CN117502965A - Control method, cleaning robot, water changing base station and cleaning system - Google Patents

Abstract

The application is applicable to intelligent house technical field, provides a control method, cleaning robot, trade water basic station and clean system, include: when the water change starting condition is met, controlling the cleaning robot to move to the water change base station and be connected with the water change base station; controlling the cleaning robot to send a clean water supplementing instruction and/or a sewage draining instruction to the water changing base station so that the water changing base station supplements clean water and/or sewage to the cleaning robot; when the water changing ending condition is met, controlling the cleaning robot to stop supplementing clean water and/or draining sewage, and separating from the water changing base station; when dust collection or charging is needed, the cleaning robot is controlled to move to the dust collection base station and connected with the dust collection base station, and the dust collection base station collects dust or charges the cleaning robot. Through the mode, the dry-wet separation of the base station can be realized, the dust collecting base station is not contacted with a water source, the dust collecting base station can be always in a dry environment, the corrosion of internal circuit devices can be avoided, and the service life and the safety of the dust collecting base station are improved.

Description

Control method, cleaning robot, water changing base station and cleaning system

Technical Field

The application belongs to the technical field of intelligent home, and particularly relates to a control method, a cleaning robot, a water changing base station and a cleaning system.

Background

The cleaning robot, also called automatic cleaner, intelligent dust collector, robot dust collector, etc., is one kind of intelligent household appliance, and can complete floor cleaning automatically in room via artificial intelligent algorithm.

Cleaning robots generally have two functions: firstly, the tiny garbage is sucked into the machine through the rotation of the side brush and the rolling brush and the negative pressure of the internal fan. Secondly, the floor to be cleaned is cleaned by repeatedly rubbing the floor with a wet mop or other parts. The cleaning and charging of the cleaning robot are realized through the configured cleaning base station, but the conventional configured cleaning base station has the problems of inconvenient installation, insanitation, unsafe, short service life and the like.

Disclosure of Invention

The embodiment of the application provides a control method, a cleaning robot, a water changing base station and a cleaning system, which can improve the service life and the safety of the cleaning system.

In a first aspect, an embodiment of the present application provides a control method of a cleaning robot, including: when the water change starting condition is met, controlling the cleaning robot to move to a water change base station and be connected with the water change base station; controlling the cleaning robot to send a clean water supplementing instruction and/or a sewage draining instruction to the water changing base station so that the water changing base station supplements clean water and/or sewage to the cleaning robot; when the water changing ending condition is met, controlling the cleaning robot to stop supplementing clean water and/or draining sewage, and separating from the water changing base station; when dust collection or charging is required, the cleaning robot is controlled to move to and be connected with a dust collection base station, and the dust collection base station collects dust or charges the cleaning robot.

In a possible implementation manner of the first aspect, after disengaging the water changing base station, the method further includes: and in a mopping mode or a sweeping and mopping mode, starting a water supplementing pump of the cleaning robot to moisten a mopping piece of the cleaning robot.

In a possible implementation manner of the first aspect, the water change starting condition specifically includes: the cleaning robot detects that the clean water tank is empty, the sewage tank is full, and the cleaning robot finishes mopping and/or self-cleaning; the water change end conditions specifically include: the cleaning robot detects that the clean water tank is full, the sewage tank is empty, the clean water is replenished for a first preset time and/or the sewage is drained for a second preset time.

In a possible implementation manner of the first aspect, the water changing base station is specifically configured to supplement clean water and/or drain water to the cleaning robot, and the method specifically includes: and controlling the cleaning robot to supply power to a water valve of the water changing base station so as to supplement clean water, and/or supplying power to a water suction pump of the water changing base station so as to drain sewage.

In a possible implementation manner of the first aspect, before controlling the cleaning robot to send a clean water replenishment instruction and/or a sewage draining instruction to the water changing base station, the method further includes: and controlling the first electrode plate of the cleaning robot to be in contact with and electrically connected with the second electrode plate of the water changing base station, and supplying power to the water changing base station.

In a possible implementation manner of the first aspect, when dust collection is required, controlling the cleaning robot to move to and connect with a dust collection base station, and collecting dust of the cleaning robot by the dust collection base station specifically includes: and in a sweeping mode or a sweeping and dragging mode, controlling the cleaning robot to move to the dust collecting base station and be connected with the dust collecting base station, and sending a dust collecting instruction to the dust collecting base station so that the dust collecting base station starts a dust suction fan and sucks dust in a dust box of the cleaning robot.

In a second aspect, embodiments of the present application provide a cleaning robot, including: the device comprises a control module, a first docking module and a first communication module; the control module includes: the first control module is used for controlling the cleaning robot to move to the water changing base station and controlling the first docking module to be connected with the water changing base station when the water changing starting condition is met; the second control module is also used for controlling the first communication module to send a clean water supplementing instruction and/or a sewage draining instruction to the water changing base station so that the water changing base station supplements clean water and/or sewage to the cleaning robot; the third control module is also used for controlling the cleaning robot to stop supplementing clean water and/or draining sewage and controlling the first docking module to be separated from the water changing base station when the water changing ending condition is met; and the fourth control module is also used for controlling the cleaning robot to move to the dust collection base station and be connected with the dust collection base station through the first docking module when dust collection or charging is needed, and the dust collection base station is used for collecting dust or charging the cleaning robot.

In a possible implementation manner of the second aspect, the water-changing device further includes a first detection module and a second detection module, where the first control module is further configured to determine that the water-changing start condition is met when the first detection module detects a state in which the fresh water tank is empty, the sewage tank is full, after mopping is completed, and/or self-cleaning is completed; the third control module is further used for judging that the water changing ending condition is met when the second detection module detects that the clear water tank is full, the sewage tank is empty, the water supplementing reaches a first preset time and/or the sewage draining reaches a second preset time.

In a possible implementation manner of the second aspect, the first docking module includes a first electrode pad disposed on a surface of the cleaning robot and used for connecting with or disconnecting from a water exchange base station; the first electrode plate of the first docking module is docked with the second electrode plate of the water changing base station to supply power to the water valve of the water changing base station to supplement water, and/or to the water suction pump of the water changing base station to drain sewage.

In a third aspect, an embodiment of the present application provides a control method of a water exchange base station, including: when the water changing base station is connected with the cleaning robot, receiving a clean water supplementing instruction and/or a sewage draining instruction sent by the cleaning robot, opening a water valve connected with an external water source to supplement clean water for the cleaning robot, and/or opening a water suction pump connected with an external sewage draining pipe to drain sewage of the cleaning robot; when the water change is finished, the cleaning robot is stopped from being supplemented with clean water and/or drained with sewage.

In a possible implementation manner of the third aspect, after receiving a clean water replenishment instruction and/or a sewage draining instruction sent by the cleaning robot, the method further includes: the water valve of the water changing base station receives power supply of the cleaning robot to supplement clean water to the cleaning robot, and/or the water suction pump of the water changing base station receives power supply of the cleaning robot to discharge sewage of the cleaning robot.

In a possible implementation manner of the third aspect, the process of replenishing the cleaning robot with clean water further includes: when the clean water supplementing instruction contains cleaning liquid adding information, the water changing base station adds cleaning liquid into a clean water tank of the water changing base station and supplements clean water mixed with the cleaning liquid to the cleaning robot.

In a possible implementation manner of the third aspect, when the water change is finished, the method specifically includes: when the water changing base station receives a signal that the clear water tank is full and/or the sewage tank is empty sent by the cleaning robot, or the water changing base station detects that the water supplementing clear water reaches a first preset time and/or the sewage draining reaches a second preset time.

In a fourth aspect, an embodiment of the present application provides a water exchange base station, including: the device comprises a water valve, a water suction pump, a water changing treatment module, a second butt joint module and a second communication module; when the water changing base station is connected with the cleaning robot through the second docking module, the second communication module is used for receiving a water supplementing instruction and/or a sewage draining instruction sent by the cleaning robot; the water change processing module is used for controlling to open a water valve connected with an external water source to supplement water for the cleaning robot and/or controlling to open a water suction pump connected with an external drain pipe to discharge sewage of the cleaning robot when the second communication module receives the water supplement water instruction and/or the sewage discharge instruction; and the cleaning robot is also used for stopping the water supplementing and/or the sewage draining of the cleaning robot when the water changing is finished.

In a possible implementation manner of the fourth aspect, the second docking module includes a second electrode plate disposed on a surface of the water exchange base station and used for connecting or disconnecting with a cleaning robot; the second electrode plate of the second docking module is used for docking with the first electrode plate of the cleaning robot to receive power supply from the cleaning robot so as to supply power to the water valve and/or the water suction pump.

In a possible implementation manner of the fourth aspect, the water exchange base station further includes a power supply interface and a battery module, where the power supply interface is disposed on a surface of the water exchange base station and connected with the battery module, and is used to obtain power from outside and supply power to the second communication module.

In a fifth aspect, embodiments of the present application provide a cleaning system, including a cleaning robot in any one of the possible implementations of the second aspect, a water changing base station in any one of the possible implementations of the fourth aspect, and a dust collecting base station connected to a mains supply for collecting dust or charging the cleaning robot.

Compared with the prior art, the embodiment of the application has the beneficial effects that: the embodiment of the application provides a control method of a cleaning robot, which can control the cleaning robot to go to an independent water changing base station to finish water supplementing and/or sewage draining, and control the cleaning robot to go to an independent dust collecting base station to finish dust collecting or charging. That is, the present embodiments provide a separate water and dust changing base station. The dust collection base station is used for collecting dust and charging the cleaning robot, and the water changing base station is used for changing water for the cleaning robot. Through the mode, the dry-wet separation of the base station can be realized, the dust collecting base station is not contacted with a water source, the dust collecting base station can be always in a dry environment, the corrosion of internal circuit devices can be avoided, the service life of the dust collecting base station is prolonged, the situation that the user gets an electric shock due to water leakage of the dust collecting base station is prevented, and the safety is improved. And, through separating the base station dry and wet, can place two base stations in the room in a flexible way, for example place the water changing base station in balcony, kitchen or bathroom, place the dust collecting base station in any position that can insert the power. By dry-wet separation, the sanitary towel can be more sanitary.

It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of a cleaning system provided in an embodiment of the present application;

FIG. 2 is a flow chart of steps of a control method of a cleaning robot according to an embodiment of the present application;

fig. 3 is a flow chart of steps of a control method of a water exchange base station according to an embodiment of the present application;

fig. 4 is a schematic diagram of a workflow of a cleaning system provided in an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

Current cleaning robots generally have two functions: firstly, the tiny garbage is sucked into the machine through the rotation of the side brush and the rolling brush and the negative pressure of the internal fan. Secondly, the floor to be cleaned is cleaned by repeatedly rubbing the floor with a wet mop or other parts. The cleaning and charging of the cleaning robot are realized through the configured cleaning base station, but the conventional configured cleaning base station has the problems of inconvenient installation, insanitation, unsafe, short service life and the like.

Based on the above problems, the present application provides the following embodiments to solve the above problems.

Referring to fig. 1, an embodiment of the present application provides a cleaning system 100, comprising: cleaning robot 10, dust collection base station 20, and water exchange base station 30.

The cleaning robot 10 includes a control module, a first docking module, and a first communication module. The control module is connected with the first docking module and the first communication module.

The control module may specifically include a first control module, a second control module, a third control module, and a fourth control module.

And a first control module for controlling the cleaning robot 10 to move to the water exchanging base station 30 and controlling the first docking module to be connected with the water exchanging base station 30 when the water exchanging start condition is satisfied.

The second control module is further configured to control the first communication module to send a water replenishing instruction and/or a sewage draining instruction to the water exchange base station 30, so that the water exchange base station 30 replenishes water and/or drains sewage to the cleaning robot.

The third control module is further configured to control the cleaning robot 10 to stop water replenishment and/or sewage drainage and control the first docking module to depart from the water exchange base station 30 when the water exchange end condition is satisfied.

The fourth control module is further used for controlling the cleaning robot 10 to move to the dust collection base station 20 and be connected with the dust collection base station 20 through the first docking module when dust collection or charging is needed, and the dust collection base station 20 collects dust or charges the cleaning robot 10.

It should be noted that, the first docking module of the cleaning robot 10 in the embodiment of the present application is configured to dock with the second docking module of the water changing base station 30 so as to be connected with the water changing base station 30, and the first docking module of the cleaning robot 10 in the embodiment of the present application is configured to dock with the third docking module of the dust collecting base station 30 so as to be connected with the dust collecting base station 30. The cleaning robot 10 can move to the water changing base station 30 to replenish clean water and/or drain sewage according to the self-requirement when water changing is required, and can move to the dust collecting base station 20 to collect dust or charge when dust collecting or charging is required.

Optionally, the cleaning robot 10 further includes: a first detection module and a second detection module.

The first control module is also used for judging that the water change starting condition is met when the first detection module detects the states of empty clean water tank, full sewage tank, mopping completion and/or self-cleaning completion.

And the third control module is also used for judging that the water changing ending condition is met when the second detection module detects that the clear water tank is full, the sewage tank is empty, the water supplementing reaches the first preset time and/or the sewage draining reaches the second preset time.

Optionally, the first docking module comprises a first electrode plate which is arranged on the surface of the cleaning robot and is used for being connected with or separated from the water changing base station; the first electrode plate of the first docking module is docked with the second electrode plate of the water changing base station to supply power to the water valve of the water changing base station to supplement clean water, and/or to the water suction pump of the water changing base station to drain sewage.

Wherein the water change base station 30 includes: the device comprises a water valve, a water suction pump, a water changing treatment module, a second docking module and a second communication module.

When the water changing base station 30 is connected with the cleaning robot through the second docking module, the second communication module is used for receiving a clean water supplementing instruction and/or a sewage draining instruction sent by the cleaning robot; the water change processing module is used for controlling to open a water valve connected with an external water source to supplement water to the cleaning robot 10 and/or controlling to open a water suction pump connected with an external sewage discharge pipe to discharge sewage of the cleaning robot when the second communication module receives a water supplementing instruction and/or a sewage discharge instruction; but also to stop the cleaning robot 10 from being replenished with fresh water and/or drained when the water change is completed.

Alternatively, the second docking module includes a second electrode pad provided on the surface of the water changing base station 30 for connection to or disconnection from the cleaning robot 10; the second electrode pad of the second docking module is for docking with the first electrode pad of the cleaning robot 10 to receive power from the cleaning robot 10 to supply power to the water valve and/or the water pump.

It should be noted that, since the water exchange base station 30 is used to dock with the first electrode pad of the cleaning robot 10 through the second electrode pad of the second docking module to receive the power supply from the cleaning robot 10, the water exchange base station 30 is not connected to the mains power to supply power to the water valve and/or to supply power to the water pump, i.e. no socket is needed, so that the water exchange base station 30 can be flexibly placed at a selected position, for example, the water exchange base station 30 can be conveniently installed in a place where clean water and sewage are easily obtained, such as: a balcony, kitchen or bathroom or the like.

Optionally, the water changing base station 30 further includes: the power supply interface is arranged on the surface of the water exchange base station 30 and is connected with the battery module, and is used for acquiring power from the outside and supplying power to the second communication module.

It should be noted that the power supply interface may be a low voltage input interface, such as a type-c interface. The risk of leakage of the water changing base station 30 can be prevented by the interface of the low voltage input.

That is, the second communication module of the water exchange base station 30 provided in the embodiment of the present application may supply power through the battery module configured inside, and the battery module configured inside may obtain power through the interface with low voltage input, so that the water exchange base station 30 does not need to be connected to the mains to supply power to the second communication module, that is, no socket is needed.

Meanwhile, as the water changing base station 30 is directly powered by the battery module, the water changing base station belongs to low-voltage direct current power supply, and compared with the situation that the water changing base station 30 is powered by the mains supply, the water changing base station 30 is safe to use and cannot hurt a human body due to electric leakage.

The battery module may specifically be a lithium battery, which is not limited in this application.

Wherein, the dust collection base station 20 includes: the device comprises a third docking module, a control module and a third communication module.

The third docking module is configured to dock with the first docking module of the cleaning robot 10 to connect with the cleaning robot 10.

The third communication module is configured to receive a dust collection instruction sent by the cleaning robot 10, and control dust extraction on the cleaning robot 10 through the control module, or the third communication module is configured to receive a charging instruction sent by the cleaning robot 10, and control power supply on the cleaning robot 10 through the control module.

In the embodiment of the present application, the dust collection base station 20 is connected to the commercial power (110V to 220V). The dust collection base station 20 is mainly used for dust extraction and charging of the cleaning robot 10.

Specifically, the dust collection base station 20 may be provided with a blower. The sucked dust in the cleaning robot 10 is concentrated in the dust box, and the dust collecting base station can control the fan to be turned on through the control module and suck the dust in the dust box in the cleaning robot 10, so that the cleaning of the dust in the cleaning robot 10 is achieved.

In addition, the dust collection base station 20 is provided with another fan for drying the cleaning member of the cleaning robot 10.

That is, the dust collection base station 20 provided in the embodiment of the present application may further be provided with a drying operation for the cleaning robot 10.

It should be noted that the control module may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The first communication module, the second communication module, and the third communication module may be, but are not limited to, a bluetooth module, and a Wi-Fi (wireless communication technology) module.

In summary, the present embodiment provides a cleaning system 100 including a cleaning robot 10, a dust collection base station 20, and a water change base station 30; wherein the dust collection base station 20 is used for dust extraction and charging of the cleaning robot 10, and the water change base station 30 is used for water change treatment of the cleaning robot 10. Through the mode, the dry-wet separation of the base station can be realized, the dust collecting base station 20 is not contacted with a water source, the dust collecting base station 20 can be always in a dry environment, the corrosion of internal circuit devices can be avoided, the service life of the dust collecting base station 20 is prolonged, meanwhile, the situation that the user gets an electric shock due to the water leakage of the dust collecting base station 20 is prevented, and the safety is improved. Also, by separating the base stations dry and wet, two base stations can be flexibly placed in a room, and the water changing base station 30 is placed at a position where clean water and sewage are easily obtained, for example: the balcony, kitchen or bathroom is because trade water base station 30 need not connect the commercial power to even take place to leak also can not lead to the user to electrocute, place album dirt basic station 20 in the position of inserting the power and dry environment, because this application album dirt basic station 20 does not contact the water source, can be in dry environment all the time, can avoid the corrosion of internal circuit device. The dust collection base station 20 and the water changing base station 30 are respectively placed at different positions, so that dry and wet separation can be realized, and the water collection base station is more sanitary.

Referring to fig. 2, the embodiment of the present application further provides a cleaning robot control method, which is applied to the cleaning robot 10 in the cleaning system 100 provided in the foregoing embodiment, and the method may specifically include: step 201-step 204.

Step 201: when the water change start condition is satisfied, the cleaning robot is controlled to move to and connect with the water change base station.

Here, the water change start condition may include: the cleaning robot detects that the clean water tank is empty, the sewage tank is full, and/or the self-cleaning is finished.

The sewage tank is full, that is, the sewage in the sewage tank reaches the first preset value, wherein the first preset value may be 100%, that is, the sewage tank is full, that is, the sewage in the sewage tank reaches 100% of the storage capacity. The first preset value may also be 90%, i.e. the tank is full indicating that the tank has reached 90% of its storage capacity.

Correspondingly, the empty clear water tank can represent that the clear water amount in the clear water tank is equal to or lower than a second preset value. The second preset value may be 10%, that is, the clear water tank empty indicates that the clear water in the clear water tank is equal to or lower than 10% of the storage amount thereof, and the second preset value may be 0%, that is, the clear water tank empty indicates that the clear water in the clear water tank is equal to 0% of the storage amount thereof.

The sewage amount in the sewage tank and the clean water amount in the clean water tank can be detected according to the respective installed sensors and the positions where the sensors are installed.

When the cleaning robot detects that the clean water tank is empty or the sewage tank is full in the cleaning process, the cleaning robot is controlled to move to the water changing base station and is connected with the water changing base station, so that the water changing base station supplements clean water and/or discharges sewage to the cleaning robot.

Illustratively, since the clean water of the clean water tank inside the cleaning robot is used to clean the mopping member itself during the self-cleaning process, the sewage is collected in the sewage tank after the mopping member is cleaned; when the self-cleaning of the cleaning robot is finished, the cleaning robot is controlled to move to the water changing base station and is connected with the water changing base station, so that the water changing base station supplements clean water and/or discharges sewage to the cleaning robot.

For example, as the cleaning robot is in the process of mopping, the clean water in the clean water tank in the cleaning robot is used for being supplemented to the mopping piece, so that the mopping piece finishes mopping; when the cleaning robot finishes mopping, the cleaning robot is controlled to move to the water changing base station and is connected with the water changing base station, so that the water changing base station supplements clear water or drains sewage for the cleaning robot, and the cleaning robot is enabled to have enough clear water or enough capacity for accommodating sewage in the self-cleaning process so as to finish self-cleaning.

Step 202: and controlling the cleaning robot to send a clean water supplementing instruction and/or a sewage draining instruction to the water changing base station so that the water changing base station supplements clean water and/or sewage to the cleaning robot.

Then, after the cleaning robot is connected with the water changing base station, the cleaning robot is controlled to send a clean water supplementing instruction and/or a sewage draining instruction to the water changing base station, so that the water changing base station supplements clean water and/or drains sewage to the cleaning robot.

After receiving the clean water supplementing instruction and/or the sewage draining instruction sent by the cleaning robot, the water changing base station can control to open a water valve connected with an external water source to supplement clean water for the cleaning robot and/or control to open a water suction pump connected with an external sewage draining pipe to drain sewage of the cleaning robot.

Step 203: when the water changing ending condition is met, controlling the cleaning robot to stop supplementing clean water and/or draining sewage, and separating from the water changing base station.

Here, the water change end condition may include the cleaning robot detecting that the clean water tank is full, the sewage tank is empty, the make-up water reaches a first preset time, and/or the drain water reaches a second preset time.

The above-mentioned clean water tank full may be that the clean water in the clean water tank reaches a third preset value, wherein the third preset value may be 100%, that is, the clean water tank full indicates that the clean water in the clean water tank reaches 100% of its storage amount, and the third preset value may be 80%, that is, the clean water tank full indicates that the clean water in the clean water tank reaches 80% of its storage amount. The amount of fresh water in the fresh water tank can be detected based on the installed sensor.

Correspondingly, the sewage tank empty can represent that the sewage amount in the sewage tank is equal to or lower than a fourth preset value. The fourth preset value may be 10%, i.e. the empty sewage tank indicates that the sewage in the sewage tank is equal to or lower than 10% of its storage capacity, and the fourth preset value may be 0%, i.e. the empty sewage tank indicates that the sewage in the sewage tank is equal to 0% of its storage capacity.

The sewage amount in the sewage tank and the clean water amount in the clean water tank can be detected according to the respective installed sensors and the positions where the sensors are installed.

The first preset time and the second preset time can be set according to requirements, for example, the first preset time and the second preset time can be respectively set to 1 minute, 2 minutes and the like, the first preset time and the second preset time can be the same duration or different durations, the first preset time enables the clear water tank to obtain enough clear water, the second preset time enables the sewage tank to be emptied to a certain extent, and the sewage tank is convenient for a user to use the cleaning robot for mopping the floor.

Step 204: when dust collection or charging is needed, the cleaning robot is controlled to move to the dust collection base station and connected with the dust collection base station, and the dust collection base station collects dust or charges the cleaning robot.

Here, the cleaning robot may detect the dust content in the dust box to trigger dust collection, or the cleaning robot may be controlled to move to and connect with the dust collection base station after the cleaning is completed, and the dust collection base station may collect dust from the cleaning robot.

Here, the cleaning robot may also detect its own power to trigger charging. For example, when the cleaning robot detects that the self electric quantity is lower than the first preset electric quantity, the cleaning robot controls the self cleaning robot to move to the dust collection base station and connect with the dust collection base station, and the dust collection base station charges the cleaning robot.

The first preset amount of electricity may be 20%, 30% or the like of the total amount of the battery of the cleaning robot, which is not limited in this application.

That is, in the cleaning robot cleaning process, the electric quantity can be monitored in real time, and when the cleaning robot detects that the electric quantity of the cleaning robot is lower than the first preset electric quantity, the cleaning robot controls the cleaning robot to return to the dust collecting base station for charging.

Of course, when the electric quantity is detected to reach the second preset electric quantity, the cleaning robot is controlled to be separated from the dust collection base station, and cleaning is continued. The second preset electric quantity may be 60%, 80% or the like of the total battery of the cleaning robot, which is not limited herein.

In summary, the embodiments of the present application provide a control method for a cleaning robot, which can control the cleaning robot to go to an independent water changing base station to complete water replenishing and/or sewage draining, and control the cleaning robot to go to an independent dust collecting base station to complete dust collection or charging. That is, the present embodiments provide a separate water and dust changing base station. The dust collection base station is used for collecting dust and charging the cleaning robot, and the water changing base station is used for changing water for the cleaning robot. Through the mode, the dry-wet separation of the base station can be realized, the dust collecting base station is placed at the position where the power supply is inserted and in a dry environment, the corrosion of internal circuit devices can be avoided because the dust collecting base station is not contacted with a water source, the service life of the dust collecting base station is prolonged, the situation that the user gets an electric shock due to water leakage of the dust collecting base station is also prevented, the safety is improved, and the water changing base station can be conveniently installed in a place where clean water and sewage are easy to obtain. And, by separating the base stations dry and wet, two base stations can be flexibly placed in a room, such as a water changing base station placed on a balcony, kitchen or bathroom, and a dust collecting base station placed at a position where a power source can be inserted and an environment is dried. By dry-wet separation, the sanitary towel can be more sanitary.

Optionally, in an embodiment, after the cleaning robot leaves the water changing base station, the method further comprises: and in the floor mopping mode or the sweeping and mopping mode, starting a water supplementing pump of the cleaning robot to moisten a mopping piece of the cleaning robot.

In the floor mopping mode and the sweeping and mopping mode, the floor mopping function is required to be used, so that the water replenishing pump of the cleaning robot is started to moisten the mopping piece of the cleaning robot in the two modes.

In embodiments of the present application, the cleaning robot's mop may be, but is not limited to, a cleaning roller, a sheet mop, or a dual-rotation mop.

In this application embodiment, when cleaning robot's the piece of mopping is the cleaning roller, the self-cleaning process is for adjusting the rotational speed of cleaning roller to the biggest, adjusts cleaning robot's moisturizing pump flow to the biggest, cleans cleaning robot's cleaning roller for a period of time, closes after the cleaning roller cleans, and self-cleaning in-process, sewage in the cleaning roller gets back to the sewage case.

Optionally, in an embodiment, when dust collection is required in the step, the cleaning robot is controlled to move to and connect with the dust collection base station, and the dust collection base station collects dust from the cleaning robot, which may further specifically include: in the sweeping mode or the sweeping and dragging mode, the cleaning robot is controlled to move to the dust collecting base station and connected with the dust collecting base station, and a dust collecting instruction is sent to the dust collecting base station, so that the dust collecting base station starts the dust suction fan, and dust in a dust box of the cleaning robot is sucked out.

It should be noted that, in both the sweeping mode and the sweeping mode, the dust collection function is required, and therefore, in both modes, dust collection treatment is required for the cleaning robot. Here, the dust collecting base station is internally provided with a dust extraction fan, when the cleaning robot is controlled to move to and be connected with the dust collecting base station, the cleaning robot sends a dust collecting instruction to the dust collecting base station, and after receiving the dust collecting instruction, the dust collecting base station starts the dust extraction fan and extracts dust in a dust box of the cleaning robot.

Optionally, in an embodiment, the method for the water changing base station to replenish clean water and/or drain sewage for the cleaning robot specifically includes: and controlling the cleaning robot to supply power to the water valve of the water changing base station to supplement clean water and/or to supply power to the water suction pump of the water changing base station to drain sewage.

That is, in the embodiment of the present application, the water valve of the water changing base station and the water suction pump of the water changing base station are reversely supplied with power by the cleaning robot.

Accordingly, before the cleaning robot sends the water replenishing command and/or the sewage draining command to the water changing base station, the method further comprises: the first electrode plate of the cleaning robot is controlled to be in contact with and electrically connected with the second electrode plate of the water changing base station, and power is supplied to the water changing base station.

The first electrode plate of the cleaning robot is controlled to be in contact with and electrically connected with the second electrode plate of the water changing base station to supply power to the water changing base station, so that a water valve of the water changing base station and/or a water suction pump of the water changing base station can obtain power, and water replenishing and/or sewage draining can be achieved.

Here, the cleaning robot supplying power to the water changing base station may further include the cleaning robot supplying power to a battery module inside the cleaning robot, which may be used to supply power to a second communication module of the water changing base station after obtaining power.

Because the cleaning robot in this application embodiment is given and is traded water the basic station power supply, so trade water the basic station and need not connect the commercial power, need not the socket promptly, consequently trade water the basic station and can select the position in a flexible way and place, trade water the basic station and can be installed the place that easily obtain clear water and sewage like very conveniently, like: a balcony, kitchen or bathroom or the like. Meanwhile, the water exchange base station directly supplies power to the communication module by adopting the battery, belongs to low-voltage direct current power supply, and cannot cause electric leakage to hurt human bodies, and the water exchange base station supplies power through the cleaning robot to enable a water valve and/or a water suction pump to obtain power, so that even if the water exchange base station leaks, the electric shock risk cannot exist, and the use safety of the water exchange base station is ensured.

Referring to fig. 3, an embodiment of the present application further provides a method for controlling a water exchange base station, which is applied to the water exchange base station in the cleaning system in the foregoing embodiment, and includes: step 301-step 302.

Step 301: when the water changing base station is connected with the cleaning robot, the water supplementing instruction and/or the sewage draining instruction sent by the cleaning robot are received, a water valve connected with an external water source is opened to supplement water for the cleaning robot, and/or a water suction pump connected with an external sewage draining pipe is opened to drain sewage of the cleaning robot.

Step 302: when the water change is finished, the cleaning robot is stopped from being supplemented with clean water and/or drained with sewage.

It should be noted that, the above implementation process may refer to the description in the foregoing embodiment, and in order to avoid redundancy, the description is not repeated here.

Optionally, after receiving the clean water supplementing instruction and/or the sewage draining instruction sent by the cleaning robot, the method further includes: the water valve of the water changing base station receives power supply of the cleaning robot to supplement clean water to the cleaning robot, and/or the water suction pump of the water changing base station receives power supply of the cleaning robot to discharge sewage of the cleaning robot.

That is, in the embodiment of the present application, the water valve of the water changing base station and the water pump of the water changing base station are reversely supplied with power by the cleaning robot. By the mode, the water exchange base station can be enabled to be free from being connected with commercial power, flexibility of placing the water exchange base station is improved, and the water exchange base station is guaranteed not to have the risk of electric leakage even under the condition of water leakage.

Optionally, the process of adding water to the cleaning robot further includes: when the clean water supplementing instruction contains cleaning liquid adding information, the water changing base station adds cleaning liquid into the clean water tank of the water changing base station and supplements clean water mixed with the cleaning liquid to the cleaning robot.

That is, in the embodiment of the present application, the mopping effect of the subsequent cleaning robot can be improved by adding the cleaning liquid to the clean water tank and replenishing the clean water mixed with the cleaning liquid to the cleaning robot.

Optionally, in an embodiment, the water change is finished specifically: when the water changing base station receives a signal that the clear water tank is full and/or the sewage tank is empty sent by the cleaning robot, or the water changing base station detects that the water replenishing reaches a first preset time and/or the sewage draining reaches a second preset time.

The explanation of the water change end condition may be referred to the explanation in the foregoing embodiment, and will not be repeated here.

Finally, in conjunction with fig. 4, a complete description of the workflow of the cleaning system provided in the embodiment of the present application will be provided:

step one, when the user passes through APP (application program) or cleaning robot button or APP to reach the preset time, the cleaning robot is off-pile from the dust collection base station, and then self-checking is carried out.

Step two, when the cleaning robot detects that the clean water tank is empty or the sewage tank is full (such as less than 20 percent of the total amount) (such as more than 80 percent of the total amount); the cleaning robot moves to the water changing base station to finish the butt joint.

And thirdly, after the butt joint is finished, the first electrode plate of the cleaning robot is in contact with the second electrode plate of the water changing base station, and the cleaning robot reversely supplies power to the water changing base station, so that the water changing base station obtains power.

And step four, after the water exchange base station obtains power, the cleaning robot sends an instruction for starting a sewage pump in the water exchange base station to the water exchange base station through wireless communication (Bluetooth or WIFI), and sewage in a sewage tank in the cleaning robot is sucked into the water exchange base station and discharged through a sewage port of the water exchange base station.

Step five, the cleaning robot starts the water suction pump, and simultaneously the cleaning robot sends an instruction for instructing the water changing base station to add quantitative cleaning liquid to the water changing base station through wireless communication (Bluetooth or WIFI), so that clean water mixed with the cleaning liquid is supplemented to a clean water tank of the cleaning robot until the clean water tank is full or reaches preset time, and the cleaning robot stops pumping water.

Step six, the cleaning robot is separated from the water changing base station, and in the modes of mopping and sweeping, before working, the cleaning robot rotates the cleaning roller (mopping piece) and pumps the water replenishing pump of the cleaning robot to the maximum, and the cleaning roller is wetted for a period of time, so that the cleaning roller is convenient to drag the floor subsequently.

Step seven, the robot starts to drag and sweep the floor until finishing; if the cleaning robot detects that the self electric quantity is insufficient in the process of working (sweeping or mopping), the cleaning robot returns to the dust collection base station for charging, and when the cleaning robot detects that the dust collection base station is charged to a preset degree (for example, 80% of total electric quantity), the cleaning robot continues to return to the working of mopping and mopping; if the cleaning robot detects empty clean water or full sewage in the process of mopping alone and in the process of sweeping, the cleaning robot navigates to the water changing base station to repeat the processes of the third step to the fifth step.

And step eight, after the floor sweeping is completed independently, the robot is navigated back to the dust collecting base station, and the dust collecting base station is enabled to start a fan to extract dust in the robot dust box in a wireless communication mode.

Step nine, after mopping (mopping and mopping are integrated singly), navigating to a water changing base station to repeat the processes of the steps three to five, and performing self-cleaning by a robot, wherein the self-cleaning process is to adjust the rotating speed of the cleaning roller to the maximum, adjust the flow of the water supplementing pump wetting the cleaning roller to the maximum, and keep for a period of time, the cleaning roller is closed after cleaning, and sewage in the cleaning roller returns to a sewage tank in the self-cleaning process, and the processes of the steps three to five are repeated to perform sewage pumping and clear water supplementing; after the steps are finished, the robot moves to the dust collecting base station, the dust collecting base station is enabled to start a fan (a dust pumping fan) to pump dust in a dust box of the robot in a wireless communication mode, then a cleaning roller of the cleaning robot rotates on the dust collecting base station, the dust collecting base station is enabled to start another fan to blow out hot air in the wireless communication mode, and the cleaning roller is dried for a period of time.

And step ten, after the cleaning robot is completed, the cleaning robot enters an idle standby state.

In summary, the cleaning system provided by the embodiment of the application can effectively solve the problems of inconvenient installation, insanitation, unsafe and short service life of equipment. Because the water changing base station does not need to be connected with the mains supply and does not need a socket, the water changing base station can be conveniently installed in places where clean water is easy to obtain, such as: a balcony, kitchen or bathroom or the like. And the dust collection base station can be installed at any position with a socket. Because the water changing base station is powered by a battery, the water changing base station can be arranged in areas with better ventilation such as a balcony, a kitchen or a bathroom, can be cleaned and is not easy to grow bacteria. And the health of the user is not affected. Only the water-changing base station can contact water, and the water-based station is powered by a battery, belongs to low-voltage direct current power supply and can not harm human bodies. Therefore, there is no safety problem. Since only the water change base station is in contact with the water source, the dust collection base station is not in contact with the water source. The dust collection base station is always in a drier environment, and the service life of the dust collection base station is prolonged.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The embodiment of the application also provides a network device, which comprises: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, which when executed by the processor performs the steps of any of the various method embodiments described above.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.

Embodiments of the present application provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that may be performed in the various method embodiments described above.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (17)

1. A control method of a cleaning robot, comprising:

when the water change starting condition is met, controlling the cleaning robot to move to a water change base station and be connected with the water change base station;

controlling the cleaning robot to send a clean water supplementing instruction and/or a sewage draining instruction to the water changing base station so that the water changing base station supplements clean water and/or sewage to the cleaning robot;

When the water changing ending condition is met, controlling the cleaning robot to stop supplementing clean water and/or draining sewage, and separating from the water changing base station;

when dust collection or charging is required, the cleaning robot is controlled to move to and be connected with a dust collection base station, and the dust collection base station collects dust or charges the cleaning robot.

2. The control method according to claim 1, characterized in that after disengaging the water change base station, the method further comprises:

and in a mopping mode or a sweeping and mopping mode, starting a water supplementing pump of the cleaning robot to moisten a mopping piece of the cleaning robot.

3. The control method according to claim 1, wherein the water change start condition specifically includes: the cleaning robot detects that the clean water tank is empty, the sewage tank is full, and the cleaning robot finishes mopping and/or self-cleaning;

the water change ending condition specifically comprises: the cleaning robot detects that the clean water tank is full, the sewage tank is empty, the clean water is replenished for a first preset time and/or the sewage is drained for a second preset time.

4. The control method according to claim 1, characterized in that causing the water changing base station to replenish the cleaning robot with clean water and/or drain water specifically comprises:

And controlling the cleaning robot to supply power to a water valve of the water changing base station so as to supplement clean water, and/or supplying power to a water suction pump of the water changing base station so as to drain sewage.

5. The control method according to claim 4, characterized in that before controlling the cleaning robot to send a clean water replenishment instruction and/or a sewage disposal instruction to the water exchange base station, the method further comprises: and controlling the first electrode plate of the cleaning robot to be in contact with and electrically connected with the second electrode plate of the water changing base station, and supplying power to the water changing base station.

6. The control method according to any one of claims 1 to 5, characterized in that when dust collection is required, the cleaning robot is controlled to move to and be connected with a dust collection base station, and dust collection is performed on the cleaning robot by the dust collection base station, and specifically comprises:

and in a sweeping mode or a sweeping and dragging mode, controlling the cleaning robot to move to the dust collecting base station and be connected with the dust collecting base station, and sending a dust collecting instruction to the dust collecting base station so that the dust collecting base station starts a dust suction fan and sucks dust in a dust box of the cleaning robot.

7. A cleaning robot, comprising: the device comprises a control module, a first docking module and a first communication module;

The control module includes:

the first control module is used for controlling the cleaning robot to move to the water changing base station and controlling the first docking module to be connected with the water changing base station when the water changing starting condition is met;

the second control module is also used for controlling the first communication module to send a clean water supplementing instruction and/or a sewage draining instruction to the water changing base station so that the water changing base station supplements clean water and/or sewage to the cleaning robot;

the third control module is also used for controlling the cleaning robot to stop supplementing clean water and/or draining sewage and controlling the first docking module to be separated from the water changing base station when the water changing ending condition is met;

and the fourth control module is also used for controlling the cleaning robot to move to the dust collection base station and be connected with the dust collection base station through the first docking module when dust collection or charging is needed, and the dust collection base station is used for collecting dust or charging the cleaning robot.

8. The cleaning robot according to claim 7, further comprising a first detection module and a second detection module, wherein the first control module is further configured to determine that the water change start condition is satisfied when the first detection module detects a state in which the fresh water tank is empty, the dirty water tank is full, after mopping is completed, and/or self-cleaning is completed;

The third control module is further used for judging that the water changing ending condition is met when the second detection module detects that the clear water tank is full, the sewage tank is empty, the water supplementing reaches a first preset time and/or the sewage draining reaches a second preset time.

9. The cleaning robot of claim 7, wherein the first docking module includes a first electrode pad provided on a surface of the cleaning robot and for connection to or disconnection from a water change base station; the first electrode plate of the first docking module is docked with the second electrode plate of the water changing base station to supply power to the water valve of the water changing base station to supplement water, and/or to the water suction pump of the water changing base station to drain sewage.

10. A control method of a water change base station, characterized by comprising:

when the water changing base station is connected with the cleaning robot, receiving a clean water supplementing instruction and/or a sewage draining instruction sent by the cleaning robot, opening a water valve connected with an external water source to supplement clean water for the cleaning robot, and/or opening a water suction pump connected with an external sewage draining pipe to drain sewage of the cleaning robot;

when the water change is finished, the cleaning robot is stopped from being supplemented with clean water and/or drained with sewage.

11. The control method according to claim 10, characterized in that after receiving the clean water replenishment instruction and/or the sewage disposal instruction sent by the cleaning robot, the method further comprises:

the water valve of the water changing base station receives power supply of the cleaning robot to supplement clean water to the cleaning robot, and/or the water suction pump of the water changing base station receives power supply of the cleaning robot to discharge sewage of the cleaning robot.

12. The control method according to claim 10, wherein the process of replenishing the cleaning robot with clean water further comprises: when the clean water supplementing instruction contains cleaning liquid adding information, the water changing base station adds cleaning liquid into a clean water tank of the water changing base station and supplements clean water mixed with the cleaning liquid to the cleaning robot.

13. The control method according to any one of claims 10 to 12, characterized in that the water change when finished is specifically: when the water changing base station receives a signal that the clear water tank is full and/or the sewage tank is empty sent by the cleaning robot, or the water changing base station detects that the water supplementing clear water reaches a first preset time and/or the sewage draining reaches a second preset time.

14. A water change base station, comprising: the device comprises a water valve, a water suction pump, a water changing treatment module, a second butt joint module and a second communication module;

When the water changing base station is connected with the cleaning robot through the second docking module, the second communication module is used for receiving a water supplementing instruction and/or a sewage draining instruction sent by the cleaning robot;

the water change processing module is used for controlling to open a water valve connected with an external water source to supplement water for the cleaning robot and/or controlling to open a water suction pump connected with an external drain pipe to discharge sewage of the cleaning robot when the second communication module receives the water supplement water instruction and/or the sewage discharge instruction; and the cleaning robot is also used for stopping the water supplementing and/or the sewage draining of the cleaning robot when the water changing is finished.

15. The water changing base station according to claim 14, wherein the second docking module includes a second electrode pad provided on a surface of the water changing base station for connection to or disconnection from a cleaning robot; the second electrode plate of the second docking module is used for docking with the first electrode plate of the cleaning robot to receive power supply from the cleaning robot so as to supply power to the water valve and/or the water suction pump.

16. The water changing base station according to claim 15, further comprising a power supply interface provided on a surface of the water changing base station and connected to the battery module for obtaining power from outside and supplying power to the second communication module.

17. A cleaning system comprising the cleaning robot of any one of claims 7 to 9, the water changing base station of any one of claims 14 to 16, and a dust collecting base station connected to a mains supply for collecting dust or charging the cleaning robot.