WO2022166356A1

WO2022166356A1 - Sewage recovery method, maintenance station, cleaning robot, and sewage recovery system

Info

Publication number: WO2022166356A1
Application number: PCT/CN2021/135573
Authority: WO
Inventors: 李军; 周林林
Original assignee: 深圳市银星智能科技股份有限公司
Priority date: 2021-02-05
Filing date: 2021-12-05
Publication date: 2022-08-11
Also published as: CN112932365B; US20220248927A1; CN112932365A

Abstract

A sewage recovery method (S100), a maintenance station (300), a cleaning robot (400), and a sewage recovery system. The sewage recovery method (S100) comprises: acquiring a liquid usage amount of a cleaning robot (S11); and according to the liquid usage amount, controlling a maintenance station to recover sewage collected by the cleaning robot (S12). Sewage collected by the cleaning robot (400) can be quantitatively and intelligently recovered without manual participation, thereby improving the recovery efficiency and improving the user experience.

Description

[Correction 25.12.2021 according to Rule 26] A method for recycling sewage, maintenance station, cleaning robot and sewage recycling system

This application claims the priority of the prior application with the application number 202110161383.0 and the application name "Sewage recovery method, maintenance station, cleaning robot and sewage recovery system" submitted to the State Intellectual Property Office of China on February 5, 2021. The above-mentioned The content of the earlier application is incorporated by reference into this text.

technical field

The present application relates to the field of robotics technology, and in particular to a sewage recovery method, a maintenance station, a cleaning robot and a sewage recovery system.

Background technique

With the development of robotics technology, cleaning robots have gradually entered ordinary homes, gradually liberating people from heavy and trivial housework, and providing people with great convenience.

The existing robot can not only mop the floor, but also recycle the sewage generated during the mopping process to the sewage tank, so as to keep the humidity of the ground from being too high. When the sewage in the sewage tank needs to be cleaned, the user needs to manually clean the sewage tank, which is troublesome.

Application content

One objective of the embodiments of the present application is to provide a sewage recovery method, a maintenance station, a cleaning robot, and a sewage recovery system, which are capable of efficiently and intelligently recovering sewage from a cleaning robot.

In a first aspect, the embodiments of the present application provide a method for recycling sewage, including:

Get the liquid usage of the cleaning robot;

According to the liquid usage amount, the maintenance station is controlled to recycle the dirty liquid collected by the cleaning robot.

In a second aspect, the embodiments of the present application provide a method for recycling sewage, including:

Get liquid usage;

The liquid usage amount is sent to control the maintenance station to recover the dirty liquid collected by the cleaning robot according to the liquid usage amount.

In a third aspect, an embodiment of the present application provides a maintenance station, including:

at least one first processor; and,

a first memory communicatively coupled to the at least one first processor; wherein,

The first memory stores first instructions executable by the at least one first processor, the first instructions being executed by the at least one first processor to enable the at least one first processor to The method for recovering the dirty liquid of the first aspect above is performed.

In a fourth aspect, an embodiment of the present application provides a cleaning robot, including:

at least one second processor; and,

a second memory communicatively coupled to the at least one second processor; wherein,

The second memory stores second instructions executable by the at least one second processor, the second instructions being executed by the at least one second processor to enable the at least one second processor to The method for recovering the sewage liquid of the second aspect above is performed.

In a fifth aspect, the embodiment of the present application provides a sewage recovery system, including:

the aforementioned maintenance station;

In the above cleaning robot, the cleaning robot is connected in communication with the maintenance station.

In a sixth aspect, a non-volatile readable storage medium, the non-volatile readable storage medium stores computer-executable instructions, the computer-executable instructions are used to cause an electronic device to perform the above-mentioned sewage recovery method.

In a seventh aspect, an embodiment of the present application provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, and when the program is When the instruction is executed by the electronic device, the electronic device is made to execute the above-mentioned method for recovering the dirty liquid.

In the sewage recovery method provided by the embodiment of the present application, by acquiring the liquid usage of the cleaning robot and controlling the maintenance station to recover the sewage collected by the cleaning robot according to the liquid usage, the method can intelligently and quantitatively recover the cleaning robot collected The waste liquid can be recovered without manual participation, thereby improving the recovery efficiency.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute limitations of the embodiments, and elements with the same reference numerals in the drawings are denoted as similar elements, Unless otherwise stated, the figures in the accompanying drawings do not constitute a scale limitation.

1a is a schematic flowchart of a method for recycling polluted liquid according to an embodiment of the application, wherein the execution subject is an electronic device such as a maintenance station and a mobile terminal;

Fig. 1b is a schematic flowchart of S12 shown in Fig. 1a;

1c is a schematic flowchart of a method for recycling polluted liquid according to another embodiment of the present application, wherein the execution subject is an electronic device such as a maintenance station and a mobile terminal;

Fig. 2a is a schematic flowchart of a method for recycling polluted liquid according to an embodiment of the present application, wherein the execution subject is an electronic device such as a cleaning robot and a mobile terminal;

FIG. 2b is a schematic flowchart of a method for recycling polluted liquid according to another embodiment of the present application, wherein the execution body is an electronic device such as a cleaning robot and a mobile terminal;

Fig. 2c is a schematic flowchart of S23 shown in Fig. 2b;

Figure 2d is a schematic flowchart of S21 shown in Figure 2a;

3a is a front view of a maintenance station provided by an embodiment of the application;

Fig. 3b is a schematic structural diagram of the sewage collection assembly shown in Fig. 3a;

Fig. 3c is another schematic structural diagram of the sewage collection assembly shown in Fig. 3a;

4a is a schematic structural diagram of a cleaning robot provided by an embodiment of the application;

4b is a schematic diagram of a circuit structure of a cleaning robot provided by an embodiment of the application;

Fig. 4c is a schematic structural diagram of a sewage collection box assembly provided by an embodiment of the application;

5 is a schematic structural diagram of a sewage recovery system provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a circuit structure of an electronic device according to an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that, if there is no conflict, various features in the embodiments of the present application may be combined with each other, which are all within the protection scope of the present application. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the modules in the device may be divided differently, or the sequence shown in the flowchart may be performed. or the described steps. Furthermore, the words "first", "second" and "third" used in this application do not limit the data and execution order, but only distinguish the same or similar items with basically the same function and effect.

Example 1:

An embodiment of the present invention provides a method for recovering sewage. The method for recovering sewage can be applied to any suitable device. The device can be a maintenance station or a mobile terminal, and the mobile terminal can be any of the following smart phones and smart watches. ,tablet. The maintenance station in the embodiments of the present application can recycle the dirty liquid collected by the cleaning robot, and in some embodiments, the maintenance station can also implement at least one of the following functions: providing the cleaning robot with clean liquid, power supply, washing and drying the cleaning robot to carry dragging parts, etc.

Referring to Fig. 1a, the sewage recovery method S100 includes:

S11. Obtain the liquid usage of the cleaning robot;

In this embodiment, the amount of liquid used is the amount of liquid consumed each time the cleaning robot performs a cleaning operation, wherein the liquid here may be clean water or a liquid containing cleaning chemicals. Usually, the liquid in the clean liquid tank of the cleaning robot will flow onto the mopping member, and the cleaning robot carries the wet mopping member to mop the floor. Relatively speaking, the cleaning robot consumes the liquid when it performs the cleaning operation. The liquid is consumed and reduced, and it can be seen that the liquid usage is the amount of liquid consumed by the cleaning robot.

As an example but not a limitation, the cleaning robot will collect the dirty liquid generated by the cleaning operation during the cleaning operation. After the cleaning robot completes the cleaning operation, it will automatically drive back to the maintenance station, so that the maintenance station can collect and clean it. The filth collected by the robot. After driving back to the maintenance station, the cleaning robot will automatically send the liquid usage consumed by the cleaning operation to the maintenance station, so the maintenance station will obtain the liquid usage of the cleaning robot.

For example, the cleaning robot starts to move out of the maintenance station at time t0 to perform cleaning operations. At time t100, the cleaning robot drives back to the maintenance station. Therefore, the amount of liquid used is the amount of liquid consumed by the cleaning robot during the period between time t0 and t100. If the cleaning operation is suspended for any period of time, that is, there is no need for water to mop the floor, the cleaning robot can still use the amount of liquid consumed between time t0 and t100 as the amount of liquid used.

In some embodiments, when the cleaning robot is unable to drive back to the maintenance station due to lack of sufficient power during the cleaning operation, the cleaning robot can encapsulate the liquid usage consumed by the cleaning operation into a sewage recovery instruction, and send the The sewage recovery instruction is sent to the maintenance station, or when the cleaning robot is moved back to the maintenance station for charging, the cleaning robot sends the sewage recovery instruction to the maintenance station, and the maintenance station parses the sewage recovery instruction, and extracts the liquid from it for use quantity.

In this embodiment, the cleaning robot records the liquid usage amount every time the cleaning operation is performed and needs to consume the liquid. There are many ways to detect the liquid usage amount. For example, the cleaning robot can record the liquid usage amount according to The amount of liquid used can be calculated based on the unit liquid flow rate and liquid use time. The unit liquid flow rate is the volume of liquid output by the cleaning robot to the mopping member in unit time. For example, the unit time is one second. The liquid flow rate is the volume of liquid output by the cleaning robot to the mopping member per second, and the liquid usage time is the time that the cleaning robot needs to use liquid each time it performs cleaning operations.

For another example, a pressure sensor is provided at the bottom of the clean liquid tank of the cleaning robot. When the cleaning operation starts, the cleaning robot obtains the initial pressure sent by the pressure sensor. When the cleaning robot returns to the maintenance station, the cleaning robot obtains the final pressure sent by the pressure sensor again. Therefore, the cleaning robot subtracts the initial pressure from the final pressure to obtain the pressure difference, and then calculates the liquid usage according to the pressure difference.

S12. Control the maintenance station to recycle the dirty liquid collected by the cleaning robot according to the amount of liquid used.

In some embodiments, the maintenance station can obtain the liquid usage amount, and then can efficiently and reliably recover the dirty liquid collected by the cleaning robot according to the liquid usage amount and any suitable algorithm. Reliable recovery of the dirty liquid collected by the cleaning robot.

It can be seen from the above that the method can quantitatively and intelligently recycle the dirty liquid collected by the cleaning robot without manual participation, thereby improving the recycling efficiency and improving the user experience.

In some embodiments, the S12 includes: the maintenance station calculates the current recovery duration according to the liquid usage, and controls the maintenance station to recover the dirty liquid collected by the cleaning robot according to the current recovery duration and the specified recovery duration. For example, the maintenance station Calculate the current recovery duration according to the formula: t=W/P, where t is the current recovery duration, W is the liquid usage, and P is the unit recovery flow of the maintenance station, where the unit recovery flow of the maintenance station can be: The volume of sewage recovered by the maintenance station. In addition, the specified recovery duration can be a preset duration value, or the specified recovery duration is equal to the product of the current recovery duration multiplied by the preset coefficient.

As an example but not limitation, the controlling the maintenance station to recover the dirty liquid collected by the cleaning robot according to the current recovery duration and the specified recovery duration may specifically be: calculating the sum of the current recovery duration and the specified recovery duration, and controlling the maintenance The station recycles the dirty liquid collected by the cleaning robot. In this way, the dirty liquid in the cleaning robot can be recovered more thoroughly.

For example, assuming that the current recycling time is 10 seconds and the specified recycling time is 2 seconds, correspondingly, the sum of the current recycling time and the specified recycling time is calculated to be 12 seconds, and the maintenance station is controlled to work for 12 seconds to recover the dirt collected by the cleaning robot. liquid.

In some embodiments, the maintenance station will continue to judge whether a liquid signal is received during the working process corresponding to the current recovery time. The liquid signal is used to indicate that the sewage is continuously input into the maintenance station. If the maintenance station receives the liquid signal, The maintenance station continues to work until the stated recycling period is completed. Then, the maintenance station judges again whether the liquid signal is received. If yes, the maintenance station continues to work (record the time when the maintenance station continues to work as t01), until the sewage stops being continuously input into the maintenance station (stops the continuous input of the sewage into the maintenance station). The time is recorded as t02). Then, in order to ensure that all the dirty liquid of the cleaning robot can be recovered, the maintenance station will continue to work for the specified recovery period after working for the second time (the second time is the time between t01 and t02). With this method, the maintenance station can reliably recover all the dirty liquid of the cleaning robot.

In some embodiments, the maintenance station may use the liquid usage amount as a reference amount to further determine the amount of sewage liquid recovery in depth. Therefore, please refer to FIG. 1b, S12 includes:

S121, according to the amount of liquid used, determine the amount of sewage recovery;

S122 , controlling the maintenance station to recover the sewage collected by the cleaning robot according to the amount of sewage recovered.

Among them, the amount of sewage liquid recovery is the amount of sewage liquid that needs to be recovered by the maintenance station.

In this embodiment, the amount of dirty liquid recovered is the amount of dirty liquid collected by the cleaning robot that can be recovered by the maintenance station to the greatest extent, accurately and reliably. The amount of sewage collected by each cleaning robot may also be different. By determining the corresponding amount of sewage recovery according to the amount of liquid used, it can adapt to the needs of various cleaning robots. Recycling the dirty liquid collected by the cleaning robot can also prevent the maintenance station from falling into idle operation and wasting power.

As an example and not limitation, the cleaning robot requires the participation of various components, for example, the components may include a cleaning tank, a first cleaning pipe, a cleaning solenoid valve, a cleaning water pump, a second cleaning solution Tube and clean liquid flowmeter, one or more of the above components may have calculation errors, which will cause the actual consumption of liquid to be not equal to the calculated liquid usage. For example, the long-term use of the clean liquid flowmeter If it is not sensitive enough, it may cause the amount of liquid used to be larger or smaller than the actual consumption of liquid, or, there is a gap in the clean liquid tank, and the liquid flowing out of the gap in the clean liquid tank does not pass through the clean liquid flowmeter, resulting in the failure of the clean liquid flowmeter. The liquid usage of the cleaning robot is comprehensively counted, that is, the statistical liquid usage is less than the actual liquid consumption.

In cleaning robots, some liquid losses are deterministic, and such liquid losses can affect the calculation error of the liquid usage. Usually, the cleaning robot sprays liquid to the mopping member, and the mopping member mops the floor. On the one hand, part of the liquid will be sucked into the mopping member, so that the cleaning robot cannot recover this part of the liquid, and part of the liquid is also absorbed by the ground. The cleaning robot also This part of the liquid cannot be recovered, and another part of the liquid flows into other places, such as flowing out of the clean liquid tank but staying in the conduit, or spraying into the body of the cleaning robot, etc. Overall, such fluid losses contribute to the calculation error of fluid usage.

In the same way, since the cleaning robot may have an error in the calculation of the liquid usage, this phenomenon may also occur in the maintenance station.

Therefore, in some embodiments, referring to FIG. 1c, before executing S121, the sewage recovery method S100 further includes S120, S120, obtaining a liquid loss coefficient, correspondingly, S121 includes: determining according to the liquid loss coefficient and the liquid usage Sewage recovery volume.

In this embodiment, the liquid loss coefficient is used to evaluate the liquid loss of the maintenance station during the sewage recovery process and/or the liquid loss of the cleaning robot during the liquid use process. The liquid coefficient is a comprehensive summary of the maintenance station and/or the cleaning robot. The coefficient in terms of liquid loss, wherein the liquid loss of the cleaning robot during the use of liquid includes the liquid loss of the mopping element and/or the suction loss of the ground and/or other factors.

In some embodiments, the liquid loss coefficient may be a preset empirical constant. For example, the designer passes multiple tests of the maintenance station to recover the liquid loss of the cleaning robot dirty liquid, and the cleaning robot performs the cleaning operation. Therefore, according to the test The liquid loss coefficient can be generated from the data of . For example, the liquid loss coefficient can be calculated according to the algorithm such as the least square method or the variance.

In some embodiments, the liquid loss factor may be calculated in real time by a maintenance station or cleaning robot. Optionally, the liquid loss coefficient calculated at the current time can be applied to the next sewage recovery process, so as to continuously update the liquid loss coefficient iteratively, and finally converge to the optimal liquid loss coefficient. The coefficient and the amount of liquid used can be calculated reliably and accurately.

In some embodiments, the liquid loss coefficient is calculated according to the historical recovery volume of the cleaning robot when the maintenance station recovers the dirty liquid and the historical liquid consumption when the cleaning robot performs the cleaning operation. For example, η=(M/N) *100%, where η is the liquid loss coefficient, M is the historical recovery amount, and N is the historical liquid consumption.

For the convenience of description, the current execution time of obtaining the liquid loss coefficient is denoted as the first designated time.

Optionally, the historical recovery amount is the amount of dirty liquid corresponding to the dirty liquid collected by the cleaning robot collected by the maintenance station before the first specified time.

For example, after the cleaning robot completes the first cleaning operation, the maintenance station recovers the dirty liquid collected by the cleaning robot at time t1, and ends the recovery operation at time t10. During the time period from time t1 to time t10, the amount of sewage collected by the cleaning robot collected by the maintenance station is M1.

After the cleaning robot completes the second cleaning operation, the maintenance station recovers the dirty liquid collected by the cleaning robot at time t2, and ends the recovery operation at time t20. During the time period from time t2 to time t20, the amount of sewage collected by the cleaning robot collected by the maintenance station is M2. Relative to M2, M1 is the historical recovery amount.

After the cleaning robot completes the second cleaning operation, the maintenance station recovers the dirty liquid collected by the cleaning robot at time t3, and ends the recovery operation at time t30. During the time period from time t3 to time t30, the amount of sewage collected by the cleaning robot recovered by the maintenance station is M3. Compared with M3, either M1 or M2 can be the historical recovery amount.

In some embodiments, the historical recovery amount may be: the amount of sewage liquid corresponding to a recovery time before the first specified time and closest to the first specified time. Since the amount of dirty liquid corresponding to a recovery closest to the first specified time can be selected as the historical recovery amount, the historical recovery amount has high timeliness, and therefore, the required amount of dirty liquid recovery for the current time can be calculated more accurately.

In some embodiments, the historical recovery amount may be specifically: the total amount of dirty liquid recovered by the cleaning robot before the first specified time by the maintenance station. Therefore, as mentioned above, the sum of M1 and M2 may be relative to M3. is the historical recycling volume.

In some embodiments, the historical recovery amount is calculated according to the historical recovery duration when the maintenance station recovers the dirty liquid of the cleaning robot and the unit recovery flow of the maintenance station, wherein the historical recovery duration may be the maintenance station recovering all the pollutants collected by the cleaning robot. The time consumed by the maintenance station can also be the time consumed by the maintenance station to collect a preset amount of dirty liquid. For example, during the first cleaning operation, the maintenance station starts to collect the dirty liquid collected by the cleaning robot at time t11. At time t12, all the dirty liquid collected by the cleaning robot is recovered. At this time, the duration between t11 and t12 is the historical recovery duration.

As an example and not limitation, the unit recycling flow rate of the maintenance station may be the volume of sewage collected by the cleaning robot collected by the maintenance station in unit time. For example, the unit recycling flow rate of the maintenance station may be the collection rate of the cleaning robot collected by the maintenance station per second. The volume of the dirty liquid, the unit can be ml/s. Therefore, the historical recovery amount V=T*P, V is the historical recovery amount, T is the historical recovery time length, and P is the unit recovery flow of the maintenance station.

As an example and not limitation, the historical liquid consumption is: the liquid consumption of the cleaning robot in the cleaning operation before the second specified time.

For the convenience of description, a cleaning operation before the first designated time and closest to the first designated time is recorded as the current cleaning operation.

For example, the second specified time is: the time when the current cleaning operation is started.

In some embodiments, the historical liquid consumption is the amount of liquid consumed by the cleaning robot in a single cleaning operation before the second specified time.

For example, the amount of liquid consumed by the cleaning robot to complete the first cleaning operation, the second cleaning operation, and the third cleaning operation are recorded as N1, N2, and N3, respectively. When the second cleaning operation is performed, N1 For the historical fluid volume. In the third cleaning operation, either N1 or N2 can be the historical liquid consumption.

In some embodiments, the historical liquid consumption is: the total amount of liquid consumed by the cleaning robot in multiple cleaning operations before the second specified time.

In some embodiments, the historical liquid consumption is calculated according to the unit liquid flow rate and historical liquid consumption duration of the cleaning robot, wherein the unit liquid consumption flow is the volume of liquid output by the cleaning robot to the mopping member per second, and the historical liquid consumption The liquid time may be the time consumed when the cleaning robot finishes the cleaning operation, or may be the time consumed when the cleaning robot performs a preset part of the cleaning operation. For example, before the second specified time, the cleaning robot starts to perform the first cleaning operation at time t41, and finishes the cleaning operation at time t42. At this time, the duration between t41 and t42 is the historical liquid usage duration.

As mentioned above, since this method can fully take into account various errors and calculate the amount of waste liquid recovery in combination with the liquid loss coefficient and the amount of liquid used, the calculated waste liquid recovery amount is relatively accurate.

In some embodiments, the maintenance station may send the liquid loss coefficient to the cleaning robot, so that the cleaning robot corrects the liquid usage according to the liquid loss coefficient to obtain and return the dirty liquid correction amount, and then the maintenance station determines the dirty liquid according to the dirty liquid correction amount The recovery amount, for example, the cleaning robot obtains the correction amount of the dirty liquid according to the formula: Q=η*W, and sends the correction amount of the dirty liquid to the maintenance station, and the maintenance station takes the correction amount of the dirty liquid as the recovery amount of the dirty liquid, wherein, Q is the correction amount of dirty liquid, η is the liquid loss coefficient, and W is the amount of liquid used. Using this method, the cleaning robot can directly calculate the correction amount of the dirty liquid, and send the correction amount of the dirty liquid to the maintenance station, so that the maintenance station can quickly determine the recovery amount of the dirty liquid according to the correction amount of the dirty liquid.

The difference from the above embodiment is that the maintenance station calculates the correction amount of the dirty liquid according to the liquid loss coefficient and the liquid usage amount, and determines the liquid replenishment amount according to the correction amount of the dirty liquid. In this way, the maintenance station can calculate a more reliable and accurate waste liquid recovery amount at one time without the involvement of the cleaning robot.

As mentioned above, the maintenance station and/or the cleaning robot has errors in the process of recycling dirty liquid or liquid. However, the embodiment of the present application can combine the liquid loss coefficient to reliably and accurately determine the amount of dirty liquid recovered, which is beneficial to the maintenance station Reliably, accurately and efficiently recover the dirty liquid collected by the cleaning robot.

In order to elaborate on the benefits of determining the recovery amount of dirty liquid in combination with the liquid loss coefficient in the embodiments of the present application, the following examples are provided here as an aid to understanding, which does not constitute any improper limitation on the embodiments of the present application, but only serves as an auxiliary explanation, and the following derivation process is assumed The unit liquid flow rate of the cleaning robot = the unit recovery flow rate of the maintenance station = 1ml/s.

Since the cleaning robot is in the process of using liquid, there must be losses, such as the suction loss of the mopping parts and the suction loss of the ground. Such losses will cause the amount of dirty liquid recovered by the cleaning robot to be less than that consumed by the cleaning robot to perform cleaning operations. The amount of liquid used, but considering the detection errors of various components such as the flowmeter of the cleaning robot, the overall situation is: for the cleaning robot, the detected liquid usage may be smaller than the dirty liquid recovered by the cleaning robot. For example, if the flowmeter fails and a lot of clean liquid is actually ejected, but the detected flow rate is very small, it may occur that the detected liquid usage is less than the amount of dirty liquid recovered by the cleaning robot.

In the same way, for the maintenance station, there may be errors in itself, and the detected amount of sewage recovered may be less than the amount of liquid used by the cleaning robot, or greater than the amount of liquid sent by the cleaning robot. Based on this, the following derivations are made:

①When there is an error in the cleaning robot and there is no error in the maintenance station, there are the following derivations:

Assuming that when the cleaning robot performs the first cleaning operation, 10ml of liquid is actually used, but it is detected that 12ml of liquid is used, and the liquid time is 12s, the cleaning robot sends 12ml to the maintenance station to recover the dirty liquid.

The maintenance station needs to recover 12ml of dirty liquid in theory, but considering the liquid loss of the cleaning robot, when 10ml of dirty liquid is actually recovered, all the dirty liquid of the cleaning robot is recovered. Therefore, the maintenance station only works for 10s.

Liquid loss coefficient η=(10*1)/(1*12)=5/6.

Next, when the cleaning robot performs the second cleaning operation, 8ml of liquid is actually used, but it detects that 10ml of liquid is used, and the duration of liquid use is 10s, and the cleaning robot sends 10ml to the maintenance station to recover the dirty liquid.

Here, assuming that the liquid loss coefficient is not used for correction, the maintenance station theoretically needs to recover 10ml of dirty liquid, that is, it needs to work for 10s. However, when the maintenance station actually recovers 8ml of dirty liquid, all the dirty liquid of the cleaning robot is recovered. Therefore, the maintenance station actually only worked for 8s.

If the liquid loss coefficient is used for correction, since: Q=η*W=(5/6)*10=25/3, the maintenance station uses the liquid correction amount Q as the liquid replenishment amount. After the correction, the sewage recovery time of the maintenance station =25/3/1=8.33. The 8.33s actually required by the maintenance station after calibration is not much different from the 8s actually required by the maintenance station without calibration, but it is quite different from the theoretically required 10s. reduce the error.

⒈2 Under the premise that the error detection of the cleaning robot becomes smaller:

Assuming that when the cleaning robot performs the first cleaning operation, 10ml of liquid is actually used, but 8ml of liquid is detected, and the duration of liquid use is 8s, the cleaning robot sends 8ml to the maintenance station to recover the dirty liquid.

In theory, the maintenance station needs to recycle 8ml of dirty liquid, but when the maintenance station recovers to the 8th second, the dirty liquid of the cleaning robot has not been recovered, and the maintenance station needs to continue to add 2 seconds to recover the dirty liquid of the cleaning robot. Therefore, , the cleaning robot actually worked for 10s.

Liquid loss coefficient η=10/8=5/4.

Then, when the cleaning robot performs the second cleaning operation, the cleaning robot actually uses 8ml of liquid, but detects that 6ml of liquid is used, and the duration of liquid use is 6s, and the cleaning robot sends 6ml to the maintenance station to recover the dirty liquid.

Here, assuming that the liquid loss coefficient is not used for correction, the maintenance station theoretically needs to recover 6ml of dirty liquid. However, the maintenance station actually needs to recover 8ml of dirty liquid to recover all the dirty liquid of the cleaning robot. Therefore, the maintenance station actually works for 8s. .

If the liquid loss coefficient is used for correction, since: Q=η*W=(5/4)*6=7.5, after the correction, the recovery time of the maintenance station=7.5/1=7.5. The 7.5s actually required by the maintenance station after calibration is not much different from the 8s actually required by the maintenance station without calibration, but it is quite different from the theoretically required 6s. reduce the error.

②When there are detection errors in both the cleaning robot and the maintenance station, there are the following derivations:

⒉1 Under the premise that the error detection of the cleaning robot and the maintenance station becomes larger:

Assuming that when the cleaning robot performs the first cleaning operation, 10ml of liquid is actually used, but it is detected that 12ml of liquid is used, and the duration of liquid use is 12s, the cleaning robot sends 12ml to the maintenance station to recover the dirty liquid.

In theory, the maintenance station needs to recover 12ml of dirty liquid, but when the maintenance station is added to the 12th second, the cleaning robot has not yet recovered the dirty liquid. The cleaning robot actually worked for 14s.

Liquid loss coefficient η=14/12=7/6.

Assuming that the liquid loss coefficient is not used for correction, the maintenance station needs to recover 10ml in theory. However, the maintenance station actually recovers all the dirty liquid of the cleaning robot when the maintenance station actually recovers 12ml of the dirty liquid. Therefore, the maintenance station actually works for 12s.

If the liquid loss coefficient is used for correction, since: Q=η*W=(7/6)*10=35/3, after the correction, the recovery time of the maintenance station=35/3/1=11.66. The 11.66s actually required by the maintenance station after calibration is not much different from the 12s actually required by the maintenance station without calibration, but it is quite different from the theoretically required 10s. reduce the error.

⒉2 Under the premise that the error detection of the cleaning robot and the maintenance station is reduced:

Assuming that when the cleaning robot performs the first cleaning operation, 10ml of liquid is actually used, but it is detected that 8ml of liquid is used, and the liquid time is 8s, the cleaning robot sends 8ml to the maintenance station to recover the dirty liquid.

The maintenance station needs to recover 8ml of dirty liquid in theory, but when it actually recovers 6ml of dirty liquid, all the dirty liquid of the cleaning robot is recovered. So the maintenance station actually worked for 6s.

Liquid loss coefficient η=6/8=3/4.

Then, when the cleaning robot performed the second cleaning operation, 6ml of liquid was actually used, but 4ml of liquid was detected and the liquid was used for 4s. The cleaning robot sent 4ml to the maintenance station to recover the dirty liquid.

Here, assuming that the liquid loss coefficient is not used for correction, the maintenance station theoretically needs to recover 4ml of dirty liquid. However, if the maintenance station actually recovers 2ml of dirty liquid, all the dirty liquid of the cleaning robot will be recovered. Therefore, the maintenance station actually works for 2s. .

If the liquid loss coefficient is used for correction, since: Q=η*W=(3/4)*4=3, after the correction, the recovery time of the maintenance station=3/1=3. The actual 3s required by the maintenance station after calibration is not much different from the 2s actually required by the maintenance station without calibration, but the difference from the theoretically required 4s is relatively large. Therefore, after the maintenance station is calibrated, it can be reduced to a certain extent. erroneous.

⒉3 Under the premise that the error detection of the cleaning robot becomes larger and the error detection of the maintenance station becomes smaller:

Assuming that when the cleaning robot performs the first cleaning operation, 10ml of liquid is actually used, but it detects that 12ml of liquid is used, and the liquid usage time is 12s, the cleaning robot sends 12ml to the maintenance station for dirty liquid recovery.

The maintenance station needs to recover 12ml of dirty liquid in theory, but the actual recovery of 10ml of dirty liquid will completely recover the dirty liquid of the cleaning robot. Therefore, the maintenance station actually works for 10s.

Liquid loss coefficient η=10/12=5/6.

Next, when the cleaning robot performed the second cleaning operation, 8ml of liquid was actually used, but it was detected that 10ml of liquid was used, and the duration of the use of the liquid was 10s. The cleaning robot sent 10ml to the maintenance station to recover the dirty liquid.

Assuming that the liquid loss coefficient is not used for correction, the maintenance station theoretically needs to recover 10ml of dirty liquid. However, the maintenance station actually recovers 8ml of dirty liquid to recover all the dirty liquid of the cleaning robot. Therefore, the maintenance station actually adds 8s.

If the liquid loss coefficient is used for correction, since: Q=η*W=(5/6)*10=25/3, after the correction, the recovery time of the maintenance station=25/3/1=8.33. The actual 8.33s required by the maintenance station after calibration is not much different from the 8s actually required by the maintenance station without calibration, but it is quite different from the theoretically required 10s. reduce the error.

⒉4 Under the premise that the error detection of the cleaning robot becomes smaller and the error detection of the maintenance station becomes larger:

In theory, the maintenance station needs to recover 8ml of dirty liquid, but when the maintenance station works for the 8th second, the dirty liquid of the cleaning robot has not been recovered, and the maintenance station needs to continue to add 2 seconds to recover all the dirty liquid of the cleaning robot. , so the cleaning robot actually worked for 10s.

Liquid loss coefficient η=10/8=5/4.

Assuming that the liquid loss coefficient is not used for correction, the maintenance station theoretically needs to recover 4ml of dirty liquid. However, when the maintenance station actually recovers 6ml of dirty liquid, all the dirty liquid of the cleaning robot will be recovered. Therefore, the maintenance station actually adds 6s.

If the liquid loss coefficient is used for correction, since: Q=η*W=(5/4)*4=5, after the correction, the recovery time of the maintenance station=5/1=5. The 5s actually required by the maintenance station after calibration is not much different from the 6s actually required by the maintenance station without calibration. Therefore, after the maintenance station is calibrated, the error can be reduced to a certain extent.

It can be seen from the above that using the liquid loss coefficient to correct the liquid usage can reduce the recovery error, so that the maintenance station can quickly, accurately and reliably recover the dirty liquid collected by the cleaning robot.

In some embodiments, in order to optimize the liquid loss coefficient and improve the accuracy of recovery again, the maintenance station can train and optimize the liquid loss coefficient in advance, and the maintenance station records the liquid loss coefficient for each recovery operation, according to the centroid algorithm or the least squares method Or variance algorithm, process all liquid loss coefficients, obtain the optimal liquid loss coefficient, and correct the liquid usage amount according to the optimal liquid loss coefficient. Since the optimal liquid loss coefficient is obtained from many liquid loss coefficients, the optimal liquid loss coefficient is used to indicate that the maintenance station can accurately and reliably recover the dirty liquid collected by the cleaning robot. Therefore, the optimized liquid loss coefficient is used to Helps improve the recycling efficiency and accuracy of maintenance stations.

Embodiment 2:

The embodiment of the present application provides a method for recycling sewage. The method for recycling sewage can be applied to any suitable device, and the device can be a cleaning robot or a mobile terminal, wherein the mobile terminal can be any of the following: a smart phone , smart watches, tablets.

Referring to Fig. 2a, the sewage recovery method S200 includes:

S21. Obtain the liquid usage amount;

In this embodiment, the liquid usage can be detected by the cleaning robot using the structure provided in the above embodiment, for example, detected by the cleaning liquid flowmeter, or it can be detected by the cleaning robot using other detection structures, for example, in the cleaning robot. A pressure sensor is installed at the bottom of the liquid tank, and the cleaning robot calculates the liquid usage according to the pressure sampled by the pressure sensor.

S22. Send the liquid usage to control the maintenance station to recover the dirty liquid collected by the cleaning robot according to the liquid usage.

The method can quantitatively and intelligently recycle the sewage collected by the cleaning robot without manual participation, thereby improving the recycling efficiency and improving the user experience.

In some embodiments, please refer to FIG. 2b, before executing S22, the sewage recovery method S200 further includes S23, S23, correcting the liquid usage amount, correspondingly, S22 includes: sending the corrected liquid usage amount to control the maintenance station According to the corrected amount of liquid usage, the dirty liquid collected by the cleaning robot is recycled.

In some embodiments, referring to Figure 2c, S23 includes:

S231. Obtain the liquid loss coefficient;

S232 , correcting the liquid usage amount according to the liquid loss coefficient and the liquid usage amount.

In some embodiments, the liquid loss coefficient is calculated according to the historical recovery amount when the maintenance station recovers the dirty liquid of the cleaning robot and the historical liquid consumption when the cleaning robot performs the cleaning operation.

In some embodiments, the historical recovery amount is calculated according to the historical recovery time when the maintenance station recovers the cleaning robot sewage and the unit recovery flow rate of the maintenance station; the historical liquid consumption is calculated according to the unit liquid flow rate of the cleaning robot and the historical usage Calculated from the liquid time.

In some embodiments, referring to Figure 2d, S21 includes:

S211. Record the actual liquid consumption time of the cleaning robot and the unit liquid flow rate of the cleaning robot;

S212 , determining the liquid usage amount according to the unit liquid usage flow rate and the actual usage duration of the cleaning robot.

It should be noted that, for the technical details that are not described in detail in this embodiment, reference may be made to the sewage recovery methods provided by the above embodiments.

Embodiment three:

An embodiment of the present application provides a maintenance station, where the maintenance station is a device for maintaining a cleaning robot, and the maintenance station in this embodiment can recover the dirty liquid collected by the cleaning robot. In some embodiments, the maintenance station may also perform at least one of the following functions: providing power for the cleaning robot, adding liquid to the cleaning robot, and cleaning the mopping parts carried by the cleaning robot.

The maintenance station includes at least one first processor and a first memory communicatively coupled to the at least one first processor; wherein the first memory stores first instructions executable by the at least one first processor , the first instruction is executed by the at least one first processor, so that the at least one first processor can execute the steps in each of the liquid adding method embodiments in the above-mentioned first embodiment. For example, steps S11 and S12 shown in FIG. 1a.

3a and 3b, the maintenance station 300 includes a housing 31, a cleaning component 32, a clean liquid supply component 33, a dirty liquid collection component 34, a power supply component 35, and a first processor 36. and the first memory 37 .

The housing 31 is used for accommodating the above components, and a housing cavity 311 is provided at the bottom of the housing 31 , and the cleaning robot can move into the housing cavity 311 .

The cleaning component 32 is installed in the accommodating cavity 311, and is used for cleaning the mopping member carried by the cleaning robot. In some embodiments, the mopping member includes other suitable material and shape objects such as mop cloth or sponge, and the mopping member is detachably installed on the cleaning robot. The bottom of the cleaning robot is controlled, and the cleaning robot can control the rotation of the mopping member.

The clean liquid supply assembly 33 is installed in the housing 31 for supplying clean liquid.

The dirty liquid collection assembly 34 is installed in the housing 31 and arranged side by side with the clean liquid supply assembly 33 for extracting the dirty liquid. In some embodiments, please refer to FIG. 3b , the sewage collection assembly 34 includes a sewage storage tank 341 , a sewage solenoid valve 342 , a first sewage conduit 343 , a sewage flow meter 344 , a fan assembly 345 and a second sewage Conduit 346.

The dirty liquid storage tank 341 is installed on the upper part of the housing 31 and arranged side by side with the cleaning liquid tank 331 .

The sewage storage tank 341 is provided with a liquid inlet. One end of the first sewage conduit 343 is connected to the liquid inlet, and the other end is connected to the output end of the fan assembly 345. The sewage solenoid valve 342 is installed on the first sewage conduit 343. The input end of the assembly 345 is communicated with one end of the second sewage conduit 346 , and the other end of the second sewage conduit 346 is accommodated in the housing 31 .

The sewage flow meter 344 is installed on the first sewage conduit 343 and is used to detect the unit recovery flow of the sewage.

The first processor 36 is respectively electrically connected with the sewage flow meter 344, the fan assembly 345, and the first memory 37, and the first processor 36 controls the working state of the fan assembly 345.

When the maintenance station 300 needs to recover the dirty liquid of the cleaning robot, the other end of the second dirty liquid conduit 346 is connected to the dirty liquid collection box of the cleaning robot. The sewage is drawn back into the sewage storage tank 341 from the sewage collection tank of the robot, and the sewage flow meter 344 can detect the unit recovery flow rate flowing into the sewage storage tank 341 .

When the maintenance station 300 does not need to recover the dirty liquid of the cleaning robot, the first processor 36 controls the fan assembly 345 to work in a dormant state.

It can be understood that the unit recovery flow rate can be variable or fixed, and the first processor 36 can adjust the sewage solenoid valve 342 or the fan assembly 345 according to the rules to adjust the unit recovery flow rate. The liquid flow meter 344 sends the detected current unit recovery flow rate to the first processor 36, and the first processor 36 determines whether the current unit recovery flow rate matches the preset unit recovery flow rate, if not, and the current unit recovery flow rate is less than the preset unit recovery flow rate Per unit recovery flow, the first processor 36 can increase the working power of the fan assembly 345 to increase the rate of extracting the sewage, or the first processor 36 can increase the opening of the sewage solenoid valve 342 to allow more sewage to flow in. liquid.

If there is no match, and the current unit recovery flow rate is greater than the preset unit recovery flow rate, the first processor 36 can reduce the working power of the fan assembly 345 to reduce the rate of extracting the sewage, or the first processor 36 can reduce the electromagnetic field of the sewage The opening of valve 342 in order to block the inflow of more sewage.

In some embodiments, the dirty liquid collection assembly 34 can also reliably detect whether all the dirty liquid in the dirty liquid collection box in the cleaning robot is extracted. Referring to FIG. 3c, the dirty liquid collection assembly 34 further includes a liquid detection assembly 347, which is installed in the second dirty liquid conduit 346 and is also electrically connected to the first processor 36 for detecting whether the dirty liquid continuously passes through the second dirty liquid. Sewage conduit 346.

Usually, if the dirty liquid still remains in the dirty liquid collection box of the cleaning robot, when the dirty liquid collection assembly 24 collects the dirty liquid from the dirty liquid collection box, the dirty liquid will continue to pass through the second dirty liquid conduit under the action of the fan assembly 345 346, the liquid detection component 347 will generate a liquid signal, and the liquid signal is used to indicate that the cleaning robot 300 still has dirty liquid. Therefore, the first processor 36 continues to control the fan assembly 345 to be in the starting state according to the liquid signal to extract the dirty liquid. liquid. When the liquid detection component 347 does not detect the liquid signal, it indicates that the dirty liquid of the cleaning robot has been emptied. Therefore, the first processor 36 controls the fan component 345 to be in a dormant state.

In some embodiments, please continue to refer to FIG. 3 c , the liquid detection component 347 includes a first conductive electrode sheet 3471 , a second conductive electrode sheet 3472 , a sampling circuit 3473 and a signal amplification circuit 3474 .

The first conductive electrode sheet 3471 and the second conductive electrode sheet 3472 are separated by a preset distance and are respectively installed on the inner side of the second dirty liquid conduit 346. The sampling circuit 3473 is electrically connected to the first conductive electrode sheet 3471 and the second conductive electrode sheet 3472 respectively. The signal amplification circuit 3474 is electrically connected to the sampling circuit 3473 and the first processor 36, respectively, wherein the preset distance is user-defined, such as 1 cm, 2 cm, or 5 cm.

When the sewage continuously passes through the second sewage conduit 346, the sewage will short-circuit the first conductive electrode 3471 and the second conductive electrode 3472, so the first conductive electrode 3471, the second conductive electrode 3472 and the sampling circuit 3473 A loop is formed, the sampling circuit 3473 generates a sampling voltage greater than 0, and the sampling voltage is amplified by the signal amplifying circuit 3474 to obtain an amplified signal. The amplified signal is sent to the first processor 36, and the first processor 36 continues to control the fan assembly 345 to be in a start-up state according to the amplified signal, so as to extract sewage.

When the sewage does not pass through the second sewage conduit 346, since the first conductive electrode 3471 and the second conductive electrode 3472 are in an open circuit, the first conductive electrode 3471, the second conductive electrode 3472 and the sampling circuit 3473 cannot be formed In the loop, the sampling voltage of the sampling circuit 3473 is 0, and the first processor 36 controls the fan assembly 345 to be in a sleep state.

It can be understood that the sampling circuit 3473 can be composed of any suitable discrete devices, for example, the sampling circuit 3473 is composed of a resistor network, or composed of a resistor and a capacitor, or composed of a resistor, an electronic switch tube, a capacitor, and the like.

It can be understood that the signal amplifying circuit 3474 can be any suitable form of amplifying circuit, for example, the signal amplifying circuit 3474 adopts an operational amplifier, or is a common-emitter amplifying circuit, a common-source amplifying circuit, or a common-gate amplifying circuit, or the like.

The power supply assembly 35 is used for docking with the charging assembly of the cleaning robot to provide power for the cleaning robot. In some embodiments, the power supply assembly 35 includes a power supply pad and a power supply circuit, and the power supply circuit converts the commercial power into a voltage suitable for the cleaning robot, for example, the voltage is 5 volts or 12 volts, and the cleaning robot reduces the voltage according to the voltage pressure and charge.

Embodiment four:

The embodiment of the present application provides a cleaning robot, which is described in detail as follows:

The cleaning robot includes at least one second processor, a second memory communicatively coupled to the at least one second processor, wherein the second memory stores a first executable executable by the at least one second processor. Two instructions, the second instructions are executed by the at least one second processor, so that the at least one second processor can execute the steps in each of the embodiments of the sewage recovery method in the second embodiment above. For example, steps S21 and S22 shown in FIG. 2a.

As an example but not a limitation, please refer to FIG. 4 a and FIG. 4 b together, the cleaning robot 400 includes a body 40 , a water tank assembly 41 , a second processor 42 , a second memory 43 , a sensing unit 44 , and a wireless communication unit 45 , the cleaning unit 46 and the drive unit 47 .

The fuselage 40 is used to protect the cleaning robot 400, and the water tank assembly 41 is accommodated in the fuselage 40. The water tank assembly 41 includes a clean liquid tank assembly and a dirty liquid collection tank assembly 48. The clean liquid tank assembly is used to provide clean liquid and dirty liquid. The collection tank assembly 48 is used to collect the filth.

Referring to FIG. 4 c , the dirty liquid collection box assembly 48 includes a dirty liquid filter assembly 481 , a dirty liquid collection box 482 and a fan module 483 . The sewage filter assembly 481 is installed on the sewage collection port of the fuselage 40, the sewage collection box 482 is installed at the bottom of the sewage filter assembly 481, the sewage collection box 482 is provided with a sewage collection port, and the fan module 483 is installed Inside the fuselage 40, when the fan module 483 generates wind, the wind flows through the sewage collection port, the sewage filter assembly 481, the wind channel of the fuselage 40, the wind input end of the fan module 483, and the wind output end in turn. and external environment.

When the cleaning robot performs the cleaning operation, the mopping member is sprayed wet and rubs the ground. At the same time, the fan module 483 starts to work, and the wind force sucks the sewage generated by the mopping member on the ground into the sewage collecting port. Then, the wind force carrying the dirty liquid passes through the dirty liquid filter assembly 481 and performs centrifugal motion, and the dirty liquid falls into the dirty liquid collection box 482, so the dirty liquid collection box 482 collects the dirty liquid.

As the control core of the cleaning robot 400, the second processor 42 can use various path planning algorithms to control the cleaning robot to perform traversal work.

The second memory 43 is electrically connected to the second processor 42, and the second memory 43 stores second instructions executable by the at least one second processor 42, the second instructions being executed by the at least one second processor 42 is executed, so that the at least one second processor 42 can execute the steps in each of the embodiments of the sewage recovery method in the above-mentioned second embodiment.

The sensing unit 44 is used to collect some motion parameters of the cleaning robot 400 and various types of data in the environmental space. The sensing unit 44 includes various suitable sensors, such as an inertial measurement unit (IMU), a gyroscope, a magnetic field meter, an acceleration meter or speedometer, lidar or sonic radar, etc.

The wireless communication unit 45 is electrically connected to the second processor 42 . When traversing, the user sends a control command to the cleaning robot 400 through the external terminal, the wireless communication unit 45 receives the control command and sends the control command to the second processor 42, and the second processor 42 controls the cleaning robot 400 to complete the traversal work according to the control command. . In some embodiments, the external terminals include but are not limited to terminals such as smart phones, remote controllers, smart tablets, and the like.

In some embodiments, the wireless communication unit 45 includes a combination of one or more of a broadcast receiving module, a mobile communication module, a wireless Internet module, a short-range communication module, and a positioning information module.

The cleaning unit 46 is used to clean the ground, and the cleaning unit 46 can be configured into any cleaning structure. For example, in some embodiments, the cleaning unit 46 includes a cleaning motor and a roller brush. The surface of the roller brush is provided with a cleaning part, and the roller brush is driven by The mechanism is connected with the cleaning motor, and the cleaning motor is connected with the control unit. The control unit can send instructions to the cleaning motor to control the cleaning motor to drive the roller brush to rotate, so that its cleaning part can effectively clean the ground.

The driving unit 47 is used to drive the cleaning robot 400 to move forward or backward. During cleaning, the second processor 42 sends a control command to the driving unit 47, and the driving unit 47 drives the cleaning unit 46 to complete the cleaning work according to the control command.

Embodiment 5:

An embodiment of the present application provides a sewage recovery system. Please refer to FIG. 5 . The sewage recovery system 500 includes the maintenance station 300 described in the third embodiment and the cleaning robot 400 described in the fourth embodiment. The cleaning robot 400 Communication connection with the maintenance station 300, wherein the communication method includes wireless communication or wired communication, for example, the wireless communication may include any of the following: Bluetooth, WI-FI, GSM communication (Global System for Mobile communications, Global System for Mobile Communications, Global System for Mobile Communications ), ZigBee communication (ZigBee, Zigbee protocol), cellular mobile communication.

Embodiment 6:

Please refer to FIG. 6, which is a schematic diagram of a circuit structure of an electronic device according to an embodiment of the application, wherein the electronic device may be any suitable type of electronic product, for example, the electronic device includes a maintenance station, a cleaning robot, a computer, or a mobile phone and other electronic products with logical calculation and analysis functions. As shown in FIG. 6 , the electronic device 600 includes one or more processors 61 and a memory 62 . Among them, a processor 61 is taken as an example in FIG. 6 .

The processor 61 and the memory 62 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 6 .

The memory 62, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as programs corresponding to the sewage recovery method in the embodiments of the present application Directives/modules. The processor 61 executes the sewage recovery method provided by the above method embodiments by running the non-volatile software programs, instructions and modules stored in the memory 62 .

Memory 62 may include high speed random access memory, and may also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, memory 62 may optionally include memory located remotely from processor 61, which may be connected to processor 61 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The program instructions/modules are stored in the memory 62, and when executed by the one or more processors 61, execute the sewage recovery method in any of the above method embodiments.

Embodiments of the present application further provide a non-volatile computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, a process in FIG. 6 The device 61 can make the above-mentioned one or more processors execute the sewage recovery method in any of the above-mentioned method embodiments.

The embodiments of the present application also provide a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, when the program instructions are electronically When the device is executed, the electronic device is made to execute any one of the methods for recovering sewage and liquid.

The apparatus or device embodiments described above are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and components shown as modular units may or may not be physical units , that is, it can be located in one place, or it can be distributed to multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence, or the parts that make contributions to related technologies, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic disks , optical disc, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; under the thinking of the present application, the technical features in the above embodiments or different embodiments can also be combined, The steps may be carried out in any order, and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been The skilled person should understand that it is still possible to modify the technical solutions recorded in the foregoing embodiments, or to perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementation of the application. scope of technical solutions.

Claims

A sewage recovery method, comprising:

Get the liquid usage of the cleaning robot;

According to the liquid usage amount, the maintenance station is controlled to recycle the dirty liquid collected by the cleaning robot.
The method for recovering sewage liquid according to claim 1, wherein the controlling a maintenance station to recover the sewage liquid collected by the cleaning robot according to the liquid usage amount comprises:

According to the amount of liquid used, determine the amount of sewage recovery;

According to the recovery amount of the dirty liquid, the maintenance station is controlled to recover the dirty liquid collected by the cleaning robot.
The method for recovering sewage liquid according to claim 2, wherein, before determining the amount of sewage liquid recovery according to the liquid usage amount, it further comprises:

Get the liquid loss coefficient;

Correspondingly, according to the liquid usage amount, determining the amount of sewage liquid recovery includes:

According to the liquid loss coefficient and the liquid usage amount, the sewage recovery amount is determined.
The method for recovering sewage liquid according to claim 3, wherein the determining the amount of sewage liquid recovery according to the liquid loss coefficient and the liquid usage amount comprises:

sending the liquid loss coefficient to the cleaning robot, so that the cleaning robot corrects the liquid usage amount according to the liquid loss coefficient to obtain and return a dirty liquid correction amount, and

Determine the recovery amount of the dirty liquid according to the correction amount of the dirty liquid;

or,

According to the liquid loss coefficient and the liquid usage amount, the sewage liquid correction amount is calculated, and the sewage liquid recovery amount is determined according to the sewage liquid correction amount.
The dirty liquid recovery method according to claim 3, wherein the liquid loss coefficient is based on the historical recovery amount of the cleaning robot dirty liquid when the maintenance station recovers the cleaning robot and the historical liquid used when the cleaning robot performs the cleaning operation. amount calculated.
The sewage recovery method according to claim 5, wherein,

The historical recovery amount is calculated according to the historical recovery time when the maintenance station recovers the cleaning robot dirty liquid and the unit recovery flow of the maintenance station;

The historical liquid consumption is calculated according to the unit liquid flow rate and historical liquid consumption duration of the cleaning robot.
The method for recovering dirty liquid according to any one of claims 1-6, wherein the controlling a maintenance station to recover the dirty liquid collected by the cleaning robot according to the amount of liquid used comprises:

Calculate the current recovery time according to the liquid usage;

According to the current recovery duration and the specified recovery duration, the maintenance station is controlled to recover the dirty liquid collected by the cleaning robot.
A sewage recovery method, comprising:

Get liquid usage;

The liquid usage amount is sent to control the maintenance station to recover the dirty liquid collected by the cleaning robot according to the liquid usage amount.
The polluted liquid recovery method according to claim 8, wherein before the sending the liquid usage amount, further comprising:

correcting said liquid usage;

Correspondingly, the sending the liquid usage amount to control the maintenance station to recover the dirty liquid collected by the cleaning robot according to the liquid usage amount includes:

The corrected liquid usage amount is sent to control the maintenance station to recover the dirty liquid collected by the cleaning robot according to the corrected liquid usage amount.
The polluted liquid recovery method according to claim 9, wherein the calibrating the liquid usage comprises:

Get the liquid loss coefficient;

The liquid usage amount is corrected according to the liquid loss coefficient and the liquid usage amount.
The dirty liquid recovery method according to claim 10, wherein the liquid loss coefficient is based on the historical recovery amount of the cleaning robot dirty liquid when the maintenance station recovers the cleaning robot and the historical liquid used when the cleaning robot performs the cleaning operation. amount calculated.
The sewage recovery method according to claim 11, wherein,

The historical recovery amount is calculated according to the historical recovery time when the maintenance station recovers the cleaning robot dirty liquid and the unit recovery flow of the maintenance station;

The historical liquid consumption is calculated according to the unit liquid flow rate and historical liquid consumption duration of the cleaning robot.
The polluted liquid recovery method according to any one of claims 8 to 12, wherein the obtaining the liquid usage comprises:

Record the actual liquid consumption time of the cleaning robot and the unit liquid flow rate of the cleaning robot;

The liquid usage amount is determined according to the unit liquid flow rate of the cleaning robot and the actual liquid usage time.
A maintenance station comprising:

at least one first processor; and,

a first memory in communication with the at least one first processor; wherein,

The first memory stores first instructions executable by the at least one first processor, the first instructions being executed by the at least one first processor to enable the at least one first processor to The method for recovering the sewage liquid according to any one of claims 1 to 7 is performed.
A cleaning robot, comprising:

at least one second processor; and,

a second memory communicatively coupled to the at least one second processor; wherein,

The second memory stores second instructions executable by the at least one second processor, the second instructions being executed by the at least one second processor to enable the at least one second processor to The method for recovering the sewage liquid according to any one of claims 8 to 13 is carried out.
A sewage recovery system, comprising:

The maintenance station of claim 14;

16. The cleaning robot of claim 15, the cleaning robot being in communication with the maintenance station.