CN112914442A

CN112914442A - Base station for cleaning device, cleaning system, control method, computer device, and computer-readable storage medium

Info

Publication number: CN112914442A
Application number: CN202110187492.XA
Authority: CN
Inventors: 何博; 陈远; 张金龙
Original assignee: Midea Robozone Technology Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2021-02-18
Filing date: 2021-02-18
Publication date: 2021-06-08
Anticipated expiration: 2041-02-18
Also published as: WO2022174558A1; CN112914442B

Abstract

The invention relates to the field of cleaning electric appliances, and particularly discloses a base station for cleaning equipment, a cleaning system, a control method, computer equipment and a computer readable storage medium, wherein the base station comprises the following components: a base station body having a platform for docking the cleaning apparatus; a mopping piece cleaning part; the clean water tank is arranged above the cleaning part of the mopping piece and is provided with a water outlet pipe; the heating device is arranged on the base station body and is positioned on the pipeline of the water outlet pipe; the water conveying pipeline is communicated with the water outlet pipe and is positioned at the downstream of the heating device, and the water conveying pipeline is communicated with the cleaning part of the mopping piece and is provided with an interface for supplying water to a water tank of the cleaning equipment; and the control system is arranged on the base station body and at least controls the heating device. On the one hand, the duration of the cleaning equipment is guaranteed, the cleaning effect of the cleaning equipment is better due to the fact that the hot water is used for mopping the floor, and on the other hand, the cleaning effect of the mopping piece cleaning part on the cleaning equipment is also improved.

Description

Base station for cleaning device, cleaning system, control method, computer device, and computer-readable storage medium

Technical Field

The invention relates to the field of cleaning electric appliances, and particularly discloses a base station for cleaning equipment, a cleaning system, a control method, computer equipment and a computer readable storage medium.

Background

The existing cleaning equipment with the heating function can be divided into two types, one type is used for heating water in the whole water tank of the cleaning equipment, the other type is used for heating water in the whole water tank of the base station, the former type has a complex structure, the heating can consume a large amount of electric energy of a machine, the endurance is greatly shortened, the capacity of the water tank of the base station is larger, the water in the water tank of the base station cannot be used up at one time, the heating of the whole water tank can cause resource waste, and no good control scheme exists at present, so that great potential safety hazards exist.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, the above-mentioned technical problems in the related art. To this end, the present invention provides a base station for a cleaning apparatus, a cleaning system, a control method, a computer apparatus, and a computer-readable storage medium, which solve at least one of the above-mentioned problems.

In order to achieve the above object, a first aspect of the present invention provides a base station for a cleaning apparatus, comprising:

a base station body having a platform for docking the cleaning apparatus;

the mopping piece cleaning part is arranged on the base station body;

the clean water tank is arranged above the cleaning part of the mopping piece and is provided with a water outlet pipe;

the heating device is arranged on the base station body and is positioned on the pipeline of the water outlet pipe;

the water conveying pipeline is communicated with the water outlet pipe and is positioned at the downstream of the heating device, and the water conveying pipeline is communicated with the cleaning part of the mopping piece and is provided with an interface for supplying water to a water tank of the cleaning equipment;

and the control system is arranged on the base station body and at least controls the heating device.

The second aspect of the present invention provides a control method of a cleaning system, determining that the cleaning device is parked in a preset area of the platform;

determining that a clear water tank on the base station meets a water outlet condition, controlling the clear water tank to discharge water and a heating device on the base station to be started, and controlling a water delivery pipeline on the base station to deliver hot water to a water tank of a cleaning part and/or cleaning equipment of the mop on the base station;

and cleaning the mopping piece of the cleaning equipment by the mopping piece cleaning part.

A third aspect of the invention provides a cleaning system comprising a cleaning device having a mop thereon, and a base station having a mop cleaning portion and a control system thereon, wherein,

the mopping piece is used for mopping the ground;

the mopping piece cleaning part is used for cleaning the mopping piece;

the control system is used for determining that the cleaning equipment stops at a preset area of the platform, determining that a clean water tank on the base station meets a water outlet condition, controlling the clean water tank to discharge water and a heating device on the base station to be started, controlling a water conveying pipeline on the base station to convey hot water to a mopping piece cleaning part and/or a water tank of the cleaning equipment on the base station, and controlling the mopping piece cleaning part to clean the mopping piece.

A fourth aspect of the present invention provides a computer device comprising a memory, a controller and a computer program stored on the memory and capable of running on the controller, the controller implementing the control method as described above when executing the computer program.

A fifth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a controller, implements the control method as described above.

In addition, the base station for the cleaning device according to the present invention may further have the following additional features:

according to some embodiments of the invention, the heating device is disposed within the outlet pipe or on an outer surface of the outlet pipe.

According to some embodiments of the invention, the heating device is a resistance wire or a positive temperature coefficient heating device disposed on an outer surface of the outlet pipe.

According to some embodiments of the invention, the system further comprises a temperature detector and an overload protector connected with the control system, wherein the temperature detector is arranged in the water outlet pipe; the control system is used for controlling the water temperature in the water outlet pipe to be kept constant; the overload protector is connected with the heating device and used for implementing overload protection on the heating device.

According to some embodiments of the invention, further comprising a first water quantity sensor and a second water quantity sensor respectively connected to the control system, wherein,

the first water quantity sensor is arranged in the clean water tank;

the second water quantity sensor is arranged in the cleaning equipment water tank.

According to some embodiments of the invention, the cleaning device further comprises a sewage tank, and the mop cleaning part comprises a suction device, a cleaning detector and a drying device, wherein the cleaning detector is arranged on the mop cleaning part and used for detecting whether the mop cleaning part finishes cleaning the cleaning equipment, and the suction device is used for sucking sewage in the mop cleaning part into the sewage tank.

According to some embodiments of the present invention, the cleaning device further comprises a cleaning device charging system and an in-place detector respectively connected to the control system, wherein the in-place detector is disposed at a position of the base station body corresponding to the platform, and is configured to detect whether the cleaning device is parked in a preset area of the platform.

According to some embodiments of the invention, the determining that the clean water tank satisfies the water outlet condition and controlling the clean water tank to discharge water and the heating device to be turned on comprises: and determining that the water quantity in the clear water tank is greater than a first water quantity preset value, and controlling the water outlet of the clear water tank and the opening of the heating device.

According to some embodiments of the invention, before determining that the clean water tank satisfies the water outlet condition, the method further comprises: determining that the cleaning device is docked at a preset area of the platform. Before controlling the water conveying pipeline to convey hot water to the water tank of the cleaning device, the cleaning device further comprises: determining that a water tank of the cleaning device meets a water replenishment condition.

According to some embodiments of the invention, the determining that the water tank of the cleaning device meets the water replenishing condition controls the water conveying pipeline to convey hot water to the water tank of the cleaning device; the method comprises the following steps: and determining that the water quantity of the water tank in the cleaning equipment is smaller than a second water quantity preset value, and controlling the water outlet of the water conveying pipeline to be opened so as to convey hot water to the water tank of the cleaning equipment.

According to some embodiments of the invention, further comprising the steps of: determining that the temperature value and/or the current value of the heating device meet the preset continuous starting condition of the heating device, and controlling the heating device to be continuously started; and determining that the cleaning part of the mopping piece finishes cleaning the cleaning equipment, and controlling the heating device to be switched off.

According to some embodiments of the invention, further comprising the steps of: and controlling the flow of the outlet water of the clean water tank and/or the heating power of the heating device according to the temperature of the hot water so as to maintain the temperature of the hot water constant.

According to some embodiments of the invention, further comprising the steps of: determining that the cleaning device is cleaned by the mopping piece cleaning part, and controlling the mopping piece cleaning part to be closed and the suction device to be opened; determining that the electric quantity of the cleaning equipment is lower than an electric quantity preset value, and controlling the charging device to be started; and determining that the base station finishes charging the cleaning equipment, and controlling the charging device to be switched off and the drying device to be switched on.

Compared with the prior art, the invention has the following beneficial effects:

through the outlet pipe department at the clean water tank setting heating device, the clear water that the clean water tank flows like this is carried to dragging a cleaning part and/or cleaning device's water tank by heating device real-time heating back, make the basic station can be to dragging a cleaning part and/or cleaning device water tank real-time input hot water, ensured cleaning device's continuation of the journey on the one hand, hot water drags the ground and makes cleaning device's clean effect better, on the other hand has still improved on the basic station and has dragged a cleaning device's cleaning effect.

Drawings

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

FIG. 1 is a schematic view of a cleaning apparatus according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram 1 of a base station according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a base station in an embodiment of the present invention 2;

FIG. 4 is a diagram of some of the modules in the base station according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a water conveying pipeline in a base station in the embodiment of the invention;

FIG. 6 is a control flow diagram of a cleaning system in an embodiment of the present invention;

FIG. 7 is a flow chart of a partial control of the cleaning system in an embodiment of the present invention;

fig. 8 is a constant temperature control flow diagram of the cleaning system in the embodiment of the present invention.

The reference numbers are as follows:

the cleaning device comprises a cleaning device 100, a machine body 10, a water spraying module 11, an edge brush module 12, a rolling brush module 13, a fan 14, a mopping tray 15, a dust collecting module 16, a water tank 17, a base station 200, a mopping piece cleaning part 21, a clean water tank 22, a sewage tank 23, a heating device 24, a first water quantity sensor 25, a second water quantity sensor 26, an overload protector 27, an in-place detector 28, an air drying motor 29, an air pump 290, a water outlet pipe 30, a first water conveying pipe 31, a second water conveying pipe 32, a third electromagnetic valve 33 and a second water pump 34.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, elements, and/or components, but do not preclude the presence or addition of one or more other features, elements, components, and/or groups thereof.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

For convenience of description, spatially relative terms, such as "bottom," "front," "upper," "oblique," "lower," "top," "inner," "horizontal," "outer," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. This spatially relative relationship is intended to encompass different orientations of the mechanism in use or operation in addition to the orientation depicted in the figures. For example, if the mechanism in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below.

Referring to fig. 1 to 3, an embodiment of the present invention provides a cleaning system, which includes a cleaning device 100 and a base station 200 for the cleaning device, wherein the cleaning device 100 is used for automatic cleaning including mopping the floor, the base station 200 is used for cleaning the mopping member of the cleaning device 100, and/or adding water to the water tank of the cleaning device 100, and/or charging the cleaning device 100, and when the cleaning device 100 needs to be cleaned, added with water or charged, the cleaning device 100 can automatically return to the base station 200 to be cleaned, added with water or charged at the base station 200. In this embodiment, the base station 200 may be used to wash, add water to, and charge the cleaning device 100, the power of the base station 200 may be provided by the commercial power, and the water in the base station 200 may be provided by an external water source.

As shown in fig. 1, the cleaning device 100 may be an autonomous travel floor-mopping robot or a sweeping and mopping robot. The cleaning equipment 100 comprises a charging and discharging system, an electric control system, a detection system, a traveling system, a supporting system and a cleaning system, wherein the charging and discharging system comprises an adapter module, a charging module and a battery pack assembly, the electric control system comprises an input module, a display module, a control module and a protection module, the detection system comprises a collection sensor module for collecting internal and external environmental information, the traveling system comprises a driving wheel module and an auxiliary wheel module, the supporting system comprises a machine body 10 and a plurality of functional module supporting structures, the cleaning system comprises a water spraying module 11, a side brush module 12, a liftable rolling brush module 13, a fan 14, a mopping disc 15, a dust collecting module 16 and a water tank 17 which are arranged on the machine body 10, the side brush module 12 and the rolling brush 13 are positioned at the front part of the machine body 10 and used for cleaning garbage on the ground, the mopping disc 15 is detachably arranged at the rear part of the, the mop plate 15 is provided with various mopping pieces such as a mop cloth (or a rag) or a sponge and the like which can mop the ground, the mopping piece in the embodiment can be selected as the mop cloth, and the mopping piece can be detachably connected with the mopping plate 15. It should be noted that the mop disk 15 can drive the mop to rotate, and the mop disk 15 can form a certain pressure with the ground, so that the mop can remove stubborn stains on the ground.

In addition, the fan 14 may create a negative pressure that draws dust from the roll brush chamber into the dust collection module 16.

In this embodiment, the water spraying module 11 is located in the middle of the machine body 10 and is used for spraying water in the water tank 17 to the ground to dilute stains or wet the mop, the rolling brush module 13 is used for sweeping the floor, and the mop disc 15 drives the mop to mop the floor.

The cleaning device 100 can travel on the floor to be cleaned by the driving wheel module and the auxiliary wheel module, and the operation mode of the cleaning device 100 can be various, such as a single-sweeping mode, a single-mopping mode or a sweeping and mopping integrated mode, specifically, in this embodiment, the operation mode of the cleaning device 100 can include a single-sweeping mode and a single-mopping mode, such as the cleaning device 100 firstly performs the single-sweeping mode and then performs the single-mopping mode. It should be noted that when the cleaning apparatus 100 performs the single-sweep mode, the roller brush of the roller brush module 13 is closely attached to the floor, the tray 15 is not mounted on the main body 10 or the tray 15 is controlled to be closed, and when the cleaning apparatus 100 is switched from the single-sweep mode to the single-sweep mode, the roller brush module 13 is lifted, the tray 15 is mounted on the main body 10 or the tray 15 is controlled to start operating.

It should be noted that although the present invention has been illustrated herein with respect to the cleaning device 100, the present invention is not so limited, and the cleaning device 100 may of course be a cleaning device 100 that is operated by a user in a hand-held manner, with the base station 200 being illustrated herein as a stationary base station 200, and the stationary base station 200 being unable to move without the assistance of a user. However, the base station 200 may also be designed as an autonomously travelable unit, which may autonomously change its position, for example as a tracking means for the cleaning device 100.

As shown in fig. 2 to 3, the base station 200 includes: a base station body 20, a mopping piece cleaning part 21, a clean water tank 22, a sewage tank 23, a heating device 24, a water conveying pipeline, a first water quantity sensor 25, a second water quantity sensor 26, a temperature detector, an overload protector 27, an in-place detector 28, a cleaning equipment charging system, a disinfection device and a control system, wherein the control system is connected with the mopping piece cleaning part 21, the heating device 24, the water conveying pipeline, the first water quantity sensor 25, the second water quantity sensor 26, the temperature detector, the overload protector 27, the in-place detector 28, the cleaning equipment charging system and the disinfection device, the base station body 20 is provided with a platform for parking the cleaning equipment 100, the mopping piece cleaning part 21 is used for cleaning the mopping piece of the cleaning equipment 100, the clean water tank 22 is arranged above the mopping piece cleaning part 21 for storing clean water, the heating device 24 is used for heating clean water flowing out of the clean water tank 22, the water conveying pipeline is used for conveying hot water heated by the heating device 24 to the mopping piece cleaning part 21 and/or the water tank 17 of the cleaning device 100, the control system can be used for controlling the heating device 24 to be turned on and turned off, the mopping piece cleaning part 21 comprises a suction device, a cleaning detector and a drying device, the suction device is used for sucking sewage of the mopping piece cleaning part 21 to the sewage tank 23, the cleaning detector is arranged on the mopping piece cleaning part 21 and used for detecting whether the mopping piece cleaning part finishes cleaning the cleaning device, the drying device is used for drying the cleaned mopping piece, the drying device can comprise an air drying motor 29 and an air pump 290 connected with the air drying motor, and the sterilizing device can sterilize the dried mopping piece.

It should be noted that, as shown in fig. 4, the first water quantity sensor 25 and the second water quantity sensor 26 may be flow meters disposed in the clean water tank 22 and the clean water tank 17, the first water quantity sensor is used for detecting the water quantity in the clean water tank 22 to detect whether the clean water tank 22 needs water shortage or water level after water supplement, the second water quantity sensor is used for detecting the water quantity in the clean water tank 17 of the cleaning device 100, the temperature detector is used for detecting the temperature of hot water, the overload protector 27 is connected to the heating device 24 to detect the temperature value and/or current value of the heating device 24 to implement overload protection on the heating device 24, wherein the control system can control the water temperature in the water transmission pipeline to be kept constant according to the water temperature fed back by the temperature detector.

It should be noted that, as shown in fig. 5, in the embodiment of the present invention, the base station 200 further includes an outlet pipe 30 disposed at the bottom of the clean water tank 22 and communicated with the clean water tank 22, and the heating device 24 is located on a pipeline of the outlet pipe 30 and is used for heating the water in the outlet pipe 30. Specifically, the heating device 24 may be a resistance wire or a Positive Temperature Coefficient (PTC) heating device disposed on the outer surface of the water outlet pipe 30, and the water conveying pipeline includes a first water conveying pipe 31 and a second water conveying pipe 32, where the first water conveying pipe 31 is communicated with the mopping piece cleaning portion 21 and is used for conveying hot water to the mopping piece cleaning portion 21, the second water conveying pipe 32 has an interface for supplying water to the water tank 17 of the cleaning device 100 and is used for conveying hot water to the water tank 17 of the cleaning device 100, and the hot water in the water tank 17 of the cleaning device 100 is sprayed to the ground or the mopping piece by the water spraying module 11, so as to achieve the purpose of mopping the cleaning device 100 with hot water and improve the cleaning effect.

It should be noted that, in the embodiment, the water outlet pipe 30 is located at the bottom of the clean water tank 22 for an example, but the application is not limited thereto, and the water outlet pipe 30 may also be disposed at a side surface of the clean water tank 22, and the description of the embodiment is omitted.

It should be mentioned that a first electromagnetic valve connected to the control system is disposed between the clean water tank 22 and the water outlet pipe 30, the first electromagnetic valve can control the opening and closing of the water outlet of the clean water tank 22 according to the water amount in the clean water tank 22, in addition, a second electromagnetic valve connected to the control system is disposed at the water outlet of the first water pipe 31, the second electromagnetic valve is used for controlling the opening and closing of the water outlet of the first water pipe 31, a third electromagnetic valve 33 connected to the control system is disposed at the water outlet of the second water pipe 32, and the third electromagnetic valve 33 is used for controlling the opening and closing of the water outlet of the second water pipe 32.

In addition, the base station 200 further includes an electronic switch connected to the heating device 24 and a control system, and the control system can control the electronic switch to open and close the heating device 24.

Further, the washing detector is used to detect whether the mop washing section 21 completes washing the cleaning apparatus 100. Specifically, it is possible to set a flow meter at the water outlet of the first water pipe 31 as a cleaning detector, that is, to detect whether the water amount flowing out of the first water pipe 31 reaches a preset value through the flow meter to determine whether to complete the cleaning of the cleaning device 100, and in addition, it is also possible to set a timer at the water outlet of the first water pipe 31 as a cleaning detector, that is, to detect whether the water amount flowing out of the first water pipe 31 reaches a preset time through the timer to determine whether to complete the cleaning of the cleaning device 100.

Further, whether the water level in the water tank 17 of the cleaning device 100 reaches a preset value can be measured by the first water quantity sensor to judge whether water supplement to the water tank 17 of the cleaning device 100 is completed, and specifically, the first water quantity sensor can be a pole piece or a flowmeter.

In addition, the second water pump 34 may deliver water from an external source into the clean water tank 22 to replenish the clean water tank 22.

The following illustrates the process of the cleaning device 100 and the base station 200 working together:

the cleaning device 100 cleans the floor of the room and the cleaning device 100 automatically drives to the base station 200 when the battery pack assembly on the cleaning device 100 has a charge less than a preset charge threshold. The cleaning device 100 enters the base station 200 through an entrance on the base station 200 and rests at a preset resting position on the platform of the base station 200.

At this time, the charging module on the cleaning device 100 is in contact with the power supply part on the base station 200, and the base station 200 receives power from the commercial power and charges the battery pack assembly of the cleaning device 100 through the power supply part and the charging module. After the cleaning device 100 is fully charged, it is driven away from the base station 200 and the floor of the room is cleaned.

When the cleaning device 100 is a floor mopping robot, and a bottom of the floor mopping robot is provided with a mop, the cleaning device 100 is used for floor mopping cleaning. After the cleaning device 100 is mopped for a period of time on the floor of the room and the mopping member becomes dirty, the cleaning device 100 is driven to the base station 200 (at this time, the clean water tank 22 of the base station 200 is filled with clean water), and the cleaning device 100 enters the base station 200 through the entrance of the base station 200 and stops at the preset stop position on the base station 200. At this time, the mop of the cleaning device 100 is accommodated on the mop cleaning portion 21, the control system sequentially controls the first electromagnetic valve, the heating device 24, the second electromagnetic valve and the first water pump to be turned on, under the action of the first water pump on the base station 200, the clean water in the clean water tank in the base station 200 flows to the cleaning tank of the mop cleaning portion 21, and is sprayed onto the mop through the liquid inlet structure on the mop cleaning portion 21, and meanwhile, the mop is scraped with the raised cleaning ribs in the cleaning tank, so that the mop is cleaned, the dirty water after cleaning the mop flows out of the cleaning tank from the liquid drainage structure on the cleaning tank, and under the action of the suction device (such as a water pump), the dirty water is collected in the dirty water tank 23.

It should be understood that the base station 200 described in the embodiment of the present application is only a specific example, and is not limited to the base station 200 in the embodiment of the present application, and the base station 200 in the embodiment of the present application may be implemented in other specific ways, for example, the base station 200 in the embodiment of the present application may not include the clean water tank 22, and the base station body 20 may be connected to a tap water pipe and a drain pipe, so that tap water in the tap water pipe is used to clean the mop of the cleaning device 100, and dirty water after cleaning the mop flows out of the base station 200 from the cleaning tank through the drain pipe. Alternatively, in other implementations, the base station 200 may have more or fewer components than the base station 200 shown in fig. 2-3.

Referring to fig. 6 to 8, some embodiments of the present invention provide a control method of a cleaning system, including:

step S00, acquiring a work instruction of the base station 200;

specifically, the operation instruction of the base station 200 may include a cleaning instruction or a heating instruction;

step S01, acquiring the position information of the cleaning device 100 parked on the platform, and judging whether the cleaning device 100 is parked in place;

specifically, the base station 200 is provided with the presence detector 28 at a position corresponding to a preset area of the platform, and it is detected whether the cleaning apparatus 100 is parked at the preset area of the platform by the presence detector 28.

Step S011, when it is determined that the cleaning device 100 is parked in place, acquires the water amount information in the clean water tank 22.

Step S012, if the cleaning device 100 is determined not to stop at the position, the cleaning device 100 is controlled to adjust the position and realign, or a prompt is sent out through a control system to manually correct the stop position of the cleaning device 100;

after determining that the cleaning apparatus 100 has adjusted the position, performing step S011 again;

step S02, determining whether the clear water tank 22 meets the condition of water outlet;

specifically, when executing the cleaning instruction, it is ensured that sufficient water can meet the water outlet condition in the clean water tank 22, in this embodiment, the flow meter in the clean water tank 22 acquires the water amount information in the clean water tank 22, the flow meter transmits the acquired water amount information to the control system, and the control system determines whether the clean water tank 22 meets the water outlet condition according to the actual water amount information in the clean water tank 22.

Step S020, if the clear water tank 22 is determined to be lack of water, the condition of water outlet is not met, and the control system controls an external water source to replenish water for the clear water tank 22; specifically, when the water amount detected by the flow meter in the clean water tank 22 is smaller than the first water amount preset value, it is determined that the clean water tank 22 is short of water and cannot meet the water outlet condition, the control system controls the external water source and the second water pump 34 to be started to supplement water to the clean water tank 22, and the second water pump 34 can convey the external water source into the clean water tank 22;

after the water replenishment to the clean water tank 22 is completed, step S02 is executed again;

step S021, if the clear water tank 22 is determined not to be short of water, namely the water in the clear water tank 22 meets the water quantity required by water outlet, controlling the water outlet of the clear water tank 22 and the opening of the heating device 24; specifically, when the water amount detected by the flow meter in the clean water tank 22 is greater than or equal to the first water amount preset value, it is determined that the clean water tank 22 is not lack of water, the clean water tank 22 meets the water outlet condition, the control system controls the first electromagnetic valve, the second electromagnetic valve, the heating device 24 and the mop cleaning part 21 of the clean water tank 22 to be opened, at this time, water in the clean water tank 22 flows into the water outlet pipe 30, the heating device 24 starts to heat water in the water outlet pipe 30, and water heated by the heating device 24 flows into the mop cleaning part 21 through the first water pipe 31.

And step S03, controlling the cleaning part 21 to be opened to clean the mopping piece in the cleaning part 21.

Step S04, determining whether the cleaning part 21 has finished cleaning the mop;

specifically, the water yield or the cleaning time of the mop cleaning unit 21 for the mop is detected by a flow meter or a timer on the first water pipe 31, and whether the mop cleaning unit 21 finishes cleaning the mop is determined according to the water yield or the cleaning time.

Step S040, if it is determined that the cleaning of the mop is not completed by the mop cleaning unit 21, the cleaning of the mop is continued.

In the process of cleaning the mopping piece, the step S04 is executed again;

and step S041, if the cleaning part 21 of the mop is determined to finish cleaning the mop, the cleaning part 21 of the mop is closed.

In other embodiments of the present invention, with continued reference to fig. 6, after step S041, further comprising:

step S05, acquiring water quantity information in the water tank 17 of the cleaning equipment 100;

specifically, when the cleaning part 21 of the mop finishes cleaning the mop, the cleaning device 100 needs to ensure enough water for the next mop, in this embodiment, the flow meter in the water tank 17 of the cleaning device 100 acquires the water volume information in the water tank 17, and the flow meter transmits the acquired water volume information to the control system;

step S06, determining whether the water tank 17 of the cleaning device 100 satisfies a condition for water replenishment;

specifically, the control system judges whether the water tank 17 meets the water supplementing condition according to the actual water amount information in the water tank 17;

step S060, determining that the water tank 17 is lack of water, if the water tank meets the water supplementing condition, the control system controls the third electromagnetic valve 33 to be opened, and hot water flows into the water tank 17 from the second water pipe, so that the water supplementing of the water tank 17 is realized; specifically, when the water amount detected by the flow meter in the water tank 17 is smaller than a second water amount preset value, it is determined that the water tank 17 is short of water, and the water supplementing condition is met, and the control system controls the third electromagnetic valve 33 to be opened to supplement water to the water tank 17;

after the water replenishment to the water tank 17 is completed, step S06 is executed again;

step S061, if it is determined that the water tank 17 is not short of water, that is, the water in the water tank 17 can satisfy the water amount required for the next mopping, the first electromagnetic valve, the second electromagnetic valve, the heating device 24, and the second water pump 34 are controlled to be turned off. Specifically, when the water amount detected by the flow meter in the water tank 17 is greater than or equal to the second water amount preset value, it is determined that the water tank 17 is not short of water, the water in the water tank 17 satisfies the water amount required by the next mopping, the control system controls the first electromagnetic valve, the second electromagnetic valve, the heating device 24 and the second water pump 34 of the water tank 17 to be turned off, at this time, the external water source does not supply water to the clean water tank 22, and the heating device 24 stops heating.

In some other embodiments of the present invention, as shown in fig. 7, after step S041, the method further includes:

step S07, controlling the opening of the suction device;

specifically, after the cleaning part 21 finishes cleaning the mopping piece, the control system controls the suction device to be started, and at the moment, the suction device pumps the sewage in the cleaning part 21 to the sewage tank 23;

step S08, determining that the electric quantity of the cleaning device 100 is lower than the preset electric quantity value, and controlling the charging device on the base station 200 to be turned on;

specifically, when the cleaning device 100 is low in power, the charging device on the base station 200 is controlled to be electrically connected with the charging module of the cleaning device 100, so as to charge the cleaning device 100;

in step S09, it is determined that the base station 200 completes charging the cleaning device 100, and the charging device of the base station 200 is controlled to be turned off and the drying device is controlled to be turned on.

Specifically, when the cleaning device 100 is charged, the control system controls the drying device to be turned on, so as to dry the cleaning device 100.

It is worth mentioning that in some other embodiments of the present invention, the cleaning device 100 may be sterilized to improve the use effect of the cleaning device 100.

It should be noted that, in some other embodiments of the present invention, as shown in fig. 8, after step S021, the method may further include:

step S10, determining that the temperature value and/or the current value of the heating device 24 meet the preset continuous starting condition of the heating device 24, and controlling the heating device 24 to be continuously started;

specifically, if the temperature value and/or the current value of the heating device 24 detected by the overload protector is too large, for example, greater than the first temperature preset value and greater than the first current preset value, the control system turns off the heating device 24 to stop heating, so as to achieve the safety protection effect, and correspondingly, if the temperature value and/or the current value of the heating device 24 detected by the overload protector is less than or equal to the first temperature preset value and the first current preset value, the control system continues to turn on the heating device 24.

Step S11, determining that the mop cleaning part 21 finishes cleaning the mop and/or finishes replenishing water to the water tank 17 of the cleaning device 100, controlling the heating device 24 to be switched off, and stopping heating.

In some other embodiments of the present invention, with continued reference to fig. 6, after step S021, further comprising:

in step S12, the flow rate of the outlet water of the clean water tank 22 and/or the heating power of the heating device 24 are controlled according to the temperature of the hot water to maintain the temperature of the hot water constant.

Specifically, the temperature detector obtains the temperature of the hot water heated by the heating device 24, and if the temperature of the hot water is not equal to 40 ℃, the control system controls the flow rate of the outlet water of the clean water tank 22 and/or the heating power of the heating device 24 to adjust the temperature of the hot water so as to maintain the temperature of the hot water at 40 ℃.

It is worth mentioning that the embodiment of the invention heats the clean water flowing out of the clean water tank in real time, and the heated water can be used for cleaning and/or supplementing water to the cleaning equipment, so that on one hand, the cruising of the cleaning equipment is ensured, the cleaning effect of the cleaning equipment is better due to the hot water mopping, and on the other hand, the cleaning effect of the cleaning part of the mopping piece on the base station on the cleaning equipment is also improved.

Some embodiments of the invention are directed to a computer apparatus including a memory, a controller, and a computer program stored on the memory and executable on the controller, the controller implementing the steps of the cleaning system control method when executing the computer program.

In this embodiment, by providing a computer device including a memory, a controller, and a computer program stored in the memory and executable on the controller, it is possible to ensure that the controller executes a control method of the cleaning system, thereby improving a cleaning effect of the cleaning device and improving user experience.

Another embodiment of the present invention is directed to a computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a controller, implementing the steps of the cleaning system control method of any of the above embodiments.

In this embodiment, the computer program is stored in a computer-readable storage medium, so that the control method for the controller to operate the cleaning system can be ensured, the cleaning effect of the cleaning device can be improved, and the user experience can be improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A base station for a cleaning device, comprising:

a base station body having a platform for docking the cleaning apparatus;

the mopping piece cleaning part is arranged on the base station body;

2. The base station for a cleaning appliance according to claim 1, wherein the heating means is provided within the outlet pipe or on an outer surface of the outlet pipe.

3. The base station for cleaning equipment as claimed in claim 2, wherein the heating device is a resistance wire or a positive temperature coefficient heating device disposed on the outer surface of the water outlet pipe.

4. The base station for a cleaning appliance according to claim 1, further comprising a temperature detector and an overload protector connected to the control system, wherein,

the temperature detector is arranged in the water outlet pipe;

the control system is used for controlling the water temperature in the water outlet pipe to be kept constant;

the overload protector is connected with the heating device and used for implementing overload protection on the heating device.

5. The base station for a cleaning device according to claim 1, further comprising a first water amount sensor, a second water amount sensor connected to the control system, respectively, wherein,

the first water quantity sensor is arranged in the clean water tank;

6. The base station for a cleaning appliance according to claim 1, further comprising a sump tank, said mop cleaning portion comprising a suction device, a cleaning detector and a drying device, wherein,

the cleaning detector is arranged on the mopping piece cleaning part and used for detecting whether the mopping piece cleaning part finishes cleaning the cleaning equipment, and the suction device is used for sucking sewage in the mopping piece cleaning part into the sewage tank.

7. The base station for cleaning equipment according to claim 1, further comprising a cleaning equipment charging system and an in-place detector connected to the control system, respectively, wherein,

the in-place detector is arranged at a position, corresponding to the platform, of the base station body and is used for detecting whether the cleaning equipment stops in a preset area of the platform or not.

8. A method of controlling a cleaning system, comprising the steps of:

determining that the cleaning device is parked in a preset area of the platform;

9. The control method according to claim 8, wherein the determining that the clean water tank satisfies the water outlet condition, and controlling the clean water tank to discharge water and the heating device to be turned on comprises:

and determining that the water quantity in the clear water tank is greater than a first water quantity preset value, and controlling the water outlet of the clear water tank and the opening of the heating device.

10. The control method of claim 9, further comprising, before controlling the water delivery line to deliver hot water to a tank of the cleaning device:

determining that a water tank of the cleaning device meets a water replenishment condition.

11. The control method according to claim 10, wherein the water tank of the cleaning device is determined to meet a water replenishing condition, and the water conveying pipeline is controlled to convey hot water to the water tank of the cleaning device; the method comprises the following steps:

and determining that the water quantity of the water tank in the cleaning equipment is smaller than a second water quantity preset value, and controlling the water outlet of the water conveying pipeline to be opened so as to convey hot water to the water tank of the cleaning equipment.

12. The control method according to claim 8, characterized by further comprising the steps of:

determining that the temperature value and/or the current value of the heating device meet the preset continuous starting condition of the heating device, and controlling the heating device to be continuously started;

and determining that the cleaning part of the mopping piece finishes cleaning the cleaning equipment, and controlling the heating device to be switched off.

13. The control method according to claim 8, characterized by further comprising the steps of:

and controlling the flow of the outlet water of the clean water tank and/or the heating power of the heating device according to the temperature of the hot water so as to maintain the temperature of the hot water constant.

14. A cleaning system is characterized by comprising a cleaning device and a base station, wherein the cleaning device is provided with a mopping piece, the base station is provided with a mopping piece cleaning part and a control system, wherein,

the mopping piece is used for mopping the ground;

the mopping piece cleaning part is used for cleaning the mopping piece;

15. A computer device comprising a memory, a controller and a computer program stored on the memory and executable on the controller, characterized in that the controller implements the control method according to any one of claims 8-13 when executing the computer program.

16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a controller, implements the control method according to any one of claims 8 to 13.