WO2025237342A1 - 清洁组件的控制方法、装置、基站及存储介质 - Google Patents
清洁组件的控制方法、装置、基站及存储介质Info
- Publication number
- WO2025237342A1 WO2025237342A1 PCT/CN2025/094941 CN2025094941W WO2025237342A1 WO 2025237342 A1 WO2025237342 A1 WO 2025237342A1 CN 2025094941 W CN2025094941 W CN 2025094941W WO 2025237342 A1 WO2025237342 A1 WO 2025237342A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- component
- cleaning
- cleaning component
- displacement
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
Definitions
- This disclosure relates to the field of self-propelled equipment technology, and more specifically, to control methods, devices, base stations, and storage media for cleaning components.
- the purpose of this disclosure is to provide a control method, device, base station, and storage medium for cleaning components, which can solve the problem of cleaning efficiency being affected by washing mops. Specifically:
- This disclosure provides a method for controlling a cleaning component, wherein the cleaning component is detachably mounted on a cleaning device, and the cleaning component includes a first cleaning component and a second cleaning component.
- the method includes:
- the second cleaning component In response to the cleaning device carrying the second cleaning component reaching the second position, the second cleaning component is disassembled from the cleaning device by a displacement component.
- the second cleaning component is moved away from the second position along the path component by the displacement component, wherein the displacement component is capable of reciprocating along the path component;
- the first cleaning component In response to the second cleaning component leaving the second position, the first cleaning component is moved from the first position to the second position by a lifting component, and the first cleaning component is mounted on the cleaning device, wherein the second position is located directly above the first position.
- the first cleaning component is supported in the second position by a lifting assembly.
- the method further includes:
- the first cleaning component moves from the second position to the first position under the pressure of the second cleaning component.
- the path component is at least partially an arc-shaped path
- moving the second cleaning component away from the second position along the path component by the displacement component includes:
- the displacement component moves the second cleaning component from the second position to the third position along the path component, the third position being located at or above the arc path, wherein the second cleaning component is generally horizontal at the second position and non-horizontal at the third position.
- the method further includes:
- the washing cloth component initiates the cleaning of the second cleaning component.
- the method further includes:
- the second cleaning component In response to the completion of cleaning by the second cleaning component, the second cleaning component is moved from the third position to the second position by the displacement component.
- the method further includes:
- the displacement component releases the second cleaning component, and the lifting component supports the second cleaning component in the second position.
- the method further includes:
- the displacement component moves to the third position.
- the step of removing the second cleaning component from the cleaning device via a displacement component in response to the cleaning device carrying the second cleaning component reaching a second position includes:
- the displacement component moves from the third position to the second position, and the second cleaning component is removed from the cleaning device.
- the second position and the first position are located within the projection range of the cleaning device on the horizontal plane, and the third position is located outside the projection range of the cleaning device on the horizontal plane.
- the lifting assembly when configured to carry a first cleaning assembly and a second cleaning assembly, it lowers the first cleaning assembly or the second cleaning assembly to a first position; when carrying the first cleaning assembly or the second cleaning assembly, it raises the first cleaning assembly or the second cleaning assembly to a second position.
- the displacement assembly and the lifting assembly have a detachable structure configured to allow the cleaning assembly to be detached from the cleaning device or to be assembled into the cleaning device.
- the cleaning component has an unlocking structure configured to be able to be fitted onto or detached from the cleaning device under the action of the disassembly structure.
- the method further includes:
- the second cleaning component can be manually pulled out of the path component, or the displacement component can automatically send the second cleaning component back to the second position along the path component.
- the method further includes:
- the cloth washing assembly may be manually moved to one side of the cleaning path, or the cloth washing assembly may be automatically moved to one side of the cleaning path.
- the displacement component is a trolley component.
- the path component is a track component.
- This disclosure provides a control device for a cleaning component, the cleaning component being detachably mounted on a cleaning device, the cleaning component including a first cleaning component and a second cleaning component, and the control device including:
- a first control unit is configured to control a displacement component to disassemble the second cleaning component from the cleaning device in response to the cleaning device carrying the second cleaning component to a second position.
- the second control unit is configured to control the displacement component to move the second cleaning component away from the second position along the path component, wherein the displacement component is capable of reciprocating along the path component;
- a third control unit is configured to, in response to the second cleaning component leaving the second position, control a lifting component to move the first cleaning component from the first position to the second position and assemble the first cleaning component into the cleaning device, wherein the second position is located directly above the first position.
- Some embodiments of this disclosure provide a base station, including a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, it implements the steps described in any of the above embodiments.
- Some embodiments of this disclosure provide a non-transitory computer-readable storage medium storing computer program instructions that, when invoked and executed by a processor, implement the steps described in any of the above embodiments.
- the control method for cleaning components provided in this embodiment can automatically replace the cleaning components of the cleaning equipment. After the cleaning components are replaced, the cleaning task can continue to be performed without waiting for the cleaning components to finish cleaning, which greatly improves the cleaning efficiency of the cleaning equipment.
- Figure 1 is a flowchart of a control method for a cleaning component provided in some embodiments of this disclosure
- Figure 2 is a schematic diagram of the structure of a control method for a cleaning component provided in some embodiments of this disclosure
- Figure 3 is another structural schematic diagram of the control method of the cleaning component provided in some embodiments of this disclosure.
- Figure 4 is another structural schematic diagram of the control method of the cleaning component provided in some embodiments of this disclosure.
- Figure 5 is a flowchart of a control method for a cleaning component provided in some other embodiments of this disclosure.
- Figure 6 is a schematic diagram of the cleaning component structure provided in some embodiments of this disclosure.
- FIG. 7 is a schematic diagram of the control device structure provided in some embodiments of this disclosure.
- Figure 8 is a schematic diagram of the electronic structure of a base station provided in an embodiment of this disclosure.
- Base station 100 displacement component 110, first displacement component 111, second displacement component 112, gear 113, cleaning equipment 200, second cleaning component 210, first cleaning component 220, path component 300, main track 310, gear track 311, two parallel auxiliary tracks 320, first position 400, second position 500, third position 600, and cloth washing component 800.
- the cleaning equipment needs to be cleaned at the base station when the mop gets dirty. Cleaning often takes time, and the cleaning task can only be performed again after cleaning is completed. Therefore, the mop cleaning process reduces the cleaning efficiency of the cleaning equipment.
- This disclosure provides a control method for a cleaning component, the cleaning component being detachably mounted on a cleaning device, the cleaning component including a first cleaning component and a second cleaning component, the method comprising: in response to the cleaning device carrying the second cleaning component to a second position, disassembling the second cleaning component from the cleaning device via a displacement component; moving the second cleaning component away from the second position along a path component via the displacement component, wherein the displacement component is capable of reciprocating along the path component; in response to the second cleaning component leaving the second position, moving the first cleaning component from the first position to the second position via a lifting component, and mounting the first cleaning component on the cleaning device, wherein the second position is located directly above the first position.
- the control method for cleaning components provided in this disclosure enables automatic replacement of cleaning components in a cleaning device via a base station.
- a cleaning component becomes dirty, it can be directly replaced with a clean one without immediate cleaning. After replacing the cleaning component, the cleaning task can continue, greatly improving the cleaning efficiency of the cleaning device.
- some embodiments of this disclosure provide a method for controlling a cleaning component, wherein the cleaning component is detachably mounted on a cleaning device, and the cleaning component includes a first cleaning component and a second cleaning component.
- the method includes the following steps:
- Step S102 In response to the cleaning device carrying the second cleaning component reaching the second position, the second cleaning component is disassembled from the cleaning device by the displacement component;
- Step S104 The second cleaning component is moved away from the second position by the displacement component along the path component, wherein the displacement component is capable of reciprocating along the path component;
- Step S106 In response to the second cleaning component leaving the second position, the lifting component moves the first cleaning component from the first position to the second position and assembles the first cleaning component into the cleaning device, wherein the second position is located directly above the first position.
- the cleaning device described in this disclosure can be a mopping robot, a sweeping and mopping robot, etc.
- the cleaning device includes at least a moving platform and a cleaning module disposed at the bottom of the moving platform.
- the moving platform can be configured to automatically move along a target direction on an operating surface.
- the operating surface can be the surface to be cleaned by the cleaning device.
- the cleaning device can be a mopping robot, in which case the automatic cleaning device works on the ground, and the ground is the operating surface; the cleaning device can also be a window cleaning robot, in which case the cleaning device works on the outer surface of the glass of a building, and the glass is the operating surface; the cleaning device can also be a pipe cleaning robot, in which case the cleaning device works on the inner surface of a pipe, and the inner surface of the pipe is the operating surface.
- a mopping robot in which case the automatic cleaning device works on the ground, and the ground is the operating surface
- the cleaning device can also be a window cleaning robot, in which case the cleaning device works on the outer surface of the glass of a building, and the glass is the operating surface
- the cleaning device can also be a pipe cleaning robot, in which case the cleaning device works on the inner surface of a pipe, and the inner surface of the pipe is the operating surface.
- the base station according to this disclosure is a device capable of providing cleaning equipment with functions such as replacing cleaning components, washing mops, charging, and dust collection.
- the base station typically has a base that protrudes from the base station body, and the base station typically includes components such as a dust collection chamber, a clean water tank, and a wastewater tank.
- the base station as the reference: horizontal axis Y, front-to-back axis X, and central vertical axis Z.
- the horizontal axis Y is essentially along the width of the base station body; the direction opposite to the arrow on the horizontal axis Y is labeled "rightward,” and the direction in which the arrow on the horizontal axis Y is labeled "leftward.”
- the vertical axis Z extends vertically along the base station; the direction opposite to the arrow on the vertical axis Z is labeled "downward,” and the direction in which the arrow on the vertical axis
- the cleaning assembly according to this disclosure includes a cleaning base plate and a cleaning mop disposed on the cleaning base plate.
- the cleaning base plate is detachably disposed on the side of the cleaning device facing the surface to be cleaned, and the cleaning mop is disposed on the side of the cleaning base plate facing the surface to be cleaned.
- the cleaning base plate has an unlocking structure that allows the cleaning assembly to be fitted onto the cleaning device and also to be detached from the cleaning device under external force.
- the specific structure of the unlocking structure is not limited, and may include, for example, a spring, a locking structure, etc.
- the cleaning components according to embodiments of this disclosure include a first cleaning component and a second cleaning component.
- the first and second cleaning components have substantially the same structure.
- the first cleaning component is defined as a clean or unused cleaning component located in a base station or other replacement device in a ready-to-use state, used to replace a used cleaning component on the cleaning device.
- Multiple first cleaning components are arranged in the base station or other replacement device according to certain rules, such as stacked in the base station or other replacement device, awaiting a replacement instruction.
- the second cleaning component is defined as a cleaning component currently installed on the cleaning device. It can be performing a cleaning task or has not yet performed a cleaning task.
- the second cleaning component is in a state of being assembled into the cleaning device and awaiting use or has already been used.
- the lifecycle of the second cleaning component begins from its assembly into the cleaning device until it performs a cleaning task, is disassembled for cleaning, and returns to a ready-to-use state after cleaning.
- three working positions are defined: a first position 400, a second position 500, and a third position 600.
- the projections of the first position 400 and the second position 500 in the horizontal plane substantially overlap, and the first position 400 is located directly below the second position 500.
- the cleaning component is in a substantially horizontal state at the first position 400 and the second position 500.
- the third position 600 is located behind the first position 400 and the second position 500, and its projection in the horizontal plane does not substantially overlap with the first position 400 and the second position 500.
- the second position 500 and the first position 400 are within the projection range of the cleaning device in the horizontal plane, and the third position 600 is outside the projection range of the cleaning device in the horizontal plane.
- the cleaning component is at the third position 600, it is essentially non-horizontal; that is, the cleaning component tilts when it reaches the third position 600 to minimize the front-to-back dimensions of the base station 100, allowing the cleaning component to be stored or cleaned while tilted.
- the cleaning component can also be horizontal when at the third position 600; there is no strict restriction on this.
- the cleaning device 200 carries the second cleaning component 210 back to the base station 100 to replace the cleaning component.
- the base station 100 checks whether the cleaning device 200 has returned to the predetermined position via sensors or other positioning devices.
- the base station 100 controls the displacement component 110 to operate via the control center.
- the control center of the base station 100 in response to the cleaning device 200 carrying the second cleaning component 210 reaching the second position 500, removes the second cleaning component 210 from the cleaning device 200 via the displacement component 110.
- the displacement component 110 may be pre-positioned at the third position 600 or other intermediate positions other than the second position 500.
- the displacement component 110 only enters the second position 500 to remove the second cleaning component 210 after the cleaning device 200 carrying the second cleaning component 210 reaches the second position 500.
- the cleaning component has an unlocking structure configured to assemble the cleaning component onto the cleaning device 200 or detach the cleaning component from the cleaning device 200 under the action of the displacement component 110.
- the unlocking structure has an elastic element, a locking element, etc., which elastically opens or closes under the action of the displacement component 110 to realize the separation and assembly of the cleaning component and the cleaning device.
- the first position 400 is located directly below the cleaning device 200.
- the displacement component 110 unlocks the unlocking structure of the cleaning device 200 under motor control, detaching the second cleaning component 210 from the cleaning device 200. Thereafter, the cleaning device 200 remains in the second position 500 without leaving the base station. After being detached from the cleaning device 200, the second cleaning component 210 is still held by the displacement component 110, and then, under the control of the control center, the displacement component 110 carries the second cleaning component 210 away from the second position 500 along the path component 300.
- the displacement component 110 includes a first displacement component 111 and a second displacement component 112.
- the first displacement component 111 and the second displacement component 112 are symmetrically arranged on the path component 300, and move synchronously along the path component 300 under the control of the control center, simultaneously unlocking and assembling the cleaning component.
- the displacement component 110 has a disassembly and assembly structure, which may include, for example, a concave-convex structure or a positioning structure. This disassembly and assembly structure allows the cleaning component to be detached from the cleaning equipment or assembled onto the cleaning equipment. This embodiment does not impose specific limitations on the disassembly and assembly structure, as long as it enables disassembly and assembly.
- unlocking can be achieved by pushing against the unlocking structure (e.g., a spring or a locking structure) of the cleaning component.
- the unlocking structure e.g., a spring or a locking structure
- the displacement component 110 can be a trolley component.
- the path component 300 can be a track component, and the trolley component slides reciprocally along the track component.
- the path component 300 includes two symmetrically arranged path components, each path component including a main track 310 and two parallel auxiliary tracks 320.
- the main track 310 has a toothed rail 311, which meshes with a gear 113 on the displacement component 110, causing the displacement component 110 to slide along the two parallel auxiliary tracks 320.
- the two parallel auxiliary tracks 320 are generally located in the horizontal direction, which can ensure the parallel movement of the cleaning component.
- the main track 310 and the two parallel auxiliary tracks 320 are basically horizontal in the first position 400 or the second position 500, and are arc-shaped in the third position 600.
- the displacement component 110 can reciprocate along the path component 300, so that the displacement component 110 can move the cleaning component from the first position 400 or the second position 500 in the horizontal state to the third position 600 in the inclined state, thus ensuring the rational use of the base station space.
- step S104 moving the second cleaning component away from the second position along the path component by means of the displacement component, includes: moving the second cleaning component 210 from the second position 500 to a third position 600 along the path component by means of the displacement component 110, wherein the third position 600 is located at or above the arc path, wherein the second cleaning component 210 is generally horizontal at the second position 500, and the second cleaning component 210 is non-horizontal at the third position 600, for example, it can be vertical.
- step S106 in response to the second cleaning component 210 leaving the second position 500, the lifting component moves the first cleaning component 220 from the first position 400 to the second position 500 and assembles the first cleaning component 220 into the cleaning device 200.
- the cleaning device 200 has completed the replacement of the cleaning component and can leave the base station to continue cleaning the surface to be cleaned. It can be seen that the embodiments of this disclosure can automatically replace the cleaning components of the cleaning device, and the cleaning device does not need to leave the base station during the entire replacement process. After replacing the cleaning component, it can continue to perform the cleaning task without waiting for the cleaning component to finish cleaning, greatly improving the cleaning efficiency of the cleaning device.
- the second cleaning component 210 is held away from the second position 500 by the displacement component 110. At this time, the cleaning device 200 is not equipped with any cleaning components.
- the lifting component moves the first cleaning component 220 from the first position 400 to the second position 500.
- the lifting component is configured to carry the first cleaning component 220 and the second cleaning component 210, it lowers either the first cleaning component 220 or the second cleaning component 210 to the first position 400; when carrying either the first cleaning component 220 or the second cleaning component 210, it raises either the first cleaning component 220 or the second cleaning component 210 to the second position 500.
- the lifting component can move vertically up and down.
- the lifting component can move vertically up and down under the drive of a drive motor, or it can be designed as an elastic structure to move vertically up and down.
- the lifting component when the lifting component carries two cleaning components, it compresses, so that the upper cleaning component is located at the second position 500 and the lower cleaning component is located at the first position 400.
- the upper cleaning component leaves, the gravity decreases, and the lifting component elastically rises, raising the original cleaning component from the first position 400 to the second position 500.
- the displacement component 110 disassembles the cleaning component of the cleaning device 200, the weight of the cleaning component is borne by the lifting component, which is compressed, and the original cleaning component is compressed from the second position 500 to the first position 400.
- step S106 after the second cleaning component 210 leaves the second position 500, the lifting component moves the first cleaning component 220 from the first position 400 to the second position 500 under the action of elastic force, and the first cleaning component 220 is locked in the cleaning device 200 under the action of elastic force.
- the lifting component has a disassembly and assembly structure, which may include, for example, a concave-convex structure, a positioning structure, etc.
- the disassembly and assembly structure can remove the cleaning component from the cleaning device or assemble the cleaning component into the cleaning device.
- This embodiment of the present disclosure does not impose specific limitations on the disassembly and assembly structure, as long as it can achieve disassembly and assembly.
- disassembly and assembly can be achieved after pushing against the unlocking structure (e.g., spring, locking structure) of the cleaning component.
- the unlocking structure e.g., spring, locking structure
- the method before the second cleaning component is removed from the cleaning device by a displacement component in response to the cleaning device carrying the second cleaning component to the second position, the method further includes: supporting the first cleaning component in the second position by a lifting component.
- the cleaning component of the base station when the cleaning component of the base station is in the replacement-ready state, a cleaning component is carried on the lifting component. At this time, due to gravity, the lifting component is in the raised state, and the clean first cleaning component 220 is in the second position 500, that is, in the replacement-ready state.
- the first cleaning component 220 moves from the second position 500 to the first position 400 under the pressure of the second cleaning component 210, the lifting component is in a compressed state, the clean first cleaning component 220 is in the first position 400, and the removed dirty second cleaning component 210 is in the second position 500.
- the method further includes the following steps:
- Step S108 In response to the second cleaning component reaching the third position, the cloth washing component starts cleaning the second cleaning component.
- the second cleaning component 210 slides from the second position 500 along the path component 300 to the third position 600.
- the washing cloth component 800 is activated to begin cleaning the second cleaning component 210.
- the second cleaning component 210 is in an inclined state, with an inclination angle of, for example, 20 degrees to 90 degrees.
- the mop of the second cleaning component 210 faces one side of the washing cloth component 800, and the washing cloth component 800 moves along the left and right direction of the base station to scrape and clean the mop on the second cleaning component 210.
- an optional embodiment is that the inclined washing cloth component 800 and the second cleaning component 210 form a closed space, and the washing cloth component 800 cleans the second cleaning component 210 within the closed space.
- the control center controls the drying component to output a drying airflow to dry the second cleaning component 210.
- the method further includes the following steps:
- Step S110 In response to the completion of cleaning by the second cleaning component, the displacement component moves the second cleaning component from the third position to the second position.
- the cleaning equipment 200 After the second cleaning component 210 has finished cleaning, the cleaning equipment 200 has usually replaced the cleaning component and left the base station 100.
- the lifting component is in an unloaded state.
- the displacement component 110 moves the second cleaning component 210 from the third position 600 to the second position 500 along the path component 300.
- the method further includes the following steps:
- Step S112 In response to the second cleaning component reaching the second position, the displacement component releases the second cleaning component, and the lifting component supports the second cleaning component in the second position.
- the displacement component 110 releases the second cleaning component 210, which is then smoothly transferred to the lifting component. Since the lifting component only carries the second cleaning component 210 at this time, the gravity does not reach the force required to compress the lifting component, and the lifting component supports the second cleaning component 210 at the second position 500.
- the displacement component 110 will automatically slide to the third position 600 or other neutral transition position to avoid affecting the return of the cleaning equipment to the base station. In this way, a cycle of disassembly, replacement, cleaning, and return of a cleaning component is completed, awaiting the execution of the next cycle.
- this method can automatically replace the cleaning components of the cleaning equipment through the base station.
- the cleaning component of the cleaning equipment is dirty, there is no need to wait for cleaning at the base station; another clean cleaning component can be directly replaced. After the cleaning component is replaced, the cleaning task can continue. The replaced cleaning component is cleaned and returned to its original position under the control of the base station. The two operations are performed in parallel, greatly improving the cleaning efficiency of the cleaning equipment.
- the method further includes the following steps: the displacement component is powered off during the process of moving the second cleaning component away from the second position along the path component, allowing the second cleaning component to be manually pulled out from the path component, or the displacement component automatically sends the second cleaning component back to the second position along the path component.
- a power outage may occur during the process of the displacement component 110 moving the second cleaning component 210 away from the second position 500 along the path component 300.
- the second cleaning component 210 may become stuck at a certain position between the second position 500 and the third position 600, preventing it from being cleaned. If it remains stuck in this position for an extended period, the dirt on the second cleaning component 210 will not be cleaned, polluting the environment. Alternatively, after power is restored, the stuck second cleaning component 210 may affect subsequent cloth-changing operations of the cleaning equipment 200. Therefore, in the event of a power outage, the control center should allow the user to manually pull the second cleaning component 210 out of the path component 300.
- a capacitor can be installed in the displacement component 110, providing a brief power supply during a power outage, allowing the displacement component 110 to automatically return the second cleaning component 210 to the second position 500 along the path component 300, after which the user can manually remove and clean the second cleaning component 210.
- the method includes: de-energizing the washing assembly during the washing of the second cleaning assembly, allowing the washing assembly to be manually moved to one side of the washing path, or the washing assembly automatically moving to one side of the washing path.
- a power outage may occur during the cleaning process of the washing assembly 800 and the second cleaning assembly 210.
- the second cleaning assembly 210 will remain at the third position 600, and the washing assembly 800 will be stuck at any position during the left-right sliding cleaning process, affecting the removal of the second cleaning assembly 210 and preventing it from being cleaned further and removed. If it remains stuck in the stuck position for a long time, the stains on the second cleaning assembly 210 will not be cleaned, polluting the environment. Therefore, in the event of a power outage, the control center can allow the washing assembly 800 to be manually moved to one side of the cleaning path, or a capacitor can be installed in the washing assembly 800. In the event of a power outage, the capacitor will provide a brief power supply, and the washing assembly 800 will automatically move to one side of the cleaning path to prevent interference with the removal of the second cleaning assembly 210.
- the cleaning component is detachably mounted on a cleaning device, and the cleaning component includes a first cleaning component and a second cleaning component, as shown in FIG7.
- the control device includes:
- a first control unit 702 is configured to control a displacement component to disassemble the second cleaning component from the cleaning device in response to the cleaning device carrying the second cleaning component to a second position.
- the second control unit 704 is configured to control the displacement component to move the second cleaning component away from the second position along the path component, wherein the displacement component is capable of reciprocating along the path component;
- the third control unit 706 is configured to, in response to the second cleaning component leaving the second position, control the lifting component to move the first cleaning component from the first position to the second position and assemble the first cleaning component into the cleaning device, wherein the second position is located directly above the first position.
- the third control unit 706 is further configured to control the lifting assembly to support the first cleaning assembly in a second position.
- the third control unit 706 is further configured to control the first cleaning component to move from the second position to the first position under the pressure of the second cleaning component.
- the second control unit 704 is further configured to control the displacement component to move the second cleaning component from the second position along the path component to a third position, the third position being located at the arcuate path, wherein the second cleaning component is generally horizontal at the second position and is non-horizontal at the third position.
- the first control unit 702 is further configured to control the washing cloth assembly to start cleaning the second cleaning component in response to the second cleaning component reaching the third position.
- the first control unit 702 is further configured to control the displacement component to move the second cleaning component from the third position to the second position in response to the completion of cleaning by the second cleaning component.
- the first control unit 702 is further configured to control the displacement component to release the second cleaning component in response to the second cleaning component reaching the second position, wherein the lifting component supports the second cleaning component at the second position.
- the first control unit 702 is further configured to control the displacement component to move to a third position after releasing the second cleaning component.
- the first control unit 702 is further configured to control the displacement component to move from the third position to the second position in response to the cleaning device carrying the second cleaning component to the second position, thereby removing the second cleaning component from the cleaning device.
- the first control unit 702 is further configured to, in the event of a power failure during the process of the displacement component moving the second cleaning component away from the second position along the path component, manually pull the second cleaning component out of the path component, or automatically send the second cleaning component back to the second position along the path component.
- the first control unit 702 is further configured to, in the event of a power outage during the washing of the second cleaning component by the washing assembly, manually move the washing assembly to one side of the cleaning path, or automatically move the washing assembly to one side of the cleaning path.
- This disclosure provides a base station in some embodiments, including a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, it implements the steps of the method described in any of the above embodiments.
- Some embodiments of this disclosure provide a non-transitory computer-readable storage medium storing computer program instructions that, when invoked and executed by a processor, implement the steps of the method described in any of the above embodiments.
- the base station may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 into a random access memory (RAM) 803.
- the RAM 803 also stores various programs and data required for base station operation.
- the processing device 801, ROM 802, and RAM 803 are interconnected via a bus 804.
- An input/output (I/O) interface 805 is also connected to the bus 804.
- I/O interface 805 input devices 806 including, for example, touch screens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 807 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 808 including, for example, hard disks; and communication devices 809.
- input devices 806 including, for example, touch screens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.
- output devices 807 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.
- storage devices 808 including, for example, hard disks
- communication devices 809 allows the base station to communicate wirelessly or wiredly with other devices to exchange data.
- each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function.
- the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.
- each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
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- Automatic Assembly (AREA)
Abstract
清洁组件的控制方法、装置、基站及存储介质，清洁组件可拆卸地装配于清洁设备（200），清洁组件包括第一清洁组件（220）和第二清洁组件（210），所述方法包括：响应于清洁设备（200）携带第二清洁组件（210）到达第二位置（500），位移组件（110）从清洁设备（200）拆卸第二清洁组件（210）；通过位移组件（110）将第二清洁组件（210）沿路径组件（300）移离第二位置（500），其中，位移组件（110）能够沿路径组件（300）往复移动；响应于第二清洁组件（210）离开第二位置（500），升降组件将第一清洁组件（220）从第一位置（400）移动至第二位置（500），并将第一清洁组件（220）装配于清洁设备（200），其中，第二位置（500）位于第一位置（400）的正上方。
Description
相关申请的交叉引用
本公开要求2024年5月16日提交的中国专利申请号2024106131946的优先权，该中国专利申请以其整体通过引用并入本文。
本公开涉及自行走设备技术领域，具体而言，涉及清洁组件的控制方法、装置、基站及存储介质。
近年来，随着自动清洁设备的普及，自动清洁设备的功能也越来越多，特别是集扫地、吸尘、拖地、除尘、拖布清洗等多种功能于一体的自动清洁设备的应用也越来越多。
现有技术中，通过基站对自动清洁设备进行自动的集尘以及拖布清洗。清洁设备的拖布脏了以后需要到基站对拖布进行清洗，然后才能进行继续清洁任务，从而清洗过程较长，影响了清洁效率。
本公开的目的在于提供清洁组件的控制方法、装置、基站及存储介质，能够解决清洗拖布影响清洁效率的问题。具体如下：
本公开一些实施例提供一种清洁组件的控制方法，所述清洁组件可拆卸地装配于清洁设备，所述清洁组件包括第一清洁组件和第二清洁组件，所述方法包括：
响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件，
通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，其中，所述位移组件能够沿所述路径组件往复移动；
响应于所述第二清洁组件离开所述第二位置，通过升降组件将所述第一清洁组件从第一位置移动至所述第二位置，并将所述第一清洁组件装配于所述清洁设备，其中，所述第二位置位于所述第一位置的正上方。
在一些实施例中，在响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件之前，所述方法还包括：
通过升降组件将所述第一清洁组件支撑于第二位置。
在一些实施例中，在响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件之后，所述方法还包括：
所述第一清洁组件在第二清洁组件的压力下由所述第二位置移动至所述第一位置。
在一些实施例中，所述路径组件至少部分为弧形路径，所述通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，包括：
通过所述位移组件将所述第二清洁组件从所述第二位置沿路径组件移动至第三位置，所述第三位置位于所述弧形路径处或高于所述弧形路径处，其中，所述第二清洁组件在所述第二位置大致呈水平方向，所述第二清洁组件在所述第三位置呈非水平方向。
在一些实施例中，所述方法还包括：
响应于所述第二清洁组件到达所述第三位置，洗布组件启动清洗所述第二清洁组件。
在一些实施例中，所述方法还包括：
响应于所述第二清洁组件清洗完毕，通过所述位移组件将所述第二清洁组件由所述第三位置移动至所述第二位置。
在一些实施例中，所述方法还包括：
响应于所述第二清洁组件到达所述第二位置，所述位移组件释放所述第二清洁组件，所述升降组件将所述第二清洁组件支撑于第二位置。
在一些实施例中，所述方法还包括：
所述位移组件释放所述第二清洁组件后，移动至第三位置。
在一些实施例中，所述响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件，包括：
响应于所述清洁设备携带所述第二清洁组件到达第二位置，所述位移组件从第三位置移动至所述第二位置，从所述清洁设备拆卸所述第二清洁组件。
在一些实施例中，在所述清洁设备到达第二位置的状态下，所述第二位置和所述第一位置位于所述清洁设备在水平面的投影范围之内，所述第三位置位于所述清洁设备在水平面的投影范围之外。
在一些实施例中，所述升降组件配置为承载第一清洁组件和第二清洁组件时，使所述第一清洁组件或第二清洁组件下降到第一位置；承载第一清洁组件或第二清洁组件时，使所述第一清洁组件或第二清洁组件上升到第二位置。
在一些实施例中，所述位移组件和升降组件具有拆装结构，配置为能够将所述清洁组件从所述清洁设备拆下或能够将所述清洁组件装配到所述清洁设备。
在一些实施例中，所述清洁组件具有解锁结构，配置为能够在所述拆装结构的作用下装配到所述清洁设备或从所述清洁设备拆下。
在一些实施例中，在通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置之后，所述方法还包括：
在所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置过程中出现断电的情况下，允许手动将所述第二清洁组件从所述路径组件拽出，或，通过所述位移组件自动将所述第二清洁组件沿路径组件送回所述第二位置。
在一些实施例中，在洗布组件启动清洗所述第二清洁组件之后，所述方法还包括：
在洗布组件清洗所述第二清洁组件过程中出现断电的情况下，允许手动将所述洗布组件移动到清洗路径的一侧，或，所述洗布组件自动移动到清洗路径的一侧。
在一些实施例中，所述位移组件为滑车组件。
在一些实施例中，所述路径组件为轨道组件。
本公开一些实施例提供一种清洁组件的控制装置，所述清洁组件可拆卸地装配于清洁设备，所述清洁组件包括第一清洁组件和第二清洁组件，所述控制装置包括：
第一控制单元，配置为响应于所述清洁设备携带所述第二清洁组件到达第二位置，控制位移组件从所述清洁设备拆卸所述第二清洁组件，
第二控制单元，配置为控制所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，其中，所述位移组件能够沿所述沿路径组件往复移动；
第三控制单元，配置为响应于所述第二清洁组件离开所述第二位置，控制升降组件将所述第一清洁组件从所述第一位置移动至所述第二位置，并将所述第一清洁组件装配于所述清洁设备，其中，所述第二位置位于所述第一位置的正上方。
本公开一些实施例提供一种基站，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现如上任一实施例所述的步骤。
本公开一些实施例提供一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如上任一实施例所述的步骤。
本公开实施例的上述方案可以有以下有益效果：
本公开实施例提供的清洁组件的控制方法，能够对清洁设备的清洁组件进行自动更换，更换完清洁组件后即可继续执行清洁任务，而不需要等待清洁组件清洗完毕后才能继续进行清洁，大大提高了清洁设备的清洁效率。
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为本公开一些实施例提供的清洁组件的控制方法流程图；
图2为本公开一些实施例提供的清洁组件的控制方法的结构示意图；
图3为本公开一些实施例提供的清洁组件的控制方法的另一结构示意图；
图4为本公开一些实施例提供的清洁组件的控制方法的另一结构示意图；
图5为本公开另一些实施例提供的清洁组件的控制方法流程图；
图6为本公开一些实施例提供的清洗组件结构示意图；
图7为本公开一些实施例提供的控制装置结构示意图；
图8为本公开实施例提供的基站的电子结构示意图。
附图标记说明：
基站100、位移组件110、第一位移组件111、第二位移组件112、齿轮113、清洁设备200、第二
清洁组件210、第一清洁组件220、路径组件300、主轨道310、齿轨311、两个平行的辅轨道320、第一位置400、第二位置500、第三位置600、洗布组件800。
基站100、位移组件110、第一位移组件111、第二位移组件112、齿轮113、清洁设备200、第二
清洁组件210、第一清洁组件220、路径组件300、主轨道310、齿轨311、两个平行的辅轨道320、第一位置400、第二位置500、第三位置600、洗布组件800。
为了使本公开的技术方案和技术效果更加清楚，下面将结合附图对本公开作进一步地详细描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。
在本公开实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。
清洁设备在执行清洁任务过程中或执行清洁任务后，当清洁设备的拖布脏了以后需要到基站进行清洗，清洗往往需要花费一定的时间，清洗完毕后才能再次执行清洁任务，因此，拖布的清洗过程降低了清洁设备的清洁效率。
本公开提供一种清洁组件的控制方法，所述清洁组件可拆卸地装配于清洁设备，所述清洁组件包括第一清洁组件和第二清洁组件，所述方法包括：响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件；通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，其中，所述位移组件能够沿所述路径组件往复移动；响应于所述第二清洁组件离开所述第二位置，升降组件将所述第一清洁组件从所述第一位置移动至所述第二位置，并将所述第一清洁组件装配于所述清洁设备，其中，所述第二位置位于所述第一位置的正上方。
本公开实施例提供的清洁组件的控制方法，能够通过基站对清洁设备的清洁组件进行自动更换。当清洁设备的清洁组件脏了以后，无须当时清洗，可以直接更换另一个干净的清洁组件。更换完清洁组件后即可继续执行清洁任务，大大提高了清洁设备的清洁效率。
下面结合附图详细说明本公开的可选实施例。
如图1所示，本公开一些实施例提供一种清洁组件的控制方法，所述清洁组件可拆卸地装配于清洁设备，所述清洁组件包括第一清洁组件和第二清洁组件，所述方法包括如下步骤：
步骤S102：响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件；
步骤S104：通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，其中，所述位移组件能够沿所述沿路径组件往复移动；
步骤S106：响应于所述第二清洁组件离开所述第二位置，升降组件将所述第一清洁组件从所述第一位置移动至所述第二位置，并将所述第一清洁组件装配于所述清洁设备，其中，所述第二位置位于所述第一位置的正上方。
本公开所述的清洁设备可以是拖地机器人，也可以是扫拖一体机器人等。该清洁设备至少包含移动平台和设置于移动平台底部的清洁模组。移动平台可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为清洁设备待清洁的表面。在一些实施例中，清洁设备可以为拖地机器人，则自动清洁设备在地面上工作，所述地面为所述操作面；清洁设备也可以是擦窗机器人，则清洁设备在建筑的玻璃外表面工作，所述玻璃为所述操作面；清洁设备也可以是管道清洁机器人，则清洁设备在管道的内表面工作，所述管道内表面为所述操作面。本公开中下面的描述以拖地机器人为例进行说明。
在一些实施例中，根据本公开的基站是能够为清洁设备提供更换清洁组件、清洗拖布、充电、集尘等功能的设备。基站通常具有底座，底座突出于基站本体，基站通常包括集尘仓、净水箱、污水箱等部件。
为了更加清楚地描述基站和清洁设备的行为，以基站为准进行如下方向定义：横向轴Y、前后轴X及中心垂直轴Z。沿着前后轴X的箭头相反的方向即清洁设备进入基站的方向标示为“后向”，且沿着前后轴X的箭头方向即清洁设备离开基站的方向标示为“前向”。横向轴Y实质上是沿着由基站本体宽度的方向,沿着横向轴Y的箭头相反的方向标示为“右向”，且沿着横向轴Y的箭头方向标示为“左向”。垂直轴Z为沿基站竖直方向延伸，沿着直轴Z的箭头相反的方向标示为“向下”，且沿着直轴Z的箭头方向标示为“向上”。
在一些实施例中，根据本公开的清洁组件包括清洁基板和设置于清洁基板上的清洁拖布。清洁基板可拆卸地设置于清洁设备朝向待清洁表面的一侧，清洁拖布设置于清洁基板朝向待清洁表面的一侧。清洁基板具有解锁结构，解锁结构可以使清洁组件装配于清洁设备，也可以在外力作用下从清洁设备拆下。对解锁结构的具体结构不做限定，例如包括弹簧、卡止结构等。
根据本公开实施例的所述清洁组件包括第一清洁组件和第二清洁组件。第一清洁组件和第二清洁组件具有基本相同的结构，其中，第一清洁组件定义为干净的或未使用的清洁组件，其位于基站或其他更换装置中处于待使用状态，用于替换清洁设备上已使用的清洁组件。第一清洁组件可以是1个、2个或多个，例如可以为1-6个中的任意数量，多个第一清洁组件以一定规则设置于基站或其他更换装置中，例如叠置于基站或其他更换装置中，等待执行被更换的指令。第二清洁组件定义为当前清洁设备上安装的清洁组件，其可以为正在执行清洁任务，也可以为还未执行清洁任务，通常第二清洁组件处于已装配于清洁设备等待使用或已使用的状态。作为一种示例，第二清洁组件的生命周期从清洁组件装配到清洁设备开始，一直到其执行清洁任务，被拆卸下来清洗，清洗完毕后转变为待使用状态结束。
在一些实施例中，如图2-图3所示，本公开实施例为了清楚地表述清洁组件的控制过程，定义3个工作位置，第一位置400、第二位置500和第三位置600，其中，第一位置400、第二位置500在水平面内投影大致重叠，且第一位置400位于第二位置500正下方，清洁组件在第一位置400和第二位置500大致为水平状态；第三位置600位于第一位置400和第二位置500的后侧，其在水平面的投影基本不与第一位置400和第二位置500重叠，在所述清洁设备到达第二位置500的状态下，所述第二位置500和所述第一位置400位于所述清洁设备在水平面的投影范围之内，所述第三位置600位于所述清洁设备在水平面的投影范围之外。一种示例为，清洁组件在第三位置600时，清洁组件基本为非水平方向，即清洁组件运动到第三位置600时发生倾斜，以尽量缩减基站100前后方向的尺寸，使清洁组件在倾斜状态下收纳或清洗。当然，清洁组件在第三位置600时也可以为水平方向，对此不做严格的限制。
在一些实施例中，清洁设备200携带第二清洁组件210回到基站100更换清洁组件，基站100会通过传感器或其他定位设备检查清洁设备200是否回到预定位置。当第二清洁组件210到达第二位置500时，基站100通过控制中心控制位移组件110工作，如步骤S102中所述，基站100的控制中心响应于所述清洁设备200携带所述第二清洁组件210到达第二位置500，通过位移组件110从所述清洁设备200拆卸所述第二清洁组件210。可选的，此时，为了不影响清洁设备200进入基站100，防止清洁设备200进入基站100时与清洁设备200发生干涉，位移组件110可以预先位于第三位置600或其他非第二位置500的中间位置，当清洁设备200携带第二清洁组件210到达第二位置500后，位移组件110才进入第二位置500拆卸第二清洁组件210。
在一些实施例中，所述清洁组件具有解锁结构，解锁结构配置为在位移组件110的作用下把所述清洁组件装配到所述清洁设备200上，或将所述清洁组件从所述清洁设备200拆下来。作为一种示例，解锁结构具有弹性件、卡止件等，在位移组件110的作用下弹性打开或关闭卡止件，实现清洁组件与清洁设备的分离与装配。
在一些实施例中，在所述清洁设备200到达第二位置500状态下，所述第一位置400位于所述清洁设备200的正下方。
此时，如步骤S102所述，响应于所述清洁设备200携带所述第二清洁组件210到达第二位置500，位移组件110在电机控制下解锁所述清洁设备200的解锁结构，将所述第二清洁组件210从清洁设备200拆卸下来。此后，清洁设备200无须离开基站，仍然保持在第二位置500。第二清洁组件210从清洁设备200拆卸下来后仍然受到位移组件110的夹持，然后在控制中心的控制下，位移组件110携带第二清洁组件210沿路径组件300移离所述第二位置500。在一些实施例中，如图4所示，位移组件110包括第一位移组件111和第二位移组件112。第一位移组件111和第二位移组件112对称地设置于路径组件300上，在控制中心的控制下沿路径组件300同步运动，且同步解锁和装配清洁组件。位移组件110具有拆装结构，拆装结构例如包括凹凸结构、定位结构等，拆装结构能够将所述清洁组件从所述清洁设备拆下或将所述清洁组件装配到所述清洁设备。本公开实施例对拆装结构不做具体限制，以能够实现拆装为准，例如，通过设置1个或几个电机控制拆装结构的凹凸结构移动，与清洁组件的解锁结构(例如弹簧、卡止结构)推抵后即可实现解锁。
在一些实施例中，如图4所示，位移组件110可以为滑车组件。对应的，路径组件300可以为轨道组件，滑车组件沿轨道组件往复滑动。路径组件300包括对称设置的两个路径组件，每一个路径组件包括主轨道310和两个平行的辅轨道320。主轨道310上具有齿轨311，齿轨311与位移组件110上的齿轮113啮合，使得位移组件110沿两个平行的辅轨道320滑动。两个平行的辅轨道320大致位于水平方向，能够保证清洁组件的平行移动。主轨道310和两个平行的辅轨道320在第一位置400或第二位置500基本为水平结构，在第三位置600为弧形结构。所述位移组件110能够沿所述沿路径组件300往复移动，使得位移组件110能够将清洁组件从水平状态的第一位置400或第二位置500移动至倾斜状态的第三位置600，保证了基站空间的合理利用。
在一些实施例中，步骤S104中，所述通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，包括：通过所述位移组件110将所述第二清洁组件210从所述第二位置500沿路径组件移动至第三位置600，所述第三位置600位于所述弧形路径处或高于弧形路径处，其中，所述第二清洁组件210在所述第二位置500大致呈水平方向，所述第二清洁组件210在所述第三位置600呈非水平方向，例如可以为竖直方向。
在步骤S106中，响应于所述第二清洁组件210离开所述第二位置500，升降组件将所述第一清洁组件220从所述第一位置400移动至所述第二位置500，并将所述第一清洁组件220装配于所述清洁设备200。此时，清洁设备200更换清洁组件完毕，可以驶离基站对待清洁表面继续清洁。可见，本公开实施例能够对清洁设备的清洁组件进行自动更换，且整个更换过程清洁设备无须离开基站，更换完清洁组件后即可继续执行清洁任务，而不需要等待清洁组件清洗完毕后才能继续进行清洁，大大提高了清洁设备的清洁效率。
第二清洁组件210被位移组件110夹持离开第二位置500，此时，清洁设备200未装配清洁组件，升降组件将所述第一清洁组件220由第一位置400移动至第二位置500；所述升降组件配置为承载第一清洁组件220和第二清洁组件210时，使所述第一清洁组件220或第二清洁组件210下降到第一位置400；承载第一清洁组件220或第二清洁组件210时，使所述第一清洁组件220或第二清洁组件210上升到第二位置500。升降组件能够沿竖直方向上下移动，升降组件可以在驱动电机的驱动下沿竖直方向上下移动，也可以设计为弹性结构在竖直方向上下移动。例如，升降组件承载两个清洁组件时压缩，使上层的清洁组件位于第二位置500，下层的清洁组件位于第一位置400。当上层的清洁组件离开后，重力减小，升降组件弹性上升，将原来的清洁组件由第一位置400升起至第二位置500。反之亦然，当位移组件110将清洁设备200的清洁组件拆卸下来，清洁组件的重力承载于升降组件，升降组件被压缩，原来的清洁组件由第二位置500压缩至第一位置400。因此，在步骤S106中，当第二清洁组件210离开所述第二位置500后，所述升降组件在弹性力的作用下将所述第一清洁组件220从所述第一位置400移动至所述第二位置500，并在弹性力的作用下使所述第一清洁组件220卡止于所述清洁设备200。可选的，升降组件具有拆装结构，拆装结构例如包括凹凸结构、定位结构等。拆装结构能够将所述清洁组件从所述清洁设备拆下或将所述清洁组件装配到所述清洁设备。本公开实施例对拆装结构不做具体限制，以能够实现拆装为准。例如，通过设置1个或几个电机控制拆装结构的凹凸结构移动，与清洁组件的解锁结构(例如弹簧、卡止结构)推抵后即可实现拆装。
在一些实施例中，在所述响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件之前，所述方法还包括：通过升降组件将所述第一清洁组件支撑于第二位置。
作为一种示例，在基站的清洁组件处于待更换状态时，升降组件上承载有一个清洁组件，此时，由于重力原因，升降组件处于升起状态，干净的第一清洁组件220处于第二位置500，即处于待更换状态。
在一些实施例中，在所述响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件之后，所述第一清洁组件220在第二清洁组件210的压力下由所述第二位置500移动至所述第一位置400，升降组件处于压缩状态，干净的第一清洁组件220处于第一位置400，拆卸下来的用脏了的第二清洁组件210处于第二位置500。
进一步的，如图5所示，所述方法还包括如下步骤：
步骤S108：响应于所述第二清洁组件到达所述第三位置，洗布组件启动清洗所述第二清洁组件。
如图6所示，第二清洁组件210由第二位置500沿路径组件300滑动至所述第三位置600，在控制中心的控制下，洗布组件800启动以开始清洗所述第二清洁组件210。可选的，此时，第二清洁组件210处于倾斜状态，倾斜角度例如为20度-90度。第二清洁组件210的拖布朝向洗布组件800的一侧，洗布组件800沿基站左右方向移动刮除并清洗第二清洁组件210上的拖布。为了防止清洗液喷出基站，一种可选的实施方式为倾斜的洗布组件800与第二清洁组件210形成封闭空间，洗布组件800在封闭空间内对第二清洁组件210清洗。可选的，洗布组件800清洗完毕后，控制中心控制烘干组件输出烘干气流，通过烘干气流将第二清洁组件210烘干。
进一步的，如图5所示，所述方法还包括如下步骤：
步骤S110：响应于所述第二清洁组件清洗完毕，所述位移组件将所述第二清洁组件由所述第三位置移动至所述第二位置。
所述第二清洁组件210清洗完毕后，此时，清洁设备200通常已经更换完清洁组件离开基站100，升降组件处于空载状态，所述位移组件110将所述第二清洁组件210沿路径组件300由所述第三位置600移动至所述第二位置500。
进一步的，如图5所示，所述方法还包括如下步骤：
步骤S112：响应于所述第二清洁组件到达所述第二位置，所述位移组件释放所述第二清洁组件，所述升降组件将所述第二清洁组件支撑于第二位置。
如上所述，所述第二清洁组件210经位移组件110移动到所述第二位置500后，所述位移组件110释放所述第二清洁组件210，所述第二清洁组件210平稳地移交至升降组件。由于升降组件此时仅承载第二清洁组件210，重力未达到压缩升降组件的力度，所述升降组件将所述第二清洁组件210支撑于第二位置500。可选的，位移组件110释放第二清洁组件210后会自动滑动至第三位置600或其他中立的过渡位置，以避免影响清洁设备回到基站，如此，完成一个清洁组件的拆装、更换、清洗、归位的循环，等待下一个循环的执行。可见，本方法能够通过基站对清洁设备的清洁组件进行自动更换，当清洁设备的清洁组件脏了以后，无须在基站等待清洗，可以直接更换另一个干净的清洁组件，更换完清洁组件后即可继续执行清洁任务，被更换下的清洁组件通过基站的控制执行清洗、归位等操作，二者并行操作，大大提高了清洁设备的清洁效率。
在一些可选的实施例中，在通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置之后，所述方法还包括如下步骤：所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置过程中断电，允许手动将所述第二清洁组件从所述路径组件拽出，或，所述位移组件自动将所述第二清洁组件沿路径组件送回所述第二位置。
受一些不可控因素影响，所述位移组件110将所述第二清洁组件210沿路径组件300移离所述第二位置500过程中可能会出现断电。此时，第二清洁组件210会卡滞于第二位置500到第三位置600的某一位置，导致第二清洁组件210无法被清洁。如果长期滞留于卡滞位置，第二清洁组件210上的污渍得不到清洁，会污染环境，或者，电力恢复后，卡滞的第二清洁组件210会影响清洁设备200后续的换布动作。因此，在断电情况发生时，控制中心应当允许用户手动将所述第二清洁组件210从所述路径组件300拽出，或，在位移组件110设置电容器件，在断电情况发生时，电容器件短暂供电，使得所述位移组件110能够自动将所述第二清洁组件210沿路径组件300送回所述第二位置500，然后用户再手动取出并清洁第二清洁组件210。
在一些可选的实施例中，在所述洗布组件启动清洗所述第二清洁组件之后，所述方法包括：洗布组件清洗所述第二清洁组件过程中断电，允许手动将所述洗布组件移动到清洗路径的一侧，或，所述洗布组件自动移动到清洗路径的一侧。
如上所述，受一些不可控因素影响，洗布组件800清洗所述第二清洁组件210过程中可能会出现断电。此时，第二清洁组件210会停留于第三位置600，洗布组件800卡滞于左右滑动清洗过程中的任意位置，会影响第二清洁组件210的取出，导致第二清洁组件210无法继续被清洁且无法取出。如果长期滞留于卡滞位置，第二清洁组件210上的污渍得不到清洁，会污染环境。因此，在断电情况发生时，可以使控制中心允许手动将所述洗布组件800移动到清洗路径的一侧，或，在洗布组件800设置电容器件，在断电情况发生时，电容器件短暂供电，所述洗布组件800自动移动到清洗路径的一侧，防止影响取出第二清洁组件210。
本公开一些实施例提供一种清洁组件的控制装置，控制装置用于执行如上所述的控制方法，技术效果和技术原理参见如上实施例所述，在此不做赘述。清洁组件可拆卸地装配于清洁设备，所述清洁组件包括第一清洁组件和第二清洁组件，如图7所示，所述控制装置包括：
第一控制单元702，配置为响应于所述清洁设备携带所述第二清洁组件到达第二位置，控制位移组件从所述清洁设备拆卸所述第二清洁组件；
第二控制单元704，配置为控制所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，其中，所述位移组件能够沿所述沿路径组件往复移动；
第三控制单元706，配置为响应于所述第二清洁组件离开所述第二位置，控制升降组件将所述第一清洁组件从所述第一位置移动至所述第二位置，并将所述第一清洁组件装配于所述清洁设备，其中，所述第二位置位于所述第一位置的正上方。
在一些实施例中，第三控制单元706还配置为，控制升降组件将所述第一清洁组件支撑于第二位置。
在一些实施例中，第三控制单元706还配置为，控制所述第一清洁组件在第二清洁组件的压力下由所述第二位置移动至所述第一位置。
在一些实施例中，第二控制单元704还配置为，控制所述位移组件将所述第二清洁组件从所述第二位置沿路径组件移动至第三位置，所述第三位置位于所述弧形路径处，其中，所述第二清洁组件在所述第二位置大致呈水平方向，所述第二清洁组件在所述第三位置呈非水平方向。
在一些实施例中，第一控制单元702还配置为响应于所述第二清洁组件到达所述第三位置，控制洗布组件启动清洗所述第二清洁组件。
在一些实施例中，第一控制单元702还配置为响应于所述第二清洁组件清洗完毕，控制所述位移组件将所述第二清洁组件由所述第三位置移动至所述第二位置。
在一些实施例中，第一控制单元702还配置为响应于所述第二清洁组件到达所述第二位置，控制所述位移组件释放所述第二清洁组件，所述升降组件将所述第二清洁组件支撑于第二位置。
在一些实施例中，第一控制单元702还配置为控制所述位移组件释放所述第二清洁组件后，移动至第三位置。
在一些实施例中，第一控制单元702还配置为响应于所述清洁设备携带所述第二清洁组件到达第二位置，控制所述位移组件从第三位置移动至所述第二位置，从所述清洁设备拆卸所述第二清洁组件。
在一些实施例中，第一控制单元702还配置为在所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置过程中出现断电的情况下，控制手动将所述第二清洁组件从所述路径组件拽出，或，控制所述位移组件自动将所述第二清洁组件沿路径组件送回所述第二位置。
在一些实施例中，第一控制单元702还配置为在洗布组件清洗所述第二清洁组件过程中出现断电的情况下，控制手动将所述洗布组件移动到清洗路径的一侧，或，控制所述洗布组件自动移动到清洗路径的一侧。
本公开一些实施例提供一种基站，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现如上任一实施例所述的方法步骤。
本公开一些实施例提供一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如上任一实施例所述的方法步骤。
如图8所示，基站可以包括处理装置(例如中央处理器、图形处理器等)801，其可以根据存储在只读存储器(ROM)802中的程序或者从存储装置808加载到随机访问存储器(RAM)803中的程序而执行各种适当的动作和处理。在RAM 803中，还存储有基站操作所需的各种程序和数据。处理装置801、ROM 802以及RAM 803通过总线804彼此相连。输入/输出(I/O)接口805也连接至总线804。
通常，以下装置可以连接至I/O接口805：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置806；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置807；包括例如硬盘等的存储装置808；以及通信装置809。通信装置809可以允许基站与其他设备进行无线或有线通信以交换数据。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统或装置而言，由于其与实施例公开的方法相对应，所以描述比较简单，相关之处参见方法部分说明即可。
以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。
Claims (20)
- 一种清洁组件的控制方法，所述清洁组件可拆卸地装配于清洁设备，所述清洁组件包括第一清洁组件和第二清洁组件，所述方法包括：响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件；通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，其中，所述位移组件能够沿所述路径组件往复移动；响应于所述第二清洁组件离开所述第二位置，通过升降组件将所述第一清洁组件从第一位置移动至所述第二位置，并将所述第一清洁组件装配于所述清洁设备，其中，所述第二位置位于所述第一位置的正上方。
- 根据权利要求1所述的方法，其中在响应于所述清洁设备携带所述第二清洁组件到达所述第二位置，通过所述位移组件从所述清洁设备拆卸所述第二清洁组件之前，所述方法还包括：通过所述升降组件将所述第一清洁组件支撑于所述第二位置。
- 根据前述任一项权利要求所述的方法，其中在响应于所述清洁设备携带所述第二清洁组件到达第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件之后，所述方法还包括：所述第一清洁组件在第二清洁组件的压力下由所述第二位置移动至所述第一位置。
- 根据前述任一项权利要求所述的方法，其中，所述路径组件至少部分为弧形路径，所述通过所述位移组件将所述第二清洁组件沿所述路径组件移离所述第二位置，包括：通过所述位移组件将所述第二清洁组件从所述第二位置沿所述路径组件移动至第三位置，所述第三位置位于所述弧形路径处或高于所述弧形路径处，其中，所述第二清洁组件在所述第二位置大致呈水平方向，所述第二清洁组件在所述第三位置呈非水平方向。
- 根据权利要求4所述的方法，还包括：响应于所述第二清洁组件到达所述第三位置，洗布组件启动清洗所述第二清洁组件。
- 根据权利要求5所述的方法，还包括：响应于所述第二清洁组件清洗完毕，通过所述位移组件将所述第二清洁组件由所述第三位置移动至所述第二位置。
- 根据权利要求6所述的方法，还包括：响应于所述第二清洁组件到达所述第二位置，所述位移组件释放所述第二清洁组件，所述升降组件将所述第二清洁组件支撑于第二位置。
- 根据权利要求7所述的方法，还包括：所述位移组件释放所述第二清洁组件后，移动至第三位置。
- 根据权利要求4所述的方法，其中，所述响应于所述清洁设备携带所述第二清洁组件到达所述第二位置，通过位移组件从所述清洁设备拆卸所述第二清洁组件，包括：响应于所述清洁设备携带所述第二清洁组件到达所述第二位置，所述位移组件从所述第三位置移动至所述第二位置，从所述清洁设备拆卸所述第二清洁组件。
- 根据权利要求4所述的方法，其中，在所述清洁设备到达所述第二位置的状态下，所述第二位置和所述第一位置位于所述清洁设备在水平面的投影范围之内，所述第三位置位于所述清洁设备在水平面的投影范围之外。
- 根据前述任一项权利要求所述的方法，其中，所述升降组件配置为承载第一清洁组件和第二清洁组件时，使所述第一清洁组件或第二清洁组件下降到第一位置；承载第一清洁组件或第二清洁组件时，使所述第一清洁组件或第二清洁组件上升到第二位置。
- 根据前述任一项权利要求所述的方法，其中，所述位移组件和升降组件具有拆装结构，配置为能够将所述清洁组件从所述清洁设备拆下或能够将所述清洁组件装配到所述清洁设备。
- 根据权利要求12所述的方法，其中，所述清洁组件具有解锁结构，配置为能够在所述拆装结构的作用下装配到所述清洁设备或从所述清洁设备拆下。
- 根据前述任一项权利要求所述的方法，其中，在通过所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置之后，所述方法还包括：在所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置过程中出现断电的情况下，允许手动将所述第二清洁组件从所述路径组件拽出，或，通过所述位移组件自动将所述第二清洁组件沿所述路径组件送回所述第二位置。
- 根据权利要求5所述的方法，其中，在所述洗布组件启动清洗所述第二清洁组件之后，所述方法还包括：在洗布组件清洗所述第二清洁组件过程中出现断电的情况下，允许手动将所述洗布组件移动到清洗路径的一侧，或，所述洗布组件自动移动到清洗路径的一侧。
- 根据前述任一项权利要求所述的方法，其中，所述位移组件为滑车组件。
- 根据前述任一项权利要求所述的方法，其中，所述路径组件为轨道组件。
- 一种清洁组件的控制装置，所述清洁组件可拆卸地装配于清洁设备，所述清洁组件包括第一清洁组件和第二清洁组件，所述控制装置包括：第一控制单元，配置为响应于所述清洁设备携带所述第二清洁组件到达第二位置，控制位移组件从所述清洁设备拆卸所述第二清洁组件，第二控制单元，配置为控制所述位移组件将所述第二清洁组件沿路径组件移离所述第二位置，其中，所述位移组件能够沿所述沿路径组件往复移动；第三控制单元，配置为响应于所述第二清洁组件离开所述第二位置，控制升降组件将所述第一清洁组件从第一位置移动至所述第二位置，并将所述第一清洁组件装配于所述清洁设备，其中，所述第二位置位于所述第一位置的正上方。
- 一种基站，包括处理器和存储器，其特征在于，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现如权利要求1-17任一所述的步骤。
- 一种非瞬时性计算机可读存储介质，其特征在于，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如权利要求1-17任一所述的步骤。
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| CN114652234A (zh) * | 2022-03-02 | 2022-06-24 | 深圳市杉川机器人有限公司 | 清洁系统及清洁系统的清洁单元的清洗方法 |
| CN217137959U (zh) * | 2022-01-05 | 2022-08-09 | 苏州宝时得电动工具有限公司 | 适用于可自动更换拖布的清洁机器人的一次性拖布 |
| KR20240030125A (ko) * | 2022-08-29 | 2024-03-07 | 삼성전자주식회사 | 청소기 스테이션 |
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| WO2022096004A1 (zh) * | 2020-11-09 | 2022-05-12 | 深圳市杉川机器人有限公司 | 底座及机器人基站 |
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| CN114652234A (zh) * | 2022-03-02 | 2022-06-24 | 深圳市杉川机器人有限公司 | 清洁系统及清洁系统的清洁单元的清洗方法 |
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