WO2022121425A1 - 清洗控制方法及装置、计算机可读存储介质和电子设备 - Google Patents

清洗控制方法及装置、计算机可读存储介质和电子设备 Download PDF

Info

Publication number
WO2022121425A1
WO2022121425A1 PCT/CN2021/118572 CN2021118572W WO2022121425A1 WO 2022121425 A1 WO2022121425 A1 WO 2022121425A1 CN 2021118572 W CN2021118572 W CN 2021118572W WO 2022121425 A1 WO2022121425 A1 WO 2022121425A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning device
charging pile
charging
preset
Prior art date
Application number
PCT/CN2021/118572
Other languages
English (en)
French (fr)
Inventor
李行
段传林
彭松
王逸星
贾惊涛
吴奇
韩馨宇
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202011461107.8A external-priority patent/CN114610009A/zh
Priority claimed from CN202110948745.0A external-priority patent/CN114601379B/zh
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to AU2021397991A priority Critical patent/AU2021397991A1/en
Priority to JP2023535604A priority patent/JP2023552483A/ja
Priority to CA3201973A priority patent/CA3201973A1/en
Priority to EP21902133.4A priority patent/EP4260788A1/en
Priority to US18/266,785 priority patent/US20240049938A1/en
Priority to KR1020237023136A priority patent/KR20230117599A/ko
Publication of WO2022121425A1 publication Critical patent/WO2022121425A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • 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
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/50—Auxiliary implements
    • A47L13/58—Wringers for scouring pads, mops, or the like, combined with buckets
    • 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
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/024—Emptying dust or waste liquid containers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Definitions

  • the present disclosure relates to the technical field of intelligent control, and in particular, to a cleaning control method and device for cleaning equipment or a cleaning system, a computer-readable storage medium, and an electronic device.
  • the purpose of the present disclosure is to provide a cleaning control method and device for cleaning components in a cleaning device, a computer-readable storage medium, and an electronic device, so as to at least to a certain extent overcome the inability of the cleaning device to automatically The problem of inconvenient use caused by cleaning its cleaning components.
  • a cleaning control method for a cleaning component in a cleaning device including: after the cleaning device enters a charging pile in a first attitude, controlling a cleaning component on the charging pile to perform cleaning on the cleaning component on the cleaning device task; if the cleaning task is the last cleaning task of a cleaning process, after completing the cleaning task, control the cleaning device to exit the charging pile, and control the cleaning device to enter the charging pile in the second posture; wherein the second posture and the first posture different.
  • a cleaning control device for a cleaning component in a cleaning device, comprising: a first attitude control module and a second attitude control module.
  • the first attitude control module can be used to control the cleaning components on the charging pile to perform cleaning tasks on the cleaning components on the cleaning equipment after the cleaning equipment enters the charging pile in the first attitude;
  • the second attitude control module can be used if The cleaning task is the last cleaning task of a cleaning process. After the cleaning task is completed, the cleaning device is controlled to exit the charging pile, and the cleaning device is controlled to enter the charging pile in a second posture; wherein the second posture is different from the first posture.
  • a cleaning system control method includes: acquiring a current working state of the cleaning device; When the device is in a preset working state, determine the relative position between the cleaning device and the charging pile; and apply a driving force to the driving wheel of the cleaning device according to the relative position to control the cleaning device Move relative to the charging pile or remain on the charging pile.
  • a cleaning system control device configured to control the cleaning device to move relative to the charging pile or to remain on the charging pile.
  • a storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements any one of the above cleaning control methods for cleaning components in a cleaning device or any one of the above cleaning methods system control method.
  • an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute any one of the foregoing by executing the executable instructions Cleaning control method for cleaning components in cleaning equipment.
  • FIG. 1 schematically shows a flow chart of a cleaning control method of a cleaning component in a cleaning apparatus according to an exemplary embodiment of the present disclosure
  • FIG. 2 schematically shows a schematic diagram of the shape of a cleaning apparatus according to an exemplary embodiment of the present disclosure
  • FIG. 3 schematically shows a schematic diagram of the shape of a charging pile according to an exemplary embodiment of the present disclosure
  • FIG. 4 schematically shows a schematic diagram of the cleaning device according to the exemplary embodiment of the present disclosure after entering a charging pile in a first attitude
  • FIG. 5 schematically shows a schematic diagram of the cleaning tank water level monitoring of the present disclosure
  • FIG. 6 schematically shows a schematic diagram of the cleaning tank water level monitoring of the present disclosure
  • FIG. 7 schematically shows a schematic diagram of the cleaning device of the present disclosure entering a charging pile in a second attitude
  • FIG. 8 schematically shows a schematic diagram of charging the cleaning device of the present disclosure
  • FIG. 9 schematically shows a schematic diagram of the charging shrapnel on the charging pile of the present disclosure.
  • FIG. 10 schematically shows a side view of a cleaning apparatus according to an exemplary embodiment of the present disclosure
  • FIG. 11 schematically shows a block diagram of a cleaning control device of a cleaning component in a cleaning apparatus according to an exemplary embodiment of the present disclosure
  • FIG. 12 schematically shows a block diagram of an electronic device according to an exemplary embodiment of the present disclosure
  • FIG. 13 is a schematic diagram of an application scenario of a cleaning system involved in an embodiment of the present disclosure.
  • FIG. 14 is a flowchart of a cleaning system control method according to an embodiment of the present disclosure.
  • FIG. 15 is a schematic diagram of controlling a designated spot for stabilizing a cleaning device on a charging pile according to an embodiment of the present disclosure
  • 16A and 16B are schematic diagrams of controlling a cleaning device that deviates from a designated location on a charging pile according to an embodiment of the present disclosure
  • FIG. 17 is a schematic diagram of repositioning the position of a charging pile according to an embodiment of the present disclosure.
  • FIG. 18 is a schematic diagram of controlling the cleaning equipment to drive away from the charging pile according to an embodiment of the present disclosure
  • FIG. 19 is a block diagram of a cleaning system control apparatus according to an embodiment of the present disclosure.
  • 20 is a block diagram of an electronic device used to implement the method of an embodiment of the present disclosure.
  • Example embodiments will now be described more fully with reference to the accompanying drawings.
  • Example embodiments can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
  • the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
  • numerous specific details are provided in order to give a thorough understanding of the embodiments of the present disclosure.
  • those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be employed.
  • well-known solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
  • sweeping robots gradually enter the homes of ordinary people, and are gradually accepted by more and more people.
  • sweeping robots will become every household appliance like TVs, air conditioners, etc.
  • An indispensable cleaning helper for the family, the product will also develop from the current primary intelligence to a higher degree of intelligence, gradually replacing manual cleaning.
  • the sweeping robot uses a brush or mop to clean dust and dirt, but after use It is also necessary to manually clean the brush or mop, which is inconvenient to use and wastes a lot of time.
  • FIG. 1 schematically shows a flowchart of a cleaning control method of a cleaning component in a cleaning apparatus according to an exemplary embodiment of the present disclosure.
  • a cleaning control method for cleaning components in a cleaning device may include the following steps:
  • the cleaning device refers to a device used for cleaning a house, such as a sweeping robot, a vacuum cleaner, etc.
  • the cleaning device may be a sweeping and mopping-integrated robot, which can perform sweeping functions alone or independently To perform the mopping function, it can also perform the two functions of sweeping and mopping at the same time;
  • the first posture refers to the posture of the front of the robot facing the charging pile. After the robot enters the charging pile in the first posture, the cleaning piece with the mopping function It can enter into the cleaning tank provided on the charging pile to clean the cleaning piece.
  • FIG. 2 schematically shows a schematic diagram of the shape of the cleaning device according to an exemplary embodiment of the present disclosure.
  • the front surface 21 of the cleaning device is the side facing the charging pile when entering the charging pile in the first attitude
  • the reverse side 22 of the cleaning device is the side facing the charging pile when entering the charging pile in the second attitude.
  • the cleaning device in this disclosure can also be in other shapes such as a circle, an ellipse, and the like. No limitation is made in this disclosure.
  • the charging pile refers to a device that can charge and clean the cleaning equipment.
  • FIG. 3 schematically shows a schematic diagram of the shape of the charging pile according to the exemplary embodiment of the present disclosure, as shown in FIG. 3 .
  • the charging pile includes a pile body 31 and an entrance 32, wherein the pile body 31 is provided with a cleaning component, and the entrance 32 is the entrance for the cleaning equipment to enter the charging pile.
  • Other shapes than shapes, such as rectangular parallelepiped, cube, ellipsoid, etc., are not limited in the present disclosure.
  • the cleaning component is on the charging pile, which refers to one or more modules for cleaning the cleaning equipment, which can include a clean water pump, clean water tank, sewage pump, sewage tank, cleaning tank, etc.
  • the cleaning component is on the cleaning equipment, referring to Sweeping brushes, mopping rollers, etc. used by cleaning equipment to clean indoors and outdoors.
  • FIG. 4 schematically shows a schematic diagram of the cleaning device according to the exemplary embodiment of the present disclosure after entering the charging pile in the first attitude.
  • the body 43 of the cleaning device is in the first attitude from the charging pile.
  • the reverse side 45 of the cleaning device body 43 is the side facing the outside of the entrance of the charging pile.
  • the cleaning components on the charging pile are controlled to clean the cleaning components such as sweeping brushes and mops on the cleaning equipment.
  • the communication method between the cleaning device and the charging pile can be wireless communication, and the specific method can be communication through an infrared communication module, or data interaction through wifi.
  • the cleaning device after the cleaning device enters the charging pile in the first attitude, the cleaning device is in a non-charging state.
  • the cleaning device cleans the house, it may return to the charging pile to clean the mop after cleaning an area, but it may only take 2 minutes or 3 minutes after cleaning the area.
  • setting the cleaning device to only After the floor is cleaned, after the task of cleaning the floor is completed, the power consumption of the cleaning equipment is not very large, that is, the power consumption of the cleaning equipment may be more than 80% or more. At this time, there is no need to charge the cleaning equipment. It is enough to clean the cleaning components such as mops and sweeping brushes of the cleaning equipment.
  • the cleaning device is set to only execute the cleaning mode when entering the carpet area.
  • the cleaning equipment can detect the ground medium through a variety of detection modes, and according to the detection results, the control system controls the cleaning equipment to implement different cleaning strategies on different ground media; Detection of ground media and/or media junctions using gyroscopes, ultrasonic sensors, and changes in brush current/rotation speed.
  • the method for controlling a cleaning device to enter a charging pile in a first attitude includes: detecting a preset highlight pattern on the charging pile through a laser forming technology on the cleaning device, or according to a preset map The position of the charging pile in the middle is automatically navigated to the front of the charging pile; then according to the detected pattern on the charging pile, the angle of the cleaning equipment is adjusted, so that the cleaning equipment moves into the charging pile in the first attitude; During the process of the pile, the cleaning device will detect the position of the cleaning device according to the sensor on the body. When the cleaning device reaches a preset position, it will control the mopping roller of the cleaning device and put it into the water tank on the charging pile.
  • the process of controlling the cleaning component on the charging pile to perform the cleaning task on the cleaning component on the cleaning device can be implemented by a controller on the cleaning device, or by a controller on the charging pile. controller to implement.
  • the controller on the cleaning device when implemented by the controller on the cleaning device, after the cleaning device enters the charging pile in the first attitude, the controller on the cleaning device sends a cleaning signal to control the charging pile Clean the cleaning components such as sweeping brushes and mops of the cleaning equipment.
  • the controller on the charging pile when implemented by the controller on the charging pile, after the cleaning device enters the charging pile in the first attitude, the controller on the charging pile controls the cleaning component on the charging pile Work on cleaning the cleaning components of the cleaning equipment.
  • the manner in which the cleaning device enters the charging pile in the first attitude includes: detecting an indication mark on the charging pile through a sensor on the cleaning equipment, and controlling the cleaning apparatus to move to the charging pile in the first posture according to the indication mark The target location of the charging pile.
  • the cleaning equipment is first controlled to move toward the charging pile in the first attitude, that is, the front side moves toward the charging pile.
  • the cleaning device After the cleaning device locks the charging pile, the cleaning device first determines the distance and location from the charging pile, and starts to perform long-distance alignment.
  • the operation of locking the position of the charging pile, judging the distance and performing the alignment can be realized by the infrared ranging sensor, and the position of the long-distance alignment can be cleaned when the device is 30cm-50cm away from the charging pile, and the alignment operation is performed.
  • control the cleaning device After alignment, control the cleaning device to move at a set rate, such as 10cm/s, to a certain distance in front of the charging pile, such as 25cm-30cm, and then move into the charging pile at a certain rate, such as 20cm/s.
  • a set rate such as 10cm/s
  • the wall sensor recognizes the groove on the baffle of the charging pile, decelerate to a certain speed, such as 10cm/s to move, when the mopping roller on the cleaning device is located in the cleaning groove on the charging pile
  • control the cleaning equipment to stop moving, start the cleaning component, and enter the normal cleaning process.
  • other forms of guiding the cleaning device to move to the charging pile can also be used, such as relying on LDS, infrared communication, etc., which are not specifically limited here.
  • control the cleaning device If it receives a signal that the cleaning device fails to return to the charging pile, control the cleaning device to retreat a certain distance, such as 30cm-50cm, and then return to the charging pile at a certain rate, such as 20cm/s. If the connection signal received by returning to the charging pile for 3-5 consecutive times is not stable, control the cleaning device to shut down, clean the charging contact area, or report an error.
  • the cleaning device locks the charging pile, and the total time until the cleaning device returns to the charging pile exceeds the preset return time, the current action of returning to the charging pile is abandoned and the cleaning device is controlled to move back by 30 cm, and then the charging pile is reloaded. Lock it, and then perform the action of returning to the charging pile. If it fails to return to the charging pile 3-5 times in a row, a voice broadcast will be made to remind the user to clear obstacles near the charging pile.
  • the senor may be a wall sensor, the sensor may detect a groove on the baffle beside the charging pile, and then according to the groove, the change of the sensing distance can be sensed, and the indication mark may be charging
  • the groove on the pile is used to indicate the position of the cleaning equipment on the charging pile, and the target position is the position where the cleaning equipment is set to reach, and the cleaning of the cleaning equipment is completed at this position.
  • controlling a cleaning component on a charging pile to perform a cleaning task on a cleaning component on a cleaning device includes: controlling the cleaning component to perform a water outlet operation, and cleaning the cleaning component; controlling the cleaning device to perform a cleaning process on the cleaning component Perform dehydration treatment; control the cleaning component to perform a pumping operation, and extract the sewage; wherein, the sewage is generated after cleaning the cleaning component.
  • the water outlet operation refers to controlling the clean water pump in the charging pile to put water from the clean water tank into the cleaning tank on the charging pile, which is used to clean the cleaning components on the cleaning equipment; dehydration treatment refers to cleaning the equipment on the cleaning equipment.
  • the cleaning components of the cleaning device are dried, squeezed and dehydrated with a scraper, etc., the purpose is to make the cleaning components of the cleaning equipment not have too much water after cleaning, not to make the cleaning components of the cleaning equipment completely dry. In the process of cleaning the house, water will not be sprinkled everywhere;
  • the pumping operation refers to using the sewage pump on the charging pile to recycle the sewage in the cleaning tank and the auxiliary water tank into the sewage tank; the above cleaning tank is for cleaning equipment.
  • the auxiliary water tank is a accommodating cavity that is arranged in parallel with the cleaning tank to receive the water splashed by the mopping element during the cleaning and drying process. flow to the ground.
  • the clean water pump on the charging pile is controlled to inject water from the clean water tank into the cleaning tank, the cleaning components of the cleaning equipment are cleaned, and the cleaning components are dried after the cleaning is completed, Then use the sewage pump on the charging pile to recycle the sewage in the cleaning tank and the auxiliary water tank into the sewage tank.
  • the charging pile before controlling the cleaning component to perform a water outlet operation, the charging pile is controlled to perform a water filling operation on the clean water tank; the water level of the clean water tank is monitored by the water level monitoring module; when the water level of the clean water tank is monitored When the preset water level is reached, the charging pile is controlled to stop the water injection operation.
  • the water level detection module may be a water level sensor, and when it is detected that the water level in the clean water tank reaches the preset water level of the clean water tank, water injection into the clean water tank is stopped.
  • the clean water tank is controlled to perform a water outlet operation to clean the cleaning components on the cleaning device.
  • the mopping roller on the cleaning device can be controlled to rotate at a set speed, such as 60rpm/min (60 revolutions per minute), to make the mopping roller wet. After filling the cleaning tank on the charging pile with water, control the clean water tank to stop water, and control the mopping roller to enter the automatic cleaning process.
  • the automatic cleaning process can be set so that the mopping roller rotates in the cleaning tank at a set speed, such as 350rpm/min (350 revolutions per minute), or can be set to rotate clockwise for a certain period of time, such as 15s , and then rotate counterclockwise for a certain period of time, such as 15s, and you can also set the duration of the automatic cleaning process, such as 30s.
  • a set speed such as 350rpm/min (350 revolutions per minute)
  • the sewage in the cleaning tank is pumped out.
  • the cleaning assembly includes a clean water tank, a cleaning tank and a water level monitoring module, and it is characterized in that, controlling the cleaning assembly to perform a water outlet operation includes: controlling the clean water tank in the cleaning assembly to perform a water outlet operation, The water is injected into the cleaning tank; the water level in the cleaning tank is monitored by the water level monitoring module; when it is detected that the water level in the cleaning tank reaches the preset water level, the water outlet operation is stopped.
  • FIG. 5 schematically shows a schematic diagram of the water level monitoring of the cleaning tank of the present disclosure.
  • the floating ball 53 is in a state of natural drooping, and the light signal between the light blocking sensors 55 is blocked by the rocker 57 at the end of the floating ball 53 .
  • FIG. 6 schematically shows a schematic diagram of the water level monitoring of the cleaning tank of the present disclosure. As shown in FIG.
  • the problem of water surface shaking may occur, and the actual water level in the cleaning tank may not reach the target water level.
  • the floating ball shakes up and down, causing the rocker at the end of the floating ball to block the light.
  • the light signal between the sensors is interrupted, causing the problem of prematurely stopping the water injection.
  • This problem can be solved by setting a certain time interval, such as 0.1s, when the light interruption time exceeds 0.1s, stop watering the cleaning tank.
  • controlling the cleaning device to perform dehydration processing on the cleaning component includes: controlling the cleaning component to rise to a preset height, so as to isolate the cleaning component and the cleaning component from each other; controlling the cleaning component to execute at a preset rotational speed Spin operation for dehydration.
  • the mopping roller of the cleaning device is controlled to rotate at a certain speed, such as 1100 rpm/min (1100 revolutions per minute), and a scraper can also be used to dehydrate the mopping roller.
  • a certain speed such as 1100 rpm/min (1100 revolutions per minute
  • controlling the cleaning assembly to perform a pumping operation to perform a pumping process on the sewage includes: performing the pumping process on the sewage, and storing the sewage in a sewage tank.
  • the clean water tank in the cleaning assembly may also be controlled to perform a water outlet operation to flush the cleaning tank.
  • the self-cleaning work of the cleaning tank can be carried out. Specifically, water can be injected into the cleaning tank through the clean water tank, and the stains on the bottom wall and side wall of the cleaning tank can be washed by water flow, and then the cleaning tank can be cleaned. The sewage produced by the self-cleaning process is pumped out and stored in the sewage tank.
  • a water outlet can also be provided in the sewage tank at the end of the cleaning tank, and the water outlet can discharge liquid at a high speed to form a swirling flow in the sewage tank.
  • the method of rinsing and pumping out the sewage may be to extract the sewage while rinsing, or to extract the sewage after rinsing for a period of time.
  • the specific self-cleaning method of the cleaning tank is not limited in the present disclosure. By means of the self-cleaning method of the cleaning tank, the degree of automation of cleaning the cleaning equipment can be further improved, and manual operations can be reduced, thereby improving the use comfort of the cleaning equipment.
  • the cleaning device is controlled to perform the next task of cleaning the house.
  • the cleaning task refers to the process of cleaning the cleaning components of the cleaning equipment through the cleaning components on the charging pile
  • a cleaning process refers to a complete process of cleaning the preset area to be performed by the cleaning equipment.
  • the second is to clean the living room, then the above-mentioned cleaning process is the process of cleaning the entire living room with the cleaning equipment. If the cleaning equipment is designated to clean the entire room, then the above-mentioned cleaning process is the process of cleaning the entire room with the cleaning equipment.
  • the last cleaning task refers to cleaning the cleaning components of the cleaning equipment for the last time in the cleaning process, that is, after the cleaning is completed, the cleaning equipment will no longer perform the task of cleaning the room;
  • the next task of cleaning the house refers to It is the task of cleaning equipment to continue cleaning the area that has not been cleaned during a cleaning process. If it is not the last cleaning of the cleaning components of the cleaning equipment, it means that the cleaning process has not been completed, that is, there are still some designated areas that have not been cleaned. Then, after the cleaning components of the cleaning equipment are cleaned, control the cleaning equipment to continue. Go on your next house cleaning task, which is to continue cleaning the areas that haven't been cleaned.
  • the cleaning task is the last cleaning task of a cleaning process
  • the cleaning device is controlled to exit the charging pile, and the cleaning device is controlled to enter the Charging pile.
  • the special case of controlling the cleaning device to exit the charging pile will be described later.
  • the content represented by the cleaning task, the first cleaning process, and the last cleaning task are consistent with the above content
  • the second posture refers to the posture with the back of the cleaning device facing forward, that is, the second posture is the first posture rotated 180 degrees. gesture.
  • the cleaning device switches to the sweeping state.
  • the laser ranging sensor configured on the cleaning device can determine whether the cleaning robot has completed the pile out.
  • FIG. 7 schematically shows a schematic diagram of the cleaning device of the present disclosure entering the charging pile in a second posture.
  • the body 73 of the cleaning device is in the second posture from the entrance of the charging pile body 71 .
  • the front surface 75 of the cleaning device body 73 is the side facing the outside of the charging pile entrance.
  • the second posture can also be other postures different from the first posture, that is, the posture of entering the charging pile is not the posture of entering the charging pile facing forward, but can be a posture of changing a certain angle.
  • the second posture can be The cleaning device is turned left or right by 30 degrees or 60 degrees facing forward, and enters the charging pile with this attitude. All methods of entering the charging pile with a different attitude from the first attitude belong to the scope of this method.
  • the cleaning device is controlled to move toward the front of the charging pile in a first attitude; wherein, the front of the charging pile is the side where the cleaning device enters the direction of the entrance of the charging pile; when the cleaning device is connected to the charging pile When the distance is less than the preset distance, the cleaning device is controlled to move toward the front of the charging pile in a second attitude and enter the charging pile.
  • the front of the cleaning device is first controlled to move toward the charging pile, that is, to move toward the charging pile in the first posture.
  • the side brushes and the main brushes of the cleaning device maintain the recharging rotation speed, that is, maintain a preset fixed rotation speed.
  • the cleaning device After the cleaning device locks the charging pile, the cleaning device first determines the distance and location from the charging pile, and starts to perform long-distance alignment. Among them, the operation of locking the position of the charging pile, judging the distance and performing the alignment can be realized by the infrared ranging sensor, and the position of the long-distance alignment can clean the device at a certain distance from the charging pile, for example, when it is between 30cm and 50cm, execute Align operation. After alignment, control the cleaning device to move to a certain distance in front of the charging pile at a set rate, such as 10cm/s, for example, perform a 180-degree U-turn at 25cm-30cm, so that the back of the cleaning device faces the charging pile. After turning around, move into the charging pile at a set speed, such as 20cm/s.
  • a set rate such as 10cm/s
  • the wall sensor recognizes the groove on the baffle of the charging pile, decelerates to a certain rate, such as 10cm/s to move, when receiving the charging shrapnel on the charging pile and cleaning both sides of the device
  • the charging shrapnel realizes the connected signal, it controls the cleaning device to stop moving and waits to receive the next instruction.
  • the cleaning device if the cleaning device does not enter the charging pile within a preset period of time, the cleaning device is controlled to perform a voice error reporting operation.
  • the cleaning device locks the charging pile, and the total time until the cleaning device returns to the charging pile exceeds the preset return time, the action of returning to the charging pile is abandoned and the cleaning device is controlled to advance a certain distance, for example, after 30cm, recharge the battery The pile is locked, and then the action of returning to the charging pile is performed. If it fails to return to the charging pile 3-5 times in a row, a voice broadcast will be made to remind the user to clear obstacles near the charging pile.
  • the charging pile includes a charging module, which controls the cleaning device to move toward the front of the charging pile in a second attitude.
  • the method includes: acquiring power information of the cleaning device; if the power information is lower than If the power threshold is preset, the charging module is controlled to perform a charging operation on the cleaning device.
  • FIG. 8 schematically shows a schematic diagram of charging the cleaning device of the present disclosure. As shown in Figure 8, after the cleaning device enters the charging pile in the second attitude, the charging shrapnel of the cleaning device contacts the charging shrapnel of the charging pile, as shown by 81 and 83 in the figure, the cleaning device starts to be charged.
  • the cleaning device if the cleaning device detects that the power is low, eg, lower than 10% or 20%, before the cleaning task is completed, the cleaning device is controlled to enter the charging pile in a second attitude for charging.
  • the power threshold for returning to the charging pile for charging can be set according to the actual situation, so as to avoid the situation that the cleaning equipment runs out of power when cleaning the house or other places and cannot continue to work or cannot return to the charging pile.
  • the cleaning equipment can also clean the cleaning components first, and then enter the charging pile in the second position for charging after cleaning, so as to avoid the garbage on the cleaning components being consolidated to the cleaning components due to not being cleaned in time This makes subsequent cleaning difficult.
  • the value of the remaining power of the cleaning equipment is read, and if the value is lower than the preset power threshold, the charging pile is controlled to charge it .
  • the cleaning device completes a task of cleaning the house and completes cleaning, and returns to the charging pile in the second posture, if the remaining power of the cleaning device is above 90%, it will not be charged; if the remaining power is below 90% , then recharge it.
  • This method can serve to protect the battery in the cleaning device, further extending the battery life.
  • the control system can also estimate and calculate the power demand of the cleaning equipment according to the saved map and the remaining cleaning area. When the charging capacity is sufficient to complete the cleaning of the remaining area, the cleaning task is carried out, thereby improving the cleaning efficiency.
  • the user can manually set the action of the cleaning device through a mobile terminal
  • the mobile terminal communicates with the cleaning device through wireless communication
  • the mobile terminal can be a remote control or a control program installed on a smart handheld device.
  • the mobile terminal can manually input settings such as the timing of cleaning equipment, the timing of returning to the pile for charging, the timing of starting cleaning, the timing of returning to the pile and replenishing water, and the timing of returning to the pile to clean and clean components, and the like.
  • the controller will monitor the power of the battery set on the cleaning equipment, and according to preset parameters, when the power is lower than a certain percentage (for example, 10%), it will stop cleaning and return to The charging pile is charged; when the power reaches a certain percentage (such as 95%), the pile goes out to the position and orientation where the previous cleaning was stopped, and the previous cleaning is continued; of course, on smarter devices, the controller will Calculate the cleaned area and the remaining area to be cleaned according to the map information, and calculate the approximate power consumption of the remaining area to be cleaned, and then charge it to the power required to complete the remaining area to be cleaned during this charging process and the machine returns next time The power consumed by the charging pile, so as to realize the function of intelligent breakpoint and continuous scanning.
  • a certain percentage for example, 10%
  • relevant parameters can be set through the mobile terminal.
  • the user can set the date and time of the scheduled cleaning through the mobile terminal.
  • the cleaning device will perform the cleaning action; based on the first recharge remaining power set by the user, when the remaining power of the cleaning device drops to the above setting
  • the recharging action is performed; based on the first recharging charging power set by the user, when the power of the cleaning device reaches the above set value, the power-off and continuing sweeping action will be performed, and walk to the position and the position of the previous recharging.
  • the charging control can be combined with the regular cleaning.
  • the charging time of the rechargeable power set by the user for example: the current power is 5%, the user sets the rechargeable power to 80%, the estimated charging time is 3 hours, and the scheduled cleaning time set by the user is AM10:00 , the control system controls the power supply control chip to start charging at 7:00 AM, and starts to perform scheduled cleaning at 10:00 AM.
  • the control system controls the power supply control chip to start charging at 7:00 AM, and starts to perform scheduled cleaning at 10:00 AM.
  • the cleaning equipment can also manually set the timing mopping time of the cleaning equipment, the timing of backwashing and mopping, the timing of returning to the pile and replenishing water, and the amount of water. For example, set: start mopping the ground regularly at 10:00 AM, and wash the mop after 10 minutes of mopping. When the water tank of the cleaning equipment drops to a certain scale, start the pile-returning water filling, and when the water-returning pile filling reaches a certain scale When the power outage continues.
  • FIG. 9 schematically shows a schematic diagram of a charging dome on a charging pile of the present disclosure.
  • the charging elastic pieces 91 and 93 of the charging pile are on the left side baffle 95 and the right side baffle 97 of the charging pile.
  • FIG. 10 schematically shows a side view of a cleaning device according to an exemplary embodiment of the present disclosure.
  • the left side 101 of the cleaning device and the right side 103 of the cleaning device are two cleaning devices, respectively.
  • the charging elastic piece 105 of the cleaning device is installed on the left side 101 of the cleaning device, and the charging elastic piece 107 is installed on the right side 103 of the cleaning device.
  • Magnets are added behind the charging elastic pieces 91 and 93 of the charging pile shown in FIG. 9 , and magnetic conductive hardware is added after cleaning the charging elastic pieces 105 and 107 on both sides of the device.
  • the magnet attracts the magnetic conductive hardware, and the charging shrapnel on both sides of the cleaning device are connected to the charging shrapnel.
  • the charging shrapnel on the baffles on both sides of the pile contact to control the charging pile to charge the cleaning equipment. In this way, when charging is not in progress, the charging shrapnel on the charging pile is tightly attached to the magnet, and friction does not occur when the cleaning equipment enters and exits the charging pile, and when the cleaning task of cleaning the equipment cleaning components is performed, It can prevent sewage from splashing on the charging shrapnel.
  • the charging method in this application can prevent the charging shrapnel from being dirty and corroded by electricity, and can prevent scratches on both sides of the appearance of the host.
  • the use of magnets can increase the charging shrapnel on the charging pile and clean the equipment.
  • the contact force of the charging shrapnel on both sides enables the cleaning device to be charged normally.
  • the above setting is to set the charging shrapnel as close as possible to the cleaning tank, so as to avoid the pollution and damage to the charging shrapnel caused by the cleaned sewage; in some embodiments, the charging shrapnel can also be used in other reasonable ways. Arrangements are made on cleaning equipment and charging piles, and necessary sealing measures are taken to achieve the same or similar technical effects, which are not specifically limited here.
  • the method further includes: controlling the charging pile to activate the air exhaust module to dry the cleaning component.
  • the fan is located at the bottom of the charging pile, just below the cleaning equipment; the air outlet is located in front of the charging pile, aligned with the mopping rollers of the cleaning equipment in the charging state; when the cleaning equipment is in the charging state, control the charging pile to start the fan to dry the cleaning equipment mopping rollers.
  • the fan is started to dry the mopping rollers of the cleaning device. In this process, it is not considered whether the cleaning device is in a charging state.
  • the present exemplary embodiment also provides a cleaning control device for a cleaning component in a cleaning device.
  • FIG. 11 schematically shows a block diagram of a cleaning control device 110 of a cleaning component in a cleaning apparatus according to an exemplary embodiment of the present disclosure.
  • the cleaning control device 110 of the cleaning component in the cleaning apparatus according to the exemplary embodiment of the present disclosure may include: a first attitude control module 111 and a second attitude control module 113 .
  • the first attitude control module 111 can be used to control the cleaning components on the charging pile to perform cleaning tasks on the cleaning components on the cleaning equipment after the cleaning equipment enters the charging pile in the first attitude;
  • the second attitude control module 113 can use If the cleaning task is the last cleaning task of a cleaning process, after completing the cleaning task, control the cleaning equipment to exit the charging pile, and control the cleaning equipment to enter the charging pile in a second posture; wherein the second posture is different from the first posture .
  • the first attitude control module 111 may be configured to perform: detecting an indication mark on the charging pile through a sensor on the cleaning device; the indication mark is used to indicate that the cleaning equipment is on the charging pile position; according to the indication mark, control the cleaning device to move to the target position of the charging pile in the first posture.
  • the first posture control module 111 may be configured to perform: control the cleaning component to perform a water outlet operation, and perform cleaning processing on the cleaning component; control the cleaning device to perform dehydration processing on the cleaning component; control cleaning The component performs a pumping operation to extract the sewage; wherein, the sewage is generated after cleaning the cleaning component.
  • the first attitude control module 111 may be configured to perform: controlling the clean water tank in the cleaning assembly to perform a water outlet operation, and injecting water into the cleaning tank; The water level in the cleaning tank is monitored; when it is detected that the water level in the cleaning tank reaches the preset water level, the water outlet operation is stopped.
  • the first attitude control module 111 may be configured to perform: control the cleaning assembly to rise to a preset height, so as to isolate the cleaning assembly and the cleaning assembly from each other; control the cleaning assembly to execute at a preset rotational speed Rotate operation to perform dehydration treatment; or after the sewage is drawn out, control the cleaning component to rotate for wiping, and then lift the cleaning component away from the cleaning component for spin-drying operation.
  • the first attitude control module 111 may be configured to perform: controlling the cleaning assembly to extract the sewage and store the sewage in the sewage tank.
  • the first attitude control module 111 may be configured to perform: control the clean water tank in the cleaning assembly to perform a water outlet operation, and perform a flushing operation on the cleaning tank.
  • the first posture control module 111 may be configured to perform: if the cleaning task is not the last cleaning task in a cleaning process, after the cleaning task is completed, control the cleaning device to perform the following One task of cleaning the house.
  • the second attitude control module 113 may be configured to perform: controlling the cleaning device to move toward the front of the charging pile in the first attitude; wherein, the front of the charging pile is for the cleaning equipment to enter the charging The side where the entrance direction of the pile is located; when the distance between the cleaning equipment and the charging pile is less than the preset distance, the cleaning equipment is controlled to move toward the front of the charging pile in a second attitude and enter the charging pile.
  • the second posture control module 113 may be configured to perform: if the cleaning device does not enter the charging pile within a preset period of time, control the cleaning device to perform a voice error reporting operation.
  • the second posture control module 113 may be configured to perform: acquire power information of the cleaning device; if the power information is lower than a preset power threshold, control the charging module to charge the cleaning device operate.
  • the second posture control module 113 may be configured to perform: controlling the air exhaust module to dry the cleaning assembly.
  • a computer-readable storage medium on which a program product capable of implementing the above-described method of the present specification is stored.
  • various aspects of the present disclosure may also be implemented in the form of a program product comprising program code for causing the program product to run on a terminal device when the program product is run on a terminal device.
  • the terminal device performs the steps according to various exemplary embodiments of the present disclosure described in the above-mentioned "Example Method" section of this specification.
  • a program product for implementing the above method according to an embodiment of the present disclosure may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be executed on a terminal device such as a personal computer.
  • CD-ROM portable compact disc read only memory
  • the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • the program product may employ any combination of one or more readable media.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical disks, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
  • a computer readable signal medium may include a propagated data signal in baseband or as part of a carrier wave with readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a readable signal medium can also be any readable medium other than a readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
  • Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language.
  • the program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
  • the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
  • LAN local area network
  • WAN wide area network
  • an electronic device capable of implementing the above method is also provided.
  • aspects of the present disclosure may be implemented as a system, method or program product. Therefore, various aspects of the present disclosure can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", “module” or "system”.
  • FIG. 12 An electronic device 1200 according to this embodiment of the present disclosure is described below with reference to FIG. 12 .
  • the electronic device 1200 shown in FIG. 12 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present disclosure.
  • electronic device 1200 takes the form of a general-purpose computing device.
  • Components of the electronic device 1200 may include, but are not limited to: the above-mentioned at least one processing unit 1210 , the above-mentioned at least one storage unit 1220 , a bus 1230 connecting different system components (including the storage unit 1220 and the processing unit 1210 ), and a display unit 1240 .
  • the storage unit 1220 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 12201 and/or a cache storage unit 12202 , and may further include a read only storage unit (ROM) 12203 .
  • RAM random access storage unit
  • ROM read only storage unit
  • the storage unit 1220 may also include a program/utility 12204 having a set (at least one) of program modules 12205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, An implementation of a network environment may be included in each or some combination of these examples.
  • the bus 1230 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.
  • the electronic device 1200 may also communicate with one or more external devices 1300 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 1200, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 1200 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 1250 . Also, the electronic device 1200 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 1260. As shown, network adapter 1260 communicates with other modules of electronic device 1200 via bus 1230. It should be appreciated that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 1200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.
  • the cleaning system includes a cleaning device and a charging pile.
  • the cleaning device may be a cleaning device as described in any of the above embodiments
  • the charging point may be a charging point as described in any of the above embodiments. Therefore, those skilled in the art can easily imagine that the specific settings of the cleaning equipment and/or charging pile in any of the above embodiments can also be equally applied to the corresponding cleaning equipment and/or corresponding cleaning systems in the cleaning system to be described below. or charging station.
  • the cleaning equipment and charging piles in the cleaning system may also be different from those in the foregoing embodiments.
  • FIG. 13 is a schematic diagram of an application scenario of the cleaning system 10 involved in the embodiment of the present disclosure.
  • the cleaning system 10 includes a charging pile 11 and a cleaning device 13 , and the cleaning device 13 can drive into or leave the charging pile 11 along the inclined track 12 provided on the charging pile 11 .
  • the ground can be cleaned in a designated area (eg indoors).
  • maintenance processing such as charging or dust collection can be performed at the charging pile 11 .
  • FIG. 13 the state S when the cleaning device 13 is charging on the charging pile 11 and the state S′ when the cleaning device 13 is performing maintenance on the charging pile 11 are respectively shown.
  • the above process can be performed automatically without human participation, and the embodiment of the present disclosure provides a control method for the above process, so as to deal with some special situations, so that the cleaning system 10 can be more reliable and intelligent.
  • the cleaning system 10 is shown as a cleaning robot, but the cleaning system control method of the embodiment of the present disclosure can also be applied to any other cleaning system.
  • FIG. 14 is a flowchart of a cleaning system control method 200 according to an embodiment of the present disclosure. As shown in Figure 14, the cleaning system control method 200 includes the following steps:
  • step S210 the current working state of the cleaning device is acquired.
  • step S220 when it is determined that the cleaning device is in a preset working state, the relative position between the cleaning device and the charging pile is determined.
  • step S230 a driving force is applied to the driving wheel of the cleaning device according to the relative position, so as to control the cleaning device to move relative to the charging pile or keep on the charging pile.
  • step S210 the current working state of the cleaning device is obtained first.
  • the cleaning device if the cleaning device is in at least one of the following working states, it is determined that the cleaning device is in a preset working state: collecting the garbage in the dust box of the cleaning device into the dust box of the charging pile, or Use the cleaning components on the charging pile to clean the cleaning components of the cleaning equipment, or use the charging piles to charge the cleaning equipment.
  • the cleaning system can use the matching charging pile to clean the mopping rollers installed on the cleaning equipment.
  • it is necessary to rotate the mopping roller at a high speed and interfere with the raised structure on the charging pile to achieve the cleaning effect.
  • the cleaning equipment will be separated from the designated point during cleaning, and in severe cases, it may slip off the charging pile. happensing. This will cause the mopping stick to not be able to effectively cooperate with the raised structure or cleaning scraper on the charging pile, and the cleaning effect will not be achieved.
  • step S220 if it is determined that the cleaning equipment is in the above-mentioned preset working state, the relative position between the cleaning equipment and the charging pile is further determined, so as to obtain the degree of separation of the cleaning equipment from the charging pile, so as to facilitate subsequent measures to maintain the cleaning equipment It is stable on the charging pile and does not slip off during the cleaning process.
  • step S230 a driving force is applied to the driving wheel of the cleaning device according to the relative position.
  • the movement of the cleaning device may be controlled according to the degree to which the cleaning device deviates from the designated position on the charging pile, for example, the distance from the designated position.
  • the adjustment is made from the special situation and emergency situation in practice.
  • the movement of cleaning equipment realizes more reliable and intelligent control, which can improve the user experience.
  • applying the driving force to the driving wheel of the cleaning device according to the relative position may include: when the cleaning device moves to a designated point on the charging pile, applying a driving force to the cleaning device along the direction of movement of the cleaning device toward the charging pile
  • the drive wheels apply the driving force.
  • the driving force is the force capable of counteracting the movement of the cleaning device away from the charging pile.
  • the driving force can overcome the sliding of the cleaning equipment along the inclined parking surface of the charging pile under the action of gravity, or can overcome the cleaning equipment caused by the cleaning operation or dust collection operation on the base station.
  • the action of the reaction force that pushes the device away from the specified site.
  • a driving force is applied to the driving wheel of the cleaning device at a first rate along the direction of movement of the cleaning device toward the charging pile.
  • the driving wheel travels at a first speed, and the first speed may be a normal walking speed, or higher or lower than the normal walking speed.
  • a driving force is applied to the driving wheel of the cleaning device at a second rate along the direction in which the cleaning device moves toward the charging pile.
  • the second rate is an adjusted rate based on a preset algorithm.
  • FIG. 15 is a schematic diagram of controlling a designated position for stabilizing a cleaning device on a charging pile according to an embodiment of the present disclosure, which will be described below with reference to FIG. 15 .
  • the cleaning device can interact with the charging pile in various ways, for example, collect the garbage in the dust box of the cleaning device into a large dust box in the charging pile, or use the cleaning components on the charging pile to Clean with mopping rollers or mopping cloths on the cleaning device. During the interaction process, the cleaning device will be separated from the charging pile and the optimal interaction site due to the force. As shown in FIG. 15 , the charging pile 151 has an inclined rail 152 , and the cleaning device 153 moves to a designated position on the charging pile 151 via the rail 152 .
  • an acting force N may be generated, and the direction of the acting force N is directed in the direction of pushing the cleaning device 153 away from the charging pile 151 , so that the cleaning device 153 may be moved away from the designated position on the charging pile 31 . This affects the interaction process described above.
  • the movement of cleaning device 153 may be controlled in a continuous manner. Specifically, once the cleaning device 153 reaches the designated point on the charging pile 151, a low duty cycle is continuously applied to the driving motor of the wheel of the cleaning device 153 until the interaction is completed, so as to offset the influence of the acting force N.
  • This method can effectively maintain the position of the cleaning device, but because the motor is continuously driven at a low duty cycle, it is not suitable to be continuously applied except in a specific working state.
  • the cleaning device is docked on the charging pile and is not in a specific state. In the working state, the user sometimes needs to pull out the cleaning device from the charging pile. At this time, if the driving wheel still tends to move forward, it will cause difficulties for the user to pull out.
  • the movement of the cleaning device 153 may be controlled in a fixed mode manner. Specifically, when the interaction is started, a higher duty cycle is first applied to the driving motor of the wheel of the cleaning device 153, so that the cleaning device 153 travels to or returns to the designated position. The applied duty cycle is then reduced over time to a lower duty cycle sufficient to counteract the effects of the force N so that the cleaning device 153 can remain at the designated spot on the charging pile 151 .
  • the cleaning device since the drive motor of the cleaning device is controlled with a relatively high duty ratio at the beginning, the cleaning device can be driven to or back to the deviated designated position quickly, but at the same time, due to the high speed, Therefore, it may cause the cleaning equipment to collide with the charging pile, wear the edge of the cleaning equipment and the surface of the charging pile, and also cause the wheels of the cleaning equipment to wear.
  • the movement of the cleaning device 153 may be controlled in a control manner with feedback. Specifically, firstly define two states, on-state and non-to-state, and apply different control modes respectively.
  • the in-position state that is, the state when the cleaning device 153 is at a designated position on the charging pile 151 .
  • the drive motor of the wheels of the cleaning device 153 is controlled with a low duty cycle sufficient to counteract the effect of the force N.
  • the non-in-position state that is, the state opposite to the above-mentioned in-position state
  • the driving motor of the wheel of the cleaning device 153 is controlled by means of PID adjustment.
  • the cleaning device 153 may be controlled in a non-bit state for a short period of time (eg, 1 s) when the cleaning device 153 transitions from a non-bit state to a bit state.
  • a sensor can be used to determine whether it is in the in-position state or in the non-in-position state, for example, the triggering state of the buffer when the cleaning device 153 hits the designated position, the pattern state fed back by the radar sensor of the cleaning device 153, The trigger state of the in-position switch on the cleaning device 153, the overcurrent state of the wheels of the cleaning device 153, the state of the gyroscope inclination of the cleaning device 153, and the judgment by the combination of the above one or more sensor states, etc., the embodiments of the present disclosure Not limited to this.
  • the cleaning device can quickly return to the deviated designated position, and at the same time, the cleaning device and the charging pile can be prevented from colliding and wearing out. Clean the edges of the device and the surface of the charging station.
  • N' can make the wheels of the cleaning equipment turn forward, and use this trend to offset the possible backward movement of the cleaning equipment, so that the cleaning equipment can be reliably placed at the designated position on the charging pile to ensure the cleaning equipment and charging. Interaction between piles.
  • applying the driving force to the driving wheel of the cleaning device according to the relative position may further include: driving the cleaning device along the direction in the case that the distance between the cleaning device and the designated point on the charging pile is less than or equal to a preset threshold value The direction of the charging pile is moved until the cleaning equipment moves to the designated point on the charging pile, and the driving of the cleaning equipment is stopped.
  • applying the driving force to the driving wheel of the cleaning device according to the relative position may further include: when the distance between the cleaning device and the designated point on the charging pile is greater than a preset threshold, in a preset time period During the operation, keep the relative position between the cleaning equipment and the charging pile unchanged; and after a preset period of time, determine whether the state of the device related to the preset working state of the cleaning equipment has changed, and the preset working state of the cleaning equipment Under the condition that the state of the device related to the state has not changed, drive the cleaning device to move in the direction toward the charging pile until the cleaning device moves to the designated point on the charging pile, and stop driving the cleaning device; When the state of the device related to the working state changes, the relative position between the cleaning device and the charging pile is kept unchanged.
  • 16A and 16B are schematic diagrams of controlling a cleaning device that deviates from a designated spot on a charging pile according to an embodiment of the present disclosure. The following description will be made with reference to FIGS. 16A and 16B .
  • the user may manually drag the cleaning device away from the charging pile instead of moving it away from the charging pile for convenience. At this time, if the user does not move the charging pile off the ground, the cleaning device will enter and then return to the rubbing logic, thus affecting the user's smoothness of operation.
  • the controller of the cleaning device 163 continuously monitors the movement state of the main wheel odometer of the cleaning device 163 .
  • the main wheel odometer has a threshold value, and measures the ODO value of the cleaning device 163 naturally sliding off the inclined track 162 of the charging pile 161 .
  • the controller of the cleaning device 163 detects a change in the ODO value, it controls respectively according to the change in the ODO value.
  • the cleaning device 163 enters the first type of back-rubbing logic, as shown in FIG. 16A .
  • the cleaning device 163 enters the second type of rubbing back logic, as shown in FIG. 16B .
  • the dual wheels of the cleaning device 163 keep synchronizing and counter-rotating until the cleaning device 163 returns to the original state (eg, the charging state or the dust collecting state).
  • the main wheel can be stopped from rotating and the electromagnetic brake can be activated according to the overcurrent protection of the main wheel of the cleaning device 163 or when the current of the main wheel of the cleaning device 163 is greater than a certain threshold.
  • the cleaning device 163 remains in place for a period of time, eg, a few minutes. If there is no state change during the stay, such as taking out and putting back the dust box, triggering the cliff sensor, triggering the main wheel drop sensor, triggering the front pile, etc., when the preset time is reached, the cleaning device 163 returns to the original state (for example, , charging state or dust collecting state). If the above state changes, the cleaning device 163 stays in place and does not perform any action.
  • a period of time eg, a few minutes. If there is no state change during the stay, such as taking out and putting back the dust box, triggering the cliff sensor, triggering the main wheel drop sensor, triggering the front pile, etc., when the preset time is reached, the cleaning device 163 returns to the original state (for example, , charging state or dust collecting state). If the above state changes, the cleaning device 163 stays in place and does not perform any action.
  • the movement state of the charging pile is monitored; after the movement state of the charging pile changes, the cleaning device is used to reposition; and the repositioning result is updated The location of the pre-stored charging point.
  • FIG. 17 is a schematic diagram of relocating the position of a charging pile according to an embodiment of the present disclosure. The following description will be made with reference to FIG. 17 .
  • the cleaning system has a "map saving" function, and the operation of this function requires a precondition, that is, the position of the charging pile 171 must be fixed. If the cleaning device 173 is being charged, the position of the charging pile 171 moves in a large range. For example, as shown in FIG. 17 , the charging pile 171 is moved from the position A to the position B, which will cause the cleaning device 173 to drive away from the charging pile 171 via the inclined track 172 of the charging pile 171 . Positioning will cause SLAM (simultaneous localization and mapping, simultaneous positioning and map construction) positioning errors, resulting in the cleaning equipment 173 unable to complete the cleaning. However, due to the long repositioning time, if the repositioning operation is performed every time after leaving the charging pile, the warm-up time of each cleaning will be increased, which will seriously affect the user experience.
  • SLAM simultaneous localization and mapping, simultaneous positioning and map construction
  • the cleaning device 173 when the cleaning device 173 is on the charging pile 171, if the cleaning device 173 finds that it has moved (in fact, the cleaning device 173 has moved with the charging pile 171), a same-pile movement repositioning is initiated.
  • sensors such as a gyroscope, a drop sensor, and a main wheel odometer are used to continuously monitor the motion state of the cleaning device 173 .
  • the cleaning device 173 starts to perform the same Pile moves to reposition.
  • the position of the charging pile 171 in the pre-stored map is determined by repositioning the cleaning device 173 .
  • the relocation of the cleaning device 173 can rely on the LDS and/or the camera, and the relocation process is roughly as follows: the cleaning device 173 is rotated in place, relocated by the LDS and/or the camera, and if unsuccessful, the cleaning Device 173 travels a distance and then relocates. The relocation is performed only by relying on the location of the cleaning device 173 relative to the obstacle/marker saved in the map.
  • the cleaning device 173 is relocated on the charging pile 171, if there is no camera/or the camera is not facing the outside of the charging pile 171, it can only rely on the LDS for relocation.
  • the cleaning device 173 activates the LDS laser sensor on the charging pile 171 to perform repositioning on the pile.
  • the LDS sensor of the cleaning device 173 will match the similarity between the current laser map and the map before the cleaning device 173 (charging pile 171 ) moved. If the map similarity is lower than a certain threshold, it is considered that the cleaning device 173 A "same pile displacement" occurred.
  • the cleaning device 53 will clear the position of the charging pile 171 saved last time, and re-mark the current position as the position of the charging pile 171 .
  • the relocation of the cleaning device 173 on the pile fails, after the cleaning device 173 leaves the charging pile 171, it enters the conventional local relocation logic, and after the relocation is successful, the marked position of the last charging pile 171 is cleared, and the current position is marked as a new one. the location of the charging pile 171.
  • the cleaning device knows that it is charging or performing other tasks on the charging pile. Generally, it can be judged by whether the charging electrode of the cleaning device and the charging electrode of the charging pile are in contact. Of course, other manners may also be used, which are not limited in the embodiments of the present disclosure.
  • the pile-start cleaning experience of cleaning equipment is optimized when using large charging piles.
  • the relative position between the cleaning device and the charging pile is obtained; when it is determined that the relative position between the cleaning device and the charging pile has not changed
  • the driving force is applied to the driving wheel of the cleaning device at a third rate along the direction in which the cleaning device moves away from the charging pile.
  • the third rate is greater than the rate at which the cleaning device normally operates.
  • FIG. 18 is a schematic diagram of controlling the cleaning device to drive away from the charging pile according to an embodiment of the present disclosure. The following description will be made with reference to FIG. 18 .
  • the charging pile 181 has an inclined track 182 .
  • the charging pile 181 is generally Wheel parking wheel grooves or baffles of the cleaning device 183 are provided to prevent the cleaning device 183 from sliding down along the track 182 of the charging pile 181 .
  • the cleaning device 183 completes the set work in the preset working state, for example, the cleaning device has finished charging and wants to leave the charging pile 181 to perform other actions, it will first retreat or advance to leave the charging area according to the different head orientations during charging. . Due to the environmental ground, interference between the structure of the charging pile and the structure of the cleaning device, wheel slippage, or resistance from other ground-contacting components on the cleaning device, it is possible to control the wheel to travel but not actually move.
  • the cleaning device 183 in response to this phenomenon, it is first necessary to determine whether the cleaning device 183 has not left the charging pile 181 . Specifically, first consider the use of wheel rotation counting. Due to the possibility of slippage, it cannot be guaranteed that it can be judged. Here, by comparing the LDS data before the control starts and the data after a period of time, it can be determined whether the cleaning device 183 has not left the charging pile 181 . If it is judged that the cleaning device 183 has not left the charging pile 181, a higher speed V is used to control the cleaning device 183 to dash for a short distance to reduce the probability of being stuck on the charging pile 181.
  • Embodiments of the present disclosure also provide a cleaning system control device.
  • 19 is a block diagram of a cleaning system control apparatus 190 according to an embodiment of the present disclosure.
  • the cleaning system control device 190 includes an acquisition module 191 , a determination module 192 and a driving module 193 .
  • the obtaining module 191 is configured to obtain the current working state of the cleaning device.
  • the determining module 192 is configured to determine the relative position between the cleaning device and the charging pile when it is determined that the cleaning device is in a preset working state.
  • the driving module 193 is configured to apply a driving force to the driving wheel of the cleaning device according to the relative position, so as to control the cleaning device to move relative to the charging pile or keep on the charging pile.
  • FIG. 20 is a block diagram of an electronic device 20 used to implement the method of an embodiment of the present disclosure.
  • Electronic devices are intended to represent various forms of digital computers, or various forms of mobile devices, or other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
  • the device 2 includes a computing unit 201 that can be executed according to a computer program stored in a read only memory (ROM) 202 or a computer program loaded from a storage unit 208 into a random access memory (RAM) 203 Various appropriate actions and handling.
  • ROM read only memory
  • RAM random access memory
  • various programs and data required for the operation of the device 2 can also be stored.
  • the computing unit 201, the ROM 202, and the RAM 203 are connected to each other through a bus 204.
  • An input/output (I/O) interface 205 is also connected to the bus 204 .
  • Various components in the device 2 are connected to the I/O interface 205, including: an input unit 206, such as a keyboard, a mouse, etc.; an output unit 207, such as various types of displays, speakers, etc.; a storage unit 208, such as a magnetic disk, an optical disk, etc. ; and a communication unit 209, such as a network card, modem, wireless communication transceiver, and the like.
  • the communication unit 209 allows the device 2 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.
  • Computing unit 201 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computing units 201 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc.
  • CPUs central processing units
  • GPUs graphics processing units
  • AI artificial intelligence
  • DSP digital signal processing processor
  • the computing unit 201 performs the various methods and processes described above.
  • Various implementations of the systems and techniques described herein above may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips system (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOC systems on chips system
  • CPLD load programmable logic device
  • computer hardware firmware, software, and/or combinations thereof.
  • These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that
  • the processor which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.
  • Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, performs the functions/functions specified in the flowcharts and/or block diagrams. Action is implemented.
  • the program code may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device.
  • the machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.
  • a computer system can include clients and servers.
  • Clients and servers are generally remote from each other and usually interact through a communication network.
  • the relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other.
  • the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to an embodiment of the present disclosure.
  • a computing device which may be a personal computer, a server, a terminal device, or a network device, etc.
  • modules or units of the apparatus for action performance are mentioned in the above detailed description, this division is not mandatory. Indeed, according to embodiments of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided into multiple modules or units to be embodied.

Landscapes

  • Cleaning In General (AREA)
  • Engineering & Computer Science (AREA)
  • Detergent Compositions (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)

Abstract

一种清洁设备中清洁组件的清洗控制方法，包括：在清洁设备以第一姿态进入充电桩后，控制充电桩上的清洗组件对清洁设备上的清洁组件执行清洗任务（S12）；若清洗任务是一次清洁过程的最后一次清洗任务，则在完成清洗任务后，控制清洁设备退出充电桩，并控制清洁设备以第二姿态进入充电桩；其中，第二姿态与第一姿态不同（S14）；清洁设备可自动对其清洁组件进行清洗。

Description

清洗控制方法及装置、计算机可读存储介质和电子设备
本申请要求2020年12月11日提交的中国专利申请号202011461107.8和2021年8月18日提交的中国专利申请号202110948745.0的优先权，这两件中国专利申请的全部公开内容通过引用的方式并入本文。
技术领域
本公开涉及智能控制技术领域，具体而言，涉及一种清洁设备或者清洁系统的清洗控制方法及装置、计算机可读存储介质和电子设备。
背景技术
随着智能家居的兴起，智能家用电器逐渐走进人们的日常居家生活，也出现了多种多样的自动清洁设备，比如自动扫地机器人、自动拖地机器人等。而扫地机器人作为一种可以自动完成清扫、吸尘、擦地等清洁工作的智能清洁设备，成为了众多家庭的必备用品。
然而，现有的扫地机器人，大多都是只负责完成清洁房屋的任务，但是在打扫完成后，扫地机器人自身的清洁却被忽略。通常需要用户对扫地机器人的拖布、扫地刷等装置进行手动清洗，操作麻烦，给用户带来诸多不便。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本公开的目的在于提供一种清洁设备中清洁组件的清洗控制方法及装置、计算机可读存储介质和电子设备，进而至少在一定程度上克服由于相关技术的限制和缺陷而导致的清洁设备无法自动对其清洁组件进行清洗而造成的使用不便捷的问题。
根据本公开的一方面，提供一种清洁设备中清洁组件的清洗控制方法，包括：在清洁设备以第一姿态进入充电桩后，控制充电桩上的清洗组件对清洁设备上的清洁组件执行清洗任务；若清洗任务是一次清洁过程的最后一次清洗任务，则在完成清洗任务后，控制清洁设备退出充电桩，并控制清洁设备以第二姿态进入充电桩；其中，第二姿态与第一姿态不同。
根据本公开的另一方面，提供一种清洁设备中清洁组件的清洗控制装置，包括：第一姿态控制模块、第二姿态控制模块。
具体的，第一姿态控制模块可以用于在清洁设备以第一姿态进入充电桩后，控制充电桩上的清洗组件对清洁设备上的清洁组件执行清洗任务；第二姿态控制模块可以用于若清洗任务是一次清洁过程的最后一次清洗任务，则在完成清洗任务后，控制清洁设备退出充电桩，并控制清洁设备以第二姿态进入充电桩；其中，第二姿态与第一姿态不同。
根据本公开的另一方面，提供了一种清洁系统控制方法，所述清洁系统包括清洁设备和充电桩，所述方法包括：获取所述清洁设备当前所处的工作状态；在确定所述清洁设备处于预设工作状态的情况下，确定所述清洁设备与所述充电桩之间的相对位置；以及根据所述相对位置对所述清洁设备的驱动轮施加驱动力，以控制所述清洁设备相对于所述充电桩运动或保持在充电桩上。
根据本公开的另一方面，提供了一种清洁系统控制装置，所述清洁系统包括清洁设备和充电桩，所述装置包括：获取模块，配置为获取所述清洁设备当前所处的工作状态；确定模块，配置为在确定所述清洁设备处于预设工作状态的情况下，确定所述清洁设备与所述充电桩之间的相对位置；以及驱动模块，配置为根据所述相对位置对所述清洁设备的驱动轮施加驱动力，以控制所述清洁设备相对于所述充电桩运动或保持在充电桩上。
根据本公开的另一方面，提供一种存储介质，其上存储有计算机程序，计算机程序被处理 器执行时实现上述任意一种的清洁设备中清洁组件的清洗控制方法或者上述任意一种的清洁系统控制方法。
根据本公开的另一方面，提供一种电子设备，包括：处理器；以及存储器，用于存储处理器的可执行指令；其中，处理器配置为经由执行可执行指令来执行上述任意一种的清洁设备中清洁组件的清洗控制方法。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1示意性示出了本公开的示例性实施方式的清洁设备中清洁组件的清洗控制方法的流程图；
图2示意性示出了本公开的示例性实施方式的清洁设备形状的示意图；
图3示意性示出了本公开的示例性实施方式的充电桩形状的示意图；
图4示意性示出了本公开的示例性实施方式的清洁设备以第一姿态进入充电桩后的示意图；
图5示意性示出了本公开的清洗槽水位监测的示意图；
图6示意性示出了本公开的清洗槽水位监测的示意图；
图7示意性示出了本公开的清洗设备以第二姿态进入充电桩的示意图；
图8示意性示出了本公开的对清洁设备进行充电的示意图；
图9示意性示出了本公开的充电桩上充电弹片的示意图；
图10示意性示出了根据本公开的示例性实施方式的清洁设备的侧视图；
图11示意性示出了本公开的示例性实施方式的清洁设备中清洁组件的清洗控制装置的方框图；
图12示意性示出了根据本公开的示例性实施方式的电子设备的方框图；
图13是本公开实施例所涉及的清洁系统的应用场景的示意图；
图14是根据本公开实施例的清洁系统控制方法的流程图；
图15是根据本公开实施例的对将清洁设备稳定在充电桩上的指定位点进行控制的示意图；
图16A和图16B是根据本公开实施例的对偏离充电桩上的指定位点的清洁设备进行控制的示意图；
图17是根据本公开实施例的对充电桩的位置进行重新定位的示意图；
图18是根据本公开实施例的对清洁设备驶离充电桩进行控制的示意图；
图19是根据本公开实施例的清洁系统控制装置的框图；以及
图20是用来实现本公开实施例的方法的电子设备的框图。
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的范例；相反，提供这些实施方式使得本公开将更加全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施方式中。在下面的描述中，提供许多具体细节从而给出对本公开的实施方式的充分理解。然而，本领域技术人员将意识到，可以实践本公开的技术方案而省略所述特定细节中的一个或更多，或者可以采用其它的方法、组元、装置、步骤等。在其它情况下，不详细示出或描述公知技术方案以避免喧宾夺主而使得本公开的各方面变得模糊。
此外，附图仅为本公开的示意性图解，并非一定是按比例绘制。图中相同的附图标记表示相同或类似的部分，因而将省略对它们的重复描述。附图中所示的一些方框图是功能实体，不一定必须与物理或逻辑上独立的实体相对应。可以采用软件形式来实现这些功能实体，或在一个或多个硬件模块或集成电路中实现这些功能实体，或在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。
附图中所示的流程图仅是示例性说明，不是必须包括所有的步骤。例如，有的步骤还可以分解，而有的步骤可以合并或部分合并，因此实际执行的顺序有可能根据实际情况改变。
随着人们生活水平的不断提高，扫地机器人逐步的走入平常百姓家，并且逐步的被越来越多的人所接受，扫地机器人将在不久的将来像电视、空调等寻常家电一样成为每个家庭必不可少的清洁帮手，产品也会由现在的初级智能向着更高程度的智能化程度发展，逐步的取代人工清洁，扫地机器人采用毛刷或拖布将灰尘和污垢等清洁干净，但是使用过后还需人工将毛刷或拖布清洗干净，使用不够便捷，且浪费大量时间。
图1示意性示出了本公开的示例性实施方式的清洁设备中清洁组件的清洗控制方法的流程图。参考图1，清洁设备中清洁组件的清洗控制方法可以包括以下步骤：
S12.在清洁设备以第一姿态进入充电桩后，控制所述充电桩上的清洗组件对所述清洁设备上的清洁组件执行清洗任务。
在本公开的示例性实施方式中，清洁设备是指扫地机器人、吸尘器等用于完成清洁房屋任务的设备，该清洁设备可以是一种扫拖一体的机器人，可以单独执行扫地功能，也可以单独执行拖地功能，还可以同时执行扫地和拖地这两种功能；第一姿态指的是机器人的正面朝向充电桩的姿态，机器人以第一姿态进入充电桩后，具有拖地功能的清洁件能够进入到充电桩上设置的清洗槽中以对清洁件进行清洗。
参考图2，图2示意性示出了本公开的示例性实施方式的清洁设备形状的示意图，如图2所示，清洁设备的正面21为以第一姿态进入充电桩时朝向充电桩的一面，清洁设备的反面22为以第二姿态进入充电桩时朝向充电桩的一面，本公开中的清洁设备除了图2中给出的形状外，还可以为圆形、椭圆形等其他形状，在本公开中不做限制。
充电桩指的是可以对清洁设备进行充电和对清洁设备进行清洗等功能的设备，参考图3，图3示意性示出了本公开的示例性实施方式的充电桩形状的示意图，如图3所示，充电桩包括桩体31和入口32，其中，桩体31上配置有清洗组件，入口32为清洁设备进入充电桩的入口，本公开中充电桩的形状可以为除了图3给出的形状外的其他形状，比如长方体、正方体、椭圆体等，在本公开中不做限制。清洗组件在充电桩上，指的是对清洁设备进行清洗的一个或多个模块，可以包含清水泵、清水箱、污水泵、污水箱、清洗槽等，清洁组件在清洁设备上，指的是清洁设备对室内、室外进行打扫时用到的扫地刷、拖地滚轮等。
参考图4，图4示意性示出了本公开的示例性实施方式的清洁设备以第一姿态进入充电桩后的示意图，如图4所示，清洁设备的机体43以第一姿态从充电桩桩体41的入口处进入充电桩后，清洁设备机体43的反面45为朝向充电桩入口外侧的一面。在清洁设备以第一姿态进入充电桩后，控制充电桩上的清洗组件来对清洁设备上的扫地刷、拖布等清洁组件进行清洗。清洁设备和充电桩之间的通讯方式可以为无线通讯，具体方式可以为通过红外通讯模块进行通讯，也可以通过wifi进行数据交互。
在本公开的示例性实施方式中，清洁设备以第一姿态进入充电桩后，清洁设备处于非充电状态。在清洁设备打扫房屋的时候，可能在打扫完一片区域后，就返回充电桩对拖布进行一次清洗，但是打扫完这片区域可能只用了2分钟，或者3分钟，比如设定清洁设备只对地板进行清洁，完成清洁地板的任务后，此时清洁设备的耗电量不是很大，即清洁设备的电量可能在80％以上或者更多，此时并不需要对清洁设备进行充电，只需要对清洁设备的拖布、扫地刷等清洁组件进行清洗即可。这样可以在一定程度上减少对电池的损耗，延长清洁设备电池的使用寿命。当然，对于地毯区域的清洁，为了避免打湿地毯，清洁设备设定为当进入地毯区域时，仅执行清扫模式。根据不同的地面介质，清洁设备能够通过多种检测模式对地面介质进行检测，并根据检测结果，由控制系统控制清洁设备实现在不同的地面介质进行不同的清洁策略；例如，可以通过清洁设备上的陀螺仪、超声波传感器、滚刷电流/转速的变化来进行地面介质和/或介质交界的检测。
在本公开的示例性实施方式中，控制清洁设备以第一姿态进入充电桩的方法包括：通过清洁设备上的激光成形技术检测到充电桩上预设的高亮图案，或者根据预设的地图中的充电桩所在位置，自动导航到充电桩前；然后根据检测到的充电桩上预设的图案，调整清洁设备的角度，使得清洁设备的以第一姿态移动进入充电桩；在移动进入充电桩的过程中，清洁设备会根据机体上的传感器，检测清洁设备行驶的位置，当清洁设备到达某一预设位置后，控制清洁设备的拖地滚筒放入充电桩上的水槽。
在本公开的一种示例性实施方式中，控制充电桩上的清洗组件对清洁设备上的清洁组件执行清洗任务这一过程可以通过清洁设备上的控制器来实现，也可以通过充电桩上的控制器来实 现。
在本公开的一种示例性实施方式中，当通过清洁设备上的控制器来实现时，在清洁设备以第一姿态进入充电桩后，通过清洁设备上的控制器发送清洗信号，控制充电桩对清洁设备的扫地刷、拖布等清洁组件进行清洗。
在本公开的另一种示例性实施方式中，当通过充电桩上的控制器来实现时，在清洁设备以第一姿态进入充电桩后，充电桩上的控制器控制充电桩上的清洗组件进行工作，对清洁设备的清洁组件进行清洗。
需要说明的是，在本公开中所有涉及到控制充电桩或控制清洁设备执行某一动作的操作，都可以通过清洁设备上的控制器或充电桩上的控制器来实现控制，也可以通过两者结合的方式来完成控制充电桩或控制清洁设备执行某一动作的操作，具体实现方式类似于上述操作方法。在实际应用中具体使用哪种控制方式在本公开中不做限制。
在本公开的示例性实施方式中，清洁设备以第一姿态进入充电桩的方式包括：通过清洁设备上的传感器检测充电桩上的指示标识，根据指示标识，控制清洁设备以第一姿态移动至充电桩的目标位置。
具体的，控制清洁设备以第一姿态进入充电桩前，首先控制清洁设备以第一姿态向充电桩进行移动，即正面朝向充电桩进行移动。当清洁设备锁定充电桩后，清洁设备首先判断与充电桩之间的距离和所在位置，开始进行远距离对准。其中，锁定充电桩位置、判断距离以及进行对准的操作，可以通过红外测距传感器来实现，进行远距离对准的位置可以清洁设备距离充电桩30cm-50cm之间时，执行对准操作。
在对准以后，控制清洁设备以设定的速率，例如10cm/s移动到充电桩前方一定距离处，例如25cm-30cm，然后以一定的速率，例如20cm/s的速度移动进入充电桩。在进入充电桩的过程中通过墙面传感器识别到充电桩边挡板上的凹槽后，减速到一定速率，例如10cm/s进行移动，当清洁设备上的拖地滚轮位于充电桩上清洗槽的正上方时，控制清洁设备停止移动，启动清洗组件，进入正常清洗流程。当然，引导清洁设备移动至充电桩也可以采用其他的形式，例如依靠LDS、红外通信等方式，此处不作具体限定。
如果接收到清洁设备返回充电桩失败的信号时，则控制清洁设备后退一定距离，例如30cm-50cm后，重新以一定的速率，例如20cm/s的速度返回充电桩。如果连续3-5次返回充电桩接收到的连接信号都不稳定，则控制清洁设备进行关机操作，清理充电接触区域，或进行报错处理。
具体的，当清洁设备锁定充电桩后，到清洁设备返回充电桩内的动作总时间超过预设回桩时间，则放弃本次返回充电桩的动作并控制清洁设备后退30cm后，重新对充电桩进行锁定，再执行返回充电桩的动作。如果连续3-5次都返回充电桩失败，则进行语音播报，提醒用户清除充电桩附近的障碍物。
在本公开的一种示例性实施方式中，传感器可以为墙面传感器，该传感器可以检测到充电桩边挡板上的凹槽，然后根据该凹槽，感应距离的变化，指示标志可以为充电桩上的凹槽，用于指示清洁设备在充电桩上所处的位置，目标位置为清洁设备被设定要到达的位置，在此位置上完成对清洁设备的清洗。
在本公开的示例性实施方式中，控制充电桩上的清洗组件对清洁设备上的清洁组件执行清洗任务，包括：控制清洗组件执行出水操作，对清洁组件进行清洗处理；控制清洁设备对清洁组件进行脱水处理；控制清洗组件执行抽水操作，对污水进行抽出处理；其中，污水为对清洁组件进行清洗处理后产生的。
具体的，出水操作指的是控制充电桩中的清水泵从清水箱中把水放到充电桩上的清洗槽中，用于清洁设备上清洁组件的清洗；脱水处理指的是对清洁设备上的清洁组件进行甩干、用刮片进行挤压脱水等操作，目的是为了使清洗后的清洁设备的清洁组件上没有太多的水，并不是为了使清洁设备的清洁组件完全干燥，这样在清洁房屋的过程中不会把水洒的到处都是；抽水操作指的是使用充电桩上的污水泵把清洗槽和副水槽中的污水回收到污水箱中；以上清洗槽是对清洁设备的拖地件进行清洗的容纳腔，副水槽是与清洗槽并行设置以接收拖地件在清洗甩干过程中溅出的水的容纳腔，副水槽的设置能够避免水沿着充电桩底部倾斜面流到地面上。
在本公开的一种示例性实施方式中，控制充电桩上的清水泵从清水箱中将水注入到清洗槽中，对清洁设备的清洁组件进行清洗，清洗完成后对清洁组件进行甩干，然后使用充电桩上的污水泵将清洗槽和副水槽中的污水回收到污水箱中。
在本公开的一种示例性实施方式中，在控制清洗组件执行出水操作之前，控制充电桩对清 水箱执行注水操作；通过水位监测模块对清水箱的水位进行监测；当监测到清水箱的水位到达预设水位时，控制充电桩停止注水操作。其中，水位检测模块可以为水位传感器，当监测到清水箱中的水位达到清水箱预设水位时，停止往清水箱中注水。
在本公开的一种示例性实施方式中，当清洁设备进入充电桩并且到达目标位置后，控制清水箱进行出水操作，对清洁设备上的清洁组件进行清洗。在出水的过程中，可以控制清洁设备上的拖地滚轮按照设定的转速，例如60rpm/min(每分钟转60圈)的转速进行旋转，使拖地滚轮湿润。将充电桩上的清洗槽注满水之后，控制清水箱停止出水，并控制拖地滚轮进入自动清洗流程。
该自动清洗流程可以设置为使拖地滚轮以设定的转速，例如350rpm/min(每分钟转350圈)的转速在清洗槽中进行旋转，还可以设置为先顺时针旋转一定时长，例如15s，再逆时针旋转一定时长，例如15s，还可以设置自动清洗流程时长，例如30s。完成清洗后，将清洗槽中的污水抽出。
在本公开的一种示例性实施方式中，清洗组件包括清水箱、清洗槽和水位监测模块，其特征在于，控制清洗组件执行出水操作，包括：控制清洗组件中的清水箱执行出水操作，将水注入清洗槽中；通过水位监测模块对清洗槽中的水位进行监测；当监测到清洗槽中的水位达到预设水位时，停止出水操作。
具体的，判断充电桩上的清洗槽注是否满水的方法，可以通过浮球与光遮断传感器来实现。参考图5，图5示意性示出了本公开的清洗槽水位监测的示意图。如图5所示，当清洗槽51中没有水的时候，浮球53处于自然下垂状态，光遮断传感器55之间的光信号被浮球53末端的摇杆57遮断。参考图6，图6示意性示出了本公开的清洗槽水位监测的示意图。如图6所示，当开始往清水槽61注水后，浮球63开始上浮，此时浮球63末端的摇杆67下移，光遮断传感器65之间的光信号没有没遮断，保持注水状态，当浮球63上升到预设位置后，浮球末端的摇杆67会再次遮断光折断传感器65之间的光信号，表示清水槽61已经注满水。
具体的，在注水的过程中可能会出现水面抖动的问题，会存在清洗槽中的实际水位没达到目标水位，但是由于水面波动的原因，浮球上下抖动导致浮球末端的摇杆遮挡住光遮断传感器之间的光信号，造成提前停止注水的问题。此问题可以通过设置一定的时间间隔，例如0.1s，来解决，当光遮断时间超过0.1s时，停止往清洗槽注水。
在本公开的一种示例性实施方式中，控制清洁设备对清洁组件进行脱水处理，包括：控制清洁组件上升至预设高度，使清洁组件与清洗组件相互隔离；控制清洁组件以预设转速执行旋转操作，进行脱水处理。具体的，控制清洁设备的拖地滚轮以一定的转速，例如1100rpm/min(1分钟旋转1100圈)的转速进行旋转，同时还可以使用刮条对拖地滚轮进行脱水处理。当然，也可以在清洗槽中的污水排出后，直接控制清洁组件与刮条干涉旋转一定时长，然后抬升清洁组件，以更高的转速进行甩干处理。
在本公开的一种示例性实施方式中，控制清洗组件执行抽水操作，对污水进行抽出处理，包括：对污水进行所述抽出处理，并将污水存储于污水箱中。
在本公开的一种示例性实施方式中，在完成清洗任务后，还可以控制清洗组件中的清水箱执行出水操作，对清洗槽进行冲洗。在完成对清洁设备的清洗任务后，可以进行清洗槽的自清洁工作，具体的，可以通过清水箱向清洗槽中注水，通过水流冲洗清洗槽底壁及侧壁上的污渍，然后将清洗槽中自清洁所产生的污水进行抽出处理，存储于污水箱中。同时，也可以在清洗槽末端的污水槽中设置出水口，该出水口能高速出液以在污水槽中形成旋流。冲洗及抽出污水的方式可以为边冲洗边抽出污水，也可以为冲洗一段时间后将污水抽出，具体的清洗槽自清洁方法在本公开中不做限制。通过清洗槽自清洁的方法，可以进一步提高对清洁设备进行清洗的自动化程度，减少手动操作，从而提高清洁设备的使用舒适度。
S14.若所述清洗任务是一次清洁过程的最后一次清洗任务，则在完成所述清洗任务并进行脱水处理后，控制所述清洁设备退出所述充电桩，并控制所述清洁设备以第二姿态进入所述充电桩；其中，所述第二姿态与所述第一姿态不同。
在本公开的示例性实施方式中，若清洗任务不是一次清洁过程中的最后一次清洗任务，则在完成清洗任务后，控制清洁设备执行下一次清洁房屋的任务。
其中，清洗任务指的是通过充电桩上的清洗组件对清洁设备的清洁组件进行清洗的过程，一次清洁过程指的是清洁设备所要执行的一次完整的打扫预设区域的过程，比如指定机器人本次要将客厅打扫干净，那么上述一次清洁过程即清洁设备将整个客厅打扫完成的过程，若是指定清洁设备将整个房间打扫干净，那么上述一次清洁过程即清洁设备将整个房间打扫完成的过 程。
最后一次清洗任务指的是在一次清洁过程中最后一次对清洁设备的清洁组件进行清洗，即在此次清洗完成后，清洁设备将不再进行打扫房间的任务；下一次清洁房屋的任务指的是在一次清洁过程中清洁设备对还未进行打扫的区域继续进行打扫的任务。若不是最后一次对清洁设备的清洁组件进行清洗，则说明一次清洁过程还没有完成，即还有部分指定的区域未打扫完成，那么，在对清洁设备的清洁组件清洗完成后，控制清洁设备继续执行下一次清洁房屋的任务，即继续对未进行打扫的区域进行打扫。
在本公开的示例性实施方式中，若清洗任务是一次清洁过程的最后一次清洗任务，则在完成清洗任务后，控制清洁设备退出充电桩，并控制所述清洁设备以第二姿态进入所述充电桩。对于控制清洁设备退出充电桩的特殊情形，在后文中继续描述。其中，清洗任务、一次清洁过程、最后一次清洗任务所表示的内容与上文中的内容一致，第二姿态指的是清洁设备背面朝前的姿态，即第二姿态为第一姿态旋转180度后的姿态。
在本公开的示例性实施方式中，在清洗任务完成后，清洁设备切换至扫地状态。清洁设备退出充电桩时，主轮里程计在检测到主轮后退一定距离后，可以通过清洁设备上配置的激光测距传感器判断清洁机器人是否已完成出桩。
参考图7，图7示意性示出了本公开的清洗设备以第二姿态进入充电桩的示意图，如图7所示，清洁设备的机体73以第二姿态从充电桩桩体71的入口处进入充电桩后，清洁设备机体73的正面75为朝向充电桩入口外侧的一面。需要说明的是，第二姿态还可以是与第一姿态不同的其他姿态，即进入充电桩的姿态不是正面朝前进入充电桩的姿态，可以为变换一定角度的姿态，比如第二姿态可以为清洁设备正面朝前向左或向右旋转30度或60度后的姿态，以该姿态进入充电桩，所有以与第一姿态不同的姿态进入充电桩的方法均属于本方法包含的范畴。
在本公开的示例性实施方式中，控制清洁设备以第一姿态向充电桩的正面进行移动；其中，充电桩的正面为清洁设备进入充电桩的入口方向所在的一面；当清洁设备与充电桩的距离小于预设距离时，控制清洁设备以第二姿态向充电桩的正面进行移动，进入充电桩。
在本公开的示例性实施方式中，控制清洁设备以第二姿态进入充电桩前，首先控制清洁设备正面朝向充电桩进行移动，即以第一姿态向充电桩进行移动。在该过程中，清洁设备的边刷和主刷维持回充转速，即维持一预设的固定转速。
当清洁设备锁定充电桩后，清洁设备首先判断与充电桩之间的距离和所在位置，开始进行远距离对准。其中，锁定充电桩位置、判断距离以及进行对准的操作，可以通过红外测距传感器来实现，进行远距离对准的位置可以清洁设备距离充电桩一定距离，例如30cm-50cm之间时，执行对准操作。在对准以后，控制清洁设备以设定速率，例如10cm/s移动到充电桩前方一定距离，例如25cm-30cm处进行180度的掉头，使清洁设备的背面朝向充电桩。掉头后以设定速率，例如20cm/s的速度移动进入充电桩。
在进入充电桩的过程中通过墙面传感器识别到充电桩边挡板上的凹槽后，减速到一定速率，例如10cm/s进行移动，当接收到充电桩上的充电弹片与清洁设备两侧的充电弹片实现连接后的信号时，控制清洁设备停止移动，等待接收下一步指令。
当接收到充电桩上的充电弹片与清洁设备两侧的充电弹片的连接稳定的信号时，启动充电模块，进入正常充电流程。如果接收到充电桩上的充电弹片与清洁设备两侧的充电弹片的连接不稳定的信号时，则控制清洁设备前进一定距离，例如30cm-50cm后，重新以一定速率，例如20cm/s的速度返回充电桩，即控制清洁设备退出充电桩后再次进入充电桩以实现充电弹片的有效对接。如果连续3-5次返回充电桩接收到的连接信号都不稳定，则控制清洁设备进行关机操作，清理充电接触区域，或进行报错处理。
在本公开的示例性实施方式中，若清洁设备在一预设时长内未进入充电桩，则控制清洁设备执行语音报错操作。当清洁设备锁定充电桩后，到清洁设备返回充电桩内的动作总时间超过预设回桩时间，则放弃本次返回充电桩的动作并控制清洁设备前进一定距离，例如30cm后，重新对充电桩进行锁定，再执行返回充电桩的动作。如果连续3-5次都返回充电桩失败，则进行语音播报，提醒用户清除充电桩附近的障碍物。
在本公开的示例性实施方式中，充电桩包括充电模块，控制清洁设备以第二姿态向充电桩的正面进行移动，进入充电桩后，包括：获取清洁设备的电量信息；若电量信息低于预设电量阈值，则控制充电模块对清洁设备执行充电操作。参考图8，图8示意性示出了本公开的对清洁设备进行充电的示意图。如图8所示，清洁设备以第二姿态进入充电桩后，清洁设备的充电弹片和充电桩的充电弹片进行接触，如图中的81和83所示，开始对清洁设备进行充电。
在本公开的示例性实施方式中，若清洁设备在清洁任务还未完成时被检测到电量较低，例如低于10％或20％，则控制清洁设备以第二姿态进入充电桩进行充电。其中，返回充电桩进行充电的电量阈值可以根据实际情况进行设定，避免清洁设备在清洁房屋或其他场所时电量耗尽而无法继续工作或无法返回充电桩的情况。当然，在进行充电之前，清洁设备也可以先对清洁组件进行清洗处理，清洗完成之后再以第二姿态进入充电桩进行充电，这样可以避免清洁组件上的垃圾由于未及时清洗固结至清洁组件上导致后续清洗困难。
在本公开的示例性实施方式中，在清洁设备以第二姿态进入充电桩后，读取清洁设备剩余电量的数值，若该数值低于预设的电量阈值，则控制充电桩对其进行充电。例如，当清洁设备在执行完成一次清洁房屋任务，并且完成清洗，以第二姿态返回充电桩后，若清洁设备的剩余电量在90％以上，则不对其进行充电；若剩余电量在90％以下时，再对其进行充电。这种方法可以起到保护清洁设备中电池的作用，进一步延长电池使用寿命。在充电过程中，控制系统也可以根据已保存的地图和剩余清洁面积对清洁设备的电量需求进行预估计算，当确保充电量能够完成剩余面积清扫时出桩进行清扫任务，从而提高清洁效率。
在一种实施方式中，用户可以通过移动终端对清洁设备的动作进行手动设置，移动终端通过无线通信与清洁设备进行通信，该移动终端可以是遥控器或安装于智能手持设备的控制程序。具体的，移动终端可以通过手动输入设定例如清洁设备的定时清扫时间、回桩充电时机、启动清扫时机、回桩补水时机、回桩清洗清洁组件的时机等等。
一般情况下，清洁设备在清扫过程中，控制器会监控设置于清洁设备上的电池的电量，并根据预设的参数，在电量低于某一百分比(例如10％)时，停止清扫并返回充电桩进行充电；当电量升至某一百分比(例如95％)时出桩行进至前一次停止清扫所在的位置和方位，继续前一次的清扫；当然，在更智能的设备上，控制器会根据地图信息来计算已清扫面积以及剩余待清扫面积，并计算剩余待清扫面积的大致耗电量，然后在此次充电过程中充电至能够完成剩余待清扫面积所需的电量和机器下一次返回充电桩所需消耗的电量，从而实现智能断点续扫的功能。
然而，为适应不同用户对清扫设备更多定制化的需求以及某些设备不具备以上智能断点续扫功能，便可以通过移动终端对相关参数进行设定。例如，用户可以通过移动终端设定定时清扫的日期和时间，当定时时间到达时，清洁设备执行清扫动作；基于用户设定的第一次回充剩余电量，当清洁设备剩余电量降低至以上设定值时，执行回充动作；基于用户设定的第一次回充充电电量，当清洁设备电量达到以上设定值时，执行断电续扫动作，行走至前一次回充时的位置和方位，接续前一次的清扫动作；基于用户设定的第二次回充剩余电量，当清洁设备剩余电量降低至以上设定值时，再次执行回充动作；基于用户设定的第二次回充充电电量，当清洁设备电量达到以上设定值时，再次执行断电续扫动作；依次类推。当然，用户也可以设定每次的回充剩余电量和回充充电电量，或者在清洁设备中设定默认的回充剩余电量和回充充电电量。
为了避免清洁设备的电池电量长时间处于满电状态损坏电池，可以将充电控制与定时清扫相结合，控制器检测识别清洁设备充电适配器的输入功率，并计算清洁设备回桩时的当前电量充电至用户设置的回充充电电量的充电时长，例如：当前电量为5％，用户设定回充充电电量为80％，预估充电时长为3小时，而用户设定的定时清扫时间为AM10:00，则控制系统控制电源控制芯片在AM7:00开始充电，并在AM10:00开始执行定时清扫。当然，也可以在清洁设备执行完清扫任务后返回充电桩即时开始充电，当充电至用户设定的充电电量后停止充电，并在时间到达设定的定时清扫时间时启动清扫任务。
除了用户可以手动设置定时清扫及电量参数之外，清洁设备在执行拖地任务时，也可以手动设定清洁设备的定时拖地时间、回洗拖布时机、回桩补水时机、补水量等参数，例如设定：AM10:00开始定时出桩拖地，拖地时长10分钟之后回洗拖布，当清洁设备水箱水量降低至某一刻度时启动回桩充水，当回桩充水达到某一刻度时启动断电续拖。
在本公开的示例性实施方式中，参考图9，图9示意性示出了本公开的充电桩上充电弹片的示意图。如图9所示，充电桩的充电弹片91和充电弹片93在充电桩的左侧边挡板95和右侧边挡板97上。参考图10，图10示意性示出了根据本公开的示例性实施方式的清洁设备的侧视图，如图10所示，清洁设备的左侧101和清洁设备的右侧103分别为清洁设备两侧的侧视图，清洁设备的充电弹片105安装于清洁设备的左侧101上，充电弹片107安装于清洁设备的右侧103上。在图9中所示的充电桩的充电弹片91和充电弹片93后加分别加上磁铁，清洁设备两侧的充电弹片105和充电弹片107后加导磁的五金件。
在本公开的示例性实施方式中，当清洁设备以第二姿态进入充电桩后，充电桩和清洁设备 的充电弹片靠近后，磁铁吸住导磁五金件，清洁设备两侧的充电弹片与充电桩两侧边挡板上的充电弹片接触，控制充电桩对清洁设备进行充电。通过这种方法，在不进行充电时，充电桩上的充电弹片与磁铁紧密贴合在一起，在清洁设备进出充电桩时不会发生摩擦，并且在进行清洁设备清洁组件的清洗任务时，还可以防止污水溅到充电弹片上，因此，本申请中的充电方法，可以防止充电弹片脏污和电腐蚀，可以防止刮伤主机外观两侧面，使用磁铁能够增加充电桩上的充电弹片和清洁设备两侧充电弹片的接触力，使清洁设备能够正常充电。
可以理解的时，以上设置是为了将充电弹片设置得尽量原理清洗槽，以避免清洗后的污水对充电弹片造成污染和损坏；在某些实施方式中，也可以将充电弹片以其他合理的方式在清洁设备和充电桩上进行布置，并采取必要的密封措施以达到相同或类似的技术效果，在此也不做具体限定。
在本公开的一种示例性实施方式中，控制清洁设备以第二姿态进入充电桩后，还包括：控制充电桩启动排风模块，对清洁组件进行干燥处理。风机位于充电桩的底部，清洁设备的正下方；出风口位于充电桩的前方，对齐充电状态下清洁设备的的拖地滚轮；清洁设备在充电状态下，控制充电桩启动风机，吹干清洁设备的拖地滚轮。清洁设备不在充电状态下时，也可以控制充电桩启动风机，吹干清洁设备的拖地滚轮。例如，在清洁设备以第二姿态进入充电桩后，启动风机以吹干清洁设备的拖地滚轮，在这个过程中，并不考虑清洁设备是否在充电状态。
进一步的，本示例实施方式中还提供了一种清洁设备中清洁组件的清洗控制装置。
图11示意性示出了本公开的示例性实施方式的清洁设备中清洁组件的清洗控制装置110的方框图。参考图11，根据本公开的示例性实施方式的清洁设备中清洁组件的清洗控制装置110可以包括：第一姿态控制模块111、第二姿态控制模块113。
具体的，第一姿态控制模块111可以用于在清洁设备以第一姿态进入充电桩后，控制充电桩上的清洗组件对清洁设备上的清洁组件执行清洗任务；第二姿态控制模块113可以用于若清洗任务是一次清洁过程的最后一次清洗任务，则在完成清洗任务后，控制清洁设备退出充电桩，并控制清洁设备以第二姿态进入充电桩；其中，第二姿态与第一姿态不同。
在本公开的一种示例性实施例中，第一姿态控制模块111可以被配置为执行：通过清洁设备上的传感器检测充电桩上的指示标识；指示标识用于指示清洁设备在充电桩上的位置；根据指示标识，控制清洁设备以第一姿态移动至充电桩的目标位置。
在本公开的一种示例性实施例中，第一姿态控制模块111可以被配置为执行：控制清洗组件执行出水操作，对清洁组件进行清洗处理；控制清洁设备对清洁组件进行脱水处理；控制清洗组件执行抽水操作，对污水进行抽出处理；其中，污水为对清洁组件进行清洗处理后产生的。
在本公开的一种示例性实施例中，第一姿态控制模块111可以被配置为执行：控制清洗组件中的清水箱执行出水操作，将水注入清洗槽中；通过水位监测模块对清洗槽中的水位进行监测；当监测到清洗槽中的水位达到预设水位时，停止出水操作。
在本公开的一种示例性实施例中，第一姿态控制模块111可以被配置为执行：控制清洁组件上升至预设高度，使清洁组件与清洗组件相互隔离；控制清洁组件以预设转速执行旋转操作，进行脱水处理；或在抽出污水后，控制清洁组件旋转进行刮水，然后抬升清洁组件脱离清洗组件进行甩干操作。
在本公开的一种示例性实施例中，第一姿态控制模块111可以被配置为执行：控制清洗组件对污水进行抽出处理，并将污水存储于污水箱中。
在本公开的一种示例性实施例中，第一姿态控制模块111可以被配置为执行：控制清洗组件中的清水箱执行出水操作，对清洗槽执行冲洗操作。
在本公开的一种示例性实施例中，第一姿态控制模块111可以被配置为执行：若清洗任务不是一次清洁过程中的最后一次清洗任务，则在完成清洗任务后，控制清洁设备执行下一次清洁房屋的任务。
在本公开的一种示例性实施例中，第二姿态控制模块113可以被配置为执行：控制清洁设备以第一姿态向充电桩的正面进行移动；其中，充电桩的正面为清洁设备进入充电桩的入口方向所在的一面；当清洁设备与充电桩的距离小于预设距离时，控制清洁设备以第二姿态向充电桩的正面进行移动，进入充电桩。
在本公开的一种示例性实施例中，第二姿态控制模块113可以被配置为执行：若清洁设备在一预设时长内未进入充电桩，则控制清洁设备执行语音报错操作。
在本公开的一种示例性实施例中，第二姿态控制模块113可以被配置为执行：获取清洁设备的电量信息；若电量信息低于预设电量阈值，则控制充电模块对清洁设备执行充电操作。
在本公开的一种示例性实施例中，第二姿态控制模块113可以被配置为执行：控制排风模块对清洁组件进行干燥处理。
在本公开的示例性实施例中，还提供了一种计算机可读存储介质，其上存储有能够实现本说明书上述方法的程序产品。在一些可能的实施方式中，本公开的各个方面还可以实现为一种程序产品的形式，其包括程序代码，当所述程序产品在终端设备上运行时，所述程序代码用于使所述终端设备执行本说明书上述“示例性方法”部分中描述的根据本公开各种示例性实施方式的步骤。
根据本公开的实施方式的用于实现上述方法的程序产品可以采用便携式紧凑盘只读存储器(CD-ROM)并包括程序代码，并可以在终端设备，例如个人电脑上运行。然而，本公开的程序产品不限于此，在本文件中，可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
所述程序产品可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以为但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光盘、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了可读程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。可读信号介质还可以是可读存储介质以外的任何可读介质，该可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于无线、有线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言的任意组合来编写用于执行本公开操作的程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、C++等，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中，远程计算设备可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算设备，或者，可以连接到外部计算设备(例如利用因特网服务提供商来通过因特网连接)。
在本公开的示例性实施例中，还提供了一种能够实现上述方法的电子设备。
所属技术领域的技术人员能够理解，本公开的各个方面可以实现为系统、方法或程序产品。因此，本公开的各个方面可以具体实现为以下形式，即：完全的硬件实施方式、完全的软件实施方式(包括固件、微代码等)，或硬件和软件方面结合的实施方式，这里可以统称为“电路”、“模块”或“系统”。
下面参照图12来描述根据本公开的这种实施方式的电子设备1200。图12显示的电子设备1200仅仅是一个示例，不应对本公开实施例的功能和使用范围带来任何限制。
如图12所示，电子设备1200以通用计算设备的形式表现。电子设备1200的组件可以包括但不限于：上述至少一个处理单元1210、上述至少一个存储单元1220、连接不同系统组件(包括存储单元1220和处理单元1210)的总线1230、显示单元1240。
存储单元1220可以包括易失性存储单元形式的可读介质，例如随机存取存储单元(RAM)12201和/或高速缓存存储单元12202，还可以进一步包括只读存储单元(ROM)12203。
存储单元1220还可以包括具有一组(至少一个)程序模块12205的程序/实用工具12204，这样的程序模块12205包括但不限于：操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。
总线1230可以为表示几类总线结构中的一种或多种，包括存储单元总线或者存储单元控制器、外围总线、图形加速端口、处理单元或者使用多种总线结构中的任意总线结构的局域总线。
电子设备1200也可以与一个或多个外部设备1300(例如键盘、指向设备、蓝牙设备等)通信，还可与一个或者多个使得用户能与该电子设备1200交互的设备通信，和/或与使得该电子设备1200能与一个或多个其它计算设备进行通信的任何设备(例如路由器、调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口1250进行。并且，电子设备1200还可以通过网络适配器1260与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例 如因特网)通信。如图所示，网络适配器1260通过总线1230与电子设备1200的其它模块通信。应当明白，尽管图中未示出，可以结合电子设备1200使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。
根据本公开的实施例，还提供了一种用于清洁系统的控制方法，其中，该清洁系统包括清洁设备和充电桩。作为示例，在这样的清洁系统中，清洁设备可以是在如上任一个实施例中描述的清洁设备，并且充电桩可以是在如上任一个实施例中描述的充电桩。因此，本领域技术人员可以容易地设想到，在以上任一个实施例中关于清洁设备和/或充电桩的具体设置，也可以等同地应用于如下将要描述的清洁系统中的对应清洁设备和/或充电桩。当然，还应当指出的是，在本公开的其它实施例中，清洁系统中的清洁设备和充电桩也可以与前述实施例中的清洁设备和充电桩有所不同。
图13是本公开实施例所涉及的清洁系统10的应用场景的示意图。如图13所示，该清洁系统10包括充电桩11和清洁设备13，清洁设备13可以沿着充电桩11上设置的倾斜的轨道12驶入或驶离充电桩11。在清洁设备13沿着轨道12驶离充电桩11之后，可以在指定的区域内(例如在室内)对地面进行清洁。在清洁设备13沿着轨道12驶入充电桩11之后，可以在充电桩11处进行充电或集尘等维护处理。如图13所示，分别示出了清洁设备13在充电桩11上进行充电时的状态S和清洁设备13在充电桩11上进行维护时的状态S'。上述过程可以在无人参与的情况下自动进行，本公开的实施例提供了一种针对上述过程的控制方法，以便对一些特殊情况进行处理，从而使得该清洁系统10可以更加可靠和智能。
容易理解的是，在图13所示的示例中，清洁系统10被示出为扫地机器人，但本公开实施例的清洁系统控制方法也可以应用于其他任何清洁系统的情况。
图14是根据本公开实施例的清洁系统控制方法200的流程图。如图14所述，该清洁系统控制方法200包括以下步骤：
在步骤S210中，获取清洁设备当前所处的工作状态。
在步骤S220中，在确定清洁设备处于预设工作状态的情况下，确定清洁设备与充电桩之间的相对位置。
在步骤S230中，根据相对位置对清洁设备的驱动轮施加驱动力，以控制清洁设备相对于充电桩运动或保持在充电桩上。
具体的，在步骤S210中，先获取清洁设备当前所处的工作状态。根据实施例，如果清洁设备处于以下工作状态中的至少一种工作状态，则确定该清洁设备处于预设工作状态：将清洁设备的尘盒中的垃圾收集到充电桩的集尘箱中，或利用充电桩上的清洗组件对清洁设备的清洁组件进行清洁，或利用充电桩对清洁设备进行充电。
清洁系统能够使用与之搭配的充电桩对清洁设备上安装的拖地辊子进行清洗。在清洗拖地辊子的过程中,需要高速旋转拖地辊子,并与充电桩上的凸起结构干涉，以达到清洁的效果。而在高速旋转拖地辊子清洁的时候,由于机器震动,以及充电桩上凸起结构的反作用力等原因,会导致清洁设备脱离清洗时的指定位点,严重时可能会发生滑离充电桩的情况。这将导致拖地棍子不能有效地与充电桩上的凸起结构或清洗刮条配合，达不到清洗效果。
在步骤S220中，如果确定清洁设备正处于上述预设工作状态中，则进一步确定清洁设备与充电桩之间的相对位置，以便得到清洁设备脱离充电桩的程度，便于后续采取措施来保持清洁设备在清洗的过程中稳定在充电桩上不滑落。
在步骤S230中，根据相对位置对清洁设备的驱动轮施加驱动力。在具体的实施例中，可以根据清洁设备偏离充电桩上指定位点的程度，例如偏离指定位点的距离来对清洁设备的运动进行控制。
根据本公开的实施例，通过基于清洁设备当前所处的工作状态以及清洁设备与充电桩之间的相对位置来对清洁设备的运动进行控制，从实际中的特殊情况和突发情况着手来调整清洁设备的运动，实现了更加可靠更加智能的控制，可以提升用户的使用体验。
根据实施例，根据相对位置对清洁设备的驱动轮施加驱动力可以包括：在清洁设备运动至充电桩上的指定位点的情况下，沿着清洁设备朝向充电桩运动的方向、对清洁设备的驱动轮施加驱动力。该驱动力是能够抵消清洁设备背离充电桩运动的力。在清洁设备位于指定位点时，对清洁设备的驱动轮继续施加一个较低占空比的驱动力，使得驱动轮有继续向前运动的趋势，而此时由于清洁设备已经位于指定位点，清洁设备并不能相对于充电桩继续行进，该驱动力能够克服清洁设备在重力作用下沿充电桩倾斜停靠表面下滑，或者能够克服清洁设备由于在基站 上进行清洁作业或集尘作业导致的将清洁设备推离指定位点的反作用力的作用。
进一步地，根据实施例，在清洁设备运动至充电桩上的指定位点之前，沿着清洁设备朝向充电桩运动的方向、以第一速率对清洁设备的驱动轮施加驱动力。清洁设备在驶入充电桩的过程中，驱动轮以第一速率行进，该第一速率可以是正常的行走速率、或者高于或低于正常行走速率。
进一步地，根据实施例，在清洁设备运动至充电桩上的指定位点之前，沿着清洁设备朝向充电桩运动的方向、以第二速率对清洁设备的驱动轮施加驱动力。该第二速率是基于预设算法进行调节的速率。
图15是根据本公开实施例的对将清洁设备稳定在充电桩上的指定位点进行控制的示意图，下面结合图15进行说明。
在该实施例中，清洁设备可以与充电桩进行各种交互,例如，将清洁设备的尘盒中的垃圾收集到充电桩中的大号集尘箱中，或利用充电桩上的清洗组件对清洁设备上的具有拖地功能的拖地辊子或拖布进行清洁。在交互过程中,清洁设备会因为力的作用脱离充电桩以及最佳交互位点。如图15所示，充电桩151具有倾斜的轨道152，清洁设备153经由轨道152运动至充电桩151上的指定位点处。在执行上述交互的过程中，可能产生作用力N，该作用力N的方向指向将清洁设备153推离充电桩151的方向，从而可能使清洁设备153离开充电桩31上的指定位点，由此影响上述交互过程。
在一些实施例中，可以采取持续控制方式对清洁设备153的运动进行控制。具体的，一旦清洁设备153到达充电桩151上的指定位点,就持续向清洁设备153的轮子的驱动电机施加一个较低的占空比,直到交互完毕,以抵消作用力N的影响。
这种方式能够有效的保持清洁设备的位置，但由于持续以较低的占空比驱动电机，其并不适宜在除特定工作状态时一直持续施加，清洁设备停靠在充电桩上并且不处于特定工作状态时，用户有时候需要将清洁设备从充电桩拽出，此时如果驱动轮仍有向前运动趋势，会给用户的拽出动作造成困难。
在一些实施例中，可以采取固定模式方式对清洁设备153的运动进行控制。具体的，在开始交互时,先对清洁设备153的轮子的驱动电机施加较高的占空比,使清洁设备153行驶到或回到指定位点。然后随时间经过，将施加的占空比降低至足以抵消作用力N的影响的较低占空比,以使得清洁设备153可以保持在充电桩151上的指定位点。
在这种方式中，由于一开始采取较高的占空比对清洁设备的驱动电机进行控制，因此可以使清洁设备快速的行驶到或回到偏离的指定位点，但同时由于速度较快，因此可能导致清洁设备与充电桩发生撞击，磨损清洁设备的边缘以及充电桩的表面,也可能导致清洁设备的轮子发生磨损。
在一些实施例中，可以采取带反馈的控制方式对清洁设备153的运动进行控制。具体的，首先定义两种状态,到位态以及非到位态,分别应用不同的控制模式。在到位态,即清洁设备153在充电桩151上的指定位点时的状态。当清洁设备153到达指定位点时,以足以抵消作用力N的影响的较低占空比对清洁设备153的轮子的驱动电机进行控制。在非到位态,即与上述到位态相反的状态,以含有PID调节的方式控制清洁设备153的轮子的驱动电机。在一些实施例中，为了更好的控制效果,可以在清洁设备153从非到位态转变为到位态时持续以非到位态的方式控制一小段(例如，1s)时间。
在具体的实施例中，可以使用传感器来判断处于到位态还是非到位态,例如，清洁设备153在到达指定位点时碰撞缓冲器的触发状态，清洁设备153的雷达传感器反馈到的图样状态，清洁设备153上的到位开关的触发状态，清洁设备153的轮子的过流状态，清洁设备153的陀螺仪倾角的状态，以及通过以上一个至多个传感器状态的组合进行判断等，本公开的实施例不限于此。
在这种方式中，由于采取了速度控制算法对清洁设备的驱动电机进行控制，因此，既可以使清洁设备快速的回到偏离的指定位点，同时可以避免清洁设备与充电桩发生撞击，磨损清洁设备的边缘以及充电桩的表面。
根据本公开的实施例，通过在清洁设备在充电桩上的指定位点时，向清洁设备的轮子的驱动电机施加设定的较低占空比，如图15所示，驱动所产生的力N'可以使清洁设备的轮子产生向前转的趋势，以这个趋势来抵消清洁设备可能向后退的动作，从而使得清洁设备能够可靠的处于充电桩上的指定位点，以保障清洁设备与充电桩之间的交互。
根据实施例，根据相对位置对清洁设备的驱动轮施加驱动力还可以包括：在清洁设备与充 电桩上的指定位点之间的距离小于等于预设阈值的情况下，驱动清洁设备沿着朝向充电桩的方向运动，直到清洁设备运动至充电桩上的指定位点，停止驱动清洁设备。
在其他实施例中，根据相对位置对清洁设备的驱动轮施加驱动力还可以包括：在清洁设备与充电桩上的指定位点之间的距离大于预设阈值的情况下，在预设时间段内，保持清洁设备与充电桩之间的相对位置不变；以及在预设时间段之后，确定与清洁设备的预设工作状态有关的装置的状态是否发生变化，在与清洁设备的预设工作状态有关的装置的状态未发生变化的情况下，驱动清洁设备沿着朝向充电桩的方向运动，直到清洁设备运动至充电桩上的指定位点，停止驱动清洁设备；在与清洁设备的预设工作状态有关的装置的状态发生变化的情况下，保持清洁设备与充电桩之间的相对位置不变。
图16A和图16B是根据本公开实施例的对偏离充电桩上的指定位点的清洁设备进行控制的示意图。下面结合图16A和图16B进行说明。
在维护清洁系统时，用户可能因图方便，会手动将清洁设备拖拽并离开充电桩而非搬离充电桩。这时，如果用户没有将充电桩搬离地面，则清洁设备会进入后退回蹭逻辑，从而影响用户的操作流畅性。
如图16A和图16B所示，当清洁设备163在开机状态下，清洁设备163的控制器持续监测清洁设备163的主轮里程计的运动状态。主轮里程计具有阈值，对清洁设备163从充电桩161的倾斜轨道162上自然滑落的ODO值进行测量。当清洁设备163的控制器检测到ODO值发生变化，根据ODO值发生变化的情况分别控制。根据实施例，当ODO值D≤阈值时，清洁设备163进入第一种回蹭逻辑，如图16A所示。当ODO值D'＞阈值时，清洁设备163进入第二种回蹭逻辑，如图16B所示。
在第一种回蹭逻辑中，清洁设备163的双轮保持同步反向转动，直到清洁设备163回退到原来的状态(例如，充电状态或集尘状态)。此外，在其他实施例中，也可以根据清洁设备163的主轮的电流过大保护或清洁设备163的主轮电流大于某一阈值时，来使主轮停止转动，并启动电磁刹车。
在第二种回蹭逻辑中，清洁设备163停留在原地一段时间，例如，几分钟。如果停留期间未发生例如集尘盒取出放回、悬崖传感器触发、主轮跌落传感器触发、前桩触发等状态变化，则在达到预设时间的时候，清洁设备163回退到原来的状态(例如，充电状态或集尘状态)。如果上述状态发生变化，则清洁设备163停留在原地，不再做任何动作。
根据本公开的实施例，可以明确区分用户主动搬离清洁设备和清洁设备自身偏离指定位点的不同情形，从而针对不同的情况对清洁设备分别控制，增加了清洁系统的智能性，提升了用户体验。
根据实施例，在确定清洁设备处于预设工作状态的情况下，对充电桩的运动状态进行监控；在充电桩的运动状态发生变化之后，利用清洁设备进行重新定位；以及根据重新定位的结果更新预先存储的充电桩的位置。
图17是根据本公开实施例的对充电桩的位置进行重新定位的示意图。下面结合图17进行说明。
如图17所示，清洁系统具有“地图保存”功能，此功能的运行需要有一个前提条件，即充电桩171的位置必须固定。如果清洁设备173在充电时，充电桩171的位置发生大范围移动。例如，如图17所示，充电桩171被从位置A搬移到位置B处，则会导致清洁设备173经由充电桩171的倾斜轨道172驶离充电桩171之后，如果不进行较长时间的重新定位，会导致SLAM(simultaneous localization and mapping，同步定位与地图构建)定位发生错误，导致清洁设备173无法完成清扫。但由于重新定位时间较长，因此，如果每次驶离充电桩后都进行重新定位操作，则会增加每次清扫预热时间，严重影响用户体验。
根据实施例，当清洁设备173在充电桩171上时，如果清洁设备173发现自身发生了移动(实际上清洁设备173与充电桩171一起发生了移动)，则启动同桩移动重新定位。
在具体的实施例中，在清洁设备173进入预设状态后，利用陀螺仪、跌落传感器、主轮里程计等传感器持续监控清洁设备173的运动状态。在上述任一传感器检测到清洁设备173发生了运动状态发生变化之后，即传感器检测到清洁设备173发生了运动状态的变化，并在传感器检测到清洁设备173停止移动之后，清洁设备173开始执行同桩移动重新定位。
在清洁设备173与充电桩171保持相对静止时，通过清洁设备173的重定位确定充电桩171在预先存储的地图中的位置。
在具体的实施例中，清洁设备173的重定位可以依靠LDS和/或摄像头，重定位过程大致如 下：清洁设备173原地转动，通过LDS和/或摄像头进行重定位，如果不成功，则清洁设备173行走一段距离，再进行重定位。重定位只要是依靠清洁设备173相对于地图中保存的障碍物/标定位来进行的。清洁设备173在充电桩171上进行重定位时，如果没有摄像头/或摄像头并不朝向充电桩171的外面时，只能依靠LDS进行重定位。
在具体的实施例中，在进入“同桩移动重新定位”逻辑后，清洁设备173在充电桩171上启动LDS激光传感器进行桩上重定位。在桩上重定位时，清洁设备173的LDS传感器会匹配当前激光地图和清洁设备173(充电桩171)移动前的地图的相似度，如果地图相似度低于某一阈值，则认为清洁设备173发生了“同桩位移”。同时，在桩上重定位成功后，清洁设备53会清除掉上一次保存的充电桩171的位置，重新标记当前位置为充电桩171的位置。如果清洁设备173的桩上重定位执行失败，则在清洁设备173驶离充电桩171后，进入常规局部重定位逻辑，重定位成功后清除上次充电桩171的标记位置，标记当前位置为新的充电桩171的位置。清洁设备知道自己正在充电桩上充电或执行其他任务，总体上可以通过清洁设备的充电电极和充电桩的充电电极是否接触上来进行判断。当然也可以通过其他的方式，本公开的实施例对此不做限定。
根据本公开的实施例，优化了在使用大型充电桩时清洁设备的下桩启动清扫体验。
根据实施例，在确定清洁设备结束预设工作状态、且欲离开充电桩之后，获取清洁设备与充电桩之间的相对位置；在确定清洁设备与充电桩之间的相对位置未发生变化的情况下，沿着清洁设备背离充电桩运动的方向、以第三速率对清洁设备的驱动轮施加驱动力。该第三速率大于清洁设备常规工作时的速率。
图18是根据本公开实施例的对清洁设备驶离充电桩进行控制的示意图。下面结合图18进行说明。
如图18所示，充电桩181具有倾斜轨道182，清洁设备183经由轨道182驶入充电桩181后，由于有保持清洁设备183在充电桩181上的要求，因此，在充电桩181上一般会设置清洁设备183的轮子停放轮槽或挡片，以阻止清洁设备183沿着充电桩181的轨道182滑落。
若清洁设备183在预设工作状态完成设定的工作后，例如，清洁设备完成了充电，欲离开充电桩181进行其他动作,则根据充电时机头朝向不同,会首先后退或前进以离开充电区域。由于环境地面,充电桩的结构和清洁设备的结构之间的干涉,轮子打滑,或清洁设备上其他与地面接触组件的阻力,有可能导致出现控制轮子行进但事实上不动的现象。
在本公开的实施例中，针对这种现象,首先需要判断清洁设备183是否没有离开充电桩181。具体的，首先考虑使用轮子旋转计数,由于有打滑的可能性,故不能保证一定能判断出来。这里通过对比开始控制前的LDS数据以及一段时间后的数据,可以判断出来清洁设备183是否没有离开充电桩181。如果判断清洁设备183没有离开充电桩181,则使用较高的速度V控制清洁设备183猛冲一小段距离,以减少卡死在充电桩181的概率。
根据本公开的实施例，可以实现清洁设备快速离开充电桩的控制，可以优化清洁系统的使用体验。
本公开的实施例还提供了一种清洁系统控制装置。图19是根据本公开实施例的清洁系统控制装置190的框图。清洁系统控制装置190包括获取模块191、确定模块192和驱动模块193。
根据实施例，获取模块191被配置为获取清洁设备当前所处的工作状态。确定模块192被配置为在确定清洁设备处于预设工作状态的情况下，确定清洁设备与充电桩之间的相对位置。驱动模块193被配置为根据相对位置对清洁设备的驱动轮施加驱动力，以控制清洁设备相对于充电桩运动或保持在充电桩上。
以上各功能模块的具体操作可以参考前述实施例中的清洁系统控制方法200的操作步骤来获取，此处不再赘述。
以上各功能模块的具体操作可以参考前述实施例中的清洁系统控制方法200的操作步骤来获取，此处不再赘述。
本公开的实施例还提供了一种用于上述各种方法的电子设备。图20是用来实现本公开实施例的方法的电子设备20的框图。电子设备旨在表示各种形式的数字计算机，或者各种形式的移动装置，或其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。
如图20所示，设备2包括计算单元201，其可以根据存储在只读存储器(ROM)202中的计算机程序或者从存储单元208加载到随机访问存储器(RAM)203中的计算机程序，来执行各种适当的动作和处理。在RAM 203中，还可存储设备2操作所需的各种程序和数据。计算单 元201、ROM 202以及RAM 203通过总线204彼此相连。输入/输出(I/O)接口205也连接至总线204。
设备2中的多个部件连接至I/O接口205，包括：输入单元206，例如键盘、鼠标等；输出单元207，例如各种类型的显示器、扬声器等；存储单元208，例如磁盘、光盘等；以及通信单元209，例如网卡、调制解调器、无线通信收发机等。通信单元209允许设备2通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。
计算单元201可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元201的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元201执行上文所描述的各个方法和处理。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。
用于实施本公开的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序代码当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
计算机系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。
通过以上的实施方式的描述，本领域的技术人员易于理解，这里描述的示例实施方式可以通过软件实现，也可以通过软件结合必要的硬件的方式来实现。因此，根据本公开实施方式的技术方案可以以软件产品的形式体现出来，该软件产品可以存储在一个非易失性存储介质(可以是CD-ROM，U盘，移动硬盘等)中或网络上，包括若干指令以使得一台计算设备(可以是个人计算机、服务器、终端装置、或者网络设备等)执行根据本公开实施方式的方法。
此外，上述附图仅是根据本公开示例性实施例的方法所包括的处理的示意性说明，而不是限制目的。易于理解，上述附图所示的处理并不表明或限制这些处理的时间顺序。另外，也易于理解，这些处理可以是例如在多个模块中同步或异步执行的。
应当注意，尽管在上文详细描述中提及了用于动作执行的设备的若干模块或者单元，但是这种划分并非强制性的。实际上，根据本公开的实施方式，上文描述的两个或更多模块或者单元的特征和功能可以在一个模块或者单元中具体化。反之，上文描述的一个模块或者单元的特征和功能可以进一步划分为由多个模块或者单元来具体化。
本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由权利要求指出。

Claims (27)

  1. 一种清洁设备中清洁组件的清洗控制方法，其特征在于，包括：
    在清洁设备以第一姿态进入充电桩后，控制所述充电桩上的清洗组件对所述清洁设备上的清洁组件执行清洗任务；
    若所述清洗任务是一次清洁过程的最后一次清洗任务，则在完成所述清洗任务后，控制所述清洁设备退出所述充电桩，并控制所述清洁设备以第二姿态进入所述充电桩；其中，所述第二姿态与所述第一姿态不同。
  2. 根据权利要求1所述的清洁设备中清洁组件的清洗控制方法，其特征在于，所述清洁设备以第一姿态进入充电桩后，所述清洁设备处于非充电状态。
  3. 根据权利要求1所述的清洁设备中清洁组件的清洗控制方法，其特征在于，清洁设备以第一姿态进入充电桩，包括：
    通过所述清洁设备上的传感器检测所述充电桩上的指示标识；所述指示标识用于指示所述清洁设备在所述充电桩上的位置；
    根据所述指示标识，控制所述清洁设备以所述第一姿态移动至所述充电桩的目标位置。
  4. 根据权利要求1所述的清洁设备中清洁组件的清洗控制方法，其特征在于，所述控制所述充电桩上的清洗组件对所述清洁设备上的清洁组件执行清洗任务，包括：
    控制所述清洗组件执行出水操作，对所述清洁组件进行清洗处理；
    控制所述清洁设备对所述清洁组件进行脱水处理；
    控制所述清洗组件执行抽水操作，对污水进行抽出处理；其中，所述污水为对所述清洁组件进行清洗处理后产生的。
  5. 根据权利要求4所述的清洁设备中清洁组件的清洗控制方法，所述清洗组件包括清水箱、清洗槽和水位监测模块，其特征在于，所述控制所述清洗组件执行出水操作，包括：
    控制所述清洗组件中的清水箱执行出水操作，将水注入所述清洗槽中；
    通过所述水位监测模块对所述清洗槽中的水位进行监测；
    当监测到所述清洗槽中的水位达到预设水位时，停止所述出水操作。
  6. 根据权利要求4所述的清洁设备中清洁组件的清洗控制方法，其特征在于，所述控制所述清洁设备对所述清洁组件进行脱水处理，包括：
    控制所述清洁组件上升至预设高度，使所述清洁组件与所述清洗组件相互隔离；
    控制所述清洁组件以预设转速执行旋转操作，进行脱水处理。
  7. 根据权利要求4所述的清洁设备中清洁组件的清洗控制方法，所述清洗组件包含污水箱，其特征在于，所述控制所述清洗组件执行抽水操作，对污水进行抽出处理，包括：
    控制所述清洗组件对所述污水进行所述抽出处理，并将所述污水存储于所述污水箱中。
  8. 根据权利要求5所述的清洁设备中清洁组件的清洗控制方法，其特征在于，所述在完成所述清洗任务后，包括：
    控制所述清洗组件中的清水箱执行出水操作，对所述清洗槽执行冲洗操作。
  9. 根据权利要求1所述的清洁设备中清洁组件的清洗控制方法，其特征在于，所述清洗控制方法还包括：
    若所述清洗任务不是一次清洁过程中的最后一次清洗任务，则在完成所述清洗任务后，控制所述清洁设备执行下一次清洁房屋的任务。
  10. 根据权利要求1所述的清洁设备中清洁组件的清洗控制方法，其特征在于，所述控制所述清洁设备以第二姿态进入所述充电桩，包括：
    控制所述清洁设备以所述第一姿态向所述充电桩的正面进行移动；其中，所述充电桩的正面为所述清洁设备进入所述充电桩的入口方向所在的一面；
    当所述清洁设备与所述充电桩的距离小于预设距离时，控制所述清洁设备以所述第二姿态向所述充电桩的正面进行移动，进入所述充电桩。
  11. 根据权利要求10所述的清洁设备中清洁组件的清洗控制方法，其特征在于，当所述清洁设备与所述充电桩的距离小于预设距离时，控制所述清洁设备以所述第二姿态向所述充电桩的正面进行移动，进入所述充电桩，包括：
    若所述清洁设备在一预设时长内未进入所述充电桩，则控制所述清洁设备执行语音报错操作。
  12. 根据权利要求10所述的清洁设备中清洁组件的清洗控制方法，所述充电桩包括充电模块，其特征在于，控制所述清洁设备以所述第二姿态向所述充电桩的正面进行移动，进入所述充电桩后，包括：
    获取所述清洁设备的电量信息；
    若所述电量信息低于预设电量阈值，则控制所述充电模块对所述清洁设备执行充电操作。
  13. 根据权利要求10所述的清洁设备中清洁组件的清洗控制方法，所述清洗组件包括排风模块，其特征在于，控制所述清洁设备以所述第二姿态向所述充电桩的正面进行移动，进入所述充电桩后，还包括：
    控制所述排风模块对所述清洁组件进行干燥处理。
  14. 一种清洁设备中清洁组件的清洗控制装置，其特征在于，包括：
    第一姿态控制模块，用于在清洁设备以第一姿态进入充电桩后，控制所述充电桩上的清洗组件对所述清洁设备上的清洁组件执行清洗任务；
    第二姿态控制模块，用于若所述清洗任务是一次清洁过程的最后一次清洗任务，则在完成所述清洗任务后，控制所述清洁设备退出所述充电桩，并控制所述清洁设备以第二姿态进入所述充电桩；其中，所述第二姿态与所述第一姿态不同。
  15. 一种清洁系统控制方法，所述清洁系统包括清洁设备和充电桩，所述方法包括：
    获取所述清洁设备当前所处的工作状态；
    在确定所述清洁设备处于预设工作状态的情况下，确定所述清洁设备与所述充电桩之间的相对位置；以及
    根据所述相对位置对所述清洁设备的驱动轮施加驱动力，以控制所述清洁设备相对于所述充电桩运动或保持在所述充电桩上。
  16. 根据权利要求15所述的方法，其中，确定所述清洁设备处于预设工作状态包括，如果所述清洁设备处于以下工作状态中的至少一种工作状态，则确定所述清洁设备处于预设工作状态：
    将所述清洁设备的尘盒中的垃圾收集到所述充电桩的集尘箱中；
    利用所述充电桩上的清洗组件对所述清洁设备的清洁组件进行清洁。
  17. 根据权利要求16所述的方法，其中，根据所述相对位置对所述清洁设备的驱动轮施加驱动力包括：
    在所述清洁设备运动至所述充电桩上的指定位点的情况下，对所述清洁设备的驱动轮施加沿着所述清洁设备朝向所述充电桩运动的方向的第一驱动力，所述第一驱动力是能够抵消所述清洁设备背离所述充电桩运动的力，所述指定位点与所述预设工作状态相关联。
  18. 根据权利要求17所述的方法，其中，根据所述相对位置对所述清洁设备的驱动轮施加驱动力还包括：
    在所述清洁设备运动至所述充电桩上的所述指定位点之前，沿着所述清洁设备朝向所述充电桩运动的方向、以第一速率对所述清洁设备的驱动轮施加驱动力。
  19. 根据权利要求17所述的方法，其中，根据所述相对位置对所述清洁设备的驱动轮施加驱动力还包括：
    在所述清洁设备运动至所述充电桩上的所述指定位点之前，沿着所述清洁设备朝向所述充电桩运动的方向、以第二速率对所述清洁设备的驱动轮施加驱动力，所述第二速率是基于预设算法进行调节的速率。
  20. 根据权利要求15所述的方法，其中，确定所述清洁设备处于预设工作状态包括，如果所述清洁设备处于以下工作状态中的至少一种工作状态，则确定所述清洁设备处于预设工作状态：
    将所述清洁设备的尘盒中的垃圾收集到所述充电桩的集尘箱中；
    利用所述充电桩上的清洗组件对所述清洁设备的清洁组件进行清洁；
    利用所述充电桩对所述清洁设备进行充电。
  21. 根据权利要求20所述的方法，其中，根据所述相对位置对所述清洁设备的驱动轮施加驱动力包括：
    在所述清洁设备与所述充电桩上的指定位点之间的距离小于等于预设阈值的情况下，驱动所述清洁设备沿着朝向所述充电桩的方向运动，直到所述清洁设备运动至所述充电桩上的指定位点，停止驱动所述清洁设备，所述指定位点与所述预设工作状态相关联。
  22. 根据权利要求21所述的方法，其中，根据所述相对位置对所述清洁设备的驱动轮施加 驱动力还包括：
    在所述清洁设备与所述充电桩上的指定位点之间的距离大于所述预设阈值的情况下，在预设时间段内，保持所述清洁设备与所述充电桩之间的相对位置不变；以及
    在所述预设时间段之后，确定与所述清洁设备的所述预设工作状态有关的装置的状态是否发生变化，
    在与所述清洁设备的所述预设工作状态有关的装置的状态未发生变化的情况下，驱动所述清洁设备沿着朝向所述充电桩的方向运动，直到所述清洁设备运动至所述充电桩上的所述指定位点，停止驱动所述清洁设备；
    在与所述清洁设备的所述预设工作状态有关的装置的状态发生变化的情况下，保持所述清洁设备与所述充电桩之间的相对位置不变。
  23. 根据权利要求15所述的方法，还包括：
    在确定所述清洁设备处于预设工作状态的情况下，对所述充电桩的运动状态进行监控；
    在所述充电桩的运动状态发生变化之后，利用所述清洁设备进行重新定位；以及
    根据所述重新定位的结果更新预先存储的所述充电桩的位置。
  24. 根据权利要求15所述的方法，还包括：
    在确定所述清洁设备结束所述预设工作状态、且欲离开所述充电桩时，获取所述清洁设备与所述充电桩之间的相对位置；
    在确定所述清洁设备与所述充电桩之间的相对位置未发生变化的情况下，沿着所述清洁设备背离所述充电桩运动的方向、以第三速率对所述清洁设备的驱动轮施加驱动力，所述第三速率大于所述清洁设备常规工作时的速率。
  25. 一种清洁系统控制装置，所述清洁系统包括清洁设备和充电桩，所述装置包括：
    获取模块，配置为获取所述清洁设备当前所处的工作状态；
    确定模块，配置为在确定所述清洁设备处于预设工作状态的情况下，确定所述清洁设备与所述充电桩之间的相对位置；以及
    驱动模块，配置为根据所述相对位置对所述清洁设备的驱动轮施加驱动力，以控制所述清洁设备相对于所述充电桩运动或保持在所述充电桩上。
  26. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1-13任一项所述的清洁设备中清洁组件的清洗控制方法或者权利要求15-24任一项所述的清洁系统控制方法。
  27. 一种电子设备，其特征在于，包括：
    处理器；以及
    存储器，用于存储所述处理器的可执行指令；
    其中，所述处理器配置为经由执行所述可执行指令来执行权利要求1-13任一项所述的清洁设备中清洁组件的清洗控制方法或者权利要求15-24任一项所述的清洁系统控制方法。
PCT/CN2021/118572 2020-12-11 2021-09-15 清洗控制方法及装置、计算机可读存储介质和电子设备 WO2022121425A1 (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
AU2021397991A AU2021397991A1 (en) 2020-12-11 2021-09-15 Washing control method and apparatus, computer readable storage medium, and electronic device
JP2023535604A JP2023552483A (ja) 2020-12-11 2021-09-15 洗浄制御方法および装置、コンピュータ可読記憶媒体、ならびに電子機器
CA3201973A CA3201973A1 (en) 2020-12-11 2021-09-15 Washing control method and apparatus, computer readable storage medium, and electronic device
EP21902133.4A EP4260788A1 (en) 2020-12-11 2021-09-15 Washing control method and apparatus, computer readable storage medium, and electronic device
US18/266,785 US20240049938A1 (en) 2020-12-11 2021-09-15 Washing control method and apparatus, computer readable storage medium, and electronic device
KR1020237023136A KR20230117599A (ko) 2020-12-11 2021-09-15 세척 제어 방법 및 장치, 컴퓨터 판독 가능한 기억매체와 전자 장치

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202011461107.8 2020-12-11
CN202011461107.8A CN114610009A (zh) 2020-12-11 2020-12-11 清洗控制方法及装置、计算机可读存储介质和电子设备
CN202110948745.0 2021-08-18
CN202110948745.0A CN114601379B (zh) 2021-08-18 2021-08-18 清洁系统控制方法、装置、设备和存储介质

Publications (1)

Publication Number Publication Date
WO2022121425A1 true WO2022121425A1 (zh) 2022-06-16

Family

ID=81973043

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/118572 WO2022121425A1 (zh) 2020-12-11 2021-09-15 清洗控制方法及装置、计算机可读存储介质和电子设备

Country Status (7)

Country Link
US (1) US20240049938A1 (zh)
EP (1) EP4260788A1 (zh)
JP (1) JP2023552483A (zh)
KR (1) KR20230117599A (zh)
AU (1) AU2021397991A1 (zh)
CA (1) CA3201973A1 (zh)
WO (1) WO2022121425A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115474872A (zh) * 2021-06-15 2022-12-16 深圳银星智能集团股份有限公司 维护站和清洁系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018107465A1 (zh) * 2016-12-16 2018-06-21 云鲸智能科技（东莞）有限公司 基站和清洁机器人系统
CN108464774A (zh) * 2018-03-30 2018-08-31 深圳市奈士迪技术研发有限公司 一种具有刷头自清洁功能的扫地机器人
CN109528094A (zh) * 2018-12-21 2019-03-29 宁波富佳实业股份有限公司 一种自动化地面清洁设备的运行方法
CN209808228U (zh) * 2019-03-17 2019-12-20 嵇立文 带有自清洁辊轮机构的扫地机器人
CN110916569A (zh) * 2019-11-27 2020-03-27 珠海市一微半导体有限公司 一种自清洁机器人系统及其自清洁控制方法
CN111588310A (zh) * 2020-05-21 2020-08-28 山东浑天信息科技有限公司 一种智能扫地机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018107465A1 (zh) * 2016-12-16 2018-06-21 云鲸智能科技（东莞）有限公司 基站和清洁机器人系统
CN108464774A (zh) * 2018-03-30 2018-08-31 深圳市奈士迪技术研发有限公司 一种具有刷头自清洁功能的扫地机器人
CN109528094A (zh) * 2018-12-21 2019-03-29 宁波富佳实业股份有限公司 一种自动化地面清洁设备的运行方法
CN209808228U (zh) * 2019-03-17 2019-12-20 嵇立文 带有自清洁辊轮机构的扫地机器人
CN110916569A (zh) * 2019-11-27 2020-03-27 珠海市一微半导体有限公司 一种自清洁机器人系统及其自清洁控制方法
CN111588310A (zh) * 2020-05-21 2020-08-28 山东浑天信息科技有限公司 一种智能扫地机器人

Also Published As

Publication number Publication date
EP4260788A1 (en) 2023-10-18
US20240049938A1 (en) 2024-02-15
CA3201973A1 (en) 2022-06-16
AU2021397991A1 (en) 2023-07-27
KR20230117599A (ko) 2023-08-08
JP2023552483A (ja) 2023-12-15

Similar Documents

Publication Publication Date Title
JP7208675B2 (ja) 床拭きロボットの制御方法、装置、機器及び記憶媒体
EP3865041A1 (en) Cleaning robot and method of cleaning thereof
CN108852174B (zh) 自主移动机器人及其寻桩方法、控制装置和智能清洁系统
WO2021027446A1 (zh) 清洁机器人的流体施加方法及清洁机器人
TW201915630A (zh) 自主移動機器人及其尋樁方法、控制裝置以及智能清潔系統
EP4292495A1 (en) Automatic cleaning device control method and apparatus, and medium and electronic device
WO2022121425A1 (zh) 清洗控制方法及装置、计算机可读存储介质和电子设备
JP2022552343A (ja) 掃除機用の制御方法及び制御手段
CN113545715A (zh) 一种拖地机器人的控制方法、装置和拖地机器人
CN212489787U (zh) 一种拖地机器人
WO2023179616A1 (zh) 清洁机器人及其返回、移出基座的方法、装置
WO2023020490A1 (zh) 清洁机器人及其控制方法、装置、电子设备、存储介质
JP2008284052A (ja) 自走式機器およびそのプログラム
WO2024022360A1 (en) Method, device, and system for controlling cleaning robot, and storage medium
US20240122430A1 (en) Automatic cleaning device control method and apparatus, medium, and electronic device
US20240126299A1 (en) Obstacle avoidance method and apparatus for robot, robot, storage medium, and electronic device
CN114732316A (zh) 清洁设备的出水量的控制方法
CN114610009A (zh) 清洗控制方法及装置、计算机可读存储介质和电子设备
US20240122431A1 (en) Cleaning method and apparatus for automatic cleaning device, medium, and electronic device
CN219613767U (zh) 一种自移动清洁设备及清洁系统
US20240049935A1 (en) Cleaning robot escape method and device, medium, and electronic apparatus
US20240134384A1 (en) Map display method and apparatus, medium, and electronic device
CN221044886U (zh) 一种传动装置、自动清洁设备及清洁机器人系统
WO2023173922A1 (zh) 自移动清洁设备的控制方法、清洁设备及可读存储介质
CN117502980A (zh) 自移动清洁设备、控制方法及清洁系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21902133

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2023535604

Country of ref document: JP

ENP Entry into the national phase

Ref document number: 3201973

Country of ref document: CA

WWE Wipo information: entry into national phase

Ref document number: 18266785

Country of ref document: US

ENP Entry into the national phase

Ref document number: 20237023136

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2021902133

Country of ref document: EP

Effective date: 20230711

ENP Entry into the national phase

Ref document number: 2021397991

Country of ref document: AU

Date of ref document: 20210915

Kind code of ref document: A