a jump button for jumping to a second self-cleaning action, and when a trigger operation acting on the jump button is received, an action stop instruction is generated, and at this time, the execution of the first self-cleaning action is ended.

In one example, controlling the cleaning device to perform a first self-cleaning action includes: controlling the negative pressure generator to work according to the first preset power; and controlling the cleaning member to operate according to the second preset power.

The first preset power is matched with the second preset power, and at the moment, the suction force provided by the first preset power can ensure that the water content of the cleaning piece is in a proper range after the cleaning accessory rotates at a speed corresponding to the second preset power. Illustratively, the first preset power is 120W and the second preset power corresponds to a rotational speed of 550 revolutions per minute. In actual implementation, the first preset power and the second preset power may also be set to other values, and the values of the first preset power and the second preset power are not limited in this embodiment.

In another example, controlling the cleaning device to perform a first self-cleaning action includes: acquiring a first operating power of the negative pressure generator determined based on the water content of the cleaning member; wherein the first working power and the water content of the cleaning piece are in positive correlation; controlling the negative pressure generator to work according to the first working power; and acquiring a second operating power of the cleaning member determined based on the moisture content of the cleaning member; wherein the second working power is in positive correlation with the water content of the cleaning member; and controlling the cleaning member to operate according to the second operating power.

At this time, the first operating power and the second operating power may be adaptively adjusted based on the water content of the cleaning member. The water content is obtained by referring to the above, and this embodiment is not described herein.

Optionally, since the cleaning device may perform the self-cleaning only after performing the cleaning operation for a certain period of time, the water content of the cleaning accessory will not be very high at this time, and even if water is directly sprayed to the cleaning accessory in the initial stage of self-cleaning, the problem of overflow of the liquid or foam mixed sewage will not exist. Based on this, in order to improve the flexibility of the cleaning apparatus to perform the first self-cleaning action, in this embodiment, controlling the cleaning apparatus to perform the first self-cleaning action includes: controlling the cleaning device to execute a first self-cleaning action if the moisture content of the cleaning member is greater than a second moisture content threshold; in case the moisture content of the cleaning member is less than or equal to the second moisture content threshold, step 502 is performed, i.e. the cleaning device is cancelled from performing the first self-cleaning action.

The second water content threshold value is the same as or different from the first water content threshold value, and when the water content of the cleaning piece is smaller than or equal to the second water content threshold value, even if water is sprayed to the cleaning accessory, the water or foam mixed sewage on the cleaning accessory cannot overflow, and the value of the second water content threshold value is not limited in the embodiment.

Optionally, where the cleaning apparatus and/or the base station further comprises a drying assembly, the first self-cleaning action further comprises the drying assembly working. At this point, the rate of reducing the water content of the cleaning attachment may be further increased by the drying assembly assisting in reducing the water content of the cleaning attachment. The second moisture content threshold may be user-set or fixedly provided in the cleaning device. The second moisture content threshold is determined based on an upper value in a suitable range, and in the event that the moisture content is below the second moisture content threshold, even wetting the cleaning attachment does not cause liquid or foam on the cleaning attachment to overflow. Illustratively, the second moisture content threshold is less than or equal to an upper value in a suitable range.

Optionally, the cleaning apparatus may also determine whether to activate the drying assembly based on the moisture content of the cleaning member. Specifically, in the event that the moisture content of the cleaning member is greater than a third moisture content threshold, the drying assembly is controlled to operate. In this embodiment, the drying assembly is started only when the water content of the cleaning member is high, so that equipment resources of the cleaning equipment can be saved.

Wherein the third moisture content threshold is greater than the first and second moisture content thresholds.

Step 502, after the first self-cleaning action is completed, controlling the cleaning device to execute a second self-cleaning action, wherein the second self-cleaning action comprises the operation of the cleaning piece, the operation or closing of the negative pressure generator and the operation of the water spraying mechanism.

In one example, controlling the cleaning device to perform a second self-cleaning action includes: the cleaning member is controlled to perform at least one forward rotation and at least one reverse rotation.

Accordingly, when the second self-cleaning action is performed, the water spraying mechanism is started when the cleaning member is rotated forward and closed when the cleaning member is rotated backward. At this time, control the water spraying mechanism to start, include: controlling the cleaning piece to rotate positively, and controlling the water spraying mechanism to start in the process of the cleaning piece rotating positively; controlling the water spraying mechanism to be closed, comprising: and controlling the water spraying mechanism to be closed when the cleaning piece is controlled to rotate reversely.

Alternatively, the water spraying mechanism may be started during the forward rotation, or may be started after the forward rotation starts, and the opening timing of the water spraying mechanism during the forward rotation is not limited in this embodiment.

Specifically, controlling the cleaning member to perform at least one forward rotation and at least one reverse rotation includes:

Controlling the cleaning piece to rotate positively, controlling the water spraying mechanism to work and controlling the negative pressure generator of the cleaning equipment to be closed so as to clean the cleaning piece;

under the condition that the forward rotation reaches a first preset time period, controlling the cleaning piece to alternately rotate forward and reverse, controlling the water spraying mechanism to be closed, and controlling the negative pressure generator of the cleaning equipment to work so as to clean the pipeline of the cleaning equipment;

under the condition that the cleaning time length of the pipeline reaches a second preset time length, controlling the cleaning piece to rotate positively and controlling the water spraying mechanism to be started and the negative pressure generator to be closed; and then controlling the cleaning piece to alternately rotate forward and backward, controlling the water spraying mechanism to be closed, and controlling the negative pressure generator of the cleaning equipment to work so as to deeply clean the cleaning equipment.

In order to more clearly understand the self-cleaning method provided in the present application, a self-cleaning process of the cleaning apparatus is illustrated below, and in this example, the self-cleaning process includes a first self-cleaning action and a second self-cleaning action. Referring to fig. 7, a self-cleaning process includes at least the following stages:

the first stage: the cleaning piece is controlled to rotate forward for a preset time period, the water spraying mechanism is controlled to be closed, and the negative pressure generator is controlled to be started so as to reduce the water content of the cleaning piece. Then, the cleaning member is controlled to rotate forward, the water spraying mechanism is controlled to work, and the negative pressure generator of the cleaning device is controlled to be closed so as to clean the cleaning member.

In fig. 7, taking a preset time period of 5s, a water pumping amount of the water spraying mechanism of 200 gallons per minute (G/min), a rotation speed of 550 revolutions per minute (r/min) of the cleaning member in a forward direction, and a first preset power of the negative pressure generator of 120W as an example, in actual implementation, the water pumping amount, the rotation speed of the forward direction and the first preset power may be other values, and the present embodiment does not limit the values of the water pumping amount, the rotation speed of the forward direction and the first preset power.

And a second stage: under the condition that the forward rotation reaches the first preset time period, the cleaning piece is controlled to alternately rotate forward and reverse, the water spraying mechanism is controlled to be closed, and the negative pressure generator of the cleaning equipment is controlled to work so as to clean the pipeline of the cleaning equipment.

In fig. 7, the first preset duration is taken as an example for 20 seconds(s), and the value of the first preset duration may be other values in actual implementation.

Referring to fig. 7, in the second stage, the cleaning member is rotated forward, then rotated backward, and then rotated forward again, and in the second stage, the water spraying mechanism is always turned off, that is, it is ensured that the water spraying mechanism is turned off at the time of the reverse rotation, and at the same time, the negative pressure generator is operated. In fig. 7, the forward rotation of 10s and the reverse rotation of 5s are taken as examples, the rotation speed of the first forward rotation is 550 (r/min), the rotation speed of the second forward rotation is 50 (r/min), the rotation speed of the reverse rotation is 50 (r/min), the working power of the negative pressure generator at the time of the first forward rotation is 120W, the working power of the negative pressure generator at the time of the reverse rotation is 150W, and the working power of the negative pressure generator at the time of the second forward rotation is 5 s/250-15 s/150W, and the number of times of the forward rotation and the reverse rotation and the rotation speed can be other values, and the working power of the negative pressure generator can be increased or decreased according to the requirement in the actual implementation.

And a third stage: when the cleaning time of the pipeline reaches the second preset time, the cleaning piece rotates positively, the water spraying mechanism is controlled to be started, and the negative pressure generator is controlled to be closed; then, the cleaning member is controlled to alternately rotate forward and backward, the water spraying mechanism is controlled to be turned off, and the negative pressure generator of the cleaning device is controlled to work so as to deeply clean the cleaning device.

In fig. 7, the second preset duration is taken as an example for illustration, and the value of the second preset duration may be other values in actual implementation, and the embodiment does not limit the value of the second preset duration.

Referring to fig. 7, in the third stage, the cleaning member first rotates forward to spray water for 20s and controls the negative pressure generator to be turned off. Then, the motor rotates forward for 10 seconds, the rotating speed is 550 (r/min), and the working power of the negative pressure generator is 120W; then the rotation is reversed for 5 seconds, the rotation speed is 50 (r/min), and the working power of the negative pressure generator is 150W; finally, the positive rotation is carried out for 20s, the rotating speed is 50/2 s-550/18 s, and the working power of the negative pressure generator is 5 s/250-15 s/150W.

Optionally, after the self-cleaning process is finished, the cleaning apparatus may further perform a drying action to dry the cleaning member.

Alternatively, the drying action may include at least one of reverse rotation and forward rotation.

As can be seen from fig. 8, the drying process includes the following stages:

the first stage: the cleaning member was reversed, and the preset reversal time period was 88min, the reversal speed was 50r/min, and the reversal corresponding voltage was 3 volts (V).

And a second stage: the cleaning member was rotated forward for 2 minutes at a forward speed of 50r/min at a voltage of 3 volts (V).

In summary, in the self-cleaning method of the cleaning device provided by the embodiment, under the condition that the cleaning device is in butt joint with the base station, the cleaning device is controlled to execute the first self-cleaning action in response to the self-cleaning instruction of the cleaning device, wherein the first self-cleaning action comprises the operation of the cleaning piece, the operation of the negative pressure generator and the closing of the water spraying mechanism; after the first self-cleaning action is finished, controlling the cleaning equipment to execute a second self-cleaning action, wherein the second self-cleaning action comprises the operation of a cleaning piece, the operation or closing of a negative pressure generator and the operation of a water spraying mechanism; the problem that when a water spraying mechanism is started to spray water to the cleaning accessory in the initial stage, the water content is high due to the fact that the water content of the cleaning accessory is high after the cleaning accessory is subjected to cleaning work or the water content is high due to the fact that water is absorbed when the cleaning accessory is placed in a cleaning groove, and liquid or foam generated by the cleaning accessory in the initial stage overflows out of a base station too much can be solved; meanwhile, the problem that water content is increased due to the fact that water remains in the cleaning groove to enable the cleaning accessory to absorb water, and liquid or foam generated by the cleaning accessory overflows out of the base station excessively when water is sprayed to the cleaning accessory in the initial stage is solved; because the sewage can be pumped by starting the negative pressure transmitter, the content of the sewage in the cleaning accessory and the cleaning groove of the base station can be reduced at the initial stage, so that when the cleaning accessory is sprayed with water at the subsequent stage, especially when a user adds cleaning liquid in the cleaning groove, the content of the sewage in the cleaning accessory and the cleaning groove is not excessive, the probability of secondary pollution on the ground caused by overflow of liquid or foam mixed sewage from the base station can be reduced, the self-cleaning effect of the cleaning equipment is improved, and meanwhile, the water content of the cleaning piece can be ensured not to be too low, so that more water spraying amount is not required to be consumed when the cleaning accessory is sprayed at the subsequent stage, and the consumption of energy is reduced.

In addition, by controlling the operation of the negative pressure generator and the cleaning member according to the first preset power and the second preset power of the photographic adaptation, respectively, it is possible to ensure that the water content of the cleaning member is reduced to a rate in a proper range.

In addition, by providing the first self-cleaning action to include the operation of the drying assembly, the drying assembly may assist in drying the cleaning apparatus, further increasing the rate of reducing the moisture content of the cleaning member.

In addition, through the water content of cleaning member is greater than the condition of third water content threshold value, control drying assembly work can make cleaning device decide whether to start drying assembly auxiliary stay cleaning member's water content based on cleaning member's water content self-adaptation, improves cleaning device's intelligent degree.

The procedure of performing the first self-cleaning action in the self-cleaning method of the cleaning device provided in the present application is described below as an example. In this example, the cleaning apparatus is exemplified as a floor washer.

The floor cleaning machine is in butt joint with the base station after finishing cleaning work, and cleaning pieces are placed in the cleaning groove. Because water spraying or cleaning agent is needed in the working process of the floor washing machine to clean the floor, more sewage is sucked into the cleaning piece, and the water content is higher. The cleaning groove is not cleaned in time due to the fact that the cleaning groove is cleaned last time, so that sewage remains in the cleaning groove, and the cleaning piece sucks in the sewage in the cleaning groove, so that the water content of the cleaning piece is further increased. At this time, if the water spraying mechanism sprays water to the cleaning member, excessive liquid or foam is generated, and thus liquid or foam mixed sewage overflows the floor scrubber body.

Therefore, when the floor scrubber completes the cleaning work and is docked with the base station, the floor scrubber is controlled to first start a negative pressure generator (or main motor) in response to a self-cleaning instruction of the floor scrubber, start the cleaning member and spin-dry at a rotation speed of 550 rpm, and the negative pressure generator sucks the sewage at the peripheral side of the cleaning member through the sewage suction port toward the cleaning member at an operating power of 120W. In the case where the first self-cleaning action is performed for 5s, at this time, the water content of the cleaning member is lower than the first water content threshold value, and the first self-cleaning action is performed.

Then, the water spraying mechanism is started to spray water to the cleaning piece when the second self-cleaning action is executed.

By performing the first self-cleaning action, the cleaning member of the floor washing machine and the contaminated water in the cleaning tank are sucked into the contaminated water tank, the content of the contaminated water in the cleaning member and the cleaning tank is reduced, and the content of the liquid in the cleaning member and the cleaning tank is maintained in a proper range. Therefore, when the subsequent second self-cleaning action is performed, particularly when the cleaning liquid is added into the cleaning groove by a user, the liquid content in the cleaning piece and the cleaning groove is not excessive, so that the probability of secondary pollution on the ground caused by overflow of liquid or foam mixed sewage to the base station can be reduced; meanwhile, the content of liquid in the cleaning piece and the cleaning groove can be prevented from being too low, so that the second self-cleaning action is guaranteed to be executed later, more water spraying amount is not required to be consumed when water is sprayed to the cleaning accessory, the consumption of energy is reduced, and the user experience is further improved.

Fig. 9 is a block diagram of a control device of a cleaning apparatus according to an embodiment of the present application. The device at least comprises the following modules: a first control module 910 and a second control module 920.

A first control module 910, configured to control the cleaning apparatus to perform a first self-cleaning action in response to a self-cleaning instruction of the cleaning apparatus;

A second control module 920 for controlling the cleaning device to perform a second self-cleaning action; the second self-cleaning action is located after the first self-cleaning action is completed;

wherein the first self-cleaning action and the second self-cleaning action both include forward rotation and reverse rotation of the cleaning member.

For relevant details reference is made to the above embodiments.

It should be noted that: the control device of the cleaning apparatus provided in the above embodiment is only exemplified by the above-described division of each functional module when the control of the cleaning apparatus is performed, and in practical application, the above-described function allocation may be performed by different functional modules according to needs, that is, the internal structure of the control device of the cleaning apparatus is divided into different functional modules to perform all or part of the functions described above. In addition, the control device of the cleaning device provided in the above embodiment and the control method embodiment of the cleaning device belong to the same concept, and the specific implementation process is detailed in the method embodiment, which is not repeated here.

Fig. 10 is a block diagram of an electronic device provided in one embodiment of the present application. The electronic device may be the cleaning device described in fig. 1 or another device communicatively coupled to the cleaning device, the electronic device including at least a processor 1001 and a memory 1002.

The processor 1001 may include one or more processing cores, such as: 4 core processors, 8 core processors, etc. The processor 1001 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 1001 may also include a main processor, which is a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1001 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 1001 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 1002 may include one or more computer-readable storage media, which may be non-transitory. Memory 1002 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1002 is used to store at least one instruction for execution by processor 1001 to implement the control method of the cleaning device provided by the method embodiments in the present application.

In some embodiments, the electronic device may further optionally include: a peripheral interface and at least one peripheral. The processor 1001, the memory 1002, and the peripheral interfaces may be connected by buses or signal lines. The individual peripheral devices may be connected to the peripheral device interface via buses, signal lines or circuit boards. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, touch display screens, audio circuitry, and power supplies, among others.

Of course, the electronic device may also include fewer or more components, as the present embodiment is not limited in this regard.

Optionally, the present application further provides a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the control method of the cleaning device of the above method embodiment.

Optionally, the present application further provides a computer product, which includes a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the control method of the cleaning device of the above-mentioned method embodiment.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

It will be apparent that the embodiments described above are only some, but not all, of the embodiments of the present application. Based on the embodiments herein, one of ordinary skill in the art could make other variations or modifications without making any inventive effort, which would be within the scope of the present application.

Claims

1. A self-cleaning method of a cleaning apparatus, the cleaning apparatus comprising a cleaning member, a water spray mechanism for spraying water to a cleaning accessory of the cleaning member, and a negative pressure generator, the method comprising:

2. The method of claim 1, wherein the controlling the cleaning device to perform a first self-cleaning action comprises:

3. The method of claim 1, wherein the controlling the cleaning device to perform a first self-cleaning action comprises:

4. The method of claim 1, wherein the controlling the cleaning device to perform a first self-cleaning action comprises:

5. The method of claim 1, wherein the step of determining the position of the substrate comprises,

the controlling the cleaning device to perform a first self-cleaning action comprises:

6. The method of claim 1, wherein the cleaning apparatus and/or the base station further comprise a drying assembly, the first self-cleaning action further comprising: the drying assembly works;

wherein the drying assembly comprises a heating assembly and/or a blowing assembly.

7. The method of claim 6, wherein the method further comprises:

8. The method of claim 2 or 3 or 4 or 5 or 7, further comprising:

or,

9. The method of claim 1, wherein the controlling the cleaning device to perform a second self-cleaning action comprises:

10. The method of claim 9, wherein said controlling the cleaning member to perform at least one forward rotation and at least one reverse rotation comprises:

11. A cleaning apparatus, characterized in that the cleaning apparatus comprises a cleaning member, a water spraying mechanism for spraying water, and a negative pressure generator;

a processor connected to the cleaning member, the water spraying mechanism, the negative pressure generator, and a memory connected to the processor, respectively, in which a program is stored, which is used to implement the self-cleaning method of the cleaning apparatus according to any one of claims 1 to 10 when the program is executed by the processor.

12. A computer-readable storage medium, characterized in that the storage medium has stored therein a program which, when executed by a processor, is adapted to carry out a self-cleaning method of a cleaning device as claimed in any one of claims 1 to 10.