WO2023280054A1

WO2023280054A1 - Cleaning control method and device for mopping member

Info

Publication number: WO2023280054A1
Application number: PCT/CN2022/103212
Authority: WO
Inventors: 刘慧斌; 李孟钦; 胡文楠; 赵文涛; 段志平; 郑卓斌; 王立磊
Original assignee: 广州科语机器人有限公司
Priority date: 2021-07-05
Filing date: 2022-07-01
Publication date: 2023-01-12
Also published as: CN113455967B; CN113455967A

Abstract

A cleaning control method and device for a mopping member (101), applied to a cleaning robot (100) and a base station (200) used in cooperation with the cleaning robot (100). The cleaning control method comprises: S1, after receiving a cleaning instruction, controlling a water injection system (204) to inject water into a cleaning tank (203), so that the quantity of water in the cleaning tank (203) satisfies a first preset threshold, the first preset threshold being the value of the quantity of water in the cleaning tank (203) which can submerge a part to be cleaned of a mopping member (101); S21, when the cleaning tank (203) is not provided with a scraping member (202) or is provided with a non-rotatable scraping member (202), controlling the mopping member (101) to rotate for a preset time; S22, when the cleaning tank (203) is provided with a scraping member (202) which is rotatably controlled, controlling at least one of the mopping member (101) and the scraping member (202) to rotate for a preset time; and S3, controlling a sewage recovery system (205) to recover the sewage in the cleaning tank (203).

Description

Cleaning control method and device for mopping parts

This application claims the priority of the previous application with the application number 202110759211.3 submitted to the State Intellectual Property Office of China on July 5, 2021, and the application title is "Cleaning Control Method and Device for Mopping Parts", the content of which is based on the introduction manner incorporated into this text.

technical field

The invention relates to the technical field of intelligent cleaning, in particular to a cleaning control method and device for mopping parts.

Background technique

With the increasing development and maturity of intelligent cleaning technology, the application of cleaning robots is becoming more and more extensive. The application scenarios can cover indoor and outdoor floor cleaning, wall cleaning, etc. The mopping part of the cleaning robot will become dirty after cleaning the working surface, and it needs to be cleaned later to ensure the normal cleaning work next time. The traditional cleaning method is manual cleaning, which needs to disassemble the mopping parts. Not only the cleaning efficiency is low, but also it is easy to clean, which further increases the burden on users and affects the user experience.

At present, the cleaning of the mopping parts of the cleaning robot is carried out by spraying. Although the defects of manual cleaning have been solved to a certain extent, continuous spray cleaning is a serious waste of water resources, which increases the user's labor costs to a certain extent. The cost.

Contents of the invention

On the one hand, the embodiment of the present application provides a cleaning control method for mopping parts, which is applied to a cleaning robot and a base station used in conjunction with the cleaning robot. The cleaning control method includes the following steps:

S1. After receiving the cleaning instruction, control the water injection system to inject water into the cleaning tank so that the amount of water in the cleaning tank meets a first preset threshold; Describe the water volume value of the mop to be cleaned;

S21. When the cleaning tank is not equipped with a wiper or a non-rotatable wiper, control the wiper to rotate for a preset time;

S22. When the cleaning tank is equipped with a rotatably controlled scraping member, control the dragging member and at least one of the scraping members to rotate for a preset time;

S3, controlling the sewage recovery system to recover the sewage in the cleaning tank.

On the one hand, the embodiment of the present application also provides a mop cleaning control device, which is applied to a cleaning robot and a base station used in conjunction with the cleaning robot, including:

The first control unit is configured to control the water injection system to inject water into the cleaning tank after receiving the cleaning instruction, so that the amount of water in the cleaning tank meets the first preset threshold;

The second control unit is used to control the rotation of the dragging member for a preset time when the cleaning tank is not equipped with a wiper or a non-rotatable wiper; the second control unit is also used for when the When the cleaning tank is equipped with a rotatably controlled scraping piece, at least one of the dragging piece and the scraping piece is controlled to rotate for a preset time;

The third control unit controls the sewage recovery system to recover the sewage in the cleaning tank.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the present application will be apparent from the description, drawings and claims.

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 are only These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is the structural representation of the cleaning robot provided by the present application;

Fig. 2 is a schematic diagram of the decomposition structure of the cleaning robot provided by the present application;

FIG. 3 is a schematic structural diagram of a base station provided by the present application;

FIG. 4 is a schematic diagram of a decomposed structure of a base station provided by the present application;

Fig. 5 is a schematic overall flow diagram of Embodiment 1 of a cleaning control method for a mop provided in the present application;

Fig. 6 is a schematic overall flow diagram of Embodiment 2 of a cleaning control method for mopping parts provided in the present application;

Fig. 7 is a schematic flow chart of the S1 step of a cleaning control method for mopping parts provided in the present application;

Fig. 8 is a schematic flow chart of determining the preset cycle cleaning times in a cleaning control method for mopping parts provided in the present application;

Fig. 9 is a schematic flow chart with steps S61 and S62 of a cleaning control method for mop provided in the present application;

Fig. 10 is a first block flow diagram of a mop cleaning control device provided in the present application;

Fig. 11 is a second flow diagram of a mop cleaning control device provided in this application;

In the figure: 100, cleaning robot; 101, mopping part; 200, base station; 201, base station body; 202, scraping part; 203, cleaning tank; 204, water injection system; 2041, clean water tank; 2042, first pump body ; 2043, the first conduit; 2044, the second water injection nozzle; 2045, the first water injection nozzle; 205, the sewage recovery system; 2051, the sewage tank; 2052, the second pump body; 2053, the second conduit; 2054, recovery Faucet; 206, cleaning the base; 1, the first control unit; 11, the first control subunit; 12, the second control subunit; 13, the third control subunit; 14, the fourth control subunit; 15, the first control subunit Fifth control subunit; 16. Sixth control subunit; 17. Seventh control subunit; 2. Second control unit; 3. Third control unit; 4. Fourth control unit; 5. First trigger unit; 6 . The fifth control unit; 7. The second trigger unit.

detailed description

The following will clearly and completely describe the technical solutions of the embodiments of the present application with reference to the accompanying drawings. Apparently, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the embodiments of the present application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer " and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, Constructed and operative in a particular orientation and therefore should not be construed as limiting to the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the embodiments of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a Replaceable connection, or integral connection, can be mechanical connection or electrical connection, direct connection or indirect connection through an intermediary, or internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application in specific situations.

The embodiment of the present application discloses a cleaning control method for mopping parts, which is executed by a controller; it acts on the cleaning robot 100 shown in FIGS. 1 to 4 and the base station 200 used in conjunction with the cleaning robot 100 .

As far as the cleaning robot 100 is concerned, as shown in FIG. 1 and FIG. 2 , it can be a floor scrubber with a mopping member 101 for wiping and mopping the working surface, and there is no specific limitation.

As far as the controller is concerned, it may be composed of the control module of the cleaning robot 100 and/or the control module of the base station 200, or may be composed of background control and control, without limitation.

As far as the base station 200 is concerned, it may include a base station body 201 , a water injection system 204 and a sewage recycling system 205 . The base station body 201 is provided with a cleaning tank 203 capable of accommodating the mop 101 of the cleaning robot 100 . The specific structure of the base station body 201 can be designed according to actual needs. For example, as shown in Figure 3 and Figure 4, the cleaning tank 203 can be directly opened on the base station body 201 for the bottom of the cabin where the cleaning robot 100 drives in; The cleaning base 206 is detachable, and a cleaning tank 203 is opened on the cleaning base 206, and the cleaning base 206 is installed on the bottom of the cabin. Such design facilitates cleaning and maintenance inside the cleaning tank 203 . In addition, in order to further improve the cleaning effect, the cleaning tank 203 may be provided with a wiper 202 in contact with the mopping member 101; And the wiper 202 can also be designed as a fixed or rotatable control type, without limitation; as far as the structure of the wiper 202 is concerned, taking the fixed type as an example, as shown in Figure 4, it can be composed of multiple arcs. The scraper blades are distributed in a circle, and the details are not limited.

As far as the water injection system 204 is concerned, it can include a clean water tank 2041, a first pump body 2042, a first conduit 2043 and a water injection nozzle. The clean water tank 2041 is installed on the base station body 201 for storing cleaning water. The first pump body 2042 can be installed on the clean water tank 2041 , and the first water injection nozzle 2045 can be connected to the first pump body 2042 through the first conduit 2043 , and then connected to the clean water tank 2041 . The first water injection nozzle 2045 is also connected to the water inlet of the cleaning tank 203 to realize water injection into the cleaning tank 203 . Of course, the water injection system 204 can also be provided with a second water injection nozzle 2044 for adding water to the water tank inside the cleaning robot 100 .

As far as the sewage recovery system 205 is concerned, it may include a sewage tank 2051 , a second pump body 2052 , a second conduit 2053 and a recovery nozzle 2054 . The sewage tank 2051 can also be installed on the base station body 201 for storing recycled sewage. In the illustrated embodiment, the second pump body 2052 is installed on the sewage tank 2051 , and the recovery nozzle 2054 can be connected to the second pump body 2052 through the second conduit 2053 , and then connected to the sewage tank 2051 . In a preferred embodiment, the second pump body 2052 is connected with the sewage tank 2051 . The second pump body 2052 is specifically a vacuum diaphragm pump. The second pump body 2052 pumps the sewage tank 2051 into a negative pressure state through a conduit. Under the action of the external atmospheric pressure, the dirty liquid in the cleaning tank 203 will pass through the cleaning tank. 203 water outlet flows out, then is sucked in the dirty water tank 2051 by the recycling nozzle 2054 through the dirty second conduit 2053. First pump the sewage tank 2051 into a negative pressure state, and use the internal and external pressure difference of the sewage tank 2051 to pump sewage, which can prevent the problem of blockage of the pump when the ordinary pump is used to directly suck and discharge sewage. Furthermore, in order to fully recycle the sewage in the cleaning tank 203, the water outlet of the cleaning tank 203 may be opened at the bottom, which is not specifically limited.

Please refer to Fig. 5, an embodiment of a cleaning control method for mopping provided in the embodiment of the present application includes:

S1, after receiving the cleaning instruction, control the water injection system to inject water into the cleaning tank, so that the amount of water in the cleaning tank meets the first preset threshold; wherein, the first preset threshold is the part of the cleaning tank that may not pass the mop to be cleaned water value.

It should be noted that the cleaning instruction can be issued by the user or automatically by the system. As far as the user issues the instruction, it can be when the user determines through his own observation that the cleaning robot may affect the mopping effect due to the relatively dirty mopping parts. The control terminal issues a cleaning command for the mop, and at this time step S1 is executed, and the cleaning robot is controlled to return to the base station. Among them, as far as the system automatically issues the cleaning instruction, it can be issued after it is judged that the wiping and dragging work is completed. For example, the cleaning instruction can be issued after the wiping and dragging of a certain area is completed. The water injection system is controlled to inject water into the cleaning tank, so that the amount of water in the cleaning tank meets the first preset threshold. Of course, it is not limited to the above two cases, and those skilled in the art can make appropriate transformations based on this. As far as the first preset threshold value is concerned, it can be a range value or a critical value, for example, a water volume range value within a certain range of the mopping part to be cleaned, or a water volume critical value just below the part of the mopping part to be cleaned . The specific value of the first preset threshold can be determined according to the structure of the mopping member, the depth into the cleaning tank, and the volume of the cleaning tank, and will not be described in detail. Satisfying the first preset threshold is greater than or equal to the first preset threshold, that is, when the water volume in the cleaning tank is greater than or equal to the preset water volume, it can be considered that adding water is completed.

S21. When the cleaning tank is not equipped with a scraper or is configured with a non-rotatable scraper, control the rotation of the dragger for a preset time.

S22. When the cleaning tank is equipped with a rotatably controlled scraper, control the wiper and/or the scraper to rotate for a preset time.

It should be noted that there are several situations in which the mopping member can be rotated and cleaned in the cleaning tank as follows:

If there is no wiper or a fixed wiper: directly control the rotation of the mopping piece to realize the rotation and cleaning of the mopping piece in the cleaning tank.

The configuration of the wiper with rotatable control: (1) only the dragging piece is still controlled to rotate; (2) the dragging piece does not move, and only the wiper is controlled to rotate; (3) the wiper and the dragging The wipers rotate together.

It should be noted that, before step S21 or S22 is executed, it is possible to detect whether the cleaning robot is in place, and this detection can be by detecting the position of the cleaning robot, or detecting whether the cleaning robot is in a power-on state, that is, the cleaning robot Whether the charging end of the battery is connected to the power supply end of the base station. Certainly, other detection and judgment means may also be used, without limitation. In addition, as far as the preset time is concerned, it can be obtained based on historical experimental data.

It should be noted that after step S21 or S22 is completed, the sewage recovery system can be controlled to recover the sewage in the cleaning tank. During the sewage recovery process, the water volume in the cleaning tank can also be monitored in real time. When the water volume is detected to be lower than the first preset threshold value, the mopping member can be driven to rotate at this time to achieve rotational drying, and the water thrown out can be Flow into the cleaning tank in time for recovery.

The cleaning process can be controlled as follows:

After cleaning the home environment, the cleaning robot returns to the base station, and sends a cleaning command to the base station to clean the mopping parts. After receiving the instruction, the base station injects clean water into the cleaning tank. When it detects that the water volume in the cleaning tank meets the first preset threshold, taking the water volume detector installed at the bottom of the cleaning robot as an example, the cleaning robot can send a signal. At this time The base station stopped flooding. Then start to drive the mopping piece to rotate, and rotate and clean in the cleaning tank. Take the wiper piece as an example. During the rotation of the mopping piece, the scraping action of the wiper piece will further accelerate the separation of dirt on the mopping piece. . After the mopping member rotates for a preset time, the rotation can be stopped, and the sewage recovery system can be started to recover sewage.

The above is the first embodiment of a cleaning control method for mopping parts provided by the embodiment of the present application, and the following is the second embodiment of the cleaning control method for mopping parts provided by the embodiment of the present application. Please refer to the details See Figures 6 through 9.

Based on the scheme of the first embodiment above:

As far as step S1 is concerned, it may specifically include:

S11, acquiring the current water quantity data in the cleaning tank. It should be noted that the water volume data can be the liquid level information in the cleaning tank, which can be obtained by setting a liquid level sensor in the cleaning tank, or by setting a liquid level sensor at the bottom of the cleaning robot, or by setting the flow rate on the water inlet pipeline. The valve is implemented, and there is no specific limitation.

S12. Comparing the current water volume data with a first preset threshold.

S13. When it is determined that the current water volume data does not meet the first preset threshold, control the water injection system to inject water into the cleaning tank until the first preset threshold is met. It should be noted that during water injection, the water volume data in the cleaning tank will continuously change. When it is judged that the water volume data has changed to meet the first preset threshold, it is considered that the water addition is completed, and the water injection system can be stopped at this time.

As far as step S22 is concerned, when the mopping member and the scraping member are controlled to rotate together, in order to improve the cleaning efficiency, the two can be at least rotated in different directions and at the same speed, for example, the two can be controlled to rotate in opposite directions.

In order to further improve the cleaning effect and realize the flexible and optional cleaning degree, this application also designs steps:

S4. After the step of S3 is completed, return to the step of S1 until the number of preset cleaning cycles is met.

It should be noted that, in order to meet different cleaning needs and further improve cleaning efficiency, this control method can realize cycle control. After completing the last S3 step, you can return to repeat S1, S21 or S22, and S3 step. For example, when the preset cycle cleaning times is three times, return to execute twice, and then repeat on the basis of the first cleaning. Add two cycles of cleaning to achieve a cleaner and more thorough cleaning. That is to say, after the first sewage recycling is completed, clean water can be injected repeatedly according to the preset cycle cleaning times, and the preset cycle cleaning times can be used to finally achieve the purpose of cleaning more thoroughly.

As far as the determination of the number of preset cycle cleanings is concerned, it can be set by the user or the factory from the beginning, or it can be determined and set according to the actual situation of the mopping part. Specifically, the following steps may be included:

S51. Obtain the dirt data of the mopping piece.

It should be noted that the acquisition of dirty data can be specifically obtained by first obtaining the image data of the surface of the mopping piece to be cleaned, and then matching the corresponding dirty image data in the established dirty image database, for example, by Judging whether the difference between the coverage of the dirty area on the two images meets the set range, if so, it can be regarded as a successful match, at this time, remember to read the data of the matched dirty image as a drag piece dirty data. Of course, a calculation model can also be established in advance, and the calculation module can be established according to the corresponding relationship between the working range, working time and dirt data of the mopping member. That is, the working time and working range of the cleaning robot are obtained, and the obtained data are substituted into the calculation model to calculate the dirt data of the mopping parts. Of course, this embodiment is not limited to the two proposed methods, and those skilled in the art can make appropriate transformations based on these. S52. Based on the corresponding relationship between the dirty data and the preset cycle cleaning times, determine the preset cycle cleaning times.

It should be noted that this corresponding relationship can also be obtained by summarizing the historical experimental data. For example, when the dirty data is greater than a certain range of the first preset threshold, it corresponds to the range. Contamination data determines the number of preset cycle cleanings.

The process of determining the number of preset cleaning cycles may be completed between receiving the cleaning command and before water injection.

In this application, steps are also included between the step of S21 or S22 and the step of S3:

S61. Obtain the contamination data of the sewage in the cleaning tank. It should be noted that the specific manner of acquiring the dirt data may be acquired through detection by a corresponding water quality detection sensor, without limitation.

S62, judging whether the dirty data meets the second preset threshold, if yes, returning to the step of S1 after executing the step of S3, if not, completing the cleaning after executing the step of S3. It should be noted that whether the second preset threshold is satisfied means whether it is greater than or equal to the second preset threshold, and the second preset threshold may be a critical value or a range value summed up based on historical experience. For example, when the dirty data is greater than or equal to the second preset threshold, it can be considered that the sewage in the current cleaning tank is dirty, that is to say, the mop is dirty, and if it is dirty, it is easy to have a cleaning Unclean condition. Therefore, after the step S3 is executed, it is necessary to return to the step S1 again to realize another cleaning operation. And when the dirt data is less than the second preset threshold, it can be considered that the sewage in the cleaning tank is not very dirty, that is to say, the mopping member is not very dirty. Therefore, after the step S3 is performed, the cleaning operation can be completed without repeated cleaning.

In this application, the two methods of obtaining the dirt data of the mopping parts and the data of sewage pollution can be used in combination with each other or only one of them can be used. Specifically, it can be selected and changed according to actual needs, without limitation.

As shown in Figure 10 and Figure 11, the present application also provides a cleaning control device for mopping parts, including: a first control unit 1, used to control the water injection system to fill the cleaning tank with water after receiving the cleaning instruction, so that cleaning The amount of water in the tank satisfies the first preset threshold; the second control unit 2 is used to control the rotation of the dragging member for a preset time when the cleaning tank is not equipped with a wiper or a non-rotatable wiper; the second The control unit 2 is also used to control the dragging member and/or the scraping member to rotate for a preset time when the cleaning tank is equipped with a rotatable and controllable scraping member; the third control unit 3 controls the sewage recovery system to clean the waste water in the cleaning tank. Sewage recycling.

Further, the first control unit 1 includes: a first control subunit 11, used to acquire the current water volume data in the cleaning tank; a second control subunit 12, used to compare the current water volume data with the first preset threshold; The third control subunit 13 is configured to control the water injection system to inject water into the cleaning tank until the first preset threshold is met when it is judged that the current water volume data does not meet the first preset threshold.

Further, it also includes: a first trigger unit 5, which is used to trigger the first control unit 1, the second control unit 2 and the third control unit 3 until the predetermined condition is met after the third control unit 3 controls the sewage recovery system to complete the sewage recovery. Set cycle cleaning times.

Further, it also includes: a fourth control unit 4, which is used to determine the number of preset cycle cleaning times; the fourth control unit 4 includes: a fourth control subunit 14, which is used to obtain the dirt data of the mop; the fifth control subunit The unit 15 is configured to determine the preset cycle cleaning times based on the corresponding relationship between the dirty data and the preset cycle cleaning times.

Further, it also includes a fifth control unit 6 and a second trigger unit 7; the fifth control unit 6 includes: a sixth control subunit 16 for acquiring the dirt data of the sewage in the cleaning tank; a seventh control subunit 17 , used to judge whether the dirty data meets the second preset threshold; when the seventh control subunit 17 judges that the dirty data meets the second preset threshold, the second trigger unit 7 is used to control the sewage in the third control unit 3 After the recovery system completes the sewage recovery, the first control unit 1 , the second control unit 2 and the third control unit 3 are triggered.

Further, when the dragging member and the wiping member are jointly controlled to rotate, the directions of rotation of the dragging member and the wiping member are opposite.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the mop cleaning control device described above can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated. to another grid network to be installed, or some features can be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

A unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disk or optical disk, and various media that can store program codes.

The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still apply to the foregoing embodiments Modifications are made to the recorded technical solutions, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

A cleaning control method for mopping parts, applied to a cleaning robot and a base station used in conjunction with the cleaning robot, the cleaning control method includes the following steps:

S1. After receiving the cleaning instruction, control the water injection system to inject water into the cleaning tank so that the amount of water in the cleaning tank meets a first preset threshold; Describe the water volume value of the mop to be cleaned;

S21. When the cleaning tank is not equipped with a wiper or a non-rotatable wiper, control the wiper to rotate for a preset time;

S22, when the cleaning tank is equipped with a rotatably controlled scraping member, controlling at least one of the dragging member and the scraping member to rotate for a preset time;

S3, controlling the sewage recovery system to recover the sewage in the cleaning tank.
The cleaning control method for mopping parts according to claim 1, wherein the step of S1 specifically comprises:

Obtain the current water volume data in the cleaning tank;

comparing the current water volume data with the first preset threshold;

When it is determined that the current water volume data does not meet the first preset threshold, the water injection system is controlled to inject water into the cleaning tank until the first preset threshold is met.
The cleaning control method for mopping parts according to claim 1, further comprising:

After the step of S3 is completed, return to the step of S1 until the preset cycle cleaning times are met.
The cleaning control method for mopping parts according to claim 3, wherein the determination of the preset cycle cleaning times specifically includes:

Obtaining the dirt data of the mopping member;

The preset cycle cleaning times are determined based on the corresponding relationship between the dirt data and the preset cycle cleaning times.
The cleaning control method for mopping parts according to claim 4, characterized in that said acquiring the dirt data of the sewage in the cleaning tank specifically comprises: firstly acquiring an image of the surface of the mopping part to be cleaned data, and then match the image data to the corresponding dirty image data in the established dirty image database, by judging whether the difference between the coverage of the dirty area on the two images meets the set range, if so, then It may be considered that the matching is successful, and at this time, the data of the matched dirty image is read as the dirty data of the mopping member.
The cleaning control method for mopping parts according to claim 4, wherein said obtaining the dirty data of the sewage in the cleaning tank specifically comprises: obtaining the working time and working range of the cleaning robot, and substituting the acquired data into a preset calculation model to calculate the dirt data of the mop, wherein the calculation model is based on the working range, the working time and the The corresponding relationship of the above dirty data is established.
The cleaning control method for mopping parts according to claim 1, characterized in that, between the step of S21 or S22 and the step of S3, further comprising:

Obtaining the dirt data of the sewage in the cleaning tank;

Judging whether the dirty data satisfies the second preset threshold, if yes, returning to the step of S1 after performing the step of S3, if not, completing the cleaning after performing the step of S3.
The cleaning control method for the mopping member according to claim 1, characterized in that, in the step of S22, when the mopping member and the wiper are jointly rotated and controlled, the mopping The rotation direction of the piece is opposite to that of the wiper piece.
The cleaning control method for mopping parts according to claim 1, characterized in that, in the step S1, the cleaning instruction is issued by the user, and the user finds that the cleaning robot may be caused by the cleaning instruction through his own observation. When the mopping piece is relatively dirty and affects the mopping effect, the control terminal sends the cleaning instruction to the mopping piece, and at this time the cleaning robot is controlled to return to the base station.
According to the cleaning control method for mopping parts according to claim 1, it is characterized in that, in the step of S1, the cleaning instruction is issued by the system after judging that the mopping work is completed, and at this time the cleaning is controlled. The robot returns to the base station.
A cleaning control device for mopping parts, applied to a cleaning robot and a base station used in conjunction with the cleaning robot, including:

The first control unit is configured to control the water injection system to inject water into the cleaning tank after receiving the cleaning instruction, so that the amount of water in the cleaning tank meets the first preset threshold;

The second control unit is used to control the rotation of the dragging member for a preset time when the cleaning tank is not equipped with a wiper or a non-rotatable wiper; the second control unit is also used for when the When the cleaning tank is equipped with a rotatably controlled scraping member, at least one of the dragging member and the scraping member is controlled to rotate for a preset time;

The third control unit controls the sewage recovery system to recover the sewage in the cleaning tank.
The mop cleaning control device according to claim 11, wherein the first control unit comprises:

The first control subunit is used to obtain the current water volume data in the cleaning tank;

The second control subunit is used to compare the current water volume data with a first preset threshold;

The third control subunit is configured to control the water injection system to inject water into the washing tank until the first preset threshold is met when it is judged that the current water volume data does not meet the first preset threshold.
The mop cleaning control device according to claim 11, further comprising:

The first trigger unit is used to trigger the first control unit, the second control unit and the third control unit until the preset cycle cleaning is satisfied after the third control unit controls the sewage recovery system to complete the sewage recovery frequency.
The mop cleaning control device according to claim 13, further comprising:

The fourth control unit is used to determine the preset cycle cleaning times;

The fourth control unit includes:

The fourth control subunit is used to obtain the dirt data of the mopping member;

The fifth control subunit is configured to determine the preset cycle cleaning times based on the correspondence between the dirt data and the preset cycle cleaning times.
The cleaning control device for mopping parts according to claim 14, wherein said obtaining the dirt data of the sewage in the cleaning tank specifically comprises: firstly obtaining the image data of the surface of the mopping part to be cleaned, and then The image data is matched with the corresponding dirty image data in the established dirty image database, and by judging whether the difference between the coverage ratios of the dirty areas on the two images meets the set range, if so, it can be regarded as If the matching is successful, the data of the matched dirty image is read as the dirty data of the mopping member.
The mop cleaning control device according to claim 14, characterized in that said obtaining the dirty data of the sewage in the cleaning tank specifically comprises: obtaining the working time and working range of the cleaning robot, and obtaining Substituting the data into the preset calculation model to calculate the dirt data of the mopping piece, wherein the calculation model is based on the working range, the working time and the dirtiness of the mopping piece Data correspondence is established.
The mop cleaning control device according to claim 11, further comprising a fifth control unit and a second trigger unit;

The fifth control unit includes:

The sixth control subunit is used to obtain the dirt data of the sewage in the cleaning tank;

A seventh control subunit, configured to determine whether the dirty data meets a second preset threshold;

When the seventh control subunit judges that the dirty data meets the second preset threshold, the second trigger unit is configured to trigger the sewage recovery system after the third control unit controls the sewage recovery system to complete the sewage recovery. A first control unit, the second control unit, and the third control unit.
The cleaning control device of the mopping member according to claim 11, characterized in that, when the mopping member and the wiper are jointly rotated and controlled, the rotation of the mopping member and the wiper in the opposite direction.
The mop cleaning control device according to claim 11, wherein the cleaning instruction is issued by the user, and the cleaning robot may be affected by the dirtiness of the mop after the user observes by himself. When there is a wiping effect, the cleaning instruction for the mopping piece is sent through the control terminal.
The cleaning control device of the mopping member according to claim 11, wherein the cleaning instruction is automatically issued by the system after the mopping work is judged to be completed.