Method for operating a base station and related device

Abstract

The embodiment of the application discloses a base station working control method and related equipment, the base station can monitor the real-time liquid level of the liquid in the cleaning tank, when it is found that the real-time liquid level is lower than the preset reference liquid level, the cleaning operation of the cleaning robot can be normally executed; when it is found that the real-time liquid level is higher than or equal to the preset reference liquid level, all working tasks of the base station need to be stopped, so that the water in the cleaning tank can be prevented from overflowing due to equipment working concussion, and meanwhile, the malfunction of each part of the robot caused by being soaked during operation can also be avoided. In addition, since the cleaning effect of the cleaning robot is not good when the liquid level in the cleaning tank is too high, the working tasks of the base station are stopped when the liquid level is too high, and the cleaning of the cleaning robot is performed only when the liquid level is low, so that the cleaning effect of the cleaning robot can be avoided.

Description

Technical Field

[0001] This application relates to the field of cleaning robots, specifically to a base station operation control method and related equipment. Background Technology

[0002] The base station used for charging and cleaning the cleaning robot can be equipped with a cleaning tank. The cleaning robot can move to the cleaning tank so that the base station can clean the robot's mopping parts. In related solutions, the cleaning tank is equipped with a liquid level detection electrode assembly, which can detect and monitor the liquid level in the cleaning tank in real time during the cleaning process. When the liquid level reaches a preset overflow prevention value, it can take appropriate actions in a timely manner, such as stopping the base station's clean water tank from draining water or promptly draining the water in the cleaning tank, so as to minimize the overflow of sewage from the cleaning tank and improve the safety of use.

[0003] However, in the relevant solutions, when the liquid level in the cleaning tank reaches the preset overflow level, only the clean water tank stops working. Since the water in the cleaning tank is about to overflow at this time, it may cause the base station or cleaning robot to malfunction, and it will also affect the cleaning effect of the cleaning robot's mopping parts. Summary of the Invention

[0004] This application provides a base station operation control method, a base station for a cleaning robot, and a computer-readable storage medium, which is used to start or stop the working task according to the real-time liquid level of the cleaning tank of the base station, so as to avoid the base station components from getting wet and causing failure, and to avoid the cleaning effect of the cleaning robot's mopping component being affected.

[0005] A first aspect of this application provides a base station operation control method, the method being applied to a base station, the method comprising:

[0006] Monitor the real-time liquid level in the cleaning tank of the base station;

[0007] When the real-time liquid level is lower than the preset reference liquid level, a cleaning operation is performed on the cleaning robot in the cleaning tank.

[0008] When the real-time liquid level is higher than or equal to the preset reference liquid level, all working tasks of the base station are stopped.

[0009] Preferably, the base station is provided with a cleaning mechanism, which includes a cleaning tank, a clean water supply component, and a wastewater discharge component, wherein the clean water supply component and the wastewater discharge component are respectively connected to the cleaning tank.

[0010] When the real-time liquid level is lower than the preset reference liquid level, the cleaning operation performed on the cleaning robot in the cleaning tank includes:

[0011] The speed at which the clean water supply component supplies clean water to the cleaning tank, the speed at which the cleaning robot's mopping component rotates in the cleaning tank, and the speed at which the wastewater discharge component discharges wastewater are all controlled based on the real-time liquid level.

[0012] Preferably, controlling the speed at which the clean water supply component supplies clean water to the cleaning tank, the rotation speed of the cleaning robot's mopping component in the cleaning tank, and the speed at which the wastewater discharge component discharges wastewater based on the real-time liquid level includes:

[0013] The higher the real-time liquid level, the slower the clean water supply component supplies clean water to the cleaning tank, the slower the cleaning robot's mopping component rotates in the cleaning tank, and the faster the wastewater discharge component discharges wastewater.

[0014] Preferably, the base station is provided with a cleaning mechanism, which includes a cleaning tank, a clean water supply component, and a wastewater discharge component, wherein the clean water supply component and the wastewater discharge component are respectively connected to the cleaning tank.

[0015] When the real-time liquid level is higher than or equal to the preset reference liquid level, stopping all working tasks of the base station includes:

[0016] The task of supplying clean water to the cleaning tank by the clean water supply component is stopped, and the task of discharging wastewater from the cleaning tank by the wastewater discharge component is also stopped.

[0017] Preferably, the cleaning tank is equipped with a liquid level sensor; the monitoring of the real-time liquid level in the cleaning tank of the base station includes:

[0018] Receive the real-time liquid level signal of the liquid in the cleaning tank collected by the liquid level sensor;

[0019] The real-time liquid level in the cleaning tank is determined based on the real-time liquid level signal.

[0020] Preferably, when the real-time liquid level is higher than or equal to the preset reference liquid level, the method further includes:

[0021] The system prompts the user that the real-time liquid level in the cleaning tank is higher than or equal to the preset reference liquid level, so that the user can clean the base station upon receiving the prompt or send an operation instruction to the base station.

[0022] Preferably, the step of notifying the user that the real-time liquid level in the cleaning tank is higher than the preset reference level includes:

[0023] A voice signal is broadcast to the user to indicate that the real-time liquid level is higher than or equal to the preset reference liquid level;

[0024] or,

[0025] Send an error message to the user's terminal device, the error message indicating that the real-time liquid level is higher than or equal to the preset reference liquid level;

[0026] or,

[0027] Display target visual signal, which is used to indicate that the real-time liquid level is higher than or equal to the preset reference liquid level.

[0028] Preferably, when the real-time liquid level is higher than or equal to the preset reference liquid level, the method further includes:

[0029] Send base station abnormal status information to the cleaning robot to instruct the cleaning robot to pause its return to the base station. The base station abnormal status information is used to indicate that the real-time liquid level is higher than or equal to the preset reference liquid level.

[0030] A second aspect of this application provides a base station for a cleaning robot, including: a cleaning mechanism, a memory, and a processor;

[0031] The cleaning mechanism includes a cleaning tank, a clean water supply component, and a wastewater discharge component. The clean water supply component and the wastewater discharge component are respectively connected to the cleaning tank. The cleaning tank is used to clean the mopping component of the cleaning robot.

[0032] The memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the method described in the first aspect.

[0033] A third aspect of this application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method of the first aspect described above.

[0034] A fourth aspect of this application provides a computer storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in the first aspect.

[0035] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0036] When a base station provides cleaning services to a cleaning robot, its cleaning tank is filled with clean water to clean the robot's mopping parts. To prevent the water level in the cleaning tank from becoming too high and overflowing, which could wet the machine parts and cause malfunctions, the base station can monitor the real-time liquid level in the cleaning tank. When the level is found to be below a preset reference level, the cleaning operation can continue as normal. However, when the real-time liquid level is found to be higher than or equal to the preset reference level, all work tasks of the base station must be stopped. This prevents water in the cleaning tank from overflowing due to equipment vibration during operation and also avoids malfunctions caused by the machine's parts becoming wet during operation. Furthermore, since a high liquid level in the cleaning tank also reduces the cleaning effect on the robot's mopping parts, stopping the base station's work tasks when the liquid level is too high and only cleaning the robot's mopping parts when the liquid level is low can prevent the cleaning effect from being compromised. Attached Figure Description

[0037] Figure 1 This is a three-dimensional structural diagram of the cleaning system in the embodiments of this application;

[0038] Figure 2 This is a three-dimensional structural diagram of the cleaning robot in the embodiments of this application;

[0039] Figure 3 This is a schematic diagram of the cleaning mechanism of the base station in an embodiment of this application;

[0040] Figure 4 This is a flowchart illustrating the base station operation control method in an embodiment of this application;

[0041] Figure 5 This is a schematic diagram of a base station for a cleaning robot in an embodiment of this application. Detailed Implementation

[0042] This application provides a base station operation control method, a base station for a cleaning robot, and a computer storage medium, which are used to start or stop the working task according to the real-time liquid level of the cleaning tank of the base station, so as to avoid the base station components from getting wet and causing failure, and to avoid the cleaning effect of the cleaning robot's mopping component being affected.

[0043] Please see Figure 1 and Figure 2 The cleaning system and its base station provided in the embodiments of this application will now be described. The cleaning system includes a base station 100 and a cleaning robot 200. The base station 100 can not only connect to the dust outlet 220 of the cleaning robot 200 to collect dust for the cleaning robot 200, but also connect to the charging component 230 of the cleaning robot 200 to charge the cleaning robot 200, and can also dry the wet cleaning component 210 provided by the cleaning robot 200.

[0044] The cleaning robot 200 is equipped with a wet cleaning component 210, which is usually a mop or roller brush in a wet state. When the cleaning robot 200 moves on the ground, the wet cleaning component 210 can contact the ground and move relative to it to achieve the effect of cleaning the bottom surface.

[0045] Among them, base station 100 is equipped with a cleaning mechanism 110, such as Figure 3 As shown, in some embodiments of this application, the cleaning mechanism 110 may include: a cleaning tank 111, a clean water supply component and a wastewater discharge component. The clean water supply component includes a clean water tank 113 and a clean water pipeline 1131, and the wastewater discharge component includes a wastewater tank 114 and a wastewater pipeline 1141.

[0046] The interior of the cleaning tank 111 forms a receiving cavity. The cleaning tank 111 can be trough-shaped, and the receiving cavity can be open at the top to allow the brush or mop on the cleaning robot 200 to enter and exit the receiving cavity. The cleaning tank 111 has a water inlet and a water outlet, both of which are connected to the receiving cavity. The water inlet is used to allow clean water to flow into the receiving cavity, and the water outlet is used to allow wastewater to flow out of the receiving cavity.

[0047] The clean water tank 113 is used to store clean water. It can be directly connected to a water source such as a tap to replenish the clean water supply; alternatively, it can be manually replenished by the user. One end of the clean water pipe 1131 is connected to the cleaning tank 111, specifically, to the water inlet of the cleaning tank 111. The other end of the clean water pipe 1131 is connected to the clean water tank 113. This clean water pipe 1131 is used to transport the clean water in the clean water tank 113 to the cleaning tank 111.

[0048] Specifically, the clean water pipeline 1131 may include: a pipe, a control valve, and a clean water pump. The pipe connects the cleaning tank 111 and the clean water tank 113, and the control valve and the clean water pump control the flow of clean water within the pipeline. When it is necessary to replenish clean water to the cleaning tank 111, it is only necessary to open the control valve and the clean water pump, allowing clean water to flow into the cleaning tank 111 under the action of the clean water pump.

[0049] Wastewater tank 114 is used to store wastewater. It can be directly connected to a sewage collection point such as a sewer, allowing the wastewater to flow directly into the sewer. Wastewater can also be discharged from the tank manually. Specifically, the wastewater is the wastewater generated after cleaning the brush plates in the cleaning tank 111.

[0050] One end of the sewage pipe 1141 is connected to the cleaning tank 111, specifically, one end of the sewage pipe 1141 is connected to the outlet of the cleaning tank 111. The other end is connected to the sewage tank 114. The sewage pipe 1141 is used to transport sewage from the cleaning tank 111 to the sewage tank 114. Specifically, the sewage pipe 1141 may include a pipe and a water pump. The pipe connects the cleaning tank 111 and the sewage tank 114, and the water pump draws sewage from the cleaning tank 111 into the sewage tank 114.

[0051] The following will combine Figures 1 to 3 The device structure shown describes the base station operation control method in the embodiments of this application:

[0052] Please see Figure 4 One embodiment of the base station operation control method in this application includes:

[0053] 401. Monitor the real-time liquid level in the cleaning tank of the base station;

[0054] 402. When the real-time liquid level is lower than the preset reference liquid level, a cleaning operation is performed on the cleaning robot in the cleaning tank;

[0055] 403. When the real-time liquid level is higher than or equal to the preset reference liquid level, all working tasks of the base station shall be stopped;

[0056] The method of this embodiment can be applied to the base station of any cleaning system. This cleaning system may also include a cleaning robot, which performs cleaning operations on objects such as the ground according to a preset computer program. The base station can provide a charging interface and power supply for the cleaning robot, allowing it to charge at the base station. Simultaneously, the base station can also be used to clean the cleaning robot's mopping components. In one embodiment, the specific structural composition of the base station and the cleaning robot of the cleaning system can be as follows: Figures 1 to 3 As shown, other structures are also possible, as long as the base station can clean the cleaning robot, or the cleaning robot can clean objects such as the ground.

[0057] When a base station provides cleaning services to a cleaning robot, its cleaning tank is filled with clean water to clean the robot's mopping parts. To prevent the water level in the cleaning tank from becoming too high and overflowing, which could wet the machine parts and cause malfunctions, the base station can monitor the real-time liquid level in the cleaning tank. When the level is found to be below a preset reference level, the cleaning operation can continue as normal. However, when the real-time liquid level is found to be higher than or equal to the preset reference level, all work tasks of the base station must be stopped. This prevents water in the cleaning tank from overflowing due to equipment vibration during operation and also avoids malfunctions caused by the machine's parts becoming wet during operation. Furthermore, since a high liquid level in the cleaning tank also reduces the cleaning effect on the robot's mopping parts, stopping the base station's work tasks when the liquid level is too high and only cleaning the robot's mopping parts when the liquid level is low can prevent the cleaning effect from being compromised.

[0058] based on Figure 4 In a preferred embodiment of the shown example, when the real-time liquid level in the cleaning tank is lower than a preset reference liquid level, the base station performs a cleaning operation on the cleaning robot in the cleaning tank. Specifically, this can be achieved by controlling the speed at which the clean water supply component provides clean water to the cleaning tank, the speed at which the cleaning robot's wiping component rotates in the cleaning tank, and the speed at which the wastewater discharge component discharges wastewater, based on the real-time liquid level in the cleaning tank.

[0059] Specifically, the system can calculate the water supply rate, the rotation speed of the mopping component, and the wastewater discharge rate corresponding to the real-time liquid level based on a preset algorithm, and then execute corresponding controls based on the calculated parameters. This preset algorithm is designed to ensure that the real-time liquid level in the cleaning tank prevents overflow while also ensuring good cleaning performance of the cleaning robot's mopping component. Therefore, controlling the water supply rate, the rotation speed of the mopping component, and the wastewater discharge rate based on the real-time liquid level in the cleaning tank ensures that the liquid level in the cleaning tank remains below the preset reference level, thereby reducing the risk of liquid overflow and providing a good cleaning effect for the cleaning robot's mopping component.

[0060] Specifically, the speed at which the clean water supply component supplies clean water to the cleaning tank, the rotation speed of the cleaning robot's mopping component in the cleaning tank, and the discharge speed of the wastewater discharge component are controlled based on the real-time liquid level in the cleaning tank. For example, the higher the real-time liquid level, the slower the clean water supply component supplies clean water to the cleaning tank, the slower the rotation speed of the cleaning robot's mopping component in the cleaning tank, and the faster the wastewater discharge component discharges wastewater. This ensures that the real-time liquid level in the cleaning tank is always controlled below the preset reference level, thereby reducing the risk of liquid overflow in the cleaning tank and ensuring the safe operation of the equipment.

[0061] The real-time liquid level can have a one-to-one correspondence with the speed of clean water supply, rotation speed, and wastewater discharge. For example, each unit of liquid level corresponds to one unit of clean water supply speed, rotation speed, and wastewater discharge speed. However, it should be understood that the real-time liquid level can also have a non-one-to-one correspondence with these speeds. For instance, the real-time liquid level in the cleaning tank can be divided into several levels, with each level corresponding to a specific speed of clean water supply, rotation speed, and wastewater discharge. The speeds of clean water supply, rotation speed, and wastewater discharge can vary or remain the same. For example, at different real-time liquid level levels, one or all of the speeds of clean water supply, rotation speed, and wastewater discharge can be set to change.

[0062] based on Figure 4 In another preferred embodiment of the illustrated example, when the real-time liquid level in the cleaning tank is higher than or equal to a preset reference liquid level, all operational tasks of the base station are stopped. Specifically, this may involve stopping the water supply component from supplying water to the cleaning tank and stopping the wastewater discharge component from discharging wastewater from the cleaning tank. Therefore, this prevents base station components from becoming wet during operation, improving the safety of base station operation.

[0063] Furthermore, if a cleaning robot is detected on the base station after all its work has ceased, a command can be sent to the cleaning robot to instruct it to leave the base station, thus facilitating user inspection or maintenance of the base station.

[0064] based on Figure 4 In another preferred embodiment of the illustrated example, a liquid level sensor may be installed inside the cleaning tank of the base station. Therefore, the base station can receive the real-time liquid level signal of the liquid in the cleaning tank collected by the liquid level sensor, and determine the real-time liquid level in the cleaning tank based on the real-time liquid level signal. This real-time liquid level signal can be in the form of an electrical signal; that is, the liquid level sensor can convert liquid pressure into an electrical signal and output this electrical signal. The base station then calculates the real-time liquid level in the cleaning tank based on this electrical signal.

[0065] based on Figure 4 In another preferred embodiment of the illustrated example, when the real-time liquid level is higher than or equal to a preset reference liquid level, the user can be prompted that the real-time liquid level in the cleaning tank is higher than or equal to the preset reference liquid level, so that the user can clean the base station or send an operation instruction to the base station upon this prompt.

[0066] One method to alert the user that the real-time liquid level in the cleaning tank is higher than a preset reference level is to: broadcast a voice signal indicating that the real-time liquid level is higher than or equal to the preset reference level (i.e., set up a sound player to play the voice signal); send an exception message to the user's terminal device, such as a mobile phone or computer, indicating that the real-time liquid level is higher than or equal to the preset reference level; or display a target visual signal indicating that the real-time liquid level is higher than or equal to the preset reference level (e.g., a display screen showing text information indicating that the real-time liquid level in the cleaning tank is higher than or equal to the preset reference level).

[0067] based on Figure 4 In another preferred embodiment of the illustrated example, when the real-time liquid level in the cleaning tank is higher than or equal to a preset reference liquid level, the base station can send base station abnormal status information to the cleaning robot to instruct the cleaning robot to pause its return to the base station. The base station abnormal status information indicates that the real-time liquid level is higher than or equal to the preset reference liquid level. Therefore, since the base station will stop all work tasks when the real-time liquid level in the cleaning tank is higher than or equal to the preset reference liquid level, this avoids the cleaning robot returning to the base station without being able to perform cleaning operations, preventing the cleaning robot from making futile round trips, thereby saving the cleaning robot's power reserves and increasing its battery life.

[0068] Sending abnormal status information of the base station to the cleaning robot can be done immediately when the real-time liquid level in the cleaning tank is detected to be higher than or equal to the preset reference liquid level, or it can be done within a preset time period after the real-time liquid level in the cleaning tank is detected to be higher than or equal to the preset reference liquid level. This embodiment does not limit this.

[0069] This application also proposes a base station for a cleaning robot. The base station includes a cleaning mechanism, a memory, and a processor. The cleaning mechanism includes a cleaning tank, a clean water supply component, and a wastewater discharge component. The clean water supply component and the wastewater discharge component are respectively connected to the cleaning tank. The cleaning tank is used to clean the mopping component of the cleaning robot. The memory stores program instructions, and the processor retrieves program instructions from the memory to execute them. Figure 4 The illustrated embodiment and at least one preferred embodiment of the embodiment correspond to the base station operation control method.

[0070] This application also proposes a computer-readable storage medium storing a program file that can be executed to perform, as described in the embodiments of this application. Figure 4 The illustrated embodiment and at least one preferred embodiment of the embodiment correspond to the base station operation control method.

[0071] The following describes another embodiment of the base station for the cleaning robot in this application. Please refer to [link / reference]. Figure 5 One embodiment of the base station for the cleaning robot in this application includes:

[0072] The base station 500 of the cleaning robot may include one or more central processing units (CPUs) 501 and a memory 505, which stores one or more applications or data.

[0073] The memory 505 can be volatile or persistent storage. The program stored in the memory 505 can include one or more modules, each module including a series of instruction operations on the cleaning robot's base station 500. Furthermore, the central processing unit 501 can be configured to communicate with the memory 505 and execute the series of instruction operations in the memory 505 on the cleaning robot's base station 500.

[0074] The base station 500 of the cleaning robot may also include one or more power supplies 502, one or more wired or wireless network interfaces 503, one or more input / output interfaces 504, and / or one or more operating systems, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0075] The central processing unit 501 can perform the aforementioned... Figure 4 The specific operations performed by the base station of the cleaning robot in the illustrated embodiment will not be described here.

[0076] This application also provides a computer storage medium, one embodiment of which includes: the computer storage medium storing instructions, which, when executed on a computer, cause the computer to perform the aforementioned... Figure 4 The operations performed by the base station of the cleaning robot in the illustrated embodiment.

[0077] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0079] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0080] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0081] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for controlling the operation of a base station, characterized in that, The method is applied to a base station used to charge a cleaning robot, and the method includes: Monitor the real-time liquid level in the cleaning tank of the base station; When the real-time liquid level is lower than the preset reference liquid level, a cleaning operation is performed on the cleaning robot in the cleaning tank. When the real-time liquid level is higher than or equal to the preset reference liquid level, all working tasks of the base station are stopped, and charging of the cleaning robot is stopped; if the cleaning robot is not on the base station, a base station abnormal status information is sent to the cleaning robot to instruct the cleaning robot to pause its return to the base station. The base station abnormal status information is used to indicate that the real-time liquid level is higher than or equal to the preset reference liquid level. The step of stopping all operations of the base station includes: stopping the supply of clean water to the cleaning tank and stopping the discharge of wastewater from the cleaning tank.

2. The method according to claim 1, characterized in that, The base station is equipped with a cleaning mechanism, which includes a cleaning tank, a clean water supply component, and a wastewater discharge component. The clean water supply component and the wastewater discharge component are respectively connected to the cleaning tank. When the real-time liquid level is lower than the preset reference liquid level, the cleaning operation performed on the cleaning robot in the cleaning tank includes: The speed at which the clean water supply component supplies clean water to the cleaning tank, the speed at which the cleaning robot's mopping component rotates in the cleaning tank, and the speed at which the wastewater discharge component discharges wastewater are all controlled based on the real-time liquid level.

3. The method according to claim 2, characterized in that, The method of controlling the speed at which the clean water supply component supplies clean water to the cleaning tank, the rotation speed of the cleaning robot's mopping component in the cleaning tank, and the speed at which the wastewater discharge component discharges wastewater based on the real-time liquid level includes: The higher the real-time liquid level, the slower the clean water supply component supplies clean water to the cleaning tank, the slower the cleaning robot's mopping component rotates in the cleaning tank, and the faster the wastewater discharge component discharges wastewater.

4. The method according to claim 1, characterized in that, The base station is equipped with a cleaning mechanism, which includes a cleaning tank, a clean water supply component, and a wastewater discharge component. The clean water supply component and the wastewater discharge component are respectively connected to the cleaning tank. When the real-time liquid level is higher than or equal to the preset reference liquid level, stopping all working tasks of the base station includes: The task of supplying clean water to the cleaning tank by the clean water supply component is stopped, and the task of discharging wastewater from the cleaning tank by the wastewater discharge component is also stopped.

5. The method according to claim 1, characterized in that, The cleaning tank is equipped with a liquid level sensor; monitoring the real-time liquid level in the cleaning tank of the base station includes: Receive the real-time liquid level signal of the liquid in the cleaning tank collected by the liquid level sensor; The real-time liquid level in the cleaning tank is determined based on the real-time liquid level signal.

6. The method according to claim 1, characterized in that, When the real-time liquid level is higher than or equal to the preset reference liquid level, the method further includes: The system prompts the user that the real-time liquid level in the cleaning tank is higher than or equal to the preset reference liquid level, so that the user can clean the base station upon receiving the prompt or send an operation instruction to the base station.

7. The method according to claim 6, characterized in that, The step of notifying the user that the real-time liquid level in the cleaning tank is higher than the preset reference level includes: A voice signal is broadcast to the user to indicate that the real-time liquid level is higher than or equal to the preset reference liquid level; or, Send an error message to the user's terminal device, the error message indicating that the real-time liquid level is higher than or equal to the preset reference liquid level; or, Display target visual signal, which is used to indicate that the real-time liquid level is higher than or equal to the preset reference liquid level.

8. A base station for a cleaning robot, characterized in that, include: Cleaning mechanism, memory, and processor; The cleaning mechanism includes a cleaning tank, a clean water supply component, and a wastewater discharge component. The clean water supply component and the wastewater discharge component are respectively connected to the cleaning tank. The cleaning tank is used to clean the mopping component of the cleaning robot. The memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the base station operation control method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The system contains a program file that can be executed to implement the base station operation control method as described in any one of claims 1-7.

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