WO2023174354A1 - 一种清洁设备及其配套设备的控制方法 - Google Patents
一种清洁设备及其配套设备的控制方法 Download PDFInfo
- Publication number
- WO2023174354A1 WO2023174354A1 PCT/CN2023/081784 CN2023081784W WO2023174354A1 WO 2023174354 A1 WO2023174354 A1 WO 2023174354A1 CN 2023081784 W CN2023081784 W CN 2023081784W WO 2023174354 A1 WO2023174354 A1 WO 2023174354A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cleaning
- base station
- sweeping robot
- floor
- transport aircraft
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
Definitions
- the present application relates to control technology between cleaning equipment and its supporting equipment, and in particular, to a control method for cleaning equipment and its supporting equipment.
- sweeping robots are generally equipped with base stations, which are used to charge, replenish water, etc. for the sweeping robots. Sweeping robots can achieve good cleaning results on flat floors, but most sweeping robots are unable to do anything about the sides and bottoms of stair steps, and some robots that can clean are specially designed for cleaning steps. These two devices have poor compatibility with each other and need to be equipped with two base stations at the same time. Due to the poor compatibility, they need to be used in a staggered manner when cleaning the floor and steps.
- Cleaning equipment designed specifically for cleaning steps is less efficient at cleaning the floor. If components of a sweeping robot are forcibly added to improve efficiency, it will cause the equipment to be too large and too structurally complex, making it more troublesome to clean itself later.
- the cost of equipping each floor with a sweeping robot and corresponding base station for cleaning is relatively high.
- the base station also needs to solve the problem of cleaning the sweeping robot. Manual cleaning is inefficient and the quality cannot be guaranteed.
- the work control between the base station, sweeping robot, and transport machine cannot be completely solved through the existing linkage control method between the base station and the sweeping robot.
- this application provides a control method for cleaning equipment and its supporting equipment.
- a cleaning equipment and a control method of its base station which includes: a base station, a transport machine, and a sweeping robot.
- the transport machine is used to transport the sweeping robot and clean the stairs and carry out replenishment and cleaning through the base station. Sweeping robots are used to clean floors and carry out supply and cleaning via transporters or base stations;
- Pre-settings and judgments include:
- the operation methods of sweeping robot include:
- T010 determine whether the cleaning floor is the floor where the base station is located or another floor
- the transport aircraft when the cleaning floor is another floor, the transport aircraft carries the sweeping robot to the cleaning floor for cleaning;
- the sweeping robot when the cleaning floor is the floor where the base station is located, the sweeping robot returns directly to the base station. After returning to the base station, if the transporter is in the base station, it enters the transporter. Otherwise, it enters the base station, and performs supply and/or cleaning after entering the transporter or base station;
- the sweeping robot enters the transporter for replenishment and/or cleaning, or the sweeping robot returns to the base station via the transporter for replenishment and/or cleaning;
- the sweeping robot continues to perform the current job after completing replenishment and/or cleaning
- T051 if the cleaning floor is the floor where the base station is located, it will be returned directly to the base station, otherwise it will be returned to the base station via a transporter;
- T052 when the sweeping robot returns to the base station, if the transport aircraft is in the base station or returns via the transport aircraft, it will stay in the transport aircraft. If the transport aircraft is not in the base station, it will stay directly in the base station and transfer to the transport aircraft after the transport aircraft returns to the base station. stay; stay
- How the transport aircraft operates includes:
- the transport aircraft receives cleaning instructions and heads to the cleaning stairs
- M020 while the transport aircraft is executing the cleaning command, if either or both of its power threshold and water volume threshold are triggered, the transport aircraft can return to the base station for charging and/or replenishment; M030, the transport aircraft continues execution after completing charging and/or replenishment Current cleaning instructions;
- the transport aircraft returns to the base station after completing all cleaning instructions.
- the transportation method of the transport aircraft includes:
- the transport aircraft receives the transport instruction and determines whether the transport aircraft is within the base station;
- the transport aircraft is in the base station, and it is judged whether the current power of the transport aircraft is sufficient to execute the current transport instructions;
- the transport aircraft is not in the base station, determine whether the current power of the transport aircraft is sufficient to execute the current transport instructions
- priority cleaning when the user chooses to clean floors and stairs at the same time, priority cleaning can also be set.
- the priority cleaning refers to giving priority to cleaning floors or stairs;
- the default priority is the factory setting or the algorithm calculation setting, and can be manually configured by the user.
- the sweeping robot and transporter first determine whether the current state meets the execution requirements. If so, they will execute normally. Otherwise, they will replenish and/or charge first, and then execute the instructions after the current state meets the execution requirements.
- the transporter receives the carrying instructions from the sweeping robot during work, and then executes the carrying instructions from the sweeping robot after completing the current work.
- S0332 Execute the operation method of the transport aircraft after the execution of the sweeping robot operation method is completed.
- S0342 Execute the sweeping robot operating method after completing the operating method of the transport aircraft.
- T011 determine the cleaning work sequence of the sweeping robot according to the location and number of the cleaning floors
- M011 determine the cleaning work sequence of the transport aircraft based on the location and number of the cleaning stairs.
- the operation method of the sweeping robot also includes:
- the sweeping robot cooperates with the transporter to clean the cleaning floor.
- the operation method of the sweeping robot also includes:
- the cleaning floor is the floor where the base station is located, it is returned to the base station via a transporter.
- the operation method of the sweeping robot also includes:
- the cleaning floor is another floor
- the other floor is equipped with a second base station that can provide supply and/or cleaning
- the sweeping robot directly enters the second base station for supply and/or cleaning, or the sweeping robot passes through the transporter Return to the second base station for resupply and/or cleaning.
- the operation method of the transport aircraft also includes:
- the transport aircraft While the transport aircraft is executing the cleaning instruction, if either or both of its power threshold and water volume threshold are triggered, the transport aircraft can return to the second base station for charging and/or replenishment.
- this application uses the above-mentioned base station, transport aircraft, and sweeping robot to clean floors and stairs under corresponding control methods, thereby coordinating the work among the three to improve work efficiency; making the sweeping robot During the cleaning process of a single floor or multiple floors, the transport aircraft is used for transfer and replenishment, which reduces the number of base stations and improves the cleaning efficiency of the sweeping robot; the transport aircraft can also be used as a carrying equipment and supply equipment to clean stairs at the same time.
- the control method is suitable for a variety of applications and sites , making the execution system more flexible and reliable. The above greatly improves the practical value of this application.
- FIG. 1 is a schematic diagram of the equipment combination of this application.
- FIG. 2 is a schematic block diagram of the operation of this application.
- Figure 3 is a schematic block diagram of the operation method of the sweeping robot of this application.
- Figure 4 is a schematic block diagram of the operation method of the transport aircraft of this application.
- Figure 5 is a schematic block diagram of the transportation method of the transport aircraft of this application.
- Figure 6 is a schematic block diagram of pre-setting and judgment in this application.
- this application discloses a cleaning equipment and a control method for its base station, which includes: a base station, a transport machine, and a sweeping robot.
- the transport machine is used to transport the sweeping robot and clean the stairs and carry out replenishment and cleaning through the base station.
- sweeping robots are used to clean floors and carry out replenishment and cleaning via transporters or base stations;
- the operation method of the sweeping robot includes:
- T010 determine whether the cleaning floor is the floor where the base station is located or another floor
- T011 determine the cleaning work sequence of the sweeping robot according to the location and number of the cleaning floors
- the transport aircraft when the cleaning floor is another floor, the transport aircraft carries the sweeping robot to the cleaning floor for cleaning;
- the sweeping robot when the cleaning floor is the floor where the base station is located, the sweeping robot returns directly to the base station. After returning to the base station, if the transporter is in the base station, it enters the transporter. Otherwise, it enters the base station, and performs supply and/or cleaning after entering the transporter or base station;
- the sweeping robot enters the transporter for replenishment and/or cleaning, or the sweeping robot returns to the base station via the transporter for replenishment and/or cleaning;
- the sweeping robot continues to perform the current job after completing replenishment and/or cleaning
- T051 if the cleaning floor is the floor where the base station is located, it will be returned directly to the base station, otherwise it will be returned to the base station via a transporter;
- T052 when the sweeping robot returns to the base station, if the transport aircraft is in the base station or returns via the transport aircraft, it will stay in the transport aircraft. If the transport aircraft is not in the base station, it will stay directly in the base station and transfer to the transport aircraft after the transport aircraft returns to the base station. Stay.
- the base station plays the role of floor anchoring, and the user can preset the information of the floor where the base station is located.
- the floor where the base station is located is relatively fixed, and the sweeping robot can work on multiple floors, so the sweeping robot can determine its position based on whether it is on the same floor as the base station.
- the default prerequisite for T010 judgment is that the initial starting position of the sweeping robot is the floor where the base station is located.
- the floor where the base station is located specifically refers to the floor where the base station is located on the same floor as the sweeping robot.
- the essence of T010 judgment is to judge whether the cleaning floor is the floor where the sweeping robot is located.
- the base station will actively send its own floor information to the sweeping robot, or the sweeping robot can obtain the floor information of the base station by identifying the base station. In this way, the sweeping robot can obtain the floor information to determine its own floor.
- users can set up a base station on each floor (each base station can be named base station, second base station, third base station, etc.), or set it up at intervals of a certain number of floors.
- a base station can be named base station, second base station, third base station, etc.
- users can also install floor identifiers that can be recognized by the sweeping robot and/or transport machine on each floor or at intervals of a certain number of floors, or directly install floor identifiers that can autonomously send floor information.
- Information signal generator the signal generator or floor identification can be installed on the base station or exist independently). Therefore, the sweeping robot can also determine the floor it is on through the floor identification or floor information signal generator.
- the user can also directly set the floor where the sweeping robot is currently located.
- the sweeping robot can determine whether the number of cleaning floors selected by the user is higher, lower, or right.
- the floor you are on can be used to determine whether you need to use a transport aircraft to transport it to the upper floor, transport it to the lower floor, or do not need to transport it.
- the operation method of the transport aircraft includes:
- the transport aircraft receives cleaning instructions and heads to the cleaning stairs
- M011 determine the cleaning work sequence of the transport aircraft based on the location and number of the cleaning stairs
- the transport aircraft while the transport aircraft is executing the cleaning command, if either or both of its power threshold and water volume threshold are triggered, the transport aircraft can return to the base station for charging and/or replenishment;
- the transport aircraft continues to execute the current cleaning order after completing charging and/or replenishment
- the transport aircraft returns to the base station after completing all cleaning instructions.
- the transport methods of transport aircraft include:
- the transport aircraft receives the transport instruction and determines whether the transport aircraft is within the base station;
- the transport aircraft is in the base station, and it is judged whether the current power of the transport aircraft is sufficient to execute the current transport instructions;
- the transport aircraft is not in the base station, determine whether the current power of the transport aircraft is sufficient to execute the current transport instructions
- the transport aircraft can also determine the floor information by receiving the floor information sent by the base station or signal generator or directly identify the above-mentioned floor identifier, and obtain or identify the floor information.
- the floor information is transmitted to the sweeping robot. In this way, the sweeping robot can also obtain it based on pairwise communication with the transporter even if it does not support communication with the base station or signal generator or does not support the identification function. Corresponding floor information.
- the transport aircraft can also obtain the corresponding floor information based on pairwise communication with the sweeping robot when it does not support communication with the base station or signal generator or does not support the identification function. For example, when the transporter and the sweeping machine are on the same floor, if the sweeping robot has obtained the floor information, the sweeping robot can also transmit the obtained floor information to the transporting machine, and the transporting machine also obtains the floor information.
- the transport aircraft can also determine the floor information it is currently on based on the floor information obtained after it goes up and down the stairs and the height displacement accumulation of its own motion, and then forward the floor information to the transport aircraft.
- the sweeping robot teleports.
- the transporter can also actively obtain the floor information where the sweeping robot is located, and then compare the cleaning floor selected by the user with the floor information where the sweeping robot is located, to determine whether it is necessary to cross the sweeping robot.
- Floor transportation can also actively obtain the floor information where the sweeping robot is located, and then compare the cleaning floor selected by the user with the floor information where the sweeping robot is located, to determine whether it is necessary to cross the sweeping robot.
- the base station and/or signal receiver (installed on the base station or transport aircraft, or existing independently) can also obtain the floor information where the sweeping robot is located, and then compare the cleaning floor selected by the user with the floor information where the sweeping robot is located, to determine Determine whether the sweeping robot needs to be transported across floors.
- the base station and/or signal receiver receives the floor signal transmitted from the sweeping robot, and then compares it with the cleaning floor selected by the user, thereby determining whether the sweeping robot needs to be transported across floors.
- the floor information of the base station and/or signal receiver can be set by the user or obtained by the transporter and then transmitted.
- the transporter 101 is stored in the transporter storage room of the base station 201, and the cleaning robot is stored in the cleaning robot storage room 110 of the transporter 101, which is used for the activities of the cleaning robot entering the cleaning robot storage room 110.
- the plate is not indicated in the figure.
- pre-settings and judgments include:
- the user selects any one or both of cleaning floors and cleaning stairs (set the target floors, stairs and their number for cleaning work);
- Cleaning refers to giving priority to cleaning floors or stairs (when some places are in a hurry to use, priority cleaning is performed to improve the user experience);
- the default priority is the factory setting or algorithm calculation setting, and can be manually configured by the user (the priority cleaning is determined through algorithm calculation, which can Reduce the travel path of the transport aircraft and thereby improve efficiency);
- the sweeping robot and transporter first determine whether the current state meets the execution requirements. If so, they will execute normally. Otherwise, replenish and/or charge first, and wait until the current state meets the execution requirements before executing the instructions (to avoid executing the instructions during the process). Insufficient status leads to the need to return to the base station, which reduces the overall work efficiency);
- the transporter receives the carrying instructions from the sweeping robot during work, and the transporting machine executes the carrying instructions from the sweeping robot after completing the current work;
- the required cleaning time is shorter and the waiting time is realized
- S0332 execute the operation method of the transporter after the completion of the operation method of the sweeping robot (for example: multiple floors are required for cleaning, and the current target cleaning floor requires a shorter time to clean, or the target stairs require a longer cleaning time. , to avoid incorrect use of waiting time, resulting in lower overall efficiency);
- S0342 execute the operation method of the sweeping robot after completing the operation method of the transport machine (for example: the base station is on the 1st floor, the transport machine goes from the 1st floor to the stairs on the 2nd floor for cleaning, and the sweeping robot goes to the negative 1st floor for cleaning.
- the transport machine for example: the base station is on the 1st floor, the transport machine goes from the 1st floor to the stairs on the 2nd floor for cleaning, and the sweeping robot goes to the negative 1st floor for cleaning.
- the above-mentioned steps of cleaning the cleaning floor by the sweeping robot may include:
- the sweeping robot directly cleans the cleaning floor after arriving at the cleaning floor, or the sweeping robot cleans the cleaning floor after obtaining supplies and/or cleaning in the base station or transport aircraft.
- the sweeping robot when the sweeping robot is cleaning a cleaning floor (including the floor where the base station is located and other floors), if the sweeping robot's own power, water volume, cleaning part, and dust box remaining capacity do not reach the corresponding power levels mentioned above, threshold, water volume threshold, cleaning department threshold and dust box remaining threshold, then the sweeping robot can directly clean the cleaning floor after arriving at the cleaning floor on its own or via a transporter.
- the sweeping robot when the sweeping robot is cleaning the cleaning floor, if any one of the power, water volume, cleaning part, and dust box remaining capacity of the sweeping robot reaches the corresponding power threshold, water volume threshold, cleaning part threshold, or dust box remaining capacity, If the volume threshold is reached, the sweeping robot can first obtain supplies and/or cleaning in the base station, and then go to the cleaning floor to clean the cleaning floor.
- the sweeping robot will still The clean floor can be cleaned after obtaining supplies and/or cleaning in the transport aircraft while the transport aircraft is transporting it to the clean floor (or after the transport aircraft transports it to the clean floor).
- the above-mentioned sweeping robot operating method may also include:
- the sweeping robot When the cleaning floor is the floor where the sweeping robot is located, the sweeping robot directly cleans the cleaning floor.
- the prerequisite for this judgment may be that the initial starting position of the sweeping robot is on the same floor as the base station, or it may be that the initial starting position of the sweeping robot is not on the same floor as the base station.
- the sweeping robot can not only determine whether the cleaning floor selected by the user is the floor where the base station is located, but also determine whether the cleaning floor is the floor where it is located. Therefore, when the sweeping robot determines that the cleaning floor selected by the user is the floor where it is located, it can directly clean the cleaning floor according to the above-mentioned process of cleaning the cleaning floor. If the sweeping robot determines that the cleaning floor selected by the user is not the floor where it is located, then the sweeping robot can further perform the above-mentioned T10 and subsequent steps.
- the above-mentioned sweeping robot operating method may also include:
- the cleaning floor is the floor where the base station is located, it will be returned to the base station directly or via a transporter; otherwise, it will only be returned to the base station via a transporter.
- the cleaning robot when the cleaning robot returns to the base station, if the cleaning floor is the floor where the base station is located, the cleaning robot can directly return to the base station on its own, or if its own power is insufficient to return to the base station, it can be transported by the transporter. auxiliary to return to the base station.
- the cleaning floor is not the floor where the base station is located, since it needs to cross stairs to return to the base station, even if the sweeping robot itself has sufficient power, it still needs the assistance of a transport aircraft to return to the base station.
- the above-mentioned sweeping robot operating method may also include:
- the sweeping robot When the sweeping robot returns to the base station, if the transport aircraft is not in the base station, it will stay directly in the base station or near the base station, and will transfer to the transport aircraft after it returns to the base station.
- the sweeping robot when the sweeping robot returns to the base station on its own, if the transport aircraft is not in the base station at this time, the sweeping robot can directly stay inside the base station, or the sweeping robot can also directly stay near the base station. Then, after the transport aircraft returns to the base station, the sweeping robot transfers itself to the transport aircraft and stays there; or, when the transport aircraft returns to the base station, it first transfers the sweeping robot to itself to stay, and then returns to the base station.
- the sweeping robot operating method further includes:
- the sweeping robot cooperates with the transporter to clean the cleaning floor.
- the sweeping robot can directly go to various locations on the current floor through its own driving mechanism to clean the floor. In addition to cleaning, the sweeping robot can of course also clean the cleaning floor based on the cooperation of the transport machine.
- the sweeping robot can also directly go to various locations on the current floor through its own driving mechanism to clean the cleaning floor.
- the cleaning floor is cleaned based on the cooperation of the transport machine.
- the sweeping robot can be carried by the transporter In addition to going to the cleaning floor, the cleaning floor can also be cleaned based on the cooperation of the transport aircraft.
- the reason why the cleaning robot needs the cooperation of the transporter to perform the cleaning operation may be due to insufficient power of the sweeping robot itself or failure of the driving mechanism of the sweeping robot, etc. It should be understood that based on different design needs of practical applications, in different feasible implementations, the reasons why the sweeping robot requires the cooperation of the transport machine may naturally be different.
- the control method of the cleaning equipment and its base station in this application is not specific to the above. The specific types of reasons are limited.
- the sweeping robot can use the cooperation of the transport machine. , to transport it via a transporter to the location that needs to be cleaned on the current cleaning floor to clean the cleaning floor.
- the sweeping robot can also directly instruct the transport machine to clean the current cleaning floor based on The conveyor's own cleaning function performs cleaning on the current cleaning floor.
- the sweeping robot operating method further includes:
- the cleaning floor is the floor where the base station is located, it is returned to the base station via a transporter.
- the sweeping robot when the sweeping robot returns to the base station, in addition to directly returning to the base station based on its own driving mechanism, the sweeping robot can also return to the base station with the assistance of a transport aircraft.
- the sweeping robot can notify the transporter to return to the base station for replenishment and/or based on the auxiliary role of the transporter. clean.
- the sweeping robot operating method further includes:
- the cleaning floor is another floor
- the other floor is equipped with a second base station that can provide supply and/or cleaning
- the sweeping robot directly enters the second base station for supply and/or cleaning, or the sweeping robot passes through the transporter Return to the second base station for resupply and/or cleaning.
- the sweeping robot when the sweeping robot determines that the current cleaning floor is another floor without a base station, and if the other floor happens to be equipped with a second base station that can also provide supplies and/or cleaning, it will sweep the floor.
- the robot can directly enter the second base station for replenishment and/or cleaning, or the sweeping robot can return to the second base station via a transporter for replenishment and/or cleaning.
- the second base stations configured on other floors may be the same as the aforementioned base stations, and both can provide supplies and/or cleaning for the transport machine and the sweeping robot.
- the base station and the second base station can be equivalently replaced, that is to say, there can be multiple floors on which the above-mentioned base station is located.
- the sweeping robot determines that the cleaning floor selected by the user is the floor where the base station is located or the floor where the sweeping robot itself is located, it means that the sweeping robot does not need to climb stairs to clean the floor.
- the cleaning floor selected by the user is not If it is the floor where the base station is located or not the floor where the sweeping robot itself is located, it means that the sweeping robot needs to use a transporter to climb stairs to clean the floor.
- the floor where the above-mentioned base station is located defaults to the floor where the sweeping robot's initial starting position is located.
- the aforementioned transport aircraft operation method also includes:
- the transport aircraft While the transport aircraft is executing the cleaning instruction, if either or both of its power threshold and water volume threshold are triggered, the transport aircraft can return to the second base station for charging and/or replenishment.
- the second base station that is also capable of providing supply and/or cleaning is also configured on other floors mentioned above, during the execution of the cleaning instruction of the transport aircraft, if any one or both of its power threshold and water volume threshold is triggered, it can of course return to the second base station for charging and/or replenishment.
- the floor where the base station is located is the first floor
- the transport aircraft is currently located on the third floor
- the third floor is another floor where the second base station is configured.
- the transport aircraft can select a second base station that is closer to itself and return to the second base station for charging and/or replenishment.
- this application uses the above-mentioned base stations, transporters, and sweeping robots to clean floors and stairs under corresponding control methods, thereby coordinating the work among the three to improve work efficiency; allowing the sweeping robot to clean floors and stairs on a single floor or
- the transport aircraft is used for transfer and supply, which reduces the number of base stations and improves the cleaning efficiency of the sweeping robot; the transport aircraft can also be used as a carrying equipment and supply equipment to clean the stairs.
- the cleaning work it coordinates the relationship between its own work and the transportation needs, and then determines the cleaning work before/after transportation, which improves its own work efficiency and the work efficiency of the sweeping robot; the control method is suitable for a variety of application situations and sites, making the execution
- the system is more flexible and reliable. The above greatly improves the practical value of this application.
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Abstract
一种清洁设备及其配套设备的控制方法，其包括：基站（201）、扫地机器人、运输机（101），其中运输机（101）用于运载和清洁楼梯，扫地机器人用于清洁楼层，基站（201）用于补给；配合了前置设定和判断方法、扫地机器人运作方法、运输机（101）的运作方法以及运输机（101）的运输方法，巧妙地协调了各个设备工作过程中的关系，使得扫地机器人能够通过运输机（101）进行补给、转移并且效率更高，使得运输机（101）的行走路径更短，提高了整体的工作效率和消费者的使用体验。
Description
本申请的权利要求1至12要求于2022年3月17日提交中国专利局、申请号为202210264032.7、发明名称为“一种清洁设备及其配套设备的控制方法”的中国专利申请的优先权，其全部内容通过引用结合在申请中。
本申请涉及到清洁设备及其配套设备间的控制技术，尤其涉及到一种清洁设备及其配套设备的控制方法。
现有的扫地机器人一般是配套设置有基站使用的，基站用于给扫地机器人进行充电、补水等。扫地机器人对于平坦的地面能够取得较好的清洁效果，但对于楼梯台阶的侧面、底面，大多数扫地机器人无能为力，而部分可以进行打扫的机器人又是专门针对清洁台阶设计的。这两种设备互相之间兼容性差，同时又要配备两个基站使用，由于兼容性差，在进行地面打扫和台阶清洁时，互相之间需要进行错开使用。
而专门针对清洁台阶设计的清洁设备对于地面的清洁效率较低，若强行加装扫地机器人的构件以提升效率，又会导致设备体积过大、结构过于负责，在后续清洗自身时较为麻烦。
再是对于多个楼层清洁而言，每个楼层配备一个扫地机器人、对应基站进行打扫的成本较高。基站也需解决对扫地机器人进行清洁的问题，人工清洁的效率低、质量也无法保障。
基站、扫地机器人、运输机(台阶清洁机)互相之间的工作控制，通过现有的基站与扫地机器人的联动控制方法，无法完全解决。
因此，亟需一种能够解决以上一种或多种方法的清洁设备及其配套设备的控制方法。
为解决现有技术中存在的一种或多种问题，本申请提供了一种清洁设备及其配套设备的控制方法。
本申请为解决上述问题采用的技术方案是：一种清洁设备及其基站的控制方法，其包括：基站、运输机、扫地机器人，运输机用于运输扫地机器人和清洁楼梯并通过基站进行补给、清洁，扫地机器人用于清洁楼层并通过运输机或基站进行补给、清洁；
设定基站楼层，设定扫地机器人电量阈值、水量阈值、清洁部洁净阈值、尘盒余量阈值中的任意一个或多个，设定运输机电量阈值、水量阈值；
前置设定和判断包括：
S010，用户选择清洁楼层、清洁楼梯中的任意一个或两个；
扫地机器人运作方法包括：
T010，判断所述清洁楼层为基站所在楼层还是其他楼层；
T020，在所述清洁楼层为基站所在楼层时，扫地机器人直接对清洁楼层进行清洁；
T021，在所述清洁楼层为其他楼层时，运输机运载扫地机器人到所述清洁楼层进行清洁；
T030，扫地机器人在执行工作期间，若其电量阈值、水量阈值、清洁部阈值、尘盒余量阈值中的任意一个或多个被触发，则扫地机器人可进行返回；
T031，所述清洁楼层为基站所在楼层时，扫地机器人直接返回基站，在返回基站后若运输机在基站内则进入运输机，反之进入基站，并在进入运输机或基站后进行补给和/或清洁；
T032，所述清洁楼层为其他楼层时，扫地机器人进入运输机进行补给和/或清洁，或是扫地机器人通过运输机返回到基站后进行补给和/或清洁；
T040，扫地机器人在完成补给和/或清洁后继续执行当前工作；
T050，扫地机器人完成工作后，返回基站；
T051，若所述清洁楼层为基站所在楼层，则直接返回基站，反之通过运输机返回基站；
T052，扫地机器人返回基站时，若运输机在基站内或是通过运输机进行返回，则停留在运输机内，若运输机不在基站内时，则直接停留在基站内，并在运输机返回基站后转移到运输机内停留；
运输机的运作方法包括：
M010，运输机接收清洁指令并前往所述清洁楼梯；
M020，运输机在执行清洁指令期间，若其电量阈值、水量阈值中的任意一个或两个被触发，则运输机可返回基站进行充电和/或补给；M030，运输机完成充电和/或补给后继续执行当前清洁指令；
M040，运输机完成所有清洁指令后返回基站。
进一步地，运输机的运输方法包括：
P010，运输机收到运输指令，判断运输机是否在基站内；
P020，运输机在基站内，判断运输机当前电量是否足够执行当前运输指令；
P021，电量足够执行当前运输指令，则运输机直接执行当前运输指令；
P022，电量不足够执行当前运输指令，则运输机先在基站内进行充电，待电量充足后再执行当前运输指令；
P030，运输机不在基站内，判断运输机当前电量是否足够执行当前运输指令；
P031，电量足够执行当前运输指令，则运输机直接执行当前运输指令；
P032，电量不足够执行当前运输指令，则运输机先返回基站进行充电，待电量充足后再执行当前运输指令。
进一步地，还包括：
S011，在用户选择同时对楼层、楼梯进行清洁时，还可设定优先清洁，所述优先清洁指优先清洁楼层或楼梯；
S012，若没有设定所述优先清洁，则按默认优先项进行，所述默认优先项为出厂设定或算法计算设定，并可由用户进行手动配置。
进一步地，还包括：
S013，扫地机器人和运输机在执行指令前，先判断当前状态是否满足执行要求，满足则正常执行，反之先进行补给和/或充电，待当前状态满足执行要求后再执行指令。
进一步地，还包括：
S021，若优先清洁楼层，运输机在工作期间接到来自扫地机器人的运载指令，将暂停当前工作并先执行来自扫地机器人的运载指令，并在结束后恢复暂停的工作；
S022，若优先清洁楼梯，运输机在工作期间接到来自扫地机器人的运载指令，运输机在完成当前工作后再执行来自扫地机器人的运载指令。
进一步地，还包括：
S030，判断当前指令是同时对楼层、楼梯进行清洁，还是单独对楼层或楼梯其中之一进行清洁，并确定用户是否设定所述优先清洁；
S031，指令为单独对楼层进行清洁时，执行所述扫地机器人运作方法；
S032，指令为单独对楼梯进行清洁时，执行所述运输机的运作方法；
S033，指令为同时对楼梯、楼层进行清洁并且优先清洁楼层时，先确定优先执行所述扫地机器人运作方法，然后根据清洁楼层、清洁楼梯的位置、数量，确定执行所述运输机的运作方法的时机；
S034，指令为同时对楼梯、楼层进行清洁并且优先清洁楼梯时，先确定优先执行所述运输机的运作方法，根据清洁楼层、清洁楼梯的位置、数量，确定执行所述扫地机器人运作方法的时机。
进一步地，还包括：
S0331，在所述扫地机器人运作方法执行开始期间执行所述运输机的运作方法；
S0332，在所述扫地机器人运作方法执行完成后执行所述运输机的运作方法。
进一步地，还包括：
S0341，在执行所述运输机的运作方法开始期间执行所述扫地机器人运作方法；
S0342，在执行所述运输机的运作方法完成后执行所述扫地机器人运作方法。
进一步地，还包括：
T011，根据所述清洁楼层的位置、数量，确定扫地机器人的清洁工作顺序；
M011，根据所述清洁楼梯的位置、数量，确定运输机的清洁工作顺序。
进一步地，所述扫地机器人运作方法还包括：
在所述清洁楼层为基站所在楼层时，扫地机器人通过运输机配合对清洁楼层进行清洁。
进一步地，所述扫地机器人运作方法还包括：
所述清洁楼层为基站所在楼层时，通过运输机返回基站。
进一步地，所述扫地机器人运作方法还包括：
所述清洁楼层为其他楼层时，若所述其它楼层配有可提供补给和/或清洁的第二基站，扫地机器人直接进入所述第二基站进行补给和/或清洁，或是扫地机器人通过运输机返回到第二基站后进行补给和/或清洁。
进一步地，所述运输机的运作方法还包括：
运输机在执行清洁指令期间，若其电量阈值、水量阈值中的任意一个或两个被触发，则运输机可返回第二基站进行充电和/或补给。
本申请取得的有益价值是：本申请通过使用上述基站、运输机、扫地机器人在对应的控制方法下对楼层、楼梯进行清洁，实现了协调三者间的工作，以提高工作效率；使得扫地机器人在单楼层或多楼层清洁过程中通过运输机的配合，进行转移、补给，降低了基站的设置数量，提高了扫地机器人的清洁效率；使得运输机在作为运载设备、补给设备的同时能够对楼梯进行清洁工作，在其进行清洁工作期间协调好自身工作与运载需求的关系，进而确定运输前/后进行清洁工作，提高了自身的工作效率和扫地机器人的工作效率；控制方法适用了多种应用情况和场地，使得执行系统更为灵活、可靠。以上极大地提高了本申请的实用价值。
图1为本申请的设备组合示意图；
图2为本申请的运作示意框图；
图3为本申请扫地机器人运作方法示意框图；
图4为本申请运输机的运作方法示意框图；
图5为本申请运输机的运输方法示意框图；
图6为本申请前置设定和判断的示意框图。
【附图标记】
101 运输机
110 扫地机器人收纳室
201 基站
210 运输机收纳室。
本申请的实施方式
为使本申请的上述目的、特征和优点能够更加浅显易懂，下面结合附图对本申请的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于此描述的其他方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似改进，因此本申请不受下面公开的具体实施例限制。
如图1-图6所示，本申请公开来一种清洁设备及其基站的控制方法，其包括：基站、运输机、扫地机器人，运输机用于运输扫地机器人和清洁楼梯并通过基站进行补给、清洁，扫地机器人用于清洁楼层并通过运输机或基站进行补给、清洁；
设定基站楼层，设定扫地机器人电量阈值、水量阈值、清洁部洁净阈值、尘盒余量阈值中的任意一个或多个，设定运输机电量阈值、水量阈值；
如图3所示，扫地机器人运作方法包括：
T010，判断所述清洁楼层为基站所在楼层还是其他楼层；
T011，根据所述清洁楼层的位置、数量，确定扫地机器人的清洁工作顺序；
T020，在所述清洁楼层为基站所在楼层时，扫地机器人直接对清洁楼层进行清洁；
T021，在所述清洁楼层为其他楼层时，运输机运载扫地机器人到所述清洁楼层进行清洁；
T030，扫地机器人在执行工作期间，若其电量阈值、水量阈值、清洁部阈值、尘盒余量阈值中的任意一个或多个被触发，则扫地机器人可进行返回；
T031，所述清洁楼层为基站所在楼层时，扫地机器人直接返回基站，在返回基站后若运输机在基站内则进入运输机，反之进入基站，并在进入运输机或基站后进行补给和/或清洁；
T032，所述清洁楼层为其他楼层时，扫地机器人进入运输机进行补给和/或清洁，或是扫地机器人通过运输机返回到基站后进行补给和/或清洁；
T040，扫地机器人在完成补给和/或清洁后继续执行当前工作；
T050，扫地机器人完成工作后，返回基站；
T051，若所述清洁楼层为基站所在楼层，则直接返回基站，反之通过运输机返回基站；
T052，扫地机器人返回基站时，若运输机在基站内或是通过运输机进行返回，则停留在运输机内，若运输机不在基站内时，则直接停留在基站内，并在运输机返回基站后转移到运输机内停留。
需要说明的是，在本实施例以及后文所阐述的各实施例中，基站所起的作用是楼层锚定，用户可以预先设定基站所在楼层的信息。此外，基站所在楼层是相对固定的，而扫地机器人是可以进行多层工作的，从而扫地机器人可以根据是否和基站在同一楼层来判断自身的位置。需要说明的是，T010判断的默认前提情况是扫地机器人初始出发位置是基站所在楼层。当存在多个基站的情况下，所述基站所在楼层特指和扫地机器人在同一楼层的基站的所在楼层。T010判断的本质是判断清洁楼层是否为扫地机器人所在楼层。此外，基站会主动向扫地机器人发送自身楼层信息，或者，由扫地机器人通过识别基站来获取基站的楼层信息，如此，扫地机器人即可以获取到的楼层信息来判断自身所在楼层。
可选地，在多楼层场景下，用户可以在每一层都设置一个基站（各基站可依次命名为基站、第二基站、第三基站等等），或是间隔一定数量的楼层来设定一个基站。
可选地，在一些可行的实施例中，用户还可以在每一楼层或间隔一定数量的楼层，装设扫地机器人和/或者运输机能够识别到的楼层标识，或是直接装设能自主发送楼层信息的信号发生器（该信号发生器或楼层标识可以装在基站上，也可以独立存在），从而，扫地机器人也可以通过楼层标识或楼层信息信号发生器来判断自身所在的楼层。
可选地，在一些可行的实施例中，用户还可以直接设定扫地机器人当前所在楼层，此种情况下，扫地机器人即可通过判断用户选择的清洁楼层数是高于、低于或者就在自身所在的楼层，来判断是否需要借助运输机将其向高层运输、向低层运输或者不需要运输。
如图4所示，运输机的运作方法包括：
M010，运输机接收清洁指令并前往所述清洁楼梯；
M011，根据所述清洁楼梯的位置、数量，确定运输机的清洁工作顺序；
M020，运输机在执行清洁指令期间，若其电量阈值、水量阈值中的任意一个或两个被触发，则运输机可返回基站进行充电和/或补给；
M030，运输机完成充电和/或补给后继续执行当前清洁指令；
M040，运输机完成所有清洁指令后返回基站。
如图5所示，运输机的运输方法包括：
P010，运输机收到运输指令，判断运输机是否在基站内；
P020，运输机在基站内，判断运输机当前电量是否足够执行当前运输指令；
P021，电量足够执行当前运输指令，则运输机直接执行当前运输指令；
P022，电量不足够执行当前运输指令，则运输机先在基站内进行充电，待电量充足后再执行当前运输指令；
P030，运输机不在基站内，判断运输机当前电量是否足够执行当前运输指令；
P031，电量足够执行当前运输指令，则运输机直接执行当前运输指令；
P032，电量不足够执行当前运输指令，则运输机先返回基站进行充电，待电量充足后再执行当前运输指令。
需要说明的是，在本实施例以及后文所阐述的各实施例中，运输机也可以通过接收基站或者信号发生器发送的楼层信息或者直接识别上述的楼层标识确定楼层信息，并获取或者识别到的楼层信息传送给扫地机器人，如此，扫地机器人也能在自身不支持与基站或者信号发生器进行通信或不支持标识识别功能的情况下，仅基于与运输机之间的两两通信即可获取得到相应的楼层信息。
同理，运输机也能在自身不支持与基站或者信号发生器进行通信或不支持标识识别功能的情况下，基于与扫地机器人之间的两两通信来获取得到相应的楼层信息。示例性地，当运输机和扫地机在同一楼层时，若是扫地机器人已经获取楼层信息，则扫地机器人也可将获取的楼层信息传送给运输机，而运输机也就获得所在楼层信息
可选地，在一些可行的实施例中，运输机还可以根据自身上下楼梯后获取的楼层信息和自身运动行程的高度位移累积，来判断得到当前自身所处的楼层信息，进而将该楼层信息向扫地机器人传送。
可选地，在一些可行的实施例中，运输机也可主动获取扫地机器人所在的楼层信息，再比对用户选择的清洁楼层和该扫地机器人所在的楼层信息，来判断是否需要对扫地机器人进行跨楼层运输。
同理，基站和/或者信号接收器（安装在基站或者运输机上，或者独立存在）也可以获取扫地机器人所在的楼层信息，再比对用户选择的清洁楼层和该扫地机器人所在的楼层信息，来判断是否需要跨楼层运输扫地机器人。示例性地，基站和/或者信号接收器接收来自扫地机器人传送的楼层信号，再将其与用户选择的清洁楼层进行比对，从而确定是否需要跨楼层运输扫地机器人。
此外，基站和/或者信号接收器的楼层信息可由用户设定或由运输机获取后传送。
应当理解的是，在实际应用过程中，由于运输机、基站（第二基站、信号发生器和信号接收器等）和扫地机器人之间可以存在两两通信，所以基于实际应用的不同设计需要，可以采用任意一种可行的判断扫地机器人所在楼层信息的实现方式，本申请清洁设备及其配套设备的控制方法并不针对运输机、基站与扫地机器人之间基于通信传输楼层信息来判定扫地机器人所在楼层的方式进行具体的限定。
需要指出的是，如图1所示，运输机101收纳在基站201的运输机收纳室内，扫地机器人收纳在运输机101的扫地机器人收纳室110内，其中用于扫地机器人进入到扫地机器人收纳室110的活动板未在图中指出。
如图6所示，前置设定和判断包括：
S010，用户选择清洁楼层、清洁楼梯中的任意一个或两个(设定来清洁工作的目标楼层、楼梯及其数量)；
S011，在用户选择同时对楼层、楼梯进行清洁时，还可设定优先清洁，所述优先清
洁指优先清洁楼层或楼梯(在某些场所急着使用的情况下，进行优先清洁，进而提高使用体验)；
S012，若没有设定所述优先清洁，则按默认优先项进行，所述默认优先项为出厂设定或算法计算设定，并可由用户进行手动配置(通过算法计算确定所述优先清洁，能够降低运输机的行走路径，进而提高效率)；
S013，扫地机器人和运输机在执行指令前，先判断当前状态是否满足执行要求，满足则正常执行，反之先进行补给和/或充电，待当前状态满足执行要求后再执行指令(避免在执行指令过程中，状态不足导致需要返回基站，使得整体工作效率下降)；
S020，若用户设定同时清洁楼层和楼梯时，通过所述优先清洁、所述默认优先项确定优先清洁楼层还是楼梯；
S021，若优先清洁楼层，运输机在工作期间接到来自扫地机器人的运载指令，将暂停当前工作(楼梯清洁)并先执行来自扫地机器人的运载指令，并在结束后恢复暂停的工作；
S022，若优先清洁楼梯，运输机在工作期间接到来自扫地机器人的运载指令，运输机在完成当前工作后再执行来自扫地机器人的运载指令；
S030，判断当前指令是同时对楼层、楼梯进行清洁，还是单独对楼层或楼梯其中之一进行清洁，并确定用户是否设定所述优先清洁；
S031，指令为单独对楼层进行清洁时，执行所述扫地机器人运作方法S032，指令为单独对楼梯进行清洁时，执行所述运输机的运作方法；
S033，指令为同时对楼梯、楼层进行清洁并且优先清洁楼层时，先确定优先执行所述扫地机器人运作方法，然后根据清洁楼层、清洁楼梯的位置、数量，确定执行所述运输机的运作方法的时机(根据效率、需求，确定是在前往目标途中进行楼梯清洁，还是在楼层清洁完成后的返回途中进行楼梯清洁)；
S0331，在所述扫地机器人运作方法执行开始期间执行所述运输机的运作方法(如：需要多楼层进行清洁，并且当前目标清洁楼层需要较长时间进行清洁，而目标楼梯需
要的清洁时间较短，实现利用等待时间)；
S0332，在所述扫地机器人运作方法执行完成后执行所述运输机的运作方法(如：需要多楼层进行清洁，并且当前目标清洁楼层需要较短的时间进行清洁，或者目标楼梯需要的清洁时间较长，避免错误利用等待时间，导致整体效率变低)；
S034，指令为同时对楼梯、楼层进行清洁并且优先清洁楼梯时，先确定优先执行所述运输机的运作方法，根据清洁楼层、清洁楼梯的位置、数量，确定执行所述扫地机器人运作方法的时机(根据效率、需求，确定放下扫地机器人的时机)；
S0341，在执行所述运输机的运作方法开始期间执行所述扫地机器人运作方法(如：基站在1楼，运输机自1楼前往5楼楼梯清洁，扫地机器人前往2楼楼层清洁，既是顺路情况，这时在执行所述运输机的运作方法中的M010时，可在经过2楼时执行所述扫地机器人运作方法，将扫地机器人放到2楼，进而提高整体工作效率，也不影响优先执行)；
S0342，在执行所述运输机的运作方法完成后执行所述扫地机器人运作方法(如：基站在1楼，运输机自1楼前往2楼楼梯清洁，扫地机器人前往负1楼进行清洁，为保障优先执行，在不顺路的情况下，先将楼梯清洁完成再去执行楼层清洁)。
可选地，在本实施例中，上述的扫地机器人对清洁楼层进行清洁的步骤可以包括：
所述扫地机器人在到达所述清洁楼层后直接对所述清洁楼层进行清洁，或者，所述扫地机器人在基站或运输机内获得补给和/或清洁后对所述清洁楼层进行清洁。
在本实施例中，扫地机器人在针对清洁楼层（包括基站所在的楼层和其它楼层）进行清洁时，若扫地机器人自身的电量、水量、清洁部以及尘盒余量，都未达到上述对应的电量阈值、水量阈值、清洁部阈值和尘盒余量阈值，则扫地机器人即可在自行到达或者通过运输机到达该清洁楼层之后，直接针对该清洁楼层进行清洁。
或者，扫地机器人在针对清洁楼层进行清洁时，若扫地机器人自身的电量、水量、清洁部以及尘盒余量中的任意一个，达到了对应的电量阈值、水量阈值、清洁部阈值或者尘盒余量阈值，则，扫地机器人即可在基站内先获得补给和/或清洁后，再自行前往清洁楼层以对该清洁楼层进行清洁。
又或者，扫地机器人在自身的电量、水量、清洁部以及尘盒余量中的任意一个，达到了对应的电量阈值、水量阈值、清洁部阈值或者尘盒余量阈值的情况下，扫地机器人还可以通过在运输机运输其到达清洁楼层的过程中（或者在运输机运输其到达该清洁楼层之后），在该运输机内获得补给和/或清洁后，再对该清洁楼层进行清洁。
可选地，在一些可行的实施例中，上述的扫地机器人运作方法还可以包括：
判断所述清洁楼层为扫地机器人所在楼层还是其他楼层；
在所述清洁楼层为扫地机器人所在楼层时，扫地机器人直接对清洁楼层进行清洁。
需要说明的是，这种判断前提条件可以是扫地机器人初始出发位置和基站在同一楼层，也可以是扫地机器人初始出发位置和基站不在同一楼层。在本实施例中，扫地机器人在运行过程中除了可以判断用户选择的清洁楼层是否为基站所在的楼层之外，还可以判断该清洁楼层是否为自身所在的楼层。从而，在扫地机器人判断到用户选择的该清洁楼层是自身所在的楼层时，即可按照上述对清洁楼层进行清洁的过程，直接针对该清洁楼层进行清洁。而若是扫地机器人在判断到用户选择的该清洁楼层不是自身所在的楼层，则此时扫地机器人即可进一步执行上述的T10及其之后的步骤。
可选地，在一些可行的实施例中，上述的扫地机器人运作方法还可以包括：
若所述清洁楼层为基站所在楼层，则直接返回基站或者通过运输机返回基站，反之仅通过运输机返回基站。
在本实施例中，扫地机器人在返回基站的过程中，在清洁楼层是基站所在的楼层的情况下，清洁机器人可以直接自行返回基站，或者在自身电量不足够返回基站的情况下，通过运输机的辅助来返回基站。而在清洁楼层不是基站所在的楼层的情况下，由于需要跨越楼梯才能返回基站，所以此时即便扫地机器人自身电量充足但也需要通过运输机的辅助来返回基站。
可选地，在一些可行的实施例中，上述的扫地机器人运作方法还可以包括：
扫地机器人返回基站时，若运输机不在基站内，则直接停留在基站内或停留在基站附近，并在运输机返回基站后转移到运输机内停留。
在本实施例中，扫地机器人在自行返回基站的过程中，如果运输机此时不在基站内，则扫地机器人则可以直接停留在基站的内部，或者扫地机器人也可以直接停留在基站的附近位置。然后，在运输机返回到基站之后，扫地机器人再自行转移到运输机内停留；或者，由运输机在返回停留到基站的过程中，先将扫地机器人转移至自身令其停留后，再返回到基站内。
可选地，在一些可行的实施例中，扫地机器人运作方法还包括：
扫地机器人通过运输机配合对清洁楼层进行清洁。
在本实施例中，扫地机器人在运行过程中，如果判断到当前用户选择的清洁楼层是基站所在的楼层，则扫地机器人除了可以通过自身的驱动机构直接前往当前楼层的各个位置来对该清洁楼层进行清洁之外，该扫地机器人当然还可以基于运输机的配合来针对该清洁楼层进行清洁。
或者，如果判断到当前用户选择的清洁楼层是扫地机器人自身所在的楼层，则扫地机器人同样的除了可以通过自身的驱动机构直接前往当前楼层的各个位置来对该清洁楼层进行清洁之外，还可以基于运输机的配合来针对该清洁楼层进行清洁。
还或者，如果判断到当前用户选择的清洁楼层是其它楼层（此时该其它楼层即没有设置基站且与扫地机器人在当前时刻所处的楼层也不相同），则扫地机器人除了可以通过运输机的运载前往该清洁楼层之外，还可以基于运输机的配合来针对该清洁楼层进行清洁。
需要说明的是，清洁机器人在对清洁楼层进行清洁的过程中，需要运输机的配合来进行清洁操作的原因可以是扫地机器人自身的电量不足或者扫地机器人的驱动机构发生故障等等。应当理解的是，基于实际应用的不同设计需要，在不同可行的实施方式中，扫地机器人需要运输机进行配合的原因自然可以是不相同的，本申请清洁设备及其基站的控制方法并不针对上述的原因的具体种类进行限定。
示例性地，扫地机器人在确定自身电量不足够对当前清洁楼层执行清洁，但是在当前时刻运输机的电量足够且位于当前清洁楼层或者位于该当前楼层附近的楼梯，则扫地机器人即可以基于运输机的配合，以通过运输机将其运输到当前清洁楼层中需要进行清洁的位置来针对该清洁楼层进行清洁。或者，扫地机器人在确定自身电量不足够对当前清洁楼层执行清洁，但是在当前时刻运输机的电量足够且位于当前清洁楼层或者位于该当前楼层附近的楼梯，则扫地机器人还可以直接指示运输机，以基于该运输机自身的清洁功能来对当前清洁楼层执行清洁。
可选地，在一些可行的实施例中，扫地机器人运作方法还包括：
所述清洁楼层为基站所在楼层时，通过运输机返回基站。
在本实施例中，扫地机器人在返回基站的过程中，除了可以基于自身的驱动机构直接返回基站之外，该扫地机器人当然也还可以通过运输机的辅助来返回基站。
示例性地，扫地机器人在完成针对当前清洁楼层的清洁操作之后，若自身剩余的电量已经不足够返回基站，则，扫地机器人即可通知运输机以基于运输机的辅助作用来返回基站进行补给和/或者清洁。
可选地，在一些可行的实施例中，扫地机器人运作方法还包括：
所述清洁楼层为其他楼层时，若所述其它楼层配有可提供补给和/或清洁的第二基站，扫地机器人直接进入所述第二基站进行补给和/或清洁，或是扫地机器人通过运输机返回到第二基站后进行补给和/或清洁。
在本实施例中，扫地机器人在判断到当前的清洁楼层是没有配置基站的其它楼层时，如果此时该其它楼层上恰好还配置有同样能够提供补给和/或清洁的第二基站，则扫地机器人即可直接进入该第二基站进行补给和/或清洁，或者是，该扫地机器人通过运输机返回到该第二基站来进行补给和/或清洁。
需要说明的是，在本实施例中，其它楼层配置的第二基站可以与前述的基站相同，都能够为运输机和扫地机器人提供补给和/或者清洁。并且，基站和第二基站可以等效替换，也就是说，上述基站所在楼层可以有多个。而扫地机器人在判断到用户选择的清洁楼层为基站所在楼层或者为扫地机器人自身所在楼层的情况下，即意味着扫地机器人不需要爬楼梯即可进行楼层清洁，反之，在用户选择的清洁楼层非为基站所在楼层或者非为扫地机器人自身所在楼层的情况下，就意味着扫地机器人需要借助运输机爬楼梯才可以进行楼层清洁。
此外，上述的基站所在楼层默认是扫地机器人初始出发位置所在的楼层。
可选地，在一些可行的实施例中，前述的运输机的运作方法，还包括：
运输机在执行清洁指令期间，若其电量阈值、水量阈值中的任意一个或两个被触发，则运输机可返回第二基站进行充电和/或补给。
在本实施例中，在前述的其它楼层上也配置有同样能够提供补给和/或清洁的第二基站时，运输机在执行清洁指令期间，若其电量阈值、水量阈值中的任意一个或两个被触发，则其当然还可以返回该第二基站进行充电和/或补给。
示例性地，假定有基站所在的楼层为第一楼层，而运输机当前位于第三楼层，该第三楼层为配置有第二基站的其它楼层。如此，运输机在其电量阈值、水量阈值中的任意一个或两个被触发的情况下，该运输机即可选择距离自身较近的第二基站，从而返回到该第二基站进行充电和/或补给。
综上所述，本申请通过使用上述基站、运输机、扫地机器人在对应的控制方法下对楼层、楼梯进行清洁，实现了协调三者间的工作，以提高工作效率；使得扫地机器人在单楼层或多楼层清洁过程中通过运输机的配合，进行转移、补给，降低了基站的设置数量，提高了扫地机器人的清洁效率；使得运输机在作为运载设备、补给设备的同时能够对楼梯进行清洁工作，在其进行清洁工作期间协调好自身工作与运载需求的关系，进而确定运输前/后进行清洁工作，提高了自身的工作效率和扫地机器人的工作效率；控制方法适用了多种应用情况和场地，使得执行系统更为灵活、可靠。以上极大地提高了本申请的实用价值。
以上所述的实施例仅表达了本申请的一种或多种实施方式，其描述较为具体和详细，但并不能因此理解为对本申请专利的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请的构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。
Claims (20)
- 一种清洁设备及其配套设备的控制方法，其特征在于，所述清洁设备及其配套设备包括：基站、运输机、扫地机器人，所述运输机用于运输所述扫地机器人和清洁楼梯并通过所述基站进行补给和/或者清洁，所述扫地机器人用于清洁楼层并通过所述运输机或所述基站进行补给和/或者清洁；设定基站楼层，设定扫地机器人电量阈值、水量阈值、清洁部洁净阈值、尘盒余量阈值中的任意一个或多个，设定运输机电量阈值、水量阈值；前置设定和判断包括：S010，用户选择清洁楼层、清洁楼梯中的任意一个或两个；扫地机器人运作方法包括：T010，判断所述清洁楼层为基站所在楼层还是其他楼层；T020，在所述清洁楼层为基站所在楼层时，扫地机器人直接对清洁楼层进行清洁；T021，在所述清洁楼层为其他楼层时，运输机运载扫地机器人到所述清洁楼层进行清洁；T030，扫地机器人在执行工作期间，若其电量阈值、水量阈值、清洁部阈值、尘盒余量阈值中的任意一个或多个被触发，则扫地机器人可进行返回；T031，所述清洁楼层为基站所在楼层时，扫地机器人直接返回基站或运输机，并在进入运输机或基站后进行补给和/或清洁；T032，所述清洁楼层为其他楼层时，扫地机器人进入运输机进行补给和/或清洁，或是扫地机器人通过运输机返回到基站后进行补给和/或清洁；T040，扫地机器人在完成补给和/或清洁后继续执行当前工作；T050，扫地机器人完成工作后，返回基站；T051，若所述清洁楼层为基站所在楼层，则直接返回基站，反之通过运输机返回基站；运输机的运作方法包括：M010，运输机接收清洁指令并前往所述清洁楼梯；M020，运输机在执行清洁指令期间，若其电量阈值、水量阈值中的任意一个或两个被触发，则运输机可返回基站进行充电和/或补给；M030，运输机完成充电和/或补给后继续执行当前清洁指令；M040，运输机完成所有清洁指令后返回基站。
- 如权利要求1所述的清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人运作方法还包括：T052，扫地机器人返回基站时，若运输机在基站内或是通过运输机进行返回，则停留在运输机内，若运输机不在基站内，则直接停留在基站内，并在运输机返回基站后转移到运输机内停留。
- 如权利要求1所述的清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人运作方法还包括：扫地机器人在返回基站后，若运输机在基站内则进入运输机，反之直接进入基站。
- 根据权利要求1所述的一种清洁设备及其配套设备的控制方法，其特征在于，运输机的运输方法包括：P010，运输机收到运输指令，判断运输机是否在基站内；P020，运输机在基站内，判断运输机当前电量是否足够执行当前运输指令；P021，电量足够执行当前运输指令，则运输机直接执行当前运输指令；P022，电量不足够执行当前运输指令，则运输机先在基站内进行充电，待电量充足后再执行当前运输指令；P030，运输机不在基站内，判断运输机当前电量是否足够执行当前运输指令；P031，电量足够执行当前运输指令，则运输机直接执行当前运输指令；P032，电量不足够执行当前运输指令，则运输机先返回基站进行充电，待电量充足后再执行当前运输指令。
- 根据权利要求1所述的一种清洁设备及其配套设备的控制方法，其特征在于，还包括：S011，在用户选择同时对楼层、楼梯进行清洁时，还可设定优先清洁，所述优先清洁指优先清洁楼层或楼梯；S012，若没有设定所述优先清洁，则按默认优先项进行，所述默认优先项为出厂设定或算法计算设定，并可由用户进行手动配置。
- 根据权利要求1或5所述的一种清洁设备及其配套设备的控制方法，其特征在于，还包括：S013，扫地机器人和运输机在执行指令前，先判断当前状态是否满足执行要求，满足则正常执行，反之先进行补给和/或充电，待当前状态满足执行要求后再执行指令。
- 根据权利要求5所述的一种清洁设备及其配套设备的控制方法，其特征在于，还包括：S020，若用户设定同时清洁楼层和楼梯时，通过所述优先清洁、所述默认优先项确定优先清洁楼层还是楼梯。
- 根据权利要求7所述的一种清洁设备及其配套设备的控制方法，其特征在于，还包括：S021，若优先清洁楼层，运输机在工作期间接到来自扫地机器人的运载指令，将暂停当前工作并先执行来自扫地机器人的运载指令，并在结束后恢复暂停的工作；S022，若优先清洁楼梯，运输机在工作期间接到来自扫地机器人的运载指令，运输机在完成当前工作后再执行来自扫地机器人的运载指令。
- 根据权利要求1或7所述的一种清洁设备及其配套设备的控制方法，其特征在于，还包括：S030，判断当前指令是同时对楼层、楼梯进行清洁，还是单独对楼层或楼梯其中之一进行清洁，并确定用户是否设定所述优先清洁；S031，指令为单独对楼层进行清洁时，执行所述扫地机器人运作方法；S032，指令为单独对楼梯进行清洁时，执行所述运输机的运作方法；S033，指令为同时对楼梯、楼层进行清洁并且优先清洁楼层时，先确定优先执行所述扫地机器人运作方法，然后根据清洁楼层、清洁楼梯的位置、数量，确定执行所述运输机的运作方法的时机；S034，指令为同时对楼梯、楼层进行清洁并且优先清洁楼梯时，先确定优先执行所述运输机的运作方法，根据清洁楼层、清洁楼梯的位置、数量，确定执行所述扫地机器人运作方法的时机。
- 根据权利要求8所述的一种清洁设备及其配套设备的控制方法，其特征在于，还包括：S0331，在所述扫地机器人运作方法执行开始期间执行所述运输机的运作方法；S0332，在所述扫地机器人运作方法执行完成后执行所述运输机的运作方法。
- 根据权利要求9所述的一种清洁设备及其配套设备的控制方法，其特征在于，还包括：S0341，在执行所述运输机的运作方法开始期间执行所述扫地机器人运作方法；S0342，在执行所述运输机的运作方法完成后执行所述扫地机器人运作方法。
- 根据权利要求1所述的一种清洁设备及其配套设备的控制方法，其特征在于，还包括：T011，根据所述清洁楼层的位置、数量，确定扫地机器人的清洁工作顺序；M011，根据所述清洁楼梯的位置、数量，确定运输机的清洁工作顺序。
- 根据权利要求1至12任一项所述的一种清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人对所述清洁楼层进行清洁包括：所述扫地机器人在到达所述清洁楼层后直接对所述清洁楼层进行清洁，或者，所述扫地机器人在基站或运输机内获得补给和/或清洁后对所述清洁楼层进行清洁。
- 根据权利要求1所述的一种清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人运作方法还包括：判断所述清洁楼层为扫地机器人所在楼层还是其他楼层；在所述清洁楼层为扫地机器人所在楼层时，扫地机器人直接对清洁楼层进行清洁。
- 根据权利要求1所述的一种清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人运作方法还包括：若所述清洁楼层为基站所在楼层，则直接返回基站或者通过运输机返回基站，反之仅通过运输机返回基站。
- 根据权利要求1所述的一种清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人运作方法还包括：扫地机器人返回基站时，若运输机不在基站内，则直接停留在基站内或停留在基站附近，并在运输机返回基站后转移到运输机内停留。
- 如权利要求1所述的清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人运作方法还包括：扫地机器人通过运输机配合对清洁楼层进行清洁。
- 如权利要求1所述的清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人运作方法还包括：所述清洁楼层为基站所在楼层时，通过运输机返回基站。
- 如权利要求1所述的清洁设备及其配套设备的控制方法，其特征在于，所述扫地机器人运作方法还包括：所述清洁楼层为其他楼层时，若所述其它楼层配有可提供补给和/或清洁的第二基站，扫地机器人直接进入所述第二基站进行补给和/或清洁，或是扫地机器人通过运输机返回到第二基站后进行补给和/或清洁。
- 如权利要求1所述的清洁设备及其配套设备的控制方法，其特征在于，所述运输机的运作方法还包括：运输机在执行清洁指令期间，若其电量阈值、水量阈值中的任意一个或两个被触发，则运输机可返回第二基站进行充电和/或补给。
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