CN113854902A

CN113854902A - Self-cleaning system, self-moving equipment, workstation and working method thereof

Info

Publication number: CN113854902A
Application number: CN202111046018.1A
Authority: CN
Inventors: 龚珂; 高超; 丁民权; 郑辉华; 吴洲
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-08-05
Filing date: 2021-09-07
Publication date: 2021-12-31
Anticipated expiration: 2041-09-07
Also published as: CN113854902B; CN116869412A

Abstract

The embodiment of the application discloses a self-cleaning system, self-moving equipment, a workstation and a working method of the workstation. In the embodiment of the application, the workstation is additionally provided with the functions of collecting dust and cleaning the wiping component, so that the hands of a user can be liberated, and the use experience of the user is improved. Furthermore, when the dust box needs to collect dust, the dust collecting operation of the dust box is firstly carried out, and after the dust collection is finished, the cleaning operation of the wiping component is carried out, so that on one hand, the dust collecting channel can be prevented from being blocked by damp dust, and the dust collecting pressure and the risk of equipment maintenance are reduced; on the other hand, moist dust can be prevented from breeding bacteria in the dust collection bag, so that the risk of damaging the health of family members is reduced.

Description

Self-cleaning system, self-moving equipment, workstation and working method thereof

Technical Field

The application relates to the technical field of artificial intelligence, in particular to a self-cleaning system, self-moving equipment, a workstation and a working method of the workstation.

Background

Along with the development of artificial intelligence technology, cleaning machines people gradually get into people's daily life, in order to enrich cleaning machines people's function, include among the prior art and collect multiple functions in cleaning machines people of an organic whole, for example, have concurrently simultaneously and drag the function and sweep the floor the function in the cleaning machines people of an organic whole (sweep for short and drag an organic whole).

The cleaning robot integrating sweeping and mopping can save a user the trouble of mopping the floor again after sweeping the floor, and a large amount of time is saved for the user. However, the cleaning robot with integrated sweeping and mopping functions is convenient for users and faces the problem of self-cleaning, for example, the users may be required to manually clean the dust box and the mop cloth, which is inefficient and inconvenient for users.

Disclosure of Invention

In order to solve or improve the problems in the prior art, embodiments of the present application provide a self-cleaning system, a self-moving device, a workstation and a working method thereof.

In an embodiment of the present application, there is provided a self-cleaning system comprising a self-moving device and a workstation; the self-moving equipment at least comprises a dust box, a dust exhaust port and a wiping component, wherein the dust exhaust port is communicated with the dust box; when the self-moving equipment is in butt joint with the workstation, the dust collecting port is in butt joint with the dust exhaust port, and the wiping component is positioned in the cleaning tank;

the self-moving equipment is used for sending a dust collection instruction to the workstation after the self-cleaning task needs to be executed and the docking with the workstation is completed so as to instruct the workstation to execute the dust collection task on the dust box; after receiving a dust collection completion signal, continuously sending a cleaning instruction to a workstation, and driving the wiping component to rotate so as to cooperate with the workstation to execute a cleaning task on the wiping component;

the workstation is used for controlling the suction fan to work according to the dust collection instruction and the dust collection parameters to collect dust on the dust box; after dust collection is finished, sending a dust collection completion signal to the self-moving equipment; and according to the cleaning instruction, alternately performing water outlet and water pumping operations on the cleaning tank according to cleaning parameters, and performing a cleaning task on the wiping component by matching with the rotation of the wiping component.

In one embodiment of the application, an operating method of a self-moving device is provided. The self-moving device comprises a dust box, a dust exhaust port communicated with the dust box and a wiping component, and the method comprises the following steps: under the condition that a self-cleaning task needs to be executed, the self-moving equipment is in butt joint with a workstation, so that the dust exhaust port is in butt joint with a dust collection port of the workstation, and the wiping component is located in a cleaning tank of the workstation; sending a dust collection instruction to the workstation to instruct the workstation to control a suction fan to work according to dust collection parameters so as to execute a dust collection task on the dust box; after receiving a dust collection completion signal sent by the workstation, driving the wiping component to rotate, and continuously sending a cleaning instruction to the workstation to instruct the workstation to perform a cleaning task on the wiping component; wherein the workstation performing a cleaning task comprises: and alternately performing water outlet and water pumping operations on the cleaning tank according to cleaning parameters, and cleaning the wiping component by matching with the rotation of the wiping component.

In another embodiment of the present application, a method of operating a workstation is provided. The workstation includes dust collecting opening and washing tank, the dust collecting opening dock with the dust exhaust mouth that communicates with the dirt box on the self-moving equipment, and the method includes: when a dust collection instruction sent by the mobile equipment is received, controlling the suction fan to work according to dust collection parameters so as to collect dust on a dust box on the mobile equipment; after dust collection is finished, sending a dust collection completion signal to the self-moving equipment to trigger the self-moving equipment to send a cleaning instruction; and if the cleaning instruction is received, alternately performing water outlet and water pumping operations on the cleaning tank according to cleaning parameters, and performing a cleaning task on the cleaning component by matching with the rotation of the cleaning component on the self-moving equipment.

In another embodiment of the present application, a self-moving device is provided. The self-moving equipment comprises an equipment body, wherein a memory, a processor, a dust box, a dust discharge port and a wiping component are arranged on the equipment body; a memory for storing a computer program; a processor is coupled to the memory for executing the computer program in the memory for: under the condition that the self-cleaning task needs to be executed by the self-moving equipment, the self-moving equipment is controlled to be in butt joint with a workstation, so that the dust exhaust port is in butt joint with a dust collection port of the workstation, and the wiping component is located in a cleaning tank of the workstation; sending a dust collection instruction to the workstation to instruct the workstation to control a suction fan to work according to dust collection parameters so as to execute a dust collection task on the dust box; after receiving a dust collection completion signal sent by the workstation, driving the wiping component to rotate, and continuously sending a cleaning instruction to the workstation to instruct the workstation to perform a cleaning task on the wiping component; the workstation executes the cleaning task, and the workstation alternately executes water outlet and water pumping operations on the cleaning tank according to cleaning parameters and is matched with the rotation of the wiping component to clean the wiping component.

In another embodiment of the present application, a workstation is provided. The workstation comprises a workstation body, wherein a memory, a processor, a dust collecting port and a cleaning tank are arranged on the workstation body, and the dust collecting port is butted with a dust discharging port which is arranged on the self-moving equipment and communicated with the dust box; a memory for storing a computer program; a processor is coupled to the memory for executing the computer program in the memory for: when a dust collection instruction sent by the mobile equipment is received, controlling the suction fan to work according to dust collection parameters so as to collect dust on a dust box on the mobile equipment; after dust collection is finished, sending a dust collection completion signal to the self-moving equipment to trigger the self-moving equipment to send a cleaning instruction; and if the cleaning instruction is received, alternately performing water outlet and water pumping operations on the cleaning tank according to cleaning parameters, and performing a cleaning task on the cleaning component by matching with the rotation of the cleaning component on the self-moving equipment.

The embodiment of the application further provides a working method of the workstation, the workstation includes a dust collecting opening and a cleaning tank, the dust collecting opening is in butt joint with a dust discharging opening communicated with a dust box on the mobile device, and the method includes:

docking the self-moving device with a workstation; alternately performing water outlet and water pumping operations on the cleaning tank, and performing a cleaning task on a wiping component by matching with the rotation of the wiping component on the self-moving equipment; after the cleaning task is finished, controlling a drying part of the workstation to heat air to obtain hot air; starting a dust collection fan of the self-moving equipment to enable the hot air to form hot air flow, wherein the hot air flow enters a dust box of the self-moving equipment from a dust inlet of the dust box and is blown out of a filter screen of the dust box; closing the dust collection fan; and controlling a suction fan of the workstation to work so as to suck away the dust in the dust box.

According to the technical scheme, the workstation is additionally provided with the functions of collecting dust and cleaning the wiping component, so that both hands of a user can be liberated, and the use experience of the user is improved. Furthermore, when the dust box needs to collect dust, the dust collecting operation of the dust box is firstly carried out, and after the dust collection is finished, the cleaning operation of the wiping component is carried out, so that on one hand, the dust collecting channel can be prevented from being blocked by damp dust, and the dust collecting pressure and the risk of equipment maintenance are reduced; on the other hand, moist dust can be prevented from breeding bacteria in the dust collection bag, so that the risk of damaging the health of family members is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram illustrating a self-cleaning system according to an embodiment of the present application;

fig. 2a is a schematic bottom view of a self-moving device according to an embodiment of the present application;

FIG. 2b illustrates a schematic side view of a self-moving device provided by an embodiment of the present application;

fig. 3a is a schematic perspective view of a workstation according to an embodiment of the present application;

FIG. 3b is a schematic diagram illustrating a partial structure of a workstation according to an embodiment of the present application;

FIG. 3c is a schematic diagram of a base of a workstation according to an embodiment of the present application;

FIG. 3d is a schematic diagram of another workstation base provided in an embodiment of the present application;

fig. 4a is a schematic flow chart illustrating a working method of a self-moving device according to an embodiment of the present application;

FIG. 4b is a schematic structural diagram of a dust collecting device on a cleaning robot according to an embodiment of the present disclosure;

fig. 4c is a schematic view illustrating a state that hot air flow is output from the workstation to dry the wiping component according to the embodiment of the present application;

fig. 4d is a schematic bottom structure diagram of a cleaning robot provided in the embodiment of the present application;

FIG. 5a is a flow chart illustrating a method of operation of a workstation according to an embodiment of the present application;

FIG. 5b is a schematic flow chart diagram illustrating a method of operation of another workstation according to an exemplary embodiment of the present application;

fig. 6 is a schematic structural diagram of another self-moving device provided in an embodiment of the present application;

FIG. 7a is a schematic view illustrating the air flow status of the workstation and the self-moving device when the fan is activated simultaneously to perform a dust collection task on the dust box according to an embodiment of the present disclosure;

fig. 7b is a cloud chart of the distribution of the flow field in the dust box when the suction fan is independently started by the workstation when the dust box performs a dust collection task according to the embodiment of the present application;

fig. 7c is a cloud chart of the distribution of the flow field in the dust box when the fan is simultaneously started by the workstation and the self-moving device when the dust box performs a dust collection task according to the embodiment of the present application.

Detailed Description

The present application provides the following embodiments to solve or partially solve the problems of the above-described aspects. In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In some of the flows described in the specification, claims, and above-described figures of the present application, a number of operations are included that occur in a particular order, which operations may be performed out of order or in parallel as they occur herein. The sequence numbers of the operations, e.g., 101, 102, etc., are used merely to distinguish between the various operations, and do not represent any order of execution per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

An embodiment of the present application provides a self-cleaning system, as shown in fig. 1, the system includes: a workstation 100 and a self-moving device 200. As shown in fig. 2 a-2 b, the self-moving device 200 at least includes: a dirt tray (not shown), a dust exhaust 2011 in communication with the dirt tray, and a wiper assembly 2012; as shown in fig. 3a, the workstation 100 includes at least a dust collection port 1011 and a cleaning tank 1012.

In the present embodiment, the self-moving device 200 may be any cleaning robot with a dust box, a dust outlet 2011 and a wiping component 2012, and may be a cleaning robot with a mopping and sweeping function. As shown in fig. 2a, the self-moving device 200 includes a device body 201. The appearance of the device body 201 may have various shapes, such as a regular pattern (circular, square) or an irregular pattern, the device body 201 shown in fig. 2a is circular, and the device body 201 shown in fig. 2b is square. Further, as shown in fig. 2a, the apparatus main body 201 is provided with at least a travel mechanism 2019, a controller, and various sensors (not shown in the figure). The travel mechanism 2019 may be a drive wheel, a universal wheel, or the like, and is mainly used for realizing autonomous movement of the apparatus main body. The controller may execute computer instructions in the memory to control the travel mechanism 2019 and the sensors to perform respective operations, control the device body to implement respective functions, perform respective actions, or perform corresponding job tasks in the determined environment. Sensors may include, but are not limited to: laser radar (such as LDS,/TOF, structured light module, etc.), camera, ultrasonic sensor, downward-looking sensor, side-looking sensor, mechanical striking plate, etc.

Further, the main body 201 is provided with a sweeping component for performing a sweeping task and a mopping component for performing a mopping task. As shown in fig. 2a, the sweeping assembly at least comprises a fan assembly, a dust box, a rolling brush assembly 2021, a side brush assembly 2022, and the like; the floor cleaning assembly includes at least a wiping component 2012 (e.g., a mop cloth, a transmission mechanism, etc.), a water supply component (e.g., including a water pump, a pipeline, a check valve, etc.), and a water tank. Wherein, the dust box can be fixedly arranged on the equipment body 201, and can also be detachably arranged on the equipment body 201; optionally, the dust box is disposed on the top of the apparatus body 201, and a dust discharge port 2011 communicating with the dust box is opened on a side surface of the apparatus body 201, as shown in fig. 2 b. In addition, the dust outlet 2011 is provided with a shielding part, so that during non-dust collection, especially during the cleaning task performed by the mobile device, the shielding part shields the dust outlet, so that dust and other garbage objects can be sucked into the dust box; during dust discharging, the shielding part is moved away, for example, the shielding part can be moved upwards or moved away to the left or moved away to the right, and the dust discharging opening is exposed so that the dust discharging opening is in butt joint with the dust collecting opening. Alternatively, the shielding portion may be implemented as an elastic expansion member, which can shield the dust exhaust port when in the expanded state, and can expose the dust exhaust port when in the contracted state. Similarly, the wiping member 2012 may be fixed to the main body 201 or may be detachably provided to the main body 201. In addition, the self-moving device 200 can control the sweeping component to perform the sweeping task independently, control the mopping component to perform the mopping task independently, or control the sweeping component and the mopping component to perform the sweeping task and the mopping task simultaneously. As shown in fig. 2a, the rolling brush assembly 2021, the side brush assembly 2022 and the wiping assembly 2012 are disposed at the bottom of the apparatus body 201, and the rolling brush assembly 2021 and the side brush assembly 2022 are disposed in front of the wiping assembly 2012 relative to the forward direction of the apparatus body 201. Based on the arrangement structure, the self-moving device 200 can achieve the effect of sweeping the floor first and then mopping the floor under the condition of simultaneously executing the sweeping task and the mopping task.

Along with the execution of the sweeping task, the more the dust and other garbage objects in the dust box are, the problem of cleaning the dust box is involved; accordingly, as the mopping task is performed, the soiling of wiping component 2012 may become more severe, which may involve cleaning of wiping component 2012. In the present embodiment, the cleaning problem of the dust box and the cleaning problem of the wiping member 2012 are collectively referred to as a self-cleaning problem from the mobile device 200.

In the present embodiment, in order to solve the self-cleaning problem of the self-moving device 200, functions of the workstation 100 adapted to the self-moving device 200 are expanded, that is, a dust collecting function for collecting dust for a dust collecting box on the self-moving device 200 and a cleaning function for cleaning the wiping component 2012 on the self-moving device 200 are added to the workstation 100. Further, in order to be adapted to the dust collecting function and the cleaning function, the structure of the work station 100 is also adapted to be modified by adding a structural component adapted to the dust collecting and cleaning functions.

As shown in fig. 3a, the workstation 100 of the present embodiment includes a workstation body 101, wherein the workstation body 101 is provided with a receiving chamber 1013 for receiving the self-moving device 200, and a charging port 1014 is provided in the receiving chamber 1013 for providing a charging function for the self-moving device 200; further, a dust collection port 1011 is formed in a side wall of the housing chamber 1013, the dust collection port 1011 is disposed at a position capable of abutting against the dust discharge port 2011 of the mobile device 200 when the mobile device 200 abuts against the charging port 1014, and a dust bag or a dust collection bucket (not shown) is connected to the other end of the dust collection port 1011. As shown in fig. 3b, under the action of the suction fan 1016, the shielding portion on the dust outlet 2011 is moved away under the action of suction force (for example, the elastic extensible member is in a contracted state under the action of suction force), and the object in the dust box enters the dust collecting channel 1017 through the dust outlet 2011 and the dust collecting port 1011 in sequence, and is finally sucked into the dust collecting bag or the dust collecting bucket; when the suction fan 1016 stops operating, the shielding portion may shield the dust exhaust port 2011 again due to the disappearance of the suction force (for example, the elastic expansion member resumes the extended state after the disappearance of the suction force). Further, as shown in FIG. 3a, the bottom of the receiving chamber 1013 forms a cleaning tank 1012, and the wiper assembly 2012 on the mobile device 200 is located in the cleaning tank 1012 when the mobile device 200 is docked with the charging port 1014. Further, as shown in fig. 3c, a scrubbing strip 1018 is disposed in the cleaning tank 1012, and the scrubbing strip 1018 is non-rotatable and is used for cleaning the wiping component 2012 in cooperation with the rotation of the wiping component 2012 on the mobile device 200. FIG. 3c shows the scrubbing strip 1018 with the wiping component 2012 acting thereon, wherein the scrubbing strip 1018 is partially obscured by the wiping component 2012. Further, a water supply system and a water pumping system are arranged on the workstation body 101; based on the water discharge system, the workstation 100 can perform a water discharge operation on the cleaning tank 1012; the station 100 may perform a pumping operation on the cleaning tank 1012 based on a pumping system. Wherein, the water supply system comprises a clear water barrel 1021 (shown in figure 3 a) arranged above the accommodating cavity 1013, and a water outlet pipeline for communicating the clear water barrel 1021 and the cleaning tank 1012, and the water outlet pipeline is provided with a water outlet; a cleaning water tank 1021 for holding cleaning liquid, the workstation 100 being capable of controlling the cleaning liquid in the cleaning water tank 1021 to be delivered into the cleaning tank 1012 through the outlet of the outlet pipe to supply the cleaning liquid to the wiping component 2012 located in the cleaning tank 1012; accordingly, the pumping system includes a sump 1022 (shown in fig. 3 a) disposed above the receiving chamber 1013, and a pumping line communicating the sump 1022 with the cleaning tank 1012 and having a pumping port, through which dirty liquid generated by cleaning the wiper assembly 2012 can be recycled into the sump 1022.

Based on the workstation 100 with the dust collecting function and the cleaning function, when dust collection is required from the mobile device 200, the workstation 100 can return to the workstation 100 to notify the workstation 100 to activate the dust collecting function to collect dust from the dust collecting box of the mobile device 200, that is, to suck garbage objects such as dust in the dust collecting box into the dust collecting bag or the dust collecting bucket in the workstation 100. When self-moving device 200 needs to clean wiping component 2012, it can return to workstation 100 and notify workstation 100 to enable the cleaning function to clean wiping component 2012 from mobile device 200, thereby freeing up the user's hands and improving the user's experience.

However, considering that when the self-moving device 200 is docked with the workstation 100, there may be docking deviation, which may result in an insufficiently tight docking between the dust exhaust port and the dust collecting port 1011, for example, there may be a little misalignment or a slight gap left, and if the dust collecting and cleaning functions of the workstation 100 are not properly controlled, the following situations may occur during actual use: when the cleaning tank 1012 returns to the workstation 100 from the mobile device 200 for dust collection, the cleaning liquid (e.g., water) remained in the cleaning wiping component 2012 is cleaned, and dust collection is performed, because the interface between the dust outlet and the dust collecting port 1011 is not tight enough, the suction fan 1016 sucks the residual moisture into the dust collecting channel 1017, so that the humidity inside the dust collecting channel 1017 is too high. This can cause the following hazards: 1. moist dust easily blocks the dust collection channel 1017, so that the dust collection pressure is increased, the suction fan 1016 is damaged, the use experience of the workstation 100 is reduced, and the maintenance risk is increased; 2. moist dust is easy to breed bacteria in the dust collecting bag, and can mildew and emit peculiar smell when not cleaned in time, and the health of family members is damaged.

In view of the above problems, the embodiments of the present application provide a new solution for dust collection and cleaning, and based on the solution, the working process of the self-cleaning system of the embodiments of the present application is as follows:

when the self-moving device 200 recognizes that the self-cleaning task needs to be performed, the self-moving device 200 is docked with the workstation 100, when the self-moving device 200 is docked with the workstation 100, the dust collection port 1011 is docked with the dust exhaust port 2011, and the wiping component 2012 is located in the cleaning tank 1012; after the docking is successful, sending a dust collection instruction from the mobile device 200 to the workstation 100 to instruct the workstation 100 to perform a dust collection task on the dust box; the workstation 100, upon receiving a dust collection instruction sent from the mobile device 200, controls the suction fan 1016 to operate according to the dust collection parameter to perform a dust collection process on the dust box on the mobile device 200 through the dust collection port 1011; after the dust collection is finished, the workstation 100 sends a dust collection completion signal to the self-moving device 200 to trigger the self-moving device 200 to continuously send a cleaning instruction to the workstation 100; after receiving the dust collection completion signal sent by the workstation 100, the mobile device 200 continues to send a cleaning instruction to the workstation 100 and drives the wiping component 2012 to rotate so as to cooperate with the workstation 100 to perform a cleaning task on the wiping component 2012; upon receiving a cleaning command, the workstation 100 alternately performs a water discharge operation and a water pumping operation on the cleaning tank 1012 according to the cleaning parameters, and performs a cleaning task on the wiping member 2012 of the self-moving apparatus 200 in cooperation with the rotation of the wiping member 2012.

In the embodiment of the present application, the self-cleaning task is to clean the cleaning component of the self-moving device 200 itself, for example, the self-cleaning task may include: collecting dust from the dust box, cleaning the wiper assembly 2012, and the like. Before performing the self-cleaning task, the self-cleaning task needs to be performed from the mobile device 200, and the manner for identifying the self-cleaning task needs to be performed from the mobile device 200 includes the following, each of which can be regarded as an event that triggers the self-cleaning task needs to be performed:

mode a 1: the self-cleaning is needed to be performed every time the self-moving device 200 completes a cleaning task, that is, after the self-moving device 200 completes each task, the self-cleaning task is determined to be performed, then the self-cleaning device moves back to the workstation 100 and is docked with the workstation 100, and then the self-cleaning task is started according to the above-mentioned process.

Mode a 2: the self-cleaning device 200 records the number of times of executing the task, determines to execute the self-cleaning task when the number of times of executing the task reaches a set number threshold, then moves back to the workstation 100 and is in butt joint with the workstation 100, and then starts the self-cleaning task according to the above process.

Mode a 3: during the process of executing the job task, the self-cleaning device 200 monitors the amount of garbage in the dust box and the degree of contamination of the wiping component 2012 in real time, determines to execute the self-cleaning task after any index of the amount of garbage in the dust box and the degree of contamination of the wiping component 2012 reaches a set requirement, then moves back to the workstation 100 and is in butt joint with the workstation 100, and then starts the self-cleaning task according to the above process.

Mode a 4: the self-moving apparatus 200 determines to perform the self-cleaning task in case of a power shortage while performing the job task. That is, the self-moving device 200 monitors the charge of the battery in real time during the execution of the job, and in case the charge of the battery is insufficient, it needs to return to the workstation 100 for charging.

Mode a 5: when the self-cleaning task is executed by the self-cleaning mobile device 200, when the area of the task reaches the set area threshold or the working duration reaches the set time threshold, the self-cleaning task is determined to be executed, then the self-cleaning mobile device moves back to the workstation 100 and is in butt joint with the workstation 100, and then the self-cleaning task is started according to the above process.

After the self-cleaning task is identified as needed, the self-cleaning device 200 returns to the workstation 100 and interfaces with the workstation 100 from the self-cleaning device 200. There are various ways in which the self-moving device 200 may be docked with the workstation 100, and docking may be accomplished, for example, by: when the docking condition is satisfied, transmitting a docking signal from the mobile device 200 to the workstation 100; identifying the workstation 100 through a camera to obtain an identification image, and segmenting the identification image by using an image processing model to obtain a target area, wherein the target area is an area containing information of the workstation 100; then, acquiring a target point cloud corresponding to the target area, and matching the target point cloud with the point cloud template to determine pose information of the workstation 100; and finally, docking the workstation 100 according to the pose information. Or, the workstation 100 is provided with a signal transmitter for guiding the mobile device 200 to perform recharging docking, and the mobile device 200 is provided with a signal receiver for receiving the recharging guiding signal, based on which, in case of needing to return to the mobile station, the workstation 100 can control the signal transmitter to externally transmit the recharging guiding signal, and the mobile device 200 can move to the workstation 100 under the guidance of the recharging guiding signal transmitted by the workstation 100 and complete the docking with the workstation 100. In this embodiment, the docking conditions may be: each time the self-moving device 200 completes a cleaning task; the number of times of executing the task from the mobile device 200 reaches a set number threshold; the quantity of the garbage in the dust box reaches a set quantity; the level of soiling of wiper member 2012 reaches a set level; insufficient power from the mobile device 200; the operation task area of the mobile device 200 reaches a set area threshold; the duration of operation since the mobile device 200 reaches a set time threshold, and so on.

In the self-cleaning process, when the dust box needs to collect dust, the dust collecting operation of the dust box is firstly carried out, and after the dust collection is finished, the cleaning operation of the wiping component 2012 is carried out, so that on one hand, the dust collecting channel 1017 can be prevented from being blocked by damp dust, and the risks of dust collecting pressure and equipment maintenance can be reduced; on the other hand, moist dust can be prevented from breeding bacteria in the dust collection bag, so that the risk of damaging the health of family members is reduced.

In some embodiments of the present application, the self-moving device 200 may perform the sweeping task alone, and in the case of performing the sweeping task alone, the wiping component 2012 may not be cleaned. Alternatively, because of other factors, such as a low degree of soiling of wiping component 2012, wiping component 2012 may not need to be cleaned in order to save the work load on workstation 100, reduce the time required for the self-cleaning task, improve overall cleaning efficiency, and/or otherwise. Similarly, the self-moving apparatus 200 may also perform the mopping task alone, and in the case of performing the mopping task alone, the dust box may not be subjected to dust collection. Alternatively, the dust box may not be subjected to dust collection in order to save the workload of the workstation 100, reduce the time consumption of the self-cleaning task, and improve the overall cleaning efficiency, due to other factors, such as a smaller amount of waste in the dust box.

Based on the above analysis, in some optional embodiments of the present application, before sending the dust collection instruction from the mobile device 200 to the workstation 100, it is first determined whether the present self-cleaning task includes a cleaning task for the wiping component 2012; in the case where a cleaning job for the wiping member 2012 is included, it is judged again whether the present self-cleaning job includes a dust collection job; if the dust collection task is included, the operation of sending a dust collection instruction to the workstation 100 is executed; if the dust collection task is not included, the operation of sending the cleaning instruction to the workstation 100 is directly performed. Further, if it is determined that the current self-cleaning task does not include the cleaning task for the wiping component 2012 but only includes the dust collection task for the dust box, the dust collection command may be directly sent to the workstation 100 to instruct the workstation 100 to perform the dust collection task on the dust box, and after receiving the dust collection completion signal sent by the workstation 100, the current self-cleaning task is ended. In the optional embodiment, in the process of judging whether the cleaning task and the dust collecting task need to be executed or not in the current self-cleaning task, whether the cleaning task needs to be executed or not is judged preferentially, the influence of the cleaning task on the dust collecting task is fully considered, a dust collecting instruction is sent to the workstation 100 in advance under the condition that the cleaning task needs to be executed and the dust collecting task needs to be executed, and the cleaning instruction is sent to the workstation 100 after the dust collecting task is completed, so that on one hand, the phenomenon that wet dust blocks a dust collecting channel 1017 can be avoided, and the risk of dust collecting pressure and equipment maintenance is reduced; on the other hand, moist dust can be prevented from breeding bacteria in the dust collection bag, so that the risk of damaging the health of family members is reduced.

In the embodiment of the present application, the embodiment of determining whether the self-cleaning task includes a cleaning task for wiping component 2012 is not limited, and the following manners may be adopted, but not limited to, to determine whether the self-cleaning task includes a cleaning task for wiping component 2012 according to different application requirements:

mode B1: in the case where it is determined that the present self-cleaning task needs to be performed, the contamination level of wiping member 2012 is collected from mobile device 200, and in the case where the contamination level of wiping member 2012 is greater than the set contamination level threshold, it is determined that the present self-cleaning task includes a cleaning task of wiping member 2012. For example, a contamination degree detection sensor or a camera is installed on the wiping component 2012, the collected contamination degree data or the image of the wiping component 2012 is transmitted to the cloud, the processing and analysis are performed based on the learning model, and the analysis result is returned to the mobile device 200; when the analysis result shows that the contamination level of wiping member 2012 is greater than the set contamination level, it is determined from mobile device 200 that the current self-cleaning task includes a cleaning task of wiping member 2012.

Mode B2: in a case where it is determined that the present self-cleaning task needs to be performed, a time interval from the last cleaning task is acquired from the mobile device 200, and in a case where the time interval is greater than a set time interval, it is determined that the present self-cleaning task includes a cleaning task of the wiping member 2012. In this embodiment, it is determined whether or not the cleaning job needs to be executed on wiper member 2012 on the condition that the time interval from the previous cleaning job is set as a condition. In the case where the time interval is greater than the set time interval, it is indicated that wiping component 2012 has not been cleaned for a period of time, and the degree of soiling may be heavy, requiring a cleaning task to be performed with respect to wiping component 2012.

Mode B3: according to the event type triggering the cleaning task, if the event type is the specified event type, it is determined that the cleaning task includes a cleaning task of wiping component 2012. For example, the specified event type may be the type of event that requires charging from the mobile device 200 back to the workstation 100, or the type of event that the degree of soiling of the wiper member 2012 meets set requirements. In this embodiment, an event type indicating that wiping unit 2012 needs to be cleaned is set as a predetermined event type, and it is determined whether or not the cleaning job needs to be executed on wiping unit 2012 by determining whether or not the event type triggering the cleaning job of this time is the predetermined event type.

Further, in the case that the present self-cleaning task includes a cleaning task, the manner of determining whether the present self-cleaning task includes a dust collecting task may be, but is not limited to, the following:

mode C1: collecting attribute information of garbage objects in the dust box, and determining that the self-cleaning task comprises a dust collection task under the condition that the attribute information of the garbage objects meets the dust collection requirement. Wherein the attribute information of the object may include at least one of a category, a size, and a number of the object. The categories of objects may include: particles, dust, lumps, or liquids, etc.

Correspondingly, there are various methods for collecting attribute information of the garbage objects in the dust box, for example, a camera is arranged at the bottom or on the side wall of the dust box, a shot picture is transmitted to a cloud, the objects in the picture are identified based on a learning model to obtain attribute information of the class, size, quantity and the like of the objects, and when the quantity of the objects is greater than a set quantity, the self-cleaning task is determined to comprise a dust collection task; or when the object contains the set type of object, determining that the self-cleaning task comprises a dust collection task; or when the object contains an object with the size larger than the set volume, determining that the self-cleaning task comprises a dust collection task.

Mode C2: and acquiring a time interval from the last dust collection task, and determining that the current self-cleaning task comprises the dust collection task under the condition that the time interval is greater than a set time interval. In this method, it is determined whether or not the dust collection task needs to be performed on the dust box on the condition that the time interval from the previous dust collection task is a distance. In case the time interval is larger than the set time interval, it is indicated that the dust box has not been cleaned for a while, in which the amount of garbage is likely to be large, a dust collecting task needs to be performed for the dust box.

Mode C3: and determining that the cleaning task comprises a dust collection task if the event type is the specified event type according to the event type triggering the cleaning task. For example, the specified event type may be that the self-moving device 200 needs to be recharged, that is, when the self-moving device 200 is not sufficiently charged to return to the workstation 100 for charging, it is determined that the cleaning task includes a dust collection task, or that the amount of garbage in the dust box reaches a set requirement. In this aspect, the event type indicating that dust collection needs to be performed on the dust box is set in advance as a specified event type, and it is determined whether or not a dust collection task needs to be performed on the dust box by determining whether or not the event type triggering the cleaning task of this time is the specified event type.

In the above or below embodiments of the present application, the manner in which the dust collection parameters are used by the workstation 100 to perform dust collection tasks is not limited. In an alternative embodiment, the dust collection parameter may be a default parameter pre-built into the mobile device 200, and the same dust collection parameter is used for each dust collection task; alternatively, the user can also reset the dust collection parameters via the APP, but each dust collection task uses the same dust collection parameters before the next set operation. In another alternative embodiment, the dust collection parameters used per dust collection task are generated by the self-moving device 200 and provided to the workstation 100. Specifically, after determining that the cleaning task includes a dust collection task, the self-moving device 200 may generate a dust collection parameter required by the dust collection task based on the attribute information of the object in the dust box; and transmits the dust collection parameters to the workstation 100 before the workstation 100 performs the dust collection task for the workstation 100 to perform the dust collection task on the dust box according to the dust collection parameters provided from the mobile device 200 each time. Further alternatively, the self-moving device 200 may send the dust collection parameter to the workstation 100 in a dust collection command, that is, send the dust collection command including the dust collection parameter to the workstation 100 to instruct the workstation 100 to control the suction fan to operate according to the dust collection parameter, so as to perform the dust collection process on the dust box through the dust collection port. In yet another alternative embodiment, the workstation 100 may generate the dust collection parameters required for the dust collection task according to the attribute information of the object in the dust box after receiving the dust collection instruction, and control the suction fan to operate according to the dust collection parameters, so as to perform the dust collection process on the dust box through the dust collection port.

In the embodiment of the present application, the dust collection parameter may include at least one of a dust collection number, a dust collection power, and a dust collection time period. The dust collection times are used to limit the number of operations of the suction fan 1016 in the dust collection task, the dust collection power is the operation power of the suction fan 1016, and the dust collection duration is the duration of the dust collection task. Further optionally, in a manner that the self-moving device 200 or the workstation 100 generates the dust collection parameters required by the dust collection task according to the attribute information of the objects in the dust box, when there are many objects in the dust box or the objects are not easy to be cleaned (for example, the objects include sticky objects such as paper with oil stains or milk stains), a larger number of times of dust collection can be set, and the dust collection power and the dust collection time per time are set to be relatively larger. It should be noted that the dust collection parameters used in different dust collection tasks may be the same or may be different. The difference may be the difference in the number of times of dust collection, or the difference in the dust collection power and the dust collection time per time.

For example, in an alternative embodiment, for the dust collection task of this time, the self-moving device 200 or the workstation 100 sets the dust collection number to be 2 or more according to the attribute information of the object in the dust box, and the dust collection power and the dust collection time used in the dust collection process gradually decrease as the dust collection number increases. For example, the number of times of dust collection was 3, the dust collection power for the first dust collection was 300w, the dust collection time period was 30s, the dust collection power for the second dust collection was 200w, the dust collection time period was 20s, the dust collection power for the third dust collection was 100w, and the dust collection time period was 10 s. It should be noted that, in order to avoid switching the operating power of the suction fan 1016 back and forth, it is also possible to set a fixed power, for example, 300w, to be used for each dust collection, but as the number of times of dust collection increases, the dust collection time period used for each dust collection gradually decreases, for example, the time period for the first dust collection is 30s, the time period for the second dust collection is 25s, the time period for the third dust collection is 15s, and so on. Alternatively, the dust collection time period for the first dust collection is longest, for example, 30s, and the dust collection time periods for the remaining dust collections are the same, for example, 15 s.

Regardless of the source of the dust collection parameter, in the case that the dust collection parameter includes the dust collection times, the dust collection power and the dust collection time, for the workstation 100, the operation of the suction fan 1016 is controlled according to the dust collection parameter, so as to perform the dust collection process on the dust box of the self-moving apparatus 200 through the dust collection port 1011 can be implemented by the following steps: controlling the suction fan 1016 in the workstation 100 to operate for a plurality of times according to the dust collection times to collect dust from the dust box for a plurality of times in the dust collection task; during each dust collection, the suction fan 1016 is controlled to operate for a dust collection time required for the secondary dust collection according to the dust collection power used for the secondary dust collection, so that the air flow drives the objects in the dust box to flow into the dust collection bag of the workstation 100 through the dust collection port 1011.

Similarly, in the above or below embodiments of the present application, the manner in which the cleaning parameters used by the workstation 100 to perform the cleaning task are derived is not limited. In an alternative embodiment, the cleaning parameters may be default parameters pre-built into the mobile device 200, and each cleaning task uses the same cleaning parameters; alternatively, the user may reset the cleaning parameters via the APP, but each cleaning task uses the same cleaning parameters before the next set operation. In an alternative embodiment, if the cleaning task includes a cleaning task but does not include a dust collecting task, or if the cleaning task includes a cleaning task and a dust collecting task and the dust collecting task is completed, the degree of contamination of the wiping component 2012 can be collected from the mobile device 200; generating cleaning parameters required by the cleaning task according to the dirt degree of the wiping component 2012; and sends the cleaning parameters to the workstation 100 prior to the workstation 100 performing a cleaning job, such that the workstation 100 alternately performs a rinsing operation and a pumping operation on the cleaning tank 1012 in accordance with the cleaning parameters, and performs a cleaning job on the wiping unit 2012 in coordination with the rotation of the wiping unit 2012. Further alternatively, the self-moving device 200 may send the washing parameters to the workstation 100 in washing instructions, i.e. send washing instructions including the washing parameters to the workstation 100. In yet another alternative embodiment, workstation 100, upon receiving a cleaning instruction sent from mobile device 200, may capture the level of soiling of wiping component 2012; cleaning parameters required by the cleaning task are generated according to the dirt degree of the wiping component 2012, and water outlet and water pumping operations are alternately performed on the cleaning tank 1012 according to the cleaning parameters, and the cleaning task is performed on the wiping component 2012 in coordination with the rotation of the wiping component 2012.

In an embodiment of the present application, the cleaning parameter may include at least one of a cleaning time, a water discharging time, and a water pumping time of the cleaning task. The cleaning time length can be the total cleaning time length or the cleaning time length used in each cleaning. Under the condition that the cleaning times are multiple, the cleaning time, the water outlet time and the water pumping time can be the same or different. When the number of times of cleaning is multiple, since the wiping component 2012 has the highest degree of contamination during the first cleaning, the corresponding cleaning time period may be relatively longer, and the water outlet time period may also be relatively longer, so as to ensure sufficient water outlet amount, so as to improve the cleaning force of the first cleaning; in addition, in the last cleaning process, in order to allow the wiping component 2012 to be sufficiently dried, the wiping component 2012 can be rotated for a while, and in order to suck the water thrown out by the wiping component 2012 away in time, the water pumping time can be relatively long. Based on the analysis, in an optional embodiment, in the case that the cleaning parameters include the number of times of cleaning and the water discharge time and the water pumping time used for each cleaning, the water discharge time used in the first cleaning is longest, the water pumping time used in the last cleaning is longer, and the water pumping time used in the last cleaning is longer than the water discharge time used in the first cleaning. For example, the time period of the water outlet used in the first cleaning is 10s, and the time period of the water pumping used in the last cleaning is 30 s.

Further optionally, on the basis that the length of the water outlet used in the first cleaning is longest, the length of the water pumping used in the last cleaning is longer, and the length of the water pumping used in the last cleaning is longer than the length of the water outlet used in the first cleaning, for the non-last cleaning, the length of the water outlet used in each cleaning and the length of the water pumping can be the same, and along with the increase of the cleaning times, the dirt degree of the wiping component 2012 is gradually reduced, the length of the water outlet used in each cleaning and the length of the water pumping can be reduced along with the increase of the cleaning times, so that the burden of the workstation 100 is reduced, the electric quantity and the water resource are saved, and the overall cleaning efficiency is improved. Or on the basis that the length of the water outlet used in the first cleaning is longest, the length of the water pumping used in the last cleaning is longer, and the length of the water pumping used in the last cleaning is longer than the length of the water outlet used in the first cleaning, for the non-last cleaning, the length of the water outlet used in each cleaning can be the same as the length of the water pumping, and the lengths of the water pumping used in different cleaning are also the same as the length of the water outlet. For example, assuming that the number of times of cleaning is 3, since the first wiping component is dirtiest, the first cleaning is performed for 10 seconds to ensure that the water yield is higher, and the first cleaning is completed and then the water is pumped for 10 seconds; the water is discharged for 8 seconds during the second cleaning so as to properly reduce the water yield relative to the first cleaning, and the water is pumped for 8 seconds after the second cleaning is finished; the last washing is carried out for 8 seconds to properly reduce the water yield compared with the first washing, and water is pumped for 30 seconds after the last washing is finished. It is described that during the time between the water discharge and withdrawal and during the withdrawal, the self-moving device drives the wiper assembly to rotate and rub against the brush tray 1015 (scrub bar) in the sink for cleaning purposes. Optionally, during water discharge, the self-moving device may also drive the wiper assembly 2012 to rotate; alternatively, after the water discharge operation is completed, the self-moving device 200 restarts to drive the wiper member to rotate. Of course, the length of the water outlet time and the length of the water pumping time used in different times of washing may be the same and fixed, and may be determined according to the washing parameters set by the mobile device 200.

Regardless of the source of the cleaning parameters, for the workstation 100, after receiving the cleaning command, the rinsing tank 1012 is alternately drained and pumped according to the cleaning parameters, and in cooperation with the rotation of the wiping component 2012, the cleaning task performed on the wiping component 2012 can be implemented by, but not limited to, the following methods:

mode D1: in each cleaning process, the workstation 100 performs the water outlet operation on the cleaning tank 1012 according to the water outlet time length, in the process, the self-moving device 200 controls the cleaning time length, and a water pumping instruction is sent to the workstation 100 after the cleaning time length reaches; after receiving the pumping instruction sent by the mobile device 200 after the cleaning duration reaches, the workstation performs the pumping operation on the cleaning tank 1012 according to the pumping duration used in the cleaning, and after the pumping operation is completed, returns a pumping completion signal to the mobile device 200, so that the mobile device 200 can time the next cleaning duration.

Mode D2: in each cleaning process, the workstation 100 performs a water discharging operation on the cleaning tank 1012 according to the water discharging time length, and automatically performs a water pumping operation on the cleaning tank 1012 according to the water pumping time length after the water discharging operation is completed. In this manner, the duration of each wash is equal or approximately equal to the duration of each water run.

Mode D3: in each cleaning process, the workstation 100 performs a water discharging operation on the cleaning tank 1012 according to the water discharging time, and performs a water pumping operation on the cleaning tank 1012 according to the water pumping time after the water discharging operation is completed at a specified time interval. In this mode, the time length of each cleaning is equal to or approximately equal to the sum of the water outlet time length of each cleaning and the specified time length.

In the above process, the wiping member 2012 is always driven to rotate from the mobile device. In addition, the sequence of driving the wiping component 2012 to rotate from the mobile device 200 and performing the water discharging operation at the workstation 100 for the first time is not limited in the above process. May be from the mobile device 200 before the wiper assembly 2012 is rotated and then sends a cleaning instruction to the workstation 100; the workstation 100 performs a first water-out operation after receiving the washing command. Or, the mobile device 200 may send a cleaning instruction to the workstation 100 first, after the workstation 100 receives the cleaning instruction, the first water outlet operation is executed, and after the first water outlet operation is completed, a rotation start instruction is sent to the mobile device 200; the self-moving apparatus 200 drives the wiping member 2012 to rotate according to the rotation start command.

In the above process, the water discharging operation refers to a process of controlling the water supply system to supply the cleaning liquid from the clean water tub 1021 in the workstation 100 to the cleaning bath 1012 according to the water discharging time period; the pumping operation is a process of controlling the pumping system to pump the dirty liquid in the cleaning tank 1012 into the slop cask 1022 in the workstation 100 according to the pumping time period.

Further, in some optional embodiments of the present application, the workstation 100 is further configured to: in the process of executing the water outlet operation on the cleaning tank at each time, the water pumping operation is synchronously executed on the cleaning tank, and the water pumping amount of the water pumping operation is smaller than the water outlet amount of the water outlet operation, so that the aim of cleaning the wiping component by adopting a water flowing mode can be fulfilled, and the cleaning effect is improved.

In addition, the cleaning of the wiping component 2012 is primarily by the friction between the wiping component 2012 and the scrubbing strip 1018. In the above embodiments of the present application, when the rubbing strips 1018 are fixed, the wiping component 2012 is driven by the self-moving device 200 to rotate in a certain direction to achieve the self-cleaning purpose. Further, in some alternative embodiments of the present application, the scrub bar 1018 can be rotated such that when the mutual friction is generated, the scrub bar 1018 is driven to rotate in a first direction by the workstation 100, and the wiping component 2012 is driven to rotate in a second direction by the self-moving device 200, wherein the first direction and the second direction are opposite or opposite. The wiping component 2012 and the scrubbing strip 1018 rotate in opposite directions, so that the friction force between the two components can be increased, which is beneficial to improving the cleaning efficiency. Further optionally, in the case that the scrub bar 1018 rotates, the washing parameters may further include a rotation speed and a rotation duration of the scrub bar 1018 in each washing, in which case, the self-moving device 200 may further determine a rotation speed of the wiping component 2012 adapted to the rotation speed of the scrub bar 1018 in each washing, and drive the wiping component 2012 to rotate in the second direction according to the determined rotation speed of the wiping component 2012. Alternatively, the speed of rotation of the wiping component 2012 used for each cleaning is the same as the speed of rotation of the scrub bar 1018, and accordingly, the scrub bar 1018 is rotated for a period of time less than or equal to the length of rotation of the wiping component 2012. Alternatively, the rotational speed of the wiper assembly 2012 may be an integer multiple of the rotational speed of the scrub bar 1018.

Based on the above embodiment in which the wiping component 2012 rubs against the scrubbing strip 1018 to clean, the rotation directions of the wiping component 2012 and the scrubbing strip 1018 may be changed in the positive and negative directions alternately according to a certain rule, where the rotation directions of the wiping component 2012 and the scrubbing strip 1018 may be changed periodically (changing the rotation direction once every period of rotation), or changed according to the number of rotations (changing the rotation direction once every N times of rotation), or changed according to the number of cleaning times (changing the rotation direction once every cleaning), and the rotation mode may clean the wiping component 2012 more cleanly, and the cleaning efficiency is higher. For example, during a first cycle when mutual friction occurs, the workstation 100 drives the scrub bar 1018 to rotate in a first direction, and simultaneously drives the wiper assembly 2012 to rotate in a second direction from the mobile device 200, the first direction and the second direction being opposite or opposite; during the second period, the workstation 100 drives the scrub bar 1018 to change the rotation direction and rotate in the opposite direction of the first direction, and simultaneously drives the wiping component 2012 to change the rotation direction and rotate in the opposite direction of the second direction from the mobile device 200; by the next cycle, the scrub bar 1018 and wiping component 2012 again change direction of rotation, and so on. Alternatively, when friction is generated, the workstation 100 drives the scrub bar 1018 to rotate N times in a first direction, and simultaneously drives the wiping component 2012 to rotate N times in a second direction from the mobile device 200, wherein the first direction is opposite to the second direction; subsequently, the workstation 100 drives the scrub bar 1018 to change the rotation direction N times in the opposite direction of the first direction, and simultaneously drives the wiping component 2012 to change the rotation direction N times in the opposite direction of the second direction from the mobile device 200; the scrub bar 1018 and wiping component 2012 then again change direction of rotation, and so on. Alternatively, when friction is generated, the workstation 100 drives the scrub bar 1018 to rotate in a first direction during the first cleaning, and simultaneously drives the wiper assembly 2012 to rotate in a second direction from the mobile device 200, wherein the first direction is opposite to the second direction; during the second cleaning, the workstation 100 drives the scrub bar 1018 to change the rotation direction and rotate in the opposite direction of the first direction N times, and simultaneously drives the wiping component 2012 to change the rotation direction and rotate in the opposite direction of the second direction N times from the mobile device 200; the scrub bar 1018 and wiping component 2012 then again change direction of rotation, and so on.

In some embodiments of the present application, the workstation further comprises at least: the device comprises a first motor and a first transmission mechanism, wherein the first transmission mechanism is arranged below the scrubbing strip 1018 and is used for driving the scrubbing strip 1018 to rotate under the driving of the first motor. The self-moving device 200 further includes a second motor and a second transmission mechanism, the wiping component 2012 is mounted on the second transmission mechanism, and the second transmission mechanism is mounted at the bottom of the device body 201 of the self-moving device 200, and is used for driving the wiping component 2012 to rotate under the driving of the second motor. The second motor may be the same motor as the main motor of the mobile device 200, or may be different motors. During cleaning of the wiper member 2012, the first motor drives the first transmission mechanism to rotate, which in turn drives the scrubbing strip 1018 to rotate; or the second motor drives the second transmission mechanism to rotate, and the second transmission mechanism drives the wiping component 2012 to rotate therewith; or the first motor drives the first transmission mechanism to rotate, the first transmission mechanism then drives the scrubbing strip 1018 to rotate, and meanwhile, the second motor drives the second transmission mechanism to rotate, and the second transmission mechanism then drives the scrubbing component 2012 to rotate.

In the above-described embodiments, the dust collecting process and the cleaning process and the dust collecting parameters and the cleaning parameters required in the processes are described in detail from different dimensions, respectively. In the following embodiments, which take a home scenario as an example, the working process of the self-cleaning system will be described in detail.

In the home environment, the whole home environment is divided into working areas, including a living room, a bedroom, a kitchen, a bathroom, a balcony and the like. The user may send a job instruction to the mobile device 200 in a manner of voice, touch, APP, or the like, and instruct the mobile device 200 to perform a fixed-point sweeping and dragging integrated task in a designated job area. When the mobile device 200 moves to a designated working area to perform a fixed-point sweeping and mopping integrated task, namely, the sweeping component (such as the rolling brush component 2021 and the side brush component 2022) and the mopping component (such as the mopping component 2012) are simultaneously started, the rolling brush component 2021 and the side brush component 2022 are arranged at the front in the traveling direction relative to the mopping component 2012, so that the rolling brush component 2021 and the side brush component 2022 sweep the floor at the front and the mopping component 2012 mops the floor at the back under the condition of simultaneous starting. If a plurality of working areas are designated, for example, a user instructs a living room, a bedroom, and a balcony to perform a sweeping and mopping integrated task at the same time, after one working area completes the sweeping and mopping integrated task, the user may move from the current working area to the next working area by combining an environment map (e.g., a grid map) and environment information acquired in real time by using a camera, a structured light module, and the like on the mobile device 200, and continue to perform the sweeping and mopping integrated task in the next working area.

After the sweeping and mopping integrated task in each designated working area is completed, or when a situation that self-cleaning is needed (such as a dust box is full, a charging signal is detected or the working time exceeds a set time threshold value) occurs in the working process, the self-moving device 200 can send a docking instruction to the workstation 100; the workstation 100 may use the recharging signal transmitter to externally transmit a recharging signal (e.g., an infrared recharging signal), turn on the recharging signal receiver from the mobile device 200 to receive the recharging signal, and return to the workstation 100 under the guidance of the recharging signal, thereby completing the docking with the workstation 100. During docking, the recharge signal may be disturbed, and may be unstable, and there may be a slight deviation in docking between the mobile device 200 and the workstation 100, which may cause the docking between the dust outlet 2011 and the dust outlet 1011 to be not tight. If the wiping member 2012 is cleaned and then the dust is collected, the moisture remaining in the cleaning tank 1012 may be sucked into the dust collecting passage 1017 to cause some damage. In order to prevent the moisture remaining in the cleaning tank 1012 after cleaning the wiping member 2012 from being sucked into the dust collecting passage 1017, the self-cleaning device 200 of the present embodiment may default to a self-cleaning mode in which a dust collecting task is performed first and then a cleaning task is performed each time; alternatively, the self-moving device 200 may also determine whether the current self-cleaning task includes the cleaning task and the dust collecting task in a manner of determining whether the current self-cleaning task includes the dust collecting task first and continuing to determine whether the current self-cleaning task includes the dust collecting task when the current self-cleaning task includes the cleaning task, and adopt the self-cleaning mode of executing the dust collecting task first and then executing the cleaning task when it is determined that the current self-cleaning task includes the cleaning task and the dust collecting task at the same time.

Sending a dust collection instruction from the mobile device 200 to the workstation 100, and after receiving the dust collection instruction, the workstation 100 obtaining preset dust collection parameters, wherein the dust collection parameters comprise set dust collection time and dust collection power, and the dust collection time can ensure that dust collection is completed; the work station 100 starts the suction fan to work according to the dust collection duration and the dust collection power, and the garbage objects in the dust box are sucked into the dust collection bag through the dust discharge port 2011, the dust collection port 1011 and the dust collection channel 1017 under the action of suction force. When the dust collection time period is reached, the workstation 100 turns off the suction fan and returns a dust collection task completion signal to the self-moving apparatus 200. Upon receiving the dust collection task completion signal from the mobile device 200, the wiper member 2012 is driven to rotate continuously, and a cleaning command is sent to the workstation 100. For the workstation 100, after receiving the cleaning instruction, the preset cleaning parameters may be obtained, where the cleaning parameters include the number of times of cleaning, such as 3 times, the water outlet duration and the water pumping duration of each cleaning, and the first water outlet 10s (second) is used for pumping water for 10s, the second water outlet 8s is used for pumping water for 8s, and the last water outlet 8s is used for pumping water for 30 s; the workstation 100 controls the water discharging system to discharge water to the cleaning tank 1012 for 10s according to the first water discharging time, during the period, the self-moving device 200 drives the wiping component 2012 to rotate to achieve the cleaning purpose by rubbing with the scrubbing strip 1018 in the workstation, and records the first cleaning time as 30s, and after the first cleaning time arrives, a water pumping instruction is sent to the workstation 100 from the self-moving device 200; after receiving the pumping command, the station 100 controls the pumping system to pump the waste water in the cleaning tank 1012 into the waste water tank 1022 according to the first pumping duration and continuously pumps the waste water for 10s, during which the pair of wiping components 2012 is always driven to rotate by the mobile device 200.

After the first water pumping time period is reached, the workstation 100 sends a water pumping completion notification to the mobile device 200 on one hand, controls the water discharging system to discharge water to the cleaning tank 1012 for 8s according to the second water discharging time period, during which the mobile device 200 continues to drive the wiping component 2012 to rotate, records the second cleaning time period such as 20s, and sends a water pumping instruction to the workstation 100 from the mobile device 200 after the second cleaning time period is reached; after receiving the pumping command, the station 100 controls the pumping system to pump the waste water in the cleaning tank 1012 into the waste water tank 1022 according to the second pumping time period, and continuously pumps the waste water for 8s, during which the wiping component 2012 is always driven to rotate by the mobile device 200.

After the second pumping time period is reached, the workstation 100 sends a pumping completion notification to the self-moving device 200 on one hand, controls the water discharge system to discharge water to the cleaning tank 1012 for 8s according to the third water discharge time period, during which the self-moving device 200 continues to drive the wiping component 2012 to rotate, records the third cleaning time period such as 20s, and sends a pumping instruction to the workstation 100 from the self-moving device 200 after the third cleaning time period is reached; after receiving the pumping command, the station 100 controls the pumping system to pump the waste water in the cleaning tank 1012 into the waste water tank 1022 according to the third pumping duration and continuously pumps the waste water for 30s, during which the pair of wiping components 2012 is always driven to rotate by the mobile device 200. The purpose of the last water pumping is to ensure that the wiping component can be fully rotated and dried, and the thrown water can be continuously pumped away, so that the water is prevented from remaining in the cleaning tank as much as possible.

After the third pumping time period is reached, the workstation 100 sends a pumping completion notification to the mobile device 200, and the mobile device 200 stops driving the wiping component 2012 to rotate after receiving the third pumping completion notification, thereby completing the self-cleaning task. In addition, the workstation 100 may also start a water filling task, i.e. filling the tank on the self-moving device 200 with clean water, during which the self-moving device 200 continuously detects the tank level and informs the workstation 100 to stop filling when the tank level reaches the set level.

Further, as shown in fig. 4c, the workstation has a drying part, which can generate hot air flow by heating air, and the accommodating cavity is further provided with an air outlet, and the hot air flow is blown out from the air outlet through the air duct. After the cleaning of the wiping component is finished, the workstation may further control the drying unit to output a hot air flow through the air outlet, where the hot air flow may flow on the wiping component of the self-moving apparatus along the air flow direction shown in fig. 4c to dry the wiping component of the self-moving apparatus. Furthermore, in the drying process, the self-moving equipment can drive the wiping component to rotate, so that the front area and the rear area of the wiping component are dried uniformly, and the drying time is shortened. In the process, communication is needed between the workstation and the self-moving equipment, and after the drying part of the workstation is started to work, a rotation starting instruction can be sent to the self-moving equipment, so that the self-moving equipment controls the wiping component to rotate according to the preset logic according to the instruction. With respect to the specific rotation process of the drying process wiping assembly, exemplary, include, but are not limited to, the following: 1. the wiping component can be driven to rotate for a set angle (e.g. 180 degrees and 90 degrees) once every preset time interval (e.g. 1 minute). 2. The slow rotation (for example, the rotation is 360 degrees in 10 seconds) of the wiping component is always kept in the drying process.

In the above embodiment, the time period of each washing is different from the water discharge time period and the water pumping time period, and whether the time period of each washing is reached is judged by the self-moving apparatus 200. In addition, in an optional embodiment, the cleaning duration in each cleaning process may be set by default, for example, the cleaning duration may be the water outlet duration and the specified duration after the water outlet operation is completed, based on which, in each cleaning process, the workstation 100 performs the water pumping operation on the cleaning tank 1012 according to the water pumping duration at the specified duration after the water outlet operation is completed, without sending the water pumping instruction from the mobile device 200. Or, in another alternative embodiment, the water outlet time period may be a default cleaning time period, and the workstation 100 automatically performs the water pumping operation on the cleaning tank 1012 according to the water pumping time period after the water outlet operation is completed in each cleaning process.

Further, in the above cleaning process, each time cleaning is completed, the workstation 100 may subtract 1 from the cleaning frequency, and determine whether the cleaning frequency after subtracting 1 is 0; if the number is 0, finishing the cleaning operation and returning a cleaning completion signal to the self-moving equipment 200; if not, the next cleaning process is continued until the cleaning frequency is 0.

In the above embodiment of the present application, the workstation 100 determines whether to complete the cleaning task for the wiping component 2012 according to whether the number of cleaning times is 0, but is not limited thereto. For example, in some alternative embodiments of the present application, a cleanliness detection sensor may be mounted on the wiping component 2012 or in the cleaning tank 1012 of the workstation 100 for detecting the degree of cleanliness of the wiping component 2012; whether or not the number of cleanings or the length of cleanings is included in the cleaning parameters for the workstation 100 can be determined by the degree of cleanliness of the wiping component 2012, whether or not to end the cleaning job for the wiping component 2012. For example, in the case that the cleaning degree of the wiping member 2012 meets the set condition, even if the number of times of cleaning or the cleaning time period set by the mobile device 200 has not been reached, the workstation 100 may end the cleaning task for the wiping member 2012 in time, so as to save the electricity and water resources consumed by cleaning and reduce the burden on the workstation 100. The process of detecting the cleanliness of the wiping component 2012 can be performed by the mobile device 200 or the workstation 100, which will be described in detail below:

the first method is as follows: the cleanliness detection sensor is provided on the wiping unit 2012 or in the cleaning tank 1012 of the workstation 100, as detected by the self-moving apparatus 200. Testing the cleanliness of the wipe assembly 2012 may be accomplished by: the cleanliness detection sensor establishes wireless connection, such as Wifi connection or Bluetooth connection, with the self-moving equipment 200, and reports collected cleanliness data to the self-moving equipment 200; determining whether the cleaning degree of the wiping component 2012 meets the set cleaning degree requirement from the mobile device 200 based on the cleaning degree data collected by the cleaning degree detection sensor; in the event that the degree of cleanliness of the wiping component 2012 meets the set cleanliness requirement, a wash end instruction is sent to the workstation 100 instructing the workstation 100 to stop washing the wiping component 2012.

For example: a contamination degree detection sensor or a camera is installed on the wiping component 2012, contamination data is collected from the mobile device 200 through the contamination degree detection sensor or a picture of the wiping component 2012 is shot through the camera, and the collected contamination data or the shot picture is transmitted to a cloud server; the cloud server processes and analyzes the dirty data or the pictures based on the learning model, determines the cleaning degree of the wiping component 2012 and returns the cleaning degree of the wiping component 2012 to the mobile device 200; judging whether the cleaning degree of the wiping component 2012 returned by the cloud server reaches the standard or not from the mobile device 200; if the cleaning level of the wiping component 2012 is reached, a rinse end command is sent to the workstation 100.

The second method comprises the following steps: the inspection is performed by the workstation 100 and a cleanliness detection sensor is provided on the wipe pack 2012 or in the cleaning tank 1012 of the workstation 100. At this time, detecting the degree of contamination of wiper member 2012 can be accomplished by the following process: workstation 100 collects the degree of soiling of wiping component 2012 via cleanliness detection sensors disposed on wiping component 2012; or, dirty data of the dirty water in the cleaning tank 1012 is collected by a dirty water level detection sensor disposed in the cleaning tank 1012, and the dirty data represents the dirty level of the wiping component 2012; if the contamination degree of wiping component 2012 reaches the standard, sending a signal indicating that the contamination degree of wiping component 2012 reaches the standard to mobile device 200, so as to return a cleaning stop instruction from mobile device 200; and upon receiving a cleaning stop instruction sent from mobile device 200 after the contamination level of wiper member 2012 is met, stopping cleaning wiper member 2012.

According to the technical scheme provided by the embodiment of the application, under the condition that the self-cleaning task needs to be executed is identified by the self-moving equipment 200, the self-moving equipment 200 is in butt joint with the workstation 100; then sends a dust collection instruction to the workstation 100 to instruct the workstation 100 to perform a dust collection task on the dust box; upon receiving the dust collection completion signal transmitted from the work station 100, the self-moving apparatus 200 transmits a cleaning instruction to the work station 100 to instruct the work station 100 to perform a cleaning task on the wiping member 2012. The addition of the dust collection and cleaning wiping component 2012 to the workstation 100 frees up the user's hands and improves the user's experience. Furthermore, when the dust box needs to collect dust, the dust collecting operation of the dust box is firstly carried out, after the dust collection is finished, the cleaning operation of the wiping component 2012 is carried out, the dust box is firstly collected and then the wiping component 2012 is cleaned, on one hand, the dust collecting channel 1017 can be prevented from being blocked by damp dust, and the dust collecting pressure and the risk of equipment maintenance are reduced; on the other hand, moist dust can be prevented from breeding bacteria in the dust collection bag, so that the risk of damaging the health of family members is reduced.

In an alternative embodiment, the suction fan of the workstation may be controlled to operate independently during the dust collection task performed on the dust collection box, in which case the cloud of the flow field distribution within the dust box is shown in fig. 7 b.

Further optionally, the self-moving device is provided with a dust collection fan, and in the process of performing a dust collection task on the dust collection box, not only the suction fan of the workstation can be controlled to work, but also the dust collection fan of the self-moving device can be controlled to work simultaneously, and at this time, a distribution cloud chart of a flow field in the dust collection box is shown in fig. 7 c. As shown in fig. 7a, when the dust collection fan of the mobile device works, a first airflow can be formed in the dust box, the first airflow can generate a floating or peeling acting force on objects in the dust box, which is beneficial to peeling off some objects with higher viscosity in the dust box from the dust box, and a second airflow formed by the suction fan on the workstation forms a turbulent flow, which is beneficial to more thoroughly sucking the objects in the dust box into a dust collection bag or a dust collection bucket through the dust collection channel. Further optionally, the method for controlling the suction fan of the workstation to work and the dust suction fan of the mobile device to work simultaneously during the dust collection task performed on the dust collection box comprises: the suction fan of the workstation is controlled to work, and after the set time length of the suction fan of the workstation is set, the dust collection fan of the mobile equipment is controlled to work, so that the suction fan and the dust collection fan work simultaneously. The suction fan of the workstation works firstly, so that dust, scattered or light objects in the dust box can be sucked away in advance, and then the dust suction fan of the workstation is started to match the suction force of the suction fan on the workstation, so that the objects in the dust box can be sucked into the dust collection bag or the dust collection barrel more thoroughly. In fig. 7a, the dust suction inlet is provided at the bottom of the dust box, and the dust discharge port is provided at the sidewall of the dust box. The numbers in fig. 7b and 7c represent the velocity of the fluid particle instantaneously located on the streamline, and these velocity values are merely examples and do not limit the technical solutions provided by the embodiments of the present application. In addition, comparing FIG. 7b with FIG. 7c, the average velocity of the fluid particles in FIG. 7c is slightly greater than the average velocity of the fluid particles in FIG. 7b for the same region; in addition, it can be seen that when the suction fan of the workstation and the dust suction fan of the mobile device are simultaneously turned on, the air flow in the corner on the left side can enter the air flow on the right side, thereby providing a better dust collection effect.

Further, in the present embodiment, a specific implementation structure of the water discharging system in the workstation 100 is not limited, and any implementation structure capable of transferring the cleaning liquid in the cleaning water bucket 1021 to the cleaning tank 1012 is suitable for the embodiment of the present application. In an alternative embodiment, one end of the water outlet pipeline is communicated with the clean water barrel and extends downwards from the clean water barrel to the cleaning tank, the tail end of the water outlet pipeline is positioned above the cleaning tank, the tail end of the water outlet pipeline is provided with a water outlet, and cleaning liquid in the clean water barrel enters the cleaning tank through the water outlet. In another alternative embodiment, as shown in fig. 3d, the water discharging system comprises a first water outlet pipeline and a second water outlet pipeline 1019, one end of the first water outlet pipeline is connected to the clean water tank 1021, the other end of the first water outlet pipeline is connected to the end 1020 of the second water outlet pipeline 1019, the second water outlet pipeline 1019 is disposed along the side wall of the clean water tank, optionally, the second water outlet pipeline 1019 may be disposed in the side wall of the clean water tank, and the second water outlet pipeline 1019 is provided with a plurality of water outlets capable of spraying water toward the interior of the cleaning tank 1012, as shown in fig. 3 d. The first water outlet line is not shown in fig. 3 d.

Further alternatively, the second water outlet pipe 1019 may be disposed around the entire inner side wall of the clean water tank, or the second water outlet pipe 1019 may be disposed on only a part of the inner side wall of the clean water tank, for example, the inner side wall of 1/3, 1/2 or 3/4, on which the second water outlet pipe 1019 is disposed. Further optionally, a plurality of water outlets are uniformly formed on the entire second water outlet pipeline 1019, or several opposite pipeline sections may be selected on the second water outlet pipeline 1019, and a plurality of water outlets are formed on the opposite pipeline sections. Further alternatively, the first and second water outlet lines 1019 may be integrally formed. In this optional embodiment, the second water outlet pipeline 1019 is disposed inside the cleaning tank 1012, and the second water outlet pipeline 1019 is provided with a plurality of water outlets, so that when the wiping component 2012 is cleaned, the cleaning liquid can be more uniformly sprayed to the wiping component 2012, and the object on the wiping component 2012 can be effectively washed away by the water outlet pressure of the water outlets, which is beneficial to improving the cleaning effect. Further, when the cleaning tank 1012 is cleaned, objects in various directions in the cleaning tank 1012 can be washed away by means of the water outlet pressure of the water outlet, which is beneficial to improving the cleaning effect.

Fig. 4a is a schematic flowchart of a working method of a self-moving device according to an embodiment of the present application. The self-moving device comprises a dust box, a dust exhaust port and a wiping component, wherein the dust exhaust port is communicated with the dust box, and the self-moving device can independently perform sweeping tasks, independently perform mopping tasks or simultaneously perform sweeping and mopping tasks. The working method provided by the embodiment of the application can complete the self-cleaning process of the self-moving equipment. As shown in fig. 4a, the method comprises:

401. under the condition that a self-cleaning task needs to be executed, the self-moving equipment is in butt joint with the workstation, so that a dust exhaust port communicated with the dust box is in butt joint with a dust collecting port of the workstation, and the wiping component is positioned in a cleaning groove of the workstation;

402. sending a dust collection instruction to the workstation to instruct the workstation to control the suction fan to work according to the dust collection parameters so as to execute a dust collection task on the dust box;

403. after receiving a dust collection completion signal sent by the workstation, driving the wiping component to rotate, and continuously sending a cleaning instruction to the workstation to instruct the workstation to perform a cleaning task on the wiping component; the workstation executes the cleaning task, and the workstation executes water outlet and water pumping operations on the cleaning tank alternately according to the cleaning parameters, and cleans the cleaning component by matching with the rotation of the cleaning component.

Further, before sending the dust collection instruction to the workstation, the method further comprises the following steps: judging whether the self-cleaning task comprises a cleaning task of a wiping component or not; under the condition of containing a cleaning task, judging whether the self-cleaning task comprises a dust collection task or not; if the dust collection task is contained, the operation of sending a dust collection instruction to the workstation is executed; if the dust collection task is not included, the operation of directly sending a cleaning instruction to the workstation is executed.

Further, judging whether the self-cleaning task comprises a cleaning task of the wiping component or not comprises the following steps: collecting the dirt degree of the wiping component, and determining that the self-cleaning task comprises a cleaning task of the wiping component under the condition that the dirt degree of the wiping component is larger than a set dirt degree; or acquiring a time interval from the last cleaning task, and determining that the self-cleaning task comprises the cleaning task of the wiping component when the time interval is greater than a set time interval; or, according to the event type triggering the cleaning task, if the event type is the specified event type, determining that the cleaning task comprises the cleaning task of the wiping component.

Further, judging whether the self-cleaning task comprises a dust collection task or not comprises the following steps: collecting attribute information of an object in a dust box, and determining that the self-cleaning task comprises a dust collection task under the condition that the attribute information of the object meets the dust collection requirement; or acquiring a time interval from the last dust collection task, and determining that the current self-cleaning task comprises the dust collection task under the condition that the time interval is greater than a set time interval; or, according to the event type triggering the cleaning task, if the event type is the specified event type, determining that the cleaning task includes a dust collection task.

Further, a cleanliness detection sensor is arranged on the wiping component or in a cleaning tank of the workstation and used for detecting the cleaning degree of the wiping component; the method further comprises the following steps: determining that the cleaning degree of the wiping component meets the set cleaning degree requirement based on the cleaning degree data acquired by the cleaning degree detection sensor; a wash end command is sent to the workstation to instruct the workstation to stop washing the wiper assembly.

Further, before sending a dust collection instruction to the workstation to instruct the workstation to perform a dust collection task on the dust box, the method further comprises the following steps: collecting attribute information of an object in a dust box, wherein the attribute information of the object comprises at least one of the category, the size and the number of the object; and generating dust collection parameters based on the attribute information of the object, and sending the dust collection parameters to the workstation, wherein the dust collection parameters comprise at least one of dust collection times, dust collection power of each time and dust collection time. Alternatively, the dust collection parameters may be carried in the dust collection instructions and sent to the workstation.

Further, in the case where the dust collection parameters include the number of times of dust collection and the dust collection time period, the number of times of dust collection is plural, and the dust collection time period used for each dust collection is gradually reduced as the number of times of dust collection increases.

Further, before sending a cleaning instruction to the workstation to instruct the workstation to perform a cleaning task on the wiping component, the method further comprises the following steps: collecting the dirt degree of the wiping component; and generating cleaning parameters according to the dirt degree of the wiping component, and sending the cleaning parameters to the workstation, wherein the cleaning parameters comprise at least one of cleaning times, cleaning time length, water outlet time length and water pumping time length. Optionally, the cleaning parameters are carried in the cleaning instruction and sent to the workstation.

Further optionally, the cleaning parameters include the number of times of cleaning and the length of water outlet and the length of water pumping in each cleaning, wherein the length of water outlet used in the first cleaning is longest, the length of water pumping used in the last cleaning is longest, and the length of water pumping used in the last cleaning is longer than the length of water outlet used in the first cleaning.

Further optionally, on the basis that the length of the water outlet used in the first cleaning is longest, the length of the water pumping used in the last cleaning is longest, and the length of the water pumping used in the last cleaning is longer than the length of the water outlet used in the first cleaning, for the non-last cleaning, the length of the water pumping used in each cleaning is the same as the length of the water outlet, and as the number of times of cleaning increases, the length of the water pumping used in each cleaning is gradually reduced as well as the length of the water outlet. Or on the basis that the water outlet time used in the first cleaning is the longest, the water pumping time used in the last cleaning is the longest, and the water pumping time used in the last cleaning is longer than the water outlet time used in the first cleaning, for the non-last cleaning, the water pumping time and the water outlet time used in each cleaning are the same, and the water pumping time and the water outlet time used in different cleaning are also the same.

In an optional embodiment, the wiping component is driven to rotate before the mobile equipment, and then a cleaning instruction is sent to the workstation, so that the effect that the wiping component rotates to discharge water to the cleaning tank from the workstation before is achieved, and the water discharging process is fully utilized. Or the self-moving equipment firstly sends a cleaning instruction to the workstation, and after receiving a rotation starting instruction returned by the workstation after finishing the first water outlet operation, the self-moving equipment drives the wiping component to rotate, so that the effect that the workstation discharges water to the cleaning tank and the wiping component rotates later is achieved.

Further optionally, the self-moving device is further configured to send a water pumping instruction to the workstation after the cleaning duration of each time is reached, so as to instruct the workstation to perform a water pumping operation in the cleaning process; and receiving a pumping completion signal returned by the workstation after the pumping operation is completed so as to time the time length of the next cleaning. For the workstation, in each cleaning process, after a water pumping instruction sent after the cleaning time of the self-moving equipment reaches is received, water pumping operation is carried out on the cleaning tank according to the water pumping time used in the cleaning, and after the water pumping operation is completed, a water pumping completion signal is returned to the self-moving equipment.

In an optional embodiment, the method further comprises: after a dust collection instruction is sent to the workstation, a dust collection fan of the self-moving device is started to cooperate with a suction fan on the workstation until a dust collection task is finished. Further optionally, after the suction fan on the workstation works for a set time, the dust suction fan of the self-moving device is started to cooperate with the suction fan on the workstation to work until the dust collection task is finished.

For details of the steps in the embodiments of the present application, reference may be made to the embodiments described above, which are not repeated herein.

According to the technical scheme provided by the embodiment, the self-moving equipment is butted with the workstation under the condition that the self-cleaning task needs to be executed; sending a dust collection instruction to the workstation to instruct the workstation to perform a dust collection task on the dust box; after receiving the dust collection completion signal sent by the workstation, the self-moving equipment sends a cleaning instruction to the workstation so as to instruct the workstation to perform a cleaning task on the wiping component. According to the technical scheme, the workstation is additionally provided with the functions of collecting dust and cleaning the wiping component, so that both hands of a user can be liberated, and the use experience of the user is improved.

Fig. 4b is a schematic diagram illustrating a position of a humidity sensor in the dust collecting method according to the embodiment of the present application. Fig. 4d is a schematic bottom structure diagram of the cleaning robot provided in this embodiment. As shown in fig. 4d, the cleaning robot includes at least a dust box 51, a fan assembly 52, a dust collection port 513, and a dust inlet 511, and further includes a traveling mechanism, a wiping assembly, a mopping assembly, various sensors, and the like, which are not shown in fig. 4 d. Among them, the dust box 51, the fan assembly 52, the dust collection port 513 and the dust inlet 511, in combination with other components, can form a dust collection device 500 on the cleaning robot, as shown in fig. 4 b. As shown in fig. 4b, the dust collecting device 500 of the cleaning robot includes a humidity sensor 53 in addition to a dust box 51 and a fan assembly 52, and the dust box 51 is provided with a dust inlet 511, a filter screen 512 and a dust collecting port 513. Wherein the humidity sensor 53 is disposed between the fan assembly 52 and the screen 512. The fan assembly 52 can provide a bottom-to-top suction to collect dust and other debris, or alternatively, draw hot air to form a hot air flow that enters the dust box from a dust inlet of the dust box of the robot and blows out of a filter screen of the dust box. The humidity sensor 53 is used to detect the humidity of the airflow formed by the air drawn by the fan assembly 52.

Referring to fig. 4b, if the cleaning robot is not parked at the workstation, i.e. the humidity of the dust box is detected during normal operation, the fan assembly 52 sucks air and generates an air flow, the air flow enters the dust box from the dust inlet 511 of the dust box of the cleaning robot and is blown out from the filter screen 512 of the dust box, and the humidity sensor 53 detects the humidity of the air flow, and uses the humidity of the air flow as the humidity of the dust box. At this time, the drying part of the work station is not operated, and thus, the air flow is different from the above-mentioned hot air flow.

If the cleaning robot stops on the workstation to detect the humidity of the dust box, the drying part of the workstation does not work, the fan assembly of the cleaning robot is in a working state to provide suction, the suction sucks air and generates air flow, the air flow automatically cleans the dust box of the robot, the dust inlet of the dust box enters the dust box and blows out the air flow from the filter screen of the dust box, the humidity sensor detects the humidity of the air flow, and the humidity of the air flow is used as the humidity of the dust box.

It should be noted that, although the above description is made by taking the example in which the humidity sensor 53 is disposed between the filter screen 512 and the fan assembly 52 of the cleaning robot. However, the embodiments of the present application are not limited thereto. For example, in other possible implementations, the humidity sensor 53 may be disposed on a side wall of the dust box, a filter screen of the dust box, or the like.

By adopting the scheme, the aim of accurately determining the humidity of the dust box is fulfilled.

Optionally, in the above embodiment, the cleaning robot may turn off the blower assembly after the drying portion of the workstation operates for a preset time period and instruct the workstation to turn off the drying portion. Or, referring to fig. 4b again, a dust collection port 513 is further disposed on the dust box, the dust collection port 513 and the dust inlet 511 are located on different surfaces of the dust box, and the dust collection port 513 and the filter screen 512 are located on different surfaces of the dust box. The humidity sensor 53 continuously detects the humidity of the hot air flow during the drying process, and when the humidity of the hot air flow is smaller than the preset humidity, the cleaning robot turns off the fan assembly and instructs the workstation to turn off the drying part.

Thereafter, the fan assembly of the workstation is operated, and the fan assembly of the workstation is rotated to generate a dust collecting airflow which enters the dust box from the dust collecting port 513 to suck away dust and other debris in the dust box. Wherein, set up the collection dirt passageway between the dust collection mouth 513 and the dust absorption mouth of workstation, the dust absorption mouth of workstation is connected with the dust collection part of workstation, and the dust collection part can hold a large amount of rubbish.

In the dust collection process, because the fan assembly of the cleaning robot is closed, only the fan assembly of the workstation works, the suction provided by the fan assembly of the workstation is not interfered by external connection, and the dust box is cleaned quickly.

As further shown in fig. 4c, the workstation is provided with an air outlet for outputting hot air output by the drying section, and the hot air can flow on the wiping component of the self-moving device along the air flow direction shown in fig. 4c to dry the wiping component of the self-moving device. Furthermore, in the drying process, the self-moving equipment can drive the wiping component to rotate, so that the front area and the rear area of the wiping component are dried uniformly, and the drying time is shortened.

Fig. 5a is a schematic flowchart of a working method of a workstation according to an embodiment of the present application. The workstation includes dust collecting opening and washing tank, and this workstation can cooperate from the mobile device to accomplish from the automatically cleaning of mobile device. As shown in fig. 5a, the method comprises:

501. when a dust collection instruction sent by the mobile equipment is received, controlling the suction fan to work according to dust collection parameters so as to collect dust on a dust box on the mobile equipment;

502. after dust collection is finished, sending a dust collection completion signal to the self-moving equipment to trigger the self-moving equipment to send a cleaning instruction;

503. and if a cleaning instruction is received, alternately performing water outlet and water pumping operations on the cleaning tank according to the cleaning parameters, and performing a cleaning task on the cleaning component by matching with the rotation of the cleaning component on the mobile equipment.

Further, the method further comprises: acquiring dust collection parameters required by the dust collection task from a dust collection instruction; or generating dust collection parameters required by the dust collection task according to the attribute information of the objects in the dust box; wherein the attribute information includes at least one of a category, a size, and a number of the object; the dust collection parameter includes at least one of a dust collection number, a dust collection power, and a dust collection time period.

Further, the method further comprises: acquiring cleaning parameters required by the cleaning task from the cleaning instruction, or generating the cleaning parameters required by the cleaning task according to the dirt degree of the wiping component; wherein, the cleaning parameter comprises at least one of cleaning times, cleaning time, water outlet time and water pumping time.

In an optional embodiment, after receiving the cleaning instruction sent by the mobile device, the workstation starts to perform the water outlet operation on the cleaning tank for the first time, and returns a rotation starting instruction to the mobile device after the first water outlet operation is completed, so as to instruct the mobile device to start driving the wiping component to rotate, thereby achieving the effect that the workstation outputs water to the cleaning tank, and the wiping component rotates later.

In an optional embodiment, for the workstation, in each cleaning process, after receiving a pumping instruction sent after the cleaning time of the mobile device reaches, the workstation performs pumping operation on the cleaning tank according to the pumping time used in the cleaning, and after the pumping operation is completed, returns a pumping completion signal to the mobile device.

In an optional embodiment, for the workstation, in each cleaning process, after the water outlet operation is completed, the water pumping operation is automatically executed on the cleaning tank according to the water pumping time length; or in each cleaning process, after the water outlet operation is finished, the interval is specified for a certain time, and then the water pumping operation is carried out on the cleaning tank according to the water pumping time.

Further optionally, the workstation is further configured to: in the process of performing the water outlet operation on the cleaning tank every time, synchronously performing the water pumping operation on the cleaning tank, wherein the water pumping amount of the water pumping operation is less than the water outlet amount of the water outlet operation; and/or, the brush discs in the cleaning bath are driven to rotate in opposite or opposite directions simultaneously each time during rotation of the wiper assembly.

Further optionally, in the case that the brush disc rotates, the cleaning parameters further include: the rotating speed of the brush disc in each cleaning process is equal to the rotating speed of the wiping component, and the rotating time of the brush disc is less than or equal to the rotating time of the wiping component.

Further, in the process of cleaning the wiping component, the method also comprises the following steps: collecting the dirt degree of the wiping component, and sending a dirt degree standard signal of the wiping component to the self-moving equipment if the dirt degree of the wiping component reaches the standard; and stopping cleaning the wiping component when receiving a cleaning stop instruction sent by the mobile equipment.

Further, be equipped with sewage detection sensor in the washing tank for gather the dirty data of the sewage in the washing tank, then the dirty degree's of above-mentioned collection sewage mode includes: the method comprises the steps of collecting dirty data of the sewage in the cleaning tank by using a sewage detection sensor arranged in the cleaning tank, and determining the dirty degree of the wiping component according to the dirty data of the sewage.

According to the technical scheme provided by the embodiment, when the dust box needs to collect dust, the dust collecting operation of the dust box is firstly carried out, after the dust collection is finished, the cleaning operation of the cleaning component is carried out, the dust box is firstly collected and then the cleaning component is cleaned, so that on one hand, the dust collecting channel can be prevented from being blocked by damp dust, and the dust collecting pressure and the risk of equipment maintenance are reduced; on the other hand, moist dust can be prevented from breeding bacteria in the dust collection bag, so that the risk of damaging the health of family members is reduced.

Fig. 5b is a flowchart illustrating a working method of another workstation according to an exemplary embodiment of the present application. The workstation includes dust collecting port and washing tank, and the dust collecting port docks with the dust exhaust mouth that communicates with the dirt box on the self-moving equipment, and this workstation can cooperate from the self-moving equipment to accomplish from the automatically cleaning of mobile equipment. As shown in fig. 5b, the method comprises:

51b, the self-moving equipment is in butt joint with the workstation;

52b, alternately performing water outlet and water pumping operations on the cleaning tank, and performing cleaning tasks on the wiping component by matching with the rotation of the wiping component on the mobile equipment;

53b, after the cleaning task is finished, controlling a drying part of the workstation to heat air to obtain hot air;

54b, starting a dust collection fan of the mobile equipment to enable hot air to form hot air flow, wherein the hot air flow enters the dust box from a dust inlet of the dust box of the mobile equipment and is blown out from a filter screen of the dust box;

55b, turning off the dust collection fan;

56b, controlling the suction fan of the workstation to work so as to suck away the dust in the dust box.

In an alternative embodiment, before performing the cleaning task on the wiping component, the method further comprises the following steps: after the self-moving device is docked with the workstation, the humidity of the dust box is detected by the humidity sensor. Correspondingly, the washing tank is alternately subjected to water outlet and water pumping operations, and the washing task is performed on the wiping component by matching with the rotation of the wiping component on the mobile equipment, wherein the washing task comprises the following steps: when the humidity is larger than or equal to the preset humidity, the washing tank is alternately subjected to water outlet and water pumping operation, and the washing tank is matched with the rotation of the wiping component on the mobile equipment to perform a washing task on the wiping component.

In an alternative embodiment, in controlling the operation of the suction fan of the workstation to remove dust in the dust box, the method further comprises the following steps: and controlling the dust collection fan of the self-moving equipment to work so that the suction fan and the dust collection fan work simultaneously. Further optionally, after the suction fan works for a set time period, the dust suction fan of the self-moving device is controlled to work, so that the suction fan and the dust suction fan work simultaneously.

An embodiment of the present application further provides a self-moving device, as shown in fig. 6, the self-moving device 200 includes: the device comprises a device body 201, a storage 2013, a processor 2014 and a sweeping assembly 2024, wherein the sweeping assembly 2024 comprises a sweeping assembly and a mopping assembly, the sweeping assembly comprises a dust box, an edge brush, a rolling brush and the like, and the mopping assembly comprises a wiping assembly. The dust box and the wiping component can be fixedly arranged on the equipment body 201, and can also be detachably arranged on the equipment body 201. Further, as shown in fig. 6, the apparatus main body 201 further includes a sensor module 2025, a power module 2026, a driver module 2027, and the like. For a detailed structural description of the mobile device 200, reference may be made to the embodiment shown in fig. 2a, which is not described herein again.

A memory 2013 for storing a computer program; the processor 2014 is coupled to the memory 2013 for executing the computer programs in the memory 2013 for:

under the condition that a self-cleaning task needs to be executed, the self-moving equipment is in butt joint with the workstation, so that a dust exhaust port communicated with the dust box is in butt joint with a dust collecting port of the workstation, and the wiping component is positioned in a cleaning groove of the workstation;

sending a dust collection instruction to the workstation to instruct the workstation to control the suction fan to work according to the dust collection parameters so as to execute a dust collection task on the dust box;

after receiving a dust collection completion signal sent by the workstation, driving the wiping component to rotate, and continuously sending a cleaning instruction to the workstation to instruct the workstation to perform a cleaning task on the wiping component; the workstation executes the cleaning task, and the workstation executes water outlet and water pumping operations on the cleaning tank alternately according to the cleaning parameters, and is matched with the rotation of the wiping component to clean the cleaning tank.

Further, the processor 2014, prior to sending the dust collection instructions to the workstation, is further configured to: judging whether the self-cleaning task includes a cleaning task of the wiping component 2012; under the condition of containing a cleaning task, judging whether the self-cleaning task comprises a dust collection task or not; if the dust collection task is contained, the operation of sending a dust collection instruction to the workstation is executed; if the dust collection task is not included, the operation of directly sending a cleaning instruction to the workstation is executed.

Further, when determining whether the self-cleaning task includes the cleaning task of the wiping component 2012, the processor 2014 is specifically configured to: collecting the dirt degree of the wiping component 2012, and determining that the self-cleaning task includes a cleaning task of the wiping component 2012 when the dirt degree of the wiping component 2012 is greater than a set dirt degree; or, acquiring a time interval from the last cleaning task, and determining that the self-cleaning task includes the cleaning task of the wiping component 2012 when the time interval is greater than the set time interval; alternatively, according to the event type triggering the cleaning task, if the event type is the specified event type, it is determined that the cleaning task includes a cleaning task of wiping component 2012.

Further, the processor 2014 is specifically configured to determine whether the self-cleaning task includes a dust collection task: collecting attribute information of an object in a dust box, and determining that the self-cleaning task comprises a dust collection task under the condition that the attribute information of the object meets the dust collection requirement; or acquiring a time interval from the last dust collection task, and determining that the current self-cleaning task comprises the dust collection task under the condition that the time interval is greater than a set time interval; or, according to the event type triggering the cleaning task, if the event type is the specified event type, determining that the cleaning task includes a dust collection task.

Further, a cleanliness detection sensor is mounted on the wiping unit 2012 or in a cleaning tank of the workstation, and is used for detecting the cleanliness of the wiping unit 2012; the processor 2014 is also configured to: determining that the cleaning degree of the wiping component 2012 meets the set cleaning degree requirement based on the cleaning degree data acquired by the cleaning degree detection sensor; a purge end command is sent to the workstation to instruct the workstation to stop purging wiper assembly 2012.

Further, the processor 2014, prior to sending the dust collection instructions to the workstation, is further configured to: collecting attribute information of an object in a dust box, wherein the attribute information of the object comprises at least one of the category, the size and the number of the object; and generating dust collection parameters based on the attribute information of the object, and sending the dust collection parameters to the workstation, wherein the dust collection parameters comprise at least one of dust collection times, dust collection power of each time and dust collection time. Alternatively, the processor 2014 may send the dust collection parameters to the workstation as being carried in the dust collection instructions.

Further, the processor 2014, prior to sending the cleaning instructions to the workstation, is further configured to: collecting the dirt degree of the wiping component; and generating cleaning parameters according to the dirt degree of the wiping component, and sending the cleaning parameters to the workstation, wherein the cleaning parameters comprise at least one of cleaning times, cleaning time length, water outlet time length and water pumping time length. Optionally, the processor 2014 carries the cleaning parameters in the cleaning instructions and sends the cleaning instructions to the workstation.

In an alternative embodiment, the processor 2014 drives the wiper element to rotate first and then sends a cleaning command to the workstation, so as to achieve the effect that the wiper element rotates the previous workstation and then discharges water to the cleaning tank, thereby fully utilizing the water discharging process. Or, the processor 2014 sends a cleaning instruction to the workstation first, and drives the wiping component to rotate after receiving a rotation starting instruction returned by the workstation after the workstation finishes the first water outlet operation, so that the effect that the workstation discharges water to the cleaning tank and the wiping component rotates later is achieved.

Further optionally, the processor 2014 is further configured to send a water pumping instruction to the workstation after the cleaning duration of each time is reached, so as to instruct the workstation to perform the water pumping operation in the cleaning process; and receiving a pumping completion signal returned by the workstation after the pumping operation is completed so as to time the time length of the next cleaning.

Further optionally, the processor 2014 is further configured to turn on the dust suction fan of the self-moving device after sending the dust collection instruction to the workstation, and cooperate with the suction fan on the workstation until the dust collection task is finished. Further optionally, the processor 2014 may start the dust suction fan of the mobile device after the suction fan on the workstation operates for a set time period, and cooperate with the suction fan on the workstation to operate until the dust collection task is finished.

An embodiment of the present application further provides a workstation, including: the workstation body is equipped with memory and treater on the workstation body to and dust collecting opening and washing tank, under the workstation with from the mobile device butt joint the condition, the dust collecting opening with from the dust exhaust opening butt joint on the mobile device, the dust exhaust opening with from the dust box intercommunication of mobile device. For a detailed structural description of the workstation, reference may be made to the embodiment shown in fig. 3 a-3 d, which is not described herein again.

Wherein the memory is used for storing the computer program; a processor is coupled to the memory for executing the computer program in the memory for:

when a dust collection instruction sent by the mobile equipment is received, controlling the suction fan to work according to dust collection parameters so as to collect dust on a dust box on the mobile equipment;

after dust collection is finished, sending a dust collection completion signal to the self-moving equipment to trigger the self-moving equipment to send a cleaning instruction;

and if a cleaning instruction is received, alternately performing water outlet and water pumping operations on the cleaning tank according to the cleaning parameters, and performing a cleaning task on the cleaning component by matching with the rotation of the cleaning component on the mobile equipment.

In an alternative embodiment, the processor is further configured to: acquiring dust collection parameters required by the dust collection task from a dust collection instruction; or generating dust collection parameters required by the dust collection task according to the attribute information of the objects in the dust box; wherein the attribute information includes at least one of a category, a size, and a number of the object; the dust collection parameter includes at least one of a dust collection number, a dust collection power, and a dust collection time period.

In an alternative embodiment, the processor is further configured to: acquiring cleaning parameters required by the cleaning task from the cleaning instruction, or generating the cleaning parameters required by the cleaning task according to the dirt degree of the wiping component; wherein, the cleaning parameter comprises at least one of cleaning times, cleaning time, water outlet time and water pumping time.

In an alternative embodiment, the processor is further configured to: after receiving a cleaning instruction sent by the mobile equipment, starting to execute a water outlet operation on the cleaning tank for the first time, and returning a rotation starting instruction to the mobile equipment after finishing the first water outlet operation so as to indicate the mobile equipment to start driving the wiping component to rotate, thereby achieving the effect that the workstation discharges water to the cleaning tank, and the wiping component rotates later.

In an alternative embodiment, the processor is further configured to: in each cleaning process, after a pumping instruction sent after the cleaning time of the self-moving equipment reaches is received, pumping operation is carried out on the cleaning tank according to the pumping time used in the cleaning, and after the pumping operation is finished, a pumping completion signal is returned to the self-moving equipment.

In an alternative embodiment, the processor is further configured to: in each cleaning process, automatically performing water pumping operation on the cleaning tank according to the water pumping duration after the water outlet operation is finished; or in each cleaning process, after the water outlet operation is finished, the interval is specified for a certain time, and then the water pumping operation is carried out on the cleaning tank according to the water pumping time.

Further optionally, the processor is further configured to: in the process of performing the water outlet operation on the cleaning tank every time, synchronously performing the water pumping operation on the cleaning tank, wherein the water pumping amount of the water pumping operation is less than the water outlet amount of the water outlet operation; and/or, the brush discs in the cleaning bath are driven to rotate in opposite or opposite directions simultaneously each time during rotation of the wiper assembly.

Further, the processor, while in the process of cleaning the wiper assembly, is also configured to: collecting the dirt degree of the wiping component, and sending a dirt degree standard signal of the wiping component to the self-moving equipment if the dirt degree of the wiping component reaches the standard; and stopping cleaning the wiping component when receiving a cleaning stop instruction sent by the mobile equipment.

Further, be equipped with sewage detection sensor in the washing tank, the treater specifically is used for: the method comprises the steps of collecting dirty data of the sewage in the cleaning tank by using a sewage detection sensor arranged in the cleaning tank, and determining the dirty degree of the wiping component according to the dirty data of the sewage.

In another alternative embodiment, the workstation of this embodiment may further implement the following functions: under the condition that the self-moving equipment is in butt joint with the workstation, the washing tank can be alternately subjected to water outlet and water pumping operations, and a washing task is performed on the wiping component by matching with the rotation of the wiping component on the self-moving equipment; after the cleaning task is finished, controlling a drying part of the workstation to heat air to obtain hot air; starting a dust collection fan of the self-moving equipment to enable hot air to form hot air flow, wherein the hot air flow enters a dust box from a dust inlet of the dust box of the self-moving equipment and is blown out from a filter screen of the dust box; closing the dust collection fan; and controlling a suction fan of the workstation to work so as to suck away the dust in the dust box.

In an alternative embodiment, the humidity sensor may also be used to detect the humidity of the dust box after the self-moving device is docked with the workstation prior to performing a cleaning task on the wiper assembly. Correspondingly, the washing tank is alternately subjected to water outlet and water pumping operations, and the washing task is performed on the wiping component by matching with the rotation of the wiping component on the mobile equipment, wherein the washing task comprises the following steps: when the humidity is larger than or equal to the preset humidity, the washing tank is alternately subjected to water outlet and water pumping operation, and the washing tank is matched with the rotation of the wiping component on the mobile equipment to perform a washing task on the wiping component.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by adding a necessary general hardware platform, and of course, can also be implemented by a combination of hardware and software. With this understanding in mind, the above-described technical solutions and/or portions thereof that contribute to the prior art may be embodied in the form of a computer program product, which may be embodied on one or more computer-usable storage media having computer-usable program code embodied therein (including but not limited to disk storage, CD-ROM, optical storage, etc.).

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

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable coordinate determination apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable coordinate determination device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A self-cleaning system, comprising: self-moving devices and workstations; the self-moving equipment at least comprises a dust box, a dust exhaust port and a wiping component, wherein the dust exhaust port is communicated with the dust box; when the self-moving equipment is in butt joint with the workstation, the dust collecting port is in butt joint with the dust exhaust port, and the wiping component is positioned in the cleaning tank;

2. The system of claim 1, wherein the self-moving device is further configured to: generating dust collection parameters required by the dust collection task according to the attribute information of the objects in the dust box, and sending the dust collection parameters to the workstation;

alternatively, the first and second electrodes may be,

the workstation is further configured to: after a dust collection instruction is received, generating dust collection parameters required by the dust collection task according to the attribute information of the objects in the dust box;

wherein the attribute information includes at least one of a category, a size, and a number of the object; the dust collection parameter includes at least one of a dust collection number, a dust collection power, and a dust collection time period.

3. The system according to claim 1 or 2, wherein the dust collection parameters include a dust collection number and a dust collection period, and in the case where the dust collection number is plural, the dust collection period used for each dust collection is gradually reduced as the dust collection number increases.

4. The system of claim 1, wherein the self-moving device is further configured to: generating cleaning parameters required by the cleaning task according to the dirt degree of the wiping component, and sending the cleaning parameters to the workstation;

alternatively, the first and second electrodes may be,

the workstation is further configured to: after the cleaning instruction is received, cleaning parameters required by the cleaning task are generated according to the dirt degree of the wiping component;

wherein, the cleaning parameter comprises at least one of cleaning times, cleaning time, water outlet time and water pumping time.

5. The system of claim 1 or 4, wherein the cleaning parameters include the number of cleanings and the length of the water run and the length of the water pump run in each cleaning, wherein the length of the water run used in the first cleaning is the longest, the length of the water pump run used in the last cleaning is the longest, and the length of the water pump run used in the last cleaning is longer than the length of the water run used in the first cleaning.

6. The system of claim 5, wherein for non-final cleaning, the same pumping time and water discharge time are used for each cleaning, and the pumping time and water discharge time for each cleaning are gradually reduced as the number of cleaning times increases;

alternatively, the first and second electrodes may be,

for non-last cleaning, the water pumping time and the water outlet time used in each cleaning are the same, and the water pumping time and the water outlet time used in different cleaning are also the same.

7. The system of claim 5, wherein the workstation is specifically configured to:

in each cleaning process, after a water pumping instruction sent by the self-moving equipment after the cleaning time length reaches is received, performing water pumping operation on the cleaning tank according to the water pumping time length used in the cleaning, and after the water pumping operation is finished, returning a water pumping completion signal to the self-moving equipment;

or

In each cleaning process, automatically performing water pumping operation on the cleaning tank according to the water pumping duration after the water outlet operation is finished;

or

In each cleaning process, after the water outlet operation is finished, the interval is specified for a certain time, and then the water pumping operation is carried out on the cleaning tank according to the water pumping time.

8. The system of claim 7, wherein the workstation is further configured to: and in the process of executing the water outlet operation on the cleaning tank every time, synchronously executing the water pumping operation on the cleaning tank, wherein the water pumping amount of the water pumping operation is smaller than the water outlet amount of the water outlet operation.

9. The system of claim 1, wherein performing a dust collection task on the dust box comprises:

controlling a suction fan of the workstation to work and a dust collection fan of the self-moving equipment to work simultaneously;

when the dust collection task is completed, the suction fan and the dust suction fan are turned off.

10. The system of claim 9, wherein controlling the operation of the suction fan of the workstation and the concurrent operation of the suction fan from the mobile device comprises:

controlling a suction fan of the workstation to work;

after the suction fan works for a set time, the dust collection fan of the mobile equipment is controlled to work, so that the suction fan and the dust collection fan work simultaneously.

11. A method of operating a self-moving device comprising a dirt box, a dust exhaust port in communication with the dirt box, and a wiper assembly, the method comprising:

under the condition that a self-cleaning task needs to be executed, the self-moving equipment is in butt joint with a workstation, so that the dust exhaust port is in butt joint with a dust collection port of the workstation, and the wiping component is located in a cleaning tank of the workstation;

sending a dust collection instruction to the workstation to instruct the workstation to control a suction fan to work according to dust collection parameters so as to execute a dust collection task on the dust box;

after receiving a dust collection completion signal sent by the workstation, driving the wiping component to rotate, and continuously sending a cleaning instruction to the workstation to instruct the workstation to perform a cleaning task on the wiping component; wherein the workstation performing a cleaning task comprises: and alternately performing water outlet and water pumping operations on the cleaning tank according to cleaning parameters, and cleaning the wiping component by matching with the rotation of the wiping component.

12. The method of claim 11, wherein prior to sending a dust collection instruction to the workstation, further comprising:

judging whether the self-cleaning task comprises a cleaning task of the wiping component or not;

under the condition of containing a cleaning task, judging whether the self-cleaning task comprises a dust collection task or not;

if the work station contains a dust collection task, the operation of sending a dust collection instruction to the work station is executed;

and if the dust collection task is not included, directly sending a cleaning instruction to the workstation.

13. The method of claim 12, wherein determining whether the present self-cleaning task comprises a cleaning task for the wiping assembly comprises:

collecting the dirt degree of the wiping component, and determining that the self-cleaning task comprises a cleaning task of the wiping component when the dirt degree of the wiping component is larger than a set dirt degree;

alternatively, the first and second electrodes may be,

acquiring a time interval from the last cleaning task, and determining that the self-cleaning task comprises the cleaning task of the wiping component when the time interval is larger than a set time interval;

alternatively, the first and second electrodes may be,

and determining that the cleaning task comprises a cleaning task of the wiping component if the event type is the specified event type according to the event type triggering the cleaning task.

14. The method of claim 12, wherein determining whether the current self-cleaning task includes a dust collecting task comprises:

collecting attribute information of an object of the dust box, and determining that the self-cleaning task comprises a dust collection task under the condition that the attribute information of the object meets the dust collection requirement;

alternatively, the first and second electrodes may be,

acquiring a time interval from the last dust collection task, and determining that the current self-cleaning task comprises a dust collection task under the condition that the time interval is greater than a set time interval;

alternatively, the first and second electrodes may be,

and determining that the current self-cleaning task comprises a dust collection task if the event type is the specified event type according to the event type triggering the current cleaning task.

15. The method of claim 11, further comprising: and after sending a dust collection instruction to the workstation, starting a dust collection fan of the self-moving equipment until the dust collection task is finished.

16. A method of operating a workstation that includes a dust collection port and a cleaning tank, the dust collection port being interfaced with a dust exhaust port on a self-moving device that communicates with a dust box, the method comprising:

and if the cleaning instruction is received, alternately performing water outlet and water pumping operations on the cleaning tank according to cleaning parameters, and performing a cleaning task on the cleaning component by matching with the rotation of the cleaning component on the self-moving equipment.

17. The method of claim 16, further comprising:

acquiring dust collection parameters required by the dust collection task from the dust collection instruction; or generating dust collection parameters required by the dust collection task according to the attribute information of the objects in the dust box; wherein the attribute information includes at least one of a category, a size, and a number of the object; the dust collection parameter includes at least one of a dust collection number, a dust collection power, and a dust collection time period.

18. The method of claim 17, further comprising:

acquiring cleaning parameters required by the cleaning task from the cleaning instruction, or generating the cleaning parameters required by the cleaning task according to the dirt degree of the wiping component; wherein, the cleaning parameter comprises at least one of cleaning times, cleaning time, water outlet time and water pumping time.

19. The method of any of claims 16-18, further comprising, during the cleaning of the wiping assembly:

collecting the dirt degree of the wiping component, and sending a dirt degree standard signal of the wiping component to the self-moving equipment if the dirt degree of the wiping component reaches the standard; and

and stopping cleaning the wiping component after receiving the cleaning stopping instruction sent by the mobile equipment.

20. The method of claim 19, wherein collecting the degree of soiling of the wiper assembly comprises: the method comprises the steps of collecting dirty data of the sewage in the cleaning tank by using a sewage detection sensor arranged in the cleaning tank, and determining the dirty degree of the wiping component according to the dirty data of the sewage.

21. An autonomous mobile device, comprising: the device comprises a device body, a storage, a processor, a dust box, a dust discharging port and a wiping component, wherein the device body is provided with the storage, the processor, the dust box, the dust discharging port and the wiping component; the memory for storing a computer program; the processor is coupled with the memory for executing the computer program in the memory for:

under the condition that the self-cleaning task needs to be executed by the self-moving equipment, the self-moving equipment is controlled to be in butt joint with a workstation, so that the dust exhaust port is in butt joint with a dust collection port of the workstation, and the wiping component is located in a cleaning tank of the workstation;

sending a dust collection instruction to the workstation to instruct the workstation to control the suction fan to operate to perform a dust collection task on the dust box according to dust collection parameters;

after receiving a dust collection completion signal sent by the workstation, driving the wiping component to rotate, and continuously sending a cleaning instruction to the workstation to instruct the workstation to perform a cleaning task on the wiping component; the workstation executes the cleaning task, and the workstation alternately executes water outlet and water pumping operations on the cleaning tank according to cleaning parameters and is matched with the rotation of the wiping component to clean the wiping component.

22. A workstation, comprising: the automatic mobile dust collection and cleaning device comprises a workstation body, wherein a storage, a processor, a dust collection port and a cleaning tank are arranged on the workstation body, and the dust collection port is butted with a dust discharge port which is arranged on the automatic mobile equipment and communicated with a dust box; the memory for storing a computer program; the processor is coupled with the memory for executing the computer program in the memory for:

when a dust collection instruction sent by the mobile equipment is received, controlling the suction fan to work according to dust collection parameters so as to collect dust on a dust box on the mobile equipment through the dust collection port;

23. A method of operating a workstation that includes a dust collection port and a cleaning tank, the dust collection port being interfaced with a dust exhaust port on a self-moving device that communicates with a dust box, the method comprising:

docking the self-moving device with a workstation;

alternately performing water outlet and water pumping operations on the cleaning tank, and performing a cleaning task on a wiping component by matching with the rotation of the wiping component on the self-moving equipment;

after the cleaning task is finished, controlling a drying part of the workstation to heat air to obtain hot air;

starting a dust collection fan of the self-moving equipment to enable the hot air to form hot air flow, wherein the hot air flow enters a dust box of the self-moving equipment from a dust inlet of the dust box and is blown out of a filter screen of the dust box;

closing the dust collection fan;

and controlling a suction fan of the workstation to work so as to suck away the dust in the dust box.

24. The method of claim 23, further comprising, prior to performing a cleaning task on the wiper assembly:

after the self-moving equipment is in butt joint with the workstation, detecting the humidity of the dust box by using a humidity sensor;

the cleaning tank is alternately subjected to water outlet and water pumping operations, and is matched with the rotation of the wiping component on the self-moving equipment to perform cleaning tasks on the wiping component, and the cleaning tank comprises:

and when the humidity is greater than or equal to the preset humidity, the washing tank is alternately subjected to water outlet and water pumping operation, and the washing tank is matched with the rotation of a wiping component on the self-moving equipment to perform a washing task on the wiping component.