CN113693524A - Dust collecting method, device, equipment and readable storage medium - Google Patents

Dust collecting method, device, equipment and readable storage medium Download PDF

Info

Publication number
CN113693524A
CN113693524A CN202110849593.9A CN202110849593A CN113693524A CN 113693524 A CN113693524 A CN 113693524A CN 202110849593 A CN202110849593 A CN 202110849593A CN 113693524 A CN113693524 A CN 113693524A
Authority
CN
China
Prior art keywords
dust
base station
dust box
cleaning robot
humidity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110849593.9A
Other languages
Chinese (zh)
Other versions
CN113693524B (en
Inventor
龚珂
丁民权
刘振涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
Original Assignee
Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to CN202110849593.9A priority Critical patent/CN113693524B/en
Priority to CN202310120381.6A priority patent/CN116098523A/en
Publication of CN113693524A publication Critical patent/CN113693524A/en
Application granted granted Critical
Publication of CN113693524B publication Critical patent/CN113693524B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4025—Means for emptying
    • 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
    • A47L11/4027—Filtering or separating contaminants or debris
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
    • F26B21/001—Drying-air generating units, e.g. movable, independent of drying enclosure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
    • F26B21/06—Controlling, e.g. regulating, parameters of gas supply
    • F26B21/08—Humidity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • 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
    • A47L2201/024—Emptying dust or waste liquid containers
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Medicinal Chemistry (AREA)
  • Food Science & Technology (AREA)
  • Filtering Of Dispersed Particles In Gases (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

After the cleaning robot stops at the base station, a starting instruction is sent to the base station to start a drying part of the base station, and hot air is generated after the drying part is started. The fan assembly of the cleaning robot extracts the hot air to form hot air flow, and the hot air flow enters from the dust inlet of the dust box of the cleaning robot and is blown out from the filter screen of the dust box, so that the moisture in the dust box is taken away, and the dust and other garbage in the dust box are dried. Thereafter, the cleaning robot turns off the fan assembly, sends a dust collection command to the base station, and collects dust to clean the dust box. Adopt this kind of scheme, through the collection dirt passageway of rubbish in the stoving cleaning machines people dirt box in order to avoid blockking up the basic station to effectively prevent the dust collection pipeline of taking moisture's dust to block up the basic station, reduce the power consumption of basic station, promote the stability of clean effect and product, reduce the fault incidence.

Description

Dust collecting method, device, equipment and readable storage medium
Technical Field
The present disclosure relates to the field of robotics, and more particularly, to a dust collecting method, apparatus, device, and readable storage medium.
Background
Along with the improvement of the living standard of people, the sweeping robot is widely applied to daily life or work, the time of a user is greatly saved, and the daily cleaning burden of the user is reduced.
After the sweeping robot works for a period of time, the sweeping robot needs to be maintained. At present, the sweeping robot is maintained through a base station matched with the sweeping robot. For example, maintenance of the sweeping robot, etc.
However, most of the maintenance functions of the existing base station only have a charging function, so that the robot cannot collect dust, and a user needs to manually empty a dust box of the sweeping robot, so that the sweeping robot is poor in convenience and complex in operation.
Disclosure of Invention
The application provides a dust collection method, a dust collection device, equipment and a readable storage medium, and the dust collection method, the device and the equipment can improve the convenience of a sweeping cleaning robot by automatically collecting dust and avoid blocking a dust collection channel of a base station by drying garbage in a dust box of the sweeping cleaning robot.
In a first aspect, an embodiment of the present application provides a dust collecting method applied to a cleaning robot, including:
controlling the cleaning robot to stop at a base station;
sending a starting instruction to the base station, wherein the starting instruction is used for indicating a drying part of the base station to heat air to obtain hot air;
starting a fan assembly of the cleaning robot to enable the hot air to form hot air flow, wherein the hot air flow enters a dust box of the cleaning robot from a dust inlet of the dust box and is blown out of a filter screen of the dust box;
turning off the fan assembly;
and sending a dust collection instruction to the base station, wherein the dust collection instruction is used for instructing the base station to clean dust in the dust box.
In a second aspect, an embodiment of the present application provides a dust collecting apparatus, including:
fan subassembly and dirt box, set up the filter screen on two relative faces of dirt box and advance the dirt mouth, wherein:
the fan assembly is used for extracting hot air obtained by heating air in the drying part of the base station to form hot air flow, and the hot air flow enters the dust box from a dust inlet of the dust box of the cleaning robot and is blown out from a filter screen of the dust box.
In a third aspect, an embodiment of the present application provides a dust collecting apparatus, including:
the processing module is used for controlling the cleaning robot to stop at a base station;
the sending module is used for sending a starting instruction to the base station, and the starting instruction is used for indicating a drying part of the base station to heat air to obtain hot air;
the starting module is used for starting a fan assembly of the cleaning robot to enable the hot air to form hot air flow, and the hot air flow enters the dust box from a dust inlet of the dust box of the cleaning robot and is blown out of a filter screen of the dust box;
the processing module is also used for turning off the fan assembly;
the sending module is further configured to send a dust collection instruction to the base station, where the dust collection instruction is used to instruct the base station to clean dust in the dust box.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the processor when executing the computer program causing the electronic device to carry out the method according to the first aspect or the various possible implementations of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, in which computer instructions are stored, and when executed by a processor, the computer instructions are configured to implement the method according to the first aspect or various possible implementation manners of the first aspect.
In a sixth aspect, embodiments of the present application provide a computer program product comprising a computer program, which when executed by a processor, implements the method according to the first aspect or the various possible implementations of the first aspect.
According to the dust collection method provided by the embodiment of the application, after the cleaning robot stops at the base station, the cleaning robot sends a starting instruction to the base station to start the drying part of the base station, and hot air is generated after the drying part is started. The fan assembly of the cleaning robot extracts the hot air to form hot air flow, and the hot air flow enters from the dust inlet of the dust box of the cleaning robot and is blown out from the filter screen of the dust box, so that the moisture of the garbage in the dust box is taken away, and the garbage in the dust box is dried. Thereafter, the cleaning robot turns off the fan assembly, sends a dust collection command to the base station, and collects dust to clean the dust box. By adopting the scheme, the user does not need to take out the dust box and dump garbage from the cleaning robot, but the convenience of the floor sweeping cleaning robot is improved through automatic dust collection. Simultaneously, through the collection dirt passageway of stoving in the cleaning machines people dirt box in order to avoid blockking up the basic station to effectively prevent that the dust of taking moisture from blockking up the collection dirt pipeline of basic station, reduce the power consumption of basic station, promote the stability of clean effect and product, reduce the fault incidence. Moreover, no additional component is needed, namely, the cost is not increased, and the flow is optimized. In addition, the dust in the dust box is dried, so that the dust box can be prevented from being adhered to the dust box, and the dust box is easy to clean.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic environmental diagram illustrating an embodiment of a dust collecting method according to the present disclosure;
fig. 2 is a schematic diagram of the structure of the base station in fig. 1;
FIG. 3 is a schematic view of the dust collecting device provided on the cleaning robot in FIG. 1;
FIG. 4 is a flow chart of a dust collection method provided by an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a position of a humidity sensor in a dust collecting method according to an embodiment of the present disclosure;
FIG. 6 is a flow chart of a dust collection method provided by an embodiment of the present application;
FIG. 7 is a schematic view of another dust collector provided in the embodiments of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
At present, sweeping and mopping integration and automatic dust collection are development directions of intelligent sweeping robots. The sweeping and mopping integration can save the trouble of mopping the floor for the user, save a large amount of time for the user, and the automatic dust collection function further lightens the daily cleaning burden. The combination of sweeping and mopping as a whole and automatic dust collection saves a great deal of time for users, and achieves the purpose of really liberating hands.
In order to enable the sweeping robot to continuously run for a long time, a base station is additionally arranged and used for adding water, charging, collecting dust, cleaning mops and the like to the sweeping robot. After working for a period of time, the sweeping robot is in butt joint with the base station, and the base station starts a dust collecting function so as to empty dust and other garbage in a dust box of the sweeping robot.
However, the combination of the sweeping and mopping body and the automatic dust collection brings about the following scenarios: when the floor is mopped, part of dust can be wetted, and the wetted dust is sucked into the dust box by the rolling brush of the sweeping robot. Or, the sweeping robot is likely to sweep a wet area during working, so that garbage with moisture is collected and stored in the dust box. After the sweeping robot is in butt joint with the base station, a dust collecting port of the sweeping robot is communicated with a dust collecting port of the base station through a dust collecting channel, and a fan assembly of the base station rotates to generate air flow so as to suck away dust and other garbage in the dust box.
However, since the dust in the dust box contains moisture, the base station can suck the moisture-containing dust during dust collection, and the dust to be ash can easily block the dust suction opening of the base station, so that the dust suction pressure is increased and the dust collection is difficult. The problems that a fan assembly of a base station is damaged due to high-load work, a dust collection channel is blocked and dust collection is difficult to achieve and the like are easily caused for a long time. In addition, moisture is mixed with dust in a dust box of the sweeping robot, and part of the dust can be adhered to the dust box and is difficult to suck away by a base station.
Based on this, the embodiments of the present application provide a dust collecting method, apparatus, device and readable storage medium, which improve the convenience of the cleaning robot by automatically collecting dust, and simultaneously avoid blocking the dust collecting channel of the base station by drying the garbage in the dust box of the cleaning robot.
Fig. 1 is a schematic environmental diagram illustrating an implementation environment of a dust collecting method according to an embodiment of the present disclosure. Referring to fig. 1, the embodiment includes a base station 11 and a cleaning robot 12. The base station 11 is fixed in position on a wall or the like, the base station 11 also being called a base, a maintenance station, a dust collecting station, a charging station, a dust collecting base, a cleaning base, a charging pile or the like. The cleaning robot 12 is also called a sweeping robot, a sweeper, or the like, and can autonomously move on the floor in the room 13 to perform floor cleaning, mopping, or the like. And, the cleaning robot 12 can also move to the base station 11 to perform the operations of charging, adding water, drying the mop, removing foreign matters from the roller brush, and the like. The cleaning robot 12 is provided with a dust collecting device including a fan assembly, a dust box, and the like.
In general, when the cleaning robot 12 stops at the base station 11 to collect dust, the fan assembly of the cleaning robot 12 stops operating, and the fan assembly of the base station 11 operates to suck up dust and other debris in the dust box of the cleaning robot 12. In this application embodiment, when cleaning robot 12 docks on the load-bearing platform of basic station 11 and gathers dust, if the dust moisture in the dust box of cleaning robot 12 is great, then the stoving portion work of basic station 11 produces the heat, this heat makes the air around the stoving portion become hot-air, cleaning robot 12's fan subassembly work, the hot-air of extraction formation self-cleaning robot's dust box enters into the dust box and the hot gas flow that blows off from the filter screen of dust box, thereby moisture among the dust box is taken away to the hot gas flow and rubbish in the dry dust box. Thereafter, during dust collection, the fan assembly of the cleaning robot 12 stops operating, and the fan assembly of the base station 11 operates to generate a suction wind force to suck away the dust in the dust box of the cleaning robot 12.
Fig. 2 is a schematic structural diagram of the base station in fig. 1. Referring to fig. 2, the base station 200 (i.e., the base station 11 in fig. 1) is generally L-shaped, and includes a carrying platform 21, a side wall 22, a drying portion 23, and the like, wherein the carrying platform 21 allows the cleaning robot to stop, and the drying portion 23 is disposed on the carrying platform 21 and is used for drying the cloth (also referred to as a rag) of the cleaning robot. The side wall 22 is provided with a fan assembly for supplying a suction wind to clean a dust box of the cleaning robot, a dust collecting part for collecting dust in the dust box, and the like.
Fig. 3 is a schematic view of the dust collecting device provided on the cleaning robot in fig. 1. Referring to fig. 3, the dust collecting device 300 includes: the dust box 31 is used for accommodating garbage such as dust, the fan assembly 32 is used for extracting hot air generated by a drying part of the base station to form hot air flow, after the hot air flow passes through a rolling brush of the cleaning robot, the dust inlet of the dust box 31 of the self-cleaning robot enters the dust box 31 and is blown out of the filter screen 312 of the dust box 31, and arrows in the figure indicate the direction of the hot air flow. When hot air flow passes through the dust box 31, the hot air flow is high in temperature and high in flow velocity, so that moisture in dust and other garbage can be taken away, and the function of dehumidifying and air-drying the garbage is achieved.
The dust box 31 is further provided with a dust collection port 313 and the like, and the dust collection port 313 is connected to a dust collection unit of the base station.
Next, the dust collecting method according to the embodiment of the present application will be described in detail based on the embodiment environment shown in fig. 1, the base station shown in fig. 2, and the dust collecting device shown in fig. 3. For example, please refer to fig. 4.
Fig. 4 is a flowchart of a dust collecting method according to an embodiment of the present disclosure. The present embodiment is explained from the perspective of a cleaning robot, and the present embodiment includes:
401. and controlling the cleaning robot to stop at a base station.
In the embodiment of the application, the base station is provided with the infrared transmitter and the like, and can emit infrared beams of 360 degrees in all directions at a long distance outwards to guide the cleaning robot to approach the base station from a distance. In addition, the base station can also emit short-distance and small-angle infrared beams to guide the cleaning robot moving to the base station to accurately stop at the base station in a fixed posture. Wherein, the fixed posture means: the parking position of the cleaning robot relative to the base station is the same every time, and the parking position is the optimal position for charging, cleaning and rolling the brush and drying the rag of the cleaning robot. And after the cleaning robot stops at the optimal position, determining the humidity of the dust box, and determining whether to send a starting instruction according to the humidity of the dust box.
When the dust and other garbage in the dust box of the cleaning robot are more, controlling the cleaning robot to stop at the base station; or when the cleaning robot needs to add water and charge, the cleaning robot is controlled to stop at the base station.
402. And sending a starting instruction to a base station, wherein the starting instruction is used for indicating a drying part of the base station to heat air to obtain hot air.
The cleaning robot is parked on the base station, which is also called the cleaning robot is docked with the base station. After the cleaning robot stops at the base station, a start instruction is sent to the base station to instruct the base station to start the drying part. The drying part generates heat during operation and transfers the heat to the surrounding air to form hot air.
403. The fan assembly of the cleaning robot is started to enable the hot air to form hot air flow, and the hot air flow enters the dust box from the dust inlet of the dust box of the cleaning robot and is blown out from the filter screen of the dust box.
In the embodiment of the application, the fan assembly of the cleaning robot is used for collecting dust in the sweeping process and extracting hot air generated by the drying part of the base station to form hot air flow after the cleaning robot stops on the base station.
Referring to fig. 3, the dust box is provided with a dust inlet and a filter screen. In the drying process, hot air flow enters a dust box of the self-cleaning robot from a dust inlet of the dust box and is blown out from a filter screen of the dust box. Because the hot air flow has high temperature and high speed, the hot air flow can take away the moisture in the garbage when passing through the dust box.
The cleaning robot sweeps the floor in-process, and cleaning robot's fan subassembly work produces suction and inhales rubbish from advancing the dirt mouth and inhale the dirt box, because the isolation effect of filter screen, the in-process of circulation of air, the dust is held by the filter screen, and the filter screen is passed to clean air relatively.
404. The fan assembly is turned off.
For example, when the garbage in the dust box is dried, the cleaning robot turns off the fan assembly and does not deliver hot air to the dust box.
405. And sending a dust collection instruction to the base station, wherein the dust collection instruction is used for instructing the base station to clean dust in the dust box.
Illustratively, the cleaning robot sends a dust collection instruction to the base station instructing the base station to clean the dust box. After the base station receives the dust collection instruction, the drying part is closed and the fan assembly on the base station is started, the fan assembly on the base station works to generate dust collection airflow, and the dust collection airflow brings garbage to a dust collection part of the base station from a dust collection opening of the dust box.
According to the dust collection method provided by the embodiment of the application, after the cleaning robot stops at the base station, the cleaning robot sends a starting instruction to the base station to start the drying part of the base station, and hot air is generated after the drying part is started. The fan assembly of the cleaning robot extracts the hot air to form hot air flow, and the hot air flow enters from the dust inlet of the dust box of the cleaning robot and is blown out from the filter screen of the dust box, so that the moisture of the garbage in the dust box is taken away, and the garbage in the dust box is dried. Thereafter, the cleaning robot turns off the fan assembly, sends a dust collection command to the base station, and collects dust to clean the dust box. By adopting the scheme, the user does not need to take out the dust box and dump garbage from the cleaning robot, but the convenience of the floor sweeping cleaning robot is improved through automatic dust collection. Simultaneously, through the collection dirt passageway of stoving in the cleaning machines people dirt box in order to avoid blockking up the basic station to effectively prevent that the dust of taking moisture from blockking up the collection dirt pipeline of basic station, reduce the power consumption of basic station, promote the stability of clean effect and product, reduce the fault incidence. Moreover, no additional component is needed, namely, the cost is not increased, and the flow is optimized. In addition, the dust in the dust box is dried, so that the dust box can be prevented from being adhered to the dust box, and the dust box is easy to clean.
Optionally, in the above embodiment, after the cleaning robot stops at the base station each time, a start instruction is sent to the base station; alternatively, a humidity sensor may be disposed on the cleaning robot, and the humidity sensor may be disposed at a side wall of a dust box of the cleaning robot, a filter screen of the dust box, or the like. The cleaning robot utilizes the humidity sensor to detect the humidity of the dust box, and when the humidity is greater than or equal to the preset humidity, if the cleaning robot stops at the base station, the cleaning robot sends a starting instruction to the base station.
When the humidity is smaller than the preset humidity, the dust box is relatively dry and does not need to be dried. After the cleaning robot stops at the base station, the fan assembly of the cleaning robot does not need to work, and the fan assembly of the base station works to clean up garbage in the dust box.
By adopting the scheme, the cleaning robot starts the drying process when the humidity of the dust box is larger, the dust box is not required to be dried when the cleaning robot stops on the base station at every time, and the power and the time of the base station and the cleaning robot are reduced.
In the above embodiments, the cleaning robot does not define the time point at which the humidity of the dust box is determined. For example, the cleaning robot may determine the humidity of the dust box after each docking at the base station. In this way, the cleaning robot does not need to determine the humidity of the dust box during normal operation, and only when the cleaning robot stops at the base station for dust collection, the cleaning robot determines the humidity of the dust box.
By adopting the scheme, the cleaning robot is prevented from frequently stopping on the base station while the purpose of drying the dust box during dust collection is realized.
For another example, the humidity of the dust box is determined when the cleaning robot is in an operating state. In this manner, the humidity of the dust box is periodically detected during operation before the cleaning robot is parked at the base station. Once the humidity of the dust box is larger than or equal to the preset threshold value, the cleaning robot is controlled to stop at the base station, and then a starting instruction is sent to the base station, so that the aim of drying the dust box in time is fulfilled.
In addition, in order to prevent the cleaning robot from frequently stopping at the base station, when the cleaning robot in the working state determines that the humidity of the dust box is greater than or equal to the preset humidity, the cleaning robot continues to determine the residual space of the dust box, and only when the residual space is smaller than the preset space, the cleaning robot moves to the base station and stops at the base station.
If the humidity of the dust box is smaller than the preset humidity, or even if the humidity of the dust box is larger than or equal to the preset humidity and the residual space of the dust box is smaller than the preset space, the cleaning robot continues to work, does not move to the base station, and further does not send a starting instruction to the base station.
Optionally, in the above embodiment, the cleaning robot detects the humidity of the airflow generated by the air sucked by the fan assembly by using a humidity sensor disposed between the filter screen on the dust box and the fan assembly, and uses the humidity of the airflow as the humidity of the dust box.
Fig. 5 is a schematic diagram illustrating a position of a humidity sensor in a dust collecting method according to an embodiment of the present disclosure. Referring to fig. 3 and 5, compared to the dust collecting device 300 shown in fig. 3, the dust collecting device 500 of the present embodiment further includes a humidity sensor 53 in addition to the dust box 51 and the fan assembly 52, and the dust box 51 is provided with a dust inlet 511, a filter screen 512 and a dust collecting port 513. Wherein the humidity sensor 53 is disposed between the fan assembly 52 and the screen 512. The fan assembly 52 can provide a bottom-to-top suction to collect dust and other debris, or alternatively, draw hot air to form a hot air flow that enters the dust box from a dust inlet of the dust box of the robot and blows out of a filter screen of the dust box. The humidity sensor 53 is used to detect the humidity of the airflow formed by the air drawn by the fan assembly 52.
Referring to fig. 5, if the cleaning robot is not parked on the base station, i.e. the humidity of the dust box is detected during normal operation, the fan assembly 52 sucks air and generates an air flow, the air flow enters the dust box from the dust inlet 511 of the dust box of the cleaning robot and is blown out from the filter screen 512 of the dust box, and the humidity sensor 53 detects the humidity of the air flow, and uses the humidity of the air flow as the humidity of the dust box. At this time, the drying part of the base station is not operated, and thus, the air flow is different from the above-mentioned hot air flow.
If the cleaning robot stops on the base station to detect the humidity of the dust box, the drying part of the base station does not work, the fan assembly of the cleaning robot is in a working state to provide suction, the suction sucks air and generates air flow, the air flow automatically cleans the dust box of the robot, the dust inlet of the dust box of the air flow enters the dust box and blows out the air flow from a filter screen of the dust box, the humidity sensor detects the humidity of the air flow, and the humidity of the air flow is used as the humidity of the dust box.
It should be noted that, although the above description is made by taking the example in which the humidity sensor 53 is disposed between the filter screen 512 and the fan assembly 52 of the cleaning robot. However, the embodiments of the present application are not limited thereto. For example, in other possible implementations, the humidity sensor 53 may be disposed on a side wall of the dust box, a filter screen of the dust box, or the like.
By adopting the scheme, the aim of accurately determining the humidity of the dust box is fulfilled.
Optionally, in the above embodiment, the cleaning robot may turn off the blower assembly and instruct the base station to turn off the drying part after the drying part of the base station operates for a preset time period. Or, referring to fig. 5 again, the dust box is further provided with a dust collection port 513, the dust collection port 513 and the dust inlet 511 are located on different surfaces of the dust box, and the dust collection port 513 and the filter screen 512 are located on different surfaces of the dust box. Humidity sensor 53 constantly detects the humidity of the hot gas flow during the drying process, and when the humidity of the hot gas flow is less than the preset humidity, the cleaning robot closes the fan assembly and instructs the base station to close the drying part.
Thereafter, the fan assembly of the base station is operated, and the fan assembly of the base station is rotated to generate a dust collecting airflow, which enters the dust box through the dust collecting port 513 to suck away the dust and other garbage in the dust box. Wherein, set up the collection dirt passageway between dust collection mouth 513 and the dust absorption mouth of basic station, the dust absorption mouth of basic station is connected with the dust collection part of basic station, and a large amount of rubbish can be held to the dust collection part.
In the dust collection process, because the fan assembly of the cleaning robot is closed, only the fan assembly of the base station works, the suction force provided by the fan assembly of the base station is not interfered by external connection, and the dust box is cleaned quickly.
Fig. 6 is a flow chart of a dust collecting method according to an embodiment of the present disclosure. The embodiment comprises the following steps:
601. the cleaning robot is parked on the base station.
602. The cleaning robot judges whether a humidity sensor is installed, if so, step 602 is executed; if the humidity sensor is not installed, step 605 is executed.
For example, after the cleaning robot returns to the base station and before dust collection, it is determined whether a humidity sensor is installed, and if the humidity sensor is installed, step 602 is executed; if the humidity sensor is not installed, step 605 is executed.
603. The humidity of the dust box is detected by a humidity sensor.
604. Judging whether the humidity is greater than or equal to a preset humidity, if so, executing a step 605; if the humidity is less than the predetermined humidity, go to step 606.
605. And starting a dust dehumidification process.
606. And starting a dust collection process.
In step 604 and 605, if the humidity is higher, the cleaning robot triggers the base station to start the drying part, and synchronously opens the fan assembly of the robot, and the fan assembly extracts hot air generated by the drying part of the base station to form hot air flow, and the hot air flow automatically cleans the dust inlet of the dust box of the robot, enters the dust box and blows out from the filter screen of the dust box. If the humidity is lower, the dust box is relatively dry, and dust is directly collected.
In addition, for the cleaning robot without a humidity sensor, when dust is collected each time, the base station is triggered to start the drying part while the fan assembly of the cleaning robot works, so that the fan assembly of the cleaning robot and the drying part of the base station work.
Fig. 7 is a schematic view of another dust collecting apparatus provided in the embodiments of the present application. Referring to fig. 7, the dust collecting apparatus includes: a processing module 71, a sending module 72 and a starting module 73.
A processing module 71, configured to control the cleaning robot to stop at a base station;
a sending module 72, configured to send a start instruction to the base station, where the start instruction is used to instruct a drying unit of the base station to heat air to obtain hot air;
a starting module 73, configured to start a fan assembly of the cleaning robot to generate a hot air flow, where the hot air flow enters a dust box of the cleaning robot from a dust inlet of the dust box and is blown out of a filter screen of the dust box;
a processing module 71, further configured to turn off the fan assembly;
the sending module 72 is further configured to send a dust collection instruction to the base station, where the dust collection instruction is used to instruct the base station to clean up dust in the dust box.
In one possible implementation, the processing module 71 is further configured to determine the humidity of the dust box;
the sending module 72 is configured to send the start instruction to the base station when the humidity determined by the processing module 71 is greater than or equal to a preset humidity.
In one possible implementation, the processing module 71 determines the humidity of the dust box when the cleaning robot is parked on the base station; or, the humidity of the dust box is determined before the cleaning robot is parked on the base station and in a working state.
In a possible implementation manner, the processing module 71 is further configured to determine that the remaining space of the dust box is smaller than the preset space after determining the humidity of the dust box before the cleaning robot stops at the base station and when the cleaning robot is in the working state.
In a possible implementation, when the processing module 71 determines the humidity of the dust box, the humidity of the airflow generated by the air sucked by the fan assembly is detected by using a humidity sensor disposed between the filter screen of the dust box and the fan assembly, and the humidity of the airflow is used as the humidity of the dust box.
In a possible implementation manner, when the processing module 71 turns off the fan assembly, the processing module is configured to turn off the fan assembly after the drying part works for a preset time period; or when the humidity of the hot air flow is smaller than the preset humidity, the fan assembly is closed.
In one possible implementation, the dust collection instruction is used to instruct the base station to activate a fan assembly on the base station to generate a dust collection airflow that enters the dust box from the dust inlet of the dust box and blows out from the dust collection opening of the dust box.
The dust collecting device provided by the embodiment of the application can execute the actions of the cleaning robot in the above embodiments, and the implementation principle and the technical effect are similar, which are not described again.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 800 is, for example, the cleaning robot described above. As shown in fig. 8, the electronic device 800 includes:
a processor 801 and a memory 802;
the memory 802 stores computer instructions;
the processor 801 executes the computer instructions stored by the memory 802, causing the processor 801 to perform the dust collection method as described above.
For a specific implementation process of the processor 801, reference may be made to the above method embodiments, which have similar implementation principles and technical effects, and details of this embodiment are not described herein again.
Optionally, the electronic device 800 further comprises a communication component 803. Wherein the processor 801, the memory 802 and the communication component 803 may be connected by a bus 804.
Embodiments of the present application also provide a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are executed by a processor to implement the dust collecting method as described above.
Embodiments of the present application also provide a computer program product, which contains a computer program, and when the computer program is executed by a processor, the dust collecting method as described above is implemented.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (12)

1. A dust collecting method applied to a cleaning robot, the method comprising:
controlling the cleaning robot to stop at a base station;
sending a starting instruction to the base station, wherein the starting instruction is used for indicating a drying part of the base station to heat air to obtain hot air;
starting a fan assembly of the cleaning robot to enable the hot air to form hot air flow, wherein the hot air flow enters a dust box of the cleaning robot from a dust inlet of the dust box and is blown out of a filter screen of the dust box;
turning off the fan assembly;
and sending a dust collection instruction to the base station, wherein the dust collection instruction is used for instructing the base station to clean dust in the dust box.
2. The method of claim 1, wherein before sending the start instruction to the base station, further comprising:
determining the humidity of the dust box;
the sending a start instruction to the base station includes:
and when the humidity is greater than or equal to a preset humidity, sending the starting instruction to the base station.
3. The method of claim 2, wherein determining the humidity of the dirt box comprises:
determining a humidity of the dust box while the cleaning robot is parked on the base station;
or,
determining the humidity of the dust box when the cleaning robot is in a working state before the cleaning robot is parked on the base station.
4. The method of claim 3, wherein controlling the cleaning robot to dock before the base station after determining the humidity of the dust box while the cleaning robot is in operation before docking at the base station further comprises:
and determining that the residual space of the dust box is smaller than a preset space.
5. The method of any of claims 2-4, wherein determining the humidity of the dirt box comprises:
the humidity of the air flow generated by the air sucked by the fan component is detected by utilizing a filter screen arranged on the dust box and a humidity sensor between the fan components, and the humidity of the air flow is taken as the humidity of the dust box.
6. The method of any of claims 1-4, wherein the shutting down the fan assembly comprises:
when the drying part works for a preset time, the fan assembly is closed;
or,
and when the humidity of the hot air flow is less than the preset humidity, closing the fan assembly.
7. The method according to any one of claims 1 to 4,
the dust collection instruction is used for instructing the base station to start a fan assembly on the base station to generate a dust collection airflow, and the dust collection airflow enters the dust box from the dust inlet of the dust box and blows out from the dust collection opening of the dust box.
8. A dust collecting apparatus, comprising:
fan subassembly and dirt box, set up the filter screen on two relative faces of dirt box and advance the dirt mouth, wherein:
the fan assembly is used for extracting hot air obtained by heating air by the drying part of the base station to form hot air flow, and the hot air flow enters the dust box from a dust inlet of the dust box of the self-cleaning robot and is blown out from a filter screen of the dust box.
9. The apparatus of claim 8, further comprising:
the humidity sensor is arranged between the fan assembly and the filter screen and used for detecting the humidity of airflow generated by air sucked by the fan assembly;
the fan assembly is specifically used for extracting hot air obtained by heating air by the drying part of the base station to form the hot air flow when the humidity is greater than or equal to a preset humidity.
10. The apparatus according to claim 8 or 9,
the dust box is also provided with a dust collecting opening, the dust collecting opening and the dust inlet are respectively positioned on two adjacent surfaces of the dust box and used for leading the dust collecting airflow of the dust box to be introduced into the dust collecting part of the base station so as to clean the dust box when the humidity of the hot air flow is smaller than the preset humidity and the fan assembly of the base station generates the dust collecting airflow.
11. An electronic device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, causes the electronic device to carry out the method of any one of claims 1 to 7.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
CN202110849593.9A 2021-07-27 2021-07-27 Dust collecting method, device, equipment and readable storage medium Active CN113693524B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202110849593.9A CN113693524B (en) 2021-07-27 2021-07-27 Dust collecting method, device, equipment and readable storage medium
CN202310120381.6A CN116098523A (en) 2021-07-27 2021-07-27 Dust collection method and cleaning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110849593.9A CN113693524B (en) 2021-07-27 2021-07-27 Dust collecting method, device, equipment and readable storage medium

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202310120381.6A Division CN116098523A (en) 2021-07-27 2021-07-27 Dust collection method and cleaning robot

Publications (2)

Publication Number Publication Date
CN113693524A true CN113693524A (en) 2021-11-26
CN113693524B CN113693524B (en) 2023-04-07

Family

ID=78650579

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202310120381.6A Pending CN116098523A (en) 2021-07-27 2021-07-27 Dust collection method and cleaning robot
CN202110849593.9A Active CN113693524B (en) 2021-07-27 2021-07-27 Dust collecting method, device, equipment and readable storage medium

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN202310120381.6A Pending CN116098523A (en) 2021-07-27 2021-07-27 Dust collection method and cleaning robot

Country Status (1)

Country Link
CN (2) CN116098523A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115299809A (en) * 2022-07-19 2022-11-08 北京石头世纪科技股份有限公司 Cleaning system, control method and device thereof, and storage medium
CN116269083A (en) * 2023-05-04 2023-06-23 云鲸智能(深圳)有限公司 Control method of cleaning system and cleaning system
WO2023134155A1 (en) * 2022-01-11 2023-07-20 北京石头世纪科技股份有限公司 Automatic cleaning apparatus and system

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01104230A (en) * 1987-10-16 1989-04-21 Sanyo Electric Co Ltd Electric cleaner
CN107752926A (en) * 2016-08-18 2018-03-06 德国福维克控股公司 Attending device for wet type cleaning equipment
CN209899275U (en) * 2019-04-22 2020-01-07 湖北滴水科技有限公司 Cleaning robot with internal heat dissipation and drying functions
CN210582362U (en) * 2019-06-21 2020-05-22 苏州精弓电器有限公司 Wireless handheld dust collector with drying function
CN210697511U (en) * 2019-05-10 2020-06-09 艾斯美(苏州)智能科技有限公司 Charging seat capable of cleaning rag on sweeping robot
CN211911482U (en) * 2019-02-26 2020-11-13 必胜公司 Surface cleaning apparatus
CN112353327A (en) * 2020-11-12 2021-02-12 深圳市杉川机器人有限公司 Floor sweeping robot base station and cleaning equipment
CN112716387A (en) * 2021-01-22 2021-04-30 珠海市一微半导体有限公司 Dust absorption basic station, cleaning robot and cleaning system
CN112773264A (en) * 2019-11-10 2021-05-11 佛山市云米电器科技有限公司 Maintenance station and sweeping robot
CN112790682A (en) * 2021-02-06 2021-05-14 杭州匠龙机器人科技有限公司 Control method of cleaning robot system
CN112925233A (en) * 2021-01-21 2021-06-08 深圳乐动机器人有限公司 Robot dust collection control method and device and terminal equipment
CN112932346A (en) * 2021-03-23 2021-06-11 深圳市银星智能科技股份有限公司 Cleaning base station and cleaning robot system

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01104230A (en) * 1987-10-16 1989-04-21 Sanyo Electric Co Ltd Electric cleaner
CN107752926A (en) * 2016-08-18 2018-03-06 德国福维克控股公司 Attending device for wet type cleaning equipment
CN211911482U (en) * 2019-02-26 2020-11-13 必胜公司 Surface cleaning apparatus
CN209899275U (en) * 2019-04-22 2020-01-07 湖北滴水科技有限公司 Cleaning robot with internal heat dissipation and drying functions
CN210697511U (en) * 2019-05-10 2020-06-09 艾斯美(苏州)智能科技有限公司 Charging seat capable of cleaning rag on sweeping robot
CN210582362U (en) * 2019-06-21 2020-05-22 苏州精弓电器有限公司 Wireless handheld dust collector with drying function
CN112773264A (en) * 2019-11-10 2021-05-11 佛山市云米电器科技有限公司 Maintenance station and sweeping robot
CN112353327A (en) * 2020-11-12 2021-02-12 深圳市杉川机器人有限公司 Floor sweeping robot base station and cleaning equipment
CN112925233A (en) * 2021-01-21 2021-06-08 深圳乐动机器人有限公司 Robot dust collection control method and device and terminal equipment
CN112716387A (en) * 2021-01-22 2021-04-30 珠海市一微半导体有限公司 Dust absorption basic station, cleaning robot and cleaning system
CN112790682A (en) * 2021-02-06 2021-05-14 杭州匠龙机器人科技有限公司 Control method of cleaning robot system
CN112932346A (en) * 2021-03-23 2021-06-11 深圳市银星智能科技股份有限公司 Cleaning base station and cleaning robot system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023134155A1 (en) * 2022-01-11 2023-07-20 北京石头世纪科技股份有限公司 Automatic cleaning apparatus and system
CN115299809A (en) * 2022-07-19 2022-11-08 北京石头世纪科技股份有限公司 Cleaning system, control method and device thereof, and storage medium
CN115299809B (en) * 2022-07-19 2023-06-30 北京石头世纪科技股份有限公司 Cleaning system, control method and device thereof, and storage medium
CN116269083A (en) * 2023-05-04 2023-06-23 云鲸智能(深圳)有限公司 Control method of cleaning system and cleaning system

Also Published As

Publication number Publication date
CN113693524B (en) 2023-04-07
CN116098523A (en) 2023-05-12

Similar Documents

Publication Publication Date Title
CN113693524B (en) Dust collecting method, device, equipment and readable storage medium
EP3487375B1 (en) Liquid container and autonomous cleaning robot
KR101467341B1 (en) Robot cleaner system having a sub-robot for corner cleaning
CN113854902B (en) Self-cleaning system, self-moving device, workstation and working method thereof
KR102020215B1 (en) Robot cleaner and method for controlling the same
KR101647757B1 (en) Swarm robot cleaner and thereof control method
WO2021197072A1 (en) Smart automatic sweeping/mopping robot
JP2015202408A (en) Self-propelled floor cleaning device comprising a consecutive vehicle, which follows a lead vehicle
CN107595207A (en) Chip evacuation for clean robot
US20180206686A1 (en) Autonomous travel-type cleaner
US20220313051A1 (en) Blocking plug and intelligent cleaning device
CN108903795A (en) Cleaning equipment and roller brush assembly direction of rotation control method
WO2023020490A1 (en) Cleaning robot, control method and apparatus therefor, and electronic device and storage medium
CN113171038A (en) Control method of automatic floor cleaning equipment, storage medium and automatic floor cleaning equipment
CN114391784B (en) Floor washing machine and control method thereof
WO2023134126A1 (en) Automatic cleaning apparatus
WO2024140713A1 (en) Water supply and drainage module state checking method, system, base, and storage medium
CN114587188B (en) Automatic cleaning equipment control method, device, robot and storage medium
JP2003225184A (en) Cleaning device
CN113143117A (en) Dust box for cleaning device, cleaning system, control method, computer device, and computer-readable storage medium
CN209074463U (en) Cleaning equipment
WO2023011124A1 (en) Self-cleaning system, self-moving device, workstation, and working method therefor
KR100631537B1 (en) Sensor dry apparatus for robot cleaner
WO2024193036A1 (en) Base station and cleaning robot system
CN112869647B (en) Foreign matter contact control method, foreign matter contact control device and cleaning equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant