CN115462708B - Cleaning method for mopping piece, cleaning robot and cleaning system - Google Patents
Cleaning method for mopping piece, cleaning robot and cleaning system Download PDFInfo
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- CN115462708B CN115462708B CN202210916839.4A CN202210916839A CN115462708B CN 115462708 B CN115462708 B CN 115462708B CN 202210916839 A CN202210916839 A CN 202210916839A CN 115462708 B CN115462708 B CN 115462708B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 1065
- 238000000034 method Methods 0.000 title claims abstract description 73
- 238000004891 communication Methods 0.000 claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 227
- 239000010865 sewage Substances 0.000 claims description 80
- 230000001502 supplementing effect Effects 0.000 claims description 32
- 230000009471 action Effects 0.000 claims description 21
- 238000002791 soaking Methods 0.000 claims description 12
- 210000001503 joint Anatomy 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 11
- 239000012141 concentrate Substances 0.000 abstract description 3
- 230000002349 favourable effect Effects 0.000 abstract description 3
- 230000003993 interaction Effects 0.000 abstract description 3
- 238000003032 molecular docking Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 4
- 238000011002 quantification Methods 0.000 description 4
- 238000011010 flushing procedure Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000009736 wetting Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 238000011109 contamination Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000002386 leaching Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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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
- A47L11/4011—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
- A47L11/4091—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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
-
- 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 application relates to the technical field of cleaning, and provides a cleaning method, a cleaning robot and a cleaning system for cleaning a cleaning piece, wherein the cleaning method for cleaning the cleaning piece is applied to the cleaning robot, the cleaning robot is provided with the cleaning piece, and the cleaning robot is in communication connection with a cleaning base station, and the method comprises the following steps: after a task instruction for cleaning the cleaning piece is received, generating a corresponding working instruction according to the state information of the cleaning base station, wherein the working instruction at least comprises a cleaning instruction of the corresponding cleaning base station; and sending a cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning base station to clean the mopping piece. Through the communication interaction of cleaning robot and clean basic station, realize the cleaning process of cleaning robot to dragging the piece and carry out the master control to guarantee to wash and drag the work time sequence of wiping the piece and concentrate unification, thereby be favorable to when the cleaning process appears unusual by cleaning robot master control in order to solve unusual in order to promote clean effect and intelligent degree of dragging the piece fast.
Description
Technical Field
The application relates to the technical field of cleaning, in particular to a cleaning method for a mopping piece, a cleaning robot and a cleaning system.
Background
The application scene of the cleaning robot can be household indoor cleaning, large-scale place cleaning and the like. Most of the conventional cleaning robots are provided with a cleaning member so as to clean the indoor environment through the cleaning member, and after the cleaning robot performs a cleaning task for a period of time, the dirt degree of the cleaning member can rise, so that the cleaning capability of the cleaning robot is reduced.
The existing method for cleaning the mopping piece is to clean the mopping piece manually or through a cleaning base station, but in the current cleaning process of the cleaning base station to the mopping piece, the matching degree between the cleaning base station and the cleaning robot is low, the cleaning effect is not intelligent enough, and the cleaning effect is also unsatisfactory.
Disclosure of Invention
The application provides a cleaning method, a cleaning robot and a cleaning system for cleaning a cleaning piece, and aims to solve the technical problems that the matching degree of the cleaning robot and a cleaning base station is low, the cleaning base station cannot clean the cleaning piece intelligently enough, the cleaning effect of the cleaning piece is poor, and the like.
In a first aspect, an embodiment of the present application provides a method for cleaning a cleaning robot, where the cleaning robot is provided with a cleaning element, and the cleaning robot is communicatively connected to a cleaning base station, and the method includes:
After a task instruction for cleaning the cleaning piece is received, generating a corresponding working instruction according to the state information of the cleaning base station, wherein the working instruction at least comprises a cleaning instruction of the corresponding cleaning base station;
and sending a cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning base station to clean the mopping piece.
In a second aspect, an embodiment of the present application also provides a cleaning robot, including:
a housing;
the mopping piece is arranged on the shell and is used for executing preset mopping actions;
the device comprises a controller, a memory, a computer program stored on the memory and executable by the processor, and a data bus for realizing connection communication between the processor and the memory, wherein the computer program realizes the cleaning method of the mopping piece according to any embodiment of the application when being executed by the processor.
In a third aspect, an embodiment of the present application further provides a cleaning system, where the cleaning system includes a cleaning base station and the cleaning robot according to any one of the embodiments of the present application.
In summary, an embodiment of the present application provides a cleaning method, a cleaning robot, and a cleaning system for cleaning a cleaning piece, where the cleaning method is applied to the cleaning robot, the cleaning robot is provided with a cleaning piece, and the cleaning robot is communicatively connected to a cleaning base station, and the method includes: after a task instruction for cleaning the cleaning piece is received, generating a corresponding working instruction according to the state information of the cleaning base station, wherein the working instruction at least comprises a cleaning instruction of the corresponding cleaning base station; and sending a cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning base station to clean the mopping piece. Through the communication interaction of cleaning robot and clean basic station, realize the cleaning process of cleaning robot to dragging the piece and carry out the master control to guarantee to wash and drag the work time sequence of wiping the piece and concentrate unification, thereby be favorable to when the cleaning process appears unusual by cleaning robot master control in order to solve unusual in order to promote clean effect and intelligent degree of dragging the piece fast.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a cleaning method for a mop according to an embodiment of the present application;
fig. 2 is a schematic view of a bottom structure of a cleaning robot for performing a cleaning method for a mop according to an embodiment of the present application;
FIG. 3 is a schematic view of a cleaning method for a mop according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating steps for generating a working instruction in a cleaning method for a mop according to an embodiment of the present application;
fig. 5 is a schematic block diagram of a cleaning robot provided by an embodiment of the present application;
fig. 6 is a schematic block diagram of a controller of a cleaning robot provided by an embodiment of the present application;
Fig. 7 is a schematic block diagram of a cleaning system provided by an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
The application scene of the cleaning robot can be household indoor cleaning, large-scale place cleaning and the like. Most of the conventional cleaning robots are provided with a cleaning member so as to clean the indoor environment through the cleaning member, and after the cleaning robot performs a cleaning task for a period of time, the dirt degree of the cleaning member can rise, so that the cleaning capability of the cleaning robot is reduced. The existing method for cleaning the mopping piece is to clean the mopping piece manually or through a cleaning base station, but in the current cleaning of the mopping piece by the cleaning base station, the matching degree between the base station and the cleaning robot is low, the cleaning effect is not intelligent enough, and the cleaning effect is not satisfactory.
Based on the above, the application provides a cleaning method, a cleaning robot and a cleaning system for cleaning a cleaning piece, wherein the cleaning method can be applied to the cleaning robot and is used for controlling the cleaning robot to execute a preset action and interact with a cleaning base station so as to clean the cleaning piece of the cleaning robot.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a flow chart of a cleaning method for a mop according to an embodiment of the application.
As shown in fig. 1, the cleaning method for cleaning a cleaning piece provided by the application is applied to a cleaning robot, the cleaning robot is provided with the cleaning piece, and the cleaning robot is in communication connection with a cleaning base station, and the cleaning method for the cleaning piece comprises the steps of S1-S2:
step S1: after a task instruction for cleaning the cleaning piece is received, generating a corresponding working instruction according to the state information of the cleaning base station, wherein the working instruction at least comprises a cleaning instruction of the corresponding cleaning base station;
step S2: and sending a cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning base station to clean the mopping piece.
As shown in fig. 2 to 3, in particular, the cleaning method for cleaning a cleaning member provided by the present application is applied to a cleaning robot 300, the cleaning robot 300 is at least in communication with a cleaning base station 400, and the cleaning robot 300 and the cleaning base station 400 form a cleaning system 500, wherein the cleaning robot 300 is provided with the cleaning member 320, and the cleaning robot 300 is provided with the cleaning member 320 to clean an indoor environment, and the cleaning robot 300 is provided with the cleaning member 320, for example, a mop, and at least two cleaning members 320 may be provided, and the two cleaning members 320 are respectively provided at opposite sides of the running direction of the cleaning robot 300.
Further, the cleaning robot 300 further includes a housing 310, wherein the cleaning member 320 is mounted on the housing 310, and the cleaning robot 300 can drive the cleaning member 320 to clean the ground or other objects in the path of the cleaning robot during running, and can also drive the cleaning member to move relative to the housing 310 to clean the ground or other objects contacted by the cleaning member, and can also simultaneously execute the two actions to obtain a better cleaning effect. Still further, the cleaning robot 300 further includes a traveling mechanism 350, and the cleaning robot 300 may perform traveling actions through the traveling mechanism 350, for example: traveling along a preset cleaning path to clean a floor corresponding to the cleaning path or traveling toward a corresponding cleaning base station 400 to interface the cleaning robot 300 with the cleaning base station 400.
After the cleaning robot 300 performs a cleaning task for a period of time, the dirt level of the cleaning member 320 may increase, resulting in a decrease in the cleaning capability of the cleaning robot 300, and the cleaning member 320 of the cleaning robot 300 may be mechanically docked with the cleaning base station 400 to clean the cleaning member 320. Illustratively, the cleaning base station 400 is formed with a base station entrance 410, the cleaning robot 300 can specifically interface with the cleaning base station 400 through the base station entrance 410, and the cleaning robot 300 and the cleaning base station 400 can cooperate to perform operations of cleaning the cleaning member 320 or charging, dust collecting, etc. the cleaning robot 300.
In the embodiment of the application, after the cleaning robot receives the task instruction for cleaning the cleaning piece, a working instruction corresponding to the state information is generated according to the state information of the cleaning base station, wherein the working instruction at least comprises the cleaning instruction corresponding to the cleaning base station, and then the cleaning instruction is sent to the cleaning base station, so that the cleaning base station responds to the cleaning instruction to control the cleaning base station to clean the cleaning piece. Specifically, the cleaning robot may generate a corresponding working instruction according to the state information of the cleaning base station when receiving the task instruction, or may generate a working instruction corresponding to the state information according to the state information of the cleaning base station by a preset node within a period of time after receiving the task instruction, so as to flexibly adjust the cleaning process of the cleaning piece.
It should be noted that, when the cleaning robot executes the cleaning method provided by the application, the cleaning robot sends the corresponding working instruction to the cleaning base station according to the state information of the cleaning base station after receiving the task instruction, that is, the cleaning robot may judge whether to start cleaning the cleaning element according to the state information of the cleaning base station after receiving the task instruction, and send the corresponding working instruction to the cleaning base station or to the cleaning base station and the cleaning robot to instruct the cleaning base station to clean the cleaning element when judging to start cleaning, or may adjust the cleaning process of the cleaning element according to the state information of the cleaning base station or instruct the cleaning base station to stop cleaning after receiving the task instruction and when the cleaning base station cleans the cleaning element.
The cleaning robot is used for controlling the cleaning action of the cleaning base station and the cleaning robot to clean the mopping piece, so that the cleaning robot and the cleaning base station are matched highly, and the situation that information between the cleaning base station and the cleaning robot is not synchronous is avoided.
It is known that the working instruction is an instruction generated by the cleaning robot and used for controlling the cleaning base station to clean the cleaning piece, the cleaning instruction in the working instruction is sent to the cleaning base station by the cleaning robot so as to instruct the cleaning base station to perform a corresponding cleaning action, and further, the working instruction includes a cleaning instruction corresponding to the cleaning robot, such as a rotating instruction, besides the cleaning instruction corresponding to the cleaning base station, wherein the rotating instruction is used for instructing the cleaning robot to perform a corresponding rotating action at a preset time node so as to cooperate with the cleaning base station to complete cleaning of the cleaning piece.
It should be understood that the task instructions may be generated by a user operating the corresponding control device and sent to the cleaning robot. The task instruction may be generated by the cleaning base station and output to the cleaning robot, for example, periodically output to the cleaning robot when the cleaning robot performs a cleaning task, so as to instruct the cleaning robot to retrieve to the cleaning base station and clean the cleaning member after performing a cleaning task for a certain period. The task instruction may also be determined by the cleaning robot based on any one or a combination of time for executing cleaning, dirt level of the cleaning member, wetting level of the cleaning member, progress of cleaning the indoor environment, and dirt level of the indoor environment, for example, the cleaning robot may generate the task instruction after the dirt level of the cleaning member reaches a preset dirt threshold of the cleaning member, so that the cleaning robot can control itself in time or instruct the cleaning base station to execute a corresponding cleaning action.
It should be further understood that the state information of the cleaning base station includes, for example, type information of a cleaning module connected to the cleaning base station or docking information indicating a docking state of the cleaning member with the cleaning base station, and the state information of the cleaning base station may specifically be detected and acquired by the cleaning base station and sent to the cleaning robot and/or detected and acquired by the cleaning robot, and stored in the cleaning robot in advance, so as to retrieve the state information when a task instruction for cleaning the cleaning member is received. The state information of the cleaning base station may be further included in the task instruction, and the cleaning robot analyzes the task instruction to obtain the state information included therein before generating the corresponding working instruction according to the state information of the cleaning base station.
As shown in fig. 4, in some embodiments, the status information includes type information of a cleaning module connected to the cleaning base station, and the step S1 generates a corresponding working instruction according to the status information, including steps S11-S12:
step S11: analyzing the state information to obtain type information;
step S12: generating a cleaning instruction corresponding to the type information, wherein the cleaning instruction comprises one of an automatic cleaning instruction corresponding to the cleaning module being an automatic cleaning module and a quantitative cleaning instruction corresponding to the cleaning module being a quantitative cleaning module.
Specifically, the cleaning base station can be in plug-in fit with the cleaning module, and the cleaning module is connected to clean the cleaning piece, wherein the cleaning module at least comprises an automatic cleaning module and a quantitative cleaning module.
Optionally, the cleaning base station may dock with the cleaning module through a preset interface, and may determine whether the cleaning module connected to the cleaning base station is an automatic cleaning module or a quantitative cleaning module through the interface, so as to obtain type information, and store or send the type information as part of the state information at the cleaning base station to the cleaning robot, where the cleaning robot invokes the state information when receiving the task instruction, and parses the state information to obtain the type information.
It should be noted that the automatic cleaning module and the quantitative cleaning module respectively correspond to different cleaning strategies, wherein the automatic cleaning module is in butt joint with a preset water supply device when performing cleaning work, for example, is in butt joint with a water supply pipeline or a tap in a household, namely, sufficient water can be supplied under the condition that the water supply device works normally, so that the cleaning of the cleaning member can be performed without considering the water quantity until the cleaning degree of the cleaning member reaches a preset first cleaning threshold or until the cleaning degree of sewage generated by cleaning reaches a second cleaning threshold, and the quantitative cleaning module is a cleaning module with a fixed volume, and a user can pre-load water required in the cleaning process into the quantitative cleaning module for use when performing the cleaning work. Because the water quantity in the quantitative cleaning module is limited, in order to ensure that the cleaning robot can complete a cleaning task, the cleaning robot can clean the cleaning piece according to preset task quantification, wherein the task quantification comprises one or a combination of water supply quantity of a cleaning base station for cleaning the cleaning piece, cleaning time for cleaning the cleaning piece, soaking time for soaking the cleaning piece, dirt degree of the cleaning piece after cleaning, dirt degree of sewage generated by cleaning the cleaning piece and cleaning force. Taking the example that the task ration comprises water supply amount, under the cleaning strategy corresponding to the quantitative cleaning module, the water supply amount which can be used for cleaning the mop is limited, so that the mop needs to be cleaned as much as possible under the condition that the water supply amount is ensured to be enough to complete the cleaning task, for example, four times of cleaning are expected to be carried out on the mop when the mop is towed in a whole house, the water amount used when the mop is cleaned each time needs to ensure that the residual water amount in the water supply amount can meet the requirements of the subsequent mop cleaning.
After the type information is acquired, the cleaning robot generates a cleaning instruction corresponding to the type information, wherein the cleaning instruction comprises one of an automatic cleaning instruction corresponding to the case that the cleaning module is an automatic cleaning module and a quantitative cleaning instruction corresponding to the case that the cleaning module is a quantitative cleaning module. It is easy to know that the automatic cleaning instruction and the quantitative cleaning instruction are respectively used for indicating the cleaning base station to execute corresponding cleaning actions.
In some embodiments, the cleaning module is provided with a clean water tank for loading clean water, the cleaning instructions comprising one of a first cleaning instruction and a second cleaning instruction.
Optionally, the automatic cleaning module is provided with a clean water tank for loading clean water, and the automatic cleaning instruction comprises one of a first cleaning instruction and a second cleaning instruction;
when the cleaning instruction comprises an automatic cleaning instruction, controlling the cleaning base station to clean the cleaning piece according to the working instruction, and comprising the following steps:
sending a first cleaning instruction to the cleaning base station to instruct the cleaning base station to use a first preset amount of clear water in a clear water tank to clean the mopping piece; or (b)
And sending a second cleaning instruction to the cleaning base station to instruct the cleaning base station to clean the cleaning piece for a first preset time period by using the clean water in the clean water tank.
Optionally, the quantitative cleaning module is provided with a clean water tank for loading clean water, and the quantitative cleaning instruction comprises one of a first cleaning instruction and a second cleaning instruction;
when the cleaning instruction comprises a quantitative cleaning instruction, controlling the cleaning base station to clean the cleaning piece according to the working instruction, and comprising the following steps:
sending a first cleaning instruction to the cleaning base station to instruct the cleaning base station to use a first preset amount of clear water in a clear water tank to clean the mopping piece; or (b)
And sending a second cleaning instruction to the cleaning base station to instruct the cleaning base station to clean the cleaning piece for a first preset time period by using the clean water in the clean water tank.
Specifically, at least part of clear water in the clear water tank is used for cleaning the mopping piece, and when the cleaning instruction comprises one of an automatic cleaning module and a quantitative cleaning instruction, the cleaning robot sends a first cleaning instruction to the cleaning base station so as to instruct the cleaning base station to use a first preset amount of clear water in the clear water tank to clean the mopping piece; or sending a second cleaning instruction to the cleaning base station to instruct the cleaning base station to clean the cleaning piece for a first preset time period by using the clean water in the clean water tank. Therefore, the cleaning robot can flexibly and intelligently instruct the cleaning base station to carry out cleaning on the mopping member for a certain time or a certain amount of water.
Specifically, the cleaning base station uses the first preset amount of clear water in the clear water tank to clean the mop, and the cleaning base station uses the clear water in the clear water tank to clean the mop for the first preset period of time, which may be one or a combination of the actions of washing, soaking, rinsing, and the like of the mop.
In some embodiments, the automatic cleaning module is provided with a clean water tank for containing clean water, at least a portion of the clean water in the clean water tank being used to clean the mop, the method further comprising:
outputting a first water supplementing instruction to the cleaning base station to instruct the cleaning base station to conduct first water supplementing operation on the clean water tank in a preset period after the automatic cleaning module is determined to be connected to the cleaning base station; and/or
When the cleaning base station uses the clean water with a second preset amount in the clean water tank to clean the mopping piece, outputting a second water supplementing instruction to the cleaning base station to instruct the cleaning base station to conduct second water supplementing operation on the clean water tank, wherein the second preset amount is smaller than or equal to the first preset amount; and/or
When the cleaning base station uses clear water in the clear water tank to clean the mopping piece for a second preset time, outputting a third water supplementing instruction to the cleaning base station to instruct the cleaning base station to conduct third water supplementing operation on the clear water tank.
It should be understood that the clean water tank is configured with a preset water storage capacity based on its own structure, after a certain amount of clean water in the clean water tank is consumed, the cleaning robot needs to instruct the cleaning base station to perform a water replenishing operation, and for example, the trigger time of the cleaning robot for instructing the cleaning base station to perform the water replenishing operation may be in a preset period after determining that the automatic cleaning module is connected to the cleaning base station, when the cleaning base station uses a second preset amount of clean water in the clean water tank to clean the mop, or when the cleaning base station uses the clean water in the clean water tank to clean the mop for a second preset period.
In some embodiments, the cleaning method for a mop provided by the application further comprises the following steps: the cleaning robot sends a second cleaning instruction to the cleaning base station to instruct the cleaning base station to clean the cleaning piece for a first preset time period by using the clean water in the clean water tank, and when the cleaning base station uses the clean water in the clean water tank to clean the cleaning piece for the second preset time period, the cleaning robot outputs a third water supplementing instruction to the cleaning base station to instruct the cleaning base station to conduct third water supplementing operation on the clean water tank, wherein the second preset time period is smaller than or equal to the first preset time period, so that the cleaning robot can instruct the cleaning base station to conduct water supplementing on the clean water tank in time after the cleaning base station uses the clean water in the clean water tank to clean the first preset time period, and the water level of the clean water tank can be ensured to support the cleaning base station to conduct continuous cleaning on the cleaning piece or conduct another cleaning on the cleaning piece.
Specifically, the cleaning robot may output a first water replenishing instruction to the cleaning base station to instruct the cleaning base station to perform a first water replenishing operation on the clean water tank in a preset period after determining that the automatic cleaning module is connected to the cleaning base station; the cleaning robot can also output a second water supplementing instruction to the cleaning base station to instruct the cleaning base station to carry out a second water supplementing operation on the clean water tank when the cleaning base station uses a second preset amount of clean water in the clean water tank to clean the mopping piece; the cleaning robot can also output a third water supplementing instruction to the cleaning base station to instruct the cleaning base station to conduct third water supplementing operation on the clean water tank when the cleaning base station uses the clean water in the clean water tank to clean the mopping piece for a second preset time period.
It should be understood that the water replenishing amount when the first water replenishing operation is performed may be specifically set according to actual requirements. And the water supplementing amount in the second water supplementing operation is smaller than or equal to a second preset amount. The water replenishing amount in the second water replenishing operation is equal to a second preset amount, namely, after the clean water tank consumes a certain capacity of clean water, the clean water tank is replenished with the water with the same capacity as the consumed capacity, so that the water amount in the clean water tank can be ensured to support the cleaning base station to clean the mopping piece again. The water replenishing amount in the third water replenishing operation can be specifically set according to the second preset time period and the speed of consuming clean water when the cleaning base station performs cleaning.
In some embodiments, the automatic cleaning module is provided with a clean water tank for loading clean water, at least part of the clean water in the clean water tank is used for cleaning the mop, and the cleaning method of the mop provided by the application further comprises the following steps:
acquiring the water quantity of a clear water tank;
when the water quantity of the clean water tank is smaller than a third preset quantity, outputting a third water supplementing instruction to the cleaning base station to instruct the cleaning base station to conduct water supplementing operation on the clean water tank until the time length of the water supplementing operation is longer than the third preset time length and/or the water quantity of the clean water tank is larger than a fourth preset quantity; the third preset amount is less than or equal to the fourth preset amount.
The method for acquiring the water quantity of the clean water tank specifically can be to acquire the water quantity information of the clean water tank by receiving the water quantity information of the clean water tank output by the cleaning base station and analyzing the water quantity information, and in an exemplary case that the automatic cleaning module is determined to be connected to the cleaning base station, the cleaning base station can periodically output the water quantity information to the cleaning robot so that the cleaning robot can acquire the water quantity information.
When the cleaning robot determines that the water quantity in the clean water tank is smaller than a third preset quantity, a third water supplementing instruction is output to the cleaning base station to instruct the cleaning base station to conduct water supplementing operation on the clean water tank until one of the conditions that the time length of the water supplementing operation is longer than a third preset time length and the water quantity of the clean water tank is larger than a fourth preset quantity is met, or the water supplementing operation is conducted until the conditions that the time length of the water supplementing operation is longer than the third preset time length and the water quantity of the clean water tank is larger than the fourth preset quantity are met at the same time, wherein the third preset quantity is smaller than or equal to the fourth preset quantity. The third preset amount is equal to the fourth preset amount, that is, when the water amount of the clean water tank is smaller than the third preset amount/the fourth preset amount, water is supplied to the clean water tank so as to enable the water amount of the clean water tank to be restored to the third preset amount/the fourth preset amount, the water amount in the clean water tank is ensured to be kept at the third preset amount/the fourth preset amount, and therefore the cleaning base station can be supported to clean the mop again.
In some embodiments, the automatic cleaning module or the dosing cleaning module is provided with a sump, the method further comprising:
when the cleaning base station cleans the cleaning piece, a sewage collection instruction is sent to the cleaning base station to instruct the cleaning base station to collect sewage generated by cleaning through the sewage tank.
In some embodiments, when the cleaning module is an automatic cleaning module, the cleaning method for the mop provided by the application further comprises:
and outputting a sewage discharge instruction to the cleaning base station to instruct the cleaning base station to perform a sewage discharge operation on the sewage in the sewage tank when the duration of the collecting operation is longer than the fourth preset duration and/or the water quantity in the sewage tank is longer than the fifth preset quantity.
It should be understood that the sewage tank is used for recovering sewage generated when the cleaning base station performs various cleaning actions such as washing, soaking, rinsing and the like on the cleaning member, and after the sewage is generated in the cleaning process of the cleaning base station on the cleaning member, the cleaning robot sends a sewage collection instruction to the cleaning base station so as to instruct the cleaning base station to perform a collection operation on the sewage generated by the cleaning through the sewage tank.
Specifically, under the condition that at least one of the duration of the collecting operation is longer than the fourth preset duration and the water quantity of the sewage tank is longer than the fifth preset quantity is satisfied, the cleaning robot outputs a sewage discharge instruction to the cleaning base station to instruct the cleaning base station to perform the sewage discharging operation on the sewage in the sewage tank, so that pollution caused by overflow of the sewage in the sewage tank is avoided, and even damage to the cleaning base station or the cleaning robot is avoided.
In some embodiments, the automatic cleaning module interfaces with a preset drain when performing a cleaning operation, and in particular, the drain tank of the automatic cleaning module interfaces with a drain in a household. When the cleaning robot outputs a sewage discharge instruction to the cleaning base station, the cleaning base station responds to the sewage discharge instruction to discharge sewage of the sewage tank so as to automatically discharge at least part of the sewage in the sewage tank to the drainage pipeline, thereby reducing the operation amount of a user and avoiding secondary pollution of the sewage tank to the inside or the outside of the cleaning base station.
It should also be appreciated that the specific steps of the cleaning robot determining whether the cleaning base station is cleaning the mopping member may be: when the cleaning robot sends a cleaning instruction to the cleaning base station, the cleaning base station is judged to clean the mopping piece; it is also possible that the cleaning base station periodically transmits to the cleaning robot a signal for indicating the operating state of cleaning the mop while cleaning the mop. Therefore, the cleaning robot can uniformly control the time sequence of cleaning, sewage collection and sewage discharge of the cleaning piece, so that the cleaning robot can timely determine that the cleaning base station is cleaning the cleaning piece, and timely collect the sewage generated by cleaning.
In some embodiments, the tank is provided with a first opening for collecting sewage and a second opening for discharging sewage, and the automatic cleaning module further comprises a power means, such as a water pump, for powering the collection of sewage and/or the discharge of sewage. Specifically, the power device is arranged in the cleaning base station, the cleaning base station can respond to the sewage collection instruction, the sewage generated by cleaning is pumped into the sewage tank through the first opening by the power device so as to carry out the collection operation on the sewage generated by cleaning, and the sewage collected by the sewage tank can also respond to the sewage discharge instruction, and is pumped out from the second opening by the power device and discharged to a preset area, such as a sewer in a family residence.
In some embodiments, the working instructions further comprise rotation instructions corresponding to the cleaning robot, the method further comprising:
when a working state signal generated when the cleaning base station cleans the cleaning piece is received, the cleaning piece is driven to execute corresponding rotation according to the rotation instruction.
Specifically, the cleaning robot comprises a shell, the cleaning piece is movably arranged on the shell and can rotate relative to the shell, and the cleaning base station drives the cleaning piece to execute corresponding rotation according to the rotation instruction, specifically drives the cleaning piece to rotate relative to the shell.
It should be understood that the working instructions generated by the cleaning robot include, in addition to the cleaning instructions corresponding to the cleaning base station, rotation instructions corresponding to the cleaning robot itself. When cleaning the cleaning piece, the cleaning base station generates a working state signal and sends the working state signal to the cleaning robot, or the cleaning robot periodically sends a query signal to the cleaning base station, and the cleaning base station responds to the query signal to confirm whether the cleaning piece is cleaned, and generates the working state signal and sends the working state signal back to the cleaning robot under the condition that the cleaning piece is confirmed to be cleaned.
It is known that the working state signal indicates that the cleaning base station is cleaning the cleaning piece, for example, the cleaning piece is cleaned by flushing, soaking or rinsing the cleaning piece, and the like, and when the working state signal is received, the cleaning robot drives the cleaning piece to execute the corresponding rotating action according to the rotating instruction, so that the rotating action of the cleaning piece is matched with the cleaning action of the cleaning base station, such as flushing, soaking or rinsing the cleaning piece, and the like, so that the cleaning and the wetting of the cleaning piece are more complete, and the cleaning effect of the cleaning piece is improved.
Further, the method provided by the application further comprises the following steps: after the cleaning of the mop is confirmed, the mop is driven to perform the preset water throwing rotation action. The driving of the mopping piece to perform preset water throwing rotation action is specifically to drive the mopping piece to rotate relative to the shell so as to throw out water in the mopping piece, improve the cleaning effect and reduce the wetting degree of the mopping piece.
Therefore, the cleaning robot uniformly controls the time sequence of cleaning, sewage collection, sewage discharge and water throwing on the cleaning piece, so that the cleaning robot can timely determine that the cleaning base station is cleaning the cleaning piece, timely control the cleaning base station to complete the actions of sewage collection and sewage discharge and complete the action of water throwing according to the cleaning progress, and the intelligent degree of the cleaning piece cleaning process is improved.
In some embodiments, the status information further includes docking information characterizing a docking status of the mop with the cleaning base station, the method further comprising:
when a working state signal generated when the cleaning base station cleans the cleaning piece is received and the cleaning piece is determined to be out of butt joint with the cleaning base station according to the butt joint information, a first abnormal signal is sent to the cleaning base station to instruct the cleaning base station to stop cleaning the cleaning piece.
Specifically, the cleaning base station may generate corresponding docking information according to the docking condition of the cleaning base station and the mop, and send the docking information as state information to the cleaning robot, where the cleaning robot may obtain the docking state of the cleaning base station and the mop according to the received docking information; or the cleaning robot detects the butt joint condition of the cleaning piece and the cleaning base station to generate corresponding butt joint information, so that the cleaning base station can determine the butt joint condition of the cleaning piece and the cleaning base station according to the butt joint information, and the situation that the cleaning piece and the cleaning base station are separated from each other can be timely detected and confirmed.
Specifically, when the cleaning base station cleans the mopping piece, a working state signal is generated and sent to the cleaning robot; or the cleaning robot periodically sends a query signal to the cleaning base station, and the cleaning base station responds to the query signal to confirm whether the cleaning of the cleaning piece is performed, and generates and sends back an operating state signal to the cleaning robot when the cleaning of the cleaning piece is confirmed.
When the cleaning robot receives the working state signal and determines that the cleaning piece is out of docking with the cleaning base station according to the docking information, a first abnormal signal is sent to the cleaning base station to instruct the cleaning base station to stop cleaning the cleaning piece. It should be appreciated that the first anomaly signal characterizes that the mop is out of the docking with the cleaning base station, for example, in case the mop is out of the docking with the cleaning base station, if the cleaning base station continues to clean the mop, not only will the mop not be cleaned, but also the clean water used for cleaning the mop will overflow, resulting in contamination of the interior and the exterior environment of the cleaning base station, and even damage to the cleaning base station or the cleaning robot due to the liquid flowing into the interior structure of the cleaning base station or the cleaning robot.
Further, when it is determined that the cleaning robot is driving the cleaning member to rotate and it is determined that the cleaning member is out of docking with the cleaning base station according to the docking information, the cleaning robot also controls the cleaning member to pause rotating so as to prevent water in the cleaning member from being thrown out to the external environment of the cleaning robot.
In some embodiments, the cleaning station is provided with a cleaning receptacle for receiving a mop in cleaning, the method further comprising:
when an overflow signal representing that the cleaning container overflows is received, a second abnormal signal is sent to the cleaning base station to instruct the cleaning base station to stop cleaning the cleaning piece.
Illustratively, the cleaning base station interfaces with the mop, and in particular, the mop interfaces with the mop through a predetermined cleaning receptacle. When the cleaning base station cleans the cleaning piece through the automatic cleaning module or the quantitative cleaning module, the cleaning piece is accommodated in the cleaning container, and the cleaning base station injects clean water into the cleaning container to perform various cleaning actions such as flushing, soaking, leaching and the like on the cleaning piece.
The cleaning base station may detect whether the cleaning container is overflowed according to the overflow detection device, and generate an overflow signal and send the overflow signal to the cleaning robot when the overflow detection device detects that the overflow condition occurs. It should be appreciated that overflow conditions may occur in the event of a rupture of the purge vessel or in the event of a capacity overload of the purge vessel.
In some embodiments, the cleaning container is provided with a third opening, the third opening is communicated with the first opening formed by the sewage tank, and sewage generated by cleaning the cleaning member in the cleaning container sequentially passes through the third opening and the first opening to reach the sewage tank, so that the sewage is discharged to the sewage tank. It is easy to see that overflow of the cleaning container may occur when the clean water or the sewage in the cleaning container is discharged from a position other than the third opening.
When an overflow signal representing that the cleaning container overflows is received, the cleaning robot sends a second abnormal signal to the cleaning base station to instruct the cleaning base station to stop cleaning the mopping member. For example, if the cleaning base station continues the cleaning operations such as rinsing, soaking or rinsing the cleaning member under the situation that the cleaning container overflows, the cleaning base station not only causes pollution of the interior and the external environment of the cleaning base station by overflowed water, but also may cause damage to the cleaning base station or the cleaning robot due to the inflow of water into the interior structure of the cleaning base station or the cleaning robot.
Further, when it is determined that the cleaning robot is driving the cleaning member to rotate and it is determined that overflow occurs in the cleaning container according to the overflow signal, the cleaning robot also controls the cleaning member to stop rotating, so as to prevent water in the cleaning member from being thrown out to an external environment of the cleaning robot or to increase the capacity overload.
In some embodiments, the method further comprises:
when the cleaning base station is controlled to clean the mopping piece and/or after the cleaning base station is controlled to clean the mopping piece, a dirt value of sewage generated by cleaning the mopping piece is obtained;
and sending at least one cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning module to execute a corresponding cleaning task until the dirt value is smaller than a preset dirt threshold value, wherein the preset dirt threshold value corresponding to the automatic cleaning module is smaller than the preset dirt threshold value corresponding to the quantitative cleaning module.
Specifically, the cleaning robot outputs a dirty value of sewage generated by cleaning the cleaning piece to the cleaning base station when the cleaning base station is controlled to clean the cleaning piece and/or after the cleaning base station is controlled to clean the cleaning piece;
and sending at least one cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning module to execute a corresponding cleaning task until the dirt value is smaller than a preset dirt threshold value, wherein the preset dirt threshold value corresponding to the automatic cleaning module is smaller than the preset dirt threshold value corresponding to the quantitative cleaning module.
When the cleaning base station cleans the cleaning piece based on the connected automatic cleaning module or the cleaning piece based on the connected quantitative cleaning module, the cleaning base station obtains the dirt value of the sewage generated by cleaning the cleaning piece and sends at least one cleaning instruction to the cleaning base station, so that the cleaning base station responds to the cleaning instruction to control the cleaning module to execute the corresponding cleaning task until the dirt value is smaller than the preset dirt threshold. It should be understood that the automatic cleaning module and the quantitative cleaning module correspond to different cleaning strategies respectively, when the automatic cleaning module is connected, the water supply device, such as a faucet, can supply enough water, so that the cleaning of the cleaning member can be performed without considering the water, and the task ration includes the water supply amount for example, and under the cleaning strategy corresponding to the quantitative cleaning module, the water supply amount for cleaning the cleaning member is limited, so that the cleaning of the cleaning member is required to be performed as much as possible under the condition that the water supply amount is enough to complete the cleaning task, and therefore, the preset dirty threshold corresponding to the automatic cleaning module is smaller than the preset dirty threshold corresponding to the quantitative cleaning module.
For example, the dirt value of the sewage generated by cleaning the cleaning member may be obtained by detecting the dirt level of the sewage collected by the sewage tank to obtain a corresponding dirt value, or may be obtained by detecting the sewage in a discharge pipeline through which the sewage flows.
In some embodiments, the cleaning instructions include at least a first cleaning instruction, and the cleaning robot, when performing the method, specifically includes: sending a first cleaning instruction to the cleaning base station so that the cleaning base station can use a first preset amount of clear water in the clear water tank to clean the mop in response to the first cleaning instruction; and sending a sewage collection instruction to the cleaning base station so that the cleaning base station can collect sewage generated by cleaning in response to the sewage collection instruction and acquire a sewage value of the sewage generated by cleaning the cleaning piece. If the dirt value is detected to be smaller than or equal to the preset dirt threshold value, the cleaning of the cleaning piece is confirmed to be completed; if the dirt value is detected to be larger than the preset dirt threshold value, the cleaning robot sends a first cleaning instruction and a sewage collection instruction to the cleaning base station again, so that the cleaning base station uses a first preset amount of clear water in the clear water tank to clean the cleaning piece in response to the first cleaning instruction. The cleaning robot may repeatedly perform the above-described operations of transmitting the first cleaning instruction to the cleaning base station and transmitting the dirty water collection instruction until the dirty water value of the dirty water generated by cleaning the mop is less than the preset dirty water threshold.
In some embodiments, when the cleaning instruction includes a quantitative cleaning instruction, controlling the cleaning base station to clean the mop according to the working instruction includes:
and sending a quantitative cleaning instruction to the cleaning base station to instruct the cleaning base station to control the quantitative cleaning module to clean the cleaning piece according to preset task quantification, wherein the task quantification comprises at least one of water supply quantity, cleaning duration, soaking duration, dirt degree and cleaning strength.
Specifically, when the quantitative cleaning module is connected to the cleaning base station, the cleaning base station is used for cleaning the cleaning piece based on the quantitative cleaning module and according to preset tasks, wherein the tasks comprise one or a combination of water supply amount of the cleaning base station for cleaning the cleaning piece, cleaning time for cleaning the cleaning piece, soaking time for soaking the cleaning piece, dirt degree of the cleaning piece after cleaning, dirt degree and cleaning force of sewage generated by cleaning the cleaning piece. Taking the example that the task ration comprises water supply amount, under the cleaning strategy corresponding to the quantitative cleaning module, the water supply amount which can be used for cleaning the mop is limited, so that the mop needs to be cleaned as much as possible under the condition that the water supply amount is ensured to be enough to complete the cleaning task, for example, four times of cleaning are expected to be carried out on the mop when the mop is towed in a whole house, the water amount used when the mop is cleaned each time needs to ensure that the residual water amount in the water supply amount can meet the requirements of the subsequent mop cleaning.
As shown in fig. 5, the embodiment of the present application further provides a cleaning robot 300 for implementing the steps of the method according to the embodiment of the present application, specifically, the cleaning robot includes a housing 310, a mop 320, a controller 330, and a running mechanism 350, where the mop 320 is mounted on the housing 310 and is used for performing a preset mopping action to clean an indoor environment. Further, the cleaning robot 300 provided by the present application further includes a communication device 340 electrically connected to the controller 330, and the cleaning robot 300 can implement communication connection with the cleaning base station 400 through the communication device 340, and complete the transceiving of corresponding signals, instructions and information.
As shown in fig. 6, in particular, the controller 330 includes a processor 331 and a memory 332.
The processor 331 and the memory 332 are illustratively connected by a bus 333, such as an I2C (Inter-integrated Circuit) bus.
Specifically, the processor 331 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
Specifically, the Memory 332 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.
Wherein the processor 331 is arranged to run a computer program stored in the memory 332 and to implement the steps of the aforementioned method when said computer program is executed.
The processor 331 is for example configured to run a computer program stored in the memory 332 and to implement the following steps when executing the computer program:
after a task instruction for cleaning the cleaning piece is received, generating a corresponding working instruction according to the state information of the cleaning base station, wherein the working instruction at least comprises a cleaning instruction of the corresponding cleaning base station;
and sending a cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning base station to clean the mopping piece.
As shown in fig. 5 to 7, the embodiment of the present application further provides a cleaning system 500, and the cleaning system 500 includes the cleaning base station 400 and the cleaning robot 300 of any of the embodiments of the present application.
In summary, an embodiment of the present application provides a cleaning method, a cleaning robot, and a cleaning system for cleaning a cleaning piece, where the cleaning method is applied to the cleaning robot, the cleaning robot is provided with a cleaning piece, and the cleaning robot is communicatively connected to a cleaning base station, and the method includes: after a task instruction for cleaning the cleaning piece is received, generating a corresponding working instruction according to the state information of the cleaning base station, wherein the working instruction at least comprises a cleaning instruction of the corresponding cleaning base station; and sending a cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning base station to clean the mopping piece. Through the communication interaction of cleaning robot and clean basic station, realize the cleaning process of cleaning robot to dragging the piece and carry out the master control to guarantee to wash and drag the work time sequence of wiping the piece and concentrate unification, thereby be favorable to when the cleaning process appears unusual by cleaning robot master control in order to solve unusual in order to promote clean effect and intelligent degree of dragging the piece fast.
It should be understood that the cleaning robot and the cleaning system described in the embodiments of the present application are only a specific example, and are not limited to the specific configuration of the cleaning robot that performs the method for cleaning a mop provided in the embodiments of the present application, nor to the specific configuration of the cleaning system including the cleaning robot, and the cleaning robot and the cleaning system in the embodiments of the present application may be implemented in other specific manners. For example, in other implementations, the cleaning robot may have more or fewer components than the cleaning robot 300 shown in fig. 5-6, and the cleaning base station may have more or fewer components than the cleaning system 500 shown in fig. 5-7.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in the present application and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (12)
1. The cleaning method for the cleaning part is applied to a cleaning robot, the cleaning robot is provided with the cleaning part, and the cleaning robot is in communication connection with a cleaning base station, and is characterized by comprising the following steps:
after a task instruction for cleaning the cleaning piece is received, generating a corresponding working instruction according to type information of a cleaning module connected to the cleaning base station, wherein the working instruction at least comprises a cleaning instruction corresponding to the cleaning base station;
sending the cleaning instruction to the cleaning base station so that the cleaning base station responds to the cleaning instruction to control the cleaning base station to clean the cleaning piece;
generating a corresponding working instruction according to the type information of the cleaning module connected to the cleaning base station, wherein the working instruction comprises the following steps:
generating the cleaning instruction corresponding to the cleaning module type according to the cleaning module type, wherein the cleaning instruction comprises one of an automatic cleaning instruction corresponding to the cleaning module being an automatic cleaning module and a quantitative cleaning instruction corresponding to the cleaning module being a quantitative cleaning module;
the automatic cleaning module is in butt joint with a preset water supply device when the cleaning work is executed, and the quantitative cleaning module is a cleaning module with fixed volume.
2. The mop cleaning method according to claim 1, wherein the automatic cleaning module or the quantitative cleaning module is provided with a clean water tank for loading clean water, and the cleaning instruction includes one of a first cleaning instruction and a second cleaning instruction;
the step of controlling the cleaning base station to clean the cleaning piece according to the working instruction comprises the following steps:
sending the first cleaning instruction to the cleaning base station to instruct the cleaning base station to use a first preset amount of clear water in the clear water tank to clean the cleaning piece; or (b)
Sending the second cleaning instruction to the cleaning base station to instruct the cleaning base station to clean the cleaning piece for a first preset time period by using the clean water in the clean water tank;
the cleaning instruction when the automatic cleaning module of the cleaning base station is connected is different from the cleaning instruction when the quantitative cleaning module of the cleaning base station is connected;
when the automatic cleaning module of the cleaning base station is connected, the cleaning base station is controlled to clean the cleaning piece through a cleaning instruction until the cleaning degree of the cleaning piece reaches a preset first cleaning threshold value or until the cleaning degree of sewage generated by cleaning reaches a second cleaning threshold value;
When the quantitative cleaning module of the cleaning base station is connected, the cleaning base station is controlled by a cleaning instruction to quantitatively clean the cleaning piece according to a preset task.
3. A mop cleaning method according to claim 1, wherein the automatic cleaning module is provided with a clean water tank for loading clean water, at least part of the clean water in the clean water tank being used for cleaning the mop, the method further comprising:
outputting a first water supplementing instruction to the cleaning base station to instruct the cleaning base station to perform a first water supplementing operation on the clean water tank in a preset period after the automatic cleaning module is determined to be connected to the cleaning base station; and/or
When the cleaning base station uses a second preset amount of clear water in the clear water tank to clean the cleaning piece, outputting a second water supplementing instruction to the cleaning base station so as to instruct the cleaning base station to conduct a second water supplementing operation on the clear water tank; and/or
When the cleaning base station uses clear water in the clear water tank to clean the cleaning piece for a second preset time, outputting a third water supplementing instruction to the cleaning base station so as to instruct the cleaning base station to conduct third water supplementing operation on the clear water tank.
4. A mop cleaning method according to claim 1, wherein the automatic cleaning module is provided with a clean water tank for loading clean water, at least part of the clean water in the clean water tank being used for cleaning the mop, the method further comprising:
acquiring the water quantity of the clean water tank;
when the water quantity of the clean water tank is smaller than a third preset quantity, outputting a third water supplementing instruction to the cleaning base station to instruct the cleaning base station to conduct water supplementing operation on the clean water tank until the time length of the water supplementing operation is longer than a third preset time length and/or the water quantity of the clean water tank is larger than a fourth preset quantity;
wherein the third preset amount is less than or equal to the fourth preset amount.
5. The mop cleaning method according to claim 1, wherein the automatic cleaning module or the quantitative cleaning module is provided with a sewage tank, the method further comprising:
when the cleaning base station cleans the cleaning piece, a sewage collection instruction is sent to the cleaning base station so as to instruct the cleaning base station to collect sewage generated by cleaning through the sewage tank.
6. The method of cleaning a mop of claim 5, wherein when the cleaning module is an automatic cleaning module, the method further comprises:
And outputting a sewage discharge instruction to the cleaning base station to instruct the cleaning base station to perform a sewage discharge operation on the sewage in the sewage tank when the duration of the collecting operation is longer than a fourth preset duration and/or the water quantity in the sewage tank is longer than a fifth preset quantity.
7. The mop cleaning method according to any one of claims 1 to 6, wherein the work order further includes a rotation order corresponding to the cleaning robot, the method further comprising:
when a working state signal generated when the cleaning base station cleans the cleaning piece is received, the cleaning piece is driven to execute corresponding rotation according to the rotation instruction.
8. A mop cleaning method according to any one of claims 1-6, wherein the cleaning station is provided with a cleaning container for accommodating the mop in cleaning, the method further comprising:
and when receiving an overflow signal representing that the cleaning container overflows, sending a second abnormal signal to the cleaning base station to instruct the cleaning base station to stop cleaning the cleaning piece.
9. The method of cleaning a mop of claim 1, further comprising:
When the cleaning base station is controlled to clean the cleaning piece and/or after the cleaning base station is controlled to clean the cleaning piece, a dirt value of sewage generated by cleaning the cleaning piece is obtained;
and sending the cleaning instruction to the cleaning base station at least once, so that the cleaning base station responds to the cleaning instruction to control the cleaning module to execute the corresponding cleaning task until the dirt value is smaller than a preset dirt threshold value, wherein the preset dirt threshold value corresponding to the automatic cleaning module is smaller than the preset dirt threshold value corresponding to the quantitative cleaning module.
10. The mop cleaning method according to claim 1, wherein when the automatic cleaning instruction includes the quantitative cleaning instruction, the controlling the cleaning base station to clean the mop according to the operation instruction includes:
sending a quantitative cleaning instruction to the cleaning base station to instruct the cleaning base station to control the quantitative cleaning module to quantitatively clean the cleaning piece according to a preset task, wherein the task quantitative comprises at least one of water supply amount, cleaning duration, soaking duration, dirt degree and cleaning force.
11. A cleaning robot, characterized in that the cleaning robot comprises:
a housing;
the mopping piece is arranged on the shell and is used for executing preset mopping actions;
a controller comprising a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for enabling a connected communication between the processor and the memory, wherein the computer program, when executed by the processor, implements the mop cleaning method according to any one of claims 1 to 10.
12. A cleaning system, characterized in that it comprises a cleaning base station and a cleaning robot according to claim 11.
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