WO2023011124A1

WO2023011124A1 - Self-cleaning system, self-moving device, workstation, and working method therefor

Info

Publication number: WO2023011124A1
Application number: PCT/CN2022/105329
Authority: WO
Inventors: 丁民权; 龚珂; 高超; 郑辉华; 吴洲
Original assignee: 科沃斯机器人股份有限公司
Priority date: 2021-08-05
Filing date: 2022-07-13
Publication date: 2023-02-09

Abstract

A self-cleaning system, a self-moving device (200), a workstation (100), and a working method therefor. The workstation (100) is additionally provided with the function of dust collection and the function of cleaning a wiping assembly (2012); and when a dust box (51) needs to collect dust, firstly, a dust collection operation of the dust box (51) is performed, and after dust collection is completed, a cleaning operation of the wiping assembly (2012) is then performed. In this way, damp dust can be prevented from blocking a dust collection channel (1017), and damp dust can also be prevented from breeding bacteria in a dust collection bag.

Description

Self-cleaning system, self-moving device, workstation and method of operation thereof

cross reference

This application refers to the Chinese patent application No. 2021108972514 submitted on August 5, 2021 entitled "Self-cleaning system, self-moving equipment, workstation and working method thereof", and the title submitted on August 25, 2021 as "a Chinese patent application No. 2021109796543 for cleaning method of cleaning components and cleaning robot system" and Chinese patent application No. 2021110460181 entitled "Self-cleaning system, self-moving equipment, workstation and working method thereof" submitted on September 07, 2021 , which is incorporated by reference into this application in its entirety.

technical field

The present application relates to the technical field of artificial intelligence, and in particular to a self-cleaning system, self-moving equipment, a workstation and a working method thereof.

Background technique

With the development of artificial intelligence technology, cleaning robots have gradually entered people's daily life. In order to enrich the functions of cleaning robots, the existing technology includes cleaning robots that integrate multiple functions, for example, both mopping and sweeping functions (referred to as sweeping and mopping in one) cleaning robot.

The sweeping and mopping integrated cleaning robot can save users the trouble of mopping the floor again after sweeping, and save users a lot of time. However, while the cleaning robot integrating sweeping and mopping is convenient for users, it also faces the problem of self-cleaning. For example, users may need to manually clean the dust box and mop, etc., which is inefficient and inconvenient for users.

Contents of the invention

In order to solve or improve the problems existing in the prior art, various embodiments of the present application provide a self-cleaning system, a self-moving device, a workstation and a working method thereof.

In one embodiment of the present application, a self-cleaning system is provided, including a self-moving device and a workstation; the self-moving device at least includes a dust box, a dust outlet connected to the dust box, and a wiping assembly, and the workstation is set There is a dust collection port and a cleaning tank; when the mobile device is docked with the workstation, the dust collection port is connected to the dust discharge port, and the wiping component is located in the cleaning tank;

The self-moving device is used to send a dust collection instruction to the workstation after it needs to perform a self-cleaning task and complete docking with the workstation, so as to instruct the workstation to perform the dust collection task on the dust box; and after receiving the dust collection completion signal , continue to send cleaning instructions to the workstation, and drive the wiping assembly to rotate, so as to cooperate with the workstation to perform cleaning tasks on the wiping assembly;

The workstation is used to control the suction fan to work according to the dust collection parameters according to the dust collection instruction, and perform dust collection processing on the dust box; after the dust collection is completed, send a dust collection completion signal to the mobile device and according to the cleaning instruction, alternately perform water discharge and pumping operations on the cleaning tank according to the cleaning parameters, and cooperate with the rotation of the wiping assembly to perform cleaning tasks on the wiping assembly.

In an embodiment of the present application, a working method from a mobile device is provided. The self-moving device includes a dust box, a dust outlet connected to the dust box, and a wiping assembly. The method includes: when a self-cleaning task needs to be performed, docking the self-mobile device with a workstation so that the dust outlet is connected to the The dust collection port of the workstation is docked and the wiping assembly is located in the cleaning tank of the workstation; a dust collection command is sent to the workstation to instruct the workstation to control the suction fan to work according to the dust collection parameters to perform cleaning on the dust box. Dust collection task; after receiving the dust collection completion signal sent by the workstation, drive the wiper assembly to rotate, and continue to send a cleaning instruction to the workstation to instruct the workstation to perform a cleaning task on the wiper assembly; wherein The cleaning task performed by the workstation includes: alternately performing water discharge and pumping operations on the cleaning tank according to cleaning parameters, and cleaning the wiping assembly in conjunction with the rotation of the wiping assembly.

In another embodiment of the present application, a working method of a workstation is provided. The workstation includes a dust collection port and a cleaning tank, the dust collection port is docked with the dust discharge port on the mobile device connected to the dust box, and the method includes: when receiving a dust collection instruction sent from the mobile device, according to the dust collection parameter Control the operation of the suction fan to collect dust from the dust box on the self-moving device; after the dust collection is completed, send a dust collection completion signal to the self-moving device to trigger the self-moving device to send a cleaning instruction ; If the cleaning instruction is received, alternately perform water discharge and pumping operations on the cleaning tank according to the cleaning parameters, and cooperate with the rotation of the wiping component on the self-moving device to perform cleaning tasks on the wiping component.

In another embodiment of the present application, a mobile device is provided. The self-moving device includes a device body, which is provided with a memory and a processor, as well as a dust box, a dust outlet connected to the dust box, and a wiping assembly; the memory is used to store computer programs; the processor is coupled to the memory for execution The computer program in the memory is used for: when the self-mobile device needs to perform a self-cleaning task, control the self-mobile device to dock with the workstation, so that the dust outlet is docked with the dust collection port of the workstation and the The wiping assembly is located in the cleaning tank of the workstation; a dust collection command is sent to the workstation to instruct the workstation to control the suction fan according to the dust collection parameters to perform dust collection tasks on the dust box; upon receiving the After the dust collection completion signal sent by the workstation, the wiper assembly is driven to rotate, and continues to send cleaning instructions to the workstation to instruct the workstation to perform cleaning tasks on the wiper assembly; wherein, the workstation performs cleaning tasks according to The cleaning parameters alternately perform water discharge and pumping operations on the cleaning tank, and cooperate with the rotation of the wiping assembly to clean the wiping assembly.

In another embodiment of the present application, a workstation is provided. The workstation includes a workstation body, which is provided with a memory and a processor, as well as a dust collection port and a cleaning tank, and the dust collection port is docked with the dust discharge port connected to the dust box on the self-moving device; the memory is used to store computer programs ; The processor is coupled with the memory, and is used to execute the computer program in the memory, so as to: when receiving the dust collection instruction sent from the mobile device, control the suction fan to work according to the dust collection parameters, so as to control the operation of the suction fan from the mobile device After the dust collection is completed, send a dust collection completion signal to the self-mobile device to trigger the self-mobile device to send a cleaning instruction; if the cleaning instruction is received, alternately according to the cleaning parameters Execute water discharge and pumping operations on the cleaning tank, and cooperate with the rotation of the wiping assembly on the self-moving device to perform cleaning tasks on the wiping assembly.

The embodiment of the present application also provides a working method of a workstation, the workstation includes a dust collection port and a cleaning tank, and the dust collection port is docked with the dust discharge port connected to the dust box on the self-moving device, and the method includes: The mobile device is docked with the workstation; alternately perform water discharge and pumping operations on the cleaning tank, and cooperate with the rotation of the wiping component on the self-moving device to perform a cleaning task on the wiping component; after the cleaning task is completed, control the drying of the workstation The dry air is heated to obtain hot air; start the dust suction fan of the self-moving device to form the hot air into a hot air flow, and the hot air enters the dust box from the dust inlet of the dust box of the self-moving device and flows from the dust box of the self-moving device The filter screen of the dust box is blown out; the dust suction fan is turned off; the suction fan of the workstation is controlled to work to suck away the dust in the dust box.

In the technical solution provided by the embodiments of the present application, the functions of dust collection and cleaning and wiping components are added to the workstation, which can free the user's hands and improve the user's experience. Furthermore, when the dust box needs to collect dust, the dust collection operation of the dust box is carried out first, and then the cleaning operation of the wiping component is performed after the dust collection is completed. On the one hand, it can prevent the wet dust from blocking the dust collection channel and reduce the dust collection pressure. And the risk of equipment maintenance; on the other hand, it can prevent the damp dust from breeding bacteria in the dust bag, thereby reducing the risk of harming the health of family members.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 shows a schematic structural diagram of a self-cleaning system provided by an embodiment of the present application;

Fig. 2a shows a schematic bottom view of a mobile device provided by an embodiment of the present application;

Fig. 2b shows a schematic side view of a mobile device provided by an embodiment of the present application;

Fig. 3a shows a schematic diagram of a three-dimensional structure of a workstation provided by an embodiment of the present application;

Fig. 3b shows a schematic diagram of a partial structure of a workstation provided by an embodiment of the present application;

Fig. 3c shows a schematic structural diagram of a workstation base provided by an embodiment of the present application;

Fig. 3d shows a schematic structural diagram of another workstation base provided by an embodiment of the present application;

Fig. 4a shows a schematic flowchart of a working method of a self-mobile device provided by an embodiment of the present application;

Fig. 4b is a schematic structural diagram of a dust collecting device on a cleaning robot provided in an embodiment of the present application;

Fig. 4c is a schematic diagram of the state of outputting hot air flow on the workstation provided by the embodiment of the present application to dry the wiping assembly;

Fig. 4d is a schematic diagram of the bottom structure of the cleaning robot provided by the embodiment of the present application;

Fig. 5a shows a schematic flowchart of a working method of a workstation provided by an embodiment of the present application;

Fig. 5b is a schematic flowchart of another working method of a workstation provided by an exemplary embodiment of the present application;

FIG. 6 shows a schematic structural diagram of another mobile device provided by an embodiment of the present application;

Figure 7a is a schematic diagram of the airflow state when the workstation and the self-moving device simultaneously start the fan to work when the dust box is performing the dust collection task provided by the embodiment of the present application;

Figure 7b is a cloud diagram of the flow field distribution in the dust box when the workstation independently starts the suction fan when the dust box is performing the dust collection task provided by the embodiment of the present application;

Fig. 7c is a cloud diagram of the flow field distribution in the dust box when the workstation and the self-moving device start the fan at the same time when the dust box is performing the dust collection task provided by the embodiment of the present application.

Detailed ways

The present application provides the following embodiments to solve or partially solve the problems existing in the above-mentioned solutions. In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

An embodiment of the present application provides a self-cleaning system, as shown in FIG. 1 , the system includes: a workstation 100 and a self-moving device 200 . Wherein, as shown in Fig. 2a-Fig. 2b, mobile device 200 at least includes: dust box (not shown), the dust outlet 2011 that communicates with dust box and wiping assembly 2012; As shown in Fig. 3a, workstation 100 includes at least Dust collecting port 1011 and cleaning tank 1012.

In this embodiment, the self-moving device 200 may be any cleaning robot with a dust box, a dust outlet 2011 and a wiping assembly 2012 , for example, a cleaning robot integrating mopping and sweeping. As shown in FIG. 2 a , the mobile device 200 includes a device body 201 . The appearance of the device body 201 can have various shapes, such as regular figures (circle, square) or irregular figures. The device body 201 shown in FIG. 2a is circular, and the device body 201 shown in FIG. 2b is square. Further, as shown in FIG. 2a, at least a traveling mechanism 2019, a controller, and various sensors (not shown in the figure) are provided on the device body 201 . The traveling mechanism 2019 can be a driving wheel, a universal wheel, etc., and is mainly used to realize the autonomous movement of the main body of the device. The controller can execute the computer instructions in the memory to control the traveling mechanism 2019 and the sensors to perform corresponding operations, and control the main body of the equipment to realize corresponding functions, complete corresponding actions or perform corresponding tasks in a certain environment. Sensors may include, but are not limited to: laser radar (such as LDS, /TOF, structured light module, etc.), camera, ultrasonic sensor, down-view sensor, side-view sensor, mechanical impact plate, etc.

Further, the device body 201 also has a sweeping component for performing sweeping tasks and a mopping component for performing mopping tasks. As shown in Figure 2a, the sweeping assembly includes at least a fan assembly, a dust box, a rolling brush assembly 2021, and a side brush assembly 2022; the mopping assembly includes at least a wiping assembly 2012 (such as a rag, a transmission mechanism, etc.), , pipelines, one-way valves, etc.) and water tanks. Wherein, the dust box can be fixedly arranged on the device body 201, or can be detachably arranged on the device body 201; optionally, the dust box is arranged on the top of the device body 201, and the side of the device body 201 is provided with a The dust outlet 2011 connected to the box is shown in Figure 2b. In addition, the dust outlet 2011 will be provided with a shielding part, during the non-dust collection period, especially in the process of performing cleaning tasks from the mobile device, the shielding part blocks the dust outlet, so that dust and other garbage objects can be sucked into the dust box; During the dust discharge, the shielding part is removed, for example, the shielding part can be moved upwards or to the left or to the right. At this time, the dust discharge port will be exposed, so that the dust discharge port can be docked with the dust collection port. Or optionally, the shielding part can also be implemented as an elastic expansion part, which can cover the dust outlet when the elastic expansion part is in a stretched state, and will expose the dust outlet when the elastic expansion part is in a contracted state. Dust outlet. Similarly, the wiping assembly 2012 can be fixedly arranged on the device body 201 , or can be detachably arranged on the device body 201 . In addition, the self-mobile device 200 can independently control the sweeping component to perform the sweeping task, or control the mopping component to perform the mopping task, or control the sweeping component and the mopping component to perform the sweeping task and the mopping task simultaneously. As shown in Figure 2a, the rolling brush assembly 2021, the side brush assembly 2022, and the wiping assembly 2012 are all arranged on the bottom of the equipment body 201, and relative to the forward direction of the equipment body 201, the rolling brush assembly 2021 and the side brush assembly 2022 are arranged on the wiping Assembly 2012 front. Based on this setting structure, when the self-mobile device 200 performs the sweeping task and the mopping task at the same time, it can achieve the effect of first sweeping the floor and then mopping the floor.

Along with the execution of the task of sweeping the floor, there will be more garbage objects such as dust in the dust box, which involves the cleaning of the dust box; More serious, this just involves the cleaning problem of wiping assembly 2012. In the embodiment of the present application, the cleaning problem of the dust box and the cleaning problem of the wiping assembly 2012 are collectively referred to as the self-cleaning problem of the self-moving device 200 .

In this embodiment, in order to solve the self-cleaning problem of the mobile device 200, the function of the workstation 100 adapted to the mobile device 200 has been expanded, that is, a dust collection function and a cleaning function have been added to the workstation 100. The dust collection function It is used to collect dust from the dust box on the mobile device 200 , and the cleaning function is used to clean the wiping assembly 2012 on the mobile device 200 . Further, in order to adapt to the dust collection and cleaning functions, the structure of the workstation 100 has also been adaptively improved, that is, structural components adapted to the dust collection and cleaning functions are added.

As shown in Figure 3a, the workstation 100 of this embodiment includes a workstation body 101, and the workstation body 101 is provided with an accommodation chamber 1013 for accommodating the self-mobile device 200, and a charging port 1014 is provided in the accommodation chamber 1013 for self- The mobile device 200 provides a charging function; further, a dust collection port 1011 is opened on the side wall of the accommodating chamber 1013. The dust discharge port 2011 on the 200 is docked, and the other end of the dust collection port 1011 is connected with a dust bag or a dust bucket (not shown in the figure). Wherein, as shown in Figure 3b, under the action of the suction fan 1016, the shielding portion on the dust discharge port 2011 is removed under the action of suction (for example, the elastic elastic member is in a contracted state under the action of suction), and the dust box The objects enter the dust collection channel 1017 through the dust discharge port 2011 and the dust collection port 1011 successively, and are finally sucked into the dust collection bag or dust bucket; when the suction fan 1016 stops working, the shielding part will block the dust discharge again due to the disappearance of the suction force. Mouth 2011 (for example, the elastic stretchable part resumes the extended state after the suction force disappears). Further, as shown in FIG. 3 a , a cleaning tank 1012 is formed at the bottom of the accommodating chamber 1013 , and when the self-moving device 200 is docked with the charging port 1014 , the wiping assembly 2012 on the self-moving device 200 is located in the cleaning tank 1012 . Further, as shown in FIG. 3 c , a scrubbing bar 1018 is provided in the cleaning tank 1012 . The scrubbing bar 1018 is non-rotatable and used to clean the wiping assembly 2012 in conjunction with the rotation of the wiping assembly 2012 on the self-moving device 200 . FIG. 3 c is a schematic diagram of the state where the wiping assembly 2012 acts on the scrubbing strip 1018 . At this time, the scrubbing strip 1018 is partially covered by the wiping assembly 2012 . Further, the workstation body 101 also has a water delivery system and a pumping system; based on the water discharge system, the workstation 100 can perform water discharge operations on the cleaning tank 1012; based on the pumping system, the workstation 100 can perform pumping operations on the cleaning tank 1012. Wherein, the water delivery system includes a clear water bucket 1021 (as shown in Figure 3 a ) that is arranged on the top of the accommodating chamber 1013, and a water outlet pipeline that connects the clean water bucket 1021 with the cleaning tank 1012, and the water outlet pipeline has a water outlet; the clean water bucket 1021 is used for To hold the cleaning liquid, the workstation 100 can control the cleaning liquid in the clear water bucket 1021 to be delivered to the cleaning tank 1012 through the water outlet of the water outlet pipeline, so as to provide cleaning liquid to the wiping assembly 2012 located in the cleaning tank 1012; correspondingly, the pumping system It includes a sewage bucket 1022 (as shown in FIG. 3 a ) arranged above the accommodating chamber 1013, and a suction pipeline connecting the sewage bucket 1022 with the cleaning tank 1012. The suction pipeline has a suction port, and the dirt generated after cleaning the wiping assembly 2012 The liquid can be recovered into the sewage tank 1022 through the pumping pipeline.

Based on the above-mentioned workstation 100 with dust collection function and cleaning function, when the mobile device 200 needs to collect dust, you can return to the workstation 100 and notify the workstation 100 to enable the dust collection function to collect dust from the dust box of the mobile device 200. Garbage objects such as dust in the dust box are sucked into the dust bag or bucket in the workstation 100 . When the self-mobile device 200 needs to clean the wiping assembly 2012, it can return to the workstation 100 and notify the workstation 100 to enable the cleaning function to clean the wiping assembly 2012 from the mobile device 200, thereby freeing the user's hands and improving the user's experience.

However, considering that there may be a docking deviation when the self-mobile device 200 is docked with the workstation 100, the docking between the dust discharge port and the dust collection port 1011 is not tight enough, for example, there may be a little misalignment or a small gap. The dust collection and cleaning functions of the workstation 100 are reasonably controlled, and the following scenarios may occur during actual use: when returning from the mobile device 200 to the workstation 100 for dust collection, there is cleaning liquid ( Such as water), dust collection is carried out at this time, because the butt joint between the dust discharge port and the dust collection port 1011 is not tight enough, the suction fan 1016 will suck the residual moisture in the dust collection channel 1017, making the inside humidity of the dust collection channel 1017 too large. This will cause the following hazards: 1. Moist dust can easily block the dust collection passage 1017, increase the dust collection pressure, and damage the suction fan 1016, thereby reducing the user experience of the workstation 100 and increasing the risk of maintenance; It is easy to breed bacteria in the dust bag. If it is not cleaned in time, it will cause mildew, odor and other hazards, and at the same time damage the health of family members.

In view of the above problems, the embodiment of the present application also provides a new solution for dust collection and cleaning. Based on this solution, the working process of the self-cleaning system of the embodiment of the present application is as follows:

When the self-mobile device 200 recognizes the need to perform a self-cleaning task, the self-mobile device 200 docks with the workstation 100, and when the self-mobile device 200 docks with the workstation 100, the dust collection port 1011 is docked with the dust discharge port 2011, and the wiping assembly 2012 Located in the cleaning tank 1012; after the docking is successful, the mobile device 200 sends a dust collection command to the workstation 100 to instruct the workstation 100 to perform a dust collection task on the dust box; when the workstation 100 receives the dust collection command sent from the mobile device 200 , control the suction fan 1016 to work according to the dust collection parameters to collect dust from the dust box on the mobile device 200 through the dust collection port 1011; after the dust collection is completed, the workstation 100 sends a dust collection completion signal to the mobile device 200, To trigger the self-mobile device 200 to continue to send cleaning instructions to the workstation 100; after receiving the dust collection completion signal sent by the workstation 100, the self-mobile device 200 continues to send cleaning instructions to the workstation 100, and drives the wiping assembly 2012 to rotate to match the workstation 100 Perform the cleaning task on the wiping assembly 2012; when the workstation 100 receives the cleaning instruction, it alternately performs water discharge and pumping operations on the cleaning tank 1012 according to the cleaning parameters, and cooperates with the rotation of the wiping assembly 2012 to clean the wiping assembly 2012 of the mobile device 200. Perform cleaning tasks.

In the embodiment of the present application, the self-cleaning task is to clean the cleaning components of the mobile device 200 itself, for example, the self-cleaning task may include: collecting dust in the dust box, cleaning the wiping assembly 2012 and so on. Before performing the self-cleaning task, the self-mobile device 200 needs to identify whether it needs to perform the self-cleaning task. The ways for the self-mobile device 200 to identify the need to perform the self-cleaning task include the following, each of which can be regarded as a trigger to perform the self-cleaning task. An event for the cleaning task:

Mode A1: self-cleaning is required every time the self-mobile device 200 completes a cleaning task, that is, after the self-mobile device 200 completes each task, it is determined to perform the self-cleaning task, then moves back to the workstation 100, and docks with the workstation 100, Then follow the procedure above to start the self-cleaning task.

Mode A2: The self-mobile device 200 will record the number of times the task is executed, and when the number of times the task is executed reaches the set number threshold, it is determined to execute the self-cleaning task, then move back to the workstation 100, and dock with the workstation 100, and then follow the above process Start the self-cleaning task.

Method A3: During the process of performing tasks, the self-mobile device 200 monitors the amount of garbage in the dust box and the degree of dirtiness of the wiping component 2012 in real time, and determines to execute the self-cleaning task after any one of the indicators meets the set requirements. Move back to the workstation 100 and dock with the workstation 100, then start the self-cleaning task according to the above process.

Manner A4: when the self-mobile device 200 is performing an operation task, it is determined to perform the self-cleaning task when the power is insufficient. That is, the self-mobile device 200 monitors the power of the battery in real time during the operation process. If the power of the battery is insufficient, it needs to return to the workstation 100 for charging. Since charging takes a certain amount of time, the self-cleaning task can be performed during charging.

Mode A5: When the self-mobile device 200 is performing a task, when the area of the task reaches the set area threshold or the operation duration reaches the set time threshold, it is determined to perform the self-cleaning task, then moves back to the workstation 100 and docks with the workstation 100 , and then start the self-cleaning task according to the above process.

After the self-mobile device 200 recognizes that the self-cleaning task needs to be performed, the self-mobile device 200 returns to the workstation 100 and docks with the workstation 100 . There are many ways to dock from the mobile device 200 to the workstation 100. For example, the docking can be completed in the following manner: when the docking conditions are met, the mobile device 200 sends a docking signal to the workstation 100; and the workstation 100 is identified by a camera to obtain a recognition image , use the image processing model to segment and recognize the image to obtain the target area, the target area is the area containing the information of the workstation 100; then obtain the target point cloud corresponding to the target area, match the target point cloud with the point cloud template to determine the pose information of the workstation 100 ; Finally, dock the workstation 100 according to the pose information. Alternatively, the workstation 100 is provided with a signal transmitter for guiding self-mobile device 200 to carry out recharging and docking, and self-mobile device 200 is provided with a signal receiver for receiving the recharging guidance signal. Based on this, when it is necessary to return to the mobile station Next, the workstation 100 can control the signal transmitter to transmit a recharging guidance signal to the outside, and the self-mobile device 200 can move to the workstation 100 under the guidance of the recharging guidance signal emitted by the workstation 100 and complete the docking with the workstation 100 . In this embodiment, the docking condition may be: each time the self-mobile device 200 completes a cleaning task; the number of times the self-mobile device 200 performs tasks reaches a set number threshold; the amount of garbage in the dust box reaches a set number; the wiping component 2012 The dirty degree of the self-mobile device 200 reaches the set level; the power of the mobile device 200 is insufficient; the task area of the self-mobile device 200 reaches the set area threshold; the working time of the self-mobile device 200 reaches the set time threshold and so on.

In the above self-cleaning process, when the dust box needs to collect dust, the dust collection operation of the dust box is performed first, and then the cleaning operation of the wiping assembly 2012 is performed after the dust collection is completed. On the one hand, it can prevent wet dust from blocking the dust collection channel 1017, reduce the pressure of dust collection and the risk of equipment maintenance; on the other hand, it can prevent the damp dust from breeding bacteria in the dust bag, thereby reducing the risk of harming the health of family members.

In some embodiments of the present application, the mobile device 200 may perform the sweeping task alone, and in the case of performing the sweeping task alone, the wiping component 2012 may not be cleaned. Or, because of the influence of some other factors, such as the degree of dirtiness of the wiping assembly 2012 is relatively light, in order to save the workload of the workstation 100, reduce the time-consuming self-cleaning task, and improve the overall cleaning efficiency, it is not necessary to clean the wiping assembly 2012 . Similarly, the self-mobile device 200 can also perform the task of mopping the floor alone, and in the case of performing the task of mopping the floor alone, the dust box does not need to collect dust. Or, due to other factors, such as less garbage in the dust box, in order to save the workload of the workstation 100, reduce the time-consuming self-cleaning task, and improve the overall cleaning efficiency, the dust box may not be collected.

Based on the above analysis, in some optional embodiments of the present application, before the dust collection command is sent from the mobile device 200 to the workstation 100, it is first judged whether this self-cleaning task includes a cleaning task for the wiping component 2012; In the case of a cleaning task, it is judged whether this self-cleaning task includes a dust collection task; if it includes a dust collection task, the operation of sending a dust collection command to the workstation 100 is performed; 100 An operation of sending a cleaning instruction. Further, if it is judged that this self-cleaning task does not include the cleaning task for the wiping assembly 2012 but only includes the dust collection task for the dust box, the dust collection command can be directly sent to the workstation 100 to instruct the workstation 100 to perform the cleaning task on the dust box. Dust collection task, and after receiving the dust collection completion signal sent by the workstation 100, end this self-cleaning task. In this optional embodiment, in the process of judging whether the self-cleaning task needs to perform the cleaning task and the dust collection task, it is first judged whether the cleaning task needs to be performed, and the impact of the cleaning task on the dust collection task is fully considered. In the case of a cleaning task and a dust collection task needs to be performed, the dust collection command is first sent to the workstation 100, and after the dust collection task is completed, the cleaning command is sent to the workstation 100. On the one hand, it can prevent the wet dust from blocking the dust collection channel 1017 , to reduce the pressure of dust collection and the risk of equipment maintenance; on the other hand, it can prevent the damp dust from breeding bacteria in the dust bag, thereby reducing the risk of harming the health of family members.

In the embodiment of the present application, the method of judging whether this self-cleaning task includes the cleaning task for the wiping assembly 2012 is not limited. According to different application requirements, it is determined whether this self-cleaning task includes the cleaning task of the wiping assembly 2012. The methods can be adopted but not limited to the following:

Mode B1: When it is determined that this self-cleaning task needs to be performed, collect the degree of dirtiness of the wiping component 2012 from the mobile device 200, and determine the degree of dirtiness of the wiping component 2012 when the degree of dirtiness of the wiping component 2012 is greater than the set dirtiness threshold. The second self-cleaning task includes the cleaning task of the wiping assembly 2012 . For example, install a dirt level detection sensor or camera on the wiping component 2012, transmit the collected dirt level data or images of the wiping component 2012 to the cloud, perform processing and analysis based on the learning model, and return the analysis result to the self-moving Device 200; when the analysis result shows that the degree of dirtiness of the wiping component 2012 is greater than the set level of dirtiness, the self-moving device 200 determines that this self-cleaning task includes the cleaning task of the wiping component 2012.

Way B2: When it is determined that this self-cleaning task needs to be performed, obtain the time interval from the last cleaning task from the mobile device 200, and if the time interval is greater than the set time interval, determine that this self-cleaning task includes wiping Cleaning task for component 2012. In this manner, it is determined whether to perform a cleaning task on the wiping assembly 2012 based on the time interval from the last cleaning task. If the time interval is greater than the set time interval, it means that the wiping component 2012 has not been cleaned for a period of time, and its degree of dirt may be heavy, and it is necessary to perform a cleaning task for the wiping component 2012 .

Mode B3: According to the event type that triggers the cleaning task, if the event type is a specified event type, then it is determined that the self-cleaning task includes the cleaning task of the wiping component 2012 . For example, the designated event type may be an event type in which the mobile device 200 needs to return to the workstation 100 for charging, or an event type in which the degree of contamination of the wiping component 2012 reaches a set requirement. In this way, the event type indicating that the wiping assembly 2012 needs to be cleaned is set as the specified event type in advance, and whether the wiping assembly 2012 needs to be cleaned is determined by judging whether the event type that triggers this cleaning task is the specified event type. Perform cleaning tasks.

Further, in the case that this self-cleaning task includes a cleaning task, the way of judging whether this self-cleaning task includes a dust collection task can be adopted but not limited to the following:

Mode C1: collect the attribute information of the garbage objects in the dust box, and determine that this self-cleaning task includes the dust collection task when the attribute information of the garbage objects meets the dust collection requirements. Wherein, the attribute information of the object may include at least one of the category, size and quantity of the object. The categories of objects may include: particles, dust, lumps or liquids, etc.

Correspondingly, there are many ways to collect the attribute information of garbage objects in the dust box. For example, a camera is installed on the bottom or side wall of the dust box, and the captured pictures are sent to the cloud, and the objects in the photos are recognized based on the learning model. Obtain the attribute information such as the category, size and quantity of the object, and when the number of objects is greater than the set number, determine that this self-cleaning task includes a dust collection task; or when the object contains a set type of object, determine this self-cleaning task The task includes a dust collection task; or when the object contains an object whose size is larger than a set volume, it is determined that this self-cleaning task includes a dust collection task.

Mode C2: Obtain the time interval from the last dust collection task, and if the time interval is greater than the set time interval, determine that this self-cleaning task includes the dust collection task. In this way, the time interval from the last dust collection task is used as a condition to determine whether to perform a dust collection task on the dust box. If the time interval is greater than the set time interval, it means that the dust box has not been cleaned for a period of time, and there is likely to be a lot of garbage in it, and the dust collection task needs to be performed on the dust box.

Way C3: According to the event type that triggers the cleaning task, if the event type is a specified event type, then it is determined that the self-cleaning task includes the dust collection task. For example, the specified event type may be that the self-mobile device 200 needs to be recharged, that is, when the self-mobile device 200 is insufficiently charged and returns to the workstation 100 for charging, it is determined that this cleaning task includes a dust collection task, or that the amount of garbage in the dust box reaches the set value. Specify the required event type. In this method, the event type indicating that dust collection needs to be performed on the dust box is set in advance as the specified event type, and whether it is necessary to perform cleaning on the dust box is determined by judging whether the event type that triggers this cleaning task is the specified event type. Dust collection tasks.

In the above or following embodiments of the present application, the sources of the dust collection parameters used by the workstation 100 to perform the dust collection task are not limited. In an optional embodiment, the dust collection parameters can be default parameters pre-built into the self-mobile device 200, and the same dust collection parameters are used for each dust collection task; or, the user can also reset the dust collection parameters through the APP , but the same dust collection parameters are used for each dust collection task until the next setup operation. In another optional embodiment, the dust collection parameters used for each dust collection task are generated from the mobile device 200 and provided to the workstation 100 . Specifically, after determining that this cleaning task includes a dust collection task, the self-mobile device 200 can generate the dust collection parameters required for this dust collection task based on the attribute information of the objects in the dust box; and perform the dust collection task at the workstation 100 The dust collection parameters are sent to the workstation 100 before, so that the workstation 100 can perform the dust collection task on the dust box according to the dust collection parameters provided by the mobile device 200 each time. Further optionally, the self-mobile device 200 may carry the dust collection parameters in the dust collection instruction and send it to the workstation 100, that is, send the dust collection instruction including the dust collection parameters to the workstation 100 to instruct the workstation 100 to control the extraction according to the dust collection parameters. The suction fan works to collect dust from the dust box through the dust collection port. In yet another optional embodiment, after receiving the dust collection instruction, the workstation 100 can generate the dust collection parameters required for this dust collection task according to the attribute information of the objects in the dust box, and control the suction according to the dust collection parameters. The fan works to collect dust from the dust box through the dust collection port.

In the embodiment of the present application, the dust collection parameters may include at least one of dust collection times, dust collection power, and dust collection duration. The dust collection frequency is used to limit the working frequency of the suction fan 1016 in this dust collection task, the dust collection power refers to the working power of the suction fan 1016, and the dust collection duration refers to the duration of this dust collection task. Further optionally, in the manner in which the mobile device 200 or the workstation 100 generates the dust collection parameters required for this dust collection task according to the attribute information of the objects in the dust box, there are many objects in the dust box or the objects are not easy to be cleaned ( For example, when there are sticky objects, such as paper with oil stains and milk stains on it, you can set more dust collection times, and set the dust collection power and dust collection time for each time to be relatively large. It should be noted that the dust collection parameters used in different dust collection tasks may be the same or different. This difference can be the difference in the number of times of dust collection, or the difference in the dust collection power and dust collection time each time.

For example, in an optional embodiment, for this dust collection task, the self-mobile device 200 or workstation 100 sets the number of dust collections to be greater than or equal to 2 according to the attribute information of the objects in the dust box, and as the number of dust collections increases, The dust collection power and dust collection time used in the dust collection process are gradually reduced. For example, the number of dust collection is 3 times, the dust collection power used for the first dust collection is 300w, and the dust collection time is 30s, the dust collection power used for the second dust collection is 200w, the dust collection time is 20s, and the third time The dust collection power used for dust collection is 100w, and the dust collection time is 10s. It should be noted that, in order to avoid switching the working power of the suction fan 1016 back and forth, it is also possible to set a fixed power for each dust collection, such as 300w, but as the number of dust collections increases, the dust collection time used for each dust collection gradually increases. Reduce, for example, the duration of the first dust collection is 30s, the duration of the second dust collection is 25s, the duration of the third dust collection is 15s, etc. Alternatively, the dust collection time for the first dust collection is the longest, for example, 30s, and the dust collection time for the rest of the dust collections is the same, for example, 15s.

Regardless of the source of the dust collection parameters, when the dust collection parameters include dust collection times, dust collection power and dust collection time, for the workstation 100, the suction fan 1016 is controlled to work according to the dust collection parameters to pass The dust collection process of the dust box on the mobile device 200 by the dust collection port 1011 can be realized through the following steps: according to the number of dust collections, the suction fan 1016 in the workstation 100 is controlled to run multiple times, so as to clean the dust in this dust collection task. The dust box carries out multiple dust collections; in each dust collection process, according to the dust collection power used for this dust collection, the suction fan 1016 is controlled to run the dust collection time required for this dust collection, so that the airflow drives the dust in the dust box. Objects flow into the dust bag of the workstation 100 through the dust collection port 1011.

Similarly, in the above or following embodiments of the present application, the sources of the cleaning parameters used by the workstation 100 to perform cleaning tasks are not limited. In an optional embodiment, the cleaning parameters can be default parameters built into the self-mobile device 200 in advance, and the same cleaning parameters are used for each cleaning task; or, the user can also reset the cleaning parameters through the APP, but the next time Before setting up the operation, the same cleaning parameters were used for each cleaning task. In an optional embodiment, if this cleaning task includes a cleaning task but does not include a dust collection task, or if this cleaning task includes a cleaning task and a dust collection task and the dust collection task has been completed, the mobile device 200 The degree of dirtiness of the wiping assembly 2012 can be collected; according to the degree of dirtiness of the wiping assembly 2012, the cleaning parameters required for this cleaning task are generated; and the cleaning parameters are sent to the workstation 100 before the workstation 100 performs the cleaning task, so that the workstation 100 alternately performs water discharge and pumping operations on the cleaning tank 1012 according to the cleaning parameters, and performs cleaning tasks on the wiping assembly 2012 in conjunction with the rotation of the wiping assembly 2012 . Further optionally, the self-mobile device 200 may carry the cleaning parameters in the cleaning instruction and send it to the workstation 100 , that is, send the cleaning instruction including the cleaning parameters to the workstation 100 . In yet another optional embodiment, after receiving the cleaning instruction sent from the mobile device 200, the workstation 100 can collect the degree of dirtiness of the wiping component 2012; according to the degree of dirtiness of the wiping component 2012, generate the According to the cleaning parameters, the cleaning tank 1012 is alternately discharged and pumped according to the cleaning parameters, and the cleaning task is performed on the wiping assembly 2012 in conjunction with the rotation of the wiping assembly 2012.

In the embodiment of the present application, the cleaning parameters may include at least one of cleaning times, cleaning duration, water outlet duration, and water pumping duration of the current cleaning task. Wherein, the cleaning duration may be the total cleaning duration, or may be the cleaning duration used for each cleaning. In the case of multiple cleaning times, the cleaning time, water outlet time and water pumping time of each time may be the same or different. In the case of multiple cleaning times, since the wiping assembly 2012 has the highest degree of dirt during the first cleaning, the corresponding cleaning time can be relatively long, and the water discharge time can also be relatively long, so as to ensure sufficient water discharge. In order to improve the cleaning strength of the first cleaning; in addition, in the last cleaning process, in order to allow the wiping assembly 2012 to be fully dried, the wiping assembly 2012 can be rotated for a while, in order to be able to pump out the water from the wiping assembly 2012 in time. Suck it away, and the pumping time can be relatively long. Based on this analysis, in an optional embodiment, when the cleaning parameters include the number of cleaning times and the water outlet time and pumping time used for each cleaning, the water outlet time used in the first cleaning is the longest, and the water pumping time used in the last cleaning is the longest. , and the pumping time used in the final cleaning is longer than the water discharge time used in the first cleaning. For example, the water discharge time used in the first cleaning is 10s, and the water pumping time used in the last cleaning is 30s.

Further optionally, on the basis that the water outlet time used in the first cleaning is the longest, the water pumping time used in the last cleaning is longer, and the water pumping time used in the last cleaning is longer than the water outlet time used in the first cleaning, for non-final cleaning, each The water outlet time and the water pumping time used in each cleaning can be the same, and as the number of cleanings increases, the degree of dirtiness of the wiping assembly 2012 gradually decreases, and the water outlet time and the water pumping time used for each cleaning can be reduced accordingly, so as to reduce the workload of the workstation. 100% of the burden, save electricity and water resources, improve the overall cleaning efficiency. Or, on the basis that the water discharge time used in the first cleaning is the longest, the pumping time used in the last cleaning is the longest, and the pumping time used in the last cleaning is longer than the water discharge time used in the first cleaning, for non-final cleaning, each cleaning The water outlet time and water pumping time used can be the same, and the water pumping time and water outlet time used in different cleanings are also the same. For example, assuming that the cleaning times are 3 times, because the first cleaning component is the dirtiest, the water is discharged for 10 seconds in the first cleaning to ensure more water output, and the water is pumped for 10 seconds after the first cleaning; the second cleaning is 8 seconds of water discharge Seconds to reduce the water output appropriately compared with the first cleaning, and pump water for 8 seconds after the second cleaning; for the last cleaning, the water output is 8 seconds to appropriately reduce the water output compared to the first cleaning, and pump water for 30 seconds after the last cleaning. It is explained here that during the time between water discharge and water pumping and during water pumping, the self-moving device will drive the wiping assembly to rotate and rub against the brush plate 1015 (scrubbing strip) in the cleaning tank to achieve the purpose of cleaning. Optionally, during water discharge, the self-moving device may also drive the wiping assembly 2012 to rotate; or, after the water discharge operation is completed, the self-moving device 200 starts to drive the wiping assembly to rotate again. Certainly, the water outlet time and the water pumping time used in different cleaning times may be the same and fixed, which may be determined according to the cleaning parameters set by the mobile device 200 .

Regardless of the source of the cleaning parameters, for the workstation 100, after receiving the cleaning instruction, it will alternately perform water discharge and pumping operations on the cleaning tank 1012 according to the cleaning parameters, and cooperate with the rotation of the wiping assembly 2012 to clean the wiping assembly 2012. The implementation process of performing cleaning tasks can be adopted but not limited to the following methods:

Mode D1: During each cleaning process, the workstation 100 performs the water discharge operation on the cleaning tank 1012 according to the water discharge time. Pumping command: After the workstation receives the pumping command sent by the mobile device 200 after the cleaning time is reached, it will perform the pumping operation on the cleaning tank 1012 according to the pumping time used for this cleaning, and after the pumping operation is completed, send the pumping command to the mobile device 200 A water pumping completion signal is returned for timing the next cleaning duration from the mobile device 200 .

Mode D2: During each cleaning process, the workstation 100 performs the water discharge operation on the cleaning tank 1012 according to the water discharge time, and automatically performs the water pumping operation on the cleaning tank 1012 according to the current pumping time after the water discharge operation is completed. In this manner, the duration of each cleaning is equal to or approximately equal to the duration of each water outlet.

Method D3: During each cleaning process, the workstation 100 performs the water discharge operation on the cleaning tank 1012 according to the water discharge time, and performs the pumping operation on the cleaning tank 1012 according to the current pumping time after a specified time interval after the water discharge operation is completed. In this way, the duration of each cleaning is equal to or approximately equal to the sum of the duration of each water outlet and the specified duration.

During the above process, the self-moving device always drives the wiping assembly 2012 to rotate. In addition, in the above process, there is no limitation on the order in which the mobile device 200 drives the wiping assembly 2012 to rotate and the workstation 100 executes the water discharge operation for the first time. It may be that the self-mobile device 200 first drives the wiping assembly 2012 to rotate, and then sends a cleaning instruction to the workstation 100; after receiving the cleaning instruction, the workstation 100 performs the first water discharge operation. Or, it may also be that the self-mobile device 200 first sends a cleaning instruction to the workstation 100. After the workstation 100 receives the cleaning instruction, it performs the first water discharge operation, and sends a rotation start instruction to the self-mobile device 200 after the first water discharge operation is completed; According to the rotation start instruction, the wiping assembly 2012 is driven to rotate.

In the above process, the water discharge operation refers to the process of controlling the water delivery system to transport clean liquid from the clean water bucket 1021 in the workstation 100 to the cleaning tank 1012 according to the water discharge time; the pumping operation refers to controlling the pumping system according to the pumping time. The process of sending liquid into the sewage tank 1022 in the workstation 100.

Further, in some optional embodiments of the present application, the workstation 100 is also used to: perform a water pumping operation on the cleaning tank synchronously during each time the water discharge operation is performed on the cleaning tank, and the water pumping operation is smaller than the water discharge operation The amount of water output can achieve the purpose of cleaning the wiping components by running water and improve the cleaning effect.

In addition, the cleaning of the wiping assembly 2012 is mainly performed by friction between the wiping assembly 2012 and the scrubbing bar 1018 . In the above-mentioned embodiments of the present application, when mutual friction occurs, the scrubbing bar 1018 is fixed, and the self-moving device 200 drives the wiping assembly 2012 to rotate in a certain direction to achieve its own cleaning purpose. Further, in some optional embodiments of the present application, the scrubbing bar 1018 can be rotated, and when mutual friction occurs, the workstation 100 drives the scrubbing bar 1018 to rotate in the first direction on the one hand, and the self-moving device 200 simultaneously drives it to rotate. The wiping assembly 2012 rotates in a second direction, and the first direction is opposite or opposite to the second direction. Wherein, the wiping assembly 2012 and the scrubbing bar 1018 are simultaneously rotated in opposite or opposite directions, which can increase the mutual friction between the two, and is beneficial to improve cleaning efficiency. Further optionally, when the scrubbing bar 1018 rotates, the cleaning parameters may also include the rotation speed and rotation duration of the scrubbing bar 1018 in each cleaning. The rotating speed of the scrubbing bar 1018 matches the rotating speed of the wiping assembly 2012 , and drives the wiping assembly 2012 to rotate in the second direction according to the determined rotating speed of the wiping assembly 2012 . Optionally, the rotating speed of the wiping assembly 2012 used for each cleaning is the same as that of the scrubbing bar 1018 , and correspondingly, the rotating time of the scrubbing bar 1018 is less than or equal to the rotating time of the wiping assembly 2012 . Optionally, the rotation speed of the wiping assembly 2012 may also be an integral multiple of the rotation speed of the scrub bar 1018 .

On the basis of the above embodiment in which the wiping assembly 2012 and the scrubbing bar 1018 are rubbed against each other for cleaning, the rotation direction of the wiping assembly 2012 and the scrubbing bar 1018 can be alternately changed according to a certain law, and the law can be that the wiping assembly 2012 and the rubbing bar 1018 rotation direction can be changed periodically (change the rotation direction once per rotation), or change according to the number of rotations (change the rotation direction once every N times), or change according to the cleaning times (change once every cleaning) rotation direction), this rotation mode can clean the wiping assembly 2012 more cleanly, and the cleaning efficiency is higher. For example, when mutual friction occurs, in the first cycle, the workstation 100 drives the scrub bar 1018 to rotate in the first direction, and the self-moving device 200 simultaneously drives the wiping assembly 2012 to rotate in the second direction, and the first direction is opposite to the second direction or Relative; in the second cycle, the workstation 100 drives the rubbing bar 1018 to change the direction of rotation and rotate in the opposite direction of the first direction, and the self-moving device 200 simultaneously drives the wiping assembly 2012 to change direction and rotate in the opposite direction of the second direction; to the next cycle , the scrubbing bar 1018 and the wiping assembly 2012 change the direction of rotation again, and so on. Or, when friction is generated, the workstation 100 drives the scrub bar 1018 to rotate N times along the first direction, and the self-moving device 200 simultaneously drives the wiping assembly 2012 to rotate N times along the second direction, the first direction and the second direction are opposite or opposite; then , the workstation 100 drives the scrubbing bar 1018 to change the direction of rotation and rotate N times in the opposite direction of the first direction, and the self-moving device 200 simultaneously drives the wiping assembly 2012 to change direction and rotate N times in the opposite direction of the second direction; then the scrubbing bar 1018 and the wiping assembly 2012 changed the direction of rotation again, and so on. Or, when friction occurs, the workstation 100 drives the scrub bar 1018 to rotate in the first direction during the first cleaning, and the self-moving device 200 simultaneously drives the wiping assembly 2012 to rotate in the second direction, and the first direction is opposite or opposite to the second direction. ; During the second cleaning, the workstation 100 drives the rubbing bar 1018 to change the direction of rotation and rotate N times in the opposite direction of the first direction, and the self-moving device 200 simultaneously drives the wiping assembly 2012 to change direction and rotate N times in the opposite direction of the second direction; then The rubbing bar 1018 and the wiping assembly 2012 change the direction of rotation again, and so on.

In some embodiments of the present application, the workstation further includes: a first motor and a first transmission mechanism, the first transmission mechanism is installed under the scrub bar 1018, and is used to drive the scrub bar 1018 to rotate under the drive of the first motor. The self-moving device 200 also includes a second motor and a second transmission mechanism. The wiping assembly 2012 is installed on the second transmission mechanism. The lower drive wiper assembly 2012 rotates. Wherein, the second motor and the main motor of the self-moving device 200 may be the same motor or different motors. In the process of cleaning the wiping assembly 2012, the first motor drives the first transmission mechanism to rotate, and the first transmission mechanism then drives the scrub bar 1018 to rotate; or, the second motor drives the second transmission mechanism to rotate, and the second transmission mechanism then drives The wiping assembly 2012 rotates; or the first motor drives the first transmission mechanism to rotate, and the first transmission mechanism then drives the scrub bar 1018 to rotate, and at the same time, the second motor drives the second transmission mechanism to rotate, and the second transmission mechanism then drives the wiping assembly 2012 turn.

In the above embodiments, the dust collection process and cleaning process and the dust collection parameters and cleaning parameters required in the process are described in detail from different dimensions. In the following embodiment taking a family scene as an example, the working process of the self-cleaning system will be described in detail.

In the home environment, the entire home environment is divided into work areas, including living room, bedroom, kitchen, bathroom, balcony, etc. The user can issue operation instructions to the self-mobile device 200 through voice, touch, or APP, instructing the self-mobile device 200 to perform a fixed-point scanning and dragging integrated task in the designated operation area. Move from the mobile device 200 to the designated work area to perform fixed-point sweeping and mopping tasks, that is, simultaneously start the sweeping assembly (such as the roller brush assembly 2021 and the side brush assembly 2022, etc.) and the mopping assembly (such as the wiping assembly 2012). 2012, the roller brush assembly 2021 and the side brush assembly 2022 are arranged in front along the direction of travel, so in the case of simultaneous activation, the roller brush assembly 2021 and the side brush assembly 2022 sweep the floor in front and the wiper assembly 2012 mops the floor behind. If there are multiple designated work areas, for example, the user instructs the living room, bedroom, and balcony to perform the task of sweeping and mopping at the same time, after completing the task of sweeping and mopping in one work area, the environment map (such as a grid map) can be combined with the help of automatic The environmental information collected in real time by the camera, structured light module, etc. on the mobile device 200 moves from the current work area to the next work area, and continues to perform the sweeping and dragging integrated task in the next work area.

After completing the task of sweeping and dragging in each designated operation area, or when there is a need for self-cleaning during the above operations (such as the dust box is full, the charging signal is detected, or the operation time exceeds the set duration threshold, etc.), the automatic The mobile device 200 can send a docking command to the workstation 100; the workstation 100 can use the recharge signal transmitter to transmit a recharge signal (such as an infrared recharge signal), and the recharge signal receiver is turned on from the mobile device 200 to receive the recharge signal, and Return to the workstation 100 under the guidance of the recharging signal, and complete the docking with the workstation 100 . During the docking process, the recharging signal may be disturbed, resulting in an unstable situation, and there may be a slight deviation in the docking between the mobile device 200 and the workstation 100, which may cause a gap between the dust discharge port 2011 and the dust collection port 1011. The docking is not very tight. If the wiping assembly 2012 is cleaned first and then the dust is collected, the moisture remaining in the cleaning tank 1012 may be sucked into the dust collection channel 1017 to cause some hazards. In order to prevent the moisture remaining in the cleaning tank 1012 from being sucked into the dust collection channel 1017 after cleaning the wiping assembly 2012, the self-moving device 200 of this embodiment can adopt the self-cleaning mode of performing the dust collection task first and then the cleaning task by default every time Or, the self-mobile device 200 can also judge whether this self-cleaning task includes a cleaning task first, and continue to judge whether this self-cleaning task includes a dust collection task under the condition of including a cleaning task, to judge this self-cleaning task. Whether the cleaning task includes both the cleaning task and the dust collection task, and when it is determined that the self-cleaning task includes both the cleaning task and the dust collection task, the self-cleaning mode of performing the dust collection task first and then the cleaning task is adopted.

The dust collection command is sent from the mobile device 200 to the workstation 100. After the workstation 100 receives the dust collection command, it obtains the preset dust collection parameters. The dust collection parameters include the set dust collection duration and dust collection power. Among them, the dust collection The duration can ensure that the dust collection is completed; the workstation 100 starts the suction fan to work according to the dust collection duration and dust collection power, and the garbage objects in the dust box pass through the dust discharge port 2011, the dust collection port 1011 and the dust collection channel 1017 under the action of suction. Get sucked into the dust bag. When the dust collection duration is reached, the workstation 100 turns off the suction fan, and returns a dust collection task completion signal to the mobile device 200 . After the mobile device 200 receives the dust collection task completion signal, on the one hand, it drives the wiping assembly 2012 to rotate continuously, and on the other hand, it sends a cleaning instruction to the workstation 100 . For the workstation 100, after receiving the cleaning instruction, the preset cleaning parameters can be obtained. The cleaning parameters include the number of cleaning times, such as 3 times, the water outlet time and pumping time of each cleaning, and the first water outlet is 10s in sequence. (seconds) pump water for 10 seconds, pump water for 8 seconds for the second time, and pump water for 30 seconds for the last time; the workstation 100 controls the water discharge system to discharge water to the cleaning tank 1012 for 10 seconds according to the time of the first water discharge. During this period, the mobile device 200 drives the wiper The component 2012 rotates and rubs against the rubbing bar 1018 in the workstation to achieve the purpose of cleaning, and records the first cleaning duration such as 30s. After the first cleaning duration arrives, the mobile device 200 sends a pumping command to the workstation 100; the workstation 100 After receiving the pumping command, control the pumping system according to the first pumping time to pump the sewage in the cleaning tank 1012 into the sewage bucket 1022, and continue to pump for 10 seconds. During this period, the mobile device 200 always drives the wiper assembly 2012 turn.

After the first pumping time is reached, the workstation 100 sends a pumping completion notification to the self-mobile device 200 on the one hand, and controls the water discharge system to discharge water to the cleaning tank 1012 for 8 seconds according to the second water discharge time. During this period, the self-mobile device 200 continues. Drive the pair of wiping components 2012 to rotate, and record the second cleaning time as 20s. After the second cleaning time arrives, send a pumping command from the mobile device 200 to the workstation 100; The duration control pumping system pumps the sewage in the cleaning tank 1012 into the sewage bucket 1022 and continues to pump for 8 seconds. During this period, the self-moving device 200 always drives the pair of wiping components 2012 to rotate.

After the second pumping time is reached, the workstation 100 sends a pumping completion notification to the self-mobile device 200 on the one hand, and controls the water discharge system to discharge water to the cleaning tank 1012 for 8 seconds according to the third water discharge time. During this period, the self-mobile device 200 continues. Drive the pair of wiping components 2012 to rotate, and record the third cleaning time as 20s. After the third cleaning time arrives, send a pumping command from the mobile device 200 to the workstation 100; The duration control pumping system pumps the sewage in the cleaning tank 1012 into the sewage bucket 1022 and continues to pump for 30 seconds. During this period, the self-moving device 200 always drives the pair of wiping components 2012 to rotate. The purpose of the last pumping time is longer so that the wiping assembly can be fully rotated and dried, and the water that is thrown out can continue to be pumped away, so as not to allow moisture to remain in the cleaning tank.

After the third pumping time is reached, the workstation 100 sends a pumping completion notification to the self-mobile device 200, and the mobile device 200 stops driving the wiper assembly 2012 after receiving the third pumping completion notification to complete the self-cleaning task. In addition, the workstation 100 will also start the task of adding water, that is, inject clean water into the water tank on the self-mobile device 200. During this period, the self-mobile device 200 will continuously detect the water level of the water tank, and notify the workstation 100 to stop adding water when the water level of the water tank reaches the set water level. .

Further, as shown in Fig. 4c, the workstation has a drying part, which can generate hot air flow by heating the air, and an air outlet is provided in the accommodating cavity, and the above hot air flow is blown out from the air outlet through the air duct. After cleaning the wiping assembly, the workstation can also control the drying part to output hot air through the air outlet, and the hot air can flow on the wiping assembly of the self-moving device along the airflow direction shown in Figure 4c. Wipe components to dry. Further, during the drying process, the self-moving device can also drive the wiping assembly to rotate, so that the front and rear areas of the wiping assembly are dried evenly and the drying time is shortened. During this process, communication is required between the workstation and the self-moving device. After the drying part of the workstation starts working, it can send a rotation start instruction to the self-moving device, so that the self-moving device can control its wiping components according to the instruction according to the preset logic. turn. Regarding the specific rotation process of the wiping assembly during the drying process, it is exemplary, including but not limited to the following methods: 1. The wiping assembly can be driven to rotate at a set angle (such as: 180°) every preset time interval (such as 1 minute) , 90°) once. 2. During the drying process, always keep the wiping component rotating slowly (for example: turn 360° in 10 seconds).

In the above embodiment, the duration of each cleaning is different from the duration of water discharge and pumping, and the mobile device 200 judges whether the duration of each cleaning is reached. In addition, in an optional embodiment, the cleaning duration in each cleaning process can be set by default. For example, the cleaning duration can be the water outlet duration and the specified duration after the water outlet operation is completed. Based on this, the workstation 100 will During the cleaning process, the pumping operation is performed on the cleaning tank 1012 according to the current pumping time after a specified time interval after the water discharge operation is completed, without sending a pumping command from the mobile device 200 . Or, in another optional embodiment, the default water outlet duration is the cleaning duration, and then the workstation 100 automatically performs the pumping operation on the cleaning tank 1012 according to the current pumping duration after the water outlet operation is completed during each cleaning process.

Further, in the above-mentioned cleaning process, each time a cleaning is completed, the workstation 100 can decrement the number of times of cleaning by 1, and judge whether the number of times of cleaning after subtracting 1 is 0; Cleaning completion signal; if it is not 0, continue to perform the next cleaning process until the number of cleanings is 0.

In the above-mentioned embodiments of the present application, the workstation 100 judges whether the cleaning task of the wiping assembly 2012 is completed based on whether the number of times of cleaning is 0, but it is not limited thereto. For example, in some optional embodiments of the present application, a cleanliness detection sensor can be installed on the wiping assembly 2012 or in the cleaning tank 1012 of the workstation 100 to detect the cleanliness of the wiping assembly 2012; Whether the parameter includes cleaning times or cleaning duration, whether to end the cleaning task of the wiping component 2012 can be determined according to the cleaning degree of the wiping component 2012 . For example, when the cleanliness of the wiping assembly 2012 satisfies the set conditions, even if the cleaning times or cleaning duration set by the mobile device 200 have not yet been reached, the workstation 100 can promptly end the cleaning task of the wiping assembly 2012 to save cleaning time. The power resources and water resources consumed are reduced, and the burden on the workstation 100 is reduced. Wherein, the process of detecting the cleanliness of the wiping assembly 2012 can be completed by the mobile device 200, or by the workstation 100, which will be described in detail below:

Way 1: detection is performed by the mobile device 200 , and the cleanliness detection sensor is set on the wiping assembly 2012 or in the cleaning tank 1012 of the workstation 100 . Detecting the cleanliness of the wiping assembly 2012 can be achieved through the following process: a wireless connection is established between the cleanliness detection sensor and the self-mobile device 200, such as a Wifi connection or a Bluetooth connection, and the cleanliness detection sensor reports the collected cleanliness data to the mobile device 200. Device 200: From the cleanliness data collected by the mobile device 200 based on the cleanliness detection sensor, determine whether the cleanliness of the wiping component 2012 meets the set cleanliness requirements; when the cleanliness of the wiped component 2012 meets the set cleanliness requirements , sending a cleaning end instruction to the workstation 100 to instruct the workstation 100 to stop cleaning the wiping assembly 2012 .

For example: a dirt degree detection sensor or a camera is installed on the wiping component 2012, and the mobile device 200 collects dirty data through the dirt level detection sensor or takes a picture of the wiping component 2012 through the camera, and collects the dirt data or photographs The picture is sent to the cloud server; the cloud server processes and analyzes the dirty data or pictures based on the learning model, can determine the cleanliness of the wiping component 2012, and returns the cleanliness of the wiping component 2012 to the mobile device 200; from the mobile device 200 It is judged whether the cleaning degree of the wiping component 2012 returned by the cloud server is up to standard;

Mode 2: the workstation 100 performs detection, and the cleanliness detection sensor is set on the wiping assembly 2012 or in the cleaning tank 1012 of the workstation 100 . At this time, the detection of the degree of dirt of the wiping assembly 2012 can be achieved through the following process: the workstation 100 collects the degree of dirt of the wiping assembly 2012 through the cleanliness detection sensor arranged on the wiping assembly 2012; The sewage degree detection sensor collects the dirty data of the sewage in the cleaning tank 1012, and the dirty data represents the dirty degree of the wiping component 2012; The degree of dirtiness reaches the standard signal, so that the self-mobile device 200 returns the cleaning stop instruction;

In the technical solution provided by the embodiment of this application, when the self-mobile device 200 recognizes the need to perform a self-cleaning task, the self-mobile device 200 docks with the workstation 100; then sends a dust collection command to the workstation 100 to instruct the workstation 100 to clean the dust box. Execute the dust collection task; after receiving the dust collection completion signal sent by the workstation 100 , the self-mobile device 200 sends a cleaning instruction to the workstation 100 to instruct the workstation 100 to perform the cleaning task on the wiping assembly 2012 . Adding the functions of the dust collection and cleaning and wiping component 2012 to the workstation 100 can free the user's hands and improve the user's experience. Further, when the dust box needs to collect dust, the dust collection operation of the dust box is performed first, and then the cleaning operation of the wiping assembly 2012 is performed after the dust collection is completed. On the one hand, it can prevent damp dust from blocking the dust collection channel 1017, reducing the pressure of dust collection and the risk of equipment maintenance; on the other hand, it can prevent the damp dust from breeding bacteria in the dust bag, thereby reducing the risk of damaging the health of family members.

In an optional embodiment, during the dust collection task of the dust collection box, the suction fan of the workstation can be independently controlled to work. In this case, the cloud diagram of the flow field distribution in the dust box is shown in Figure 7b.

Further optionally, the self-moving device is equipped with a dust suction fan. During the process of performing dust collection tasks on the dust collection box, not only the work of the suction fan of the workstation can be controlled, but also the dust suction fan of the self-mobile device can be controlled to work at the same time. The cloud diagram of the flow field distribution in the dust box is shown in Fig. 7c. Among them, as shown in Figure 7a, the dust suction fan of the self-moving device works to form a first airflow in the dust box, and the first airflow can generate a floating or peeling force on the objects in the dust box, which is beneficial to the dust box. Some objects with high viscosity are peeled off from the dust box, and cooperate with the second airflow formed by the suction fan on the workstation to form a turbulent flow, which is conducive to more thoroughly sucking the objects in the dust box to the dust bag or dust collection channel through the dust collection channel. in the dust bin. Further optionally, in the process of performing the dust collection task on the dust box, the manner of controlling the work of the suction fan of the workstation and the dust suction fan of the self-moving device at the same time includes: first controlling the work of the suction fan of the workstation, and then After the suction fan of the workstation works for a set period of time, the dust suction fan of the mobile device is controlled to work so that the suction fan and the dust suction fan work at the same time. Among them, the suction fan of the workstation works first, which is conducive to sucking away some dust, scattered or light objects in the dust box first, and then starts the vacuum fan of the workstation, which is conducive to more thorough cleaning with the suction force of the suction fan on the workstation. Suction the objects in the dust box into the dust bag or dust bucket. It should be noted that in Fig. 7a, the dust suction inlet is set at the bottom of the dust box and the dust exhaust port is set at the side wall of the dust box as an example for illustration, but it is not limited thereto. Wherein, the numbers in Fig. 7b and Fig. 7c represent the velocity of the fluid particle on the streamline instantaneously, and these velocity values are only examples, and do not constitute a limitation to the technical solution provided by the embodiment of the present application. In addition, comparing Figure 7b with Figure 7c, for the same area, the average velocity of the fluid particles in Figure 7c is slightly greater than the average velocity of the fluid particles in Figure 7b; in addition, it can also be seen that the suction fan of the workstation and self-moving equipment When the dust suction fan is turned on at the same time, the airflow in the left corner can enter the airflow on the right, thus providing better dust collection effect.

Further, in this embodiment, the specific implementation structure of the water discharge system in the workstation 100 is not limited, and any implementation structure that can transport the cleaning liquid in the clean water bucket 1021 to the cleaning tank 1012 is applicable to this embodiment of the application. In an optional embodiment, one end of the water outlet pipeline is connected to the clean water bucket, and extends downward from the clean water bucket to the cleaning tank. The end of the water outlet pipeline is located above the cleaning tank, and a water outlet is provided at the end of the water outlet pipeline. The cleaning liquid in the clear water barrel enters the cleaning tank through the water outlet. In another optional embodiment, as shown in Figure 3d, the water discharge system includes a first water outlet pipeline and a second water outlet pipeline 1019, one end of the first water outlet pipeline is connected to the clean water bucket 1021, and the other end is connected to the second water outlet pipe At the end 1020 of the road 1019, the second water outlet pipeline 1019 is arranged along the side wall of the clear water tank. The water outlet for spraying water in 1012 is shown in Figure 3d. The first water outlet line is not shown in Fig. 3d.

Further optionally, the second water outlet pipeline 1019 can be arranged around the inner wall of the entire clear water tank, or the second water outlet pipeline 1019 can also be arranged only on a part of the inner wall of the clear water tank, such as 1/3, 1 A second water outlet pipeline 1019 is arranged on the inner wall of /2 or 3/4. Further optionally, a plurality of water outlets may be evenly opened on the entire second water outlet pipeline 1019, or, several relative pipeline sections may be selected on the second water outlet pipeline 1019, and multiple water outlets may be opened on these relative pipeline sections. a water outlet. Further optionally, the first water outlet pipeline and the second water outlet pipeline 1019 may be integrally formed. In this optional embodiment, a second water outlet pipeline 1019 is provided inside the cleaning tank 1012, and a plurality of water outlets are opened on the second water outlet pipeline 1019. 2012 sprays cleaning liquid, and the objects on the wiping assembly 2012 can be effectively washed away by means of the water outlet pressure of the water outlet, which is beneficial to improve the cleaning effect. Further, when the cleaning tank 1012 is cleaned, objects in various directions in the cleaning tank 1012 can also be washed away by means of the water outlet pressure of the water outlet, which is beneficial to improving the cleaning effect.

Fig. 4a is a schematic flowchart of a working method of a self-mobile device provided by an embodiment of the present application. The self-moving device includes a dust box, a dust outlet connected to the dust box, and a wiping assembly, and the self-moving device can perform a sweeping task alone, a mopping task alone, or both sweeping and mopping tasks simultaneously. The working method provided by the embodiment of the present application can complete the self-cleaning process of the mobile device. As shown in Figure 4a, the method includes:

401. When a self-cleaning task needs to be performed, the self-mobile device is docked with the workstation, so that the dust outlet connected to the dust box is docked with the dust collection port of the workstation and the wiping component is located in the cleaning tank of the workstation;

402. Send a dust collection command to the workstation to instruct the workstation to control the suction fan to work according to the dust collection parameters to perform the dust collection task on the dust box;

403. After receiving the dust collection completion signal sent by the workstation, drive the wiper assembly to rotate, and continue to send cleaning instructions to the workstation to instruct the workstation to perform cleaning tasks on the wiper components; wherein, the workstation performs cleaning tasks including alternate cleaning according to cleaning parameters. The tank performs water discharge and pumping operations, and cooperates with the rotation of the wiping assembly to clean the wiping assembly.

For the detailed implementation manners of the above steps in the embodiment of the present application, reference may be made to the above embodiments, and details are not repeated here.

Fig. 4b is a schematic diagram of the position of the humidity sensor in the dust collection method provided by the embodiment of the present application.

Fig. 4d is a schematic diagram of the bottom structure of the cleaning robot provided in this embodiment. As shown in Figure 4d, the cleaning robot at least includes a dust box 51, a fan assembly 52, a dust collection port 513, and a dust inlet 511. Further, the cleaning robot also includes a traveling mechanism, a wiping assembly, a mopping assembly, and various sensors. , not shown in Figure 4d. Wherein, the dust box 51, the blower assembly 52, the dust collecting port 513 and the dust inlet port 511, together with other components can form the dust collecting device 500 on the cleaning robot. As shown in FIG. 4 b , the dust collection device 500 of the cleaning robot includes a humidity sensor 53 in addition to a dust box 51 and a fan assembly 52 . Wherein, the humidity sensor 53 is arranged between the fan assembly 52 and the filter screen 512. Fan assembly 52 can provide suction from bottom to top to collect rubbish such as dust, perhaps, draws hot air to form hot air flow, and hot air flow enters dust box from the dust inlet of the dust box of cleaning robot and blows out from the filter screen of dust box . The humidity sensor 53 is used to detect the humidity of the airflow formed by the air sucked by the fan assembly 52 .

As further shown in Figure 4c, an air outlet is set on the workstation for outputting the hot air flow output by the drying part, and the hot air flow can flow on the wiping assembly of the self-moving device along the airflow direction shown in Figure 4c, and the self-moving The wiper components of the device are dried. Further, during the drying process, the self-moving device can also drive the wiping assembly to rotate, so that the front and rear areas of the wiping assembly are dried evenly and the drying time is shortened.

For the detailed structures and functions of the above-mentioned components in the embodiments of the present application, reference may be made to the above-mentioned embodiments, and details are not repeated here.

Fig. 5a is a schematic flowchart of a working method of a workstation provided by an embodiment of the present application. The workstation includes a dust collection port and a cleaning tank, and the workstation can cooperate with the self-moving equipment to complete the self-cleaning of the self-moving equipment. As shown in Figure 5a, the method includes:

501. When receiving the dust collection instruction sent from the mobile device, control the suction fan to work according to the dust collection parameters, so as to collect dust from the dust box on the mobile device;

502. After the dust collection is completed, send a dust collection completion signal to the self-mobile device, so as to trigger the self-mobile device to send a cleaning instruction;

503. If a cleaning instruction is received, perform water discharge and pumping operations on the cleaning tank alternately according to the cleaning parameters, and perform cleaning tasks on the wiping component in cooperation with the rotation of the wiping component on the self-moving device.

Fig. 5b is a schematic flowchart of another working method of a workstation provided by an exemplary embodiment of the present application. The workstation includes a dust collection port and a cleaning tank. The dust collection port is connected to the dust discharge port connected to the dust box on the self-moving device. The workstation can cooperate with the self-moving device to complete the self-cleaning of the self-moving device. As shown in Figure 5b, the method includes:

51b. Connecting from the mobile device to the workstation;

52b. Alternately perform water discharge and pumping operations on the cleaning tank, and cooperate with the rotation of the wiping component on the self-moving device to perform cleaning tasks on the wiping component;

53b. After the cleaning task is finished, the drying part of the control workstation heats the air to obtain hot air;

54b. Start the dust suction fan of the mobile device to form the hot air into a hot air flow, and the hot air flow enters the dust box from the dust inlet of the dust box of the mobile device and blows out from the filter screen of the dust box;

55b, turn off the vacuum fan;

56b. Control the work of the suction fan of the workstation to suck away the dust in the dust box.

The embodiment of the present application also provides a self-moving device. As shown in FIG. 6, the self-moving device 200 includes: a device body 201 with a memory 2013 and a processor 2014 on the device body, and a cleaning component 2024. The cleaning component 2024 includes Sweeping components and mopping components, the sweeping components include dust boxes, side brushes, roller brushes, etc., and the mopping components include wiping components. Wherein, the dust box and the wiping assembly can be fixedly arranged on the device body 201 , or can be detachably arranged on the device body 201 . Further, as shown in FIG. 6 , the device body 201 further includes a sensor component 2025 , a power supply component 2026 , a drive component 2027 and the like.

For the detailed structural description of the self-mobile device 200, reference may be made to the embodiment shown in FIG. 2a, and details are not repeated here.

The embodiment of the present application also provides a workstation, the workstation includes: a workstation body, the workstation body is provided with a memory and a processor, as well as a dust collection port and a cleaning tank. The dust outlet on the mobile device is docked, and the dust outlet is connected to the dust box of the mobile device. Wherein, the memory is used to store the computer program; the processor is coupled with the memory, and is used to execute the computer program in the memory, so as to control the suction fan according to the dust collection parameters when receiving the dust collection instruction sent from the mobile device Work to collect dust from the dust box on the self-mobile device; after the dust collection is completed, send a dust collection completion signal to the self-mobile device to trigger the self-mobile device to send a cleaning instruction; if the cleaning instruction is received, follow the cleaning parameters Alternately perform water discharge and pumping operations on the cleaning tank, and cooperate with the rotation of the wiping component on the self-moving device to perform cleaning tasks on the wiping component.

For the detailed structural description of the workstation, reference may be made to the embodiments shown in FIG. 3a-FIG. 3d , which will not be repeated here.

Claims

A self-cleaning system, characterized in that it includes: a self-moving device and a workstation; the self-moving device at least includes a dust box, a dust outlet connected to the dust box and a wiping assembly, and the workstation is provided with a dust collection port and a cleaning slot; when the self-mobile device is docked with the workstation, the dust collection port is docked with the dust discharge port, and the wiping component is located in the cleaning tank;

The self-moving device is used to send a dust collection instruction to the workstation after it needs to perform a self-cleaning task and complete docking with the workstation, so as to instruct the workstation to perform the dust collection task on the dust box; and after receiving the dust collection completion signal , continue to send cleaning instructions to the workstation, and drive the wiping assembly to rotate, so as to cooperate with the workstation to perform cleaning tasks on the wiping assembly;

The workstation is used to control the suction fan to work according to the dust collection parameters according to the dust collection instruction, and perform dust collection processing on the dust box; after the dust collection is completed, send a dust collection completion signal to the mobile device and according to the cleaning instruction, alternately perform water discharge and pumping operations on the cleaning tank according to the cleaning parameters, and cooperate with the rotation of the wiping assembly to perform cleaning tasks on the wiping assembly.
The system according to claim 1, wherein the self-moving device is further configured to: generate the dust collection parameters required for this dust collection task according to the attribute information of the objects in the dust box, Dust parameters are sent to the workstation;

or,

The workstation is further configured to: after receiving the dust collection instruction, generate dust collection parameters required for this dust collection task according to the attribute information of the objects in the dust box;

Wherein, the attribute information includes at least one of the category, size and quantity of objects; the dust collection parameter includes at least one of dust collection times, dust collection power and dust collection duration.
The system according to claim 1 or 2, characterized in that the dust collection parameters include the number of dust collection times and the duration of dust collection, and when the number of dust collection times is multiple, with the increase of the number of dust collection , the dust collection time used for each dust collection gradually decreases.
The system according to claim 1, wherein the self-moving device is further configured to: generate cleaning parameters required for this cleaning task according to the degree of dirtiness of the wiping component, and send the cleaning parameters to to said workstation;

or,

The workstation is further configured to: after receiving the cleaning instruction, generate cleaning parameters required for this cleaning task according to the degree of dirtiness of the wiping component;

Wherein, the cleaning parameters include at least one of cleaning times, cleaning time, water outlet time and water pumping time.
The system according to claim 1 or 4, wherein the cleaning parameters include the number of cleaning times and the water outlet time and pumping time in each cleaning, wherein the water outlet time used in the first cleaning is the longest, and the water outlet time used in the last cleaning is the longest. The pumping time is the longest, and the pumping time used in the last wash is longer than the discharge time used in the first wash.
The system according to claim 5, characterized in that, for the non-final cleaning, the pumping time and water discharge time used in each cleaning are the same, and as the number of cleanings increases, the pumping time and water discharge time used in each cleaning gradually increase. decrease;

or,

For non-final cleaning, the pumping time and water discharge time used in each cleaning are the same, and the pumping time and water discharge time used in different cleanings are also the same.
The system according to claim 5, wherein the workstation is specifically used for:

In each cleaning process, after receiving the pumping command sent by the self-mobile device after the cleaning time is reached, perform a pumping operation on the cleaning tank according to the pumping time used for this cleaning, and after completing the pumping operation , returning a water pumping completion signal to the self-mobile device;

or

In each cleaning process, after the water outlet operation is completed, the water pumping operation is automatically performed on the cleaning tank according to the current pumping time;

or

In each cleaning process, after the water outlet operation is completed, the pumping operation is performed on the cleaning tank according to the current pumping time interval at a specified time interval.
The system according to claim 7, wherein the workstation is further configured to: perform a water pumping operation on the cleaning tank synchronously during each time the water discharge operation is performed on the cleaning tank, and the pumping operation The amount of pumped water is less than the water output of the water output operation.
The system according to claim 1, wherein performing the dust collection task on the dust box comprises:

Control the work of the suction fan of the workstation and the dust suction fan of the self-moving equipment at the same time;

When the dust collection task is completed, the suction fan and the dust suction fan are turned off.
The system according to claim 9, wherein controlling the operation of the suction fan of the workstation and the simultaneous operation of the dust suction fan of the mobile device includes:

Control the work of the suction fan of the workstation;

After the suction fan works for a set period of time, the dust suction fan of the self-moving device is controlled to work so that the suction fan and the dust suction fan work at the same time.
A working method of a self-moving device, the self-moving device includes a dust box, a dust outlet connected to the dust box, and a wiping assembly, characterized in that the method includes:

When self-cleaning tasks need to be performed, the self-mobile device is docked with the workstation, so that the dust outlet is docked with the dust collection port of the workstation and the wiping assembly is located in the cleaning tank of the workstation;

sending a dust collection command to the workstation to instruct the workstation to control the suction fan to work according to the dust collection parameters to perform the dust collection task on the dust box;

After receiving the dust collection completion signal sent by the workstation, drive the wiper assembly to rotate, and continue to send cleaning instructions to the workstation to instruct the workstation to perform cleaning tasks on the wiper assembly; wherein, the workstation Executing the cleaning task includes: alternately performing water discharge and pumping operations on the cleaning tank according to cleaning parameters, and cleaning the wiping assembly in conjunction with the rotation of the wiping assembly.
The method according to claim 11, characterized in that, before sending the dust collection instruction to the workstation, further comprising:

Judging whether this self-cleaning task includes the cleaning task of the wiping component;

In the case of a cleaning task, determine whether the self-cleaning task includes a dust collection task;

If the dust collection task is included, the operation of sending a dust collection instruction to the workstation is performed;

If the dust collection task is not included, an operation of directly sending a cleaning instruction to the workstation is performed.
The method according to claim 12, wherein judging whether this self-cleaning task includes the cleaning task of the wiping assembly includes:

Collect the degree of dirtiness of the wiping component, and determine that this self-cleaning task includes the cleaning task of the wiping component when the degree of dirtiness of the wiping component is greater than the set degree of dirtiness;

or,

Obtain the time interval from the last cleaning task, and if the time interval is greater than the set time interval, determine that this self-cleaning task includes the cleaning task of the wiping component;

or,

According to the event type that triggers this cleaning task, if the event type is a specified event type, then it is determined that this self-cleaning task includes the cleaning task of the wiping component.
The method according to claim 12, wherein judging whether this self-cleaning task includes a dust collection task includes:

Collect the attribute information of the object in the dust box, and determine that this self-cleaning task includes the dust collection task when the attribute information of the object meets the dust collection requirement;

or,

Obtain the time interval from the last dust collection task, and if the time interval is greater than the set time interval, determine that this self-cleaning task includes the dust collection task;

or,

According to the event type that triggers this cleaning task, if the event type is a specified event type, it is determined that this self-cleaning task includes a dust collection task.
The method according to claim 11, further comprising: after sending the dust collection instruction to the workstation, turning on the dust suction fan of the self-mobile device until the dust collection task ends.
A working method of a workstation, the workstation includes a dust collection port and a cleaning tank, and the dust collection port is docked with a dust discharge port connected to a dust box on a self-moving device, wherein the method includes:

When receiving the dust collection instruction sent from the mobile device, control the suction fan to work according to the dust collection parameters, so as to collect dust from the dust box on the mobile device;

After the dust collection is completed, send a dust collection completion signal to the self-mobile device to trigger the self-mobile device to send a cleaning instruction;

If the cleaning instruction is received, alternately perform water discharge and pumping operations on the cleaning tank according to the cleaning parameters, and cooperate with the rotation of the wiping component on the self-moving device to perform cleaning tasks on the wiping component.
The method according to claim 16, further comprising:

Obtain the dust collection parameters required for this dust collection task from the dust collection instruction; or, generate the dust collection parameters required for this dust collection task according to the attribute information of the object in the dust box; wherein, the The attribute information includes at least one of the category, size, and quantity of objects; the dust collection parameters include at least one of dust collection times, dust collection power, and dust collection duration.
The method according to claim 17, further comprising:

Obtain the cleaning parameters required for this cleaning task from the cleaning instruction, or generate the cleaning parameters required for this cleaning task according to the degree of dirtiness of the wiping component; wherein the cleaning parameters include cleaning times, At least one of cleaning time, water outlet time and water pumping time.
The method according to any one of claims 16-18, wherein, in the process of cleaning the wiping assembly, further comprising:

Collecting the degree of dirtiness of the wiping component, if the degree of dirtiness of the wiping component reaches the standard, sending a signal of the degree of dirtiness of the wiping component to the self-moving device; and

After receiving the cleaning stop instruction sent from the mobile device, stop cleaning the wiping assembly.
The method according to claim 19, characterized in that collecting the degree of dirtiness of the wiping assembly comprises: using a sewage detection sensor arranged in the cleaning tank to collect the dirt data of the sewage in the cleaning tank, according to The soiling data of the sewage determines the degree of soiling of the wiping component.
A self-moving device, characterized in that it includes: a device body, the device body is provided with a memory and a processor, a dust box, a dust outlet connected to the dust box, and a wiping assembly; the memory is used to store a computer program; the processor is coupled to the memory for executing the computer program in the memory for:

When the self-moving device needs to perform a self-cleaning task, control the self-moving device to dock with the workstation so that the dust outlet is docked with the dust collection port of the workstation and the wiping assembly is located in the cleaning tank of the workstation ;

Sending a dust collection instruction to the workstation to instruct the workstation to control the suction fan to work according to the dust collection parameters to perform the dust collection task on the dust box;

After receiving the dust collection completion signal sent by the workstation, drive the wiper assembly to rotate, and continue to send cleaning instructions to the workstation to instruct the workstation to perform cleaning tasks on the wiper assembly; wherein, the workstation Executing the cleaning task includes alternately performing water discharge and pumping operations on the cleaning tank according to cleaning parameters, and cleaning the wiping assembly in conjunction with the rotation of the wiping assembly.
A workstation, characterized in that it includes: a workstation body, the workstation body is provided with a memory and a processor, as well as a dust collection port and a cleaning tank, and the dust collection port is connected to the dust discharge port connected to the dust box on the mobile device. Port docking; the memory is used to store a computer program; the processor is coupled to the memory and is used to execute the computer program in the memory for:

When receiving the dust collection instruction sent from the mobile device, control the suction fan to work according to the dust collection parameters, so as to collect dust from the dust box on the self-mobile device through the dust collection port;

After the dust collection is completed, send a dust collection completion signal to the self-mobile device to trigger the self-mobile device to send a cleaning instruction;

If the cleaning instruction is received, alternately perform water discharge and pumping operations on the cleaning tank according to the cleaning parameters, and cooperate with the rotation of the wiping component on the self-moving device to perform cleaning tasks on the wiping component.
A working method of a workstation, the workstation includes a dust collection port and a cleaning tank, and the dust collection port is docked with a dust discharge port connected to a dust box on a self-moving device, wherein the method includes:

Docking from mobile devices to workstations;

Alternately perform water discharge and pumping operations on the cleaning tank, and cooperate with the rotation of the wiping assembly on the self-moving device to perform cleaning tasks on the wiping assembly;

After the cleaning task is over, the drying part of the control workstation will heat the air to obtain hot air;

Starting the dust suction fan of the self-moving device to form the hot air into a hot air flow, the hot air enters the dust box from the dust inlet of the dust box of the self-moving device and blows it out from the filter screen of the dust box;

Turn off the dust suction fan;

Control the work of the suction fan of the workstation to suck away the dust in the dust box.
The method according to claim 23, wherein before performing the cleaning task on the wiping assembly, further comprising:

After the self-mobile device is docked with the workstation, use the humidity sensor to detect the humidity of the dust box;

The alternately performing water discharge and pumping operations on the cleaning tank, and cooperating with the rotation of the wiping assembly on the self-moving device, performing cleaning tasks on the wiping assembly, including:

When the humidity is greater than or equal to the preset humidity, alternately perform water discharge and pumping operations on the cleaning tank, and cooperate with the rotation of the wiping assembly on the self-moving device to perform cleaning tasks on the wiping assembly.