CN110051285B

CN110051285B - Detection method, device and storage medium

Info

Publication number: CN110051285B
Application number: CN201910316015.1A
Authority: CN
Inventors: 李畅; 罗浩杨; 张峻彬
Original assignee: Yunjing Intelligence Technology Dongguan Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd
Priority date: 2019-04-18
Filing date: 2019-04-18
Publication date: 2021-12-24
Anticipated expiration: 2039-04-18
Also published as: CN110051285A

Abstract

The embodiment of the invention provides a detection method and related equipment, which can detect the generation of foam or the overflow of water in the process of cleaning the mopping piece of a cleaning robot by a base station. The method comprises the following steps: step S1: transmitting a detection signal and receiving a feedback signal fed back through at least one detection sensor; step S2: comparing the feedback signal received by the detection sensor with a preset signal, judging whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation, wherein the preset signal is the feedback signal received by the detection sensor when no foam appears in the cleaning tank or the water in the cleaning tank does not reach a preset position, and the preset change is the change of a difference value between a signal value of the feedback signal received by the detection sensor when the foam appears in the cleaning tank or the water in the cleaning tank reaches the preset position and a reference detection value of the preset signal.

Description

Detection method, device and storage medium

Technical Field

The invention relates to the technical field of information processing, in particular to a detection method and a cleaning robot.

Background

The cleaning robot is used for mopping and cleaning the floor. The bottom of the cleaning robot is provided with a driving wheel and a mopping member (e.g. a mop cloth) by which the floor is mopped and cleaned.

In order to match the use of the cleaning robot, a base station is also arranged, the base station and the cleaning robot are independently arranged, and the base station is used for charging the cleaning robot and cleaning the mopping piece and the like. After the cleaning robot mops the floor for a period of time, the mopping piece becomes dirty, and at the moment, the cleaning robot moves to the base station, so that the base station cleans the mopping piece of the cleaning robot. When the mopping piece is cleaned, the cleaning robot can leave the base station to continuously mop and clean the ground.

In the existing scheme, after a cleaning robot moves to a base station, a mopping piece of the cleaning robot is positioned on a cleaning tank of the base station, and the mopping piece is contacted with cleaning liquid of the cleaning tank so as to clean the mopping piece. Because the cleaning robot cleans the mopping piece on the base station, the mopping cleaning of the ground is carried out, so that the cleaning robot can be quickly put into the work of mopping the ground conveniently, and the cleaning liquid used when the base station cleans the mopping piece is special little/no foam cleaning liquid. Therefore, after the mop piece is cleaned, no foam is left on the mop piece, and the mop piece can be immediately put into use. The base station also does not produce a large amount of foam during cleaning of the mop.

However, the cleaning solution for the base station is generally added to the base station by the user, and the user may not use a dedicated cleaning solution, but add some cleaning solution which may generate foam to the base station, so that the base station may generate a large amount of foam in the process of cleaning the mop, and the foam may overflow the base station, thereby polluting the ground around the base station. After the cleaning robot cleans the mopping piece, foam can be stained on the mopping piece and the body of the cleaning robot, so that the stained foam can pollute the ground during mopping.

Disclosure of Invention

The embodiment of the invention provides a detection method and related equipment, which can prevent foam or water in a cleaning tank from overflowing in the process of cleaning operation of a mopping piece of a cleaning robot by a base station.

A first aspect of an embodiment of the present invention provides a method for detecting whether foam or water is generated during cleaning of a cleaning robot, where the cleaning robot has a wiping unit, the cleaning robot is used in conjunction with a base station, the base station has a cleaning tank, the cleaning robot enters the base station, and the wiping unit is located in the cleaning tank for cleaning, the method including:

step S1: transmitting a detection signal and receiving a feedback signal fed back through at least one detection sensor;

step S2: comparing the feedback signal received by the detection sensor with a preset signal, judging whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation, wherein the preset signal is the feedback signal received by the detection sensor when no foam appears in the cleaning tank or the water in the cleaning tank does not reach a preset position, and the preset change is the change of a difference value between a signal value of the feedback signal received by the detection sensor when the foam appears in the cleaning tank or the water in the cleaning tank reaches the preset position and a reference detection value of the preset signal.

Optionally, in the step S2, the method for comparing the feedback signal received by the detection sensor with a preset signal to determine whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation includes:

judging whether the feedback signal received by the detection sensor continuously maintains the preset change within preset time; and if the feedback signal received by the detection sensor continuously maintains the preset change within the preset time, executing the preset anti-foaming operation.

Optionally, the detection sensor is a light sensor;

the step S1: emitting a detection signal and receiving a feedback signal fed back by at least one detection sensor, comprising:

transmitting a light detection signal to a light intensity adjusting substance through the optical sensor and receiving a feedback light feedback signal, wherein the absorption of the light intensity adjusting substance on the light detection signal light intensity is different from the absorption of foam or water on the light detection signal light intensity;

the step S2: judging whether the signal detected by the detection sensor is subjected to preset change, and if the signal detected by the detection sensor is subjected to the preset change, executing a preset anti-foaming operation method, wherein the method comprises the following steps:

comparing the light feedback signal received by the light sensor with a preset light signal, judging whether a preset light change occurs, and if the preset light change occurs, executing a preset anti-foaming operation, wherein the preset light signal is the light feedback signal received by the light sensor when no foam appears in the cleaning tank or water in the cleaning tank does not reach the preset position, and the preset light change is the difference value change between the signal value of the light feedback signal received by the light sensor when foam appears in the cleaning tank or the water in the cleaning tank reaches the preset position and the reference detection value of the preset light signal.

Optionally, the optical sensor is an infrared light sensor, the optical detection signal is an infrared light signal, the optical feedback signal is an infrared light feedback signal, the preset optical signal is a preset infrared light signal, and the preset light changes to a preset infrared light change.

Optionally, the light intensity adjusting substance is a light absorbing material, and the light absorbing material absorbs the light intensity of the light signal more than the foam or water absorbs the light intensity of the light signal.

Optionally, in the step S2, the method for comparing the light feedback signal received by the light sensor with a preset light signal to determine whether a preset light change occurs, and if the preset light change occurs, executing a preset anti-foaming operation includes:

judging whether the light intensity of the light feedback signal is greater than or equal to the light intensity threshold of the preset light signal;

and if the light intensity of the light feedback signal is greater than or equal to the light intensity threshold value of the preset light signal, executing the preset anti-foaming operation.

Optionally, the light sensor is arranged opposite to the light intensity regulating substance;

the light sensor is arranged on the cleaning robot, and the light intensity adjusting substance is arranged in a cleaning groove of the base station;

or the optical sensor and the light intensity adjusting substance are both arranged in a cleaning tank of the base station;

or, the light sensor is arranged in a cleaning groove of the base station, and the light intensity adjusting substance is arranged on the cleaning robot.

Optionally, the detection sensor comprises a signal transmitter and a signal receiver;

in the step S1, the transmitting a detection signal and receiving a feedback signal by at least one detection sensor includes:

transmitting a detection signal through the signal transmitter, and receiving a feedback signal through the signal receiver;

in the step S2, the method of comparing the feedback signal received by the detection sensor with a preset signal to determine whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation includes:

judging whether a feedback signal received by the signal receiver has a preset signal change or not; and if the feedback signal received by the signal receiver generates the preset signal change, executing the preset anti-foaming operation, wherein the preset signal change is the change of signal interruption, signal intensity enhancement or signal intensity reduction between the feedback signal received by the signal receiver when foam appears in the cleaning tank or water in the cleaning tank reaches the preset position and the feedback signal received by the signal receiver when no foam appears in the cleaning tank or water in the cleaning tank does not reach the preset position.

Optionally, the signal transmitter is arranged opposite to the signal receiver;

the signal transmitter is arranged on the cleaning robot, and the signal receiver is arranged on the base station;

or, the signal transmitter and the signal receiver are both arranged on the base station;

or, the signal transmitter is disposed on the base station, and the signal receiver is disposed on the cleaning robot.

Optionally, the executing preset anti-foaming operation includes:

and controlling the base station to stop or terminate the cleaning operation of the mopping piece.

Optionally, the detection sensor is a drop sensor of the cleaning robot.

A second aspect of the embodiments of the present invention provides a detection apparatus for detecting whether foam or water is generated during cleaning of a cleaning robot, the cleaning robot having a wiping unit, the cleaning robot being used in conjunction with a base station, the base station having a cleaning tank, the cleaning robot entering the base station, the wiping unit being located in the cleaning tank for cleaning, the apparatus comprising:

a transmitting and receiving unit: transmitting a detection signal and receiving a feedback signal fed back through at least one detection sensor;

a processing unit: comparing the feedback signal received by the detection sensor with a preset signal, judging whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation, wherein the preset signal is the feedback signal received by the detection sensor when no foam appears in the cleaning tank or the water in the cleaning tank does not reach a preset position, and the preset change is the change of a difference value between a signal value of the feedback signal received by the detection sensor when the foam appears in the cleaning tank or the water in the cleaning tank reaches the preset position and a reference detection value of the preset signal.

Optionally, the processing unit is specifically configured to:

Optionally, the detection sensor is a light sensor;

the transceiver unit transmits a detection signal and receives a feedback signal fed back through at least one detection sensor, and the feedback signal comprises:

the processing unit judges whether the signal detected by the detection sensor is changed in a preset way, and if the signal detected by the detection sensor is changed in the preset way, the method for executing the preset anti-foaming operation comprises the following steps:

Optionally, the processing unit compares the light feedback signal received by the light sensor with a preset light signal, determines whether a preset light change occurs, and if the preset light change occurs, executes a preset anti-foaming operation, including:

Optionally, the detection sensor comprises a signal transmitter and a signal receiver; the transceiver unit transmits a detection signal and receives a feedback signal fed back through at least one detection sensor, and the feedback signal comprises:

the processing unit compares the feedback signal received by the detection sensor with a preset signal to judge whether a preset change occurs, and if the preset change occurs, the method for executing the preset anti-foaming operation comprises the following steps:

Optionally, the signal transmitter is arranged opposite to the signal receiver;

Optionally, the processing unit executes a preset anti-foaming operation, including:

Optionally, the detection sensor is a drop sensor of the cleaning robot.

A third aspect of embodiments of the present invention provides a processor, configured to run a computer program, where the computer program is run to perform the steps of the detection method according to the above aspects.

A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that: the computer program is executed by a processor for the steps of the detection method according to the above aspects.

In summary, in the embodiments of the present invention, when the base station performs a cleaning operation on the mop of the cleaning robot, if the user uses a cleaning solution that generates foam, the cleaning tank of the base station gradually generates foam or water in the cleaning tank reaches a predetermined position, a feedback signal received by the detection sensor is changed from a predetermined signal, and the predetermined signal is a feedback signal when no foam is present in the cleaning tank or water in the cleaning tank reaches the predetermined position, so that the predetermined signal is compared with the feedback signal to determine whether foam is present in the cleaning tank or whether water in the cleaning tank reaches the predetermined position, and when foam is present in the cleaning tank or water in the cleaning tank reaches the predetermined position, a predetermined anti-foam operation is performed. In this way, foam or water can be prevented from overflowing during the cleaning operation of the cleaning robot performed by the base station, thereby avoiding pollution of the floor surface by the foam generated by the base station when the mop is cleaned.

Drawings

Fig. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of the cleaning robot shown in FIG. 1 with a portion of the housing removed;

fig. 3 is a bottom view of the cleaning robot shown in fig. 1;

FIG. 4 is another schematic view of the cleaning robot shown in FIG. 1;

fig. 5 is a front view of a base station according to another embodiment of the present invention;

FIG. 6 is a schematic perspective view of the base station shown in FIG. 5 after the top cover is opened

FIG. 7 is another schematic diagram of the base station shown in FIG. 5;

FIG. 8 is a schematic view of a cleaning robot driving to a base station according to another embodiment of the present invention;

fig. 9 is a schematic view illustrating a state where the cleaning robot is docked to a base station according to another embodiment of the present invention;

FIG. 10 is a schematic diagram of an embodiment of a detection method according to another embodiment of the present invention;

fig. 11 is a schematic structural diagram of a base station according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of an arrangement of a light intensity adjusting substance of a base station according to an embodiment of the present invention;

FIG. 13 is a schematic diagram illustrating the generation of foam in the cleaning tank of the base station according to the embodiment of the present invention;

FIG. 14 is a schematic diagram of coordinates of a preset light intensity threshold and a preset time t according to an embodiment of the present invention;

fig. 15 is a usage scenario diagram related to the detection method provided by the embodiment of the present invention;

fig. 16 is a usage scenario diagram related to the detection method provided by the embodiment of the present invention;

fig. 17 is a schematic diagram of an embodiment of a detection apparatus according to an embodiment of the present invention.

Detailed Description

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiment of the invention provides a cleaning robot 100, the cleaning robot 100 can be used for automatically mopping the floor to clean, and the application scene of the cleaning robot 100 can be household indoor cleaning, large-scale place cleaning and the like.

Fig. 1 is a schematic perspective view of a cleaning robot 100 according to an embodiment of the present invention, and fig. 2 is a schematic structural view of the cleaning robot 100 shown in fig. 1 with a part of a housing removed.

As shown in fig. 1 and 2, the cleaning robot 100 includes a robot main body 101, a driving motor 102, a sensor unit 103, a controller 104, a battery 105, a walking unit 106, a memory 107, a communication unit 108, a robot interaction unit 109, a wiper 110, a charging member 111, and the like.

The robot main body 101 may have a circular structure, a square structure, or the like. In the embodiment of the present invention, the robot main body 101 is described as having a D-shaped configuration. As shown in fig. 1, the robot main body 101 has a rounded rectangular front portion and a semicircular rear portion. In the embodiment of the present invention, the robot main body 101 has a bilaterally symmetric structure.

The mopping member 110 is used for mopping the floor, and the number of the mopping members 110 can be one or more. The mop element 110 is for example a mop cloth. The mopping piece 110 is disposed at the bottom of the robot main body 101, specifically, at a position near the front of the bottom of the robot main body 101. The robot main body 101 is internally provided with a driving motor 102, two rotating shafts extend out of the bottom of the robot main body 101, and a mopping piece 110 is sleeved on the rotating shafts. The driving motor 102 can drive the rotation shaft to rotate, so that the rotation shaft drives the mop 110 to rotate.

The traveling unit 106 is a component related to the movement of the cleaning robot 100, and the traveling unit 106 includes driving wheels 1061 and universal wheels 1062. The universal wheel 1062 and the driving wheel 1061 cooperate to steer and move the cleaning robot 100. One drive wheel 1061 is provided on each of the left and right sides of the bottom surface of the robot main body 101 near the rear. The universal wheel 1062 is disposed on the center line of the bottom surface of the robot main body 101 between the two mopping pieces 110.

Wherein, each driving wheel 1061 is provided with a driving wheel motor, and the driving wheel 1061 is driven by the driving wheel motor to rotate. The driving wheel 1061 rotates to drive the cleaning robot 100 to move. The steering angle of the cleaning robot 100 can be controlled by controlling the difference in the rotation speed of the left and right driving wheels 1061.

Fig. 4 is another structural schematic diagram of the cleaning robot 100 shown in fig. 1.

A controller 104 is provided inside the robot main body 101, and the controller 104 is used to control the cleaning robot 100 to perform a specific operation. The controller 104 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. As shown in fig. 4, the controller 104 is electrically connected to components such as the battery 105, the memory 107, the driving motor 102, the walking unit 106, the sensor unit 103, and the robot interaction unit 109 to control these components.

A battery 105 is provided inside the robot main body 101, and the battery 105 is used to supply power to the cleaning robot 100.

The robot main body 101 is also provided with a charging member 111, and the charging member 111 is used to obtain power from an external device of the cleaning robot 100 and charge the battery 105.

A memory 107 is provided on the robot main body 101, and the memory 107 stores a program that realizes a corresponding operation when executed by the controller 104. The memory 107 is also used to store parameters for use by the cleaning robot 100. The Memory 107 includes, but is not limited to, a magnetic disk Memory, a Compact Disc-Only Memory (CD-ROM), an optical Memory, and the like.

A communication unit 108 is provided on the robot main body 101, the communication unit 108 is used for the cleaning robot 100 to communicate with external devices, and the communication unit 108 includes, but is not limited to, a WIreless-Fidelity (WI-FI) communication module 1081, a short-range communication module 1082, and the like. The cleaning robot 100 may communicate with the terminal by connecting a WI-FI router through the WI-FI communication module 1081. The cleaning robot 100 communicates with the base station through the short-range communication module 1082. Wherein the base station is a device used in cooperation with the cleaning robot 100.

The sensor unit 103 provided on the robot main body 101 includes various types of sensors such as a laser radar 1031, an impact sensor 1032, a distance sensor 1033, a fall sensor 1034, a counter 1035, a gyroscope 1036, and the like.

The laser radar 1031 is arranged at the top of the robot main body 101, and when the robot main body 101 works, the laser radar 1031 rotates and transmits a laser signal through a transmitter on the laser radar 1031, and the laser signal is reflected by an obstacle, so that a receiver of the laser radar 1031 receives the laser signal reflected by the obstacle. The circuit unit of laser radar 1031 analyzes the received laser signal, and thereby obtains surrounding environment information such as the distance and angle of an obstacle with respect to laser radar 1031.

Impact sensor 1032 includes an impact housing 10321 and a trigger sensor 10322. The collision housing 10321 surrounds the head of the robot main body 101, and specifically, the collision housing 10321 is provided at a front position of the head of the robot main body 101 and left and right sides of the robot main body 101. The trigger sensor 10322 is provided inside the robot main body 101 behind the collision case 10321. An elastic buffer is provided between the collision case 10321 and the robot main body 101. When the cleaning robot 100 collides with an obstacle through the collision case 10321, the collision case 10321 moves toward the inside of the cleaning robot 100 and compresses the elastic buffer. After the impact housing 10321 moves a certain distance into the cleaning robot 100, the impact housing 10321 comes into contact with the trigger sensor 10322, and the trigger sensor 10322 is triggered to generate a signal, which can be sent to the controller 104 in the robot main body 101 for processing. After the obstacle is hit, the cleaning robot 100 is away from the obstacle, and the collision housing 10321 moves back to the home position by the elastic buffer member. It can be seen that impact sensor 1032 can detect an obstacle and provide cushioning after impact with the obstacle.

The distance sensor 1033 may be specifically an infrared detection sensor, and may be used to detect a distance from an obstacle to the distance sensor 1033. The distance sensor 1033 is provided at a side surface of the robot main body 101 so that a distance value from an obstacle located near the side surface of the cleaning robot 100 to the distance sensor 1033 can be measured by the distance sensor 1033.

The drop sensors 1034 are disposed at the bottom edge of the robot body 101, and may be one or more in number. When the cleaning robot 100 moves to an edge position of the floor, it can be detected by the drop sensor 1034 that the cleaning robot 100 is at risk of dropping from a high position, thereby performing a corresponding drop-prevention reaction, such as the cleaning robot 100 stopping moving, or moving away from the drop position.

A counter 1035 and a gyroscope 1036 are also provided inside the robot main body 101. The counter 1035 is configured to count the total number of rotational angles of the driving wheel 1061, so as to calculate the distance that the cleaning robot 100 is driven by the driving wheel 1061. The gyroscope 1036 is used to detect the angle at which the cleaning robot 100 rotates, so that the orientation of the cleaning robot 100 can be determined.

The robot interaction unit 109 is provided on the robot main body 101, and a user can interact with the cleaning robot 100 through the robot interaction unit 109. The robot interaction unit 109 includes, for example, a switch button 1091, and a speaker 1092. The user can control the cleaning robot 100 to start or stop the operation by pressing the switch button 1091. The cleaning robot 100 may play a warning tone to the user through the speaker 1092.

It should be understood that the cleaning robot 100 described in the embodiment of the present invention is only a specific example, and the cleaning robot 100 of the embodiment of the present invention is not limited to the specific example, and the cleaning robot 100 of the embodiment of the present invention may be implemented in other specific ways. For example, in other implementations, the cleaning robot may have more or fewer components than the cleaning robot 100 shown in fig. 1.

The embodiment of the present invention further provides a base station 200, where the base station 200 is used in cooperation with the cleaning robot 100, for example, the base station 200 may charge the cleaning robot 100, and the base station 200 may provide a parking position for the cleaning robot 100. The base station 200 may also clean the mop 110 of the cleaning robot 100. Wherein the mop element 110 is used for mopping and cleaning the floor.

Fig. 5 is a front view of a base station 200 according to an embodiment of the present invention. Fig. 6 is a perspective view of the base station 200 shown in fig. 5 after the top cover 201 is opened.

As shown in fig. 5 and 6, the base station 200 of the embodiment of the present invention includes a base station main body 202, a washing tank 203, and a water tank 204.

A cleaning tank 203 is provided on the base station main body 202, and the cleaning tank 203 is used to clean the mop 110 of the cleaning robot. The cleaning rib 2031 provided on the cleaning bath 203 can perform a scrub cleaning of the scrub member 110.

A notch 205 is provided in the base station main body 202, and the notch 205 leads to the cleaning tank 203. The cleaning robot 100 may be driven into the base station 200 through the entry slot 205 such that the cleaning robot 100 is parked at a preset parking position on the base station 200.

The water tank 204 is provided in the base station main body 202, and the water tank 204 specifically includes a fresh water tank and a dirty water tank. The clean water tank stores clean water. The mop 110 of the cleaning robot 100 is received on the cleaning tank 203 while the cleaning robot 100 is parked on the base station 200. The clean water tank supplies cleaning water to the cleaning tank 203, and the cleaning water is used to clean the mop 110. The dirty water after cleaning the mop 110 is then collected in a dirty water tank. A top cover 201 is provided on the base station main body 202, and a user can take out the water tank 204 from the base station main body 202 by opening the top cover 201.

Fig. 7 is another schematic structural diagram of the base station 200 shown in fig. 5.

Referring to fig. 7, the base station 200 according to the embodiment of the present invention further includes a controller 206, a communication unit 207, a memory 208, a water pump 209, a base station interaction unit 210, and the like.

A controller 206 is provided inside the base station main body 202, and the controller 206 is used to control the base station 200 to perform a specific operation. The controller 206 may be, for example, a Central Processing Unit (CPU), a Microprocessor (Microprocessor), or the like. Wherein, the controller 206 is electrically connected with the communication unit 207, the memory 208, the water pump 209 and the base station interaction unit 210.

A memory 208 is provided on the base station main body 202, and the memory 208 stores thereon a program that realizes a corresponding operation when executed by the controller 206. The memory 208 is also used to store parameters for use by the base station 200. Memory 208 includes, but is not limited to, disk memory, CD-ROM, optical memory, and the like.

The water pumps 209 are provided inside the base station body 202, and specifically, there are two water pumps 209, one of the water pumps 209 is for controlling the clean water tank to supply cleaning water to the cleaning tank 203, and the other water pump 209 is for controlling the dirty water in the cleaning tank after the cleaning wiper 110 is cleaned to be collected in the dirty water tank.

A communication unit 207 is provided on the base station main body 202, the communication unit 207 is used for communicating with an external device, and the communication unit 207 includes, but is not limited to, a WIreless-Fidelity (WI-FI) communication module 2071, a short-range communication module 2072, and the like. The base station 200 may communicate with the terminal by connecting to the WI-FI router through the WI-FI communication module 2071. The base station 200 may communicate with the cleaning robot 100 through the short-range communication module 2072.

The base station interacting unit 210 is used for interacting with the user. The base station interaction unit 210 includes, for example, a display screen 2101 and a control button 2102, the display screen 2101 and the control button 2102 are disposed on the base station main body 202, the display screen 2101 is used to display information to a user, and the control button 2102 is used for a user to perform a pressing operation to control the start-up or shutdown of the base station 200.

The base station main body 202 is further provided with a power supply part, and the cleaning robot is provided with a charging part 111, and when the cleaning robot 100 stops at a preset stop position on the base station 200, the charging part 111 of the cleaning robot 100 contacts with the power supply part of the base station 200, so that the base station 200 charges the cleaning robot 100. Wherein, the power of the base station 200 can be derived from the commercial power.

The following exemplifies a process in which the cleaning robot 100 and the base station 200 cooperate:

the cleaning robot 100 cleans the floor of the room, and when the power of the battery 105 on the cleaning robot 100 is less than the preset power threshold, the cleaning robot 100 automatically drives to the base station 200 as shown in fig. 8. The cleaning robot 100 enters the base station 200 through the entry slot 205 on the base station 200 and stops at a preset stop position on the base station 200. The state where the cleaning robot 100 is parked on the base station 200 can be referred to fig. 9.

At this time, the charging part 111 on the cleaning robot 100 contacts the power supply part on the base station 200, and the base station 200 receives power from the commercial power and charges the battery 105 of the cleaning robot 100 through the power supply part and the charging part 111. After the cleaning robot 100 is fully charged, it moves away from the base station 200 and continues to clean the floor of the room.

The cleaning robot 100 may be used for mopping a floor. After the cleaning robot 100 mops the floor of the room for a period of time and the mopping member 110 becomes dirty, the cleaning robot 100 travels to the base station 200. The cleaning robot 100 enters the base station 200 through the entry slot 205 on the base station 200 and stops at a preset stop position on the base station 200. At this time, the mop 110 of the cleaning robot 100 is accommodated on the cleaning tank 203, and under the action of the water pump 209, the cleaning water in the clean water tank in the base station 200 flows to the cleaning tank 203 and is sprayed onto the mop 110 through the liquid inlet structure on the cleaning tank 203, and meanwhile, the mop 110 scrapes the convex cleaning rib 2031 in the cleaning tank, so that the cleaning of the mop 110 is realized. Under the action of the water pump 209, the dirty water after cleaning the mop 110 flows out of the cleaning tank 203 from the drainage structure on the cleaning tank and enters the dirty water tank.

It should be understood that the base station 200 described in the embodiment of the present invention is only a specific example, and is not limited to the base station 200 in the embodiment of the present invention, and the base station 200 in the embodiment of the present invention may also be implemented in other specific ways, for example, the base station 200 in the embodiment of the present invention may not include the water tank 204, and the base station main body 202 may be connected to a tap water pipe and a drain pipe, so that the mop 110 of the cleaning robot 100 is cleaned by using tap water from the tap water pipe, and dirty water after cleaning the mop 110 flows out of the base station 200 through the drain pipe by the cleaning tank 203. Alternatively, in other implementations, the base station may have more or fewer components than the base station 200 shown in fig. 5.

The embodiment of the invention provides a detection method, and the use scene of the detection method is shown in fig. 9. As described above, after the cleaning robot 100 mops the floor of the room for a period of time and the mopping member 110 becomes dirty, the cleaning robot 100 drives to the base station 200 and enters the base station 200 until it stops at the predetermined stop position on the base station 200. At this time, the wiper 110 of the cleaning robot 100 is received on the cleaning bath 203 of the base station 200. The base station 200 starts the water pump to spray the cleaning water in the clean water tank onto the mop 110 through the liquid inlet structure of the cleaning tank. At the same time, the cleaning robot 100 rotates the wiping member 110 to wipe the wiping member 110 and the cleaning ribs on the cleaning groove 203, thereby cleaning the wiping member 110. The dirty water from the cleaning mop 110 is drained out of the cleaning tank 203 by a drain arrangement and is pumped by a water pump into a dirty water tank on the base station 200 for storage.

When the mop 110 is cleaned in the cleaning groove 203, a cleaning agent may be added to the cleaning water for better cleaning effect. For example, the user may add a cleaning agent to the cleaning water of the clean water tank of the base station 200. The cleaning agent can be a non-foam or low-foam cleaning agent, so that when the mop 110 is cleaned on the cleaning tank 203, the generation of foam is avoided or reduced, and the pollution to the ground caused by the foam overflowing the base station 200 is avoided. However, if the detergent used by the user is a detergent generating more foam, more foam may be generated on the cleaning tank, and once the foam overflows the base station 200, or the foam is carried out of the base station 200 by the cleaning robot 100, the foam may pollute the floor.

To this end, embodiments of the present invention provide a detection method for detecting the generation and overflow of foam during a cleaning operation performed on a mop of a cleaning robot by a base station.

The detection method in the embodiment of the present invention is described below from the perspective of a detection device, which may be a cleaning robot, a base station, or a third-party device other than a cleaning robot and a base station, and is not particularly limited.

Referring to fig. 10, fig. 10 is a schematic view of an embodiment of a detection method provided by an embodiment of the present invention, the detection method is used for detecting whether foam is present in a cleaning robot or whether water in a cleaning tank reaches a predetermined position during cleaning, the cleaning robot has a wiping part, the cleaning robot is used in cooperation with a base station, the base station has a cleaning tank, the cleaning robot enters the base station, and the wiping part is located in the cleaning tank for cleaning, the detection method includes:

step S1: the detection signal is transmitted by at least one detection sensor and the feedback signal is received.

In this embodiment, the detection device may transmit a detection signal through at least one detection sensor and receive a feedback signal fed back. The cleaning robot comprises a robot main body, a driving device and a mopping piece. Wherein, drive arrangement includes drive wheel and universal wheel. The driving wheel is used for driving the cleaning robot to move, and the universal wheel is used for matching with the driving wheel to control the movement and the steering of the cleaning robot. The driving wheel, the universal wheel and the mopping piece are arranged at the bottom of the robot main body. The mopping piece is used for mopping the ground. The mop element may be a mop cloth. The number of the mopping pieces can be two, the robot main body is connected with the mopping pieces through a rotating shaft on the robot main body, and the mopping pieces can be driven to rotate through the rotating shaft. The cleaning robot moves under the driving of the driving wheels, so that the mopping piece slides relative to the ground to clean the ground; or the cleaning robot rotates the mopping piece to enable the mopping piece to rotate relative to the ground, so that the mopping piece and the ground slide relatively to each other, the ground is cleaned, when the cleaning robot completes a cleaning task or the mopping piece of the cleaning robot needs to be cleaned due to dirt, the cleaning robot returns to the base station, the base station performs cleaning operation on the mopping piece of the cleaning robot, and the detection device can detect through the detection sensor in the process that the base station performs cleaning operation on the mopping piece of the cleaning robot.

It should be noted that, the detection device detects through at least one detection sensor, and when detecting that the base station performs the cleaning operation on the mop, the detection device may start the at least one detection sensor to detect, and may also start the at least one detection sensor to detect in real time, which is not limited specifically.

It is understood that the detection sensor may transmit a signal both before the cleaning robot enters the base station and after the cleaning robot enters the base station. For example, before entering the base station, the detection sensor is configured to detect whether a drop reaction is triggered, for example, when a reflected infrared signal received by the detection sensor is smaller than a preset drop light intensity threshold, the drop reaction is triggered, otherwise, the drop reaction is not triggered. After the cleaning robot enters the base station, the cleaning robot has no risk of falling, so that the cleaning robot shields the anti-falling reaction and ensures the normal cleaning operation of the mopping piece, and the falling reaction can be, for example, stopping the operation of the cleaning robot, keeping the current position still and sending out prompt information; alternatively, the cleaning robot runs along the direction opposite to the current running direction, and of course, other reactions are also possible as long as the cleaning robot can be prevented from falling, and the method is not limited in particular. After the cleaning robot enters the base station, the cleaning robot starts a foam detection mode, wherein the cleaning robot enters the base station and takes the inlet of the cleaning robot entering the base station as a mark, and the mode that the cleaning robot enters the base station is determined as follows: the current position of the cleaning robot is within the position of the base station; or the cleaning robot touches a component within the base station, such as a charging component of the cleaning robot and a charging component of the base station; or the cleaning robot detects that the distance between the cleaning robot and the marker in the base station reaches a preset distance, and the like, which are not limited specifically.

Step S2: and comparing the feedback signal received by the detection sensor with a preset signal, judging whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation.

In this embodiment, after the cleaning robot mops the floor for a period of time, the mopping piece becomes dirty, and at this time, the cleaning robot moves to the base station, so that the base station cleans the mopping piece of the cleaning robot. When the mopping piece is cleaned, the cleaning robot can leave the base station to continuously mop and clean the ground. After the detection device transmits the detection signal and receives the feedback signal fed back, the detection device can compare the feedback signal received by the detection sensor with a preset signal to judge whether a preset change occurs, if the preset change occurs, a preset anti-foaming operation is executed, wherein the preset signal is the feedback signal received by the detection sensor when no foam appears in the cleaning tank or water in the cleaning tank does not reach a preset position, and the preset change is a difference value change between a signal value of the feedback signal received by the detection sensor and a reference detection value of the preset signal when the foam appears in the cleaning tank or the water in the cleaning tank reaches the preset position. That is, a reference detection value of a detected preset signal may be preset, and a signal value of a feedback signal received in real time is compared with the reference detection value of the preset signal to determine whether a preset change occurs in the feedback signal received in real time, and if the preset change occurs, a preset anti-foaming operation is performed.

Optionally, the detection device may determine whether the feedback signal received by the detection sensor continuously maintains a preset change within a preset time (for example, 10s, which may be set according to actual conditions, and is not limited in particular), and if the feedback signal received by the detection sensor continuously maintains the preset change within the preset time, perform a preset anti-foaming operation. That is to say, the base station is in the in-process of cleaning the piece of wiping of cleaning robot, when the cleaner use in the water tank of base station produced the cleaner of foam easily, in order to prevent that foam or the water in the washing tank from appearing in the washing tank reaches the risk that predetermined position overflowed the washing tank, cause the dirty on ground around the base station, consequently need detect whether the repayment signal that the detection sensor received takes place to predetermine the change, simultaneously, in order to guarantee the accuracy of surveying, it is whether the repayment signal that the detection sensor received continuously maintains within the predetermined time and predetermines the change that needs to judge.

It should be noted that, when the foam in the cleaning tank reaches the preset position, it is indicated that the foam in the cleaning tank has a risk of overflowing, and then the preset foam-preventing operation may be performed.

It should be noted that the preset anti-foaming operation includes: the base station is controlled to stop or terminate the cleaning operation of the mop. In addition, the preset anti-foaming operation further includes, but is not limited to, the following operations:

1) the cleaning robot stops rotating the mopping piece;

2) the cleaning robot sends an anti-overflow instruction to the base station. After the base station receives the anti-overflow instruction, the base station controls the water tank to stop supplying cleaning liquid to the cleaning tank;

3) the cleaning robot makes an alarm sound; alternatively, the cleaning robot sends an overflow prevention instruction to the base station. After receiving the anti-overflow instruction, the base station sends out an alarm sound;

4) the cleaning robot sends alarm information to a user terminal (such as a mobile phone) so that a user can check and receive the alarm information through the user terminal (for example, the mobile phone displays 'foam overflows in a base station' on a screen), or the cleaning robot sends an anti-overflow instruction to the base station. And after receiving the anti-overflow instruction, the base station sends alarm information to a user terminal (such as a mobile phone).

Referring to fig. 11, a structure of a base station according to an embodiment of the present invention is described below with reference to fig. 11, where a base station 1100 includes a base station main body 1101, a tank inlet 1102, a water tank (not shown in fig. 11), a cleaning tank 1103, and the like. Among them, a washing tank 1103 and a water tank for supplying a washing liquid to the base station 1100 are provided in the base station main body 1101. Notch 1102 is provided in the side of base station body 1101. The cleaning robot can enter the base station body 1101 through the entrance slot 1102 and stop on the base station body 1101, and at this time, the wiper at the bottom of the cleaning robot is positioned on the cleaning tank 1103. The cleaning tank 1103 has a groove structure recessed toward the bottom, and a liquid inlet and a liquid outlet are provided in the cleaning tank 1103. A protruding strip-shaped cleaning rib is arranged at the bottom of the cleaning tank 1103.

The cleaning tank 1103 may be detachably connected to the base station main body 1101, or may be integrally formed with the base station 1101.

The following describes the cleaning process of the base station 1100 for cleaning the mop of the cleaning robot:

when the cleaning robot is parked at the base station 1100 for cleaning, the cleaning robot rotates the wiper to cause the wiper to rub against the cleaning ribs on the cleaning tank 1103 in a sliding manner. At this time, under the pressure of the water pump, the cleaning liquid in the water tank flows to the liquid inlet of the cleaning tank 1103 and is sprayed out from the liquid inlet, and the cleaning liquid is sprayed onto the mop of the cleaning robot. The cleaning solution may be sprayed onto the mop from a liquid inlet part on the cleaning tank 1103, or may be sprayed onto the mop from a tank wall of the cleaning tank 1103. This enables cleaning of the mop. After being sprayed onto the wiping part, the cleaning liquid falls onto the bottom of the cleaning tank 1103 from the wiping part and flows out of the cleaning tank 1103 from a liquid outlet at the bottom of the cleaning tank 1103.

There are various implementation manners of the detection method in the embodiment shown in fig. 10, and several implementation manners are illustrated below.

The implementation mode is as follows:

in one embodiment, the detecting sensor is a light sensor, and step S1 includes: the light sensor emits a light detection signal to a light intensity adjusting substance and receives a feedback light feedback signal, wherein the absorption of the light intensity adjusting substance on the light detection signal is different from the absorption of foam or water on the light detection signal.

Step S2 includes: the method comprises the steps of comparing a light feedback signal received by a light sensor with a preset light signal, judging whether a preset light change occurs, and executing a preset anti-foaming operation if the preset light change occurs, wherein the preset light signal is the light feedback signal received by the light sensor when no foam appears in a cleaning tank or water in the cleaning tank does not reach a preset position, and the preset light change is the difference value change between the signal value of the light feedback signal received by the light sensor and the reference detection value of the preset light signal when the foam appears in the cleaning tank or the water in the cleaning tank reaches the preset position.

In this embodiment, the detection device may emit a light detection signal to the light intensity adjusting substance through the light sensor, and receive the light feedback signal fed back by the light intensity adjusting substance through the detection sensor, and since the absorption of the light detection signal by the foam or water is different from the absorption of the light detection signal by the light intensity adjusting substance to the light intensity of the light detection signal, the detection device may compare the received light feedback signal with the predetermined light signal to determine whether the predetermined light change occurs, and if the predetermined light change occurs, perform the predetermined anti-foam operation.

It should be noted that, in order to improve the accuracy of the determination, the detection sensor may further determine whether the optical feedback signal continuously maintains the predetermined optical variation within a predetermined time, and if the optical feedback signal continuously maintains the predetermined optical variation within the predetermined time, perform a predetermined anti-foaming operation.

In one embodiment, the detection sensor is an infrared sensor, the optical detection signal is an infrared light signal, the optical feedback signal is an infrared light feedback signal, the preset optical signal is a preset infrared light signal, and the preset light changes into a preset infrared light change;

in one embodiment, the light sensor is positioned opposite the light intensity modulating substance;

the light sensor is arranged on the cleaning robot, and the light intensity adjusting substance is arranged in the cleaning groove of the base station;

or the optical sensor and the light intensity adjusting substance are both arranged in the cleaning tank of the base station;

or the light sensor is arranged in the cleaning tank of the base station, and the light intensity adjusting substance is arranged on the cleaning robot.

It should be noted that, in order to reduce the occupied space of the base station, the volume of the base station is set to be small. When the cleaning robot stops at the base station, the mopping piece of the cleaning robot is positioned in the cleaning groove, and the tail of the cleaning robot is close to the notch. And the light intensity adjusting substance sets up the one side of being close to into the notch at the washing tank, and in order to set the volume of basic station less, the washing tank also can follow to set up small. Therefore when cleaning the piece of dragging and wiping, infrared sensor is located the top of light intensity adjusting substance, and light intensity adjusting substance is located the scope department of the infrared signal of infrared sensor transmission, and infrared sensor includes transmitting tube and receiver tube, and this transmitting tube is close to the plane of berthing of basic station than the receiver tube when being close to the front portion of the robot main part of basic station, the transmitting tube can be close to the plane of berthing of basic station to light intensity adjusting substance also can set up the plane of berthing that is close to the basic station, and the one side of washing tank near light intensity adjusting substance therefore can set up the plane of berthing that is close to the basic station.

It should be noted that, in order to reduce the occupied space of the base station, the volume of the base station is set to be small. When the cleaning robot stops at the base station, the mopping piece of the cleaning robot is positioned in the cleaning groove, and the tail of the cleaning robot is close to the notch. And the light intensity adjusting substance sets up the one side of being close to into the notch at the washing tank, and in order to set the volume of basic station less, the washing tank also can follow to set up small. Because of when the piece is dragged in the washing, infrared sensor is located the top of light intensity adjusting substance, and light intensity adjusting substance is located the scope department of the infrared signal of infrared sensor transmission, and infrared sensor includes transmitting tube and receiver tube, and this transmitting tube is close to the plane of berthing of basic station than the receiver tube when the robot main part of basic station is close to the receiver tube, thereby light intensity adjusting substance also can set up the plane of berthing that is close to the basic station, and the one side of the washing tank that is close to light intensity adjusting substance therefore can set up the plane of berthing that is close to the basic station.

It should be understood that the above-mentioned arrangement manner of the light intensity adjusting substance and the infrared sensor is only an example, as long as the light intensity adjusting substance and the infrared sensor are corresponding in position, the light intensity adjusting substance may not be disposed at the bottom of the cleaning tank near the edge of the notch, or may be disposed at other places, such as the bottom of the notch, the bottom of the cleaning tank far from the notch, and the like, and is not limited specifically.

The following description will be given by taking as an example that the detection sensor is an infrared sensor which is provided on the cleaning robot and the light intensity adjusting substance is provided on the base station:

referring to fig. 12, fig. 12 is a schematic view illustrating an arrangement of a light intensity adjusting substance 1201 of a base station according to an embodiment of the present invention, and referring to fig. 12, it can be seen that the light intensity adjusting substance 1201 is arranged on a side of the cleaning tank 1202 close to the inlet opening. When the cleaning robot stops at the base station, the infrared sensor on the cleaning robot corresponds to the light intensity adjusting substance 1201 on the cleaning tank 1202, specifically, the infrared sensors on the left and right edges of the bottom of the cleaning robot are respectively located on the light intensity adjusting substance 1201 on the left and right sides of the bottom of the cleaning tank 1202. Thus, the infrared signals emitted by the emitting tubes of the two infrared sensors on the cleaning robot are emitted to the light intensity adjusting substance 1201 and are absorbed by the light intensity adjusting substance 1201, and since the absorption of the light intensity of the infrared signals by the light intensity adjusting substance 1201 is different from the absorption of the light intensity of the infrared signals by the foam or water, when the foam is generated in the cleaning tank 1202 or the water in the cleaning tank 1202 reaches a predetermined position, since the light intensity of the infrared signals emitted by the infrared sensors after being absorbed by the foam or water is different from the light intensity absorbed by the light intensity adjusting substance 1201, the light intensity of the infrared signals emitted by the infrared sensors after being reflected by the foam or the light intensity after being reflected by the water is also different from the light intensity of the infrared signals emitted by the infrared sensors after being reflected by the light intensity adjusting substance 1201, whether the preset light change occurs can be judged by comparing the feedback signals received by the infrared sensors with the preset light signals, whether foam is generated in the cleaning tank 1202 or whether water in the cleaning tank 1202 reaches a preset position can be determined, if a light feedback signal received by the infrared light sensor is preset, it is indicated that the foam or the water in the cleaning tank 1202 blocks the light intensity adjusting substance 1201, that is, a preset foam prevention operation is performed, and the specific manner of the preset foam prevention operation is described in detail above, and is not repeated herein.

In one embodiment, the light intensity adjusting substance 1201 is a light absorbing material that absorbs more light than foam or water.

In one embodiment, step S2 includes:

judging whether the light intensity of the light feedback signal is greater than or equal to a light intensity threshold value of a preset light signal;

and if the light intensity of the light feedback signal is greater than or equal to the light intensity threshold value of the preset light signal, executing preset anti-foaming operation.

In this embodiment, the light intensity adjusting substance 1201 is a light absorbing material, the light intensity of the infrared light signal emitted by the infrared sensor absorbed by the foam or the water is less than the light intensity absorbed by the light absorbing material, so that the light intensity of the infrared light signal emitted by the infrared sensor after being foamed or reflected is greater than the light intensity of the infrared light signal emitted by the infrared sensor after being reflected by the light absorbing material, and the preset light signal is the light signal fed back by the light absorbing material.

Referring to fig. 13, an example of foam generation in the cleaning tank is described, where fig. 13 is a schematic diagram of a cleaning tank of a base station according to an embodiment of the present invention when foam is generated, after a user adds a cleaning solution that may generate foam to a water tank of the base station, a large amount of foam 1301 is generated at the cleaning tank during a cleaning process of a mop of a cleaning robot, the foam 1301 gradually covers a light absorbing material 1302 at the bottom of the cleaning tank as the foam 1301 grows larger, when the foam 1301 covers the light absorbing material 1302 to a certain range, an infrared light signal of an infrared sensor is irradiated onto the foam 1301, the infrared light signal irradiated onto the foam 1301 is reflected as a light feedback signal, and the light intensity of the light feedback signal after the same infrared light signal is reflected by the foam is greater than a light intensity threshold of a preset light signal after the light absorbing material 1302 is reflected, so that whether the light intensity of the infrared light signal received by the infrared sensor is greater than the light intensity threshold of the preset light signal, namely, it can be determined that the foam 1301 in the cleaning tank of the base station has blocked the light absorbing material 1302, a preset anti-foaming operation is performed.

Referring to fig. 14, fig. 14 is a schematic diagram of coordinates of a light intensity threshold and a preset time t according to an embodiment of the present invention, in order to increase the accuracy of the determination and reduce the occurrence of accidental situations, a preset time t may be set, and the preset anti-foaming operation is triggered only when the infrared light signal received by the infrared sensor is greater than the light intensity threshold within the preset time t. It is to be understood that the light intensity threshold in fig. 14 may also be a preset variation, a preset condition or a preset light intensity condition, and is not limited specifically.

In the detection method of the first implementation mode, the detection device transmits and receives detection signals through the detection sensor, if the received detection signals meet the conditions formed when foam appears in the base station, the fact that the foam appears in the base station is confirmed, the detection device executes preset foam-preventing operation to prevent the foam from overflowing the base station, and therefore pollution of the foam generated by the base station to the ground when the mopping piece is cleaned is avoided.

The implementation mode two is as follows:

in an implementation of this embodiment, the detection sensor includes a signal emitter and a signal receiver.

The signal transmitter and the signal receiver are oppositely arranged;

the signal emitter is arranged on the cleaning robot, and the signal receiver is arranged on the base station;

alternatively, the signal transmitter is provided on the base station and the signal receiver is provided on the cleaning robot.

It should be noted that there are various specific forms of the signal transmitter and the signal receiver, for example, the signal transmitter is an infrared signal transmitter, and the signal receiver is an infrared signal receiver; or, the signal transmitter is a laser signal transmitter, and the signal receiver is a laser signal receiver. The embodiment of the present invention is not particularly limited thereto.

In one embodiment, step S1 includes: transmitting a detection signal through the signal transmitter, and receiving a feedback signal through the signal receiver;

step S2 includes: judging whether a feedback signal received by the signal receiver has a preset signal change or not; and if the feedback signal received by the signal receiver generates the preset signal change, executing the preset anti-foaming operation, wherein the preset signal change is the change of signal interruption, signal intensity enhancement or signal intensity reduction between the feedback signal received by the signal receiver when foam appears in the cleaning tank or water in the cleaning tank reaches a preset position and the feedback signal received by the signal receiver when no foam appears in the cleaning tank or water in the cleaning tank does not reach the preset position.

The following are described in two aspects:

1. when no foam appears in the cleaning tank or water in the cleaning tank does not reach a preset position, the signal receiver can receive a detection signal transmitted by the signal transmitter, and when the foam appears in the cleaning tank or the water in the cleaning tank reaches the preset position, the signal receiver cannot receive the detection signal transmitted by the signal transmitter or the signal receiver receives the detection signal transmitted by the signal transmitter, so that the signal intensity is weakened.

In the following, referring to fig. 15, the signal transmitter is disposed on the cleaning robot, the signal transmitter is disposed on the base station, and the signal transmitter and the signal receiver are disposed opposite to each other:

as shown in fig. 15, a signal transmitter 1502 is provided on the bottom of a cleaning robot 1501, and a signal receiver 1504 is provided on a base station 1503 at a position opposite to the signal transmitter 1502. When the cleaning robot 1501 docks within the base station 1503, the signal transmitter 1502 on the cleaning robot 1501 transmits a probe signal, which is received by the signal receiver 1504 on the base station 1503. At this time, the detection device of the present implementation may be integrated into the base station 1503.

That is, when the base station 1503 performs a cleaning operation on the mop, foam is present in the cleaning tank of the base station 1503 or water in the cleaning tank does not reach a predetermined position, and in order to perform an early warning, when it is detected that the base station 1503 performs the cleaning operation on the mop, it is necessary to detect whether foam is present in the environment of the base station 1503 or whether water in the cleaning tank of the base station 1503 reaches the predetermined position. When the foam in the cleaning tank does not overflow or the water in the cleaning tank does not reach a predetermined position, the signal received by the signal receiver 1504 is the signal transmitted by the signal transmitter 1502, the foam in the cleaning tank overflows or the water in the cleaning tank reaches a predetermined position to shield between the signal receiver 1504 and the signal transmitter 1502, so that the signal receiver 1504 cannot receive the detection signal transmitted by the signal transmitter 1502, or the signal intensity of the detection signal received by the signal receiver 1504 and transmitted by the signal transmitter 1502 is weakened, and then a preset anti-foam operation is executed.

2. When no foam appears in the cleaning tank or water in the cleaning tank does not reach a preset position, the signal receiver cannot receive the detection signal transmitted by the signal transmitter, and when foam appears in the cleaning tank or water in the cleaning tank reaches the preset position, the signal receiver can receive the detection signal transmitted by the signal transmitter reflected by the foam or the water. That is to say, when foam does not appear in the washing tank or water in the washing tank does not reach the predetermined position, the signal intensity received by the signal receiver is 0, and when foam appears in the washing tank or water in the washing tank reaches the predetermined position, the signal receiver can receive the detection signal emitted by the signal emitter reflected by the foam or water, and the signal received by the signal receiver is slightly enhanced at the moment.

In this implementation, the detection sensor includes a signal emitter and a signal receiver, wherein the signal emitter and the signal receiver are installed at positions such that the signal receiver does not receive the detection signal emitted by the signal emitter. In other words, in the current installation position, the transmission direction of the probe signal transmitted by the signal transmitter results in the probe signal not being received by the signal receiver.

In this implementation, the signal transmitter and the signal receiver are arranged in various ways, for example, the signal transmitter and the signal receiver are arranged on a base station; or the signal transmitter and the signal receiver are arranged on the cleaning robot; alternatively, one of the signal transmitter and the signal receiver is provided on the base station, and the other of the signal transmitter and the signal receiver is provided on the cleaning robot.

For example, as shown in fig. 16, a signal transmitter 1601 and a signal receiver 1602 are provided on the side wall of a cleaning tank 1604 of a base station 1603, and a probe signal 1605 transmitted by the signal transmitter 1601 is transmitted to the outside of the base station 1603, so that the probe signal 1605 is not received by the signal receiver 1602. When bubbles are generated in the cleaning tank 1604 or water in the cleaning tank 1604 reaches a predetermined position, the generated bubbles or water reaching the predetermined position may reflect the detection signal 1605 so that the signal receiver 1602 receives the detection signal 1605.

It should be noted that there are various specific forms of the signal transmitter 1601 and the signal receiver 1602, for example, the signal transmitter 1601 is an infrared signal transmitter, and the signal receiver 1602 is an infrared signal receiver; alternatively, the signal transmitter 1601 is a laser signal transmitter and the signal receiver 1602 is a laser signal receiver. The embodiment of the present invention is not particularly limited thereto.

When the base station 1603 performs a cleaning operation on the mopping piece, there is a risk of foam generation in the cleaning tank 1604 of the base station 1603 or a risk of water overflow in the cleaning tank 1604, and in order to warn of foam generation in the cleaning tank 1604 of the base station 1603 or a risk of water overflow in the cleaning tank, a signal acquired by the signal receiver 1602 is determined when it is detected that the base station 1603 performs a cleaning operation on the mopping piece. The signal receiver 1602 cannot receive the detection signal transmitted by the signal transmitter 1601 because of the installation positions of the signal transmitter 1601 and the signal receiver 1602, so that when the signal receiver 1602 cannot acquire the detection signal transmitted by the signal transmitter 1601, it indicates that there is no foam on the cleaning tank 1604 of the base station 1603 or that the water in the cleaning tank 1604 does not reach a predetermined position, and at this time, the base station 1603 can continue to clean the mopping piece. If the signal receiver 1602 receives the feedback signal, that is, the detection signal obtained after the detection signal transmitted by the signal transmitter 1601 is reflected by the foam or water, it indicates that there is foam on the cleaning tank 1604 of the base station 1603 or the water in the cleaning tank 1604 reaches a predetermined position, so as to perform a preset foam prevention operation.

The detection method provided by the embodiment of the present invention is explained above, and the detection apparatus provided by the embodiment of the present invention is explained below with reference to fig. 17.

Referring to fig. 17, fig. 17 is a schematic view of an embodiment of a detection apparatus according to an embodiment of the present invention, configured to detect whether foam or water is generated during cleaning of a cleaning robot, where the cleaning robot has a wiping part, the cleaning robot is used with a base station, the base station has a cleaning tank, the cleaning robot enters the base station, and the wiping part is located in the cleaning tank for cleaning, and the detection apparatus includes:

the transceiver unit 1701: transmitting a detection signal and receiving a feedback signal fed back through at least one detection sensor;

the processing unit 1702: comparing the feedback signal received by the detection sensor with a preset signal, judging whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation, wherein the preset signal is the feedback signal received by the detection sensor when no foam appears in the cleaning tank or the water in the cleaning tank does not reach a preset position, and the preset change is the change of a difference value between a signal value of the feedback signal received by the detection sensor when the foam appears in the cleaning tank or the water in the cleaning tank reaches the preset position and a reference detection value of the preset signal.

Optionally, the processing unit 1702 is specifically configured to:

Optionally, the detection sensor is a light sensor;

the transceiver 1701 transmits a probe signal and receives a feedback signal through at least one probe sensor, and includes:

the processing unit 1702 determines whether a signal detected by the detection sensor changes in a preset manner, and if the signal detected by the detection sensor changes in the preset manner, executes a preset anti-foaming operation method, including:

Optionally, the processing unit 1702 compares the light feedback signal received by the light sensor with a preset light signal, determines whether a preset light change occurs, and if the preset light change occurs, executes a preset anti-foaming operation method, including:

Optionally, the detection sensor comprises a signal transmitter and a signal receiver; the transceiver 1701 transmits a probe signal and receives a feedback signal through at least one probe sensor, and includes:

the processing unit 1702 compares the feedback signal received by the detection sensor with a preset signal, and determines whether a preset change occurs, and if the preset change occurs, the method for executing a preset anti-foaming operation includes:

Optionally, the signal transmitter is arranged opposite to the signal receiver;

Optionally, the processing unit 1702 performs a preset anti-foaming operation, including:

Optionally, the detection sensor is a drop sensor of the cleaning robot.

The interaction manner among the units of the detection apparatus in this embodiment is as described in the embodiment shown in fig. 10, and is not described herein again.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

An embodiment of the present invention further provides a storage medium, on which a program is stored, and the program implements the detection method when executed by a processor.

The embodiment of the invention also provides a processor, which is used for running the program, wherein the detection method is executed when the program runs.

The embodiment of the invention also provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can be operated on the processor, wherein the processor executes the program and realizes the following steps:

In a specific implementation process, when the processor executes the program, any one of the embodiments corresponding to fig. 10 may be implemented.

The device herein may be a server, a PC, a PAD, a mobile phone, etc.

The invention also provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device:

In a specific implementation, any of the embodiments corresponding to fig. 10 may be implemented when a computer program product is executed.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. 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 data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing 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 data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus 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). The 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.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A method for detecting whether foam or water is generated during cleaning of a cleaning robot, the cleaning robot having a wiper, the cleaning robot being adapted to be used with a base station, the base station having a cleaning tank, the cleaning robot entering the base station, the wiper being located within the cleaning tank for cleaning, the method comprising:

step S2: comparing a feedback signal received by the detection sensor with a preset signal, judging whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation, wherein the preset signal is the feedback signal received by the detection sensor when no foam appears in the cleaning tank or water in the cleaning tank does not reach a preset position, and the preset change is the change of a difference value between a signal value of the feedback signal received by the detection sensor when foam appears in the cleaning tank or water in the cleaning tank reaches the preset position and a reference detection value of the preset signal;

the detection sensor is a light sensor;

2. The method of claim 1, wherein in the step S2, the step of comparing the feedback signal received by the detecting sensor with a predetermined signal to determine whether a predetermined change occurs, and if the predetermined change occurs, performing a predetermined anti-foaming operation comprises:

3. The method of claim 1, wherein the optical sensor is an infrared sensor, the optical detection signal is an infrared light signal, the optical feedback signal is an infrared light feedback signal, the predetermined optical signal is a predetermined infrared light signal, and the predetermined light change is a predetermined infrared light change.

4. The method of claim 1, wherein the light intensity adjusting substance is a light absorbing material that absorbs more light intensity than foam or water.

5. The method of claim 1, wherein in the step S2, the method for comparing the light feedback signal received by the light sensor with a predetermined light signal to determine whether a predetermined light change occurs, and if the predetermined light change occurs, performing a predetermined anti-foaming operation comprises:

6. The method of claim 1,

the light sensor is arranged opposite to the light intensity regulating substance;

or, the light sensor is arranged in the cleaning tank of the base station, and the light intensity adjusting substance is arranged on the cleaning robot.

7. The method of claim 1 or 2, wherein the detection sensor comprises a signal emitter and a signal receiver;

8. The method of claim 7,

the signal transmitter and the signal receiver are oppositely arranged;

9. The method according to any one of claims 1 to 6 or 8,

the executing of the preset anti-foaming operation comprises:

10. The method of any one of claims 1-6 or 8, wherein the detection sensor is a drop sensor of the cleaning robot.

11. A detecting device for detecting whether foam or water is generated during cleaning of a cleaning robot, the cleaning robot having a wiping member, the cleaning robot being adapted to be used with a base station, the base station having a cleaning tank, the cleaning robot entering the base station, the wiping member being located in the cleaning tank for cleaning, the device comprising:

a processing unit: comparing a feedback signal received by the detection sensor with a preset signal, judging whether a preset change occurs, and if the preset change occurs, executing a preset anti-foaming operation, wherein the preset signal is the feedback signal received by the detection sensor when no foam appears in the cleaning tank or water in the cleaning tank does not reach a preset position, and the preset change is the change of a difference value between a signal value of the feedback signal received by the detection sensor when foam appears in the cleaning tank or water in the cleaning tank reaches the preset position and a reference detection value of the preset signal;

the detection sensor is a light sensor;

12. The apparatus according to claim 11, wherein the processing unit is specifically configured to:

13. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program realizing the steps of the method according to any one of claims 1-10 when executed by a processor.