Control method and device of cleaning robot system

Abstract

The present invention discloses a control method and device for a cleaning robot system. The cleaning robot system includes a cleaning robot and a cleaning base station. The cleaning base station is provided with a robot docking space. The cleaning robot includes a robot body and a mop plate. The robot body includes a mop rotating shaft. The cleaning base station includes a lifting chassis arranged in the robot docking space. The mop rotating shaft is provided with an in-position sensor. The control method includes: detecting whether the robot body is docked in the robot docking space; in the case of detecting that the robot body is docked in the robot docking space, controlling the lifting chassis to drive the mop plate placed thereon to rise; detecting whether the in-position sensor is triggered; in the case of the in-position sensor being triggered, controlling the lifting chassis to descend back to the lowest position. The above scheme can solve the problem of low disassembly and assembly efficiency of the cleaning robot due to manual replacement when replacing the mop plate.

Description

Technical Field

[0001] The present invention relates to the technical field of household intelligent devices, and in particular to a control method and device for a cleaning robot system. Background Art

[0002] Home smart devices play an increasingly important role in people's lives. As a result, more and more home smart devices appear in people's lives. Among them, cleaning robots are a more common type of home smart device. In order to improve the cleaning ability, the cleaning robot involved in the related technology is not only equipped with a cleaning head, but also equipped with a detachable mop plate, and the mop plate is installed with a mop. When entering the mopping mode, the cleaning robot will mop the floor.

[0003] When the cleaning robot is not needed for cleaning or the mop needs to be replaced after working for a period of time, the user needs to manually remove the mop plate. Of course, after removal, the user needs to manually install the mop plate when using it again. Obviously, this will lead to low efficiency in disassembly and assembly of the mop plate, which will eventually affect the user experience. Summary of the invention

[0004] The invention discloses a control method and device for a cleaning robot system, so as to solve the problem of low disassembly and assembly efficiency due to manual replacement when the mop plate of the cleaning robot is replaced.

[0005] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0006] In a first aspect, the present application discloses a control method for a cleaning robot system, the cleaning robot system comprising a cleaning robot and a cleaning base station, the cleaning base station being provided with a robot docking space, the cleaning robot comprising a robot body and a mop plate, the robot body comprising a mop rotating shaft, the cleaning base station comprising a lifting chassis arranged in the robot docking space, the mop rotating shaft being provided with an in-position sensor, the control method comprising:

[0007] Detecting whether the robot body is docked in the robot docking space;

[0008] When it is detected that the robot body is docked in the robot docking space, the lifting chassis is controlled to drive the mop plate placed thereon to rise;

[0009] Detecting whether the presence sensor is triggered;

[0010] When the in-position sensor is triggered, the lifting chassis is controlled to descend back to the lowest position.

[0011] In a second aspect, the present application further discloses a control device for a cleaning robot system, the cleaning robot system comprising a cleaning robot and a cleaning base station, the cleaning base station being provided with a robot docking space, the cleaning robot comprising a robot body and a mop plate, the robot body comprising a mop rotating shaft, the cleaning base station comprising a lifting chassis arranged in the robot docking space, the mop rotating shaft being provided with an in-position sensor, and the control device comprising:

[0012] A first detection module, used to detect whether the robot body is docked in the robot docking space;

[0013] A first control module is used to control the lifting chassis to drive the mop plate placed thereon to rise when detecting that the robot body is docked in the robot docking space;

[0014] A second detection module, used to detect whether the presence sensor is triggered;

[0015] The second control module controls the lifting chassis to descend back to the lowest position when the in-position sensor is triggered.

[0016] The technical solution adopted by the present invention can achieve the following technical effects:

[0017] The control method of the cleaning robot system disclosed in the embodiment of the present application can control the lifting chassis to drive the mop plate placed thereon to rise when the robot body is detected to be docked in the robot docking space, so that the mop plate is installed on the mop rotating shaft, so that after the in-position sensor is triggered, it can be confirmed that the mop plate is installed on the mop rotating shaft, and then the lifting chassis can be controlled to drop back to the lowest position, so that the mop plate can be automatically installed. Compared with manually installing the mop plate, it can improve the intelligence of the equipment, facilitate user use, and improve installation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of a cleaning robot system disclosed in an embodiment of the present invention;

[0019] Figure 2 A flow chart of a first control method when installing a mop tray;

[0020] Figure 3 A flow chart of a second control method when installing a mop tray;

[0021] Figure 4 A flow chart of the third control method when the mop tray is installed;

[0022] Figure 5 A schematic diagram of a control device of a cleaning robot system disclosed in an embodiment of the present invention;

[0023] Figure 6 A flow chart of a first control method when the mop plate is disassembled;

[0024] Figure 7 The flowchart of the second control method when the mop plate is disassembled. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] The technical solutions disclosed in various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0027] The present invention discloses a control method for a cleaning robot system. Figure 1 The disclosed cleaning robot system includes a cleaning robot and a cleaning base station. The cleaning robot is a device for cleaning a cleaning area (such as a floor), and the cleaning base station is a device for the cleaning robot to dock and clean the cleaning robot.

[0028] The cleaning base station is provided with a robot docking space, and the cleaning robot can automatically enter and exit the robot docking space. The cleaning robot includes a robot body and a mop plate, and the robot body includes a mop rotating shaft. The robot body can automatically enter and exit the robot docking space. The mop plate is a component used by the cleaning robot when mopping the floor. The mop plate is used to be installed on the mop rotating shaft. After the mop plate is installed on the mop rotating shaft, the mop rotating shaft drives the mop plate to rotate to perform the mopping function. When the cleaning robot does not need to mop the floor or needs to clean the mop plate, the mop plate can be separated from the robot body.

[0029] The cleaning base station includes a lifting chassis arranged in the robot docking space, and the lifting chassis can realize the lifting function. The mop rotating shaft is provided with an in-position sensor, which can be an infrared sensor or a travel switch, etc. When the mop plate is installed on the mop rotating shaft, the in-position sensor will be triggered, and when the mop plate is not installed on the mop rotating shaft, the in-position sensor will not be triggered.

[0030] Please refer to Figure 2 The control flow chart shown is when the mop plate is installed on the mop rotating shaft, and the disclosed control method includes:

[0031] S101: Detect whether the robot body is docked in the robot docking space.

[0032] Specifically, at least one of the robot body and the cleaning base station may be provided with an infrared detection device, and when the robot body is docked in the robot docking space, the infrared detection device may be triggered, so that it can be determined that the robot body is docked in the robot docking space. Of course, at least one of the robot body and the cleaning base station may also be provided with a travel switch, and when the robot body is docked in the robot docking space, the travel switch may be triggered, so that it can be determined that the robot body is docked in the robot docking space. Furthermore, at least one of the robot body and the cleaning base station may be provided with a Hall sensor, and the Hall sensor may also be used to detect whether the robot body is docked in the robot docking space, and the close-range magnetic field may be detected to indicate whether the robot body is in the robot docking space. Of course, when detecting whether the robot body is docked in the robot docking space, other methods may also be used for detection, and the specific detection method is not limited here. Detecting whether the robot body is docked in the robot docking space may be performed continuously or intermittently.

[0033] S102: When it is detected that the robot body is docked in the robot docking space, the lifting chassis is controlled to drive the mop plate placed thereon to rise.

[0034] Specifically, when it is detected that the robot body is docked in the robot docking space, the lifting chassis can drive the mop plate placed thereon to rise, so that the mop plate is close to the mop rotating shaft, so as to install the mop plate on the mop rotating shaft. The mop plate can be placed on the lifting chassis in advance, or it can be placed on the lifting chassis after the robot body enters the robot docking space. The lifting chassis can be connected to a driving mechanism, and the driving mechanism can drive the lifting chassis to lift and lower, and the driving mechanism can be a hydraulic driving component, a pneumatic driving component, a linear motor, etc.

[0035] S103: Detect whether the presence sensor is triggered.

[0036] Specifically, after the in-place sensor is triggered, it can be confirmed that the mop plate is installed on the mop rotating shaft. When the in-place sensor is not triggered, it can be confirmed that the mop plate is not successfully installed on the mop rotating shaft.

[0037] S104: When the in-position sensor is triggered, the lifting chassis is controlled to descend back to the lowest position.

[0038] When the in-position sensor is triggered, it can be confirmed that the mop plate is installed on the mop rotating shaft, thereby controlling the lifting chassis to drop back to the lowest position, and finally achieving the resetting of the lifting chassis.

[0039] The control method of the cleaning robot system disclosed in the embodiment of the present application can control the lifting chassis to drive the mop plate placed thereon to rise when the robot body is detected to be docked in the robot docking space, so that the mop plate is installed on the mop rotating shaft, so that after the in-position sensor is triggered, it can be confirmed that the mop plate is installed on the mop rotating shaft, and then the lifting chassis can be controlled to fall back to the lowest position, so that the mop plate can be automatically installed. Compared with manual installation of the mop plate, the intelligent installation of the mop plate can be improved, which is convenient for users to use and improves installation efficiency.

[0040] Optionally, before controlling the lifting chassis to drive the mop tray placed thereon to rise, the disclosed control method may further include: detecting whether the mop tray is located on the lifting chassis. If the mop tray is detected to be located on the lifting chassis, controlling the lifting chassis to drive the mop tray placed thereon to rise.

[0041] Whether the mop plate is located on the lifting chassis can be detected by a pressure sensor located on the lifting chassis, and whether the mop plate is on the lifting chassis can be determined according to the pressure change of the pressure sensor. Of course, it is also possible to detect whether the mop plate is on the lifting chassis by an infrared detection device. When the mop plate is on the lifting chassis, the infrared detection device is triggered, and when the mop plate is not on the lifting chassis, the infrared detection device is not triggered.

[0042] Specifically, the installation of the mop plate and the mop rotating shaft can be a mechanism that can realize the detachable matching of the mop plate and the mop rotating shaft after the mop plate is lifted by the lifting chassis. Figure 1 As shown, for example, the mop rotating shaft is provided with a first metal sheet, and the mop disc is provided with a first permanent magnet, and the first permanent magnet can be installed in the mounting groove of the mop disc. When the mop disc is close to the mop rotating shaft, when the magnetic attraction between the first permanent magnet and the first metal sheet is sufficient, the first metal sheet and the first permanent magnet form a detachable magnetic connection mechanism, and the mop disc can be installed on the mop rotating shaft under the action of the detachable magnetic connection mechanism. Of course, the mop disc and the mop rotating shaft can be respectively provided with a first permanent magnet and a second permanent magnet with opposite magnetic properties, and the installation of the mop disc is achieved by the detachable magnetic connection mechanism formed by the first permanent magnet and the second permanent magnet with opposite magnetic properties. Of course, the mop disc can also be installed on the mop rotating shaft by a buckle, and there is no specific restriction on the installation of the mop disc here.

[0043] Specifically, before installing the mop tray, you need to ensure that the robot body is in the robot docking space and the mop tray is on the lifting chassis. If the robot body is not in the robot docking space, the robot body needs to return to the robot docking space. When the robot body returns to the robot docking space, the lifting chassis needs to be in the lowest position to ensure that it will not affect the robot body returning to the robot docking space.

[0044] In an optional embodiment, a position sensor may be provided in the robot docking space, and the position sensor may be used to detect the current position of the lifting chassis. The position sensor may be an infrared detection device or a travel switch. There may be one position sensor, and the lifting chassis may be detected at multiple positions during the lifting process by one position sensor, for example, the position of the lifting chassis may be detected in real time by an infrared sensor. Of course, there may be multiple position sensors, and the multiple position sensors may be respectively provided at different positions to realize separate detection of multiple positions of the lifting chassis during the lifting process.

[0045] Please refer to Figure 3 , the disclosed control method may further include:

[0046] S201: When the in-position sensor is not triggered, control the position sensor to detect the current position of the lifting chassis.

[0047] In the case where the in-position sensor is not triggered, it can be determined that the mop tray is not installed successfully, so the current position of the lifting chassis is further detected by the position sensor.

[0048] S202: Determine whether the current position is at the highest position.

[0049] S203: When the current position is at the highest position, the lifting chassis is controlled to descend back to the lowest position, and a second message indicating that the mop tray is not installed successfully is sent.

[0050] Specifically, the highest position and the lowest position are system preset positions. When the position sensor detects that the lifting chassis is in the highest position, it can be confirmed that the mop plate installation has failed, thereby issuing a second message that the mop plate has not been successfully installed to prompt personnel to intervene in time.

[0051] The embodiment disclosed in the present application is provided with a position sensor, so that when the position sensor confirms that the lifting chassis is raised to the highest position, the in-position sensor is still not triggered, and it can be confirmed that the mop tray installation has failed, and the lifting chassis is lowered back to the lowest position, and the mop tray is no longer installed to avoid damage, and a second message of unsuccessful installation is sent in time to prompt personnel to intervene. The second message can be a voice message, a light message, etc.

[0052] Please refer to Figure 4 Furthermore, the disclosed control method may also include:

[0053] S301: When the current position has not reached the highest position, control the lifting chassis to rise to the highest position, and start the step of detecting whether the in-position sensor is triggered.

[0054] When the position sensor detects that the lifting chassis has not reached the highest position, an attempt can be made again to control the lifting chassis to rise to the highest position to further install the mop tray, which is beneficial to improve the success rate of the installation of the mop tray.

[0055] In an optional embodiment, when the in-position sensor is triggered, after the lifting chassis is controlled to descend back to the lowest position, the disclosed control method further includes:

[0056] Step A1, detecting whether the presence sensor is triggered.

[0057] Step A2: when the in-place sensor is triggered, first information about successful installation of the mop tray is sent.

[0058] Step A3: when the in-place sensor is not triggered, sending a second message about the mop tray not being installed successfully.

[0059] By detecting whether the in-position sensor remains in the triggered state, it is possible to perform real-time verification on whether the mop plate is installed on the mop rotating shaft. This can effectively avoid the problem of mistakenly believing that the mop plate is still successfully installed after the mop plate falls off due to loose installation when the lifting chassis descends back to the lowest position.

[0060] The present application discloses a control device for a cleaning robot system. The cleaning robot system includes a cleaning robot and a cleaning base station. The cleaning base station is provided with a robot docking space. The cleaning robot includes a robot body and a mop plate. The robot body includes a mop rotating shaft. The cleaning base station includes a lifting chassis arranged in the robot docking space. The mop rotating shaft is provided with an in-position sensor.

[0061] The cleaning robot system disclosed in this embodiment is the same as or similar to the various components of the above-mentioned cleaning robot system. The various components can be referenced to each other and will not be described in detail here.

[0062] Please refer to Figure 5 , the control device of the cleaning robot system disclosed in the present application includes:

[0063] The first detection module 501 is used to detect whether the robot body is docked in the robot docking space.

[0064] The first control module 502 is used to control the lifting chassis to drive the mop plate placed thereon to lift up when it is detected that the robot body is docked in the robot docking space.

[0065] The second detection module 503 is used to detect whether the presence sensor is triggered.

[0066] The second control module 504 controls the lifting chassis to descend back to the lowest position when the in-position sensor is triggered.

[0067] It should be noted that the methods and steps executed by the first detection module, the first control module, the second detection module and the second control module are similar or identical to the methods and steps in the above-mentioned embodiments, and can be referred to each other, and will not be repeated here. In addition, the first control module 502 and the second control module 504 can specifically indirectly realize the control of the lifting or lowering of the lifting chassis by controlling the movement of the above-mentioned driving mechanism.

[0068] When the control device of the cleaning robot system disclosed in the embodiment of the present application detects that the robot body is docked in the robot docking space through the first detection module 501, the first control module 502 can be used to control the lifting chassis to drive the mop plate placed thereon to rise, so that the mop plate is installed on the mop rotating shaft, so that after the second detection module 503 detects that the in-position sensor is triggered, it can be confirmed that the mop plate is installed on the mop rotating shaft, and then the lifting chassis can be controlled to drop back to the lowest position through the second control module 504, so that the mop plate can be automatically installed. Compared with the manual installation of the mop plate, the intelligent installation of the mop plate can be improved, which is convenient for users to use and improves the installation efficiency.

[0069] In an optional embodiment, the control device may further include a position detection module, and the position detection module may include a position sensor.

[0070] The position detection module is used to detect the current position of the lifting chassis when the in-position sensor is not triggered.

[0071] The second control module 504 is further used to control the lifting chassis to descend back to the lowest position when the current position is at the highest position.

[0072] The first prompt module is used to send out a second message about the mop tray not being installed successfully when the current position is at the highest position.

[0073] In an optional embodiment, the first control module 502 is further used to control the lifting chassis to rise to the highest position and start the second detection module 503 when the current position has not reached the highest position.

[0074] In an optional embodiment, the second detection module 503 is further used to detect whether the in-position sensor is triggered after controlling the lifting chassis to descend back to the lowest position when the in-position sensor is triggered.

[0075] The first prompt module is used to send out first information about the successful installation of the mop tray when the in-place sensor is triggered; and send out second information about the unsuccessful installation of the mop tray when the in-place sensor is not triggered.

[0076] The methods and steps used to execute by the first detection module 501, the first control module 502, the second detection module 503 and the second control module 504, the position detection module and the first prompt module are similar to or the same as the methods and steps in the above-mentioned embodiments, and can be referenced to each other and will not be repeated here.

[0077] Specifically, before installing the mop tray, you need to ensure that the robot body is in the robot docking space and the mop tray is on the lifting chassis. If the robot body is not in the robot docking space, the robot body needs to return to the robot docking space. When the robot body returns to the robot docking space, the lifting chassis needs to be in the lowest position to ensure that it will not affect the robot body returning to the robot docking space.

[0078] The present application also discloses another control method of a cleaning robot system, the cleaning robot system includes a cleaning robot and a cleaning base station, the cleaning base station is provided with a robot docking space, the cleaning robot includes a robot body and a mop plate, the robot body includes a mop rotating shaft, the cleaning base station includes a lifting chassis arranged in the robot docking space, the lifting chassis is provided with a pressure sensor, the lifting chassis is provided with a first electromagnetic member, and the mop plate is provided with a second metal sheet or a third permanent magnet. The cleaning robot system in this embodiment has the same or similar features as the cleaning robot system in the aforementioned embodiment, and the same or similar features can be referenced to each other, and will not be repeated here.

[0079] The first electromagnetic component may be a component that generates a magnetic field when powered on and disappears when powered off, for example, the first electromagnetic component may be an electromagnetic coil. The second metal sheet may be a metal component that can be magnetically attracted to the first electromagnetic component when powered on.

[0080] Please refer to Figure 6 The disclosed control method is used to disassemble the mop plate from the mop rotating shaft, and the disclosed control method includes:

[0081] S601: Detect whether the robot body is docked in the robot docking space.

[0082] S601 and S101 are identical or similar, and S601 and S101 can refer to each other, and will not be described in detail here. Since the mop plate is disassembled from the mop rotating shaft, the mop plate is installed on the mop rotating shaft, and it is detected that the robot body is docked in the robot docking space, it can be explained that the cleaning robot is docked in the robot docking space.

[0083] S602: When it is detected that the robot body is docked in the robot docking space, the lifting chassis is controlled to rise.

[0084] The lifting chassis is lifted up, which means that the lifting chassis is lifted up to be close to the mop plate. The lifting chassis can be connected to a driving mechanism, which can drive the lifting chassis to lift up and down, and the driving mechanism can be a hydraulic driving part, a pneumatic driving part, etc.

[0085] S603: After the lifting chassis is lifted, the first electromagnetic component is controlled to be energized so as to allow the first electromagnetic component to be magnetically attracted to the second metal sheet or the third permanent magnet.

[0086] Specifically, after the lifting chassis is raised to the highest position, the first electromagnetic component is controlled to be energized, and the lifting chassis can also be controlled to be energized at a position between the lowest position and the highest position. The first electromagnetic component is magnetically attracted to the second metal sheet or the third permanent magnet, and is used to remove the mop plate from the mop rotating shaft. The magnetic attraction force between the first electromagnetic component and the second metal sheet or the third permanent magnet is positively correlated with the distance between them, and is positively correlated with the current of the first electromagnetic component.

[0087] S604: Detect whether the pressure sensor is triggered.

[0088] Specifically, after the pressure sensor is triggered, it can be confirmed that the mop plate is removed from the mop rotating shaft, and when the pressure sensor is not triggered, it can be confirmed that the mop plate is still installed on the mop rotating shaft. When the first electromagnetic member and the second metal sheet or the third permanent magnet are magnetically attracted, the force condition of the lifting chassis will be changed. The pressure sensor can be used to detect the force change of the lifting chassis to determine whether the mop plate is removed. The pressure trigger value of the pressure sensor can be a pressure value obtained through experiments, so that the pressure sensor can be triggered after the mop plate is removed by the magnetic attraction force.

[0089] S605: When the pressure sensor is triggered, the lifting chassis is controlled to descend back to the lowest position.

[0090] When the pressure sensor is triggered, it can be confirmed that the mop plate has been removed from the mop rotating shaft to the lifting chassis, thereby confirming that the mop plate is separated from the mop rotating shaft by the magnetic attraction of the first electromagnetic component and the second metal sheet or the third permanent magnet, thereby realizing the removal of the mop plate.

[0091] The embodiment disclosed in the present application can control the lifting chassis to rise by detecting that the robot body is docked in the robot docking space. After the lifting chassis is raised, the first electromagnetic component can be energized to cause the first electromagnetic component to be magnetically attracted to the second metal sheet or the third permanent magnet, so that the mop plate can be removed from the mop rotating shaft under the action of the magnetic attraction force. When the pressure sensor is triggered, it can be confirmed that the mop plate has been removed, so that the lifting chassis can be controlled to drop back to the lowest position, thereby realizing automatic removal of the mop plate, solving the problems of low efficiency and poor user experience in manual removal of the mop plate.

[0092] Specifically, before removing the mop tray, it is necessary to ensure that the cleaning robot is in the robot docking space. If it is detected that the cleaning robot is not in the robot docking space, it is necessary to control the cleaning robot to return to the robot docking space. Before the cleaning robot returns to the robot docking space, it is necessary to confirm that the lifting chassis is in the lowest position. When the lifting chassis is not in the lowest position, the lifting chassis can be controlled to descend to the lowest position, and then the cleaning robot can be controlled to enter the robot docking space to ensure that the cleaning robot returns to the robot docking space.

[0093] For an optional embodiment, please refer to Figure 7 , a position sensor may be provided in the robot docking space, and the disclosed control method further includes:

[0094] S701: When the pressure sensor is not triggered, the position sensor is controlled to detect whether the actual position of the lifting chassis reaches the highest position.

[0095] S702: When the actual position reaches the highest position, the lifting chassis is controlled to descend back to the lowest position.

[0096] When it is confirmed that the actual position has reached the highest position, it can be confirmed that the mop plate has failed to be unloaded, and the lifting chassis is controlled to drop back to the lowest position.

[0097] S703: When the actual position has not reached the highest position, control the lifting chassis to continue to rise, and start the step of detecting whether the pressure sensor is triggered.

[0098] When the position sensor detects that the actual position has not reached the highest position, the lifting chassis can be controlled to continue to rise to try to remove the mop plate again, which is beneficial to improve the success rate of removing the mop plate.

[0099] In an optional embodiment, the mop rotating shaft is provided with an in-position sensor, which can be used to detect whether the mop plate is installed on the mop rotating shaft. When the pressure sensor is triggered, after controlling the lifting chassis to descend back to the lowest position, the disclosed control method further includes:

[0100] Step B1, detecting whether the presence sensor is triggered.

[0101] The in-position sensor can be an infrared sensor or a travel switch. When the mop plate is installed on the mop rotating shaft, the in-position sensor will be triggered. When the mop plate is not installed on the mop rotating shaft, the in-position sensor will not be triggered.

[0102] It should be noted that step B1 and step S103 have the same similarities and can be referenced to each other, which will not be described in detail here.

[0103] Step B2: when the in-place sensor is triggered, stop the control or send a third message about the failure of the mop plate to be disassembled.

[0104] The in-place sensor is triggered, indicating that the mop tray is still installed and the removal is unsuccessful.

[0105] Step B3: When the presence sensor is not triggered, a fourth message regarding successful removal of the mop tray is sent.

[0106] By detecting whether the in-position sensor is triggered, double detection is achieved to further determine whether the mop plate is successfully disassembled, thereby preventing the mop plate from being reinstalled on the mop rotating shaft under the suction of the mop rotating shaft after being disassembled, which may lead to the problem of mistakenly believing that the disassembly is successful.

[0107] Optionally, in the disclosed control method, controlling the lifting chassis to lift includes: controlling the lifting chassis to lift to a preset position, wherein the preset position is lower than the highest position of the lifting chassis.

[0108] The distance between the preset position and the highest position may be smaller than the distance between the preset position and the lowest position.

[0109] After the lifting chassis is lifted, the first electromagnetic component is controlled to be energized, including: after the lifting chassis is lifted to a preset position, the first electromagnetic component is controlled to be energized.

[0110] By setting a preset position, the lifting chassis does not need to be raised to the highest position directly at once. The lifting chassis is first raised to a preset position in the middle, and then the first electromagnetic member is energized. The mop plate can be directly removed at the preset position without further raising the mop plate. The energy consumption caused by the continued rise of the lifting chassis can be avoided, and the base station chassis can be lowered in advance to improve the efficiency of removing the mop plate.

[0111] Optionally, after the lifting chassis is lifted and before the first electromagnetic member is controlled to be energized, the disclosed control method further includes: step C1, detecting whether the current position of the lifting chassis is the highest position.

[0112] After the lifting chassis is lifted, the first electromagnetic component is controlled to be energized, including: when the lifting chassis is lifted to the highest position, the first electromagnetic component is controlled to be energized.

[0113] By determining that the lifting chassis is raised to the highest position, the first electromagnetic component is controlled to be energized, thereby ensuring that the magnetic force between the first electromagnetic component and the second metal sheet or the third permanent magnet is maximum after being energized, so that insufficient magnetic force will not be caused by insufficient distance, thereby improving the success rate of removing the mop plate.

[0114] In an optional embodiment, when the lifting chassis is raised to the highest position, controlling the first electromagnetic member to be energized includes:

[0115] When the lifting chassis is raised to the highest position, the current value of the first electromagnetic member is controlled to increase gradually within a preset current threshold range.

[0116] When the lifting chassis is raised to the highest position, the current value of the first electromagnetic component is controlled to increase gradually within a preset current value range without making the current value directly at the maximum value. The mop plate may have been disassembled during the process of increasing the current value, thereby reducing energy consumption to a certain extent.

[0117] The present application also discloses another control device of a cleaning robot system, the cleaning robot system includes a cleaning robot and a cleaning base station, the cleaning base station is provided with a robot docking space, the cleaning robot includes a robot body and a mop plate, the robot body includes a mop rotating shaft, the cleaning base station includes a lifting chassis arranged in the robot docking space, the lifting chassis is provided with a pressure sensor, the lifting chassis is provided with a first electromagnetic member, and the mop plate is provided with a second metal sheet or a third permanent magnet. The cleaning robot system in this embodiment has the same or similar features as the cleaning robot system disclosed above, and the same or similar features can be referenced to each other, and will not be repeated here.

[0118] The disclosed control device comprises:

[0119] The first detection module 501 is used to detect whether the robot body is docked in the robot docking space.

[0120] Since the mop disc is disassembled from the mop rotating shaft, and the mop disc is installed on the mop rotating shaft, if it is detected that the robot body is docked in the robot docking space, it can be explained that the cleaning robot is docked in the robot docking space.

[0121] The first control module 502 is used to control the lifting chassis to rise when it is detected that the robot body is docked in the robot docking space.

[0122] The third control module is used to control the first electromagnetic component to be energized after the lifting chassis is lifted, so as to make the first electromagnetic component magnetically attracted to the second metal sheet or the third permanent magnet.

[0123] The third detection module is used to detect whether the pressure sensor is triggered.

[0124] The second control module 504 is used to control the lifting chassis to descend back to the lowest position when the pressure sensor is triggered.

[0125] In an optional embodiment, a position sensor is provided in the robot docking space, and the control device may further include a position detection module, and the position detection module may include the position sensor.

[0126] The position detection module is used to detect whether the actual position of the lifting chassis has reached the highest position when the pressure sensor is not triggered.

[0127] The second control module 504 is used to control the lifting chassis to descend back to the lowest position when the actual position reaches the highest position.

[0128] The first control module 502 controls the lifting chassis to continue to rise and starts the second detection module 503 when the actual position has not reached the highest position.

[0129] In an optional embodiment, the mop rotating shaft is provided with an in-position sensor. The disclosed control device further comprises: a second detection module 503, which is further used to detect whether the in-position sensor is triggered after the lifting chassis is controlled to descend to the lowest position when the pressure sensor is triggered.

[0130] The disclosed control device also includes a second prompt module.

[0131] When the in-position sensor is triggered again, the control is stopped; or, the second prompt module sends a third message about the failure of the mop plate to be disassembled.

[0132] The second prompt module is further configured to send a fourth message regarding successful removal of the mop tray when the in-place sensor is not triggered.

[0133] In an optional embodiment, the second control module 504 is used to control the lifting chassis to rise to a preset position, wherein the preset position is lower than the highest position of the lifting chassis.

[0134] The third control module is used to control the first electromagnetic component to be energized after the lifting chassis is raised to a preset position.

[0135] In an optional embodiment, the position detection module is used to detect whether the current position of the lifting chassis is the highest position after the lifting chassis is raised and before the first electromagnetic member is controlled to be energized.

[0136] The third control module controls the first electromagnetic component to be energized when the lifting chassis is raised to the highest position.

[0137] In an optional embodiment, the control device disclosed in the present application further includes a fourth control module, which is used to control the current value of the first electromagnetic component to increase within a preset current threshold range when the lifting chassis is raised to the highest position.

[0138] The steps and methods executed by the first detection module 501, the second detection module 503, the first control module 502, the second control module 504, the third control module, the position detection module, the fourth control module, and the second prompt module are the same as or similar to the methods and steps disclosed in the above embodiments, and can be referenced to each other and will not be repeated here.

[0139] The above embodiments of the present invention focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0140] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A control method for a cleaning robot system, characterized in that: The cleaning robot system comprises a cleaning robot and a cleaning base station, wherein the cleaning base station is provided with a robot docking space, wherein a position sensor is provided in the robot docking space, wherein the cleaning robot comprises a robot body and a mop plate, wherein the robot body comprises a mop rotating shaft, wherein the cleaning base station comprises a lifting chassis provided in the robot docking space, wherein the mop rotating shaft is provided with an in-position sensor, and wherein the control method comprises: Detecting whether the robot body is docked in the robot docking space; When it is detected that the robot body is docked in the robot docking space, the lifting chassis is controlled to drive the mop plate placed thereon to rise; Detecting whether the presence sensor is triggered; When the in-position sensor is triggered, controlling the lifting chassis to descend back to the lowest position; When the in-position sensor is not triggered, controlling the position sensor to detect the current position of the lifting chassis; When the current position is at the highest position, the lifting chassis is controlled to descend back to the lowest position, and a second message indicating that the mop tray is not successfully installed is sent.

2. The control method according to claim 1, characterized in that: The control method further comprises: In the case that the current position does not reach the highest position, the lifting chassis is controlled to rise to the highest position, and the step of detecting whether the in-position sensor is triggered is started.

3. The control method according to claim 1, characterized in that: When the in-position sensor is triggered, after controlling the lifting chassis to descend back to the lowest position, the control method further includes: Detecting whether the presence sensor is triggered; When the in-place sensor is triggered, sending first information about successful installation of the mop tray; When the in-position sensor is not triggered, second information indicating that the mop tray is not installed successfully is sent.

4. A control device for a cleaning robot system, characterized in that: The cleaning robot system comprises a cleaning robot and a cleaning base station, wherein the cleaning base station is provided with a robot docking space, the cleaning robot comprises a robot body and a mop plate, the robot body comprises a mop rotating shaft, the cleaning base station comprises a lifting chassis arranged in the robot docking space, the mop rotating shaft is provided with an in-position sensor, and the control device comprises: A first detection module, used to detect whether the robot body is docked in the robot docking space; A first control module is used to control the lifting chassis to drive the mop plate placed thereon to rise when detecting that the robot body is docked in the robot docking space; A second detection module, used to detect whether the presence sensor is triggered; The second control module controls the lifting chassis to descend back to the lowest position when the in-position sensor is triggered.

5. A control method for a cleaning robot system, characterized in that: The cleaning robot system comprises a cleaning robot and a cleaning base station, wherein the cleaning base station is provided with a robot docking space, the cleaning robot comprises a robot body and a mop plate, the robot body comprises a mop rotating shaft, the cleaning base station comprises a lifting chassis arranged in the robot docking space, the lifting chassis is provided with a pressure sensor, the lifting chassis is provided with a first electromagnetic member, the mop plate is provided with a second metal sheet or a third permanent magnet, and a position sensor is provided in the robot docking space, and the control method comprises: Detecting whether the robot body is docked in the robot docking space; When it is detected that the robot body is docked in the robot docking space, controlling the lifting chassis to rise; After the lifting chassis is raised, the first electromagnetic member is controlled to be energized so that the first electromagnetic member is magnetically attracted to the second metal sheet or the third permanent magnet; Detecting whether the pressure sensor is triggered; When the pressure sensor is triggered, controlling the lifting chassis to descend back to the lowest position; When the pressure sensor is not triggered, controlling the position sensor to detect whether the actual position of the lifting chassis reaches the highest position; When the actual position reaches the highest position, the lifting chassis is controlled to descend back to the lowest position.

6. The control method according to claim 5, characterized in that: In a case where the actual position has not reached the highest position, the lifting chassis is controlled to continue to rise, and the step of detecting whether the pressure sensor is triggered is started.

7. The control method according to claim 5, characterized in that: The mop rotating shaft is provided with an in-position sensor. When the pressure sensor is triggered, after the lifting chassis is controlled to descend back to the lowest position, the control method further includes: Detecting whether the presence sensor is triggered; When the in-position sensor is triggered, stopping control or issuing third information about the failure of disassembly of the mop tray; When the in-position sensor is not triggered, a fourth message regarding successful removal of the mop tray is sent.

8. The control method according to claim 5, characterized in that: The controlling the lifting chassis to rise includes: controlling the lifting chassis to rise to a preset position, wherein the preset position is lower than the highest position of the lifting chassis; After the lifting chassis is lifted, controlling the first electromagnetic component to be energized includes: after the lifting chassis is lifted to the preset position, controlling the first electromagnetic component to be energized.

9. The control method according to claim 5, characterized in that: After the lifting chassis is raised and before the first electromagnetic member is controlled to be energized, the control method further includes: detecting whether the current position of the lifting chassis is the highest position; After the lifting chassis is raised, controlling the first electromagnetic member to be energized includes: When the lifting chassis is raised to the highest position, the first electromagnetic member is controlled to be energized.

10. The control method according to claim 9, characterized in that: When the lifting chassis is raised to the highest position, controlling the first electromagnetic member to be energized includes: When the lifting chassis is raised to the highest position, the current value of the first electromagnetic member is controlled to increase gradually within a preset current threshold range.

11. A control device for a cleaning robot system, characterized in that: The cleaning robot system comprises a cleaning robot and a cleaning base station, wherein the cleaning base station is provided with a robot docking space, the cleaning robot comprises a robot body and a mop plate, the robot body comprises a mop rotating shaft, the cleaning base station comprises a lifting chassis arranged in the robot docking space, the lifting chassis is provided with a pressure sensor, the lifting chassis is provided with a first electromagnetic member, the mop plate is provided with a second metal sheet or a third permanent magnet, and the control device comprises: A first detection module, used to detect whether the robot body is docked in the robot docking space; A first control module is used to control the lifting chassis to rise when detecting that the robot body is docked in the robot docking space; a third control module, configured to control the first electromagnetic member to be energized after the lifting chassis is lifted, so as to allow the first electromagnetic member to be magnetically attracted to the second metal sheet or the third permanent magnet; A third detection module, used to detect whether the pressure sensor is triggered; The second control module is used to control the lifting chassis to descend back to the lowest position when the pressure sensor is triggered.

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