Control method and equipment for cleaning system

Abstract

The embodiment of the invention provides a control method and device of a cleaning system, the cleaning system comprises a cleaning device and a mobile device, the cleaning device comprises a device body, a sensor system and a chassis lifting module, the sensor system is arranged on the device body and used for obtaining three-dimensional information and / or image information, and the chassis lifting module is used for lifting the chassis. The equipment body can freely walk on the ground based on three-dimensional information and / or image information, the chassis lifting module can adjust the ground clearance between the equipment body and the ground so as to climb over low obstacles, the mobile equipment is provided with a containing cavity, and the containing cavity is provided with an opening. The bottom of the cleaning equipment is higher than the bottom wall of the accommodating cavity; the cleaning equipment is controlled to enter the containing cavity through the opening, so that the cleaning equipment and the mobile equipment are combined to form the cleaning system. By means of the method, reliable butt joint of the cleaning device and the mobile device is achieved, and the operation reliability of the cleaning system and the use experience of a user are improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method and equipment for a cleaning system. Background Technology

[0002] With the development of smart home technology, cleaning devices such as robotic vacuum cleaners have become important tools for household cleaning. Their application scenarios have expanded from simple floor cleaning to multi-device collaborative operation modes. For example, cleaning devices can be connected and combined with mobile devices to form the cleaning system, and the mobile device can be a stair-climbing device.

[0003] However, existing cleaning systems have technical limitations in the docking of cleaning equipment and mobile equipment. When the chassis height of the cleaning equipment is lower than the bottom wall height of the receiving cavity of the mobile equipment, the cleaning equipment cannot enter the receiving cavity, making it difficult to combine the mobile equipment and cleaning equipment to form the cleaning system. As a result, the cleaning system has low operational reliability and poor user experience.

[0004] Therefore, there is an urgent need for a control method for cleaning systems to achieve reliable docking between cleaning equipment and mobile equipment, thereby improving the operational reliability of the cleaning system and the user experience. Summary of the Invention

[0005] This application provides a control method and device for a cleaning system to solve the problem in related technologies where it is difficult to combine mobile devices and cleaning equipment, resulting in low operational reliability and poor user experience of the cleaning system.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] A first aspect of this application provides a control method for a cleaning system. The cleaning system includes a cleaning device and a mobile device. The cleaning device includes a device body, a sensor system, and a chassis lifting module. The sensor system is mounted on the device body and is used to acquire three-dimensional information and / or image information of the mobile device. The device body is capable of moving freely on the ground based on the three-dimensional information and / or the image information. The chassis lifting module is capable of adjusting the ground clearance of the device body to overcome low obstacles. The mobile device has a receiving cavity with an opening. The method includes:

[0008] Adjust the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity;

[0009] The cleaning device is controlled to enter the receiving cavity through the opening, so that the cleaning device and the moving device are combined to form the cleaning system.

[0010] In current technologies, because the chassis height of the cleaning equipment is lower than the bottom wall height of the receiving cavity of the mobile device, the cleaning equipment cannot enter the receiving cavity, making it difficult to combine the cleaning equipment and the mobile device. This results in low operational reliability of the cleaning system and a poor user experience.

[0011] Therefore, the control method for the cleaning system provided in this application dynamically adjusts the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity. This controls the cleaning device to enter the receiving cavity through the opening, allowing the cleaning device and the mobile device to combine and form the cleaning system. Through this method, the cleaning device can be adapted to mobile devices of different heights, achieving reliable docking between the cleaning device and the mobile device, improving the operational reliability of the cleaning system and the user experience.

[0012] In one embodiment of this application, before adjusting the ground clearance of the cleaning device, the method further includes:

[0013] The distance between the bottom wall of the opening and the ground is obtained using the sensor system of the cleaning equipment.

[0014] In one embodiment of this application, identifying the distance between the bottom wall of the receiving cavity and the ground using the sensor system of the cleaning equipment includes:

[0015] The front end of the cleaning device is controlled to face the opening so that the distance between the bottom wall of the receiving cavity and the ground can be obtained using the sensor system located at the front end of the cleaning device.

[0016] In one embodiment of this application, identifying the distance between the bottom wall of the receiving cavity and the ground using the sensor system of the cleaning equipment includes:

[0017] The rear end of the cleaning device is controlled to face the opening so that the distance between the bottom wall of the receiving cavity and the ground can be obtained using the sensor system located at the rear end of the cleaning device.

[0018] In one embodiment of this application, controlling the cleaning device to enter the receiving cavity through the opening includes:

[0019] The cleaning device is driven to rotate so that its rear end faces the opening;

[0020] The cleaning device is controlled to enter the receiving cavity through the opening in a reverse manner.

[0021] In one embodiment of this application, controlling the cleaning device to enter the receiving cavity through the opening includes:

[0022] The cleaning device is driven to rotate so that the front end of the cleaning device faces the opening;

[0023] The cleaning device is controlled to enter the receiving cavity through the opening in a forward manner.

[0024] In one embodiment of this application, the cleaning device has a charging module at its rear end, and the receiving cavity has a discharge module on its inner wall relative to the opening. Controlling the cleaning device to enter the receiving cavity through the opening includes:

[0025] Adjust the position of the cleaning device so that the charging module at the rear end of the cleaning device is directly opposite the discharge module in the receiving cavity;

[0026] The cleaning device is controlled to enter the receiving cavity through the opening until the charging module docks with the discharging module.

[0027] In one embodiment of this application, one of the cleaning device and the mobile device is provided with a signal receiving module, and the other is provided with a signal transmitting module. Adjusting the position of the cleaning device so that the charging module at the rear end of the cleaning device is aligned with the discharging module in the receiving cavity includes:

[0028] Based on the signal received by the signal receiving module from the signal transmitting module, the position of the cleaning device is adjusted and the relative position of the cleaning device and the opening is determined.

[0029] When the relative position between the cleaning device and the opening reaches a preset condition, the charging module at the rear end of the cleaning device is aligned with the discharge module in the receiving cavity.

[0030] In one embodiment of this application, the cleaning device further includes a wet cleaning module, which is disposed at the bottom of the device body and has a first lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes:

[0031] Control the wet cleaning module to rise to the first raised position.

[0032] In one embodiment of this application, the cleaning device further includes a dry cleaning module, which is disposed at the bottom of the device body and has a second lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes:

[0033] Control the dry cleaning module to rise to the second raised position.

[0034] A second aspect of this application provides a control device for a cleaning system, including: a memory and a processor;

[0035] The memory stores the instructions that the computer executes;

[0036] The processor executes computer execution instructions stored in memory, causing the processor to perform the method as described in any of the first aspects.

[0037] The control method and device for the cleaning system provided in this application dynamically adjust the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity. This controls the cleaning device to enter the receiving cavity through the opening, allowing the cleaning device and the mobile device to combine and form the cleaning system. Using this method, the cleaning device can be adapted to mobile devices of different heights, achieving reliable docking between the cleaning device and the mobile device, improving the operational reliability of the cleaning system and the user experience. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0039] Figure 1 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 1 ;

[0040] Figure 2 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 2 ;

[0041] Figure 3 This is a schematic diagram of the control method for the cleaning system provided in an embodiment of this application;

[0042] Figure 4 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 3 ;

[0043] Figure 5 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 4 ;

[0044] Figure 6 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 5 ;

[0045] Figure 7 This is a schematic diagram of the structure of the control device of the cleaning system provided in one embodiment of this application;

[0046] Figure 8 A schematic diagram of the control equipment for the cleaning system provided in this application.

[0047] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0048] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0049] The control method of the cleaning system provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings. The cleaning system of the embodiments of this application includes cleaning equipment and mobile equipment. The cleaning equipment is used to perform cleaning operations. The mobile equipment is used to assist the cleaning equipment in performing operations. For example, the mobile equipment may be a stair-climbing device that can move freely, or it may be a base station, charging equipment, etc. that can be moved by a person.

[0050] Taking a mobile device as the stair-climbing device and a cleaning device as a robot vacuum cleaner as an example, Figure 1 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 1 . refer to Figure 1 The cleaning system includes cleaning equipment 100 and mobile equipment 130.

[0051] The mobile device 130 includes a receiving cavity 140, through which the cleaning device 100 can enter the receiving cavity 140 through an opening 1401, so that the cleaning device 100 and the mobile device 130 can be combined into a combination.

[0052] Because the height of the chassis 1001 of the cleaning device 100 is lower than the height of the bottom wall 140a of the receiving cavity 140 of the mobile device 130, the cleaning device 100 cannot enter the receiving cavity 140, making it difficult to combine the cleaning device 100 and the mobile device 130. This results in low operational reliability of the cleaning system and a poor user experience.

[0053] Therefore, to solve the above-mentioned technical problems, this invention provides a control method for a cleaning system. By dynamically adjusting the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity, the cleaning device is controlled to enter the receiving cavity through the opening, so that the cleaning device and the mobile device can be combined to form a cleaning system. Through the method of this application, the cleaning device can be adapted to mobile devices of different heights, achieving reliable docking between the cleaning device and the mobile device, improving the operational reliability of the cleaning system and the user experience.

[0054] The following example illustrates a cleaning system to which the control method of the embodiments of this application can be applied.

[0055] Optionally, the cleaning equipment includes the equipment body, a sensor system, and a chassis lifting module.

[0056] The sensor system is mounted on the device itself and is used to acquire 3D information and / or image information of the mobile device. Examples of sensor systems include one or more of the following: multi-view cameras, line laser sensors, time-of-flight (ToF) sensors, and lidar.

[0057] The device itself can move freely on the ground based on 3D information and / or image information.

[0058] The chassis lifting module can adjust the ground clearance between the equipment body and the ground to overcome low obstacles. Figure 2 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 2 . refer to Figure 2 The chassis lifting module includes a caster wheel system 110 and a drive wheel system 120. Both the caster wheel system 110 and the drive wheel system 120 are equipped with lifting mechanisms, capable of adjusting the ground clearance between the equipment body and the ground. It should be noted that the aforementioned lifting mechanisms are existing conventional technologies, such as screw mechanisms, multi-link mechanisms, traction rope mechanisms, cam mechanisms, and obstacle-crossing arm mechanisms, etc., which will not be elaborated upon in this application.

[0059] It should be understood that Figure 2 The chassis lifting module shown includes a caster wheel system 110 and a drive wheel system 120. In one embodiment, the chassis lifting module may include only the drive wheel system 120.

[0060] In some embodiments, the cleaning device 100 further includes a storage component, and the processor and storage component may be located inside the cleaning device 100. Optionally, the storage component may be integrated with the processor, or they may be two separate components.

[0061] A storage component is used to store data; for example, various software control programs, modes and / or parameters of the cleaning equipment 100, etc. Specifically, the program may include program code, which includes computer operation instructions.

[0062] A processor may include, for example, one or more circuits or chips that have control functions.

[0063] The processor is used to control the operation of the cleaning equipment 100 and respond to user operations through various software control programs stored in memory.

[0064] It should be understood that the cleaning system described above is merely one example of a cleaning system to which the control method of the embodiments of this application can be applied, and this application does not limit the structure of the cleaning equipment and mobile device in the cleaning system.

[0065] The execution entity in this application embodiment can be a processor in the cleaning device or a server corresponding to the cleaning device. The server is located in the cloud and connects to the processor of the cleaning device via a network to issue control commands to the cleaning device, or forward control commands sent by the user through a terminal device to the cleaning device, etc.

[0066] The following uses a processor in a cleaning device as an example to illustrate the technical solution of this application and how it solves the aforementioned technical problems through specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0067] Figure 3 This is a schematic diagram of the control method for a cleaning system provided in an embodiment of this application. Figure 3 As shown, it may include:

[0068] S301. Adjust the ground clearance of the cleaning equipment so that the bottom of the cleaning equipment is higher than the bottom wall of the receiving cavity.

[0069] Ground clearance refers to the distance between the bottom of the cleaning equipment and the ground.

[0070] For example, the processor can raise the device body based on a preset height using a chassis lifting module until the cleaning device reaches the preset height from the ground. This preset height can be pre-set according to the distance between the bottom wall of the opening of the mobile device's receiving cavity and the ground.

[0071] For example, the processor can use the sensor system of the cleaning device to obtain the distance between the bottom wall of the opening and the ground, use this distance as an adjustment target, and adjust the distance of the cleaning device from the ground according to the distance so that the distance of the cleaning device from the ground is greater than the adjustment target.

[0072] For example, the processor can adjust the ground clearance of the cleaning device, and during the adjustment process, use the sensor system of the cleaning device to obtain the height difference between the bottom wall of the opening and the bottom of the cleaning device, and stop the adjustment when the bottom of the cleaning device is higher than the bottom wall of the receiving cavity.

[0073] S302, Control the cleaning equipment to enter the receiving cavity through the opening so that the combination of the cleaning equipment and the moving equipment forms a cleaning system.

[0074] Optionally, the processor can control the cleaning device to move towards the opening in a forward or backward manner, so that the combination of the cleaning device and the moving device forms a cleaning system. For example, the processor can identify whether the cleaning device has entered the receiving cavity of the moving device using three-dimensional information and / or image information acquired by the cleaning device's sensor system.

[0075] For example, docking mechanisms are respectively provided in the receiving cavities of the cleaning device and the mobile device. When the cleaning device enters the receiving cavity of the mobile device, the docking mechanisms of the cleaning device and the mobile device can sense the docking status. The processor can identify whether the cleaning device has entered the receiving cavity of the mobile device based on the docking status of the docking mechanism.

[0076] The control method of this cleaning system dynamically adjusts the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity. This allows the cleaning device to enter the receiving cavity through an opening, enabling it to combine with the mobile device to form a cleaning system. Using this method, the cleaning device can be adapted to mobile devices of different heights, achieving reliable docking between the cleaning device and the mobile device, thus improving the operational reliability of the cleaning system and the user experience.

[0077] Figure 4 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 3 It should be understood that... Figure 2 and Figure 4 The height difference between the chassis 1001 of the cleaning device 100 and the bottom wall 140a of the mobile device 130 is shown only in the simplified structural diagram.

[0078] refer to Figure 2 As shown, the height of the chassis 1001 of the cleaning device 100 is lower than the height of the bottom wall 140a of the receiving cavity of the mobile device 130. The processor can control the lifting mechanism of the caster wheel system 110 and the drive wheel system 120 to lift, thereby adjusting the ground clearance of the cleaning device 100, from... Figure 2 The ground clearance shown is adjusted to Figure 4 The ground clearance shown is for reference. Figure 4As shown, the chassis 1001 of the adjusted cleaning device 100 is higher than the bottom wall 140a of the receiving cavity of the mobile device 130.

[0079] The above embodiments illustrate how a processor adjusts the ground clearance of a cleaning device. Optionally, before adjusting the ground clearance of the cleaning device, the processor can also use the sensor system of the cleaning device to obtain the distance between the bottom wall of the opening and the ground. Accordingly, the processor can adjust the ground clearance of the cleaning device based on the distance between the bottom wall of the opening and the ground, so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity.

[0080] A sensor system refers to a hardware module on a cleaning device used to collect environmental information. Exemplarily, a sensor system may include one or more of a multi-view camera, a line laser sensor, a ToF sensor, and a lidar; this embodiment is not limited to these.

[0081] For example, by scanning the point cloud data of the cavity opening with a lidar, and based on the point cloud data processing method in related technologies, the distance between the bottom wall of the opening and the ground is obtained, and the ground clearance of the cleaning device is adjusted to be greater than the obtained distance between the bottom wall of the opening and the ground. For instance, when the distance between the bottom wall of the mobile device's opening and the ground is detected to be 2cm, the processor can drive the chassis lifting module to adjust the ground clearance of the cleaning device to 3cm, ensuring that the bottom of the cleaning device is higher than the bottom wall of the cavity.

[0082] The control method in this embodiment obtains the distance between the bottom wall of the cavity opening and the ground through a sensor system, and dynamically adjusts the distance from the ground based on the distance, so as to realize the reliable docking of the cleaning equipment and the mobile equipment. This allows the cleaning equipment to dynamically adapt to the cavity of any height, improving the operational reliability of the cleaning system and the user experience.

[0083] Optionally, the processor can drive the cleaning device to adjust its posture so that the sensor system's acquisition area can cover the bottom wall and the ground of the mobile device's receiving cavity, thereby using the cleaning device's sensor system to identify the distance between the bottom wall and the ground of the receiving cavity.

[0084] In one embodiment, the processor uses the sensor system of the cleaning device to identify the distance between the bottom wall of the receiving cavity and the ground, and can control the front end of the cleaning device to face the opening, so as to obtain the distance between the bottom wall of the receiving cavity and the ground using the sensor system located at the front end of the cleaning device.

[0085] For example, the front end of the cleaning equipment is equipped with a sensor system, such as a lidar located on the top surface of the cleaning equipment and close to the front end.

[0086] With the sensor system positioned at the front of the cleaning equipment, the opening of the receiving cavity is located at the rear of the cleaning equipment, i.e., away from the sensor system. The processor can control the cleaning equipment to rotate so that its front end faces the opening, allowing the sensor system at the front of the cleaning equipment to acquire three-dimensional information and / or image information of the receiving cavity. Furthermore, the processor can determine the distance between the bottom wall of the receiving cavity and the ground based on the three-dimensional information and / or image information acquired by the sensor system.

[0087] In one embodiment, the processor uses the sensor system of the cleaning device to identify the distance between the bottom wall of the receiving cavity and the ground. It can control the rear end of the cleaning device to face the opening so as to obtain the distance between the bottom wall of the receiving cavity and the ground using the sensor system located at the rear end of the cleaning device.

[0088] The distance acquisition based on 3D information and / or image information can be achieved using image processing methods in related technologies. Taking 3D information as an example, the 3D information includes the 3D coordinates of multiple points on the bottom wall of the opening. Based on the coordinates of these multiple points, the distance between the bottom wall of the receiving cavity and the ground can be calculated. Taking image information as an example, the bottom wall of the receiving cavity and the ground can be identified from the image information using image recognition methods in related technologies. Based on the number of pixels and known parameters such as the sensor focal length and pixel size, the distance between the bottom wall of the receiving cavity and the ground can be calculated using image algorithms in related technologies.

[0089] For example, the cleaning equipment is equipped with a sensor system at the rear end, such as a lidar located on the top surface of the cleaning equipment and close to the rear end.

[0090] With the sensor system positioned at the rear of the cleaning equipment, the opening of the receiving cavity is located at the front of the cleaning equipment, i.e., away from the sensor system. The processor can control the cleaning equipment to rotate so that its rear end faces the opening, allowing the sensor system at the rear of the cleaning equipment to acquire three-dimensional information and / or image information of the receiving cavity. Furthermore, the processor can determine the distance between the bottom wall of the receiving cavity and the ground based on the three-dimensional information and / or image information acquired by the sensor system.

[0091] The control method in this embodiment controls the rotation of the cleaning device to adjust the opening of the sensor system of the cleaning device toward the receiving cavity of the mobile device, thereby enabling the acquisition of three-dimensional information and / or image information of the receiving cavity through the sensor system, and improving the reliability of acquiring three-dimensional information and / or image information of the receiving cavity through the sensor system.

[0092] The following describes how the cleaning equipment is controlled to enter the receiving cavity through the opening in the control method of the embodiments of this application.

[0093] Optionally, the processor controls the cleaning device to enter the receiving cavity through the opening, can drive the cleaning device to rotate so that the rear end of the cleaning device faces the opening, and controls the cleaning device to enter the receiving cavity through the opening in a reverse manner.

[0094] For example, the processor obtains the position of the opening of the mobile device based on the sensor system, drives the cleaning device to rotate so that the rear end of the cleaning device faces the opening, and controls the cleaning device to move toward the mobile device in the current posture so that the cleaning device enters the receiving cavity through the opening in a backward manner.

[0095] Optionally, the processor controls the cleaning device to enter the receiving cavity through the opening, can drive the cleaning device to rotate so that the front end of the cleaning device faces the opening, and controls the cleaning device to enter the receiving cavity through the opening in a forward manner.

[0096] Forward or backward refers to the direction of movement of the cleaning equipment. For example, the processor can control the drive wheels to control the direction of movement of the cleaning equipment.

[0097] For example, the processor obtains the position of the opening of the mobile device based on the sensor system, drives the cleaning device to rotate so that the front end of the cleaning device faces the opening, and controls the cleaning device to move toward the mobile device in the current posture so that the cleaning device enters the receiving cavity through the opening in a forward manner.

[0098] For example, the processor can control the cleaning device to enter the receiving cavity through the opening in the indicated manner based on a preset forward or backward instruction.

[0099] For example, the processor can also select a forward or backward movement to control the cleaning device to enter the receiving cavity through the opening. For instance, the processor can use a sensor system to determine the position of the opening of the mobile device. If the front end of the cleaning device is close to the opening, the processor drives the cleaning device to rotate so that the front end faces the opening, and controls the cleaning device to enter the receiving cavity forward through the opening. If the rear end of the cleaning device is close to the opening, the processor drives the cleaning device to rotate so that the rear end faces the opening, and controls the cleaning device to enter the receiving cavity backward through the opening.

[0100] The control method of this application embodiment controls the rotation of the cleaning device to adjust its orientation, enabling it to enter the receiving cavity through an opening in a forward or backward manner, thus achieving the positioning of the receiving cavity opening. This control method allows the cleaning device to enter the receiving cavity through the opening in either a forward or backward manner, providing multiple entry methods to adapt to various scenarios and improving the efficiency of controlling the cleaning device to enter the receiving cavity through the opening.

[0101] Figure 5A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 4 See also Figure 5 The cleaning device 100 is controlled to enter the receiving cavity through the opening so that the cleaning device 100 and the moving device 130 are combined to form a cleaning system.

[0102] Alternatively, after the cleaning equipment enters the receiving cavity through the opening to combine with the mobile equipment to form a cleaning system, the processor can also reduce the ground clearance of the cleaning equipment.

[0103] For example, after the cleaning equipment enters the receiving cavity through the opening, the processor can reduce the ground clearance of the cleaning equipment by adjusting the chassis lifting module.

[0104] Figure 6 A schematic diagram of the structure of a cleaning system provided in this application embodiment. Figure 5 See also Figure 6 The processor can reduce the ground clearance of the cleaning equipment by adjusting the caster system 110 and the drive wheel system 120.

[0105] The method of this application embodiment reduces the ground clearance of the cleaning device after it enters the receiving cavity through the opening to form a cleaning system with the mobile device. This avoids collisions between the cleaning device and the inner wall of the receiving cavity in unstable situations such as shaking of the mobile device. At the same time, by reducing the height of the cleaning device, the stability of the cleaning device can be improved, thereby improving the safety of the cleaning device in the receiving cavity.

[0106] Optionally, the cleaning device has a charging module at its rear end, and a discharging module on the inner wall of the receiving cavity relative to the opening. When the charging module and the discharging module are connected, the cleaning device can be charged.

[0107] Based on this structure, the processor controls the cleaning device to enter the receiving cavity through the opening. It can adjust the position of the cleaning device so that the charging module at the rear of the cleaning device is aligned with the discharging module in the receiving cavity, and control the cleaning device to enter the receiving cavity through the opening until the charging module and the discharging module are connected.

[0108] For example, the processor can acquire the position information of the opening of the receiving cavity of the mobile device through a sensor system and control the cleaning device to move toward the opening of the receiving cavity. During the movement, the processor continuously adjusts its posture based on the position information fed back by the sensor system. When the cleaning device approaches the opening, a side-mounted infrared or laser sensor system is used to measure the distance between the cleaning device and both sides of the receiving cavity opening in real time, and fine adjustments are made left and right to ensure that the cleaning device is aligned with the receiving cavity opening. When the charging module approaches the discharging module, the docking status is detected by methods such as magnetic induction or contact sensors, and the cleaning device is controlled to decelerate and complete the docking, ensuring a stable electrical connection.

[0109] For example, one of the cleaning equipment and the mobile equipment is provided with a signal receiving module, and the other is provided with a signal transmitting module.

[0110] A signal receiving module refers to a hardware module used to receive signals, such as an ultrasonic receiving module or an infrared receiving module.

[0111] A signal transmitting module refers to a hardware module used to transmit signals, such as an ultrasonic transmitting module or an infrared transmitting module.

[0112] The processor can adjust the orientation of the cleaning device and determine the relative position of the cleaning device and the opening based on the signal received by the signal receiving module from the signal transmitting module; when the relative position of the cleaning device and the opening reaches the preset condition, the charging module at the rear of the cleaning device is aligned with the discharge module of the receiving cavity.

[0113] Preset conditions refer to the conditions that the signal received by the signal receiving module must meet. For example, a preset condition is that the signal strength exceeds a signal strength threshold. Meeting preset conditions indicates that the cleaning equipment's posture relative to the receiving cavity meets a specific posture.

[0114] Optionally, the rear end of the cleaning device is equipped with an infrared receiving module, and the receiving cavity of the mobile device is equipped with an infrared emitting module at the position relative to the opening.

[0115] For example, the infrared emitting module can emit a fan-shaped infrared signal. Multiple infrared receiving modules are equipped at the rear of the cleaning device. The difference in signal strength received by the multiple infrared receiving modules can determine the relative position of the cleaning device and the opening. For instance, if the infrared receiving module on the left side of the rear of the cleaning device receives a strong signal, the robot is controlled to make a slight adjustment to the right; if the infrared receiving module on the right side of the rear of the cleaning device receives a strong signal, the robot is controlled to make a slight adjustment to the left.

[0116] For example, the preset condition is that at least three sets of infrared receiving modules in the middle area of ​​the back end of the cleaning equipment must simultaneously receive the infrared signal emitted from the opening of the base station, and the difference between the maximum and minimum values ​​of the signal strength of each receiver does not exceed 15% of the average value.

[0117] During the movement of the cleaning equipment, multiple infrared receiving modules continuously receive signals to continuously correct the equipment's direction and angle of movement. Based on the aforementioned preset conditions, it determines whether these conditions are met. Once these conditions are met, the cleaning equipment is controlled to maintain linear movement and enter the receiving cavity through the opening. When the charging module approaches the discharging module, the docking status is detected using methods such as magnetic induction or contact sensors. The cleaning equipment is then controlled to decelerate and complete the docking, ensuring a stable electrical connection. The charging module and discharging module dock.

[0118] The method in this embodiment of the application achieves precise docking between the charging module and the discharging module by adjusting the posture of the cleaning device and controlling the cleaning device to enter the receiving cavity through the opening. Based on the signal received by the signal receiving module from the signal transmitting module, the posture of the cleaning device is adjusted and the relative position of the cleaning device and the opening is determined. Through the synergy of signal feedback and posture adjustment, the stability of docking is improved.

[0119] Optionally, the cleaning equipment also includes a wet cleaning module located at the bottom of the equipment body and having a first lifting position.

[0120] Before the cleaning equipment enters the receiving cavity through the opening, the processor can also control the wet cleaning module to rise to the first lifting position.

[0121] Wet cleaning modules refer to components on cleaning equipment used for wet cleaning, such as disc-type cloths, roller-type cloths, and conveyor-type cloths.

[0122] The first lifting position is the preset position of the wet cleaning module after it has been raised. For example, the distance between the first lifting position and the ground is 3 centimeters. The first lowering position is the preset position of the wet cleaning module during cleaning operations, that is, the position where it contacts the surface to be cleaned.

[0123] For example, the processor can control the wet cleaning module to descend to a first descending position during cleaning operations, so that the wet cleaning module can contact the surface to be cleaned. Before entering the receiving cavity through the opening, the processor can control the wet cleaning module to rise to a first rising position to avoid collisions.

[0124] For example, taking a wet cleaning module including a cloth assembly as an example, before the cleaning device enters the receiving cavity, the processor can determine whether the current cloth assembly is in the first raised position. If the current cloth assembly is not in the first raised position, that is, the current cloth assembly is in the first lowered position, the processor can control the cloth assembly to be raised to the preset first raised position via the electric lifting bracket.

[0125] The method in this application embodiment raises the wet cleaning module to a preset height, thereby avoiding collision between the wet cleaning module and the inner wall of the receiving cavity and improving the safety of the cleaning equipment entering the receiving cavity.

[0126] Optionally, the cleaning equipment also includes a dry cleaning module located at the bottom of the equipment body and having a second lifting position.

[0127] The preprocessor can also control the dry cleaning module to rise to the second lifting position while controlling the cleaning equipment to enter the receiving cavity through the opening.

[0128] Dry cleaning modules refer to components on cleaning equipment used for dry cleaning, such as vacuum cleaner components and roller brush components.

[0129] The second lifting position is the preset position of the dry cleaning module after it has been raised. For example, the distance between the second lifting position and the ground is 3 centimeters. The second lowering position is the preset position of the dry cleaning module during cleaning operations, that is, the position where it contacts the surface to be cleaned.

[0130] For example, the processor can control the dry cleaning module to descend to a second descending position during cleaning operations, so that the dry cleaning module can contact the surface to be cleaned. Before entering the receiving cavity through the opening, the processor can control the dry cleaning module to rise to a second rising position to avoid collisions.

[0131] For example, before the cleaning device enters the receiving cavity, the processor can determine whether the current dry cleaning module is in the second raised position. If the current dry cleaning module is not in the second raised position, that is, the current dry cleaning module is in the second lowered position, the processor can control the dry cleaning module to be raised to the preset second raised position via the electric lifting bracket.

[0132] The method in this application embodiment raises the dry cleaning module to a preset height, thereby avoiding collision between the dry cleaning module and the inner wall of the receiving cavity and improving the safety of the cleaning equipment entering the receiving cavity.

[0133] Figure 7 This is a schematic diagram of the control device of a cleaning system provided in one embodiment of this application. For example... Figure 7 As shown, a control device 700 for a cleaning system is provided. The cleaning system includes a cleaning device and a moving device. The cleaning device includes a device body, a sensor system, and a chassis lifting module. The sensor system is mounted on the device body and is used to acquire three-dimensional information and / or image information of the moving device. The device body can move freely on the ground based on the three-dimensional information and / or image information. The chassis lifting module can adjust the ground clearance of the device body to overcome low obstacles. The moving device has a receiving cavity with an opening. The control device 700 for the cleaning system includes:

[0134] The lifting module 701 is used to adjust the ground clearance of the cleaning equipment so that the bottom of the cleaning equipment is higher than the bottom wall of the receiving cavity;

[0135] The control module 702 is used to control the cleaning equipment to enter the receiving cavity through the opening so that the cleaning equipment and the moving equipment can be combined to form a cleaning system.

[0136] In some optional embodiments, before adjusting the ground clearance of the cleaning equipment, the lifting module 701 is also used to:

[0137] The distance between the bottom wall of the opening and the ground is obtained using the sensor system of the cleaning equipment.

[0138] In some alternative embodiments, the lifting module 701 is specifically used for:

[0139] The front end of the cleaning equipment is oriented toward the opening so that the distance between the bottom wall of the receiving cavity and the ground can be obtained using a sensor system located at the front end of the cleaning equipment.

[0140] In some alternative embodiments, the lifting module 701 is specifically used for:

[0141] The rear end of the cleaning equipment is oriented toward the opening so that the distance between the bottom wall of the receiving cavity and the ground can be obtained using a sensor system located at the rear end of the cleaning equipment.

[0142] In some alternative embodiments, the control module 702 is specifically used for:

[0143] Drive the cleaning equipment to rotate so that the rear end of the cleaning equipment faces the opening;

[0144] The cleaning equipment is controlled to enter the receiving cavity through the opening in a reverse manner.

[0145] In some alternative embodiments, the control module 702 is specifically used for:

[0146] Drive the cleaning equipment to rotate so that the front end of the cleaning equipment faces the opening;

[0147] The cleaning equipment is controlled to enter the containment cavity through the opening in a forward manner.

[0148] In some optional embodiments, the rear end of the cleaning device has a charging module, and the receiving cavity has a discharge module on its inner sidewall relative to the opening. The control module 702 is specifically used for:

[0149] Adjust the position of the cleaning equipment so that the charging module at the rear of the cleaning equipment is aligned with the discharge module of the receiving cavity;

[0150] The cleaning equipment is controlled to enter the receiving cavity through the opening until the charging module and the discharging module are connected.

[0151] In some optional embodiments, one of the cleaning device and the mobile device is provided with a signal receiving module, and the other is provided with a signal transmitting module. The control module 702 is specifically used for:

[0152] Based on the signals received by the signal receiving module from the signal transmitting module, the position of the cleaning equipment is adjusted and the relative position of the cleaning equipment and the opening is determined.

[0153] When the relative position of the cleaning device and the opening reaches the preset condition, the charging module at the rear of the cleaning device is aligned with the discharge module of the receiving cavity.

[0154] In some optional embodiments, the cleaning device further includes a wet cleaning module located at the bottom of the device body and having a first lifting position. Before the cleaning device enters the receiving cavity through the opening, the lifting module 701 is further configured to:

[0155] Control the wet cleaning module to rise to the first lifting position.

[0156] In some optional embodiments, the cleaning device further includes a dry cleaning module located at the bottom of the device body and having a second lifting position. Before the cleaning device enters the receiving cavity through the opening, the lifting module 701 is further configured to:

[0157] Control the dry cleaning module to rise to the second lifting position.

[0158] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0159] Figure 8 A schematic diagram of the control equipment for the cleaning system provided in this application. Figure 8 As shown, the control device 800 of the cleaning system provided in this embodiment includes at least one processor 801 and a memory 802. Optionally, the device 800 further includes a communication component 803. The processor 801, memory 802, and communication component 803 are connected via a bus 804.

[0160] In a specific implementation, at least one processor 801 executes computer execution instructions stored in memory 802, causing at least one processor 801 to perform the above-described method.

[0161] The specific implementation process of processor 801 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0162] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0163] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0164] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0165] This application also provides a cleaning device, which includes a device body, a sensor system and a chassis lifting module. The sensor system is located on the device body and is used to acquire three-dimensional information and / or image information. The device body can move freely on the ground based on the three-dimensional information and / or image information. The chassis lifting module can adjust the ground clearance between the device body and the ground in order to overcome low obstacles.

[0166] The cleaning device also includes a processor configured to implement a control method for the cleaning system.

[0167] This application also provides a cleaning system, which includes a cleaning device and a mobile device. The cleaning device includes a device body, a sensor system, and a chassis lifting module. The sensor system is located on the device body and is used to acquire three-dimensional information and / or image information. The device body can move freely on the ground based on the three-dimensional information and / or image information. The chassis lifting module can adjust the ground clearance between the device body and the ground to overcome low obstacles. The mobile device has a receiving cavity with an opening.

[0168] The cleaning device also includes a processor configured to implement a control method for the cleaning system.

[0169] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0170] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0171] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0172] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0173] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0174] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0175] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0176] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0177] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0178] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for a cleaning system, characterized in that, The cleaning system includes a cleaning device and a mobile device. The cleaning device includes a device body, a sensor system, and a chassis lifting module. The sensor system is mounted on the device body and is used to acquire three-dimensional information and / or image information. The device body can move freely on the ground based on the three-dimensional information and / or the image information. The chassis lifting module can adjust the ground clearance of the device body to overcome low obstacles. The mobile device has a receiving cavity with an opening. The method includes: Adjust the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity; The cleaning device is controlled to enter the receiving cavity through the opening, so that the cleaning device and the moving device are combined to form the cleaning system.

2. The method according to claim 1, characterized in that, Before adjusting the ground clearance of the cleaning equipment, the method further includes: The distance between the bottom wall of the opening and the ground is obtained using the sensor system of the cleaning equipment.

3. The method according to claim 2, characterized in that, The step of using the sensor system of the cleaning equipment to identify the distance between the bottom wall of the receiving cavity and the ground includes: The front end of the cleaning device is controlled to face the opening so that the distance between the bottom wall of the receiving cavity and the ground can be obtained using the sensor system located at the front end of the cleaning device.

4. The method according to claim 2, characterized in that, The step of using the sensor system of the cleaning equipment to identify the distance between the bottom wall of the receiving cavity and the ground includes: The rear end of the cleaning device is controlled to face the opening so that the distance between the bottom wall of the receiving cavity and the ground can be obtained using the sensor system located at the rear end of the cleaning device.

5. The method according to claim 1, characterized in that, The control of the cleaning device to enter the receiving cavity through the opening includes: The cleaning device is driven to rotate so that its rear end faces the opening; The cleaning device is controlled to enter the receiving cavity through the opening in a reverse manner.

6. The method according to claim 1, characterized in that, The control of the cleaning device to enter the receiving cavity through the opening includes: The cleaning device is driven to rotate so that the front end of the cleaning device faces the opening; The cleaning device is controlled to enter the receiving cavity through the opening in a forward manner.

7. The method according to claim 1, characterized in that, The cleaning device has a charging module at its rear end, and the receiving cavity has a discharge module on its inner wall relative to the opening. Controlling the cleaning device to enter the receiving cavity through the opening includes: Adjust the position of the cleaning device so that the charging module at the rear end of the cleaning device is directly opposite the discharge module in the receiving cavity; The cleaning device is controlled to enter the receiving cavity through the opening until the charging module docks with the discharging module.

8. The method according to claim 7, characterized in that, One of the cleaning device and the mobile device is provided with a signal receiving module, and the other is provided with a signal transmitting module. Adjusting the position of the cleaning device so that the charging module at the rear end of the cleaning device is aligned with the discharging module in the receiving cavity includes: Based on the signal received by the signal receiving module from the signal transmitting module, the position of the cleaning device is adjusted and the relative position of the cleaning device and the opening is determined. When the relative position between the cleaning device and the opening reaches a preset condition, the charging module at the rear end of the cleaning device is aligned with the discharge module in the receiving cavity.

9. The method according to claim 1, characterized in that, The cleaning device further includes a wet cleaning module, which is located at the bottom of the device body and has a first lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes: Control the wet cleaning module to rise to the first raised position.

10. The method according to claim 1, characterized in that, The cleaning device further includes a dry cleaning module, which is located at the bottom of the device body and has a second lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes: Control the dry cleaning module to rise to the second raised position.

11. A control device for a cleaning system, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-10.

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