Mounting method and apparatus for mop assembly, storage medium, and electronic apparatus

Abstract

The invention discloses a mop assembly mounting method and device, a storage medium and an electronic device. The mop assembly mounting method comprises the steps that whether a to-be-cleaned task of self-moving equipment uses a mop assembly or not is determined; under the condition that the to-be-cleaned task uses the mop assembly, whether the mop assembly exists in a cleaning base station corresponding to the self-moving equipment or not is determined, and whether the self-moving equipment is provided with the mop assembly or not is determined; under the condition that the mop assembly exists in the cleaning base station and the self-moving equipment is not provided with the mop assembly, the self-moving equipment is controlled to move to a first position in the cleaning base station, so that the mop assembly in the cleaning base station is installed on the self-moving equipment, the first position is at least the position where the mop assembly is installed in the cleaning base station by the self-moving equipment; by means of the scheme, the problems that in the prior art, due to the fact that the mopping cloth cannot be automatically installed on the sweeping robot, a user needs to manually install the mopping cloth, and the user experience is poor are solved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511841579.9 (22) Application Date 2023.08.18 (66) Domestic Priority Data 202211235037.3 2022.10.10 CN (62) Divisional Application Data 202311048280.9 2023.08.18 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Guan Ao, Huo Jianghao, Zhang Cong (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Li Hong (51) Int.Cl. A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) A47L 11 / 40 (2006.01) (54) Invention Title: Method and Apparatus for Installing Mop Components, Storage Medium and Electronic Device (57) Abstract: This invention discloses a method and apparatus for installing mop components, a storage medium and an electronic device, including: determining whether a cleaning task to be performed on a self-moving device uses a mop component; when a cleaning task uses a mop component, determining whether a cleaning base station corresponding to the self-moving device contains a mop component, and determining whether the self-moving device is equipped with a mop component; when a mop component exists in the cleaning base station and the self-moving device is not equipped with a mop component, controlling the self-moving device to move to a first position in the cleaning base station to install the mop component in the cleaning base station on the self-moving device, wherein the first position is at least the position where the self-moving device installs the mop component in the cleaning base station; Through the above solution, the problem of poor user experience caused by the inability of the sweeping robot to automatically install the mop, resulting in the user needing to manually install the mop, is solved. Claims 2 pages, Description 34 pages, Drawings 9 pages, CN 121489329 A 2026.02.10 CN 1 21 48 93 29 A 1. A method for installing a mop assembly of a self-moving device, characterized in that the self-moving device includes a connecting component, the mop assembly being detachably connected to the connecting component; along the height direction of the self-moving device, the connecting component has at least a third height and a fifth height; at least at the third height and the fifth height, the mop assembly can be connected to the connecting component; the method further includes: when no mop assembly is provided on the self-moving device, the cleaning task of the self-moving device requires the use of the mop assembly, the wheels of the self-moving device are suspended, and it is detected at the third height that the mop assembly and the connecting component are not connected.In the case of a situation where the connecting component is controlled to descend from a third height to a fifth height, the mop component is connected to the connecting component at the fifth height; wherein the connecting component is a lifting structure, and the fifth height corresponds to the manual installation position of the second fixed body of the lifting structure. 2. The method according to claim 1, wherein the method further comprises: the connecting component also having a second height, at the second height, the mop component connected to the connecting component is capable of mopping; in the case where a mop component exists in the cleaning base station, the self-moving device is not equipped with a mop component, the cleaning task of the self-moving device requires the use of a mop component, and the self-moving device is located in the cleaning base station, the connecting component is controlled to descend from the third height to the second height, so that the mop component in the cleaning base station is connected to the connecting component at the second height. 3. The method according to claim 2, wherein, for the descent action of the connecting component between the second height and the third height, if the duration of the descent of the connecting component between the two heights exceeds a preset duration, the connecting component is controlled to return to the height before descent and perform another descent action. 4. The method according to claim 2, characterized in that, if the number of descent actions between two heights exceeds a preset threshold, an abnormality alert is issued. 5. The method according to claim 4, characterized in that, by analyzing the time difference between signals emitted by detection elements received at two heights, the duration of descent of the connecting component between any two heights is determined; the detection elements are set at any height or multiple heights among the third height and the second height, used to detect whether the connecting component is located at the corresponding height; by determining the duration of movement of the connecting component between two heights, an abnormality in the movement of the connecting component between the two heights is determined. 6. The method according to claim 1, characterized in that, upon sensing the mopping component at the second position, the connecting component is controlled to retract to the third height, and then descend from the third height to the fifth height; the second position is the location of the mop component that can maintain a connection with the connecting component. 7. The method according to claim 6, characterized in that, receiving second sensing information of the self-moving device, wherein the second sensing information is used to indicate the sensing result of the second sensor of the self-moving device on a second target signal from a second location, the second target signal being emitted by an electronic component disposed on the mop assembly, the second location being the installation location of the self-moving device where the mop assembly is installed; if the second sensing information indicates that the second target signal is not sensed at the second location, determining that the self-moving device is not equipped with the mop assembly. 8. The method according to claim 2, characterized in that, when the self-moving device is equipped with the mop assembly,If the self-moving device is not located in the cleaning base station, the working state of the self-moving device is determined; if the working state indicates that the self-moving device is in a working state, the connection component at the second height is controlled to rise to the third height, the third height being the lifting height of the mop component set for the cleaning task; if the working state indicates that the self-moving device is in an idle state, the self-moving device is controlled to move to the cleaning base station to separate the mop component of the self-moving device from the connection component. 9. The method according to claim 1, wherein if the number of cleaning tasks of the self-moving device is greater than 1, the method further includes: determining the execution order of the first cleaning task and the second cleaning task according to whether the self-moving device is equipped with the mop component at the current time; wherein the first cleaning task is the task in the cleaning task that uses the mop component, and the second cleaning task is the task in the cleaning task that does not use the mop component. 10. An electronic device comprising a memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to perform the method described in any one of claims 1 to 9. Claims 2 / 2 Page 3 CN 121489329 A Method and apparatus for installing a mop assembly, storage medium and electronic device

[0001] This application is a divisional application of the invention patent with application number 202311048280.9, application date 2023.08.18, and invention title "Method and apparatus for installing a mop assembly, storage medium and electronic device". Technical Field

[0002] The present invention relates to the field of communication, and more specifically, to a method and apparatus for installing a mop assembly, a storage medium and electronic device. Background Art

[0003] With the development of technology, more and more people are starting to use smart devices for cleaning in their daily lives, such as robot vacuum cleaners (equivalent to the above-mentioned self-moving devices), etc. Among them, robot vacuum cleaners can clean the home through different working modes, including single sweeping, sweeping and mopping modes, etc.

[0004] Existing robotic vacuum cleaners can only have their mop attachments installed and removed manually. After mopping, the robot typically uses a mop lifting mechanism to prevent the dirty mop from contaminating the clean floor. However, since the mop is always attached to the robot, and this reduces the robot's ground clearance, even lifting the mop can still affect its obstacle-crossing ability. For example, the mop can increase the probability of the robot colliding with or scraping itself, and may even cause sharp objects to snag on the mop, trapping the robot, or cause carpet contamination if the mop is not lifted properly. Summary of the Invention

[0005] Embodiments of the present invention provide a method and apparatus for installing a mop assembly, a storage medium, and an electronic device to at least solve the problem in the prior art where, because a robotic vacuum cleaner cannot automatically install a mop, users need to manually install the mop, resulting in a poor user experience.

[0006] According to one aspect of an embodiment of the present invention, a method for installing a mop assembly is provided, comprising: determining whether a cleaning task of a self-moving device uses a mop assembly; if the cleaning task uses the mop assembly, determining whether the mop assembly exists in a cleaning base station corresponding to the self-moving device, and determining whether the self-moving device is equipped with the mop assembly; if the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, controlling the self-moving device to move to a first position in the cleaning base station to install the mop assembly in the cleaning base station on the self-moving device, wherein the first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station.

[0007] In an exemplary embodiment, determining whether the mop assembly exists in a cleaning base station corresponding to the self-moving device includes: receiving first sensing information from the cleaning base station, wherein the first sensing information is used to indicate the sensing result of a first sensor on the cleaning base station on a first target signal from the first location, the first target signal being emitted by an electronic component disposed on the mop assembly; and determining that the mop assembly exists in the cleaning base station when the first sensing information indicates that the first target signal is sensed at the first location.

[0008] In an exemplary embodiment, determining whether the self-moving device is equipped with the mop assembly includes: receiving second sensing information from the self-moving device, wherein the second sensing information is used to indicate the sensing result of a second sensor on the self-moving device on a second location on a second target signal from the second location, the second target signal being emitted by an electronic component disposed on the mop assembly, the second location being the installation location of the self-moving device where the mop assembly is installed; and determining that the self-moving device is not equipped with the mop assembly when the second sensing information indicates that the second target signal is not sensed at the second location.

[0009] In one exemplary embodiment, installing the mop assembly in the cleaning base station onto the self-moving device includes: controlling a connection component of the self-moving device to descend to a first height, wherein the connection component is used to connect the mop assembly; connecting the mop assembly to the connection component when the connection component descends to the first height; controlling the connection component at the first height to rise to a second height, and then connecting the mop assembly to the connection component via the self-moving device's first...Two sensors sense a second location of the self-moving device to obtain second sensing information, wherein the second location is the installation location of the mop assembly on the self-moving device, and the second sensing information is used to indicate the sensing result of the self-moving device on a second target signal from the second location, the second target signal being emitted by an electronic component disposed on the mop assembly; if the second sensing information indicates that the second target signal is sensed at the second location, it is determined that the mop assembly has been installed on the self-moving device and the mop assembly is sensed to determine whether the mop assembly has been installed on the self-moving device; the above steps of controlling the connection component to descend to sense the mop assembly are repeated until it is determined that the mop assembly has been installed on the self-moving device.

[0010] In an exemplary embodiment, after determining whether the cleaning task of the self-moving device uses the mop assembly, the method further includes: if the cleaning task does not use the mop assembly, determining whether the self-moving device is equipped with the mop assembly and determining whether the self-moving device is located in the cleaning base station; if the self-moving device is equipped with the mop assembly and the self-moving device is located in the cleaning base station, removing the mop assembly of the self-moving device from the self-moving device.

[0011] In an exemplary embodiment, after determining whether the self-moving device is equipped with the mop assembly and whether the self-moving device is located in the cleaning base station, the method further includes: when the self-moving device is equipped with the mop assembly and the self-moving device is not located in the cleaning base station, determining the working state of the self-moving device; when the working state indicates that the self-moving device is in a working state, controlling a connecting component at a second height to rise to a third height, wherein the connecting component is used to connect the mop assembly, and the third height is a mop assembly lifting height set for the cleaning task; when the working state indicates that the self-moving device is in an idle state, controlling the self-moving device to move to the first position of the cleaning base station to detach the mop assembly from the self-moving device.

[0012] In an exemplary embodiment, determining whether the cleaning task of the self-moving device uses the mop assembly includes: determining whether the number of cleaning tasks is greater than 1; when the number of cleaning tasks is 1, determining whether the cleaning task uses the mop assembly.

[0013] In an exemplary embodiment, after determining whether the number of cleaning tasks is greater than 1, the method further includes: if the number of cleaning tasks is greater than 1, determining a first cleaning task that uses the mop assembly and a second cleaning task that does not use the mop assembly; determining the current

[0014] In an exemplary embodiment, determining the execution order of the first cleaning task and the second cleaning task based on whether the self-moving device is equipped with the mop assembly at the current moment includes: executing the first cleaning task when the self-moving device is equipped with the mop assembly at the current moment; controlling the self-moving device to move to a first position in the cleaning base station to remove the mop assembly from the self-moving device after the first cleaning task is completed; and executing the second cleaning task.

[0015] In an exemplary embodiment, determining the execution order of the first cleaning task and the second cleaning task based on whether the self-moving device is equipped with the mop assembly at the current time includes: executing the second cleaning task when the self-moving device is not equipped with the mop assembly at the current time; and controlling the self-moving device to move to a first position in the cleaning base station to install the mop assembly in the cleaning base station on the self-moving device when the second cleaning task is completed; and executing the first cleaning task.

[0016] In an exemplary embodiment, removing the mop assembly from the self-moving device includes: controlling a connecting component at a second height in the self-moving device to descend to a first height; separating the mop assembly from the connecting component when the connecting component at the second height descends to the first height; controlling the connecting component at the first height to rise to the second height and sensing the mop assembly to determine whether the mop assembly has been removed from the self-moving device; repeating the steps of controlling the connecting component to descend to sense the mop assembly until it is determined that the mop assembly has been removed from the self-moving device.

[0017] In one exemplary embodiment, detaching the mop assembly of the self-moving device from the self-moving device includes: controlling a connecting component in the self-moving device at a second height to a fourth height, wherein the connecting component is used to connect the mop assembly; separating the mop assembly from the connecting component by a disassembly component, wherein the disassembly component is disposed in the self-moving device and at the fourth height; controlling the connecting component to descend to the second height and sensing the mop assembly to determine whether the mop assembly has been detached from the self-moving device; repeating the above steps of controlling the connecting component to rise to sense the mop assembly until it is determined that the mop assembly has been detached from the self-moving device.

[0018] According to another aspect of the present invention, a method for disassembling a mop assembly is also provided, characterized in that it includes: determining whether a cleaning task to be performed on a self-moving device uses a mop assembly; if the cleaning task does not use the mop assembly, determining whether the mop assembly exists in a cleaning base station corresponding to the self-moving device, and determining whether the self-moving device is equipped with the mop assembly; if the mop assembly does not exist in the cleaning base station, and the self-moving device is equipped with the mop assembly, controlling the self-moving device to move to a first position in the cleaning base station to disassemble the mop assembly from the self-moving device, wherein the first position is at least the position where the self-moving device disassembles the mop assembly in the cleaning base station.

[0019] According to another aspect of the present invention, a mop assembly installation device is also provided, the device comprising: a first determining module, configured to determine whether a cleaning task of a self-moving device uses a mop assembly; a second determining module, configured to determine whether the mop assembly exists in a cleaning base station corresponding to the self-moving device and whether the self-moving device is equipped with the mop assembly when the cleaning task uses the mop assembly; and a first controlling module, configured to control the self-moving device to move to a first position in the cleaning base station to install the mop assembly in the cleaning base station on the self-moving device when the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, wherein the first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station.

[0020] According to another aspect of the present invention, a mop assembly disassembly device is also provided, the device comprising: a third determining module, configured to determine whether a cleaning task of a self-moving device uses a mop assembly; a fourth determining module, configured to determine whether a cleaning base station corresponding to the self-moving device exists in the cleaning base station when the cleaning task does not use the mop assembly, and to determine whether the self-moving device is equipped with the mop assembly; and a second control module, configured to control the self-moving device to move to a first position in the cleaning base station when the mop assembly does not exist in the cleaning base station and the self-moving device is equipped with the mop assembly, so as to disassemble the mop assembly of the self-moving device from the self-moving device, wherein the first position is at least the position where the self-moving device disassembles the mop assembly in the cleaning base station.

[0021] According to yet another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the above-described mop assembly at runtime.Methods for installing or removing a mop assembly.

[0022] According to another aspect of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for installing or removing a mop assembly through the computer program.

[0023] In an embodiment of the present invention, by determining whether a cleaning task to be performed on a self-moving device uses a mop assembly; if the cleaning task uses the mop assembly, determining whether the mop assembly exists in a cleaning base station corresponding to the self-moving device, and determining whether the self-moving device is equipped with the mop assembly; thereby determining whether the self-moving device needs to go to a cleaning base station to install a mop assembly, and if the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, controlling the self-moving device to move to a first position in the cleaning base station to install the mop assembly in the cleaning base station onto the self-moving device, wherein the first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station. The above technical solution solves the problem in the prior art where the sweeping robot cannot automatically install the mop, requiring users to manually install the mop, resulting in a poor user experience; it enables the automatic installation of the mop component according to task requirements at any time, thereby achieving a better cleaning effect.

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and constitute a part of this invention, illustrate exemplary embodiments of the invention and their descriptions, serving to explain the invention and not constituting an improper limitation of the invention. In the accompanying drawings: Figure 1 is a hardware structure block diagram of a robotic vacuum cleaner with an optional mop assembly installation method according to an embodiment of the present invention; Figure 2 is a flowchart of an optional mop assembly installation method according to an embodiment of the present invention; Figure 3 is a structural schematic diagram of an optional self-moving device according to an embodiment of the present invention; Figure 4 is a flowchart of an optional mop assembly disassembly method according to an embodiment of the present invention; Figure 5 is a cross-sectional schematic diagram of a self-moving device according to an embodiment of the present invention; Figure 6 is a cross-sectional schematic diagram of a first rotating member according to an embodiment of the present invention; Figure 7 is a top view of a self-moving device according to an embodiment of the present invention; Figure 8 is a perspective view of a self-moving device according to an embodiment of the present invention; Figure 9 is a cross-sectional schematic diagram of a self-moving device according to an embodiment of the present invention; Figure 10 is a cross-sectional schematic diagram of a self-moving device according to an embodiment of the present invention; Figure 11 is a cross-sectional schematic diagram of a self-moving device according to an embodiment of the present invention; Figure 12 is a schematic diagram of the base of a cleaning base station according to an embodiment of the present invention; Figure 13 is a structural block diagram of an optional mop assembly installation device according to an embodiment of the present invention; Figure 14 is a structural block diagram of an optional mop assembly disassembly device according to an embodiment of the present invention. (Description)Page 4 / 34 7 CN 121489329 A Detailed Description of Embodiments

[0025] In order to enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification, claims and the above-mentioned drawings of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0027] The method embodiments provided in the embodiments of the present invention can be executed in a robotic vacuum cleaner or a similar computing device. Taking a robotic vacuum cleaner as an example, FIG1 is a hardware structure block diagram of a robotic vacuum cleaner using the mop assembly installation method of the embodiment of the present invention. As shown in FIG1, the robotic vacuum cleaner may include one or more (only one is shown in FIG1) processors 102 (processors 102 may include, but are not limited to, microprocessors (MPUs) or programmable logic devices (PLDs)) and a memory 104 for storing data. In an exemplary embodiment, the robotic vacuum cleaner may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that the structure shown in FIG1 is merely illustrative and does not limit the structure of the sweeping robot described above. For example, the sweeping robot may include more or fewer components than those shown in FIG1, or have different configurations with the same or more functions than those shown in FIG1. ​​

[0028] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the mop component installation method in the embodiments of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above-described method. Memory 104It may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, memory 104 may further include memory remotely located relative to processor 102, which can be connected to the robot vacuum cleaner via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0029] Transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the robot vacuum cleaner's communication provider. In one instance, transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one instance, transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] This embodiment provides a method for installing a mop assembly. Figure 2 is a flowchart of the method for installing a mop assembly according to an embodiment of the present invention. The process includes the following steps: Step S202: Determine whether the cleaning task of the self-moving device uses a mop assembly; The cleaning task can include at least the following categories: single sweeping task, sweeping and mopping task, and mopping task; wherein, sweeping and mopping task and mopping task require the use of a mop assembly, while single sweeping task does not require the use of a mop assembly. Specification 5 / 34 pages 8 CN 121489329 A

[0031] Step S204: When the cleaning task uses the mop assembly, determine whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and determine whether the self-moving device is equipped with the mop assembly; The self-moving device and the mop assembly can be detected by using a preset detection method to determine whether the mop assembly exists on the self-moving device and the mop assembly. The detection method of the mop assembly is not limited here.

[0032] The self-moving device and the cleaning base station can exchange information through network communication, thereby allowing the self-moving device to know whether a mop assembly is present in the cleaning base station. Optionally, communication can also be conducted through Bluetooth, WIFI, or other methods; this application does not limit this.

[0033] It should be noted that when the device performing the mop assembly installation method is another device besides the self-moving device, such as a mobile phone or other smart terminal, the mobile phone can establish communication connections with both the self-moving device and the cleaning base station to exchange information, thereby allowing the mobile phone to know whether a mop assembly is present in either the cleaning base station or the self-moving device.

[0034] Step S206: If the mop assembly is present in the cleaning base station but the self-moving device is not equipped with the mop assembly, control the self-moving device to move to a first position in the cleaning base station to install the mop assembly in the cleaning base station onto the self-moving device. The first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station.

[0035] The self-moving device can plan its path based on its current position and the position of the cleaning base station, and proceed to the cleaning base station based on the planned path. The self-moving device can move to the first position in the cleaning base station. Upon determining that the self-moving device has moved to the first position, the cleaning base station can use a preset mop assembly installation method to install the mop assembly in the cleaning base station onto the self-moving device. The mop assembly installation method is not limited here.

[0036] Through the above steps, it is determined whether the cleaning task of the self-moving device uses a mop assembly; if the cleaning task uses the mop assembly, it is determined whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and whether the self-moving device is equipped with the mop assembly; thereby determining whether the self-moving device needs to go to the cleaning base station to install the mop assembly. If the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, the self-moving device is controlled to move to a first position in the cleaning base station to install the mop assembly in the cleaning base station onto the self-moving device, wherein the first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station. By adopting the above technical solution, the problem of poor user experience caused by the inability of the sweeping robot to automatically install the mop, resulting in the need for users to manually install the mop, is solved; the technical effect of automatically installing the mop assembly at any time according to the task requirements is realized, thereby achieving a better cleaning effect.

[0037] In step S204 above, determining whether the mop assembly exists in the cleaning base station corresponding to the self-moving device can be achieved through the following steps, specifically including: receiving first sensing information from the cleaning base station, wherein the first sensing information is used to indicate the sensing result of the first sensor on the cleaning base station on the first target signal from the first location, and the first target signal is emitted by the electronic component disposed in the mop assembly; when the first sensing information indicates that the first target signal is sensed at the first location, it is determined that the mop assembly exists in the cleaning base station.

[0038] The cleaning base station can sense the first location through the first sensor to determine whether it can sense the first target signal emitted by the electronic component disposed in the mop assembly. If it can sense it, it indicates that the mop assembly exists in the cleaning base station.If the first target signal is not detected, it means that the mop assembly does not exist in the cleaning base station; and the sensing result is sent to the self-moving device to inform the self-moving device of the result; through the above steps, the self-moving device can easily and quickly know whether the mop assembly exists in the base station by sensing the first target signal through the sensor, so as to help the self-moving device make a decision on whether to go to the cleaning base station to install the mop assembly.

[0039] It should be noted that the first sensor mentioned above can be a Hall sensor, wherein the Hall sensor can be divided into two types: linear Hall sensor and switch Hall sensor; it can also be other sensors such as temperature sensor; correspondingly, the electronic component sensed by the Hall sensor can be a magnetic induction switch element; the electronic component sensed by the temperature sensor can be an electronic component that is prone to heat generation, such as a power diode, a Zener diode, etc.

[0040] It should be noted that the above-mentioned sensing process for determining whether a mop assembly exists in the cleaning base station can also be implemented by other optional methods, such as acquiring an image of the first location in the cleaning base station using an image acquisition device, and performing image recognition on the acquired image to determine whether a mop assembly exists in the cleaning base station; other methods can also be used, and this application does not limit this.

[0041] Optionally, the above step S204, determining whether the self-moving device is equipped with the mop assembly, can be implemented by the following steps, specifically including: receiving second sensing information from the self-moving device, wherein the second sensing information is used to indicate the sensing result of the second sensor of the self-moving device on the second target signal from the second location, the second target signal being emitted by an electronic component installed on the mop assembly, and the second location being the installation location of the self-moving device where the mop assembly is installed; if the second sensing information indicates that the second target signal is not sensed at the second location, it is determined that the self-moving device is not equipped with the mop assembly.

[0042] The self-moving device can sense the installation position of the mop assembly using its second sensor. If a second target signal emitted by the mop assembly is sensed at the second position, it is determined that the self-moving device is equipped with the mop assembly; if no second target signal is sensed at the second position, it is determined that the self-moving device is not equipped with the mop assembly. Through the above steps, the self-moving device can clearly sense whether it is equipped with a mop assembly, and this effect can be achieved more easily by sensing the second target signal, without the need for complex circuits and components in the self-moving device. Thus, when the mop assembly is needed but not installed, it will automatically go to the cleaning base station for installation; when the mop assembly is not needed but installed, it will automatically go to the cleaning base station for removal.

[0043] It should be noted that the second sensor and the first sensor mentioned above can be the same sensor or different sensors, and this application does not impose any restrictions on this.

[0044] It should be noted that the above-mentioned sensing scheme for determining whether the self-moving device is equipped with a mop assembly can also be implemented by other methods, for example: setting a circuit at the second position, and when the mop assembly is installed at the second position, forming a path with the pre-set circuit through the electronic components set on the mop assembly; thereby transmitting an electrical signal to the self-moving device to inform the self-moving device that the mop assembly has been installed; it can also be implemented by other methods, and this application does not impose any restrictions on this.

[0045] Optionally, before installing the mop assembly in the cleaning base station on the self-moving device, the method further includes: determining whether the automatic disassembly switch is turned on; if the automatic disassembly switch is not turned on, prohibiting the installation of the mop assembly on the self-moving device; if the automatic disassembly switch is turned on, installing the mop assembly on the self-moving device.

[0046] An automatic disassembly / removal switch may also be provided on the self-moving device and / or base station. Automatic disassembly / removal of the mop assembly is only performed when the switch is turned on; otherwise, it is not performed. By setting the automatic disassembly / removal switch, users can configure whether the mop assembly is automatically disassembled / removed according to their needs, further improving the flexibility of mop assembly disassembly / removal. For example, when the automatic disassembly / removal switch on the self-moving device and / or base station is turned on, the self-moving device and / or base station will detect whether a mop assembly is present on the self-moving device and / or mop assembly. Alternatively, if it is determined that the self-moving device does not have a mop assembly, it is also necessary to determine whether the automatic disassembly / removal switch on the self-moving device and / or base station is open. If open, the self-moving device is controlled to move to the first position in the cleaning base station to install the mop assembly onto the self-moving device. The control method for the automatic disassembly / removal of the mop assembly via the automatic disassembly / removal switch is not limited here.

[0047] The process of installing the mop assembly in the cleaning base station onto the self-moving device includes: controlling the connection component of the self-moving device to descend to a first height, wherein the connection component is used to connect the mop assembly; when the connection component descends to the first height, connecting the mop assembly to the connection component; controlling the connection component at the first height to rise to a second height, and sensing the mop assembly to determine whether the mop assembly has been installed on the self-moving device; repeating the above steps of controlling the connection component to descend to sense the mop assembly until it is determined that the mop assembly has been installed on the self-moving device.

[0048] The process of automatically installing the mop assembly on the self-moving device includes: first controlling the connection component of the self-moving device to descend.The device descends to a first height, which is the height at which the mop assembly is installed / uninstalled on the self-moving device. After descending to the first height, the mop assembly is connected to the connecting component. Then, the connecting component is controlled to rise to a second height, which is the working height at which the self-moving device carries the mop assembly, and also corresponds to the height at which the mop assembly is placed in a second position. Then, the mop assembly is sensed to determine whether the mop assembly has been installed on the self-moving device. For example, the second sensor of the self-moving device can be controlled to sense the second position. If the obtained second sensing information indicates that the second target signal has been sensed, it is determined that the mop assembly has been installed on the self-moving device. The specific implementation method can be referred to the above embodiment, which will not be repeated here. Of course, other mop assembly sensing methods given in the above embodiment can also be referred to to determine whether the mop assembly has been installed on the self-moving device.

[0049] If it is determined based on the sensing information that the mop assembly has not been installed on the self-moving device, the above steps of controlling the connecting component to descend to sense the mop assembly can be repeated until it is determined that the mop assembly has been installed on the self-moving device. Of course, a repetition threshold can also be set. If the repetition count reaches the threshold and the mop assembly is still not installed on the self-moving device, the self-moving device can issue a reminder to complete the installation of the mop assembly through manual intervention.

[0050] Through the above scheme, the effect of automatically installing the mop assembly is achieved, and a verification is performed after the mop assembly is installed to avoid unsuccessful installation and enhance the reliability of the self-moving device.

[0051] It should be noted that the above connecting component can be a mop bucket cover, a mop clip, or other devices used to connect the mop assembly to the self-moving device. This application does not limit this. For example, the above connecting component can be set below the self-moving device and is a retractable or spirally lifting device.

[0052] Optionally, the mop assembly can be connected to the connecting component through the following scheme: the self-moving device controls the electromagnetic component set in the connecting component to be energized, so that the electromagnetic component becomes magnetic. At the same time, a metal component that can be attracted is also set in the mop assembly, so that the connecting component can attract the mop assembly, thereby connecting the mop assembly and the connecting component.

[0053] It should be noted that the above-mentioned electromagnetic component can be disposed inside the connecting component or on the surface of the connecting component, and this application does not limit this.

[0054] Optionally, the connection between the mop assembly and the connecting component can also be achieved through other solutions: the connecting component can be set as a magnetic device, and the mop assembly can be provided with a metal that can be attracted by the magnetic device; so that after the connecting component descends, the connecting component and the mop assembly can be connected by magnetic force; or, the connecting component can be set as a spiral rod structure, and a matching structure can be provided for the mop assembly accordingly, so that the connecting component and the mop assembly are spirally connected; other methods can also be used for connection, and this application...Please do not impose any restrictions on this.

[0055] It should be noted that the first target signal and the second target signal mentioned above can be the same signal or different signals as described on page 8 / 34 of the specification, CN 121489329 A. This application does not impose any restrictions on this.

[0056] In an exemplary embodiment, after the self-moving device has completed the cleaning task, it can be controlled to move to the first position in the cleaning base station again to remove the mop assembly from the self-moving device. Removing the mop assembly in a timely manner after the cleaning task is completed can prevent the mop from colliding or scratching the host in the event of accidental triggering or moving of the self-moving device, or the robot vacuum cleaner from getting stuck due to sharp objects hooking the mop, thus further improving the user experience.

[0057] In an exemplary embodiment, detaching the mop assembly of the self-moving device from the self-moving device includes: controlling a connecting component in the self-moving device at a second height to descend to a first height, wherein the connecting component is used to connect the mop assembly; separating the mop assembly from the connecting component when the connecting component at the second height descends to the first height; controlling the connecting component at the first height to rise to the second height and sensing the mop assembly to determine whether the mop assembly has been detached from the self-moving device; repeating the above steps of controlling the connecting component to descend to sensing the mop assembly until it is determined that the mop assembly has been detached from the self-moving device.

[0058] When the cleaning task does not require the mop assembly, or after the self-moving device has completed a cleaning task that requires the mop assembly, the mop assembly needs to be detached and placed in the base station to avoid the dirty mop from contaminating clean areas during the movement of the self-moving device, or even contaminating areas that the self-moving device cannot clean, such as carpets, thus providing a poor user experience. The steps for removing the mop assembly from the self-moving device include: controlling the connecting component at the second height to descend to the first height, separating the mop assembly from the connecting component; and then sensing the mop assembly to determine whether the mop assembly has been successfully removed. For example, the second sensor of the self-moving device can be controlled to sense the second position. If the obtained second sensing information indicates that the second target signal is not sensed, it is determined that the mop assembly has been removed from the self-moving device. The specific sensing implementation method can be referred to the above embodiment, which will not be repeated here. Of course, other mop assembly sensing methods given in the above embodiment can also be referred to to determine whether the mop assembly has been removed from the self-moving device.

[0059] If it is determined based on the sensing information that the mop assembly has not been removed from the self-moving device, the above steps of controlling the connecting component to descend to sense the mop assembly can be repeated until it is determined that the mop assembly has been removed from the self-moving device.Unloading. Of course, a repetition threshold can also be set. If the mop assembly is still not removed from the self-moving device after the repetition count reaches the threshold, the self-moving device can issue a reminder to complete the removal of the mop assembly through manual intervention.

[0060] Through the above steps, the self-moving device automatically removes the mop assembly, thereby avoiding contamination of the clean area and affecting the user experience.

[0061] Optionally, the method for separating the connecting component and the mop assembly may include: controlling the electromagnetic component set in the connecting component to de-energize, so that the connecting component, after losing its magnetism, naturally separates from the mop assembly. When the connecting component and the mop assembly adopt other connection methods, the separation of the connecting component and the mop assembly can also be adapted to other methods, which are not limited here.

[0062] Optionally, performing the above steps: detaching the mop assembly of the self-moving device from the self-moving device may include: controlling a connecting component in the self-moving device at a second height to rise to a fourth height, wherein the connecting component is used to connect the mop assembly; separating the mop assembly from the connecting component by a disassembly component, wherein the disassembly component is disposed in the self-moving device and at the fourth height; controlling the connecting component to descend to the second height and sensing the mop assembly to determine whether the mop assembly has been detached from the self-moving device as described on page 9 / 34 of the specification (CN 121489329 A); repeating the above steps of controlling the connecting component to rise to sense the mop assembly until it is determined that the mop assembly has been detached from the self-moving device.

[0063] The connecting component at the second height is controlled to rise to the fourth height, and the mop assembly is separated from the connecting component by the disassembly component at the fourth height. Then, the mop assembly is sensed to determine whether the disassembly was successful. This can further increase the reliability of the self-moving device and avoid the inability to disassemble the mop assembly in case of unexpected situations, thus avoiding a poor user experience.

[0064] It should be noted that the disassembly component at the fourth height can be a baffle or other device. This component only allows the connecting component to pass through, but not the mop assembly. Therefore, when the connecting component rises to the fourth height, the connecting component and the mop assembly are automatically separated by the disassembly component, thereby disassembling the mop assembly. Optionally, the disassembly component can also fix the mop assembly, so that the connecting component can be spirally separated from the mop assembly. This application does not limit this.

[0065] To better understand the above-mentioned mop assembly installation method, the installation and disassembly process of the mop assembly will be described below with reference to FIG3, but this is not intended to limit the technical solution of the present invention. FIG3 is a schematic diagram of the structure of an optional self-moving device according to an embodiment of the present invention, as shown in FIG3, including:The mop assembly 32 is located at a first height. When the mop assembly 32 is located in the cleaning base station, its position is the first position. It should be noted that the first position indicates the location of the mop assembly in the cleaning base station, and is also the position where the self-moving device installs or removes the mop assembly. In other words, the first position indicates the spatial area in the same vertical region. The connecting assembly 34 is used to connect the mop assembly 32 to install the mop assembly 32 onto the self-moving device. When the connecting assembly is idle or when it is carrying the mop assembly 32, it is located at a second height. If the connecting assembly 34 is installing or removing the mop assembly 32, it may be located at either the first or second height. If the connecting assembly 34 has the mop assembly 32 installed but is not using it, it is located at a third height. Optionally, an electromagnetic component can be provided on or inside the connecting assembly 34. The connection and disconnection between the connecting assembly 34 and the mop assembly 32 can be achieved by controlling the energization and de-energization of the electromagnetic component.

[0066] The disassembly assembly 36, located at the fourth height, is used to assist in the disassembly of the mop assembly 32.

[0067] It should be noted that the connecting assembly of the self-moving device in Embodiment 2 can be any of the lifting structures provided in Embodiment 1. Preferably, the connecting assembly is the lifting structure or drive structure in Embodiment 1. Correspondingly, the second height of the connecting assembly in Embodiment 2 can correspond to the mopping position of the second fixed body (or the first rotating part) of the lifting structure; the third height of the connecting assembly can correspond to the lifting position of the second fixed body (or the first rotating part) of the lifting structure; the fourth height of the connecting assembly can correspond to the separation position of the second fixed body (or the first rotating part) of the lifting structure; and the fifth height of the connecting assembly can correspond to the manual installation position of the second fixed body (or the first rotating part) of the lifting structure.

[0068] Of course, in addition to the aforementioned lifting structure, the connecting assembly can also be other lifting structures, such as cylinders, gears and racks, lead screws, ropes, etc.

[0069] Based on the above steps, after determining whether the cleaning task of the self-moving device uses the mop assembly, the method further includes: if the cleaning task does not use the mop assembly, determining whether the self-moving device is equipped with the mop assembly, and determining whether the self-moving device is located in the cleaning base station; if the self-moving device is equipped with the mop assembly and the self-moving device is located in the cleaning base station, removing the mop assembly of the self-moving device from the self-moving device. Specification 10 / 34 pages 13 CN 121489329 A

[0070] If the cleaning task received by the self-moving device does not require the use of the mop assembly, then determining whether the self-moving device is equipped with the mop assembly, and determining whether the self-moving device is located in the cleaning base station; if the self-moving device is equipped with the mop assembly...If the mop assembly is present and the mobile device is located in the cleaning base station, the mop assembly is removed from the mobile device. Through the above scheme, when the mobile device receives a cleaning task that does not require a mop assembly, and the mobile device is located in the cleaning base station, the mobile device is controlled to remove the mop assembly, thus preventing the mop assembly from affecting the mobile device's ability to escape obstacles and enabling better completion of the cleaning task.

[0071] Based on the above steps, after determining whether the mobile device is equipped with the mop assembly and whether the mobile device is located in the cleaning base station, the method further includes: when the mobile device is equipped with the mop assembly and the mobile device is not located in the cleaning base station, determining the working state of the mobile device; when the working state indicates that the mobile device is in a working state, controlling the connecting component at the second height to rise to the third height, wherein the connecting component is used to connect the mop assembly, and the third height is the mop assembly lifting height set for the cleaning task; when the working state indicates that the mobile device is in an idle state, controlling the mobile device to move to the first position of the cleaning base station to remove the mop assembly from the mobile device.

[0072] If the mobile device receives a cleaning task that does not require a mop assembly, and the mobile device is equipped with the mop assembly, and the mobile device is not located in the cleaning base station, then it is necessary to further determine the working status of the mobile device. If the mobile device is in working state, that is, the mobile device is performing a cleaning task, then before performing the cleaning task, the connecting component at the second height is directly controlled to rise to the third height, and the mobile device does not return to the cleaning base station to remove the mop assembly, but only the mop is raised. If the mobile device is in idle state, that is, the mobile device is waiting outside the cleaning base station, then the mobile device is controlled to return to the cleaning base station, and the mop assembly is removed before performing the cleaning task. Through the above scheme, the mobile device can perform cleaning tasks more efficiently, avoiding a lot of time wasted and affecting work efficiency.

[0073] Optionally, the above step S202, determining whether the cleaning task of the mobile device uses the mop assembly, can be implemented by the following scheme, including: determining whether the number of the cleaning tasks is greater than 1; when the number of the cleaning tasks is 1, determining whether the cleaning task uses the mop assembly.

[0074] Optionally, determining whether a cleaning task of the self-moving device uses the mop assembly can be achieved through the following steps: determining whether the number of received cleaning tasks is greater than 1; if the number is 1, determining whether to use the mop assembly based on the category of the cleaning task.

[0075] It should be noted that the categories of the above-mentioned cleaning tasks include at least: single sweeping tasks, sweeping and mopping tasks, and floor mopping tasks.The tasks include: sweeping tasks, which do not require the use of a mop assembly; sweeping and mopping tasks and floor mopping tasks require the use of a mop assembly.

[0076] Based on the above determination steps: after determining whether the number of tasks to be cleaned is greater than 1, the method further includes: when the number of tasks to be cleaned is greater than 1, determining a first cleaning task that uses the mop assembly and a second cleaning task that does not use the mop assembly; determining whether the self-moving device is equipped with the mop assembly at the current time; and determining the execution order of the first cleaning task and the second cleaning task based on whether the self-moving device is equipped with the mop assembly at the current time.

[0077] If the number of cleaning tasks is greater than 1, that is, multiple cleaning tasks are received, the cleaning tasks are divided into a first cleaning task that requires the use of a mop assembly and a second cleaning task that does not require the use of a mop assembly, based on whether a mop assembly is required; and it is determined whether the self-moving device is equipped with a mop assembly at the current time, and the execution order of the first cleaning task and the second cleaning task is determined based on whether a mop assembly is equipped; through the above scheme, multiple cleaning tasks are classified and executed, thereby avoiding the need to install and remove the mop assembly multiple times during the execution of cleaning tasks, which affects work efficiency. Specification 11 / 34 pages 14 CN 121489329 A

[0078] Optionally, determining the execution order of the first cleaning task and the second cleaning task based on whether the self-moving device is equipped with the mop assembly at the current time may include the following steps: when the self-moving device is equipped with the mop assembly at the current time, the first cleaning task is executed; when the first cleaning task is completed, the self-moving device is controlled to move to a first position in the cleaning base station to remove the mop assembly from the self-moving device; and the second cleaning task is executed.

[0079] If the self-moving device is equipped with a mop assembly at the current moment, the self-moving device first performs the first cleaning task that requires the mop assembly. After the first cleaning task is completed, it goes to the cleaning base station to remove the mop assembly and then performs the second cleaning task that does not require the mop assembly. Through the above scheme, the number and frequency of installing and removing the mop assembly on the self-moving device are reduced, improving work efficiency and reducing the possibility of damage to the mop assembly caused by frequent installation and removal of the mop assembly.

[0080] Optionally, determining the execution order of the first cleaning task and the second cleaning task based on whether the self-moving device is equipped with the mop assembly at the current moment may further include the following steps: if the self-moving device is not equipped with the mop assembly at the current moment, the second cleaning task is performed; if the second cleaning task is completed, the self-moving device is controlled to move to a first position in the cleaning base station to remove the mop assembly.The mop assembly in the station is installed on the self-moving device; the first cleaning task is executed.

[0081] If the self-moving device is not equipped with a mop assembly at the current time, the second cleaning task that does not require a mop assembly is executed first. After the second cleaning task is completed, the self-moving device goes to the cleaning base station to install the mop assembly; then the first cleaning task that requires a mop assembly is executed. For example, the owner simultaneously issues A cleaning tasks for cleaning A areas. Among them, there are furniture and other items in B areas that cannot be mopped, such as carpets. That is, B cleaning tasks do not require a mop assembly; while C cleaning tasks in A, excluding B cleaning tasks, require a mop assembly; at this time, the self-moving device is not equipped with a mop assembly. In order to improve work efficiency, the self-moving device makes a task order decision and decides to execute B cleaning tasks first. After the B cleaning tasks are completed, the self-moving device goes to the cleaning base station to install the mop assembly, and then continues to execute C cleaning tasks. Through the above solution, on the one hand, the time spent on frequent installation and removal of the mop assembly by the self-moving device is saved, and the work efficiency is improved; on the other hand, it avoids the frequent secondary pollution of the clean area caused by the self-moving device carrying the dirty mop assembly back to the cleaning base station after performing the mopping task.

[0082] In this embodiment, a method for removing the mop assembly is also provided. Figure 4 is a flowchart of the method for removing the mop assembly according to an embodiment of the present invention. The flowchart includes the following steps: Step 402, determine whether the cleaning task of the self-moving device uses the mop assembly; Step 404, if the cleaning task does not use the mop assembly, determine whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and determine whether the self-moving device is equipped with the mop assembly; Step 406: if the mop assembly does not exist in the cleaning base station, and the self-moving device is equipped with the mop assembly, control the self-moving device to move to a first position in the cleaning base station to remove the mop assembly from the self-moving device, wherein the first position is at least the position where the self-moving device removes the mop assembly in the cleaning base station.

[0083] Through the above steps, it is determined whether the cleaning task of the self-moving device uses a mop assembly; if the cleaning task does not use the mop assembly, it is determined whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and whether the self-moving device is equipped with the mop assembly; thereby determining whether the self-moving device needs to go to the cleaning base station to remove the mop assembly. If the mop assembly does not exist in the cleaning base station, and the self-moving device is equipped with the mop assembly, the self-moving device is controlled to move to the first cleaning base station.A first position is provided for disassembling the mop assembly of the self-moving device from the self-moving device, wherein the first position is at least the position where the self-moving device disassembles the mop assembly in the cleaning base station. The above technical solution solves the problem in the prior art where the sweeping robot's inability to automatically disassemble the mop reduces its ability to escape obstacles, and a dirty mop may contaminate clean areas; it achieves the ability to automatically disassemble the mop assembly according to task requirements at any time, thereby better completing the cleaning effect.

[0084] This specification embodiment also provides a self-moving device, which includes a drive mechanism and a lifting structure to achieve automatic disassembly and installation of the mop assembly without requiring the user to manually replace the mop assembly.

[0085] As shown in Figures 5, 7 and 8, the drive structure 40M includes a rotary motor 2011M or a first motor 203M, and the lifting structure includes a housing 2016M, a first fixed body 2012M and a second fixed body 2013M. The first fixed body 2012M and the second fixed body 2013M are threaded together. The housing 2016M has a receiving cavity, and the first fixed body 2012M and the second fixed body 2013M are located in the receiving cavity. The outer wall surface of the second fixed body 2013M and the housing 2016M are connected by a fitting member to form an interference fit. Alternatively, the fitting member may not be provided, and the two are connected by an interference fit to form friction. When the first fixed body 2012M rotates, the second fixed body 2013M rotates and lifts relative to the housing 2016M and the fitting member on the first fixed body 2012M to drive the mop assembly 20 to perform lifting and lowering movements. The outer casing 2016M is provided with a buckle 815H for connecting a sliding sealing plate. A moving channel is provided on the bottom of the machine body to allow the mop assembly to swing within the moving channel, switching between an inward retracted position and an outward swing position. The sliding sealing plate moves with the mop assembly within the moving channel to seal the moving channel and prevent external moisture and dust from entering the inner cavity of the machine body through the moving channel.

[0086] For example, one of the first fixing body 2012M and the second fixing body 2013M is provided with a threaded groove, and the other is provided with a rib or thread tooth that mates with the threaded groove, so that the two form a threaded engagement.

[0087] Preferably, the second fixing body 2013M has an annular cavity, and the first fixing body 2012M is disposed within the annular cavity. In one embodiment, the first fixed body is the aforementioned second rotating member, and the second fixed body is the aforementioned first rotating member. The annular cavity is formed by the aforementioned first wall 321 and second wall 322, and a connecting wall 327 connecting the bottoms of the first wall 321 and the second wall 322. The first wall 321 has a threaded groove, and the second wall 322 has the aforementioned accommodating space 324. When the lifting structure is equipped with a mating component, the mating component can be any of the aforementioned embodiments.

[0088] In one embodiment, as shown in Figures 7 and 8, the drive structure 40M further includes a first transmission mechanism disposed on the output shaft of the first motor 203M; the output shaft of the first transmission mechanism is connected to the first fixed body 2012M. Rotation of the first motor 203M drives the first transmission mechanism to rotate, which in turn drives the first fixed body 2012M to rotate, thereby causing the second fixed body 2013M to perform a threaded lifting motion relative to the outer casing 2016M.

[0089] The mop assembly can be a cleaning disc 90H. In a preferred embodiment, the bottom of the second fixed body 2013M is provided with a mounting portion 2001H, and the top of the cleaning disc 90H is connected to the mounting portion 2001H. For example, it can be fixed by insertion or magnetic attraction. The mounting portion 2001H is provided with a first magnet 2014M, and the cleaning disc 90H is provided with a second magnet 2015M. Through the magnetic attraction of the first magnet and the second magnet 2015M, the cleaning disc 90H is fixed to the mounting portion 2001H.

[0090] For example, as shown in FIG10, the top of the cleaning tray 90H is provided with an upwardly protruding mounting protrusion, and the second magnet 2015M is mounted on the mounting protrusion. For example, the top of the mounting protrusion is provided with a mounting groove, and the second magnet 2015M is embedded in the mounting groove. As shown in FIG10, the second wall 322 forms a receiving space with the opening facing downward, and the first magnet 2014M is embedded in the receiving space. The mounting protrusion of the cleaning tray 90H extends into the receiving space through the opening, and the first magnet 2014M and the second magnet 2015M magnetically attract each other to magnetically fix the cleaning tray 90H to the second fixing body 2013M. Of course, the magnetic attraction structure can also be omitted, and it can be fixed directly by the insertion method between the mounting protrusion and the receiving space. Instruction manual, pages 13 / 34, 16 CN 121489329 A

[0091] As shown in Figure 6, the second fixing body also includes an upper cover provided on the first wall. The bottom end of the upper cover is provided with at least one downwardly protruding first limiting part 2022M. Each first limiting part 2022M is distributed at the upper end of a corresponding threaded groove. Along the circumferential or helical direction of the second fixing body 2013M, the first limiting part 2022M prevents the protruding rib or thread from continuing to rotate, thus limiting the descent position of the second fixing body 2013M. Assuming that when the second fixing body 2013M descends, the first motor 203M rotates in the second direction; when the second fixing body 2013M rises, the first motor 203M rotates in the first direction, and the first and second directions are opposite.

[0092] For example, the first limiting surface of the first limiting part 2022M abuts against the first surface of the rib or thread to prevent the second fixing body 2013M from continuing to rotate downward. At this time, if the first motor 203M continues to rotate in the second direction, there is no relative rotation between the second fixing body 2013M and the first fixing body 2012M, so as to perform mopping rotation.

[0093] Similarly, as shown in Figure 6, a second limiting part 2023M is provided at the lower end of each threaded groove. The second limiting part 2023M is located at the lower end of a corresponding threaded groove and along the circumferential or helical direction of the second fixing body 2013M. The second limiting part 2023M prevents the rib or thread tooth from continuing to rotate and limits the upward position of the second fixing body 2013M.

[0094] For example, the second limiting surface of the second limiting part 2023M abuts against the second surface of the rib or thread tooth 2011M to prevent the second fixing body 2013M from continuing to rotate upward. At this time, if the first motor 203M continues to rotate along the first direction, there is no relative rotation between the second fixing body 2013M and the first fixing body 2012M. The first surface and the second surface are distributed on the end faces of the rib or thread tooth at both ends along the thread rotation direction of the second fixing body.

[0095] As an alternative embodiment, the first and second limiting parts described above can also be other structures. It is sufficient that other forms of structures are provided on the ends of the threaded groove, limiting the end faces of the two ends of the rib or thread along the spiral direction of the second fixing body. For example, the first and second limiting parts can be protrusions or locking blocks, etc.

[0096] The mop assembly 20 can move up and down under the drive of the lifting structure. For example, taking the above-described driving structure as an example, to facilitate automatic disassembly and installation of the mop assembly 20, the mounting part 2001H of the second fixing body 2013M of the driving structure is magnetically connected to the top of the cleaning disc 90H; or the mounting part 2001H of the second fixing body 2013M is plugged into the top of the cleaning disc 90H; or the mounting part 2001H of the second fixing body 2013M is connected to the top of the cleaning disc 90H using a second snap-fit ​​connection, or other connection methods. It is sufficient that during the upward movement of the second fixing body 2013M, the cleaning disc 90H... If the cleaning disc 90H is blocked by a blocking component or subjected to a downward force, preventing it from rising further with the second fixed body 2013M, the cleaning disc 90H will separate from the second fixed body 2013M as it rises. Conversely, when the cleaning disc 90H is separated from the second fixed body 2013M, and it is necessary to automatically install the cleaning disc 90H onto the mounting part 2001H of the second fixed body 2013M, first align the top of the cleaning disc 90H with the mounting part 2001H. Then, the second fixed body 2013M will descend. As the mounting part 2001H of the second fixed body 2013M descends, the mounting part 2001H can magnetically attract, plug in, or snap-fit ​​the top of the cleaning disc 90H.

[0097] For the second snap-fit ​​connection, for example, one of the tops of the mounting part 2001H and the cleaning tray 90H is provided with a second slot, and the other is provided with a second snap-fit. Along the lifting direction of the second fixing body 2013M, the second snap-fit ​​or the second slot is provided with...The second buckle is positioned on an inclined guide slope to facilitate its insertion into or removal from the second slot. The second slot can be replaced by a boss, and the second buckle is engaged with the boss. The body includes a chassis 103 and a top cover, which are detachably connected. The bottom of the body is the bottom of the chassis.

[0098] The second fixing body 2013M has a mopping position, a lifting position, and a separating position relative to the body. The lifting position is higher than the mopping position, and the separating position is higher than the lifting position. Correspondingly, the mop assembly 20 has a mopping position, a lifting position, and a separating position. The following description uses the second fixing body 2013M as an example.

[0099] As shown in Figure 9, the second fixing body 2013M is located in the mopping position, and the cleaning component 91H of the mop assembly 20 can contact the surface to be cleaned. At this time, the first limiting surface of the first limiting part 2022M abuts against the first surface of the rib or thread. If the first motor 203M continues to rotate in the second direction, the second fixing body 2013M will not rotate relative to the first fixing body 2012M. The first fixing body 2012M and the second fixing body 2013M rotate synchronously to drive the mop assembly 20 to rotate. The cleaning component 91H of the mop assembly 20 mops or wipes the surface to be cleaned. Correspondingly, there is a first gap between the top surface of the cleaning disc 90H and the bottom surface of the machine body.

[0100] If it is necessary to raise the second fixed body 2013M from the mopping position to the lifting position, the first motor 203M rotates in the first direction, and the second fixed body 2013M rotates upward relative to the first fixed body 2012M. The mop assembly 20 is raised upward with the second fixed body 2013M, so that the second fixed body 2013M reaches the lifting position, as shown in Figure 10. The cleaning part 91H of the mop assembly 20 is separated from the surface to be cleaned. At this time, the first magnet 2014M and the second magnet 2015M remain magnetically attracted and fixed. There is a second gap between the top surface of the corresponding cleaning disc 90H and the bottom surface of the machine body. The second gap is smaller than the first gap. Theoretically, the top of the cleaning disc 90H does not contact the bottom of the machine body, preventing the bottom of the machine body from wearing down the top surface of the cleaning disc 90H in the lifting position. However, in actual use, when the detection device detects that the second fixed body 2013M is in the raised position, the controller controls the first motor 203M to stop rotating. The first motor 203M may lag, and it is possible that the top surface of the cleaning disc 90H will contact the bottom surface of the machine body at this time. Normally, the top surface of the cleaning disc 90H will not contact the bottom surface of the machine body.

[0101] If it is necessary to disassemble the mop assembly 20, the first motor 203M continues to rotate in the first direction, and the second fixed body 2013M drives the mop assembly 20 to move upward. When the top surface of the cleaning disc 90H contacts the bottom surface of the machine body, it is affected by the bottom of the machine body.The first motor 203M continues to drive the second fixed body 2013M to rise due to the downward resistance of the top of the cleaning disc 90H. However, the cleaning disc 90H is blocked by the bottom of the body and no longer rises with the second fixed body 2013M. As a result, the first magnet 2014M and the second magnet 2015M gradually move away from each other and the magnetic attraction decreases. When the second fixed body 2013M rises to the position shown in Figure 11, the second fixed body 2013M separates from the mop assembly 20 to achieve automatic disassembly of the mop assembly 20. The second fixed body 2013M is in the separated position, and the mop assembly 20 is also in the separated position. Correspondingly, the second limiting surface of the aforementioned second limiting part 2023M blocks the second fixed body 2013M from continuing to rotate upward by abutting against the second surface of the rib or thread. If the first motor 203M continues to rotate in the first direction, there is no relative movement between the first solid and the second solid.

[0102] Conversely, if it is necessary to install the mop assembly 20, assuming that the second fixing body 2013M is in the separated position, the installation and removal of the mop assembly 20 generally require the self-moving device to return to the cleaning base station, where the new mop assembly 20 is pre-installed; when the self-moving device returns to the cleaning base station and is aligned, the mounting protrusion of the mop tray of the new mop assembly 20 is directly below the accommodating space of the second fixing body 2013M. At this time, the second fixing body 2013M needs to be lowered from the separated position to the mopping position, and the mounting protrusion extends into the accommodating space. The first magnet 2014M and the second magnet 2015M magnetically attract each other, and the second fixing body 2013M and the mop assembly 20 can be connected in place.

[0103] When the second fixed body 2013M descends, the first motor 203M rotates along the second direction, and the second fixed body 2013M rotates downwards with its threads, descending from the separation position to the lifting position, and then descending to the mopping position, thereby realizing the automatic installation of the mop assembly 20 and the second fixed body 2013M. When the second fixed body 2013M is in the mopping position, the first limiting surface of the aforementioned first limiting part 2022M abuts against the first surface of the thread teeth or ribs of the first fixed body 2012M, preventing the second fixed body 2013M from rotating relative to the first fixed body 2012M. At this time, if the first motor 203M continues to rotate along the second direction, there is no relative movement between the first fixed body 2012M and the second fixed body 2013M. The first fixed body 2012M and the second fixed body rotate synchronously to drive the mop assembly 20 to rotate, and the cleaning component 91H cleans the surface to be cleaned. Of course, the second fixing body 2013M can also be lowered from the raised position to the mopping position. The lowering process is the same as described above and will not be repeated here.

[0104] In addition, the second fixing body 2013M also has a manual installation position. Preferably, the manual installation position is located in the raised position. (See page 15 / 34 of the instruction manual, 18 CN 121489329 A)Between the mopping and floor-mounting positions, the self-moving device not only has an automatic disassembly function but also allows the user to manually install the mop assembly 20, allowing the user to choose the position.

[0105] For example, when the mop assembly 20 is not installed on the self-moving device, the second fixing body 2013M is usually in the detached position. When the user needs to install it manually, the user lifts the self-moving device, and the drive wheels or walking wheels of the self-moving device's walking system are suspended in the air. The detection device detects this signal, and the controller controls the first motor 203M to rotate in the second direction according to this signal. The second fixing body 2013M moves down to the manual installation position so that the user can install the mop assembly 20. Of course, when the mop assembly 20 is not installed on the self-moving device, the second fixing body 2013M can also be in the raised position and then descend from the raised position to the manual installation position. In addition, the manual installation position can also be other positions, as long as it is not the detached position, such as the raised position or the floor-mounting position.

[0106] When assembling and disassembling the mop assembly 20 of the self-moving device, it is usually necessary to return to the cleaning base station, as shown in Figure 12. The cleaning base station includes a base 101 and a body disposed on the base 101. A receiving space is formed between the body and the base 101 to accommodate the self-moving device. The top surface of the base 101 is provided with a cleaning structure corresponding to the cleaning component 91H for cleaning the cleaning component 91H. The cleaning structure includes a cleaning cavity disposed on the base 101. The cleaning cavity is provided with at least one or more cleaning ribs 105H. The cleaning ribs are provided with protrusions for the cleaning component 91H to rub against each other. One end of the multiple cleaning ribs forms a central area. A first positioning component 101H is provided on the central area, as shown in Figure 11. Correspondingly, the bottom of the cleaning disc 90H is provided with a positioning groove 92H, which is inserted into the first positioning component. Preferably, the positioning groove 92H and the first positioning component are polygonal or conical bosses. For example, as shown in Figure 11, the longitudinal section of the positioning groove 92H is generally trapezoidal. Preferably, the first positioning element is a third magnet, which generates a magnetic attraction force on the second magnet 2015M on the top of the cleaning disc 90H to position the mop assembly 20 on the cleaning base station.

[0107] For example, a clean mop assembly 20 is magnetically fixed to the second magnet 2015M on the cleaning disc 90H by the third magnet to position the mop assembly 20 on the cleaning base station. When the self-moving device needs to return to the cleaning base station to install a new mop assembly 20, the second fixing body 2013M of the self-moving device is preferably in a separated position when returning to the cleaning base station to prevent the first magnet 2014M on the second fixing body 2013M from generating a magnetic attraction force on the second magnet 2015M, causing the position of the mop assembly 20 on the cleaning base station to shift. When the self-moving device returns to the alignment position of the cleaning base station, the accommodating space of the second fixing body 2013M is located directly above the top of the cleaning disc 90H. As the second fixing body 2013M descends to the mopping position, the first magnet 2014M attracts the second magnet 2015M.The magnetic attraction force generated by 2015M is greater than the sum of the magnetic attraction force generated by the third magnet on the second magnet 2015M and the weight of the mop assembly, so that the mop assembly 20 is installed on the second fixing body 2013M.

[0108] In order to facilitate the accurate installation of the mop assembly when the self-moving device returns to the cleaning base station, the cleaning base station is provided with an alignment device so that after the self-moving device returns to the cleaning base station, the accommodating space of the second fixing body is directly above the mounting protrusion of the cleaning disc. As shown in FIG12, the alignment device includes at least one second positioning member 102H provided on the side wall of the base, and a limiting member that is inserted and cooperates with the second positioning member is provided on the side wall of the corresponding self-moving device body. For example, the first positioning member is a protrusion and the limiting member is a groove. The alignment device also includes at least one third positioning element 103H, which tends to extend upward under the action of the elastic element; a limiting groove is provided on the bottom of the body. When the self-moving device moves backward into the cleaning base station, the bottom of the body first compresses the third positioning element, and the third positioning element is in a retracted state; when the self-moving device continues to move backward on the cleaning base station, when the third positioning element is facing the limiting groove, and when the bottom of the body has no squeezing force on the third positioning element, the third positioning element pops out and inserts into the limiting groove under the action of the restoring force of the elastic element. The third positioning element can be a plunger structure or other retractable elastic structure.

[0109] Further, the alignment device also includes a fourth positioning element 104H, which is two grooves provided on the base. The two grooves are respectively for a drive wheel to be embedded in, limiting the drive wheel; at the same time, multiple anti-slip protrusions are provided on the inner wall of the groove to prevent the drive wheel from sliding in the groove. The alignment device ensures that after the self-moving device returns to the base station and is aligned, the accommodating space of the second fixing body is directly above the mounting protrusion of the cleaning tray.

[0110] It should be noted that, in order to achieve automatic disassembly, the lifting structure can be any structure other than the structure described above. As long as the lifting structure has a lifting component, the lifting component is connected to the mop assembly, and a blocking component is set on the path of the cleaning tray's ascent, the blocking component can be the bottom of the machine body or other structures set on the machine body, as long as it can provide a blocking force to the cleaning tray so that the lifting component separates from the cleaning tray during the lifting process.

[0111] The connecting component of the self-moving device can be any of the lifting structures provided in the above structures. Preferably, the connecting component is the lifting structure or the drive structure in the above structures. Correspondingly, the second height of the connecting component can correspond to the dragging position of the second fixed body (or the first rotating member) of the lifting structure; the third height of the connecting component can correspond to the raised position of the second fixed body (or the first rotating member) of the lifting structure; the fourth height of the connecting component can correspond to the separated position of the second fixed body (or the first rotating member) of the lifting structure; the fifth height of the connecting component can correspond to the second fixed body (or the first rotating member) of the lifting structure.The manual installation position of the rotating part.

[0112] Of course, in addition to the aforementioned lifting structure, the connecting component can also be other lifting structures, such as cylinders, gears and racks, lead screws, ropes, etc.

[0113] Based on the above embodiments, this specification also provides a method for disassembling a mop assembly of a self-moving device. The self-moving device includes a connecting component, and the mop assembly is detachably connected to the connecting component. Along the height direction of the self-moving device, the connecting component has at least a fourth height and a second height and / or a third height lower than the fourth height. At least at the second height and / or the third height, the mop assembly can be connected to the connecting component. The method includes: when a mop assembly is provided on the self-moving device, the cleaning task of the self-moving device does not use the mop assembly, and the self-moving device is located in a cleaning base station, controlling the connecting component to rise from the second height or the third height to the fourth height, so as to separate the mop assembly on the self-moving device from the connecting component at the fourth height.

[0114] For example, after the self-moving device completes a mopping task using the mop assembly, if it receives a cleaning task that does not require the mop assembly, or receives an instruction to return to the cleaning base station, it can return to the cleaning base station and disassemble the mop assembly there. In this case, the self-moving device can raise the mop assembly to the third height after receiving the instruction, and then return to the cleaning base station. By raising the mop assembly to the third height first and then returning to the cleaning base station, dirt on the mop assembly can be prevented from contaminating the floor. At the same time, raising the mop assembly to the third height can also increase the gap between the mop assembly and the floor, and between the mop assembly and the cleaning disc of the cleaning base station, improving the obstacle-crossing ability of the self-moving device and allowing it to return to the cleaning base station more smoothly. After the self-moving device moves to the cleaning base station, it can control the connecting component to rise from the third height to the fourth height. At the fourth height, the mop assembly is separated from the connecting component, completing the disassembly of the mop assembly.

[0115] Alternatively, after the mobile device moves to the cleaning base station, the connecting component can be lowered from the third height to the second height to align the mop assembly with the mop placement position on the cleaning base station, thereby allowing the mop assembly to be accurately disassembled to the preset mop placement position. As shown in the above embodiment, the mop placement position can be defined by the positioning groove 92H. The position of the mop placement position corresponds to the first position in the above embodiment, so that when the mobile device performs the mop assembly installation, it moves to the first position in the cleaning base station to accurately complete the mop assembly installation operation. Alternatively, the cleaning base station can also be provided with an alignment device, as shown in the above embodiment. After completing the above alignment process, the mobile device can control the connecting component to rise from the second height to the fourth height. At the fourth height, the mop assembly is separated from the connecting component to complete the mop assembly.Disassembly of components. After the self-moving device moves to the cleaning base station, the connecting component is first controlled to descend from the third height to the second height. The alignment operation between the mop component and the mop placement position is completed. Then, the mop component is disassembled, which allows the mop component to be accurately disassembled to the preset mop placement position. At the same time, it also makes it convenient for the self-moving device to move to the mop placement position when the mop component is needed, and quickly complete the installation of the mop component.

[0116] The separation of the mop component and the connecting component is performed at the fourth height, so that the connecting component is kept at the fourth height to perform subsequent cleaning tasks. After the mop component is separated, the position of the mop component is avoided as much as possible when the self-moving device enters or leaves the cleaning base station, which would affect the installation of the mop component. At the same time, it can also ensure the obstacle crossing ability of the self-moving device. Therefore, by using the solution provided by the above embodiments of this specification, the disassembly operation of the mop component can be completed by using simple disassembly control logic while better meeting the needs of actual application scenarios.

[0117] Of course, during the process of returning to the cleaning base station, the self-moving device can keep the mop assembly at the second height, or adjust the mop assembly to any position between the second and third heights, etc., but this is not a limitation.

[0118] In the above embodiments provided in this specification, the fourth height is relatively high. By separating the mop assembly from the connecting assembly at the fourth height, interference with the separated mop assembly can be minimized or avoided as much as possible; and after the mop assembly and the connecting assembly are separated, no further operation is required, so that the operation of the self-moving device can be more in line with the actual application scenario.

[0119] In some embodiments, detection elements can be set at any one or more of the first, second, third, and fourth heights. The detection elements can detect whether the connecting assembly is located at the corresponding height, so as to determine the duration of the movement of the connecting assembly between any two heights, and thus determine whether there is any abnormality in the movement of the connecting assembly between any two heights.

[0120] For example, the duration of the connecting assembly rising between any two heights can be determined by analyzing the time difference of the signals emitted by the detection elements received at the two heights. For example, when a connecting component performs an ascent from the third height to the fourth height, let t0 be the moment the connecting component leaves the third height and t1 be the moment it reaches the fourth height. The duration of the ascent from the third height to the fourth height is t1 - t0. If t1 - t0 is less than or equal to a preset duration, the movement of the connecting component is considered normal; if t1 - t0 is greater than the preset duration, the movement of the connecting component is abnormal. Alternatively, a detection element can be set at only one height, such as at the fourth height; the movement of the connecting component from the third height can be considered abnormal.The initial time of the rise is initial time 0. The time when the detection element detects the mop assembly at the fourth height is t. Then t is the time it takes for the connecting component to rise from the third height to the fourth height. If t is less than or equal to the preset time, the movement of the connecting component is considered to be normal. If t is greater than the preset time, the movement of the connecting component is abnormal.

[0121] Normally, when the movement of the connecting component is abnormal, the connecting component is stuck at the initial height or between the initial height and the target height. For example, if the connecting component is stuck at the third height or between the third height and the fourth height, and the self-moving device still does not receive the signal from the detection element at the fourth height indicating that the connecting component is at the fourth height after the preset time has elapsed after time t0, it can be confirmed that the time it takes for the connecting component to rise between the third height and the fourth height exceeds the preset time.

[0122] Of course, the above-mentioned methods for detecting the movement time of the connecting component and determining whether the movement time exceeds the preset time are only preferred examples and do not constitute a limitation.

[0123] By detecting the duration, it can be determined whether there is an abnormality in the movement of the connecting component between the two heights. If there is an abnormality, the connecting component can be controlled to retract and then attempt to rise or fall between the two heights to avoid accidental jamming that could cause abnormal movement of the connecting component, thereby leading to failure of mop assembly disassembly or installation. After attempting to retract several times, if the duration of the movement still exceeds the preset duration, an abnormality alert can be issued to allow the user to intervene and check. Specification 18 / 34 pages 21 CN 121489329 A

[0124] Based on the above embodiments, in some embodiments, for the disassembly of the mop assembly, for the rising action of the connecting component between any two heights of the second, third, and fourth heights, if the rising duration of the connecting component between the two heights exceeds the preset duration, the connecting component is controlled to retract to the height before rising and then perform the rising action again. If the number of rising actions between the two heights exceeds a preset threshold, an abnormality alert is issued.

[0125] When controlling the connecting component to rise from the second height to the fourth height, the duration of the rise can be detected. If the duration exceeds a preset duration, the connecting component is controlled to perform a lifting action, descending from the current height to the second height and then rising again from the second height to the fourth height.

[0126] Normally, when the connecting component moves abnormally, it gets stuck at the second height or between the second and fourth heights. Taking the moment when the connecting component starts rising from the second height as the initial moment 0, after a preset duration, the height at which the connecting component is stuck is the current height. Accordingly, the current height may be the second height or any height between the second and fourth heights.

[0127] Alternatively, when controlling the connecting component to rise from the second height to the fourth height, the time taken for the connecting component to rise from the second height to the third height and the time taken for it to rise from the third height to the fourth height can be detected respectively. If the time taken for the connecting component to rise from the second height to the third height exceeds a corresponding preset time, the connecting component is controlled to perform a lifting action, descending from the current height to the second height and then rising from the second height to the third height; wherein the current height may be the second height or any height between the second and third heights. And, if the time taken for the connecting component to rise from the third height to the fourth height exceeds a corresponding preset time, the connecting component is controlled to perform a lifting action, descending from the current height to the third height and then rising from the third height to the fourth height; wherein the current height may be the third height or any height between the third and fourth heights.

[0128] In some application scenarios, the third height corresponds to the lifting height of the mop assembly. Accordingly, based on the preset control logic, the connecting component may experience signal feedback or pause when it rises to the third height. Alternatively, in some application scenarios, a sensor for detecting the connection status between the mop assembly and the connecting component is only set at the third height, and the connecting component may also experience signal feedback or pause when it moves to the third height. Therefore, after receiving the signal that the mop assembly and the connecting component have separated, detecting the time it takes for the connecting component to rise from the second height to the third height and the time it takes to rise from the third height to the fourth height respectively can make the connection component movement anomaly detection logic more integrated with other control logic in actual application scenarios, and the logic control smoother.

[0129] Alternatively, for the disassembly of the mop assembly, when controlling the connecting component to rise from the third height to the fourth height, the duration of the connecting component rising from the third height to the fourth height can be detected. If the duration of the connecting component rising from the third height to the fourth height exceeds a corresponding preset duration, the connecting component is controlled to perform a lifting action, descending from the current height to the third height and then rising from the third height to the fourth height; wherein, the current height is the third height, or any height between the third height and the fourth height.

[0130] For the above embodiments, the number of lifting actions performed between two heights can also be analyzed. If the number of lifting actions performed between two heights exceeds a preset threshold, an abnormal reminder is issued.

[0131] In the above embodiments, since the rising of the connecting component from the second height to the fourth height corresponds to the overall separation action of the mop assembly, by analyzing the overall duration of the connecting component rising from the second height to the fourth height, the detection can be made more consistent with the actual disassembly scenario. Of course, as shown in the above embodiments, a segmented execution duration detection method can also be adopted, which can be more consistent with the actual disassembly scenario.121489329 A Timely and accurate determination of which two height segments the connecting component is abnormal between facilitates user troubleshooting.

[0132] In some embodiments, it is also possible to sense whether the mop component has been successfully disassembled. For example, if the mopping component is sensed at the second position, the connecting component can be controlled to retract to the second or third height, and then rise from the second or third height to the fourth height. The second position is the location of the mop component that can maintain a connection with the connecting component. Specific implementation methods can be found in the above embodiments, and will not be elaborated here. By further detecting the disassembly status of the mopping component, if disassembly is unsuccessful, the action of rising to the fourth height is repeated to attempt disassembly of the mopping component again, further ensuring that the mop component is successfully disassembled. Of course, if the number of repetitions exceeds a preset threshold, an abnormality alert can be issued to allow user intervention to manually disassemble the mopping component.

[0133] Preferably, if the connection between the mop assembly and the connecting assembly is detected at the third height, the connecting assembly can be controlled to rise from the third height to the fourth height, or the connecting assembly can be controlled to retract to the second height and then rise from the second height to the fourth height. For example, a second sensor can be set at the third height of the self-moving device. The second sensor can be a touch sensor. When the connecting assembly moves to the third height, the mop assembly can contact the second sensor, thereby determining that the mop assembly and the connecting assembly are in a connected state. The second sensor can also be a camera device or an infrared device. When the connecting assembly moves to the third height, the second sensor can collect an image of the mop assembly, or the infrared signal can change due to the presence of the mop assembly, thereby determining whether the mop assembly and the connecting assembly are in a connected state. Alternatively, the second sensor can sense a second target signal emitted when the mop assembly is at the third height. If the second target signal is sensed, it is confirmed that the mop assembly and the connecting assembly are in a connected state. Of course, other methods can also be used to detect the connection state of the mop assembly and the connecting assembly at the third height.

[0134] As can be seen from the above embodiments, the third height is the lifting height of the mop assembly set for the cleaning task, so as to perform cleaning tasks that do not require the mop assembly. By detecting the connection status of the mop assembly and the connecting assembly at the third height, it is possible to detect whether the mop assembly has risen to the lifting height when the self-moving device is performing a cleaning task that does not require the mop assembly, while simultaneously detecting the connection status of the mop assembly and the connecting assembly. That is, by setting a detection sensor, it is possible to simultaneously detect whether the mop assembly has been successfully installed / removed, and whether the mop assembly has been lifted as required by the cleaning task, thereby reducing the structural design complexity and structural cost of the self-moving device.

[0135] Of course, the connection status of the mop assembly and the connecting assembly can also be detected at other heights, which is not limited in other embodiments of this specification.

[0136] Based on the embodiment, during the process of controlling the connecting component to rise from the second height to the fourth height to disassemble the mop component, the duration of the connecting component rising from the second height to the third height and the duration of the mop component rising from the third height to the fourth height, or the duration of the mop component rising from the second height to the fourth height, can be detected. If a timeout occurs, the corresponding lifting action is executed. After the number of repetitions of the lifting action reaches a preset threshold, an abnormal movement reminder of the connecting component can be issued. If no timeout occurs, it can be detected whether the mop component has been disassembled. If the detection result shows that the mop component has not been disassembled, the connecting component can be controlled to rise from the second height to the fourth height again to attempt disassembly again. After the number of attempts reaches a preset threshold, an abnormal disassembly reminder of the mop component can be issued.

[0137] Alternatively, in some application scenarios, only the third height is equipped with a sensor to detect the connection status between the mop component and the connecting component, and no detection element is set at other heights. In this application scenario, if the connecting component is controlled to rise from the second height to the fourth height to disassemble the mop component, the duration of the connecting component rising from the second height to the third height can be detected first. If the initial moment is taken as the moment when the controller issues the command to rise to the fourth height, and if no signal reflecting the connection status between the mop assembly and the connecting assembly is detected at the third height after a preset time, it can be considered that an abnormal movement occurred during the process of the connecting assembly rising from the second height to the third height. The connecting assembly can be controlled to return to the second height on page 20 / 34 of the manual (CN 121489329 A) and attempt to rise to the third height again; if after multiple attempts, no signal reflecting the connection status between the mop assembly and the connecting assembly is detected at the third height within the preset time, an alert is issued that there is an abnormal movement between the connecting assembly and the third height.

[0138] If a signal reflecting the connection status between the mop assembly and the connecting assembly is detected at the third height within the preset time, the connecting assembly can be controlled to rise from the third height to the fourth height, and the initial moment is taken as the moment when the rise begins from the third height. For example, the initial moment can be taken as the moment when a signal reflecting the connection status between the mop assembly and the connecting assembly is detected at the third height; or, if it involves reissuing the control command, the initial moment can be taken as the moment when the controller issues the command to rise from the third height to the fourth height, etc. After a preset time, the connecting component can be controlled to retract to the third height to detect the connection status between the mop assembly and the connecting component. If the mop assembly is confirmed to be separated from the connecting component, the mop assembly can be considered successfully disassembled. The connecting component can also be further controlled to rise from the third height to the fourth height. Successful disassembly of the mop assembly indirectly reflects that the movement of the connecting component between the third and fourth heights is normal. Of course, if at the third height...If the mop assembly and the connecting assembly are still connected at the third and fourth heights, it is considered that there is an abnormality in the movement of the connecting assembly between the third and fourth heights. At this time, the connecting assembly can try to rise from the third height to the fourth height, and after a preset time, return to the third height to detect the connection status of the mop assembly and the connecting assembly. After repeating this several times, if the mop assembly and the connecting assembly are still connected, an alert can be issued indicating that there is an abnormality in the movement of the connecting assembly between the third and fourth heights or that there is an abnormality in the disassembly.

[0139] Accordingly, in some embodiments, for the case where only the third height is provided with a sensor to perform the connection status detection of the mop assembly and the connecting assembly, the control logic for the connecting assembly to rise from the second height to the fourth height is as follows: After a preset time after rising from the second height, if a signal reflecting the connection status of the mop assembly and the connecting assembly is detected at the third height, the connecting assembly is controlled to rise from the third height to the fourth height. If no signal reflecting the connection status of the mop assembly and the connecting assembly is detected at the third height, the connecting assembly is controlled to return to the second height and try to rise to the third height again. After a preset time elapsed following the ascent from the third height, the connecting component is controlled to retract to the third height. If a signal reflecting the connection status between the mop assembly and the connecting component is detected at the third height, the mop assembly is confirmed to have been successfully disassembled. If no signal reflecting the connection status between the mop assembly and the connecting component is detected at the third height, the connecting component is controlled to retract to the third height and attempt to ascend to the fourth height again. Using the above control logic, the control logic for disassembling the mop assembly can be further simplified while simplifying the detection element.

[0140] Of course, after issuing the command to control the connecting component to ascend to the fourth height, the connection status between the connecting component and the mop assembly can be detected after a preset time elapsed. If the detection result indicates that the mop assembly has not been completely disassembled, the connecting component can be controlled to perform the action of ascending from the second or third height to the fourth height again to attempt disassembly. After the number of attempts reaches a preset threshold, an alert can be issued regarding the abnormal disassembly of the mop assembly. By combining time control with connection status detection, the disassembly control of the mop assembly can be performed more simply and conveniently.

[0141] Based on the above embodiments, this specification also provides a method for installing a mop assembly of a self-moving device. The self-moving device includes a connecting component, and the mop assembly is detachably connected to the connecting component. Along the height direction of the self-moving device, the connecting component has at least a second height and a third and / or a fourth height higher than the second height. At the second height, the mop assembly connected to the connecting component can perform mopping operations. Accordingly, the method includes the following scenarios: a mop assembly is present in the cleaning base station; no mop assembly is provided on the self-moving device; the cleaning task of the self-moving device requires the use of a mop assembly; and the self-moving device is located in the cleaning base station.Below, the connecting component is controlled to descend from the third or fourth height to the second height, so that the mop assembly in the cleaning base station is connected to the connecting component at the second height. Specification 21 / 34 pages 24 CN 121489329 A

[0142] For example, after the self-moving device removes the mop assembly in the cleaning base station, the connecting component can be kept at the fourth height. Then, the self-moving device leaves the cleaning base station and performs a cleaning task that does not require the mop assembly. After receiving a cleaning task that requires the use of the mop assembly, it goes to the cleaning base station to complete the installation of the mop assembly. Correspondingly, when it is determined that the self-moving device is in the cleaning base station, the connecting component can be controlled to descend from the fourth height to the second height, and the mop assembly is connected to the connecting component at the second height to complete the installation of the mop assembly.

[0143] When the connecting component is kept at the fourth height, the self-moving device leaves and / or enters the cleaning base station, which can avoid the connecting component affecting the position of the removed mop assembly in the cleaning base station when the self-moving device leaves and / or enters the cleaning base station, causing the mop assembly to move and thus affecting the installation of the mop assembly. With the connecting component held at the fourth height, the self-moving device performs cleaning tasks that do not require the mop assembly, ensuring a sufficient distance between the connecting component and the ground, thus improving the obstacle-crossing ability of the self-moving device. Simultaneously, for cases where the connecting component contains an electromagnetic component to connect with the mop assembly electromagnetically, the self-moving device performs cleaning tasks that do not require the mop assembly, controlling the connecting component to remain at the fourth height. This also prevents the connecting component from magnetically attracting other metal parts during its movement, thereby affecting the installation of the mop assembly.

[0144] Of course, after disassembling the mop assembly, the self-moving device can also keep the mop assembly at the third height, or adjust the mop assembly to any position between the second and third heights, etc., etc., without limitation here.

[0145] The second height is the height at which the mop assembly can perform mopping work. At this position, the connection between the mop assembly and the connecting component is more stable. Therefore, in the above embodiments of this specification, performing the connection operation between the mop assembly and the connecting component at the second height can result in a higher success rate and a more stable connection between the mop assembly and the connecting component. Furthermore, after the mop assembly and connecting assembly are installed, no further operation is required for the self-moving device to perform the necessary mopping work, thereby better meeting the actual application scenarios and further reducing the complexity of the mop assembly installation control logic.

[0146] In some embodiments, for the installation of the mop assembly, regarding the descent action of the connecting assembly between any two heights of the second height, third height, and fourth height, if the duration of the descent of the connecting assembly between these two heights exceeds a preset duration, the connecting assembly is controlled to retract to the height before descent and then perform another descent action.If the number of descent actions between two heights exceeds a preset threshold, an abnormal alert is issued.

[0147] For the installation of the mop assembly, when controlling the connecting assembly to descend from the fourth height to the second height, the duration of the descent from the fourth height to the second height can be detected. If the duration of the descent exceeds a corresponding preset duration, the connecting assembly is controlled to perform a lifting action, rising from the current height to the fourth height and then descending from the fourth height to the second height; wherein, the current height may be the fourth height or any height between the fourth height and the second height.

[0148] Alternatively, the duration can be detected in segments. If the duration of the descent from the fourth height to the third height exceeds a corresponding preset duration, the connecting assembly is controlled to perform a lifting action, rising from the current height to the fourth height and then descending from the fourth height to the third height; wherein, the current height may be the fourth height or any height between the fourth height and the third height. And, if the time taken for the connecting component to descend from the third height to the second height exceeds a corresponding preset time, the connecting component is controlled to perform a lifting action, rising from the current height to the third height and then descending from the third height to the second height; wherein, the current height may be the third height, or any height between the third height and the second height.

[0149] Alternatively, for the installation of the mop assembly, when controlling the connecting component to descend from the third height to the second height, the time taken for the connecting component to descend from the third height to the second height can be detected. If the time taken for the connecting component to descend from the third height to the second height exceeds a corresponding preset time, the connecting component is controlled to perform a lifting action, rising from the current height to the third height and then descending from the third height to the second height; wherein, the current height may be the third height, or any height between the third height and the second height.

[0150] For the above embodiments, the number of times the lifting action is performed between two heights can also be analyzed. If the number of times the lifting action is performed between two heights exceeds a preset threshold, an abnormal reminder is issued.

[0151] In some embodiments, it is also possible to sense whether the mop assembly has been successfully disassembled. For example, if the mopping assembly is sensed at the second position, the connecting assembly can be controlled to retract to the third or fourth height, and then descend from the third or fourth height to the second height. The second position is the location of the mop assembly that can maintain a connection with the connecting assembly. Specific implementation methods can be found in the above embodiments, and will not be elaborated here. After the connecting assembly descends to the second height, the installation status of the mopping assembly is detected. If the installation is not successfully completed, the above lifting and lowering process is repeated.The action, attempting to install the mop assembly again, can further ensure that the mop assembly is successfully installed. Of course, if the number of repetitions of the above lifting action exceeds a preset threshold, an abnormality reminder can be issued to allow the user to intervene and manually complete the installation of the mop assembly.

[0152] Preferably, if it is detected at the third height that the mop assembly and the connecting assembly are not connected, the connecting assembly can be controlled to descend from the third height to the second height, or the connecting assembly can be controlled to retreat to the fourth height and then descend from the fourth height to the second height; and / or, the self-moving device can be controlled to move within the cleaning base station. The scheme for detecting the connection status of the mop assembly and the connecting assembly at the third height is described in the above embodiment and will not be repeated here.

[0153] Based on the embodiment, during the process of controlling the connecting assembly to descend from the fourth height to the second height to perform the mop assembly installation, the duration of the connecting assembly descending from the fourth height to the third height and the duration of the third height descending to the second height, or the duration of the fourth height descending to the second height, can be detected. If a timeout occurs, the corresponding lifting action is executed, and after the number of repetitions of the lifting action reaches a preset threshold, an abnormality reminder for the movement of the connecting assembly can be issued. If no timeout occurs, it can be detected whether the mop assembly has been installed. If the detection result indicates that the mop assembly has not been installed, the connecting component can be controlled to descend from the fourth height to the second height again to attempt installation. After the number of attempts reaches a preset threshold, an alert can be issued regarding the abnormal installation of the mop assembly.

[0154] Alternatively, in some application scenarios, only the third height is equipped with a sensor to detect the connection status between the mop assembly and the connecting component, and no detection elements are set at other heights. In this application scenario, if the connecting component is controlled to descend from the fourth height to the second height to disassemble the mop assembly, the duration of the descent from the fourth height to the third height can be detected first. If the moment when the controller issues the command to descend to the second height is taken as the initial moment, if no signal reflecting the connection status between the mop assembly and the connecting component is detected at the third height after a preset time, it can be considered that an abnormal movement has occurred during the descent of the connecting component from the fourth height to the third height. The connecting component can be controlled to retract to the fourth height and attempt to descend to the third height again. If, after multiple attempts, a signal reflecting the connection status between the mop assembly and the connecting component is not detected at the third height within a preset time period, an alert is issued indicating an abnormal movement of the connecting component between the fourth and third heights.

[0155] If a signal reflecting the connection status between the mop assembly and the connecting component is detected at the third height within a preset time period, the connecting component can be controlled to descend from the third height to the second height, with the initial time being the moment when the descent begins from the third height. For example, the initial time can be the moment when a signal reflecting the connection status between the mop assembly and the connecting component is detected at the third height.The initial moment can be set as follows: or, if a re-issuance of control commands is involved, the initial moment can be set as the moment when the controller issues the command to descend from the third height to the second height, and so on. After a preset time, the connecting component can be controlled to retract to the third height to check the connection status between the mop assembly and the connecting component. If the connection between the mop assembly and the connecting component is confirmed, the mop assembly can be considered successfully installed. Successful installation of the mop assembly can indirectly reflect that the movement of the connecting component between the third height and the second height is normal. Of course, if it is confirmed that the mop assembly and the connecting component are still separated at the third height, it is considered that there is an abnormality in the movement of the connecting component between the third height and the second height. At this time, the connecting component can attempt to descend from the third height to the second height, and after a preset time, return to the third height to check the connection status between the mop assembly and the connecting component. After repeating this several times, if the mop assembly and the connecting component are still separated, a reminder can be issued that there is an abnormality in the movement of the connecting component between the third height and the second height or that there is an abnormality in disassembly.

[0156] Accordingly, in some embodiments, for the case where only the third height has a sensor for detecting the connection status between the mop assembly and the connecting assembly, the control logic for the connecting assembly descending from the fourth height to the second height is as follows: After a preset time after starting to descend from the fourth height, if a signal reflecting the connection status between the mop assembly and the connecting assembly is detected at the third height, the connecting assembly is controlled to descend from the third height to the second height. If no signal reflecting the connection status between the mop assembly and the connecting assembly is detected at the third height, the connecting assembly is controlled to retract to the fourth height and attempt to descend to the third height again. After a preset time after starting to descend from the third height, the connecting assembly is controlled to retract to the third height. If a signal reflecting the connection status between the mop assembly and the connecting assembly is detected at the third height, the mop assembly is confirmed to be successfully installed; if no signal reflecting the connection status between the mop assembly and the connecting assembly is detected at the third height, the connecting assembly is controlled to retract to the third height and attempt to descend to the second height again. Using the above control logic, the control logic for installing the mop assembly can be further simplified while simplifying the detection element.

[0157] Alternatively, after issuing a command to lower the connecting component to the second height, the connection status between the connecting component and the mop component can be detected after a preset time. If the detection result indicates that the mop component is not fully installed, the connecting component can be controlled to lower itself from the fourth or third height to the second height again to attempt installation. After the number of attempts reaches a preset threshold, an alert can be issued indicating an installation error in the mop component. By combining time control with connection status detection, the installation control of the mop component can be made simpler and more convenient.

[0158] Alternatively, if it is determined that the mop component is not fully installed, the connecting component can be controlled to lower itself from the third height...Alternatively, during the descent from the fourth height to the second height, the self-moving device can be controlled to make small movements within the cleaning base station, thereby ensuring the mop assembly is installed even if there is a positional deviation. For example, without sensing the second target signal, the connecting component can be controlled to descend from the third height while the self-moving device performs a backward operation to attempt to install the mop assembly.

[0159] As can be seen from the above embodiments, the self-moving device may occasionally require user intervention to manually install and remove the mop assembly; or, in the absence of a cleaning base station, the self-moving device may require user manual installation and removal of the mop assembly. For the removal of the mop assembly, the location of the connecting component is not limited, and the user can manually remove the mop assembly. For the installation of the mop assembly, when it is confirmed that the user needs to manually install the mop assembly, it can be determined whether the mop assembly is located at the fourth height; if the mop assembly is located at the fourth height, the mop assembly can be controlled to descend from the fourth height to the third height, or the second height, or any height between the third and second heights, after which the user can manually connect the mop assembly to the connecting component.

[0160] Based on the above embodiments, this specification also provides a method for installing a mop assembly of a self-moving device. The self-moving device includes a connecting component, and the mop assembly is detachably connected to the connecting component. Along the height direction of the self-moving device, the connecting component has at least a second height and a third and / or a fourth height higher than the second height. At the second height, the mop assembly connected to the connecting component can perform mopping operations. When the self-moving device is not equipped with a mop assembly, the cleaning task of the self-moving device requires the use of a mop assembly, the wheels of the self-moving device are suspended, and it is detected that the mop assembly and the connecting component are not connected at the third height, the connecting component is controlled to descend from the third height to the fifth height, so that at the fifth height, the mop assembly is connected to the connecting component (page 24 / 34 of the specification, CN 121489329 A). The fifth height is lower than the third height, and the connection state between the mop assembly and the connecting component is not detected at the third height.

[0161] A sensor for detecting the connection status between the mop assembly and the connecting assembly can be installed only at the third height. For specific implementation details, please refer to the above embodiment, which will not be repeated here. Accordingly, when it is confirmed that the user needs to manually install the mop assembly, if the mop assembly is at the fourth height, the mop assembly can be controlled to descend from the fourth height. When the connecting assembly passes the third height, the sensor at the third height can be used to determine the connection status between the mop assembly and the connecting assembly. If the mop assembly and the connecting assembly are not connected, the connecting assembly can be controlled to continue descending from the third height until the mop assembly is no longer detected at the third height.The connection height with the connecting component stops, allowing the user to manually install the mop assembly onto the connecting component. After the user installs the mop assembly onto the self-moving device, the connecting component can be controlled to rise to a third height to detect the connection status between the mop assembly and the connecting component, thus determining whether the mop assembly has been successfully installed.

[0162] Since the detection height for whether the mop assembly and the connecting component are connected is only at the third height, when the connecting component descends from the third height to the second height, the sensor at the third height cannot distinguish whether the connecting component is at the second height or between the second and third heights. Accordingly, if the second height is used as the height for manually installing the mop assembly, a detection element needs to be set at the second height to determine whether the connecting component has moved to the second height. However, with the solution of the above embodiment, when the sensor at the third height just fails to detect the connection status between the mop assembly and the connecting component during the descent of the connecting component from the third height, the descent stops, and the mop assembly is installed at this height. The control of manually installing the mop assembly can be completed using only the sensor at the third height, thereby further simplifying the control logic and detection structure.

[0163] Meanwhile, the above embodiments ensure that the connecting component is positioned between the second and third heights. Regardless of whether the connecting component and the mop component are connected by snap-fit, threaded connection, or magnetic connection, the connecting component is within a range that facilitates manual operation by the user, thereby meeting the user's manual installation needs and ensuring the stability of the mop component and connecting component installation.

[0164] In some embodiments, the method further includes: determining the working state of the self-moving device when the self-moving device is equipped with the mop component and is not located in the cleaning base station; controlling the connecting component at the second height to rise to the third height when the working state indicates that the self-moving device is in a working state, wherein the third height is the mop component lifting height set for the cleaning task; and controlling the self-moving device to move to the cleaning base station when the working state indicates that the self-moving device is in an idle state, so as to separate the mop component and the connecting component of the self-moving device. Specific implementation methods can be found in the above embodiments, and will not be repeated here.

[0165] In some embodiments, when the number of cleaning tasks to be performed on the self-moving device is greater than 1, the method further includes: determining the execution order of the first cleaning task and the second cleaning task based on whether the self-moving device is equipped with the mop assembly at the current time; wherein, the first cleaning task is the task to be performed that uses the mop assembly, and the second cleaning task is the task to be performed that does not use the mop assembly.

[0166] When the self-moving device is equipped with the mop assembly at the current time, the first cleaning task is executed.The first cleaning task is performed; when the first cleaning task is completed, the self-moving device is controlled to move to the cleaning base station to separate the mop assembly of the self-moving device from the connecting assembly; after separating the mop assembly of the self-moving device from the connecting assembly, the second cleaning task is performed.

[0167] When the self-moving device is not equipped with a mop assembly at the current time, the second cleaning task is performed; when the second cleaning task is completed, the self-moving device is controlled to move to the cleaning base station to connect the mop assembly in the cleaning base station to the connecting assembly; after connecting the mop assembly in the cleaning base station to the connecting assembly described in the specification (pages 25 / 34, CN 121489329 A), the first cleaning task is performed.

[0168] Specific implementation methods can be referred to the above embodiments, which will not be repeated here.

[0169] In other embodiments of this specification, a method for assembling and disassembling a mop assembly on a mobile device is also provided. The mobile device includes a connecting component, and the mop assembly is detachably connected to the connecting component. Along the height direction of the mobile device, the connecting component has at least a first height and a second height. At the second height, the mop assembly connected to the connecting component can perform mopping operations. The method includes: when the mop assembly is present in the cleaning base station, the mobile device is not equipped with the mop assembly, the cleaning task of the mobile device requires the use of the mop assembly, and the mobile device is located in the cleaning base station, controlling the mobile device to descend from the second height to the first height, so that at the first height, the mop assembly in the cleaning base station is connected to the connecting component, or the mop assembly on the mobile device is separated from the connecting component.

[0170] A scheme for detecting abnormal movement of the connecting component can also be implemented between the first height and the second height. For example, it can be detected whether the time taken for the connecting component to descend from the second height to the first height is greater than a preset time. If it is greater, the connecting component retracts to the second height and then descends to the first height, repeating this several times. If the time is always greater than the preset time, an abnormality alert is issued. Of course, the connection status between the mop assembly and the connecting component can also be detected. If the connection status does not meet the requirements for disassembly / installation of the mop assembly, the connecting component retracts to the second height and then descends to the first height, repeating this several times. If the connection status does not meet the requirements for disassembly / installation of the mop assembly, an abnormality alert is issued. Of course, it is also possible to refer to the above embodiment, and after each instruction to descend to the first height is issued, after a preset time, detect whether the connection status meets the requirements for disassembly / installation of the mop assembly. The detection of the connection status between the mop assembly and the connecting component can be performed at any height. Preferably, the connection status between the mop assembly and the connecting component is detected at the second height. The specific implementation method for performing the installation and disassembly of the mop assembly at the first height can be...Referring to the above embodiments, further details are omitted here.

[0171] In some other embodiments of this specification, a method for disassembling a mop assembly on a self-moving device is also provided. The self-moving device includes a connecting component, and the mop assembly is detachably connected to the connecting component. The connecting component has at least a mopping position, a lifting position, and a separation position. At least in the mopping position and the lifting position, the mop assembly can be connected to the connecting component. The method includes: when a mop assembly is provided on the self-moving device, the cleaning task of the self-moving device does not use the mop assembly, and the self-moving device is located in a cleaning base station, controlling the connecting component to move from the mopping position or the lifting position to the separation position, so as to separate the mop assembly on the self-moving device from the connecting component at the separation position.

[0172] Along the height direction of the self-moving device, the height corresponding to the mopping position of the connecting component is a second height, the height corresponding to the lifting position of the connecting component is a third height, and the height corresponding to the separation position of the connecting component is a fourth height. Accordingly, when the connecting component has a mopping position, a lifting position, and a separating position, the separation operation of the connecting component and the mop component can refer to the above embodiments, and will not be repeated here.

[0173] In some other embodiments of this specification, a method for installing a mop component on a self-moving device is also provided. The self-moving device includes a connecting component, and the mop component is detachably connected to the connecting component. The connecting component has at least a mopping position, a lifting position, and a separating position. At least in the mopping position and the lifting position, the mop component can be connected to the connecting component. The method includes: when a mop component is present in the cleaning base station, when no mop component is provided on the self-moving device, when the cleaning task of the self-moving device requires the use of a mop component, and when the self-moving device is located in the cleaning base station, controlling the connecting component to move from the lifting position or the separating position to the mopping position, so as to connect the mop component in the cleaning base station to the connecting component at the mopping position.

[0174] Along the height direction of the self-moving device, the height corresponding to the mopping position of the connecting component is the second height (see page 26 / 34 of the specification, CN 121489329 A), the height corresponding to the lifting position of the connecting component is the third height, and the height corresponding to the separation position of the connecting component is the fourth height. Accordingly, when the connecting component has a mopping position, a lifting position, and a separation position, the connection operation between the connecting component and the mop component can refer to the above embodiments, and will not be repeated here.

[0175] Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platform, and of course it can also be implemented by hardware, but manyIn this case, the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0176] In this embodiment, a mop assembly installation device is also provided. This device is used to implement the above embodiments and preferred embodiments, and will not be repeated for those already described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware implementation, is also possible and contemplated.

[0177] FIG13 is a structural block diagram of an optional mop assembly installation device according to an embodiment of the present invention. The device includes: a first determining module 52, configured to determine whether the cleaning task of the self-moving device uses a mop assembly; a second determining module 54, configured to determine whether the mop assembly exists in the cleaning base station corresponding to the self-moving device and whether the self-moving device is equipped with the mop assembly when the cleaning task uses the mop assembly; and a first controlling module 56, configured to control the self-moving device to move to a first position in the cleaning base station when the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, so as to move the mop assembly in the cleaning base station onto the self-moving device, wherein the first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station.

[0178] Through the above-described device, it is determined whether the cleaning task of the self-moving device uses a mop assembly; if the cleaning task uses the mop assembly, it is determined whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and whether the self-moving device is equipped with the mop assembly; thereby determining whether the self-moving device needs to go to the cleaning base station to install the mop assembly. If the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, the self-moving device is controlled to move to a first position in the cleaning base station to install the mop assembly from the cleaning base station, wherein the first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station. By adopting the above technical solution, the problem of poor user experience caused by the robot vacuum cleaner's inability to automatically install the mop, resulting in the user needing to manually install the mop, is solved; the device enables automatic installation of the mop assembly at any time according to task requirements, thereby achieving a better cleaning effect.

[0179] The second determining module 54 is further configured to receive first sensing information from the cleaning base station, wherein the first sensing information is used to indicate the sensing result of the first sensor on the cleaning base station on the first target signal from the first location, the first target signal being emitted by an electronic component disposed in the mop assembly; when the first sensing information indicates that the first target signal is sensed at the first location, it is determined that the mop assembly exists in the cleaning base station.

[0180] The cleaning base station can sense the first location through the first sensor to determine whether it can sense the first target signal emitted by the electronic component disposed in the mop assembly. If it can sense the first target signal, it indicates that the mop assembly exists in the cleaning base station; if it cannot sense the first target signal, it indicates that the mop assembly does not exist in the cleaning base station; and send the sensing result to the self-moving device to inform the self-moving device of the result; through the above steps, the self-moving device can easily and quickly know whether the mop assembly exists in the base station by sensing the first target signal through the sensor, so as to help the self-moving device make a decision on whether to go to the cleaning base station to install the mop assembly.

[0181] It should be noted that the first sensor mentioned above can be a Hall sensor, wherein the Hall sensor can be divided into two types: linear Hall sensor and switch-type Hall sensor; it can also be other sensors such as a temperature sensor; correspondingly, the electronic component sensed by the Hall sensor can be a magnetic induction switch element; the electronic component sensed by the temperature sensor can be an electronic component that is prone to heat generation, such as a power diode, a Zener diode, etc.

[0182] It should be noted that the process of determining whether there is a mop assembly in the cleaning base station can also be implemented by other optional methods, such as acquiring an image of the first location in the cleaning base station through an image acquisition device, and performing image recognition on the acquired image to determine whether there is a mop assembly in the cleaning base station; it can also be done in other ways, which are not limited in this application.

[0183] Optionally, the second determining module 54 is further configured to receive second sensing information of the self-moving device, wherein the second sensing information is used to indicate the sensing result of the second sensor of the self-moving device on the second target signal from the second position, the second target signal being emitted by an electronic component disposed on the mop assembly, and the second position being the installation position of the self-moving device where the mop assembly is installed; if the second sensing information indicates that the second target signal is not sensed at the second position, it is determined that the self-moving device is not equipped with the mop assembly.

[0184] The self-moving device can sense the installation position of the mop assembly of the self-moving device through its own second sensor, and if the second target signal emitted by the mop assembly is sensed at the second position, it is determined that the self-moving device is equipped with the mop assembly.The mop assembly is provided; if the second target signal emitted by the mop assembly is not sensed at the second position, it is determined that the self-moving device is not equipped with the mop assembly; through the above steps, the self-moving device can clearly sense whether it is equipped with a mop assembly, and the effect can be achieved more easily by sensing the second target signal, without setting up complex circuits and components for the self-moving device; thus, when the mop assembly is needed but not installed, it goes to the cleaning base station for automatic installation, and when the mop assembly is not needed but installed, it goes to the cleaning base station for automatic removal.

[0185] It should be noted that the above-mentioned second sensor and the first sensor can be the same sensor or different, and this application does not limit this.

[0186] It should be noted that the above-mentioned scheme for determining whether the self-moving device is equipped with a mop assembly can also be implemented by other methods, for example: setting a circuit at the second position, and when the mop assembly is installed at the second position, forming a path with the pre-set circuit through the electronic components set on the mop assembly; thereby transmitting an electrical signal to the self-moving device to inform the self-moving device that the mop assembly has been installed; other methods can also be used, and this application does not limit this.

[0187] Optionally, the second determining module 54 is further configured to determine whether the automatic disassembly switch is turned on before moving the mop assembly in the cleaning base station from the mobile device; if the automatic disassembly switch is not turned on, the automatic disassembly of the mop assembly is prohibited from being moved from the mobile device; if the automatic disassembly switch is turned on, the mop assembly is moved from the mobile device.

[0188] An automatic disassembly switch may also be provided on the mobile device and / or the base station. Automatic disassembly of the mop assembly is performed only when the switch is turned on; automatic disassembly of the mop assembly is not performed when the switch is not turned on. By setting an automatic disassembly switch, the user can configure whether the mop assembly is automatically disassembled according to the needs, further improving the flexibility of disassembly of the mop assembly. For example, if the automatic disassembly switch on the mobile device and / or the base station is turned on, the mobile device and / or the base station will only detect whether the mop assembly is present on the mobile device and / or the mop assembly from pages 28 / 34 of the specification. Alternatively, if it is determined that the self-moving device is not equipped with a mop assembly, it is also necessary to determine whether the automatic disassembly / reassembly switch of the self-moving device and / or the base station is turned on. If it is turned on, the self-moving device is controlled to move to a first position in the cleaning base station to install the mop assembly onto the self-moving device. The automatic disassembly / reassembly control method of the mop assembly is not limited here.

[0189] The first control module 56 is further configured to control the connecting component of the self-moving device to descend to a first height, wherein the connecting component is used to connect the mop assembly; when the connecting component descends to the first height,The mop assembly is connected to the connecting assembly; the connecting assembly at the first height is controlled to rise to the second height, and the mop assembly is sensed to determine whether the mop assembly has been installed on the self-moving device; the above steps of controlling the connecting assembly to descend and sensing the mop assembly are repeated until it is determined that the mop assembly has been installed on the self-moving device. The process of automatically installing the mop assembly on the self-moving device includes: first, controlling the connecting assembly of the self-moving device to descend to the first height, the first height being the height at which the mop assembly is installed / uninstalled on the self-moving device; after descending to the first height, connecting the mop assembly to the connecting assembly; then controlling the connecting assembly to rise to the second height, the second height being the working height of the self-moving device carrying the mop assembly, which also corresponds to the height at which the mop assembly is placed in the second position. Then, the mop assembly is sensed to determine whether the mop assembly has been installed on the self-moving device. For example, the second sensor of the self-moving device can be controlled to sense the second position, and if the obtained second sensing information indicates that the second target signal has been sensed, it is determined that the mop assembly has been installed on the self-moving device. For specific implementation methods, please refer to the above embodiments, which will not be elaborated here. Of course, other mop component sensing methods given in the above embodiments can also be used to determine whether the mop component has been installed on the self-moving device.

[0190] If it is determined based on the sensing information that the mop component has not been installed on the self-moving device, the above steps of controlling the connecting component to descend to sense the mop component can be repeated until it is determined that the mop component has been installed on the self-moving device. Of course, a repetition threshold can also be set. If the repetition count reaches the repetition threshold and the mop component is still not installed on the self-moving device, the self-moving device can issue a reminder to complete the installation of the mop component by manual intervention.

[0191] It should be noted that the above connecting component can be a mop bucket sleeve or other devices used to connect the mop component to the self-moving device. This application does not limit this.

[0192] Optionally, the mop component can be connected to the connecting component through the following scheme: the self-moving device controls the electromagnetic component set in the connecting component to be energized, so that the electromagnetic component becomes magnetic. At the same time, a metal component that can be attracted is also provided in the mop component, so that the connecting component can attract the mop component, thereby connecting the mop component and the connecting component.

[0193] It should be noted that the above-mentioned electromagnetic component can be disposed inside the connecting component or on the surface of the connecting component, and this application does not limit this.

[0194] Optionally, the connection between the mop assembly and the connecting component can also be achieved through other means: the connecting component can be set as a magnetic device, and the mop assembly can be provided with a metal that can be attracted by the magnetic device; so that after the connecting component descends, the connecting component and the mop assembly can be connected by magnetic force; or, the connecting component can be set as a spiral rod structure, corresponding to the mop assembly.The components are equipped with a matching structure so that the connecting component and the mop component are spirally connected; other connection methods can also be used, and this application does not limit this.

[0195] It should be noted that the above-mentioned first target signal and second target signal can be the same signal or different signals, and this application does not limit this.

[0196] In an exemplary embodiment, when the self-moving device has completed the cleaning task, the self-moving device can be moved to the first position in the cleaning base station again to remove the mop component from the self-moving device. After the cleaning task is completed, timely removal of the mop component can avoid the occurrence of the mop causing the host to collide or scratch, or the robot vacuum cleaner getting stuck due to sharp objects hooking the mop, in the event of accidental triggering or moving of the self-moving device, thus further improving the user experience.

[0197] In an exemplary embodiment, the first control module 56 is further configured to control the connection component in the self-moving device, which is at a second height, to descend to a first height, wherein the connection component is used to connect the mop component; when the connection component at the second height descends to the first height, the mop component is separated from the connection component; the connection component at the first height is controlled to rise to the second height, and the mop component is sensed to determine whether the mop component has been detached from the self-moving device; the above steps of controlling the connection component to descend to sense the mop component are repeated until it is determined that the mop component has been detached from the self-moving device.

[0198] When the cleaning task does not require the mop component, or after the self-moving device has completed a cleaning task that requires the mop component, the mop component needs to be detached and placed in the base station to avoid the dirty mop from contaminating clean areas or even areas that the self-moving device cannot clean, such as carpets, during the movement of the self-moving device, thus providing a bad user experience. The process of detaching the mop assembly from the self-moving device includes the following steps: controlling the connecting component at the second height to descend to the first height, separating the mop assembly from the connecting component; and then sensing the mop assembly to determine whether the mop assembly has been successfully detached. For example, the second sensor of the self-moving device can be controlled to sense the second position. If the obtained second sensing information indicates that the second target signal is not sensed, it is determined that the mop assembly has been detached from the self-moving device. The specific sensing implementation method can be referred to the above embodiment, which will not be repeated here. Of course, other mop assembly sensing methods given in the above embodiment can also be referred to to determine whether the mop assembly has been detached from the self-moving device.

[0199] If it is determined based on the sensing information that the mop assembly has not been detached from the self-moving device, the above control can be repeated.The connecting component descends to the step of sensing the mop component until it is determined that the mop component has been detached from the self-moving device. Of course, a repetition threshold can also be set. If the mop component is still not detached from the self-moving device after the repetition count reaches the threshold, the self-moving device can issue a reminder to allow manual intervention to complete the detachment of the mop component.

[0200] Through the above steps, the self-moving device automatically detaches the mop component, thereby avoiding contamination of clean areas and affecting user experience.

[0201] Optionally, the method for separating the connecting component and the mop component may include: controlling the electromagnetic component set in the connecting component to de-energize, so that the connecting component, after losing its magnetism, naturally separates from the mop component. When the connecting component and the mop component use other connection methods, the separation of the connecting component and the mop component can also be adapted to other methods, which are not limited here.

[0202] Optionally, the first control module 56 is further configured to control the connecting component in the self-moving device at the second height to rise to the fourth height, wherein the connecting component is used to connect the mop component; to separate the mop component from the connecting component by means of a disassembly component, wherein the disassembly component is disposed in the self-moving device and the disassembly component is disposed at the fourth height; to control the connecting component to descend to the second height and to sense the mop component to determine whether the mop component has been disassembled from the self-moving device; to repeat the above steps of controlling the connecting component to rise to sense the mop component until it is determined that the mop component has been disassembled from the self-moving device.

[0203] Controlling the connecting component at the second height to rise to the fourth height, separating the mop component from the connecting component by means of a disassembly component disposed at the fourth height; and then sensing the mop component to determine whether the disassembly was successful, can further increase the reliability of the self-moving device's operation and avoid the inability to disassemble the mop component in case of unexpected situations, thus providing a poor user experience.

[0204] It should be noted that the disassembly component set at the fourth height can be a baffle or other device. This component only allows the connecting component to pass through, but the mop component cannot pass through. Thus, when the connecting component rises to the fourth height, the connecting component and the mop component automatically separate under the action of the disassembly component, thereby disassembling the mop component. Optionally, the disassembly component can also fix the mop component, so that the connecting component can be spirally separated from the mop component. This application does not limit this.

[0205] Based on the above steps, the first determining module 52 is further used to determine whether the cleaning task of the self-moving device uses the mop component, and if the cleaning task does not use the mop component, determine that the self-moving device isWhether the mop assembly is provided and whether the self-moving device is located in the cleaning base station; if the self-moving device is provided with the mop assembly and the self-moving device is located in the cleaning base station, the mop assembly of the self-moving device is removed from the self-moving device.

[0206] If the cleaning task received by the self-moving device does not require the use of the mop assembly, it is determined whether the self-moving device is provided with the mop assembly and whether the self-moving device is located in the cleaning base station; if the self-moving device is provided with the mop assembly and the self-moving device is located in the cleaning base station, the mop assembly is removed from the self-moving device; through the above scheme, when the self-moving device receives a cleaning task that does not require the mop assembly and the self-moving device is located in the cleaning base station, the self-moving device is controlled to remove the mop assembly, so as to avoid the mop assembly affecting the self-moving device's ability to get out of trouble and to better complete the cleaning task.

[0207] Based on the above steps, the second determining module 54 is further configured to determine whether the self-moving device is equipped with the mop assembly, and after determining whether the self-moving device is located in the cleaning base station, in the case where the self-moving device is equipped with the mop assembly and the self-moving device is not located in the cleaning base station, determine the working state of the self-moving device; when the working state indicates that the self-moving device is in a working state, control the connecting component at the second height to rise to the third height, wherein the connecting component is used to connect the mop assembly, and the third height is the mop assembly lifting height set for the cleaning task; when the working state indicates that the self-moving device is in an idle state, control the self-moving device to move to the first position of the cleaning base station to remove the mop assembly of the self-moving device from the self-moving device.

[0208] If the self-moving device receives a cleaning task that does not require a mop assembly, and the self-moving device is equipped with the mop assembly, and the self-moving device is not located in the cleaning base station, then it is necessary to further determine the working state of the self-moving device. If the self-moving device is in a working state, that is, the self-moving device is performing a cleaning task, then before performing the cleaning task, the connecting component at the second height is directly controlled to rise to the third height, and the mop assembly is not returned to the cleaning base station for the time being to be disassembled; only the mop is raised. If the self-moving device is in an idle state, that is, the self-moving device is waiting outside the cleaning base station, then the self-moving device is controlled to return to the cleaning base station, and the mop assembly is disassembled before performing the cleaning task. Through the above scheme, the self-moving device can perform cleaning tasks more efficiently, avoiding a lot of time wasted and affecting work efficiency.

[0209] Optionally, the first determining module 52 is also used to determine whether the number of cleaning tasks is greater than 1; if the number of cleaning tasks is 1, it is determined whether the cleaning task uses the mop assembly.

[0210] Optionally, determining whether a cleaning task of a self-moving device uses a mop assembly can be achieved through the following steps: determining whether the number of received cleaning tasks is greater than 1; if the number is 1, determining whether to use the mop assembly based on the category of the cleaning task.

[0211] It should be noted that the categories of the above-mentioned cleaning tasks include at least: single sweeping tasks, sweeping and mopping tasks, and mopping tasks; wherein single sweeping tasks do not require the use of a mop assembly; sweeping and mopping tasks and mopping tasks require the use of a mop assembly.

[0212] Based on the above steps, the first determining module 52 is further configured to, after determining whether the number of cleaning tasks is greater than 1, determine, in the case that the number of cleaning tasks is greater than 1, a first cleaning task that uses the mop assembly and a second cleaning task that does not use the mop assembly; determine whether the self-moving device is equipped with the mop assembly at the current time; and determine the execution order of the first cleaning task and the second cleaning task based on whether the self-moving device is equipped with the mop assembly at the current time.

[0213] If the number of cleaning tasks is greater than 1, that is, multiple cleaning tasks are received, the cleaning tasks are divided into a first cleaning task that requires the use of a mop assembly and a second cleaning task that does not require the use of a mop assembly, based on whether a mop assembly is required. It is also determined whether the self-moving device is equipped with a mop assembly at the current moment, and the execution order of the first and second cleaning tasks is determined based on whether a mop assembly is installed. Through the above scheme, multiple cleaning tasks are classified and executed, thereby avoiding the need to repeatedly install and remove the mop assembly during the cleaning process, which would affect work efficiency.

[0214] Optionally, the first determining module 52 is further configured to execute the first cleaning task when the self-moving device is equipped with the mop assembly at the current moment; and, after the first cleaning task is completed, control the self-moving device to move to a first position in the cleaning base station to remove the mop assembly from the self-moving device; and execute the second cleaning task.

[0215] If the self-moving device is equipped with a mop assembly at the current time, the self-moving device first performs a first cleaning task requiring the mop assembly. After the first cleaning task is completed, it goes to the cleaning base station to remove the mop assembly and then performs a second cleaning task that does not require the mop assembly. Through the above scheme, the number and frequency of installing and removing the mop assembly on the self-moving device are reduced, improving work efficiency and reducing the possibility of damage to the mop assembly caused by frequent installation and removal.

[0216] Optionally, the first determining module 52 is further configured to execute the second cleaning task when the self-moving device is not equipped with the mop assembly at the current time; and to control the self-moving device to perform the second cleaning task when the second cleaning task is completed.The self-moving device moves to a first position in the cleaning base station to install the mop assembly in the cleaning base station; and performs the first cleaning task.

[0217] If the self-moving device is not equipped with a mop assembly at the current moment, a second cleaning task that does not require a mop assembly is executed first. After the second cleaning task is completed, the self-moving device goes to the cleaning base station to install the mop assembly; and then performs the first cleaning task that requires a mop assembly. For example, the owner simultaneously issues A cleaning tasks for cleaning A areas. Among them, there are items such as carpets and other furniture that cannot be mopped in B areas, that is, B cleaning tasks do not require a mop assembly; while C cleaning tasks in A, excluding B cleaning tasks, require a mop assembly; and at this time, the self-moving device is not equipped with a mop assembly. In order to improve work efficiency, the self-moving device makes a task order decision and decides to execute B cleaning tasks first. After the B cleaning tasks are completed, the self-moving device goes to the cleaning base station to install the mop assembly, and then continues to execute C cleaning tasks. The above solution saves time on the frequent installation and removal of mop components by the self-moving device, thus improving work efficiency. On the other hand, it avoids the frequent secondary pollution of clean areas caused by the self-moving device carrying dirty mop components back to the cleaning base station after performing mopping tasks.

[0218] FIG14 is a structural block diagram of an optional mop assembly disassembly device according to an embodiment of the present invention. The device includes: a third determining module 62, configured to determine whether the cleaning task to be performed by the self-moving device uses a mop assembly; a fourth determining module 64, configured to determine whether the mop assembly exists in the cleaning base station corresponding to the self-moving device and whether the self-moving device is equipped with the mop assembly when the cleaning task does not use the mop assembly; and a second control module 66, configured to control the self-moving device to move to a first position in the cleaning base station when the mop assembly does not exist in the cleaning base station and the self-moving device is equipped with the mop assembly, so as to disassemble the mop assembly from the self-moving device, wherein the first position is at least the position where the self-moving device disassembles the mop assembly in the cleaning base station.

[0219] Using the above-described device, it is determined whether the cleaning task of the self-moving device uses a mop assembly; if the cleaning task does not use the mop assembly, it is determined whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and whether the self-moving device is equipped with the mop assembly; thereby determining whether the self-moving device needs to go to the cleaning base station to remove the mop assembly; if the mop assembly does not exist in the cleaning base station and the self-moving device is equipped with the mop assembly, the self-moving device is controlled to move to the first cleaning base station.A position is provided for detaching the mop assembly of the self-moving device from the self-moving device, wherein the first position is at least the position where the self-moving device detaches the mop assembly in the cleaning base station. By adopting the above technical solution, the problems in the prior art, such as the robot vacuum cleaner's inability to automatically detach the mop, leading to reduced escape ability and potential contamination of clean areas by a dirty mop, are solved; the mop assembly can be automatically detached at any time according to task requirements, thereby achieving a better cleaning effect.

[0220] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0221] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps: S1, determining whether the cleaning task of the self-moving device uses a mop assembly; S2, if the cleaning task uses the mop assembly, determining whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and determining whether the self-moving device is equipped with the mop assembly; S3, if the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, controlling the self-moving device to move to a first position in the cleaning base station to move the mop assembly in the cleaning base station onto the self-moving device, wherein the first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station.

[0222] Optionally, the storage medium may also be configured to store a computer program for performing the following steps: S1, determining whether the cleaning task of the self-moving device uses a mop assembly; S2, if the cleaning task does not use the mop assembly, determining whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and determining whether the self-moving device is equipped with the mop assembly; S3, if the mop assembly does not exist in the cleaning base station, and the self-moving device is equipped with the mop assembly, controlling the self-moving device to move to a first position in the cleaning base station to remove the mop assembly from the self-moving device, wherein the first position is at least the position where the self-moving device removes the mop assembly in the cleaning base station.

[0223] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk. Specification 33 / 34 pages 36 CN121489329 A

[0224] Specific examples in this embodiment can be referred to the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0225] Embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0226] Optionally, in this embodiment, the processor can be configured to perform the following steps by means of a computer program: S1, determining whether the cleaning task of the self-moving device uses a mop assembly; S2, if the cleaning task uses the mop assembly, determining whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and determining whether the self-moving device is equipped with the mop assembly; S3, if the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, controlling the self-moving device to move to a first position in the cleaning base station to move the mop assembly in the cleaning base station onto the self-moving device, wherein the first position is at least the position where the self-moving device installs the mop assembly in the cleaning base station.

[0227] Optionally, the processor described above may also be configured to execute the following steps via a computer program: S1, determining whether the cleaning task of the self-moving device uses a mop assembly; S2, if the cleaning task does not use the mop assembly, determining whether the mop assembly exists in the cleaning base station corresponding to the self-moving device, and determining whether the self-moving device is equipped with the mop assembly; S3, if the mop assembly does not exist in the cleaning base station, and the self-moving device is equipped with the mop assembly, controlling the self-moving device to move to a first position in the cleaning base station to remove the mop assembly from the self-moving device, wherein the first position is at least the position where the self-moving device removes the mop assembly in the cleaning base station.

[0228] Specific examples in this embodiment can be referred to the examples described in the above embodiments and exemplary embodiments, and will not be repeated here.

[0229] Obviously, those skilled in the art should understand that the various modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as...It is implemented as a single integrated circuit module. Thus, the present invention is not limited to any specific hardware and software combination.

[0230] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention. Instruction manual, page 34 / 34; 37 CN 121489329 A; Figure 1; Figure 2; Instruction manual drawing, page 1 / 9; 38 CN 121489329 A; Figure 3; Figure 4; Instruction manual drawing, page 2 / 9; 39 CN 121489329 A; Figure 5; Instruction manual drawing, page 3 / 9; 40 CN 121489329 A; Figure 6; Instruction manual drawing, page 4 / 9; 41 CN 121489329 A; Figure 7; Instruction manual drawing, page 5 / 9; 42 CN 121489329 A; Figure 8; Figure 9; Instruction manual drawing, page 6 / 9; 43 CN 121489329 A; Figure 10; Figure 11; Instruction manual drawing, page 7 / 9; 44 CN 121489329 A; Figure 12; Figure 13; Instruction manual drawing, page 8 / 9; 45 CN 121489329 A; Figure 14; Instruction manual drawing, page 9 / 9; 46 CN 121489329 A MOUNTING METHOD AND APPARATUS FOR MOP ASSEMBLY, STORAGE MEDIUM, AND ELECTRONIC APPARATUS Abstract The present invention discloses a mounting method and apparatus for a mop assembly, a storage medium, and an electronic apparatus.the self-moving device is equipped with a mop assembly, on condition that the mop assembly is to be used in the to-be-cleaned task; and controlling the self-moving device to move to a first position in the cleaning base station to mount the mop assembly in the cleaning base station on the self-moving device, on condition that the mop assembly exists in the cleaning base station and the self-moving device is not equipped with the mop assembly, wherein the first position is at least a position where the self-moving device mounts the mop assembly in the cleaning base station. Through the above solution, the problem in the prior art that a user has to manually mount a mop due to the failure of a sweeping robot to automatically mount the mop, resulting in poor user experience, is solved.

Claims

1. A method for installing a mop assembly of a self-moving device, characterized in that, The self-moving device includes a connecting component, to which the mop assembly is detachably connected; the connecting component has at least a third height and a fifth height along the height direction of the self-moving device; The mop assembly can be connected to the connecting assembly at least at the third and fifth heights; the method further includes: When the self-moving device is not equipped with a mop assembly, the cleaning task of the self-moving device requires the use of a mop assembly, the wheels of the self-moving device are suspended in the air, and it is detected at the third height that the mop assembly and the connecting assembly are not connected, the connecting assembly is controlled to descend from the third height to the fifth height, so that the mop assembly can be connected to the connecting assembly at the fifth height; wherein, the connecting assembly is a lifting structure, and the fifth height corresponds to the manual installation position of the second fixed body of the lifting structure.

2. The method according to claim 1, characterized in that, The method further includes: the connecting component also has a second height, at which the mop component connected to the connecting component can perform mopping work; when a mop component is present in the cleaning base station, no mop component is provided on the self-moving device, the cleaning task of the self-moving device requires the use of a mop component, and the self-moving device is located in the cleaning base station, the connecting component is controlled to descend from the third height to the second height, so as to connect the mop component in the cleaning base station to the connecting component at the second height.

3. The method according to claim 2, characterized in that, Regarding the descent action of the connecting component between the second and third heights, if the duration of the descent between these two heights exceeds a preset duration, the connecting component is controlled to return to the height before descent and then perform another descent action.

4. The method according to claim 2, characterized in that, An abnormal alert will be issued if the number of descent maneuvers performed between two altitudes exceeds a preset threshold.

5. The method according to claim 4, characterized in that, By analyzing the time difference between the signals emitted by the detection elements received at two different heights, the duration of the descent of the connecting component between any two heights is determined. The detection elements are set at any one of the third height, the second height, or multiple heights to detect whether the connecting component is located at the corresponding height. By determining the duration of the connecting component's movement between two heights, it is determined whether there is any abnormality in the movement of the connecting component between the two heights.

6. The method according to claim 1, characterized in that, When the mopping component is detected at the second position, the connecting component is controlled to retract to the third height, and then descend from the third height to the fifth height. The second position is the location of the mop component that can maintain a connection with the connecting component.

7. The method according to claim 6, characterized in that, The system receives second sensing information from the self-moving device, wherein the second sensing information is used to indicate the sensing result of the second sensor of the self-moving device on a second target signal from a second location, the second target signal being emitted by an electronic component disposed on the mop assembly, and the second location being the installation location of the self-moving device where the mop assembly is installed; if the second sensing information indicates that the second target signal is not sensed at the second location, it is determined that the self-moving device is not equipped with the mop assembly.

8. The method according to claim 2, characterized in that, When the self-moving device is equipped with the mop assembly and is not located in the cleaning base station, the working status of the self-moving device is determined. When the working status indicates that the self-moving device is in working state, the connection component at the second height is controlled to rise to the third height, which is the mop component lifting height set for the cleaning task; When the working state indicates that the self-moving device is in an idle state, the self-moving device is controlled to move to the cleaning base station to separate the mop assembly and the connecting assembly of the self-moving device.

9. The method according to claim 1, characterized in that, If the number of cleaning tasks to be performed on the self-moving device is greater than 1, the method further includes: determining the execution order of the first cleaning task and the second cleaning task based on whether the self-moving device is equipped with the mop assembly at the current moment; wherein the first cleaning task is the task to be performed that uses the mop assembly, and the second cleaning task is the task to be performed that does not use the mop assembly.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method described in any one of claims 1 to 9.

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