WO2022174785A1 - 清洁系统、控制方法、计算机设备及计算机可读存储介质 - Google Patents

清洁系统、控制方法、计算机设备及计算机可读存储介质 Download PDF

Info

Publication number
WO2022174785A1
WO2022174785A1 PCT/CN2022/076620 CN2022076620W WO2022174785A1 WO 2022174785 A1 WO2022174785 A1 WO 2022174785A1 CN 2022076620 W CN2022076620 W CN 2022076620W WO 2022174785 A1 WO2022174785 A1 WO 2022174785A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
base station
cleaning device
mopping
mopping member
Prior art date
Application number
PCT/CN2022/076620
Other languages
English (en)
French (fr)
Inventor
何博
陈远
汪飞
宣晓刚
张涛
丁铁
张猛
Original Assignee
美智纵横科技有限责任公司
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
Application filed by 美智纵横科技有限责任公司 filed Critical 美智纵横科技有限责任公司
Publication of WO2022174785A1 publication Critical patent/WO2022174785A1/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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—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
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4025—Means for emptying
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • 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
    • A47L2201/026—Refilling cleaning 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 application number is 202110187602.2, and the application date is February 18, 2021;
  • the invention relates to the field of cleaning electrical appliances, and specifically discloses a cleaning system, a control method, a computer device and a computer-readable storage medium.
  • the sweeping and mopping integrated robot usually attaches a rag to the bottom of the water tank, and uses pressure to clean the floor. It does not have the function of automatically cleaning the rag, which makes it impossible to effectively remove stubborn stains and easily cause secondary pollution.
  • the present invention aims to solve the above-mentioned technical problems in the related art at least to a certain extent.
  • the present invention provides a cleaning system, a control method, a computer device, and a computer-readable storage medium to solve at least one of the above-mentioned technical problems.
  • a first aspect of the present invention provides a control method for a cleaning system, comprising the following steps:
  • the mopping member is cleaned by the mopping member cleaning part of the base station.
  • a second aspect of the present invention provides a cleaning system, which is characterized by comprising a cleaning device and a base station, the cleaning device is provided with a mopping member, a walking assembly and a first control system, and the base station is provided with a mopping member cleaning part and a second control system wherein,
  • the mopping member is used for mopping the ground
  • the walking assembly is used to drive the cleaning device to move to a preset area of the base station;
  • the mopping member cleaning part is used for cleaning the mopping member
  • the first control system is configured to control the mopping member to mop the ground, determine that the mopping member satisfies a preset cleaning condition, and control the cleaning device to move to a preset area of the base station;
  • the second control system is used for controlling the mop cleaning part to clean the mop.
  • a third aspect of the present invention provides a computer device, comprising a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor implements the above when executing the computer program the described control method.
  • a fourth aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the above-mentioned control method is implemented.
  • control method for the cleaning system according to the present invention may also have the following additional technical features:
  • determining that the mopping member satisfies a preset cleaning condition, and controlling the cleaning device to move to a preset area of the base station includes:
  • the cleaning device is controlled to move to a preset area of the base station.
  • the method further includes:
  • the roller brush of the cleaning device is controlled to descend and move to a preset area of the base station, and the cleaning device is charged through the base station.
  • the method further includes:
  • the suction device on the base station is controlled to pump sewage into the sewage tank of the base station.
  • the method further includes:
  • the water volume in the clean water tank on the base station is greater than the preset value of the first water volume, and the water outlet of the clean water tank and the opening of the heating device at the water outlet of the clean water tank are controlled, and the water delivery device on the base station is controlled to the dragging device.
  • the wiper cleaning part delivers hot water for cleaning the wipers.
  • the method before controlling the mopping member on the cleaning device to mop the ground, the method further includes:
  • the method before controlling the mopping member on the cleaning device to mop the ground, the method further includes:
  • the method before controlling the mopping member on the cleaning device to mop the ground, the method further includes:
  • the present invention has the following beneficial effects:
  • the cleaning equipment is controlled to automatically move to the base station for cleaning, which realizes the automatic cleaning of mopping parts, improves the cleaning efficiency of mopping parts, and avoids secondary pollution caused by unclean mopping parts.
  • FIG. 1 is a schematic structural diagram of a cleaning device in an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram 1 of a base station in an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram 2 of a base station in an embodiment of the present invention.
  • FIG. 4 is a control flow diagram of a cleaning system in some embodiments of the present invention.
  • FIG. 5 is a control flow chart of the cleaning system in the embodiment of the present invention.
  • Cleaning equipment 100 body 10, water spray module 11, side brush module 12, roller brush module 13, fan 14, mopping disc 15, dust collecting module 16, water tank 17, base station 200, mopping part cleaning part 21, clean water Tank 22 , sewage tank 23 , heating device 24 , first water volume sensor 25 , presence detector 26 , air drying motor 27 , air pump 270 , third solenoid valve 28 , and second water pump 29 .
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a Directly connected or indirectly connected through an intermediary.
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a Directly connected or indirectly connected through an intermediary.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features.
  • a feature defined as “first”, “second”, may expressly or implicitly include one or more of that feature.
  • “plurality” means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.
  • spatially relative terms such as “bottom”, “front”, “top” may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures. “, “Tilt”, “Down”, “Top”, “Inside”, “Horizontal”, “Outside”, etc.
  • This spatially relative term is intended to include different orientations of the mechanism in use or operation in addition to the orientation depicted in the figures. For example, if the mechanism in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” or “above the other elements or features" above features". Thus, the example term “below” can encompass both an orientation of above and below.
  • an embodiment of the present invention provides a cleaning system, which includes a cleaning device 100 and a base station 200 for cleaning devices that are provided independently of each other, wherein the cleaning device 100 is used for mopping the ground.
  • the base station 200 is used to clean the mopping member of the cleaning device 100, and/or add water to the water tank of the cleaning device 100, and/or charge the cleaning device 100, and when the cleaning device 100 is cleaned
  • the cleaning device 100 can automatically return to the base station 200 to perform cleaning, watering or charging at the base station 200 .
  • the base station 200 can clean, add water and charge the cleaning device 100, the electric energy of the base station 200 can be derived from the commercial power, and the water in the base station 200 can be derived from an external water source.
  • the cleaning device 100 may be an autonomous mopping robot or an integrated sweeping and mopping robot.
  • the cleaning device 100 includes a first control system, a charging and discharging system, an electric control system, a detection system, a walking assembly, a supporting system and a cleaning system, wherein the charging and discharging system includes an adapter module, a charging module and a battery pack assembly, the
  • the electronic control system includes an input module, a display module and a control and protection module
  • the detection system includes a collection sensor module for collecting internal and external environmental information
  • the walking assembly includes a drive wheel module and an auxiliary wheel module
  • the support system includes The fuselage 10 and a plurality of functional module support structures
  • the cleaning system includes a water spray module 11, a side brush module 12, a liftable roller brush module 13, a fan 14, a mowing disc 15, a collecting The dust module 16, the water tank 17, the side brush module 12 and the roller brush module 13 are located at the front of the fuselage 10, and are used for cleaning the garbage on the ground.
  • a mop (or a rag) or a sponge is installed on the disc 15, and various mopping parts that can mop the ground are installed.
  • the mopping part in this embodiment can be selected from a mop, and the mopping part can be detachable from the mopping disc 15.
  • the mopping member can be pasted on the lower end surface of the mopping disc 15 by using Velcro, so as to facilitate the removal and replacement of the mopping member.
  • the mopping disc 15 can drive the mopping member to rotate, and the mopping disc 15 can form a certain pressure with the ground, so that the mopping member can remove stubborn stains on the ground.
  • the fan 14 can form a negative pressure to suck the dust in the roller brush cavity into the dust collecting module 16 .
  • the water spraying module 11 is located in the middle of the fuselage 10, and is used to spray the water in the water tank 17 to the ground to dilute the stains or wet the mopping parts, and the rolling brush module 13 is used to realize sweeping, mopping the disc 15 Drive the mopping piece to mop the floor.
  • the cleaning device 100 can drive on the ground to be cleaned by means of the driving wheel module and the auxiliary wheel module.
  • the cleaning device 100 can have various working modes, such as a single sweep mode, a single mop mode or an integrated sweep and mop mode.
  • the working modes of the cleaning device 100 may include a single sweep mode and a single drag mode. For example, the cleaning device 100 executes the single sweep mode first, and then executes the single drag mode.
  • the cleaning device 100 executes the single sweep mode
  • the roller brush on the roller brush module 13 is close to the ground
  • the mopping disc 15 is not installed on the body 10 or the mopping disc 15 is controlled to be closed
  • the roller brush module 13 is lifted up, the mopping disc 15 is installed on the body 10 or the mopping disc 15 is controlled to start working.
  • the cleaning device 100 has been shown in the present invention, the present invention is not limited thereto.
  • the cleaning device 100 can also be a cleaning device 100 that is operated by a user in a hand-held manner, and the base station 200 is shown as stationary here.
  • the base station 200, the stationary base station 200 cannot move without the assistance of the user.
  • the base station 200 can also be designed as an autonomously traveling unit, which can autonomously change its position, eg as a tracking device for the cleaning device 100 .
  • the base station 200 includes: a base station body 20 and a mopping part cleaning part 21 , a clean water tank 22 , a sewage tank 23 , a heating device 24 , a water delivery pipeline, and a first water volume sensor set on the base station body 20 .
  • a second water sensor a temperature detector, an overload protector, a presence detector 26, a cleaning equipment charging system, a sterilizing device, and a second control system, wherein the second control system is connected to the mop cleaning part 21,
  • the heating device 24, the water delivery pipeline, the first water volume sensor 25, the second water volume sensor, the temperature detector, the overload protector, the presence detector 26, the cleaning equipment charging system and the disinfection device are connected.
  • the platform of the cleaning device 100 is docked, the mopping part cleaning part 21 is used for cleaning the mopping parts of the cleaning device 100, and the clean water tank 22 is arranged above the mopping part cleaning part 21 for storing clean water, heating device 24 is used to heat the clean water flowing out of the clean water tank 22, and the water delivery pipeline is used to deliver the hot water heated by the heating device 24 to the water tank 17 of the mop cleaning part 21 and/or the cleaning device 100, and the second control system is used for In order to control the opening and closing of the heating device 24, the mop cleaning part 21 includes a suction device, a cleaning detector and a drying device.
  • a detector is arranged on the mop cleaning part 21 to detect whether the mopping part cleaning part completes the cleaning of the cleaning equipment, and the drying device is used for drying the cleaned mop. Drying device, the drying device may include an air-drying motor 27 and an air pump 270 connected to the air-drying motor, and the sterilizing device can sterilize the dried mopping member.
  • the first water volume sensor and the second water volume sensor may be flowmeters arranged in the clean water tank 22 and the water tank 17, and the first water volume sensor is used to detect the water volume in the clean water tank 22 for detection.
  • the second water volume sensor is used to detect the water volume of the water tank 17 in the cleaning device 100
  • the temperature detector is used to detect the temperature of the hot water
  • the overload protector is connected to the heating device 24, It is used to detect the temperature value and/or current value of the heating device 24 to implement overload protection for the heating device 24, wherein the second control system can control the water temperature in the water delivery pipeline to keep constant according to the water temperature fed back by the temperature detector.
  • the base station 200 further includes a water outlet pipe arranged below the clean water tank 22 and communicated with the clean water tank 22, and the heating device 24 is located on the pipeline of the water outlet pipe, and is used for The water in the outlet pipe is heated.
  • the heating device 24 may be a resistance wire or a positive temperature coefficient (PTC) heating device disposed on the outer surface of the water outlet pipe.
  • the wiper cleaning part 21 is communicated and is used to deliver hot water to the mop cleaning part 21
  • the second water delivery pipe has an interface for supplying water to the water tank 17 of the cleaning device 100 , and is used to deliver hot water to the water tank 17 of the cleaning device 100 , and the cleaning device
  • the hot water in the water tank 17 is sprayed by the water spray module 11 to the ground or the mopping member, so as to achieve the purpose of mopping the floor with the hot water of the cleaning device 100 and improve the cleaning effect.
  • a first solenoid valve connected to the second control system is arranged between the clean water tank 22 and the water outlet pipe 30.
  • the first solenoid valve can control the opening of the water outlet of the clean water tank 22 according to the water volume in the clean water tank 22.
  • a second solenoid valve connected to the second control system is set at the water outlet of the first water pipe, and the second solenoid valve is used to control the opening and closing of the water outlet of the first water pipe, and the water outlet of the second water pipe is
  • a third solenoid valve 28 connected to the second control system is provided, and the third solenoid valve 28 is used to control the opening and closing of the water outlet of the second water delivery pipe.
  • the base station 200 further includes an electronic switch connected to the heating device 24 and the second control system, and the second control system can control the opening and closing of the electronic switch to realize the opening and closing of the heating device 24 .
  • the cleaning detector is used to detect whether the cleaning device 100 is cleaned by the cleaning part 21 of the mopping element. Specifically, it is possible to determine whether the cleaning of the cleaning device 100 is completed by setting a flowmeter at the water outlet of the first water delivery pipe as a cleaning detector, that is, by using the flowmeter to detect whether the amount of water flowing out of the first water delivery pipe reaches a preset value.
  • a timer can also be set at the water outlet of the first water delivery pipe as a cleaning detector, that is, whether the cleaning of the cleaning device 100 is completed is determined by detecting whether the water outlet of the first water delivery pipe reaches a preset time by the timer.
  • the first water volume sensor can be a pole piece. or flow meter.
  • the base station further includes a second water pump 29 that can transport the water in the external water source to the clean water tank 22 , so as to realize the replenishment of the clean water tank 22 .
  • the cleaning device 100 cleans the floor of the room, and when the power of the battery pack assembly on the cleaning device 100 is less than a preset power threshold, the cleaning device 100 automatically drives to the base station 200 .
  • the cleaning device 100 enters the base station 200 through the entrance on the base station 200 and stops at a preset parking position of the platform of the base station 200 .
  • the charging module on the cleaning device 100 is connected to the cleaning device charging system on the base station 200, and the cleaning device charging system on the base station 200 obtains power from the commercial power, and charges the battery pack assembly of the cleaning device 100 through the charging module.
  • the cleaning device 100 After the device 100 is fully charged, drive away from the base station 200 and continue to clean the room floor.
  • the cleaning device 100 executes the single mopping mode, the cleaning device 100 mops and cleans the floor, and the cleaning device 100 mops the floor of the room for a period of time. After the mopping member becomes dirty, the cleaning device 100 drives to the base station 200 (default at this time).
  • the clean water tank 22 of the base station 200 is filled with clean water), the cleaning device 100 enters the base station 200 through the entrance on the base station 200 and stops at a preset parking position on the base station 200 .
  • the mopping member of the cleaning device 100 is accommodated on the mopping member cleaning portion 21, and the control system controls the opening of the first solenoid valve, the heating device 24, the second solenoid valve and the first water pump in sequence.
  • the clean water in the clean water tank in the base station 200 flows to the cleaning tank of the mopping element cleaning part 21, and is sprayed onto the mopping element through the liquid inlet structure on the mopping element cleaning part 21.
  • the raised cleaning ribs in the tank are scraped to clean the mopping parts.
  • the dirty sewage after cleaning the mopping parts flows out of the cleaning tank from the drainage structure on the cleaning tank. Next, dirty sewage is collected into the sewage tank 23 .
  • the base station 200 described in the embodiment of the present invention is only a specific example, and does not constitute a specific limitation on the base station 200 in the embodiment of the present application.
  • the base station 200 in the embodiment of the present invention may also be other specific implementation modes.
  • the base station 200 of the example may not include the clean water tank 22, and the base station body 20 may be connected to a tap water pipe and a drain pipe, so that tap water from the tap water pipe is used to clean the mopping parts of the cleaning device 100, and the dirty sewage after cleaning the mopping parts is drained by the cleaning tank.
  • the tubes flow out of the base station 200 .
  • the base station 200 may have more or fewer components than the base station 200 shown in Figures 2-3.
  • Some embodiments of the present invention provide a control method for a cleaning system, as shown in FIG. 4 , the control method includes:
  • Step S100 controlling the mopping member on the cleaning device 100 to mop the ground
  • Step S110 determining that the mopping member satisfies a preset cleaning condition, and controlling the cleaning device 100 to move to a preset area of the base station;
  • step S120 it is determined that the cleaning device 100 is moved to a preset area of the base station 200, and the mopping member cleaning unit 21 of the base station 200 is controlled to clean the mopping member.
  • control method of the cleaning system In order to explain the control method of the cleaning system in more detail, the following is an exemplary description of the control method of the cleaning system:
  • an embodiment of the present invention provides a control method for a cleaning system, and the control method includes:
  • Step S00 obtaining a work instruction of the cleaning device 100
  • the cleaning device 100 is initially in a standby state, and when the cleaning device 100 receives a work instruction, it will be adjusted from the standby state to the working state. It should be noted that the user can operate manually or remotely. Send work instructions to cleaning equipment 100;
  • Step S01 judging whether the cleaning device 100 lacks power
  • the power value of the cleaning device 100 can be obtained by setting a power detector on the cleaning device 100, which needs to be explained.
  • the preset power value may be the power consumed by the cleaning device 100 to complete sweeping and mopping.
  • Step S010 it is determined that the cleaning device 100 is not short of power, then the cleaning device 100 is controlled to build a map
  • the mapping mode in this embodiment refers to that the cleaning device 100 obtains an area map of the area to be cleaned
  • step S011 it is determined that the cleaning device 100 is short of power, and the cleaning device 100 is controlled to move to a preset area of the base station 200 , and is charged by the cleaning device charging system on the base station 200 ;
  • the first control system controls the cleaning device 100 to move to In the preset area of the base station 200, when the cleaning device 100 is stopped, the presence detector 28 on the base station 200 detects whether the cleaning device 100 is parked in the preset area on the base station 200.
  • the control system controls the cleaning device charging system to charge the cleaning device 100, and when it is determined that the cleaning device 100 has been charged, step S01 is performed again.
  • the first control system controls the cleaning device 100 to adjust the position and re-align, or issue a reminder through the control system to manually correct the parking position of the cleaning device 100.
  • the step of judging whether the cleaning device 100 is parked in the preset area on the base station 200 is performed again;
  • Step S02 dividing the area map into at least one target area, and setting the cleaning order to the target area;
  • Step S03 judge whether the dragging piece is in place
  • whether it is in place in this embodiment refers to whether the mopping disc with the mopping member is installed on the cleaning device 100. If the mopping member is in place, it means that the ground can be mopped, and vice versa. , it means that only the ground can be cleaned.
  • Step S030 determining that the mopping member is installed on the cleaning device 100, and controlling the roller brush on the cleaning device 100 to rise;
  • the wiper is always installed on the wiper by default, and a wiper position sensor can be provided on the cleaning device 100.
  • the position sensor can detect the position of the wiper. information, such as the coordinates of the wiper, and compare it with the preset position information of the wiper. If it is detected that the position information of the wiper matches the preset position information, it is determined that the wiper is installed in place.
  • the first control system controls the roller brush on the cleaning device 100 to rise, in preparation for executing the single-drag mode;
  • Step S031 determining that the mopping member is not installed on the cleaning device 100, and controlling the cleaning device 100 to execute a single sweep mode
  • the first control system controls the The roller brush on the cleaning device 100 is turned on, and the single sweep mode is performed on the target area according to the cleaning sequence of the target area;
  • step S031 it also includes:
  • Step S04 judging whether the sweeping of the target area by the cleaning device 100 is completed
  • a starting point and an ending point are set in a target area.
  • the position sensor on the cleaning device 100 will record the location information of the cleaning device 100 in real time.
  • the location information of the target area and the location information of the end point of the target area determine whether the cleaning device 100 completes the sweeping of the target area.
  • Step S040 it is determined that the cleaning device 100 has completed sweeping the target area, then the cleaning device 100 is controlled to perform step S01;
  • step S01 when the location information of the cleaning device 100 is consistent with the location information of the end point of the target area, it is determined that the cleaning device 100 has completed the sweeping of the target area. Execute step S01;
  • Step S041 it is determined that the cleaning device 100 has not completed sweeping the target area, then the cleaning device 100 is controlled to perform step S031;
  • step S031 is executed;
  • step S030 it also includes:
  • Step S05 judging whether the water tank of the cleaning device 100 lacks water
  • the water tank of the cleaning device 100 will be sprayed to the ground or the mopping member through the water spray module. In this way, before the cleaning device 100 executes the single-drag mode, it is necessary to ensure that the cleaning device 100 The water tank stores enough water so that the cleaning device 100 can perform the single-drag mode;
  • Step S050 determining that the water tank 17 of the cleaning device 100 lacks water, controlling the cleaning device 100 to move to a preset area of the base station 200, and replenishing the water tank 17 of the cleaning device 100 through the base station 200;
  • the second control system controls the clean water tank 22 of the base station 200 to replenish water to the water tank 17 .
  • the second control system can control the water outlet of the clean water tank 22, the opening of the heating device 24, and the third solenoid valve 28, and the water in the water outlet pipe of the clean water tank 22.
  • the cold water is heated by the heating device 24 , and the hot water flows into the water tank 17 from the second water delivery pipe, so that the water supply to the water tank 17 is replenished.
  • step S05 is performed again;
  • Step S051 it is determined that the water tank of the cleaning device 100 is not short of water, and the cleaning device 100 is controlled to perform the single-drag mode on the target area;
  • the control system controls the clean water tank 22 to stop water output and the heating device 24 to turn off.
  • the external water source stops supplying water to the clean water tank 22 and the heating device 24 stops heating.
  • the first control system controls the cleaning device 100 to execute the single-drag mode on the target area.
  • Step S06 judging whether the single dragging of the target area by the cleaning device 100 is completed
  • a starting point and an ending point are set in a target area.
  • the position sensor on the cleaning device 100 will record the location information of the cleaning device 100 in real time.
  • the position information of 100 and the position information of the end point of the target area determine whether the cleaning device 100 completes the mopping of the target area.
  • step S060 it is determined that the cleaning device 100 has completed mopping the target area, then the cleaning device 100 is controlled to move to the preset area of the base station 200, and the second control system controls the mopping part cleaning part of the base station 200 to clean the mopping parts ;
  • the cleaning device 100 when the location information of the cleaning device 100 matches the location information of the end point of the target area, it is determined that the cleaning device 100 has completed the mopping of the target area. At this time, the default mopping member satisfies the preset cleaning conditions, and the first control system controls the cleaning. The device 100 moves to the preset area of the base station 200, and after docking in place, the second control system controls the wiper cleaning unit to clean the wiper;
  • step S060 it also includes: continuing to perform step S05;
  • Step S061 it is determined that the cleaning device 100 has not completed the mopping of the target area, then the cleaning device 100 is controlled to continue to execute the single mopping mode;
  • the first control system controls the cleaning device 100 to continue to execute the single-mowing mode
  • step S060 is performed again;
  • step S060 After step S060 is executed, it also includes:
  • Step S07 judging whether the cleaning device 100 cleans the whole house
  • the whole house map is divided into several target areas, the target areas are set in a cleaning order, and it is determined whether the whole house has been cleaned according to whether the last target area has been cleaned.
  • Step S070 determine that the cleaning device 100 has completed the whole house cleaning, control the roller brush of the cleaning device 100 to descend and move to a preset area of the base station 200, and control the base station 200 to charge the cleaning device 100;
  • step S070 it further includes: after it is determined that the cleaning device 100 has completed the whole house cleaning, the control system controls the suction device to turn on, and the suction device pumps the sewage in the cleaning part 21 of the mopping element to the sewage tank 23 at this time; After it is determined that the suction is completed, the drying device and the sterilizing device are controlled to be turned on, so as to realize the drying and sterilizing of the cleaning device 100 .
  • step S071 it is determined that the cleaning device 100 has not completed the whole house cleaning, and the cleaning device 100 is controlled to continue to perform step S05.
  • the clean water flowing out of the clean water tank is heated in real time, and the heated water can be used to clean the cleaning equipment and/or replenish water to the cleaning equipment. Mopping the floor makes the cleaning effect of the cleaning equipment better, and on the other hand, it also improves the cleaning effect of the cleaning equipment of the mopping part on the base station.
  • Some embodiments of the present invention provide a computer device including a memory, a controller, and a computer program stored in the memory and executable on the controller, and the controller implements the steps of the cleaning system control method when the computer program is executed.
  • Another embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a controller, implements the steps of the cleaning system control method of any one of the foregoing embodiments.

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

一种清洁系统、控制方法、计算机设备及计算机可读存储介质，控制方法包括以下步骤：控制清洁设备（100）上的拖擦件对地面进行拖擦（S100）；确定拖擦件满足预设清洗条件，控制清洁设备（100）移动至基站（200）的预设区域（S110）；通过基站（200）的拖擦件清洗部（21）对拖擦件进行清洗（S120）。在拖擦件满足预设清洗条件，控制清洁设备（100）自动移动到基站（200）进行清洗，实现了拖擦件的自动清洗，提高了拖擦件的清洗效率，避免拖擦件不干净造成的二次污染。

Description

清洁系统、控制方法、计算机设备及计算机可读存储介质
相关申请的交叉引用
本申请基于以下中国专利申请提出：
申请号为202110187602.2、申请日为2021年2月18日；
并要求上述专利申请的全部优先权，上述中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本发明涉及清洁电器领域，具体公开了一种清洁系统、控制方法、计算机设备及计算机可读存储介质。
背景技术
目前扫拖一体机器人通常是水箱底部贴上抹布，靠压力进行拖地清洁，不具备自动清洗抹布的功能，导致无法有效去除顽固污渍，极易造成二次污染。
发明内容
本发明旨在至少在一定程度上解决相关技术中的上述技术问题。为此，本发明提出一种清洁系统、控制方法、计算机设备及计算机可读存储介质，解决上述至少一个技术问题。
为了实现上述目的，本发明第一方面提供了一种清洁系统的控制方法，包括以下步骤：
控制清洁设备上的拖擦件对地面进行拖擦；
确定所述拖擦件满足预设清洗条件，控制所述清洁设备移动至基站的预设区域；
通过所述基站的拖擦件清洗部对所述拖擦件进行清洗。
本发明第二方面提供了一种清洁系统，其特征在于，包括清洁设备以及基站，所述清洁设备上具有拖擦件、行走组件以及第一控制系统，所述基站上具有拖擦件清洗部以及第二控制系统，其中，
所述拖擦件用于对地面进行拖擦；
所述行走组件用于驱动所述清洁设备移动至所述基站的预设区域；
所述拖擦件清洗部用于对所述拖擦件进行清洗；
所述第一控制系统用于控制所述拖擦件对地面进行拖擦，确定所述拖擦件满足预设清洗条件，控制所述清洁设备移动至基站的预设区域；
所述第二控制系统用于控制所述拖擦件清洗部对所述拖擦件进行清洗。
本发明第三方面提供了一种计算机设备，包括存储器、处理器以及存储在所述存储器上并能够在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上所述的控制方法。
本发明第四方面提供了一种计算器可读存储介质，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如上所述的控制方法。
另外，根据本发明上述清洁系统的控制方法还可以具有如下附加的技术特征：
根据本发明的一些实施例，确定所述拖擦件满足预设清洗条件，控制所述清洁设备移动至基站的预设区域，包括：
确定所述拖擦件完成目标区域的拖擦，控制所述清洁设备移动至基站的预设区域。
根据本发明的一些实施例，通过所述基站的拖擦件清洗部对所述拖擦件进行清洗之后，还包括：
确定所述拖擦件完成所有目标区域的拖擦，控制所述清洁设备的滚刷下降并移动至所述基站的预设区域，通过所述基站对所述清洁设备进行充电。
根据本发明的一些实施例，通过所述基站的拖擦件清洗部对所述拖擦件进行清洗之后，还包括：
确定所述基站对所述拖擦件完成清洗，控制所述基站上的抽吸装置将污 水抽入所述基站的污水箱。
根据本发明的一些实施例，确定所述拖擦件完成目标区域的拖擦，控制所述清洁设备移动至基站的预设区域之后，还包括：
确定所述基站上清水箱内的水量大于第一水量预设值，控制所述清水箱出水以及所述清水箱出水口处加热装置的开启，并控制所述基站上输水装置向所述拖擦件清洗部输送用于清洗所述拖擦件的热水。
根据本发明的一些实施例，控制所述清洁设备上的拖擦件对地面进行拖擦之前，还包括：
确定所述清洁设备的拖擦件满足拖擦的条件，控制所述清洁设备移动至所述基站的预设区域，并通过所述基站上的输水装置向所述清洁设备的水箱输送热水。
根据本发明的一些实施例，控制所述清洁设备上的拖擦件对地面进行拖擦之前，还包括：
确定待清洁区域的区域地图，将所述区域地图分割成至少一个目标区域；
确定所述拖擦件在位，控制所述清洁设备上的滚刷升起。
根据本发明的一些实施例，控制所述清洁设备上的拖擦件对地面进行拖擦之前，还包括：
确定所述拖擦件未在位，控制所述滚刷对目标区域进行清扫；
确定所述滚刷完成对目标区域的清扫，并确定所述清洁设备满足充电的条件，控制所述清洁设备移动至所述基站的预设区域，并通过所述基站对所述清洁设备进行充电；
确定所述拖擦件在位，控制所述清洁设备上的滚刷升起。
与现有技术相比，本发明具有以下有益效果：
在拖擦件满足预设清洗条件，控制清洁设备自动移动到基站进行清洗，实现了拖擦件的自动清洗，提高了拖擦件的清洗效率，避免拖擦件不干净造成的二次污染。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面 描述中的附图仅仅是本发明的一些实施例，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示出的结构获得其他的附图。
图1为本发明实施例中清洁设备的结构示意图；
图2为本发明实施例中基站的结构示意图1；
图3为本发明实施例中基站的结构示意图2；
图4为本发明一些实施例中清洁系统的控制流程图；
图5为本发明实施例中清洁系统的控制流程图。
附图标记如下：
清洁设备100、机身10、喷水模块11、边刷模块12、滚刷模块13、风机14、拖擦盘15、集尘模块16、水箱17、基站200、拖擦件清洗部21、清水箱22、污水箱23、加热装置24、第一水量感应器25、在位检测器26、风干电机27、气泵270、第三电磁阀28、第二水泵29。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施方式。虽然附图中显示了本公开的示例性实施方式，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施方式所限制。相反，提供这些实施方式是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
应理解的是，文中使用的术语仅出于描述特定示例实施方式的目的，而无意于进行限制。除非上下文另外明确地指出，否则如文中使用的单数形式“一”、“一个”以及“所述”也可以表示包括复数形式。术语“包括”、“包含”以及“具有”是包含性的，并且因此指明所陈述的特征、元件和/或部件的存在，但并不排除存在或者添加一个或多个其它特征、元件、部件、和/或它们的组合。
在本发明的描述中，除非另有明确的规定和限定，术语“设置”、“连接” 应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体式连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域技术人员而言，可根据具体情况理解上述术语在本发明中的具体含义。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
为了便于描述，可以在文中使用空间相对关系术语来描述如图中示出的一个元件或者特征相对于另一元件或者特征的关系，这些相对关系术语例如为“底”、“前”、“上”、“倾斜”、“下”、“顶”、“内”、“水平”、“外”等。这种空间相对关系术语意于包括除图中描绘的方位之外的在使用或者操作中机构的不同方位。例如，如果在图中的机构翻转，那么描述为“在其它元件或者特征下面”或者“在其它元件或者特征下方”的元件将随后定向为“在其它元件或者特征上面”或者“在其它元件或者特征上方”。因此，示例术语“在……下方”可以包括在上和在下的方位。
请参照图1-3所示，本发明的实施例提供了一种清洁系统，该清洁系统包括彼此独立设置的清洁设备100以及清洁设备用基站200，其中，清洁设备100用于对地面进行拖擦在内的自动清洁，基站200则用于对清洁设备100的拖擦件进行清洗，和/或对清洁设备100的水箱进行加水，和/或对清洁设备100进行充电，且当所述清洁设备100需要进行清洗、加水或充电时，清洁设备100能够自动返回到基站200，在基站200处进行清洗、加水或充电。在本实施例中，该基站200可以对清洁设备100进行清洗、加水和充电，基站200的电能可来源于市电，基站200内的水可来源于外部水源。
如图1所示，所述清洁设备100在此可以是自主行进的拖地机器人或者扫拖一体机器人。该清洁设备100包括第一控制系统、充放电系统、电控系统、检测系统、行走组件、支撑系统以及清洁系统，其中，所述充放电系统包括适配器模块、充电模块和电池包组件，所述电控系统包括输入模块、显示模块和控制、保护模块，所述检测系统包括用于采集内外部环境信息的采集传感器模块，所述行走组件包括驱动轮模块以及辅助轮模块，所述支撑系 统包括机身10以及多个功能模块支撑结构，所述清洁系统包括于机身10上设置的喷水模块11、边刷模块12、可升降的滚刷模块13、风机14、拖擦盘15、集尘模块16以及水箱17，边刷模块12和滚刷模块13位于机身10的前部，用于清扫地面上的垃圾，拖擦盘15可拆卸的设置在机身10的后部，拖擦盘15上安装有拖布(或抹布)或海绵等各种能够对地面进行拖擦的拖擦件，该实施例中的拖擦件可以选用拖布，而且拖擦件可以与拖擦盘15可拆卸连接，例如，在本实施例中，可以利用魔术贴将拖擦件粘贴在拖擦盘15的下端面上，以便于拆卸更换拖擦件。值得一提的是，拖擦盘15可以带动拖擦件旋转运动，且拖擦盘15可以和地面形成一定的压力，以使得拖擦件可以去除掉地面上的顽固污渍。
此外，风机14可以形成负压，将滚刷腔内的灰尘吸入集尘模块16中。
在本实施例中，喷水模块11位于机身10的中部，用于将水箱17中的水喷向地面以稀释污渍或者打湿拖擦件，滚刷模块13用于实现扫地，拖擦盘15带动拖擦件进行拖地。
该清洁设备100借助驱动轮模块以及辅助轮模块可以在待清洁的地面上行驶，该清洁设备100的工作模式可以有多种，比如单扫模式、单拖模式或扫拖一体模式，具体地，在本实施例中，该清洁设备100的工作模式可以包括单扫模式和单拖模式，比如清洁设备100先执行单扫模式，再执行单拖模式。需要说明的是，当清洁设备100执行单扫模式时，滚刷模块13上的滚刷紧贴地面，拖擦盘15没有安装在机身10上或者控制拖擦盘15处于关闭，而当清洁设备100自单扫模式转换至单拖模式时，此时将滚刷模块13升起，把拖擦盘15安装在机身10上或者控制拖擦盘15开始工作。
需要说明的是，尽管本发明在此已经示出清洁设备100，但是本发明并不因此为限，清洁设备100当然也可以是用户手持运行的清洁设备100，基站200在此表示为不动的基站200，在没有用户的辅助下该不动的基站200无法运动。但是，基站200也可以设计为可自主行进的单元，其可以自主的改变它的位置，例如作为清洁设备100的跟踪装置。
如图2-3所示，基站200包括：基站本体20以及于基站本体20上设置的拖擦件清洗部21、清水箱22、污水箱23、加热装置24、输水管路、第一水量感应器25、第二水量感应器、温度检测器、过载保护器、在位检测器26、 清洁设备充电系统、消毒装置以及第二控制系统，其中，第二控制系统与拖擦件清洗部21、加热装置24、输水管路、第一水量感应器25、第二水量感应器、温度检测器、过载保护器、在位检测器26、清洁设备充电系统以及消毒装置连接，基站本体20具有用于停靠清洁设备100的平台，拖擦件清洗部21用于对清洁设备100的拖擦件进行清洗，清水箱22设置在所述拖擦件清洗部21的上方，以用于存放清水，加热装置24用于对清水箱22流出的清水进行加热，输水管路用于将加热装置24加热后的热水输送至拖擦件清洗部21和/或清洁设备100的水箱17，第二控制系统用于控制加热装置24的开闭，拖擦件清洗部21包括抽吸装置、清洗检测器和烘干装置，抽吸装置用于将拖擦件清洗部21的污水抽吸至污水箱23，清洗检测器设置在所述拖擦件清洗部21上，用于检测所述拖擦件清洗部是否完成对所述清洁设备的清洗，烘干装置用于对清洗后的拖擦件进行烘干的烘干装置，烘干装置可以包括风干电机27以及与风干电机连接的气泵270，消毒装置可以对烘干后的拖擦件进行消毒。
值得一提的是，第一水量感应器、第二水量感应器可以是设置在清水箱22、水箱17内的流量计，第一水量感应器用于检测清水箱22内的水量，以用于检测清水箱22是否需要缺水或者补水后的水位，第二水量感应器用于检测清洁设备100内水箱17的水量，温度检测器用于检测热水的温度，过载保护器与所述加热装置24连接，用于检测加热装置24的温度值和/或电流值，以对加热装置24实施过载保护，其中，第二控制系统能够根据温度检测器反馈的水温，控制输水管路内的水温保持恒定。
需要说明的是，在本发明的实施例中，该基站200还包括设置在清水箱22的下方且与清水箱22连通的出水管，加热装置24位于所述出水管的管路上，用于对出水管内的水进行加热。具体地，加热装置24可以是设置在出水管外表面的电阻丝或正温度系数(简称PTC)加热装置，输水管路包括第一输水管以及第二输水管，其中，第一输水管与拖擦件清洗部21连通，用于向拖擦件清洗部21输送热水，第二输水管具有为清洁设备100水箱17供水的接口，用于向清洁设备100的水箱17输送热水，清洁设备100水箱17内的热水被喷水模块11喷向地面或拖擦件，以实现清洁设备100热水拖地的目的，提高清洁效果。
值得一提的是，清水箱22与出水管30之间设置有与第二控制系统连接 的第一电磁阀，第一电磁阀可以根据清水箱22内的水量来控制清水箱22出水口的开闭，此外，第一输水管的出水口处设置与第二控制系统连接的第二电磁阀，第二电磁阀用于控制第一输水管出水口的开闭，第二输水管的出水口处设置与第二控制系统连接的第三电磁阀28，第三电磁阀28用于控制第二输水管出水口的开闭。
此外，该基站200还包括与加热装置24以及第二控制系统连接的电子开关，第二控制系统可以控制电子开关的开闭，以实现加热装置24的开闭。
进一步地，清洗检测器用于检测拖擦件清洗部21是否完成对清洁设备100的清洗。具体地，可以通过在第一输水管的出水口设置流量计作为清洗检测器，即通过流量计检测第一输水管流出的水量是否达到了预设值来判断是否完成对清洁设备100的清洗，此外，还可以在第一输水管的出水口处设置计时器作为清洗检测器，即通过计时器检测第一输水管的出水是否达到了预设时间来判断是否完成对清洁设备100的清洗。
进一步地，可以通过第一水量感应器测量清洁设备100水箱17内的水位是否达到预设值，来判断是否完成对清洁设备100水箱17的补水，具体地，第一水量感应器可以是极片或者流量计。
此外，基站还包括可以将外部水源内的水输送至清水箱22内的第二水泵29，以实现对清水箱22的补水。
以下对清洁设备100和基站200配合工作的过程进行示例性说明：
清洁设备100对房间的地面进行清洁，当清洁设备100上的电池包组件的电量少于预设电量阈值时，清洁设备100自动驶向基站200。清洁设备100通过基站200上的入口进入基站200，并停靠在基站200的平台的预设停靠位置。
此时，清洁设备100上的充电模块和基站200上的清洁设备充电系统连接，基站200的清洁设备充电系统从市电获取电力，并通过充电模块向清洁设备100的电池包组件进行充电，清洁设备100充满电后，驶离基站200，继续对房间地面进行清洁。当清洁设备100执行单拖模式时，清洁设备100对地面进行拖地清洁，清洁设备100对房间地面拖地一段时间，拖擦件变脏污后，清洁设备100驶向基站200(此时默认基站200的清水箱22装满了清水)，清洁设备100通过基站200上的入口进入基站200，并停靠在基站200上的预 设停靠位置。此时，清洁设备100的拖擦件容置在拖擦件清洗部21上，控制系统依次控制第一电磁阀、加热装置24、第二电磁阀以及第一水泵的开启，在基站200上第一水泵的作用下，基站200内的清水箱的清水流向拖擦件清洗部21的清洗槽，通过拖擦件清洗部21上的进液结构喷向拖擦件上，同时拖擦件与清洗槽内的凸起的清洗肋刮擦，从而实现对拖擦件的清洁，清洗拖擦件后的脏污水从清洁槽上的排液结构流出清洗槽，在抽吸装置(比如水泵)的作用下，脏污水收集到污水箱23。
应该理解，本发明实施例描述的基站200只是一个具体示例，并不对本申请实施例的基站200构成具体限定，本发明实施例的基站200还可以为其它的具体实现方式，例如，本发明实施例的基站200可以不包括清水箱22，基站本体20可以连接自来水管和排水管，从而使用自来水管的自来水清洗清洁设备100的拖擦件，清洗拖擦件后的脏污水由清洗槽通过排水管流出基站200。或者，在其它的实现方式中，基站200可以比附图2-3所示的基站200有更多或更少的部件。
本发明的一些实施例提供了一种清洁系统的控制方法，如图4所示，该控制方法包括：
步骤S100，控制清洁设备100上的拖擦件对地面进行拖擦；
步骤S110，确定拖擦件满足预设清洗条件，控制清洁设备100移动至基站的预设区域；
步骤S120，确定清洁设备100移动至基站200的预设区域，控制基站200的拖擦件清洗部21对所述拖擦件进行清洗。
为了更详细的阐述清洁系统的控制方法，以下对清洁系统的控制方法进行示例性说明：
如图5所示，本发明实施例提供了一种清洁系统的控制方法，该控制方法包括：
步骤S00，获取清洁设备100的工作指令；
具体地，在本实施例中，清洁设备100的初始处于待机状态，当清洁设备100收到工作指令后，便从待机状态调整至工作状态，需要说明的是，用户可以手动或者远程操作的方式给清洁设备100发送工作指令；
步骤S01，判断清洁设备100是否缺电；
具体地，在清洁设备100进行正式工作之前，需要保证清洁设备100的电量值满足预设电量值，此时可以通过在清洁设备100上设置电量检测器来获取清洁设备100的电量值，需要说明的是，预设电量值可以是清洁设备100完成扫拖所耗费的电量。
步骤S010，确定清洁设备100不缺电，则控制清洁设备100进行建图；
具体地，当清洁设备100的电量检测器获取的电量值大于或等于预设电量值，即清洁设备100不缺电，可以满足扫拖所需电量，此时第一控制系统控制清洁设备100进入建图模式，本实施例所说的建图模式指的是清洁设备100获取待清洁区域的区域地图；
步骤S011，确定清洁设备100缺电，则控制清洁设备100移动至基站200的预设区域，并通过基站200上的清洁设备充电系统进行充电；
具体地，当清洁设备100的电量检测器获取的电量值小于预设电量值，即清洁设备100处于缺电状态，无法满足扫拖所需电量，此时第一控制系统控制清洁设备100移动至基站200的预设区域，当清洁设备100停稳后，基站200上的在位检测器28检测清洁设备100是否停靠在基站200上的预设区域，当确定清洁设备100停靠在位，第二控制系统控制清洁设备充电系统对清洁设备100进行充电，当确定清洁设备100完成充电，再次执行步骤步骤S01。
相反地，当确定清洁设备100未停靠在位，则第一控制系统控制清洁设备100调整位置，重新对正，或者通过控制系统发出提醒，人工校正清洁设备100的停靠位置，在确定清洁设备100调整完位置后，再次执行判断清洁设备100是否停靠在基站200上的预设区域的步骤；
步骤S02，将区域地图分割成至少一个目标区域，并对目标区域设定清洁次序；
步骤S03，判断拖擦件是否在位；
具体地，本实施例中的是否在位，指的是带有拖擦件的拖擦盘是否安装在清洁设备100上，如果拖擦件在位，则意味着可以对地面进行拖擦，反之，则意味着仅可以对地面进行清扫。
步骤S030，确定拖擦件安装在清洁设备100上，控制清洁设备100上的滚刷升起；
具体地，默认拖擦件一直安装在拖擦盘上备用，可以在清洁设备100上设置拖擦盘位置感应器，当拖擦盘安装在位，位置感应器便可以检测到拖擦盘的位置信息，比如拖擦盘的坐标，并与拖擦盘的预设位置信息进行比对，若检测到拖擦盘的位置信息符合预设位置信息，则确定拖擦件安装在位，此时，第一控制系统控制清洁设备100上的滚刷升起，为执行单拖模式做准备；
步骤S031，确定拖擦件未安装在清洁设备100上，控制清洁设备100执行单扫模式；
具体地，当位置传感器检测到拖擦盘的位置信息不符合预设位置信息，则确定拖擦件未安装在位，清洁设备100符合执行单扫模式的条件，此时，第一控制系统控制清洁设备100上的滚刷开启，按照目标区域的清洁次序对目标区域执行单扫模式；
进一步地，在步骤S031之后还包括：
步骤S04，判断清洁设备100对目标区域的扫地是否完成；
具体地，在一个目标区域内设定有起点和终点，在清洁设备100扫地的过程中，清洁设备100上的位置传感器会实时记录清洁设备100的位置信息，第一控制系统可以根据清洁设备100的位置信息与目标区域终点的位置信息判断清洁设备100是否完成目标区域的扫地。
步骤S040，确定清洁设备100完成对目标区域的扫地，则控制清洁设备100执行步骤S01；
具体地，当清洁设备100的位置信息与目标区域终点的位置信息相符，则确定清洁设备100已经完成了目标区域的扫地，此时第一控制系统则对清洁设备100内的电量进行判断，即执行步骤S01；
步骤S041，确定清洁设备100未完成对目标区域的扫地，则控制清洁设备100执行步骤S031；
具体地，当清洁设备100的位置信息与目标区域终点的位置信息不相符，则确定清洁设备100未完成目标区域的扫地，此时第一控制系统则控制清洁设备100继续对目标区域进行扫地，即执行步骤S031；
进一步地，在步骤S030之后还包括：
步骤S05，判断清洁设备100的水箱是否缺水；
具体地，在清洁设备100执行单拖模式时，清洁设备100的水箱会通过 喷水模块喷向地面或者拖擦件，这样一来，在清洁设备100执行单拖模式之前，需要保证清洁设备100水箱储存足够的水，这样才能使得清洁设备100执行单拖模式；
步骤S050，确定清洁设备100的水箱17缺水，控制清洁设备100移动至基站200的预设区域，并通过基站200对清洁设备100的水箱17进行补水；
具体地，当水箱17内的流量计检测到的水量小于第二水量预设值，则确定水箱17缺水，满足补水的条件，第二控制系统控制基站200的清水箱22向水箱17进行补水。
值得一提的是，在确定清洁设备100移动至基站200的预设区域后，第二控制系统可以控制清水箱22出水、加热装置24、第三电磁阀28的开启，清水箱22出水管内的冷水被加热装置24所加热，热水自第二输水管流入水箱17，从而实现给水箱17的补水。
在完成对水箱17的补水后，再次执行步骤S05；
步骤S051，确定清洁设备100的水箱不缺水，控制清洁设备100对目标区域执行单拖模式；
具体地，当水箱17内的流量计检测到的水量大于或者等于第二水量预设值，则确定水箱17不缺水，水箱17内的水满足下一次的拖擦所需要的水量，第二控制系统控制清水箱22停止出水、加热装置24的关闭，此时外部水源停止给清水箱22供水，加热装置24停止加热，第一控制系统控制清洁设备100对目标区域执行单拖模式。
步骤S06，判断清洁设备100对目标区域的单拖是否完成；
具体地，在一个目标区域内设定有起点和终点，在清洁设备100拖地的过程中，清洁设备100上的位置传感器会实时记录清洁设备100的位置信息，第一控制系统可以根据清洁设备100的位置信息与目标区域终点的位置信息判断清洁设备100是否完成目标区域的拖地。
步骤S060，确定清洁设备100完成对目标区域的拖地，则控制清洁设备100移动至基站200的预设区域，第二控制系统控制基站200的拖擦件清洗部对所述拖擦件进行清洗；
具体地，当清洁设备100的位置信息与目标区域终点的位置信息相符，则确定清洁设备100完成目标区域的拖地，此时默认拖擦件满足预设清洗的 条件，第一控制系统控制清洁设备100移动至基站200的预设区域，停靠在位后，第二控制系统控制拖擦件清洗部对所述拖擦件进行清洗；
在步骤S060之后，还包括：继续执行步骤S05；
步骤S061，确定清洁设备100未完成对目标区域的拖地，则控制清洁设备100继续执行单拖模式；
具体地，当清洁设备100的位置信息与目标区域终点的位置信息不相符，则确定清洁设备100未完成目标区域的拖地，此时第一控制系统则控制清洁设备100继续执行单拖模式；
在确定清洁设备100完成对目标区域的拖地后，再次执行步骤S060；
在步骤S060执行完毕后，还包括：
步骤S07，判断清洁设备100是否全屋清洁；
具体地，如上所述，全屋地图被分割成若干个目标区域，目标区域被设定清洁次序，根据最后一个目标区域是否完成清洁来判断全屋是否完成清洁。
步骤S070，确定清洁设备100完成全屋清洁，控制清洁设备100的滚刷下降并移动至基站200的预设区域，并控制基站200对清洁设备100进行充电；
在步骤S070之后，还包括：在确定清洁设备100完成全屋清洁后，控制系统控制抽吸装置开启，此时抽吸装置将拖擦件清洗部21内的污水抽至污水箱23；以及在确定完成抽吸后，控制烘干装置以及消毒装置的开启，以实现对清洁设备100的烘干和消毒。
步骤S071，确定清洁设备100未完成全屋清洁，控制清洁设备100继续执行步骤S05。
值得一提的是，本发明实施例对清水箱流出的清水进行实时加热，加热后的水可以被用来清洗清洁设备和/或对清洁设备补水，一方面保障了清洁设备的续航，热水拖地使得清洁设备的清洁效果更好，另一方面还提高了基站上拖擦件清洗部对清洁设备的清洗效果。
本发明的一些实施例在于提出了一种计算机设备，包括存储器、控制器以及存储在存储器上并可在控制器上运行的计算机程序，控制器执行计算机程序时实现清洁系统控制方法的步骤。
在该实施例中，通过设置一种包括存储器、控制器以及存储在存储器上 并可在控制器上运行的计算机程序的计算机设备，可以保证控制器运行清洁系统的控制方法，进而提高清洁设备的清洁效果，提升用户体验。
本发明的另一个实施例在于提出了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被控制器执行时实现上述任一项实施例的清洁系统控制方法的步骤。
在该实施例中，通过将计算机程序存储在一种计算机可读存储介质中，可以保证控制器运行清洁系统的控制方法，进而提高清洁设备的清洁效果，提升用户体验。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (11)

  1. 一种清洁系统的控制方法，其特征在于，包括以下步骤：
    控制清洁设备上的拖擦件对地面进行拖擦；
    确定所述拖擦件满足预设清洗条件，控制所述清洁设备移动至基站的预设区域；
    控制所述基站的拖擦件清洗部对所述拖擦件进行清洗。
  2. 根据权利要求1所述的清洁系统的控制方法，其特征在于，确定所述拖擦件满足预设清洗条件，控制所述清洁设备移动至基站的预设区域，包括：
    确定所述拖擦件完成目标区域的拖擦，控制所述清洁设备移动至基站的预设区域。
  3. 根据权利要求2所述的清洁系统的控制方法，其特征在于，通过所述基站的拖擦件清洗部对所述拖擦件进行清洗之后，还包括：
    确定所述拖擦件完成所有目标区域的拖擦，控制所述清洁设备的滚刷下降并移动至所述基站的预设区域，通过所述基站对所述清洁设备进行充电。
  4. 根据权利要求2所述的清洁系统的控制方法，其特征在于，通过所述基站的拖擦件清洗部对所述拖擦件进行清洗之后，还包括：
    确定所述基站对所述拖擦件完成清洗，控制所述基站上的抽吸装置将污水抽入所述基站的污水箱。
  5. 根据权利要求2所述的清洁系统的控制方法，其特征在于，确定所述拖擦件完成目标区域的拖擦，控制所述清洁设备移动至基站的预设区域之后，还包括：
    确定所述基站上清水箱内的水量大于第一水量预设值，控制所述清水箱出水以及所述清水箱出水口处加热装置的开启，并控制所述基站上输水装置向所述拖擦件清洗部输送用于清洗所述拖擦件的热水。
  6. 根据权利要求5所述的清洁系统的控制方法，其特征在于，控制所述清洁设备上的拖擦件对地面进行拖擦之前，还包括：
    确定所述清洁设备的拖擦件满足拖擦的条件，控制所述清洁设备移动至所述基站的预设区域，并通过所述基站上的输水装置向所述清洁设备的水箱输送热水。
  7. 根据权利要求2所述的清洁系统的控制方法，其特征在于，控制所述清洁设备上的拖擦件对地面进行拖擦之前，还包括：
    确定待清洁区域的区域地图，将所述区域地图分割成至少一个目标区域；
    确定所述拖擦件在位，控制所述清洁设备上的滚刷升起。
  8. 根据权利要求2所述的清洁系统的控制方法，其特征在于，还包括：
    确定所述拖擦件未在位，控制所述滚刷对目标区域进行清扫；
    确定所述滚刷完成对目标区域的清扫，并确定所述清洁设备满足充电的条件，控制所述清洁设备移动至所述基站的预设区域，并通过所述基站对所述清洁设备进行充电；
    确定所述拖擦件在位，控制所述清洁设备上的滚刷升起。
  9. 一种清洁系统，其特征在于，包括清洁设备以及基站，所述清洁设备上具有拖擦件、行走组件以及第一控制系统，所述基站上具有拖擦件清洗部以及第二控制系统，其中，
    所述拖擦件用于对地面进行拖擦；
    所述行走组件用于驱动所述清洁设备移动至所述基站的预设区域；
    所述拖擦件清洗部用于对所述拖擦件进行清洗；
    所述第一控制系统用于控制所述拖擦件对地面进行拖擦，确定所述拖擦件满足预设清洗条件，控制所述清洁设备移动至基站的预设区域；
    所述第二控制系统用于控制所述拖擦件清洗部对所述拖擦件进行清洗。
  10. 一种计算机设备，包括存储器、处理器以及存储在所述存储器上并能够在所述控制器上运行的计算机程序，其特征在于，所述控制器执行所述 计算机程序时实现如权利要求1-8任一项所述的控制方法。
  11. 一种计算器可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被控制器执行时实现如权利要求1-8任一项所述的控制方法。
PCT/CN2022/076620 2021-02-18 2022-02-17 清洁系统、控制方法、计算机设备及计算机可读存储介质 WO2022174785A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110187602.2A CN112956956A (zh) 2021-02-18 2021-02-18 清洁系统、控制方法、计算机设备及计算机可读存储介质
CN202110187602.2 2021-02-18

Publications (1)

Publication Number Publication Date
WO2022174785A1 true WO2022174785A1 (zh) 2022-08-25

Family

ID=76285008

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/076620 WO2022174785A1 (zh) 2021-02-18 2022-02-17 清洁系统、控制方法、计算机设备及计算机可读存储介质

Country Status (2)

Country Link
CN (1) CN112956956A (zh)
WO (1) WO2022174785A1 (zh)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113243850A (zh) * 2021-02-10 2021-08-13 北京顺造科技有限公司 基站和表面清洁设备的通信方法及存储介质
CN112956956A (zh) * 2021-02-18 2021-06-15 美智纵横科技有限责任公司 清洁系统、控制方法、计算机设备及计算机可读存储介质
CN113440075A (zh) * 2021-07-20 2021-09-28 四川启睿克科技有限公司 一种自动清洗清洁机器人拖布的方法和设备
CN113545717A (zh) * 2021-08-05 2021-10-26 科沃斯机器人股份有限公司 机器人基站、基站的基座模块及机器人系统
CN113509108B (zh) * 2021-08-06 2022-05-20 珠海格力电器股份有限公司 控制方法、装置、充电桩及存储介质
CN116207803A (zh) * 2021-11-30 2023-06-02 追觅创新科技(苏州)有限公司 元器件的供电方法和装置、存储介质及电子装置
CN114587196B (zh) * 2022-03-29 2023-09-19 北京小米移动软件有限公司 清洁机器人的控制方法、装置及清洁机器人
CN114947610A (zh) * 2022-04-21 2022-08-30 美智纵横科技有限责任公司 清洁机器人及其控制方法和控制装置、可读存储介质
CN117084590A (zh) * 2022-05-13 2023-11-21 追觅创新科技(苏州)有限公司 清洁设备的控制方法、系统及装置
CN115429163B (zh) * 2022-07-27 2023-10-31 云鲸智能(深圳)有限公司 拖擦件的清洁方法、控制装置、基站、清洁系统及存储介质
CN115462708B (zh) * 2022-08-01 2023-10-31 云鲸智能(深圳)有限公司 拖擦件清洗方法、清洁机器人及清洁系统

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150150428A1 (en) * 2013-11-29 2015-06-04 Samsung Electronics Co., Ltd. Cleaning robot and control method thereof
CN106725135A (zh) * 2016-12-16 2017-05-31 云翊智能科技（东莞）有限公司 基站和清洁机器人系统
CN109662659A (zh) * 2016-12-16 2019-04-23 云鲸智能科技（东莞）有限公司 清洁机器人和清洁机器人系统
CN109984684A (zh) * 2019-04-11 2019-07-09 云鲸智能科技（东莞）有限公司 清洁控制方法、装置、清洁机器人和存储介质
CN110236455A (zh) * 2019-01-08 2019-09-17 云鲸智能科技（东莞）有限公司 拖地机器人的控制方法、装置、设备及存储介质
CN110236456A (zh) * 2019-01-08 2019-09-17 云鲸智能科技（东莞）有限公司 拖地机器人的控制方法、装置、设备及存储介质
CN112674658A (zh) * 2016-12-16 2021-04-20 云鲸智能科技（东莞）有限公司 基站和清洁机器人系统
CN112914442A (zh) * 2021-02-18 2021-06-08 美智纵横科技有限责任公司 清洁设备用基站、清洁系统、控制方法、计算机设备及计算机可读存储介质
CN112956956A (zh) * 2021-02-18 2021-06-15 美智纵横科技有限责任公司 清洁系统、控制方法、计算机设备及计算机可读存储介质

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201001695Y (zh) * 2007-01-31 2008-01-09 张明海 电动多功能擦地板车
TW201338746A (zh) * 2012-03-23 2013-10-01 Ememe Robot Co Ltd 清潔機器人及控制清潔機器人行為之方法
AT516710B1 (de) * 2015-05-15 2016-08-15 K + S Gmbh Boden-Reinigungseinrichtung
CN105487543A (zh) * 2016-01-13 2016-04-13 浙江瓦力泰克智能机器人科技有限公司 移动机器人归位充电系统
DE202016104067U1 (de) * 2016-07-26 2017-10-27 Vorwerk & Co. Interholding Gmbh Basisstation für ein Feuchtreinigungsgerät
CN106814739A (zh) * 2017-04-01 2017-06-09 珠海市微半导体有限公司 一种移动机器人回充控制系统及控制方法
JP2018196511A (ja) * 2017-05-23 2018-12-13 東芝ライフスタイル株式会社 電気掃除装置
CN107684400A (zh) * 2017-09-13 2018-02-13 广东乐生智能科技有限公司 一种具有升降式拖地装置的智能扫地机
CN108897323B (zh) * 2018-07-23 2021-06-29 福建（泉州）哈工大工程技术研究院 移动机器人自主对准充电基座的控制方法
CN110367885B (zh) * 2019-08-15 2021-05-25 云鲸智能科技（东莞）有限公司 清洁机器人拖擦件的自动清洗方法、系统及可读存储介质
CN110584547B (zh) * 2019-10-18 2021-11-02 尚科宁家(中国)科技有限公司 一种扫地机器人的清洁方法及清洁系统

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150150428A1 (en) * 2013-11-29 2015-06-04 Samsung Electronics Co., Ltd. Cleaning robot and control method thereof
CN106725135A (zh) * 2016-12-16 2017-05-31 云翊智能科技（东莞）有限公司 基站和清洁机器人系统
CN109662659A (zh) * 2016-12-16 2019-04-23 云鲸智能科技（东莞）有限公司 清洁机器人和清洁机器人系统
CN112674658A (zh) * 2016-12-16 2021-04-20 云鲸智能科技（东莞）有限公司 基站和清洁机器人系统
CN110236455A (zh) * 2019-01-08 2019-09-17 云鲸智能科技（东莞）有限公司 拖地机器人的控制方法、装置、设备及存储介质
CN110236456A (zh) * 2019-01-08 2019-09-17 云鲸智能科技（东莞）有限公司 拖地机器人的控制方法、装置、设备及存储介质
CN109984684A (zh) * 2019-04-11 2019-07-09 云鲸智能科技（东莞）有限公司 清洁控制方法、装置、清洁机器人和存储介质
CN112914442A (zh) * 2021-02-18 2021-06-08 美智纵横科技有限责任公司 清洁设备用基站、清洁系统、控制方法、计算机设备及计算机可读存储介质
CN112956956A (zh) * 2021-02-18 2021-06-15 美智纵横科技有限责任公司 清洁系统、控制方法、计算机设备及计算机可读存储介质

Also Published As

Publication number Publication date
CN112956956A (zh) 2021-06-15

Similar Documents

Publication Publication Date Title
WO2022174785A1 (zh) 清洁系统、控制方法、计算机设备及计算机可读存储介质
WO2022174558A1 (zh) 清洁设备用基站、清洁系统、控制方法、计算机设备及计算机可读存储介质
KR102611848B1 (ko) 로봇청소기 및 제어방법
CN111345742B (zh) 一种清洁机器人及控制方法
CN112205930B (zh) 一种扫拖一体机器人的工作机站
KR100854015B1 (ko) 로봇청소기
CN112168095B (zh) 一种用于扫地机的控制方法及控制器
KR20080007189A (ko) 스팀 로봇청소기
TW201117760A (en) Puddle eliminating system and puddle eliminating method
CN113693519B (zh) 基站及表面清洁系统
US20240000283A1 (en) Docking station for an autonomous floor cleaner
CN215424424U (zh) 一种扫地机器人基站与扫地机器人系统
WO2023087919A1 (zh) 自移动清洁机器人、清洁系统、控制方法及清洁方法
CN113143117A (zh) 清洁设备用尘盒、清洁设备、清洁系统、控制方法、计算机设备及计算机可读存储介质
CN113827143A (zh) 用于处理主动式表面清洁装置的方法和湿式表面清洁系统
CN206586899U (zh) 清洁机器人
CN113543684B (zh) 一种用于可行走表面的手扶式处理装置
CN114391784B (zh) 洗地机及其控制方法
CN209884021U (zh) 一种擦窗机器人基座、擦窗机器人以及擦窗机器人系统
CN214342167U (zh) 一种扫拖一体机器人工作机站装置
CN111329382A (zh) 一种擦窗机器人基座、擦窗机器人以及擦窗机器人系统
CN216167272U (zh) 基站及表面清洁系统
CN219613766U (zh) 一种自移动设备及机器人系统
CN216652196U (zh) 湿式表面清洁系统和接口底座
CN219289354U (zh) 清洁机器人系统

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: 22755558

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22755558

Country of ref document: EP

Kind code of ref document: A1