CN112971646B - Cleaning control method, device and system and storage medium - Google Patents

Cleaning control method, device and system and storage medium Download PDF

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Publication number
CN112971646B
CN112971646B CN202110194299.9A CN202110194299A CN112971646B CN 112971646 B CN112971646 B CN 112971646B CN 202110194299 A CN202110194299 A CN 202110194299A CN 112971646 B CN112971646 B CN 112971646B
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China
Prior art keywords
scraper
cleaning
base station
water spraying
track
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CN202110194299.9A
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Chinese (zh)
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CN112971646A (en
Inventor
钟名宏
雷力
程宏威
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Shenzhen Silver Star Intelligent Group Co Ltd
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Shenzhen Silver Star Intelligent Technology Co Ltd
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Priority to CN202110194299.9A priority Critical patent/CN112971646B/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Abstract

The invention relates to the technical field of smart homes, and discloses a cleaning control method, a cleaning control device, a cleaning control system and a storage medium, which are used for controlling each water spraying point to spray water according to the real-time relative position relationship between a scraper and each water spraying point, improving the cleaning accuracy and reducing the waste of water resources. The cleaning control method comprises the following steps: when the mobile robot is detected to move to a preset position of the base station, resetting the scraper to a reference initial position, wherein the reference initial position is located at a first endpoint of a scraper track in the base station; controlling the scraper to do reciprocating motion once along the scraper track, and controlling the water spraying points on the two sides of the scraper track to do water spraying operation according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process; when the squeegee returns to the reference initial position from the second end point of the squeegee rail, 1 is added to the number of times of cleaning, and the initial value of the number of times of cleaning is a preset value.

Description

Cleaning control method, device and system and storage medium
Technical Field
The invention relates to the technical field of smart home, in particular to a cleaning control method, a cleaning control device, a cleaning control system and a storage medium.
Background
In the existing mobile robot and a base station matched with the mobile robot, sewage is generally treated in a dirt separation or water circulation mode, and when the base station is used for cleaning the mobile robot, dirt and garbage on a mop of the mobile robot are cleaned in a rubbing, rotating, vibrating or other cleaning modes.
However, when the base station finishes cleaning the mobile robot, some sewage and some solid garbage are generated. Usually when wasing the mop at every turn, can adopt mechanical elevating gear to soak the mop subassembly in the washing liquid, lead to wasting water or washing liquid, not only the base station is maintained and is wasted time and energy, and the high serious influence user experience nature of human intervention frequency moreover. Meanwhile, when some cleaning base stations clean the mop, the scraping plates scrape back and forth, and the water spraying holes spray water completely, so that the problems that accurate cleaning is difficult to achieve and water resources are wasted exist.
Disclosure of Invention
The invention provides a cleaning control method, a cleaning control device, a cleaning control system and a storage medium, which are used for improving the cleaning accuracy and reducing the waste of water resources.
In order to achieve the above object, a first aspect of the present invention provides a cleaning control method applied to a base station, including: when the mobile robot is detected to move to a preset position of a base station, resetting a scraper to a reference initial position, wherein the reference initial position is located at a first endpoint of a scraper track in the base station; controlling the scraper to do reciprocating motion once along the scraper track, and controlling the water spraying points on the two sides of the scraper track to do water spraying operation according to the real-time relative position relation between the scraper and the water spraying points in the reciprocating motion process; and when the scraper returns to the reference initial position from the second end point of the scraper track, adding 1 to the cleaning times, wherein the initial value of the cleaning times is a preset value.
In one possible embodiment, after the adding 1 to the number of times of cleaning when the blade returns from the second end point of the blade rail to the reference initial position, the initial value of the number of times of cleaning being a preset value, the cleaning control method further includes: judging whether the cleaning times are smaller than a preset time threshold value or not; if the cleaning times are smaller than a preset time threshold value, continuing to clean; and if the cleaning times are equal to a preset time threshold value, stopping the cleaning work of the mobile robot and resetting the scraper.
In one possible embodiment, the resetting the squeegee to a reference initial position when the mobile robot is detected to travel to the preset position of the base station, the reference initial position being located at a first end point of a squeegee track in the base station, includes: when the mobile robot is detected to move to a preset position of a base station, controlling a scraper to move to a reference initial position, wherein the reference initial position is located at a first end point of a scraper track in the base station, and the preset position of the base station is used for indicating that the base station detects the position of the mobile robot for receiving cleaning work; controlling the angle of a scraping blade in the scraping plate to swing from an initial angle to a preset angle, wherein the initial angle is used for indicating the deflection angle between the scraping blade and the scraping plate rail when the scraping blade keeps a preset distance from a dragging piece in the mobile robot, and the preset angle is used for indicating the deflection angle between the scraping blade and the scraping plate rail when the scraping blade contacts the dragging piece in the mobile robot.
In one possible embodiment, the controlling the blade to perform a reciprocating motion along the blade track and to perform a water spraying operation at each water spraying point on both sides of the blade track according to a real-time relative position relationship between the blade and each water spraying point during the reciprocating motion includes: the scraper is driven by a motor to reciprocate once between a first limit switch and a second limit switch along the scraper track, and the first limit switch and the second limit switch are respectively arranged at a first end point of the scraper track and a second end point of the scraper track; in the reciprocating motion process, determining a real-time relative linear distance between the scraper and a positioning reference point, wherein the positioning reference point is the first limit switch or the second limit switch; and controlling the water spraying points on the two sides of the scraper track to spray water according to the real-time relative linear distance and the real-time relative position relationship between the scraper and the water spraying points.
In one possible embodiment, the driving of the squeegee by the motor for one reciprocating motion between the first limit switch and the second limit switch along the squeegee rail includes: controlling a motor to rotate forwards to drive the scraper to move from a first limit switch to a second limit switch at a constant speed along the scraper track, starting a timer to time, and controlling the motor to stop running until the scraper touches the second limit switch; controlling the motor to rotate reversely to drive the scraper to move from the second limit switch to the first limit switch at a constant speed along the scraper track, and starting the timer to time until the scraper touches the first limit switch, and controlling the motor to stop running; and resetting and clearing the timer and the real-time relative linear distance when the motor stops running.
In one possible embodiment, the determining a real-time relative linear distance between the squeegee and a positioning reference point during the reciprocating motion, the positioning reference point being the first limit switch or the second limit switch, includes: in the reciprocating motion process, acquiring the length L of a scraper track, the rotating speed v of a motor and the timing duration t of a timer, wherein the motor is a stepping motor; and calculating a real-time relative linear distance S between the scraper and a positioning reference point according to the length L of the scraper track, the rotating speed v and the timing duration t, wherein the real-time relative linear distance is S ∑ v ×, or S ═ L- Σ v ×, and the positioning reference point is the first limit switch or the second limit switch.
In one possible embodiment, the controlling the water spraying points on the two sides of the track of the scraper to spray water according to the real-time relative linear distance and the real-time relative position relationship between the scraper and the water spraying points includes: acquiring the horizontal relative distance of each water spray point on two sides of the scraper track, wherein the horizontal relative distance of each water spray point is used for indicating the horizontal distance between the projection point of each water spray point in the length direction of the scraper track and the positioning reference point; and controlling the water spraying points in front of two sides of the scraper track to spray water according to the real-time relative linear distance and the horizontal relative distance of each water spraying point, and controlling the water spraying points behind two sides of the scraper track to stop spraying water.
In one possible embodiment, the controlling the water spraying points in front of the two sides of the blade track to spray water and the controlling the water spraying points behind the two sides of the blade track to stop spraying water according to the real-time relative linear distance and the horizontal relative distance of each water spraying point includes: performing difference operation on the horizontal relative distance of each water spraying point and the real-time relative linear distance to obtain a relative distance difference value of each water spraying point; when the relative distance difference of the target water spraying points is smaller than or equal to a first preset threshold value, controlling the target water spraying points to spray water, wherein the target water spraying points are positioned in front of two sides of the scraper track; and when the relative distance difference of the target water spraying points is larger than a second preset threshold value, controlling the target water spraying points to stop spraying water, wherein the target water spraying points are positioned behind the two sides of the scraper track.
The second aspect of the present invention provides a cleaning control apparatus applied to a base station, including: the system comprises a resetting module, a control module and a control module, wherein the resetting module is used for resetting a scraper to a reference initial position when detecting that the mobile robot moves to a preset position of a base station, and the reference initial position is located at a first endpoint of a scraper track in the base station; the movement module is used for controlling the scraper to do reciprocating movement once along the scraper track and controlling the water spraying points on the two sides of the scraper track to do water spraying operation according to the real-time relative position relation between the scraper and the water spraying points in the reciprocating movement process; and the calculating module is used for adding 1 to the cleaning times when the scraper returns to the reference initial position from the second end point of the scraper track, and the initial value of the cleaning times is a preset value.
In one possible embodiment, the cleaning control device further includes: the judging module is used for judging whether the cleaning times are smaller than a preset time threshold value or not; the cleaning module is used for continuing cleaning if the cleaning times are smaller than a preset time threshold; and the processing module is used for stopping the cleaning work of the mobile robot and resetting the scraper if the cleaning times are equal to a preset time threshold.
In a possible implementation manner, the reset module is specifically configured to: when the mobile robot is detected to move to a preset position of a base station, controlling a scraper to move to a reference initial position, wherein the reference initial position is located at a first end point of a scraper track in the base station, and the preset position of the base station is used for indicating that the base station detects the position of the mobile robot for receiving cleaning work; controlling the angle of a scraping blade in the scraping plate to swing from an initial angle to a preset angle, wherein the initial angle is used for indicating the deflection angle between the scraping blade and the scraping plate rail when the scraping blade keeps a preset distance from a dragging piece in the mobile robot, and the preset angle is used for indicating the deflection angle between the scraping blade and the scraping plate rail when the scraping blade contacts the dragging piece in the mobile robot.
In a possible embodiment, the motion module further comprises: the moving unit is used for driving the scraper through a motor and performing one-time reciprocating motion between a first limit switch and a second limit switch along the scraper track, and the first limit switch and the second limit switch are respectively arranged at a first end point of the scraper track and a second end point of the scraper track; the determining unit is used for determining the real-time relative linear distance between the scraper and a positioning reference point in the reciprocating motion process, wherein the positioning reference point is the first limit switch or the second limit switch; and the water spraying unit is used for controlling the water spraying points on the two sides of the scraper track to spray water according to the real-time relative linear distance and the real-time relative position relationship between the scraper and the water spraying points.
In a possible embodiment, the movement unit is specifically configured to: controlling a motor to rotate forwards to drive the scraper to move from a first limit switch to a second limit switch at a constant speed along the scraper track, starting a timer to time, and controlling the motor to stop running until the scraper touches the second limit switch; controlling the motor to rotate reversely to drive the scraper to move from the second limit switch to the first limit switch at a constant speed along the scraper track, and starting the timer to time until the scraper touches the first limit switch, and controlling the motor to stop running; and resetting and clearing the timer and the real-time relative linear distance when the motor stops running.
In a possible embodiment, the determination unit is specifically configured to; in the reciprocating motion process, acquiring the length L of a scraper track, the rotating speed v of a motor and the timing duration t of a timer, wherein the motor is a stepping motor; and calculating a real-time relative linear distance S between the scraper and a positioning reference point according to the length L of the scraper track, the rotating speed v and the timing duration t, wherein the real-time relative linear distance is S ∑ v ×, or S ═ L- Σ v ×, and the positioning reference point is the first limit switch or the second limit switch.
In a possible embodiment, the water spraying unit comprises: the acquisition subunit is configured to acquire horizontal relative distances of the water spray points on two sides of the scraper track, where the horizontal relative distances of the water spray points are used to indicate horizontal distances between projection points of the water spray points in the length direction of the scraper track and the positioning reference points; and the water spraying subunit is used for controlling the water spraying points in front of two sides of the scraper track to spray water according to the real-time relative linear distance and the horizontal relative distance of each water spraying point, and controlling the water spraying points behind two sides of the scraper track to stop spraying water.
In a possible embodiment, the water spraying subunit is specifically configured to: performing difference operation on the horizontal relative distance of each water spraying point and the real-time relative linear distance to obtain a relative distance difference value of each water spraying point; when the relative distance difference of the target water spraying points is smaller than or equal to a first preset threshold value, controlling the target water spraying points to spray water, wherein the target water spraying points are positioned in front of two sides of the scraper track; and when the relative distance difference of the target water spraying points is larger than a second preset threshold value, controlling the target water spraying points to stop spraying water, wherein the target water spraying points are positioned behind two sides of the scraper track.
A third aspect of the present invention provides a cleaning control system comprising: the base station is used for cleaning the mobile robot; the mobile robot comprises a robot body, a driving assembly and a cleaning assembly; the robot body is used for setting a cleaning path and an area to be cleaned; the driving assembly is used for driving the robot body to move in the area to be cleaned according to the cleaning path; the cleaning assembly comprises a sweeping piece and a mopping piece and is used for cleaning the area to be cleaned; the base station comprises a base station body, a scraping and rubbing cleaning assembly and a water spraying cleaning assembly; the base station body is used for detecting the position of the mobile robot and controlling the rubbing and wiping component and the water spraying cleaning component to clean the rubbing and wiping component; the scraping and cleaning assembly comprises a scraper and a scraper track, wherein the scraper comprises a sliding base running on the scraper track and a scraper used for cleaning the scraping piece, and is used for driving the scraper to reciprocate between a first limit switch and a second limit switch along the scraper track; and the water spraying cleaning assembly is used for spraying water to the mobile robot through the water spraying points on the two sides of the scraper track.
A fourth aspect of the present invention provides a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute the above-described cleaning control method.
According to the technical scheme provided by the invention, when the mobile robot is detected to move to the preset position of the base station, the scraper is reset to the reference initial position, and the reference initial position is positioned at the first end point of the scraper track in the base station; controlling the scraper to do reciprocating motion once along the scraper track, and controlling the water spraying points on the two sides of the scraper track to do water spraying operation according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process; and when the scraper returns to the reference initial position from the second end point of the scraper track, adding 1 to the cleaning times, wherein the initial value of the cleaning times is a preset value. In the embodiment of the invention, the base station controls the scraper to reciprocate along the scraper track after resetting the scraper, and controls the water spraying points on the two sides of the scraper track to spray water according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process, so that the cleaning accuracy of the scraper on the mopping part of the mobile robot is improved, and the waste of water resources is reduced.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a cleaning control method according to an embodiment of the invention;
FIG. 2 is a schematic view of the blade repositioning in an embodiment of the present invention;
FIG. 3 is another schematic view of the blade repositioning in an embodiment of the present invention;
FIG. 4 is a schematic view of the reciprocating motion of the squeegee in an embodiment of the invention;
FIG. 5 is a schematic diagram of another embodiment of a cleaning control method according to an embodiment of the invention;
FIG. 6 is another schematic view of the reciprocating motion of the squeegee in an embodiment of the invention;
FIG. 7 is a schematic diagram of one embodiment of a cleaning control apparatus in an embodiment of the invention;
FIG. 8 is a schematic view of another embodiment of a cleaning control apparatus according to an embodiment of the present invention;
fig. 9 is a schematic diagram of an embodiment of a cleaning control system in an embodiment of the invention.
Detailed Description
The embodiment of the invention provides a cleaning control method, a cleaning control device, a cleaning control system and a storage medium, which are used for controlling a scraper to reciprocate along a scraper rail after a base station resets the scraper and controlling water spraying points on two sides of the scraper rail to spray water in the reciprocating process, so that the cleaning accuracy of the scraper on a mopping part of a mobile robot is improved, and the waste of water resources is reduced.
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," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, 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.
For ease of understanding, a specific flow of an embodiment of the present invention is described below, and referring to fig. 1, an embodiment of a cleaning control method in an embodiment of the present invention includes:
101. when the mobile robot is detected to move to the preset position of the base station, the scraper is reset to the reference initial position, and the reference initial position is located at the first end point of the scraper track in the base station.
Wherein the mobile robot comprises a cleaning robot having mopping, sweeping and/or sanitizing functions. The mobile robot can move to a preset position of the base station according to a preset motion track in the cleaning operation process, and the preset position of the base station is used for indicating the base station to detect the position of the mobile robot for receiving the cleaning operation. Specifically, when the base station detects that the mobile robot moves to the preset position of the base station, the base station controls the scraper to move along the scraper track until the scraper moves to the first end point of the scraper track, and the base station determines that the first end point of the scraper track is the reference initial position. Further, the base station angularly resets the wiper blade so that the angularly reset wiper blade can contact the wiping member in the mobile robot. For example, as shown in fig. 2, the squeegee includes a squeegee blade and a sliding base, and the initial angle (e.g., 60 °) of the squeegee blade refers to the angle of deflection between the squeegee blade and the squeegee member on the mobile robot when the squeegee blade and the squeegee member are not in contact with each other. After the base station performs angle resetting on the scraper, the scraper and the dragging part in the mobile robot can be contacted with each other, as shown in fig. 3, the base station controls the scraper to move to a first end point of a scraper rail in the base station, and after the scraper is angularly reset, when the scraper is contacted with the dragging part, a deflection included angle between the scraper and the scraper rail is 90 degrees.
It should be noted that the base station is not only used for cleaning the mopping member of the mobile robot, but also used for charging the mobile robot, and the base station is not limited herein.
It is understood that the main implementation body of the present invention may be a cleaning control device, and may also be a terminal or a base station, which is not limited herein. The embodiment of the present invention is described by taking a base station as an execution subject.
102. And controlling the scraper to do reciprocating motion once along the scraper track, and controlling the water spraying points on the two sides of the scraper track to do water spraying operation according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process.
The scraper track has two end points, namely a first end point and a second end point, a plurality of water spray points are arranged along two sides of the length direction of the scraper track, each water spray point may be provided with a spray head, and each water spray point may also be provided with a water spray pipe, which is not limited herein. The number of the plurality of water spraying points may be 6 or 8, and the number is set according to actual needs, and is not limited herein. The plurality of water spraying points may be symmetrically arranged on both sides of the blade track, or asymmetrically arranged on both sides of the blade track, and are not limited herein.
Specifically, the base station controls the scraper to move from a first end point to a second end point along the scraper track through a motor; the base station controls the scraper to move from the second end point to the first end point along the scraper track through a motor; and in the reciprocating motion process of the scraper (from the first end point to the second end point and from the second end point to the first end point), the base station acquires the real-time relative position relationship between the scraper and each water spraying point and controls each water spraying point on two sides of the scraper track to spray water according to the real-time relative position relationship between the scraper and each water spraying point. That is, when the blade moves from the first end point to the second end point or the blade moves from the first end point to the second end point, and the base station determines that the blade moves through the water spray points or that the blade is a predetermined distance away from the water spray points, the base station may turn on the water spray points one by one to perform the water spray operation. When the scraper moves to the first end point or the second end point, at least one water spraying point is enabled to spray water, and then the base station can control each water spraying point to stop spraying water and control the rotation direction of the motor.
As shown in fig. 4, the blade K is located on the blade rail T, the water spray points a, B, C, D, E and F are arranged in a predetermined order on both sides of the blade rail T, and the relative positional relationship between the blade K and the water spray points a, B, C, D, E and F can be expressed by straight lines AK, BK, CK, DK, EK and FK, or a 'K, B' K, C 'K, D' K, E 'K and F' K in real time. And when the scraper starts to move from the first end point P and the base station determines that AK or A' K is smaller than a preset distance, the base station controls the water spraying point A to spray water. Then, when the scraper blade moves to the water spray point B, the water spray point C, the water spray point D, the water spray point E and the water spray point F along the scraper blade track in sequence, the base station starts the water spray point B, the water spray point C, the water spray point D, the water spray point E and the water spray point F in sequence to spray water, waste of water resources is reduced, meanwhile, the base station controls a scraper blade in the scraper blade to perform attachment cleaning and sewage treatment on the mopping piece, and cleaning accuracy is improved.
103. When the squeegee returns to the reference initial position from the second end point of the squeegee rail, 1 is added to the number of times of cleaning, and the initial value of the number of times of cleaning is a preset value.
It will be appreciated that the base station determines that the screed has completed one traverse when the screed returns to the reference home position from the second end point of the screed rail. As shown in fig. 4, the squeegee moves from the first end point P to the second end point Q, and then, the squeegee moves from the second end point Q to the first end point P. Namely, the base station controls each water spraying point on two sides of the scraper track to alternately spray water, the scraper blade in the scraper blade is controlled by the base station to repeatedly scrape attachments on the mopping piece in the mobile robot, meanwhile, the scraper blade is controlled by the base station to extrude sewage from the mopping piece, then the base station adds 1 to the cleaning times, and the initial value of the cleaning times is a preset value. The preset value may be 0, or may be other values, and is not limited herein, and when the preset value is 0, and the scraper returns to the reference initial position from the second end point of the scraper rail, the base station sets the number of times of cleaning to 1.
In the embodiment of the invention, the base station controls the scraper to reciprocate along the scraper track after resetting the scraper, and controls the water spraying points on the two sides of the scraper track to spray water according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process, so that the cleaning accuracy of the scraper on the mopping part of the mobile robot is improved, and the waste of water resources is reduced.
Referring to fig. 5, another embodiment of the cleaning control method according to the embodiment of the present invention includes:
501. when the mobile robot is detected to move to the preset position of the base station, the scraper is reset to the reference initial position and is located at the first end point of the scraper track in the base station.
The preset position of the base station is used for indicating the position of the base station, where the mobile robot receives cleaning work, and can be any end point in the length direction of the scraper track. Optionally, first, when the base station detects that the mobile robot moves to a preset position of the base station, the base station controls the squeegee to move to a reference initial position, and the reference initial position is located at a first end point of a squeegee track in the base station. Further, the base station controls the motor to drive the scraper to move towards the reference initial position, the motor may be a servo motor, or may be a stepping motor, and the details are not limited herein. As shown in fig. 4, the reference initial position is located at a first end point P of the screed rail in the base station, and it should be noted that the reference initial position may also be located at a second end point Q of the screed rail in the base station, which is not limited herein.
Then, the base station controls the angle of the blade in the blade to swing from the initial angle to a preset angle, for example, the base station controls the blade to make an angular swing through a reduction gear of a stepping motor, and the base station monitors the swing angle (i.e., the preset angle) in real time. The initial angle is used for indicating the deflection angle between the scraping blade and the scraper rail when the scraping blade keeps a preset distance from the dragging part in the mobile robot, the value range of the preset distance is larger than 0, for example, the preset distance is 1 cm, and the preset angle is used for indicating the deflection angle between the scraping blade and the scraper rail when the scraping blade contacts the dragging part in the mobile robot. Wherein the range of the initial angle is greater than or equal to 0 DEG and less than 90 DEG, or greater than 90 DEG and less than or equal to 180 deg. As shown in fig. 2, the initial angle may be 60 °. As shown in fig. 3, the preset angle may be 90 °, or may be other values, for example, 80 °, or may be other values, as long as the blade can contact the wiping member, which is not limited herein.
502. The scraper is driven by the motor to reciprocate once between the first limit switch and the second limit switch along the scraper track, and the first limit switch and the second limit switch are respectively arranged at the first end point of the scraper track and the second end point of the scraper track.
It should be noted that, in order to limit the position or stroke of the squeegee, the squeegee is automatically stopped or reciprocated when moving to the first end point of the squeegee rail and the second end point of the squeegee rail, and the rotation of the motor is controlled to be reversed. As shown in fig. 6, the first end point of the squeegee track and the second end point of the squeegee track are provided with a first limit switch and a second limit switch, respectively.
Optionally, the base station controls the motor to rotate in the forward direction to drive the scraper to move at a constant speed from the first limit switch to the second limit switch along the scraper track, and starts the timer to time until the scraper touches the second limit switch, so as to control the motor to stop running; the base station controls the motor to rotate reversely so as to drive the scraper to move from the second limit switch to the first limit switch at a constant speed along the scraper track, and starts the timer to time until the scraper touches the first limit switch, so that the motor is controlled to stop running; and resetting and clearing the timer and the real-time relative linear distance when the motor stops running. That is, when the scraper touches the first limit switch or the second limit switch, the base station controls the motor to stop, and simultaneously clears the timer and the real-time relative linear distance to zero, so that the error value of the real-time relative linear distance in the reciprocating motion process of the scraper is reduced. The motor may be a stepping motor or a servo motor, and is not limited herein.
503. And in the reciprocating motion process, determining the real-time relative linear distance between the scraper and a positioning reference point, wherein the positioning reference point is a first limit switch or a second limit switch.
That is, when the positioning reference point is the first limit switch, the scraper moves from the first limit switch to the second limit switch in a forward motion, the scraper moves from the second limit switch to the second limit switch in a reverse motion, and the base station calculates the real-time relative linear distance between the scraper and the first limit switch. As shown in fig. 6, the real-time relative linear distance between the squeegee and the first limit switch is KP. When the positioning reference point is the second limit switch, the scraper moves from the second limit switch to the first limit switch to move in a forward direction, the scraper moves from the first limit switch to the second limit switch to move in a reverse direction, and the base station calculates the real-time relative linear distance between the scraper and the second limit switch. As shown in fig. 6, the real-time relative linear distance between the squeegee and the second limit switch is KQ.
Optionally, in the reciprocating process, the base station obtains the length L of the scraper track, the rotating speed v of the motor and the timing duration t of the timer, and the motor is a stepping motor; and the base station calculates the real-time relative linear distance S between the scraper and a positioning reference point according to the length L, the rotating speed v and the timing duration t of the scraper track, wherein the real-time relative linear distance is S ═ Σ v × t or S ═ L- Σ v × t, and the positioning reference point is a first limit switch or a second limit switch.
Further, when the positioning reference point is a first limit switch and the scraper moves forward from the first limit switch to a second limit switch, the real-time relative linear distance is S ═ v × t; when the positioning reference point is a first limit switch and the scraper moves reversely from the second limit switch to the first limit switch, the real-time relative linear distance is S-L-sigma v-t; when the positioning reference point is a second limit switch and the scraper moves reversely from the first limit switch to the second limit switch, the real-time relative linear distance is S-L-sigma v-t; when the positioning reference point is the second limit switch and the scraper moves forward from the second limit switch to the first limit switch, the real-time relative straight line distance is S ═ v × t.
504. And controlling the water spraying points on the two sides of the scraper track to spray water according to the real-time relative linear distance and the real-time relative position relationship between the scraper and the water spraying points.
It can be understood that, as shown in fig. 6, the blade K is located on the blade track T, the water spray points a, B, C, D, E and F are arranged on two sides of the blade track T in a preset order, and when the positioning reference point is the first limit switch, the blade moves forward from the first limit switch to the second limit switch, and the real-time relative linear distance KP is S ═ Σ v ═ T; the scraper plate reversely moves from the second limit switch to the first limit switch, and the real-time relative linear distance KP is equal to L-sigma v t; when the positioning reference point is a second limit switch, the scraper moves reversely from the first limit switch to the second limit switch, and the real-time relative linear distance KQ is equal to L-sigma v t; the scraper moves forward from the second limit switch to the first limit switch, the real-time relative linear distance KQ is S ═ v × t, and accordingly, the position information of each water spraying point is also preset according to the positioning reference point.
Optionally, the base station obtains a horizontal relative distance between each water spray point on both sides of the scraper track, and the horizontal relative distance between each water spray point is used for indicating a horizontal distance between a projection point of each water spray point in the length direction of the scraper track and the positioning reference point; and the base station controls the water spraying points in front of two sides of the scraper track to spray water according to the real-time relative linear distance and the horizontal relative distance of each water spraying point, and controls the water spraying points behind two sides of the scraper track to stop spraying water. As shown in fig. 6, a ', B', C ', D', E ', and F' are the projected points of the water spray point a, the water spray point B, the water spray point C, the water spray point D, the water spray point E, and the water spray point F in the length direction of the blade track, respectively, and when the positioning reference point is the first limit switch, the horizontal distances between the projected point a ', the projected point B', the projected point C ', the projected point D', the projected point E ', and the projected point F' and the first limit switch are a 'P, B' P, C 'P, D' P, E 'P and F' P, respectively; when the positioning reference point is the second limit switch, the horizontal distances between the projection point a ', the projection point B', the projection point C ', the projection point D', the projection point E 'and the projection point F' and the first limit switch are a 'Q, B' Q, C 'Q, D' Q, E 'Q and F' Q, respectively.
Optionally, the base station performs difference operation on the horizontal relative distance of each water spraying point and the real-time relative linear distance to obtain a relative distance difference value of each water spraying point; when the relative distance difference of the target water spraying points is smaller than or equal to a first preset threshold value, the base station controls the target water spraying points to spray water, and the target water spraying points are located in front of two sides of the scraper track; and when the relative distance difference of the target water spraying points is larger than a second preset threshold value, the base station controls the target water spraying points to stop spraying water, and the target water spraying points are located behind the two sides of the scraper track. As shown in fig. 6, when the positioning reference point is a first limit switch and the base station controls the blade to move from the first end point P (i.e., the first limit switch) to the position shown in the figure, and the base station determines that B 'K is smaller than a first preset threshold, the base station controls the water spraying point B to spray water, and then the base station determines whether KA' is larger than a second preset threshold, if KA 'is larger than the second preset threshold, the base station controls the water spraying point a to stop spraying water, and if KA' is smaller than or equal to the second preset threshold, the water spraying point a continues to spray water. By analogy, when the scraper blade moves to water spray point C, water spray point D, water spray point E and water spray point F along the scraper blade track in proper order, the basic station opens water spray point C, water spray point D, water spray point E and water spray point F in proper order and carries out the water spray operation, opens each water spray point in proper order, has reduced the waste of water resource, and the doctor-bar in the basic station control scraper blade carries out attachment clearance and sewage treatment to dragging the piece simultaneously, has improved clean rate of accuracy.
Or, when the positioning reference point is the second limit switch, and the base station controls the scraper to start moving to the position shown in the figure from the second end point Q (i.e. the second limit switch), and the base station determines that B 'K is greater than the second preset threshold, the base station controls the water spraying point B to stop spraying water, and then the base station determines whether KA' is less than the first preset threshold, if KA 'is less than or equal to the first preset threshold, the base station controls the water spraying point a to start spraying water, and if KA' is greater than the first preset threshold, the water spraying point a stops spraying water.
Further, the base station may also identify the real-time relative positional relationship between the squeegees and the water spray points using straight lines AK, BK, CK, DK, EK and FK. When the scraper moves to the position shown in the figure from the first end point P, the base station determines the relative distance difference B 'K of the water spraying point according to the implementation relative distance and the horizontal relative distance B' P of the water spraying point B, BB 'is a known parameter, the length of the inclined side BK of the triangle BB' K can be calculated according to the pythagorean theorem, then the base station judges whether BK is smaller than the preset distance, and if BK is smaller than the preset distance, the base station controls the water spraying point B to spray water. Then, when the scraper moves to the water spraying point C, the water spraying point D, the water spraying point E and the water spraying point F along the scraper track in sequence, the base station starts the water spraying point C, the water spraying point D, the water spraying point E and the water spraying point F in sequence to spray water.
505. When the squeegee returns to the reference initial position from the second end point of the squeegee rail, 1 is added to the number of times of cleaning, and the initial value of the number of times of cleaning is a preset value.
The execution process of step 505 is similar to the execution process of step 103, and detailed description thereof is omitted here.
506. And judging whether the cleaning times are smaller than a preset time threshold value or not.
Specifically, the base station performs subtraction operation on a preset frequency threshold and a preset frequency threshold to obtain a frequency difference value; when the number difference is greater than 0, the base station determines that the number of times of cleaning is less than the preset number threshold, and continues to execute step 507, for example, if the preset number threshold Nmax is 2 and the number of times of cleaning num is 1, the base station determines that the number of times of cleaning is less than the preset number threshold; when the number difference is equal to 0, the base station determines that the number of times of cleaning is equal to a preset number threshold, and proceeds to step 508. For example, if the preset number threshold Nmax is 1 and the number of cleanings num is 1, the base station determines that the number of cleanings is equal to the preset number threshold.
507. And if the cleaning times are less than the preset times threshold value, continuing cleaning.
Specifically, if the cleaning frequency is less than the preset frequency threshold, the base station continues to execute steps 502 to 506, that is, the base station controls the scraper to continue to perform at least one reciprocating motion along the scraper track, and accumulates the cleaning frequency; and in the reciprocating motion process of the scraper, the base station can also control the water spraying amount of each water spraying point to gradually reduce along with the increase of the cleaning times, and when the cleaning times are equal to a preset time threshold value, the base station stops the water spraying operation of each water spraying point. It can be understood that, as the cleaning times are increased, the mopping piece of the mobile robot is gradually cleaned, and the base station controls the water spraying amount of each water spraying point according to the cleaning times, so that the waste of water resources is reduced.
For example, if the preset number threshold Nmax is 5, the base station controls the blade to reciprocate once, and the cleaning number num is 1, the base station controls the blade to reciprocate 5 times between the first end point and the second end point of the blade track, and when the cleaning number num gradually increases from 1 to 2, 3, 4 to 5 (i.e., as the cleaning number increases), the base station controls the amount of water sprayed at each water spraying point to gradually decrease until the base station determines that the cleaning task is completed, and the base station continues to execute step 508. The amount of water sprayed from each water spraying point may be in a spraying manner, or may be in other manners, and is not limited herein.
508. And if the cleaning times are equal to the preset times threshold, stopping the cleaning work of the mobile robot and resetting the scraper.
Specifically, if the cleaning times are equal to a preset time threshold, the base station stops water spraying work of all water spraying points, and then the base station deflects the angle of a scraping blade in the scraping plate from a preset angle to an initial angle through a motor pair so as to enable the scraping blade to keep a preset distance from a dragging piece in the mobile robot; then, the base station stops the turning operation of the angle rotating motor. Further, the base station performs zero clearing operation on the real-time relative linear distance and the counting duration of the counter, and the base station can also control the mobile robot to move to the position of the first limit switch or the second limit switch through the motor and stop the motor from working.
In the embodiment of the invention, the base station controls the scraper to reciprocate along the scraper track after resetting the scraper, so that the cleaning accuracy of the base station on the mopping part of the mobile robot is improved, and the water spraying points on the two sides of the scraper track are controlled to spray water according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process, so that the waste of water resources is reduced.
With reference to fig. 7, the cleaning control method in the embodiment of the present invention is described above, and the cleaning control device in the embodiment of the present invention is described below, where an embodiment of the cleaning control device in the embodiment of the present invention includes:
the resetting module 701 is used for resetting the scraper to a reference initial position when the mobile robot is detected to move to a preset position of the base station, wherein the reference initial position is located at a first endpoint of a scraper track in the base station;
the movement module 702 is used for controlling the scraper to perform a reciprocating movement along the scraper track, and controlling the water spraying points on the two sides of the scraper track to perform water spraying operation according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating movement process;
and the calculating module 703 is configured to add 1 to the cleaning times when the blade returns to the reference initial position from the second end point of the blade rail, where the initial value of the cleaning times is a preset value.
In the embodiment of the invention, the base station controls the scraper to reciprocate along the scraper track after resetting the scraper, so that the cleaning accuracy of the base station on the mopping part of the mobile robot is improved, and the water spraying points on the two sides of the scraper track are controlled to spray water according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process, so that the waste of water resources is reduced.
Referring to fig. 8, another embodiment of the cleaning control device in the embodiment of the present invention includes:
the resetting module 701 is used for resetting the scraper to a reference initial position when the mobile robot is detected to move to a preset position of the base station, wherein the reference initial position is located at a first endpoint of a scraper track in the base station;
the movement module 702 is used for controlling the scraper to perform a reciprocating movement along the scraper track, and controlling the water spraying points on the two sides of the scraper track to perform water spraying operation according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating movement process;
and the calculating module 703 is configured to add 1 to the cleaning times when the blade returns to the reference initial position from the second end point of the blade rail, where the initial value of the cleaning times is a preset value.
Optionally, the cleaning control device further comprises:
a judging module 704, configured to judge whether the cleaning frequency is smaller than a preset frequency threshold;
a cleaning module 705, configured to continue cleaning if the number of cleaning times is less than a preset number threshold;
and the processing module 706 is configured to stop the cleaning operation on the mobile robot and perform a reset operation on the scraper if the cleaning frequency is equal to the preset frequency threshold.
Optionally, the reset module 701 may be further specifically configured to:
when the mobile robot is detected to move to a preset position of a base station, the scraper is controlled to move to a reference initial position, the reference initial position is located at a first end point of a scraper track in the base station, and the preset position of the base station is used for indicating that the base station detects the position of the mobile robot for receiving cleaning work;
the angle of a scraping blade in the scraping blade is controlled to swing to a preset angle from an initial angle, the initial angle is used for indicating the deflection angle between the scraping blade and a scraping blade rail when the scraping blade keeps a preset distance with a dragging piece in the mobile robot, and the preset angle is used for indicating the deflection angle between the scraping blade and the scraping blade rail when the scraping blade contacts the dragging piece in the mobile robot.
Optionally, the motion module 702 further includes:
the moving unit 7021 is configured to drive the scraper via a motor, and perform a reciprocating motion between the first limit switch and the second limit switch along the scraper rail, where a first end point of the scraper rail and a second end point of the scraper rail are respectively provided with the first limit switch and the second limit switch;
a determining unit 7022, configured to determine a real-time relative linear distance between the scraper and a positioning reference point during the reciprocating motion, where the positioning reference point is a first limit switch or a second limit switch;
and the water spraying unit 7023 is configured to control the water spraying points on the two sides of the track of the scraper to perform water spraying operation according to the real-time relative linear distance and the real-time relative position relationship between the scraper and the water spraying points.
Optionally, the motion unit 7021 may be further specifically configured to:
the motor is controlled to rotate in the positive direction to drive the scraper to move from the first limit switch to the second limit switch at a constant speed along the scraper track, and the timer is started to time until the scraper touches the second limit switch, and the motor is controlled to stop running;
the motor is controlled to rotate reversely to drive the scraper to move from the second limit switch to the first limit switch at a constant speed along the scraper track, and the timer is started to time until the scraper touches the first limit switch, and the motor is controlled to stop running;
and resetting and clearing the timer and the real-time relative linear distance when the motor stops running.
Optionally, determining unit 7022 may also be specifically configured to;
in the reciprocating motion process, the length L of a scraper track, the rotating speed v of a motor and the timing duration t of a timer are obtained, and the motor is a stepping motor;
and calculating a real-time relative linear distance S between the scraper and a positioning reference point according to the length L, the rotating speed v and the timing duration t of the scraper track, wherein the real-time relative linear distance is S ═ Σ v × t or S ═ L- Σ v × t, and the positioning reference point is a first limit switch or a second limit switch.
Optionally, the water spraying unit 7023 further includes:
the acquiring subunit 70231 is configured to acquire horizontal relative distances of the water spraying points on the two sides of the scraper track, where the horizontal relative distances of the water spraying points are used to indicate horizontal distances between projection points of the water spraying points in the length direction of the scraper track and the positioning reference points;
and the water spraying subunit 70232 is used for controlling the water spraying points in front of the two sides of the scraper track to spray water and controlling the water spraying points behind the two sides of the scraper track to stop spraying water according to the real-time relative linear distance and the horizontal relative distance of each water spraying point.
Optionally, the water spraying subunit 70232 may be further specifically configured to:
performing difference operation on the horizontal relative distance of each water spraying point and the real-time relative linear distance to obtain the relative distance difference value of each water spraying point;
when the relative distance difference of the target water spraying points is smaller than or equal to a first preset threshold value, controlling the target water spraying points to spray water, wherein the target water spraying points are positioned in front of two sides of the scraper track;
and when the relative distance difference of the target water spraying points is larger than a second preset threshold value, controlling the target water spraying points to stop spraying water, wherein the target water spraying points are positioned behind the two sides of the scraper track.
In the embodiment of the invention, the base station controls the scraper to reciprocate along the scraper track after resetting the scraper, so that the cleaning accuracy of the base station on the mopping part of the mobile robot is improved, and the water spraying points on the two sides of the scraper track are controlled to spray water according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process, so that the waste of water resources is reduced.
Fig. 7 and 8 describe the cleaning control device in the embodiment of the present invention in detail from the viewpoint of modularization, and the mobile robot in the embodiment of the present invention is described in detail from the viewpoint of hardware processing.
Fig. 9 is a schematic structural diagram of a cleaning control system 900 according to an embodiment of the present invention, where the cleaning control system 900 includes a mobile robot 901 and a base station 902, and the base station 902 is used for performing a cleaning process on the mobile robot 901; the mobile robot 901 comprises a robot body 9011, a driving assembly 9012 and a cleaning assembly 9013; the robot body 9011 is used for setting a cleaning path and an area to be cleaned; the driving assembly 9012 is used for driving the robot body 9011 to move in the area to be cleaned according to the cleaning path; a cleaning assembly 9013 including a sweeper member 90131 and a mop member 90132 for performing cleaning operations on an area to be cleaned; the base station 902 comprises a base station body 9021, a scraping and cleaning assembly 9022 and a water spraying and cleaning assembly 9023; the base station body 9022 is used for detecting the position of the mobile robot 901 and controlling the scratching cleaning assembly 9022 and the water spraying cleaning assembly 9023 to perform cleaning operation on the scratching piece 90132; the scraping and cleaning assembly 9022 comprises a scraper 90221 and a scraper rail 90222, wherein the scraper 90221 comprises a sliding base 902211 running on the scraper rail 90222 and a scraper 902212 used for cleaning a scraping piece 90132, and is used for driving the scraper 90221 to reciprocate between a first limit switch and a second limit switch along the scraper rail 90222; and a water spraying cleaning assembly 9023 for spraying water to the mobile robot through the water spraying points on both sides of the scraper rail 90222.
Those skilled in the art will appreciate that the cleaning control system configuration shown in FIG. 9 does not constitute a limitation of the cleaning control system, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, and which may also be a volatile computer-readable storage medium, having stored therein instructions, which, when run on a computer, cause the computer to perform the steps of the cleaning control method.
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.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may substantially or partially contribute to the prior art, or all or part of the technical solution may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a mobile robot, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A cleaning control method is applied to a base station, and is characterized by comprising the following steps:
when the mobile robot is detected to move to a preset position of a base station, resetting a scraper to a reference initial position, wherein the reference initial position is located at a first endpoint of a scraper track in the base station;
when the mobile robot is detected to travel to the preset position of the base station, resetting the scraper to the reference initial position, wherein the reference initial position is located at the first end point of the scraper track in the base station, and the method further comprises the following steps:
when the mobile robot is detected to move to a preset position of a base station, controlling a scraper to move to a reference initial position, wherein the reference initial position is located at a first end point of a scraper track in the base station, and the preset position of the base station is used for indicating that the base station detects the position of the mobile robot for receiving cleaning work;
controlling the angle of a scraping blade in the scraping blade to swing from an initial angle to a preset angle, wherein the initial angle is used for indicating the deflection angle between the scraping blade and the scraping blade rail when the scraping blade keeps a preset distance from a dragging piece in the mobile robot, and the preset angle is used for indicating the deflection angle between the scraping blade and the scraping blade rail when the scraping blade contacts the dragging piece in the mobile robot;
controlling the scraper to do reciprocating motion once along the scraper track, and controlling the water spraying points on the two sides of the scraper track to do water spraying operation according to the real-time relative position relationship between the scraper and the water spraying points in the reciprocating motion process;
and when the scraper returns to the reference initial position from the second end point of the scraper track, adding 1 to the cleaning times, wherein the initial value of the cleaning times is a preset value.
2. The cleaning control method according to claim 1, wherein after the adding of 1 to the number of times of cleaning when the blade returns from the second end point of the blade rail to the reference initial position, the initial value of the number of times of cleaning being a preset value, the cleaning control method further comprises:
judging whether the cleaning times are smaller than a preset time threshold value or not;
if the cleaning times are smaller than a preset time threshold value, continuing cleaning;
and if the cleaning times are equal to a preset time threshold value, stopping the cleaning work of the mobile robot and resetting the scraper.
3. The cleaning control method according to any one of claims 1 to 2, wherein the controlling the blade to perform one reciprocating motion along the blade rail and the controlling the water spray points on both sides of the blade rail to perform the water spray operation based on a real-time relative positional relationship between the blade and the water spray points during the reciprocating motion includes:
the scraper is driven by a motor to reciprocate once between a first limit switch and a second limit switch along the scraper track, and the first limit switch and the second limit switch are respectively arranged at a first end point of the scraper track and a second end point of the scraper track;
in the reciprocating motion process, determining a real-time relative linear distance between the scraper and a positioning reference point, wherein the positioning reference point is the first limit switch or the second limit switch;
and controlling the water spraying points on the two sides of the scraper track to spray water according to the real-time relative linear distance and the real-time relative position relationship between the scraper and the water spraying points.
4. The cleaning control method according to claim 3, wherein the driving of the squeegee by the motor to make one reciprocating motion between the first limit switch and the second limit switch along the squeegee rail includes:
controlling a motor to rotate forwards to drive the scraper to move from a first limit switch to a second limit switch at a constant speed along the scraper track, starting a timer to time, and controlling the motor to stop running until the scraper touches the second limit switch;
controlling the motor to rotate reversely to drive the scraper to move from the second limit switch to the first limit switch at a constant speed along the scraper track, and starting the timer to time until the scraper touches the first limit switch, and controlling the motor to stop running;
and resetting and clearing the timer and the real-time relative linear distance when the motor stops running.
5. The cleaning control method according to claim 3, wherein the determining a real-time relative linear distance between the squeegee and a positioning reference point during the reciprocating motion, the positioning reference point being the first limit switch or the second limit switch, comprises:
in the reciprocating motion process, acquiring the length L of a scraper track, the rotating speed v of a motor and the timing duration t of a timer, wherein the motor is a stepping motor;
and calculating a real-time relative linear distance S between the scraper and a positioning reference point according to the length L of the scraper track, the rotating speed v and the timing duration t, wherein the real-time relative linear distance is S ∑ v ×, or S ═ L- Σ v ×, and the positioning reference point is the first limit switch or the second limit switch.
6. The cleaning control method according to claim 3, wherein the controlling of the water spray points on both sides of the blade rail to perform the water spray operation based on the real-time relative linear distance and the real-time relative positional relationship between the blade and the water spray points includes:
acquiring the horizontal relative distance of each water spray point on two sides of the scraper track, wherein the horizontal relative distance of each water spray point is used for indicating the horizontal distance between the projection point of each water spray point in the length direction of the scraper track and the positioning reference point;
and controlling the water spraying points in front of two sides of the scraper track to spray water according to the real-time relative linear distance and the horizontal relative distance of each water spraying point, and controlling the water spraying points behind two sides of the scraper track to stop spraying water.
7. The cleaning control method according to claim 6, wherein the controlling the water spray points in front of the both sides of the blade rail to perform the water spray operation and the controlling the water spray points in rear of the both sides of the blade rail to stop spraying water, based on the real-time relative linear distance and the horizontal relative distance of each water spray point, comprises:
performing difference operation on the horizontal relative distance of each water spraying point and the real-time relative linear distance to obtain a relative distance difference value of each water spraying point;
when the relative distance difference of the target water spraying points is smaller than or equal to a first preset threshold value, controlling the target water spraying points to spray water, wherein the target water spraying points are positioned in front of two sides of the scraper track;
and when the relative distance difference of the target water spraying points is larger than a second preset threshold value, controlling the target water spraying points to stop spraying water, wherein the target water spraying points are positioned behind two sides of the scraper track.
8. A cleaning control device applied to a base station, the cleaning control device comprising:
the system comprises a resetting module, a control module and a control module, wherein the resetting module is used for resetting a scraper to a reference initial position when detecting that the mobile robot moves to a preset position of a base station, and the reference initial position is located at a first endpoint of a scraper track in the base station;
when the mobile robot is detected to travel to the preset position of the base station, resetting the scraper to the reference initial position, wherein the reference initial position is located at the first end point of the scraper track in the base station, and the method further comprises the following steps:
when the mobile robot is detected to move to a preset position of a base station, controlling a scraper to move to a reference initial position, wherein the reference initial position is located at a first end point of a scraper track in the base station, and the preset position of the base station is used for indicating that the base station detects the position of the mobile robot for receiving cleaning work;
controlling the angle of a scraping blade in the scraping blade to swing from an initial angle to a preset angle, wherein the initial angle is used for indicating the deflection angle between the scraping blade and the scraping blade rail when the scraping blade keeps a preset distance from a dragging part in the mobile robot, and the preset angle is used for indicating the deflection angle between the scraping blade and the scraping blade rail when the scraping blade contacts the dragging part in the mobile robot
The movement module is used for controlling the scraper to do reciprocating movement once along the scraper track and controlling the water spraying points on the two sides of the scraper track to do water spraying operation according to the real-time relative position relation between the scraper and the water spraying points in the reciprocating movement process;
and the calculating module is used for adding 1 to the cleaning times when the scraper returns to the reference initial position from the second end point of the scraper track, and the initial value of the cleaning times is a preset value.
9. A cleaning control system is characterized by comprising a mobile robot and a base station, wherein the base station is used for cleaning the mobile robot;
the mobile robot comprises a robot body, a driving assembly and a cleaning assembly;
the robot body is used for setting a cleaning path and an area to be cleaned;
the driving assembly is used for driving the robot body to move in the area to be cleaned according to the cleaning path;
the cleaning assembly comprises a cleaning piece and a mopping piece and is used for cleaning the area to be cleaned;
the base station comprises a base station body, a scraping and rubbing cleaning assembly and a water spraying cleaning assembly;
the base station body is used for detecting the position of the mobile robot and controlling the rubbing and wiping component and the water spraying cleaning component to clean the rubbing and wiping component;
the scraping and rubbing cleaning assembly comprises a scraping plate and a scraping plate rail, wherein the scraping plate comprises a sliding base which runs on the scraping plate rail and a scraping blade which is used for cleaning the scraping piece, and the scraping plate is used for controlling the scraping plate to move to a reference initial position when the position of the mobile robot advances to a preset position of a base station, controlling the angle of the scraping blade in the scraping plate to swing from the initial angle to the preset angle and driving the scraping plate to reciprocate between a first limit switch and a second limit switch along the scraping plate rail, the reference initial position is located at a first endpoint of the scraping plate rail in the base station, the preset position of the base station is used for indicating the base station to detect the position where the mobile robot receives cleaning work, the initial angle is used for indicating the deflection angle between the scraping blade and the scraping plate rail when the scraping blade and the scraping piece in the mobile robot keep a preset distance, the preset angle is used for indicating the deflection angle between the scraping blade and the scraping blade track when the scraping blade contacts a dragging piece in the mobile robot;
and the water spraying cleaning assembly is used for spraying water to the mobile robot through the water spraying points on the two sides of the scraper track.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a cleaning control method according to any one of claims 1 to 7.
CN202110194299.9A 2021-02-21 2021-02-21 Cleaning control method, device and system and storage medium Active CN112971646B (en)

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CN114471286A (en) * 2021-12-17 2022-05-13 苏州镁伽科技有限公司 Control method and device for mobile device, storage medium and blending equipment
CN114224236A (en) * 2022-01-06 2022-03-25 帝舍智能科技(武汉)有限公司 Multi-nozzle cleaning device for mopping and sweeping integrated cleaning roller, cleaning tool and control method
CN116807329A (en) * 2022-03-22 2023-09-29 追觅创新科技(苏州)有限公司 Method and device for controlling cleaning of area, storage medium and electronic device

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