4019results about "Floor-scrubbing machines" patented technology

The invention relates to the technical field of liquid level detection, in particular to a scrubber sewage tank water level detection system and method based on a liquid level sensor, and the system comprises a sensing data acquisition module, a liquid level signal conversion module, a multi-source numerical value comparison module, a liquid level fluctuation recognition module and an alarm action linkage module. According to the invention, through acquisition of a sensor capacitance change sequence, elimination of abnormal fluctuation, construction of a stable reference curve, enhancement of data immunity, mapping of a liquid level section based on an average capacitance value, accurate identification of liquid level elevation is realized, synchronous comparison of liquid level state information in various communication protocols is realized, and data consistency and reliability are improved. A liquid level fluctuation boundary is accumulatively recognized through trend direction change, a change section is dynamically marked, alarm triggering is based on boundary area and state mark double verification, warning response accuracy and effectiveness are enhanced, and a high-precision and high-stability liquid level detection and early warning system is constructed.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot includes: a body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the driving device is arranged on the machine body and can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body, so that part of the mopping assembly is exposed; the clean water tank is arranged on the machine body, and the cleaning liquid stored in the clean water tank can be conveyed to the liquid supply mechanism; the sewage tank is arranged on the machine body, and sewage collected by the decontamination mechanism is conveyed into the sewage tank; one end of the first flexible pipeline and one end of the second flexible pipeline are both connected with the mopping assembly and can move along with the mopping assembly. According to the technical scheme provided by the embodiment of the invention, when the mopping assembly is in any state, the liquid supply mechanism and the dirt removal mechanism can act along with the mopping assembly at the same time; the first flexible pipeline can uninterruptedly provide cleaning liquid for the liquid supply structure, and the second flexible pipeline can uninterruptedly collect sewage scraped by the decontamination mechanism.

The utility model provides a shell assembly and cleaning equipment. The shell assembly comprises a base body, the base body is provided with a mounting bin, a mechanical arm of the cleaning equipment can be folded and stored in the mounting bin, the mounting bin is provided with a bin opening, and the base body is further provided with a mounting groove used for mounting a driving wheel assembly of the cleaning equipment; the door body can move relative to the base body so as to open or close the bin opening. Therefore, after the bin opening is closed by the door body, the mounting bin is relatively closed, the possibility that the mechanical arm in the mounting bin is polluted by dust in the external environment and wetted by liquid can be reduced, the service life of the mechanical arm is prolonged, and the overall reliability of the cleaning equipment is improved.

The embodiment of the invention provides a cleaning robot and a working method thereof. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a cleaning unit motor and a cleaning unit; the driving device is arranged on the machine body and connected with the mopping assembly. In the width direction of the machine body, the driving device can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body so that part of the mopping assembly can be exposed. The driving device drives the mopping assembly to retract to the first working position and then drives the mopping assembly to ascend and descend relative to the machine body. According to the technical scheme, the mopping and washing assembly integrally acts relative to the cleaning robot body, the mopping and washing assembly can conduct self-cleaning at any position, and therefore the cleaning robot has the good cleaning effect and is high in cleaning efficiency. In addition, according to the scheme, the mopping assembly retracts firstly and then is lifted, so that the risk of collision in the lifting process of the mopping assembly is reduced, and complex logic for judging the surrounding environment is omitted.

The utility model provides a cleaning device. The cleaning equipment comprises a machine body, an arm bin is formed in the machine body, and a bin opening is formed in the arm bin; the mechanical arm is connected with the machine main body through the connecting structure and can extend out of or be stored in the arm bin through the bin opening; the touch assembly is arranged on the machine body and located on the peripheral side of the bin opening, and the touch assembly is configured to receive mechanical stress to send signals. Therefore, a human hand or a foreign matter near the bin opening makes contact with or collides with the touch assembly, the touch assembly is subjected to mechanical stress to send a signal, the mechanical arm makes corresponding actions according to the signal, for example, the mechanical arm stops moving, the problem that the human hand or the foreign matter is clamped at the bin opening in the moving process of the mechanical arm can be solved, and the use safety of the mechanical arm can be improved. And the use satisfaction degree of the user is improved.

The embodiment of the utility model discloses cleaning equipment and a cleaning system.The cleaning equipment comprises a cleaning equipment body, a grabbing part, a function adjusting module and an emergency stop module, the cleaning equipment is provided with the function adjusting module and the emergency stop module, and the operation mode of the cleaning equipment body can be adjusted through the function adjusting module; the control of the cleaning equipment main body is more convenient, and when the cleaning equipment is in an abnormal working state, the grabbing piece can be directly controlled to execute the safe operation mode through the emergency stop module, so that the danger caused by the fact that the cleaning equipment main body carries the grabbing piece is prevented. The scram module and the function adjusting module of the cleaning equipment are arranged at an interval, that is, a certain distance exists between the scram module and the function adjusting module, a user can recognize the scram module at the first time, the grabbing part can be immediately controlled to stop working through the scram module, the scram response efficiency can be improved, especially wrong control is avoided, and the user experience is improved. And the cleaning equipment can be used more safely.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a cleaning unit motor, a cleaning unit and a liquid supply mechanism; the cleaning unit motor is connected with the cleaning unit, and the liquid supply mechanism comprises a plurality of liquid supply ports for supplying cleaning liquid to the cleaning unit; the driving device is arranged on the machine body and connected with the mopping assembly; in the width direction of the machine body, the driving device can drive the mopping and washing assembly to stretch out from at least one side of the machine body relative to the machine body so that part of the mopping and washing assembly can be exposed. According to the technical scheme, the mopping assembly can conduct self-cleaning at any position, and the good cleaning effect is achieved; in addition, the liquid supply port is provided with an arc water guide face, liquid splashing is avoided, and the cleaning effect can be improved.

The embodiment of the invention provides a cleaning robot, an action method thereof and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly, a driving device and a control assembly. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the driving device is arranged on the machine body and is connected with the mopping assembly; the driving device can drive the mopping assembly to stretch out of at least one side of the machine body relative to the machine body in the width direction of the machine body so that part of the mopping assembly can be exposed. The control assembly is electrically connected with the driving device and used for dynamically controlling the driving device according to the behavior information of the machine body, so that the driving device drives the mopping assembly to move relative to the machine body to change the position of the mopping assembly relative to the machine body. According to the scheme, the mopping assembly can conduct self-cleaning at any position, the good cleaning effect is achieved, and the cleaning efficiency is high.

The embodiment of the invention provides a cleaning robot. The machine comprises a machine body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit; the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the liquid supply mechanism and / or the decontamination mechanism can move relative to the machine body along with the mopping assembly; the dirt removing mechanism further comprises a scraping strip assembly and a dirt collecting assembly. The dirt collecting assembly is arranged below the scraping strip assembly; a plurality of water guide grooves are formed in the lower surface of the scraping strip assembly. According to the technical scheme, the end of the scraping strip assembly makes contact with the surface of the cleaning unit, and when the cleaning unit rotates, dirt on the surface of the cleaning unit can be scraped off. And meanwhile, a plurality of water guide grooves are formed in the lower surface of the scraping strip assembly and can be used for guiding the scraped dirt into the dirt collecting assembly, the scraping strip assembly has a good scraping effect on the dirt on the surface of the cleaning unit, and the collection rate of the scraped dirt is higher.

A surface cleaner configured to distribute a liquid to a surface to be cleaned. The surface cleaner includes a supply tank and a recovery tank that are removable from the surface cleaner.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot includes: a body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the driving device is connected with the mopping assembly; in the width direction of the machine body, the driving device can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body so as to be partially exposed; the dirt removing mechanism further comprises a scraping strip assembly, and the end of the scraping strip assembly makes contact with the surface of the cleaning unit. The dirt removing mechanism further comprises a swing assembly, the scraping strip assembly is connected to the mopping assembly through the swing assembly, and the scraping strip assembly can swing relative to the cleaning unit through the swing assembly. According to the technical scheme, the position and posture of the scraping strip assembly are adaptively adjusted through the self-adaptive adjusting device so that the scraping strip assembly can be located in the proper position and posture, proper scraping force can be applied to the cleaning unit, and the scraping strip assembly can continuously act on the cleaning unit to scrape dirt on the cleaning unit.

The invention belongs to the field of computer vision, and particularly relates to a method, a device and a system for monitoring suction-scrabbling falling of a cleaning robot, and the method comprises the following steps: 1) a rear-view camera arranged on the cleaning robot collects suction-scrabbling images, and carries out data labeling; 2) building a deep learning labeling and training environment in a server or a workstation, selecting a YOLOv8 target detection network model, sending labeled suction and scrabbling image data into the model for training, and performing format conversion and quantization on the model after the training is completed; 3) inputting an image acquired in real time into the trained target detection model, and judging whether the suction rake falls off or not; (4) if the suction scrabbling device falls off, the upper computer sends falling abnormal information to a robot controller of the cleaning robot, and the robot controller controls a hub motor to brake emergently; and meanwhile, the upper computer transmits the abnormal information of the suction-scrabbling falling and the position coordinate information of the robot in the global map to the operation and maintenance personnel through the cloud platform and then transmits the abnormal result and the position information of the suction-scrabbling falling to the operation and maintenance personnel.

The embodiment of the invention provides a cleaning robot. The cleaning robot comprises a machine body; the driving device comprises a first power source and a sliding plate connected with the first power source; the sliding plate has a lifting part; the mopping assembly is connected with the sliding plate through the connecting assembly; when the first power source drives the sliding plate to move in the first direction, the sliding plate drives the mopping assembly to extend outwards; when the first power source drives the sliding plate to move in the second direction, the sliding plate drives the mopping assembly to retract inwards, after the mopping assembly moves to the limiting position and the position of the mopping assembly is limited, the connecting assembly climbs along the lifting part of the sliding plate, and the mopping assembly vertically moves upwards. According to the technical scheme, the first power source drives the sliding plate to act in different directions, so that the mopping assembly can be driven to extend outwards and be lifted, and the driving device is simple in structure. The internal space is saved, and the rationality of deployment of each component is improved.

According to the cleaning equipment and the cleaning system, a grabbing assembly of the cleaning equipment is connected to the bottom of a shell and arranged among a plurality of wheel bodies, the gravity center of the grabbing assembly can be lowered by connecting the grabbing assembly to the bottom of the shell, and particularly, when the grabbing assembly is in a storage state, the gravity center of the grabbing assembly can be lowered, so that the cleaning efficiency is improved. The gravity center of the grabbing assembly can coincide with the gravity center of the cleaning equipment or the gravity centers of the grabbing assembly and the gravity center of the cleaning equipment can be close to each other, so that the cleaning equipment is smoother to cross, obstacle or climb, the influence of the grabbing assembly on the moving flexibility of the cleaning equipment can be reduced or avoided, and the probability that the grabbing assembly topples over is reduced; the cleaning equipment main body is safer to use, and the user experience can be improved.

The embodiment of the invention provides a cleaning robot and a dismounting and mounting method of a cleaning roller. The cleaning robot includes: a body; the mopping assembly comprises a cleaning unit motor and a cleaning unit; the cleaning unit is detachably connected with the cleaning unit motor; the driving device is arranged on the machine body and connected with the mopping assembly; the control assembly is arranged on the machine body and further has a dismounting mode, and when the cleaning robot is in the dismounting mode, the control assembly receives a user instruction and controls the driving device to drive the mopping assembly to stretch out of at least one side of the machine body in the width direction of the machine body so that part of the mopping assembly can be exposed; a user can conveniently detach the cleaning unit from the exposed side of the mopping assembly. According to the technical scheme, the mopping and washing assembly integrally acts relative to the cleaning robot body, the mopping and washing assembly can conduct self-cleaning at any position, then the cleaning robot has the good cleaning effect, the cleaning effect is high, and the cleaning roller is convenient to disassemble and assemble.

The embodiment of the invention provides a cleaning robot and a working method thereof. The cleaning robot comprises a robot body, a mopping assembly and a first power source. The mopping assembly comprises a cleaning unit motor and a cleaning unit; the cleaning unit motor is connected with the cleaning unit; the first power source is arranged on the machine body and connected with the mopping assembly; in the width direction of the machine body, the first power source can drive the mopping assembly to stretch out of at least one side of the machine body, and / or the first power source can drive the mopping assembly to retract so that the exposed length of the mopping assembly can be reduced or the mopping assembly can not be exposed. And / or along the height direction of the machine body, the first power source can drive the mopping assembly relative to the machine body from the contact between the mopping assembly and the to-be-cleaned surface to the clearance between the mopping assembly and the to-be-cleaned surface, and / or the first power source can drive the mopping assembly relative to the machine body from the clearance between the mopping assembly and the to-be-cleaned surface to the contact between the mopping assembly and the to-be-cleaned surface. According to the scheme, the mopping assembly can conduct self-cleaning at any position, the mopping assembly can stretch out, draw back, ascend and descend through a single power source, and the structure is simple.

A robot cleaning system, including: a cleaning robot connectable to a mopping module of the cleaning robot, and a base station provided for the cleaning robot to dock, the cleaning robot includes: a main body; a mobile module; and a connection assembly, configured to detachably dispose the mopping module on the body of the robot; the base station includes: a storage module, configured to store at least one mopping module; an operating position, for the cleaning robot to dock to replace the mopping module; and a transfer module, configured to transfer the mopping module between the storage module and the operating position; and the robot cleaning system further includes a control unit. Beneficial effects of the present disclosure are: the cleaning robot is more intelligent, and the corresponding base station is compact in structure and small in occupied area.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly, a driving device and a rebounding device. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the driving device is arranged on the machine body and connected with the mopping assembly. The mopping and washing assembly is connected with the springback device; when the mopping and washing assembly is subjected to external force in the retraction direction in the stretching-out state, the rebounding device is stressed to deform, and the mopping and washing assembly retracts adaptively. According to the scheme, the mopping assembly can conduct self-cleaning at any position, and the good cleaning effect is achieved; in addition, the mopping and washing assembly can be self-adaptively rebounded under the external force in the extending state instead of hard collision, so that the use safety is high.

The embodiment of the invention provides a cleaning robot control method and device, a program product and a cleaning robot. The method comprises the steps that when the distance between the cleaning robot and an obstacle is smaller than a clamping distance threshold value, a driving wheel module is locked to limit ejection of the driving wheel module, and a mechanical arm is controlled to move the obstacle based on the type of the obstacle; controlling the mechanical arm to reset to a gravity center stable position; obtaining a material detection result of the first sensor system on the current ground where the cleaning robot is located; and when the material detection result indicates that the ground is made of the preset material, the driving wheel module is released, and the driving wheel module is adopted to drive the machine body to move so as to continue to execute the cleaning task. The method is used for achieving the effects of preventing the fuselage from rolling or raising the tail and improving the equipment safety.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a machine body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; in the advancing direction of the cleaning robot, the dirt removing mechanism is located on the front side of the cleaning unit. According to the technical scheme, the dirt removing mechanism is arranged on the front side of the cleaning unit, and the cleaning blind area is small.

Embodiments of the present disclosure reveal a base station and a cleaning robot system. The base station includes a base station body, provided with a cleaning tank; a liquid discharge apparatus, configured to spray cleaning liquid, where the cleaning liquid is accommodated in the cleaning tank; a filtration apparatus, located in the cleaning tank; and a detection apparatus, where at least part of the detection apparatus is positioned on the filtration apparatus, and the detection apparatus is configured to detect a liquid level in the cleaning tank.

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot which comprises a robot body and an advancing assembly, the advancing assembly comprises a driving wheel, a supporting unit and an obstacle crossing wheel, the obstacle crossing wheel is arranged on the supporting unit, the supporting unit can rotate around the driving wheel, and the obstacle crossing wheel is arranged on the robot body. The driving wheels are arranged on the machine body so that the advancing assembly can be switched between an advancing state and an obstacle crossing state, and when the advancing assembly is in the advancing state, the driving wheels abut against the ground so as to drive the machine body to advance; when the advancing assembly is in the obstacle crossing state, the supporting units drive the obstacle crossing wheels to make contact with the ground, the driving wheels are made to break away from the ground, the obstacle crossing wheels drive the robot body to advance, and the obstacle crossing capacity of the cleaning robot is improved.

The invention provides a cleaning method and device of a cleaning robot, the cleaning robot, equipment and a medium, and relates to the technical field of cleaning equipment. Comprising the steps that in the process that a cleaning robot cleans a to-be-cleaned area, under the condition that it is detected that a heavily-polluted area exists, the smudginess area of the heavily-polluted area is determined; if the dirty area is larger than the preset threshold value, the robot is controlled to advance in an advancing mode so as to clean at least part of the heavily-dirty area through a mop assembly; if the dirty area is smaller than or equal to the preset threshold value, the robot is controlled to advance in a backward mode so as to clean at least part of the heavily-dirty area through the mop assembly, and the robot can push dirt out of the heavily-dirty area and pollute the adjacent area when the robot moves backward for cleaning, so that the large-area heavily-dirty area is cleaned in the previous mode, and the cleaning efficiency is greatly improved. Dirt is prevented from being pushed to an uncleaned area, pollution diffusion is prevented, small-area heavily-polluted areas are cleaned in a reverse advancing mode, driving wheels are prevented from making contact with the dirt or diffusion, and the cleaning effect is improved.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a mopping support, a cleaning unit motor, a cleaning unit and a dirt removing mechanism. The mopping support is provided with a roller mounting cavity with a downward opening, the cleaning unit motor is connected with the cleaning unit, the dirt removing mechanism is used for scraping dirt on the cleaning unit, and the cleaning unit motor, the cleaning unit and the dirt removing mechanism are arranged in the roller mounting cavity; the driving device is arranged on the machine body and is connected with the mopping assembly; in the width direction of the machine body, the driving device can drive the mopping assembly to stretch out of at least one side of the machine body so that part of the mopping assembly can be exposed. The dirt removing mechanism comprises a dirt collecting box, the dirt collecting box and the cleaning unit are detachably arranged on a mopping support of the mopping assembly, and the detaching direction of the dirt collecting box is roughly perpendicular to that of the cleaning unit. According to the scheme, the mopping assembly can be self-cleaned at any position, and the dirt collecting box is convenient to disassemble.

The invention relates to a floor brush and cleaning equipment, the floor brush comprises a floor brush body, a cleaning part and an auxiliary cleaning device, and the floor brush body can advance in a first direction or retreat in a second direction on a surface to be cleaned. The cleaning piece is connected to the floor brush body and used for cleaning a to-be-cleaned surface; the auxiliary cleaning device comprises a driving assembly and a scraping strip assembly, the driving assembly is connected with the scraping strip assembly, and the scraping strip assembly is located on the front side of the cleaning piece in the first direction. Under the action of the driving assembly, the scraping strip assembly can be at least switched between a suspended position and a cleaning position relative to the surface to be cleaned, and a gap is kept between the scraping strip assembly and the surface to be cleaned when the scraping strip assembly is in the suspended position; the scraping strip assembly makes contact with the surface to be cleaned when located at the cleaning position and is in the state of overturning in the first direction. When meeting the edge of a wall surface, a skirting line or furniture and the like, the scraping strip assembly overturning towards the first direction can stretch out forwards so as to be better attached to the edge for cleaning, and the extreme front welt cleaning effect is achieved.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, in the rotating process of the cleaning unit, the liquid supply mechanism provides cleaning liquid for the cleaning unit in the rotating direction, the cleaning unit soaked with the cleaning liquid cleans a to-be-cleaned face, and then the dirt removing mechanism acts on the cleaning unit to scrape off dirt and collect the dirt; the driving device is arranged on the machine body and connected with the mopping assembly. In the width direction of the machine body, the driving device can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body so that part of the mopping assembly can be exposed. According to the scheme, the mopping and washing assembly integrally acts relative to the cleaning robot body, the mopping and washing assembly can conduct self-cleaning at any position and has the working mode of first water supplementing, cleaning and scraping and washing, the good cleaning effect is achieved, and the cleaning efficiency is high.

The embodiment of the invention provides a cleaning robot and a mopping assembly. The cleaning robot comprises a machine body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; and the driving device is arranged on the machine body and is connected with the mopping assembly. In the width direction of the machine body, the driving device can drive the mopping and washing assembly to stretch out from at least one side of the machine body relative to the machine body so that part of the mopping and washing assembly can be exposed. According to the technical scheme, the mopping and washing assembly integrally acts relative to the cleaning robot body, the mopping and washing assembly can conduct self-cleaning at any position, and therefore the cleaning robot has the good cleaning effect and is high in cleaning efficiency.

The invention provides cleaning equipment and a cleaning assembly. The cleaning assembly comprises a cleaning piece, a support assembly, a traction piece and an outer supporting assembly. The cleaning piece is wound on the support assembly, and the support assembly comprises a first support and a second support; the traction piece is arranged between the first support and the second support and has traction force enabling the first support and the second support to be close to each other. The outer supporting assembly is inserted between the first support and the second support in a sliding mode, and the outer supporting assembly is at least provided with a first position and a second position on a sliding path. When the outer supporting assembly is located at the first position, the outer supporting assembly enables the first support and the second support to have a first interval enabling the cleaning piece to be tensioned. When the outer supporting assembly is located at the second position, the traction force of the traction piece enables the first support and the second support to have a second distance enabling the cleaning piece to be loosened. According to the cleaning assembly, the cleaning piece in the cleaning assembly can be switched between the tensioning state and the loosening state.

The utility model provides a base station and a cleaning system, the base station comprises a base station main body and a dust collection module, and the base station main body comprises a cleaning tank; the dust collection module comprises a dust collection fan; a dust collecting opening and a first air outlet are formed in the inner wall, opposite to the opening, of the cleaning tank, the dust collecting opening can be in butt joint with a second dust discharging opening in a machine body of the cleaning equipment, and the first air outlet can be in butt joint with a second air discharging opening in the machine body; under the action of the dust collecting fan, after garbage in a dust box of the cleaning equipment sequentially passes through the second dust discharging opening and the dust collecting opening along with airflow and enters the air channel of the base station, the airflow at least flows out of the air channel through the first air outlet, and the airflow flowing out of the first air outlet is blown to a first filtering piece of the cleaning equipment through the second air discharging opening; garbage on the first filter part is blown into the dust box; when the cleaning equipment is used for cleaning the surface to be cleaned, the first filtering piece is used for filtering airflow flowing from the dust inlet of the dust box to the second exhaust outlet. According to the base station, the first filtering part can be self-cleaned under the action of the dust collection fan of the base station, and the use experience is improved.

The invention discloses a cleaning equipment control method and device, a program product, a medium and cleaning equipment, the cleaning equipment comprises a mechanical arm, the mechanical arm is used for grabbing an object so as to carry the object, and the method comprises the steps that if the cleaning equipment encounters an obstacle to be crossed in the process of carrying a target object, the robot is started to move; if yes, the cleaning equipment is controlled to place the target object grabbed by the mechanical arm on the ground; after the cleaning equipment places a target object grabbed by a mechanical arm on the ground, the cleaning equipment is controlled to cross the obstacle in a no-load state; and after the cleaning equipment crosses the obstacle, the cleaning equipment is controlled to grab the target object again through the mechanical arm so as to continue carrying the target object. According to the technical scheme, the object carrying stability of the cleaning equipment can be improved.