How do I empty the Drupal caches:
On-demand clearing can be done in Administer > Site Configuration > Performance.
You should setup the cron job to run every hour (or whatever interval to your liking).
When cron is run on Drupal, all caches are cleared and rebuilt without the need for a human to manually do it.
If this question pertains to theming, you should disable the caching mechanisms (css/js aggregation) and you won't have to clear the cache data when you make changes.