Liquid injection control method, device, equipment, base station and readable storage medium

Abstract

The disclosure provides a liquid injection control method, device, equipment, base station and readable storage medium. The liquid injection control method comprises the following steps: starting and controlling the first motor to act, the first motor drives the liquid injection pipe to move from the second position to the first position, so that the liquid injection pipe extends into the cleaning liquid storage part of the cleaning equipment; in response to the first position signal generated by the liquid injection pipe position detection module, indicating that the liquid injection pipe is located at the first position, detecting whether the third position signal from the cleaning equipment jumps, the third position signal is used to indicate that the liquid inlet of the cleaning liquid storage part is located at the third position; when it is detected that the third position signal from the cleaning equipment jumps, the second motor is started, and the second motor drives the cleaning liquid into the liquid injection pipe to inject the cleaning liquid into the cleaning liquid storage part. The disclosure can effectively avoid the leakage and overflow of the cleaning equipment during liquid injection.

Description

Technical Field

[0001] This disclosure relates to a liquid injection control method, apparatus, device, base station, and readable storage medium. Background Technology

[0002] The cleaning equipment has a limited water tank capacity and requires frequent refilling. Currently, the equipment can be refilled via its maintenance base station. However, during the refilling process, issues such as leakage, overflow, incomplete filling, and overflowing even when full are common, resulting in a poor user experience. Summary of the Invention

[0003] To solve at least one of the above-mentioned technical problems, this disclosure provides a maintenance system, a cleaning fluid supply device, a base station, a cleaning equipment, and a cleaning system. The system begins fluid injection after ensuring that the cleaning equipment is accurately connected to the base station, which can effectively prevent leakage or overflow when the cleaning equipment is replenished or filled.

[0004] A first aspect of this disclosure provides a method for controlling fluid injection, comprising:

[0005] Start and control the first motor to move, the first motor drives the injection tube to move from the second position to the first position, so that the injection tube extends into the cleaning fluid storage section of the cleaning equipment;

[0006] In response to a first position signal generated by the injection tube position detection module, indicating that the injection tube is in the first position, it is detected whether a third position signal from the cleaning equipment has changed, the third position signal being used to indicate that the inlet of the cleaning fluid storage section is in the third position;

[0007] When a jump is detected from the third position signal of the cleaning equipment, the second motor is started, and the second motor drives the cleaning fluid into the injection pipe to inject the cleaning fluid storage section.

[0008] In some embodiments of this disclosure, starting and controlling the operation of the first motor includes: starting the first motor in response to a liquid replenishment signal from the cleaning equipment and a machine positioning signal generated by the charging device.

[0009] In some embodiments of this disclosure, the liquid injection control method further includes: controlling the second motor to enter a non-working state in response to a full injection signal from the cleaning equipment to stop liquid injection; and controlling the first motor to drive the injection tube from the first position to the second position, so that the injection tube exits the cleaning liquid storage section.

[0010] In some embodiments of this disclosure, the liquid injection control method further includes: when the third position signal is continuously at a low level before and after the first position signal is generated and the duration is greater than or equal to a predetermined duration, determining that the alignment has failed, controlling the first motor to operate, and the first motor drives the liquid injection tube to move from the first position to the second position, so that the liquid injection tube exits the cleaning fluid storage section.

[0011] In some embodiments of this disclosure, the injection control method further includes:

[0012] In response to a second position signal generated by the injection tube position detection module, indicating that the injection tube is in the second position, the number of alignment failures is updated;

[0013] Determine whether the updated number of alignment failures is less than a preset value;

[0014] When the number of alignment failures is less than the preset value, the first motor is controlled to operate to drive the injection tube to move from the second position to the first position again, so that the injection tube extends into the cleaning fluid storage section of the cleaning equipment again.

[0015] When the number of alignment failures is greater than or equal to the preset value, a first alarm signal is issued.

[0016] In some embodiments of this disclosure, the injection control method further includes:

[0017] When the injection tube position detection module does not generate the first position signal and / or the second position signal but detects a high level third position signal from the cleaning equipment, it determines that the inlet position detection module of the cleaning equipment is faulty and issues a second alarm signal.

[0018] In some embodiments of this disclosure, the liquid injection control method further includes: responding to a second position signal generated by the liquid injection tube position detection module, indicating that the liquid injection tube is located at the second position, detecting that a third position signal from the cleaning equipment is high, determining that the liquid inlet position detection module of the cleaning equipment is faulty and / or the liquid inlet of the cleaning fluid storage section is in an open state, and issuing a third alarm signal.

[0019] A second aspect of this disclosure provides an injection control device, comprising:

[0020] The first motor control module is used to start and control the operation of the first motor. The first motor drives the injection tube to move from the second position to the first position so that the injection tube extends into the cleaning fluid storage section of the cleaning equipment.

[0021] The detection module is configured to, in response to a first position signal generated by the injection tube position detection module indicating that the injection tube is located at the first position, detect whether a third position signal from the cleaning equipment has changed, wherein the third position signal is used to indicate that the inlet of the cleaning fluid storage section is located at the third position; and, when a change in the third position signal from the cleaning equipment is detected, send a first message to the second motor control module.

[0022] The second motor control module is used to start the second motor in response to the first message from the detection module. The second motor drives the cleaning fluid into the injection tube to inject the cleaning fluid into the cleaning fluid storage section.

[0023] In some embodiments of this disclosure, the detection module is further configured to determine that the alignment has failed when the third position signal is low and the duration is greater than or equal to a predetermined duration, and send a second message to the first motor control module; the first motor control module is further configured to control the first motor to operate in response to the second message from the detection module, and the first motor drives the injection tube to move from the first position to the second position so that the injection tube exits the cleaning fluid storage section.

[0024] In some embodiments of this disclosure, the injection control device further includes: a failure recording module; the detection module is further configured to send a third message to the failure recording module in response to a second position signal generated by the injection tube position detection module indicating that the injection tube is located at the second position; the failure recording module is configured to update the number of alignment failures in response to the third message from the detection module.

[0025] In some embodiments of this disclosure, the liquid injection control device further includes: an alarm module; the detection module is further configured to determine whether the number of alignment failures updated by the failure record module is less than a preset value, and send a fourth message to the first motor control module when the number of alignment failures is less than the preset value, and send a fifth message to the alarm module when the number of alignment failures is greater than or equal to the preset value; the first motor control module is further configured to control the first motor to operate in response to the fourth message, so as to drive the liquid injection tube to move from the second position to the first position again, so that the liquid injection tube extends into the cleaning fluid storage section of the cleaning equipment again; the alarm module is configured to issue a first alarm signal in response to the fifth message.

[0026] In some embodiments of this disclosure, the detection module is further configured to detect a high level third position signal from the cleaning device when the injection tube position detection module does not generate the first position signal and / or the second position signal, determine that the inlet position detection module of the cleaning device is faulty, and send a sixth message to the alarm module; the alarm module is further configured to issue a second alarm signal in response to the sixth message.

[0027] In some embodiments of this disclosure, the detection module is further configured to, in response to a second position signal generated by the injection tube position detection module indicating that the injection tube is located at the second position, detect a high level third position signal from the cleaning equipment, determine that the inlet position detection module of the cleaning equipment is faulty and / or the inlet of the cleaning fluid storage section is open, and send a seventh message to the alarm module; the alarm module is further configured to, in response to the seventh message, issue a third alarm signal.

[0028] A third aspect of this disclosure also provides an electronic device, comprising: a memory storing execution instructions; and a processor executing the execution instructions stored in the memory, causing the processor to perform the above-described liquid injection control method.

[0029] A fourth aspect of this disclosure provides a base station including the aforementioned liquid injection control device or the aforementioned electronic device.

[0030] The fifth aspect of this disclosure provides a readable storage medium storing executable instructions that, when executed by a processor, are used to implement the above-described liquid injection control method.

[0031] The liquid injection control method disclosed herein determines that liquid injection only begins when the liquid injection pipe and the liquid inlet are successfully aligned, by using a first position signal indicating the position of the liquid injection pipe and a third position signal indicating the position of the liquid inlet. This effectively prevents leakage and overflow during the liquid injection process and significantly improves the user experience of the automatic liquid injection function of the cleaning equipment. Attached Figure Description

[0032] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0033] Figures 1-2 This is a schematic diagram of the liquid injection device structure according to some embodiments of the present disclosure.

[0034] Figure 3 This is a cross-sectional structural schematic diagram of an injection device according to some embodiments of the present disclosure.

[0035] Figure 4 This is a schematic diagram of the internal structure of an injection device according to some embodiments of the present disclosure.

[0036] Figure 5 This is a schematic diagram of the charging device structure according to some embodiments of the present disclosure.

[0037] Figure 6 This is a schematic diagram of the internal structure of a charging device according to some embodiments of the present disclosure.

[0038] Figure 7 This is a cross-sectional view of the docking structure of the liquid injection device, charging device, and cleaning fluid supply device according to some embodiments of this disclosure.

[0039] Figures 8-9 This is a schematic diagram of the docking structure of the liquid injection device, charging device, and cleaning fluid supply device according to some embodiments of this disclosure.

[0040] Figure 10 This is a schematic flowchart of an injection control method according to some embodiments of the present disclosure.

[0041] Figure 11 This is a schematic diagram illustrating the specific implementation process of the liquid injection control method according to some embodiments of this disclosure.

[0042] Figure 12 This is a schematic block diagram of the structure of a liquid injection control device that employs a hardware implementation of a processing system according to one embodiment of the present disclosure.

[0043] Explanation of reference numerals in the attached figures

[0044] 10 Liquid injection device

[0045] 111 Upper casing

[0046] 1111 First Opening

[0047] 1112 Second opening

[0048] 112 Lower shell

[0049] 120 injection tubing

[0050] 121 Protrusion

[0051] 122 bumps

[0052] 131 Gear

[0053] 132 rack

[0054] 140 Injection Tube Position Detection Module

[0055] 141 Control Department

[0056] 142 First Switch

[0057] 143 Second Switch

[0058] 20 Charging devices

[0059] 210 Main Body

[0060] 220 Charging Unit

[0061] 221 Charging contacts

[0062] 230 Charging Detection Module

[0063] 231 Photoelectric Switch

[0064] 232 grating sensor

[0065] 240 recharge indicator light

[0066] 30 Cleaning solution supply device

[0067] 310 Cleaning Solution Storage Section

[0068] 320 Inlet Position Detection Module

[0069] 321 Magnet

[0070] 322 Detection element

[0071] 323 Spring

[0072] 330 Inlet

[0073] 340 charging terminal

[0074] 341 Charging Contact Piece

[0075] 351 probe

[0076] 1200 Injection Control Device

[0077] 1202 First Motor Control Module

[0078] 1204 Detection Module

[0079] 1206 Second Motor Control Module

[0080] 1208 Failure Record Module

[0081] 1210 Alarm Module

[0082] 1300 bus

[0083] 1400 processor

[0084] 1500 memory

[0085] 1600 Other Circuits Detailed Implementation

[0086] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0087] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0088] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0089] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0090] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0091] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0092] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0093] Figure 1 and Figure 2 A schematic diagram of the liquid injection device 10 in one embodiment of this disclosure is shown. Figure 3 A cross-sectional structural schematic diagram of the liquid injection device 10 in some embodiments of this disclosure is shown. Figure 4 A schematic diagram of the internal structure of the liquid injection device 10 in some embodiments of this disclosure is shown.

[0094] See Figure 1 , Figure 2 and Figure 3As shown, in some embodiments of this disclosure, the liquid injection device 10 may include: a liquid injection tube 120, a liquid injection tube drive unit, a liquid injection tube position detection module 140, and a cleaning fluid supply module. The liquid injection tube 120 can be used to deliver cleaning fluid, and the liquid injection tube 120 may have a first position and a second position. The liquid injection tube drive unit can be used to drive the liquid injection tube 120 to move between the first position and the second position so that the liquid injection tube 120 extends into or exits the cleaning fluid storage section 310 of the cleaning device. The liquid injection tube position detection module 140 can be used to detect the position of the liquid injection tube 120 and generate a corresponding position signal, and provide a first position signal indicating that the liquid injection tube 120 is in the first position to the cleaning fluid supply module. The cleaning fluid supply module can be used to drive the cleaning fluid into the liquid injection tube 120 in response to the first position signal to inject liquid into the cleaning fluid storage section 310.

[0095] Therefore, the liquid injection device can automatically detect the position of the liquid injection tube 120 and automatically start injecting liquid into the cleaning liquid storage section 310 of the cleaning equipment when the liquid injection tube 120 extends to a specific position (e.g., the first position). This effectively reduces leakage and overflow caused by improper extension and retraction of the liquid injection tube 120, significantly improves liquid injection efficiency and automation, and enhances the user experience.

[0096] In some embodiments, the injection device 10 may further include a housing having a channel for receiving the injection tube 120, which is capable of partially extending out of or completely retracting into the channel. See also Figure 1 , Figure 2 and Figure 3 As shown, the housing may include an upper housing 111 and a lower housing 112. The upper housing 111 and the lower housing 112 are fastened together to form a channel. An injection tube 120 is disposed in the channel. The injection tube 120 is coaxial with the channel. The injection tube 120 can extend partially out of the channel or retract completely into the channel.

[0097] In some implementations, see Figure 1 , Figure 2 and Figure 3 As shown, the injection tube position detection module 140 may include a control unit 141 and two or more switches. The control unit 141 is disposed above or below the injection tube 120 and directly opposite the injection tube 120. The two or more switches may be fixed along the extension direction of the injection tube 120 on the surface of the control unit 141 facing the injection tube 120. Each switch may correspond to a position of the injection tube 120. When a switch is triggered, the control unit 141 generates a corresponding position signal. The position signal may be used to indicate whether the injection tube 120 (e.g., at the protrusion 121) is located at the corresponding position of the switch. Thus, the position of the injection tube 120 can be detected in real time during the extension and retraction of the injection tube 120 by the injection tube position detection module 140.

[0098] In some implementations, see Figure 3 and Figure 4 As shown, a protrusion 121 is formed on the injection tube 120, which is used to trigger the switch in the injection tube position detection module 140. Preferably, the protrusion 121 can be formed in the middle part of the injection tube 120.

[0099] In some implementations, see Figure 3 and Figure 4 As shown, the injection tube position detection module 140 may include a control unit 141 and a first switch 142. The first switch 142 corresponds to a first position. When the injection tube 120 is in the first position, the first switch 142 is triggered. The control unit 141 is used to generate a first position signal when the first switch 142 is triggered. The first position signal is used to indicate that the injection tube 120 is in the first position, that is, the protrusion 121 on the injection tube 120 is in the first position.

[0100] In some implementations, see Figure 3 The injection tube position detection module 140 may also include a second switch 143, which corresponds to a second position. When the injection tube 120 is in the second position, the second switch 143 is triggered. The control unit 141 is used to generate a second position signal when the second switch 143 is triggered. The second position signal is used to indicate that the injection tube 120 is in the second position, that is, the protrusion 121 on the injection tube 120 is in the second position.

[0101] In some implementations, see Figure 2 , Figure 3 and Figure 4 As shown, the upper housing 111 may have a first opening 1111, which allows the channel accommodating the injection tube 120 to communicate with the outside. A protrusion 121 located at a predetermined position of the injection tube 120 can extend through the first opening 1111 to the outside of the channel. The injection tube position detection module 140 is fixedly disposed above the first opening 1111. When the injection tube 120 extends or retracts, the protrusion 121 moves within the first opening 1111. Thus, the protrusion 121 can not only be used to trigger the switch of the injection tube position detection module 140, but also limit the extension and retraction range of the injection tube 120, thereby effectively preventing the injection tube 120 from falling off.

[0102] In some embodiments, the first position may correspond to the maximum extension state of the injection tube 120, and the second position may correspond to the initial state of the injection tube 120 before extension. That is, when the protrusion 121 is in the first position, the injection tube 120 extends the channel out of the housing to the maximum extent, that is, the injection tube 120 is in the position of being fully extended; when the protrusion 121 is in the second position, the injection tube 120 is completely retracted into the channel of the housing, that is, the injection tube 120 is in the initial position without any extension.

[0103] See Figure 2 , Figure 3 and Figure 4 As shown, the control unit 141 of the injection tube position detection module 140 is fixed to the upper housing 111 and located above the first opening 1111. The first switch 142 and the second switch 143 are fixed to the surface of the control unit 141 facing the first opening 1111. The first switch 142 is located above the first position, and the second switch 143 is located above the second position. When the injection tube 120 is in the first position, the protrusion 121 triggers the first switch 142, and the control unit 141 generates a first position signal. When the injection tube 120 is in the second position, the protrusion 121 triggers the second switch 143, and the control unit 141 generates a second position signal.

[0104] In some embodiments, the switches in the injection tube position detection module 140 can be, but are not limited to, microswitches. That is, the first switch 142 and / or the second switch 143 can be, but are not limited to, microswitches.

[0105] In some embodiments, the housing also has a cavity communicating with the channel, and the injection tube drive unit can be partially disposed in the cavity and connected to the injection tube 120 to drive the injection tube 120 to extend and retract within the channel. Specifically, when the upper housing 111 and the lower housing 112 are fastened together, the aforementioned channel and the cavity can be formed simultaneously inside the housing.

[0106] In some implementations, see Figure 4 As shown, the injection tube drive unit may include a transmission mechanism and a first motor. The transmission mechanism includes a gear 131 and a rack 132. The rack 132 is disposed on one side of the outer wall of the injection tube 120. The gear 131 and the rack 132 are meshed together. The first motor is connected to the gear 131 and is used to provide kinetic energy to the gear 131 to make the gear 131 rotate.

[0107] See Figure 4 As shown, the rack 132 can be disposed on the outer wall of the injection tube 120 near the gear 131, and the gear 131 can be disposed in the cavity of the housing. The gear 131 and the rack 132 partially mesh. When the gear 131 rotates, it drives the rack 132 to move along the extension direction of the injection tube 120, and the injection tube 120 moves accordingly. Thus, the extension and retraction of the injection tube 120 in the channel can be realized, that is, the movement of the injection tube 120 between the first position and the second position can be realized.

[0108] See Figure 2 and Figure 3 As shown, the upper housing 111 may also have a second opening 1112, which is directly opposite to the mounting hole of the gear 131. The drive shaft of the first motor or the drive shaft of the reducer connected to the first motor can pass through the second opening 1112 and be mounted in the mounting hole of the gear 131 so that the gear 131 can be connected to the first motor.

[0109] In some embodiments, the cleaning fluid supply module may be specifically configured to drive cleaning fluid into the injection tube 120 in response to a first position signal and a third position signal from the cleaning device, so as to begin injecting cleaning fluid into the cleaning fluid storage section 310 of the cleaning device when the injection tube 120 extends into the cleaning fluid storage section 310 and the injection tube 120 is aligned and properly positioned with the inlet 330. Specific details of the third position signal can be found in the relevant sections below and will not be repeated here.

[0110] In some embodiments, the cleaning fluid supply module can also be used to stop driving the cleaning fluid into the injection pipe 120 in response to a full signal from the cleaning equipment, thereby terminating the injection. This effectively avoids the possibility of overflow when the pipe is full.

[0111] In some embodiments, the cleaning fluid supply module includes a second motor for driving the cleaning fluid into the injection pipe 120 during operation. Specifically, the second motor can start operating upon triggering a first position signal and / or a third position signal, and stop operating upon triggering a full-fill signal. Thus, injection into the cleaning fluid storage section 310 of the cleaning equipment can begin when the injection pipe 120 extends into the cleaning fluid storage section 310 and is positioned appropriately, and injection can be terminated promptly when the cleaning fluid storage section 310 is full, thereby avoiding leakage or overflow during and upon filling.

[0112] In some implementations, see Figure 1 , Figure 2 and Figure 4 As shown, the outlet of the injection tube 120 is provided with a protrusion 122. The protrusion 122 can be used to provide thrust to open the inlet of the cleaning fluid storage section 310 and / or trigger the inlet position detection module 320 of the cleaning device so that the injection tube 120 can extend into the cleaning fluid storage section 310, while pushing the magnet 321 at the inlet 330 close to the detection element 322 to automatically trigger the inlet position detection module 320.

[0113] In some implementations, see Figure 1 , Figure 2 and Figure 4 As shown, the protrusion 122 is fixed to the outlet of the injection tube 120 in a manner that does not obstruct the liquid output from the outlet. The protrusion 122 can be a rigid block to provide sufficient thrust to open the inlet 330 and allow the magnet 321 to approach the detection element 322 under the action of the thrust.

[0114] In some embodiments of this disclosure, the base station may include the aforementioned liquid injection device 10, which can automatically replenish cleaning fluid to the cleaning equipment.

[0115] It should be noted that the cleaning solution can be, but is not limited to, water, detergent, or other liquids with cleaning capabilities. This disclosure does not limit the type of cleaning solution.

[0116] In some embodiments, the base station may further include a charging device 20 for generating a device-in-place signal when the charging terminal 340 of the cleaning device is detected to be effectively docked with the charging device.

[0117] Here, the injection tube drive unit is specifically used to respond to the replenishment signal from the cleaning equipment and the overall positioning signal from the charging device 20, driving the injection tube 120 to move from the second position to the first position, so that the injection tube 120 extends into the cleaning fluid storage unit 310 to inject fluid into the cleaning equipment. Thus, the cleaning equipment and the base station can be aligned via the charging device 20. When the cleaning equipment and the base station are aligned, the inlet 330 of the cleaning fluid storage unit 310 and the outlet of the injection tube 120 of the injection device 10 are simultaneously aligned. Driving the injection tube 120 to extend at this time allows the injection tube 120 to efficiently, accurately, and quickly enter the cleaning fluid storage unit 310 through the inlet 330, while also preventing leakage or overflow caused by misalignment between the injection tube 120 and the inlet 330.

[0118] In some embodiments, the injection tube drive unit can also be specifically used to drive the injection tube 120 from a first position to a second position after injection stops (e.g., in response to a full signal from the cleaning equipment or a signal from the cleaning fluid supply module to stop injection), so that the injection tube 120 exits the cleaning fluid storage section 310 and returns to the housing. This allows for automatic retraction of the injection tube 120 without manual operation, further improving the user experience.

[0119] In some implementations, see Figure 5 As shown, the charging device 20 may include: a main body 210, a charging unit 220, and a charging detection module 230. The charging unit 220 is movably disposed on the main body 210. When the charging unit 220 contacts the charging terminal 340 of the cleaning device, it moves into the main body 210 to trigger the charging detection module 230. The charging detection module 230 is disposed inside the main body 210. The charging detection module 230 is used to generate and send an overall positioning signal when triggered.

[0120] In some implementations, see Figure 5 and Figure 6 As shown, the charging unit 220 has a charging spring 221. When the charging spring 221 contacts the charging terminal 340 of the cleaning device, it is pushed into the body 210, and at the same time, it drives the entire charging unit 220 to move into the body 210, thereby triggering the charging detection module 230 (for example, turning on the photoelectric switch 231).

[0121] In some implementations, see Figure 5 , Figure 6 and Figure 7 As shown, the charging detection module 230 may include a photoelectric switch 231, which can be turned on when the charging unit 220 is triggered, thereby generating and sending a whole unit in place signal.

[0122] In some implementations, see Figure 5 , Figure 6 and Figure 7 As shown, the charging detection module 230 may include a photoelectric switch 231 and a grating sensor 232, with the photoelectric switch 231 electrically connected to the power supply of the grating sensor 232. The photoelectric switch 231 can be turned on when triggered by the charging unit 220, causing the light source of the grating sensor 232 to emit light, thereby triggering the grating sensor 232. The grating sensor 232 can generate and emit a complete unit positioning signal when triggered. Here, the light source can be, but is not limited to, an LED.

[0123] In some embodiments, the photoelectric switch 231 can be a U-shaped photoelectric switch. A baffle with a through groove can be formed or provided on the side of the charging part 220 facing the interior of the main body 210. When the charging part 220 is pushed into the interior of the main body 210, the baffle moves toward the photoelectric switch 231. When the through groove of the baffle moves between the transmitter and receiver of the photoelectric switch 231, the transmitter and receiver of the photoelectric switch 231 transmit light through the through groove, thereby turning on the photoelectric switch 231. When the photoelectric switch 231 is turned on, it can generate and send out a whole machine in place signal or trigger the grating sensor 232. The grating sensor 232 generates and sends out the whole machine in place signal.

[0124] In some implementations, see Figure 7 As shown, the charging device 20 may also include a recharge unit disposed in the main body 210. The recharge unit includes a recharge lamp 240, which is used to emit light to the outside so that the recharge detection module of the cleaning equipment, such as an infrared receiver, can find the base station by detecting the light emitted by the recharge lamp 240.

[0125] In some implementations, after the cleaning equipment returns to the base station, if the charging unit 220 contacts or connects to the charging terminal 340 of the cleaning equipment, but the charging detection module 230 of the charging device 20 (e.g., within a predetermined time period) does not generate a complete unit in place signal, the cleaning equipment can leave the area near the base station and return to the vicinity of the base station by detecting the light emitted by the recharge lamp 240. This process is repeated until the charging detection module 230 of the charging device 20 can generate a complete unit in place signal. Therefore, charging and / or replenishing the cleaning equipment can begin only after ensuring that the charging terminal 340 of the cleaning equipment is effectively connected to the charging unit 220 of the charging device 20, and that the liquid inlet 330 of the cleaning equipment is accurately connected to the liquid injection pipe 120 of the liquid injection device 10. In practical applications, the recharge lamp 240 can be, but is not limited to, an LED capable of emitting infrared light.

[0126] In some embodiments, the liquid injection device 10 is connected to the charging device 20. Exemplarily, the liquid injection device 10 and the charging device 20 can be connected via various means, such as wireless communication or wired connections. Wireless communication can include, but is not limited to, Bluetooth, cellular networks, Wireless Fidelity (WIFI), Ethernet, Controller Area Network (CAN), Local Interconnect Network (LIN), Internet of Things (IoT), and other communication methods. Furthermore, the liquid injection device 10 and the charging device 20 can be directly connected or indirectly connected (e.g., through communication via a processor, routing device, or other components).

[0127] See Figure 7 , Figure 8 and Figure 9 As shown, the cleaning fluid supply device 30 in some embodiments of this disclosure may include: a cleaning fluid storage unit 310, a first detection module, and a charging terminal 340. The cleaning fluid storage unit 310 is used to store cleaning fluid. The cleaning fluid storage unit 310 has an inlet 330 and a storage space for storing the cleaning fluid. The inlet 330 may have a third position and a fourth position. When the inlet 330 is in the third position, fluid injection is permitted; when the inlet 330 is in the fourth position, fluid injection is not permitted. For example, the fourth position may be the initial position of the inlet 330. When the inlet 330 is in the fourth position, it is equivalent to a closed state, and the inlet 330 is not connected to the storage space, so fluid injection is not possible. The third position may be a certain position within the cleaning fluid storage unit 310. When the inlet 330 is in this position, the inlet 330 is connected to the storage space, equivalent to an open state, allowing fluid injection.

[0128] The first detection module can be installed in the cleaning fluid storage unit 310. The first detection module can be used to detect whether the cleaning fluid storage unit 310 needs to be replenished. When the cleaning fluid storage unit 310 needs to be replenished, it generates a replenishment signal and provides it to the liquid injection device 10.

[0129] In some implementations, see Figure 7 , Figure 8 and Figure 9 As shown, the cleaning fluid supply device 30 may further include an inlet position detection module 320, used to generate and send a third position signal when the inlet of the cleaning fluid storage unit 310 is in a third position, so that the injection device 10 can start injection only when the injection tube 120 extends into the cleaning fluid storage unit 310 and the injection tube 120 is aligned and properly positioned with the inlet 330. This avoids leakage or overflow caused by improper positioning of the injection tube 120 within the cleaning fluid storage unit 310.

[0130] In some implementations, see Figure 7 , Figure 8 and Figure 9 As shown, the inlet position detection module 320 may include a magnet 321 and a detection element 322. The magnet 321 is disposed near the inlet 330, and the magnet 321 and the detection element 322 are connected by a spring 323. Here, the detection element 322 may be, but is not limited to, a Hall element. As the magnet 321 is pushed toward the detection element 322 by an external force (e.g., the thrust provided by the protrusion 122 at the outlet of the injection tube 120), the spring 323 is compressed, and the distance between the magnet 321 and the detection element 322 gradually decreases. When the inlet 330 is pushed to the third position, the inlet 330 is connected to the storage space. At the same time, the distance between the magnet 321 and the detection element 322 is reduced to the critical point. The detection element 322 generates and emits a signal under the magnetic field of the magnet 321. This signal is the third position signal mentioned above. At this time, the injection tube, the inlet, and the storage space are connected. The cleaning fluid that is driven into the injection tube 120 by the cleaning fluid supply module can flow into the storage space of the cleaning fluid storage section 310 through the inlet 330. After the external force pushing the magnet 321 disappears (for example, the cleaning fluid supply module stops injecting fluid, the injection tube 120 begins to contract, and the protrusion 122 no longer provides thrust), the spring 323 automatically recovers due to potential energy, the magnet 321 is pushed back to its initial state, and at the same time, the inlet 330 returns from the third position to the fourth position under the pushing action of the spring 323 and is automatically closed.

[0131] The charging terminal 340 can be disposed on the housing of the cleaning fluid storage section 310. The charging terminal 340 has a charging contact 341, which can be used to provide a push to the charging section 220 after effective docking with the charging section 220 of the charging device 20, so that the charging section 220 moves into the body 210 as a whole, and the charging device 20 is triggered to generate a whole-machine positioning signal.

[0132] In some implementations, see Figure 7 , Figure 8 and Figure 9 As shown, the cleaning fluid supply device 30 may further include: a second detection module, used to detect whether the cleaning fluid storage section 310 is full, and to generate and send a full signal when the cleaning fluid storage section 310 is full, so that the injection device 10 stops injection in time.

[0133] In some implementations, see Figure 7 , Figure 8 and Figure 9 As shown, the second detection module 350 may include one or more probes 351, which may be located near the liquid inlet 330.

[0134] In some embodiments of this disclosure, the cleaning equipment may include the cleaning fluid supply device 30 described above. Exemplarily, the cleaning equipment may be implemented as a sweeping robot, a sweeping robot, a sweeping and mopping robot, a sweeping and mopping robot, or other various forms. This disclosure does not limit the specific implementation or deployment method of the cleaning equipment.

[0135] In some embodiments of this disclosure, the cleaning system may include the cleaning equipment and base station described above, which may communicate in various ways, such as wireless communication and wired connection.

[0136] See Figure 6 and Figure 7 As shown, after the cleaning equipment returns to the vicinity of the base station, if the charging device 20 is effectively connected to the charging terminal 340 of the cleaning equipment, and the injection tube 120 of the injection device 10 is aligned with the inlet 330 of the cleaning equipment, it indicates that the cleaning equipment is in place. At this time, if cleaning fluid needs to be injected into the cleaning fluid storage section 310 of the cleaning equipment, the cleaning equipment can send a replenishment signal. After receiving the replenishment signal and the in-place signal from the charging device 20, the injection device 10 can drive the injection tube 120 to extend into the cleaning fluid storage section 310. When the injection tube 120 is in the appropriate position (i.e., when the injection tube 120 is in the first position and the inlet 330 is in the third position), the injection can begin. When the cleaning equipment is full, it can send a full signal. After receiving the full signal, the injection device 10 can stop the injection and retract the injection tube 120 from the cleaning fluid storage section 310.

[0137] Figure 10A schematic flowchart of an injection control method in some embodiments of this disclosure is shown. This injection control method can be applied to the injection device, base station, cleaning equipment, and cleaning system described above. See also Figure 10 As shown, the injection control method 1000 may include:

[0138] Step S1002: Start and control the first motor to move. The first motor drives the injection tube to move from the second position to the first position so that the injection tube extends into the cleaning fluid storage section of the cleaning equipment.

[0139] Step S1004: In response to the first position signal generated by the injection tube position detection module, which indicates that the injection tube is in the first position, detect whether the third position signal from the cleaning equipment has changed. The third position signal is used to indicate that the inlet of the cleaning fluid storage section is in the third position.

[0140] Specifically, after the first motor is started, the first motor will drive the injection tube 120 to extend into the cleaning fluid storage section 310. When the injection tube 120 is in the second position, the first switch in the injection tube position detection module is triggered, and the injection tube position detection module will generate a first position signal to indicate that the injection tube 120 is in the second position.

[0141] Here, the jump of the third position signal refers to whether a jump occurs before or after the generation of the first position signal. For example, if the third position signal is detected to be low before the generation of the first position signal and high after the generation of the first position signal, it can be considered that the third position signal has jumped.

[0142] In step S1006, when a jump is detected from the third position signal of the cleaning equipment, the second motor is started, and the second motor drives the cleaning fluid into the injection pipe to inject the cleaning fluid storage section.

[0143] In the liquid injection control method 1000 disclosed herein, if a third position signal jumps after the first position signal is detected, it indicates that the movement of the liquid injection tube 120 from the second position to the first position has changed the state of the inlet 330 and the liquid injection tube 120 from an incorrectly positioned state to an correctly positioned state, and the liquid injection tube 120 and the inlet 330 are successfully aligned. At this time, the liquid injection tube 120, the inlet 330 and the liquid storage space of the cleaning fluid storage unit 310 are connected and there is basically no risk of leakage or overflow, so liquid injection can begin. If the third position signal does not change, it indicates that the inlet 330 and the injection pipe 120 were not correctly positioned due to the movement of the injection pipe 120 from the second position to the first position, or that the injection pipe 120 and / or the inlet 330 were not correctly positioned, and the alignment of the injection pipe 120 and the inlet 330 failed. In this case, the injection pipe 120, the inlet 330, and the liquid storage space of the cleaning fluid storage section 310 may not be connected, or even if they are connected, there is a risk of overflow or leakage, so injection is not allowed. Therefore, the injection control method 1000 of this disclosure determines whether the injection pipe 120 and the inlet 330 are successfully aligned by detecting the position signal of the injection pipe (i.e., the first position signal) and the position signal of the inlet (i.e., the third position signal), and starts injection only when the injection pipe 120 and the inlet 330 are successfully aligned, which can effectively prevent leakage and overflow problems during the injection process of the cleaning equipment and improve the user experience.

[0144] In some embodiments, step S1002 may specifically include: starting the first motor in response to a replenishment signal from the cleaning equipment and a positioning signal generated by the charging device 20. For example, after detecting that the charging device has generated a positioning signal, receiving a replenishment signal from the cleaning equipment can power on the first motor and put it into operation. At the same time, the first motor can be controlled to drive the injection tube 120 to move from the second position to the first position, so that the injection tube 120 can extend into the cleaning fluid storage compartment 310 to inject the cleaning fluid into the storage compartment 310.

[0145] Figure 11 An exemplary implementation flow of the injection control method 1000 is shown.

[0146] In some implementations, see Figure 11 As shown, the injection control method 1000 may further include:

[0147] Step S1008: In response to a full filling signal from the cleaning equipment, control the second motor to enter a non-operating state to stop liquid injection; and,

[0148] Step S1010: Control the first motor to move. The first motor drives the injection tube to move from the first position to the second position, so that the injection tube 120 exits the cleaning fluid storage section and returns to the initial state.

[0149] In some embodiments, when the cleaning fluid storage unit 310 is full, the second detection module can generate and send a full signal. In response to this full signal, the second motor can be powered down, causing it to enter a non-operating state, thereby stopping the flow of cleaning fluid into the injection tube 120 and terminating the injection. After the second motor is powered down, the first motor can be further controlled to automatically retract the injection tube 120. This prevents situations such as overflow after filling.

[0150] Figure 11 An exemplary implementation flow of the injection control method 1000 is shown.

[0151] In some embodiments, the injection control method 1000 may further include:

[0152] In step S1012, when the injection tube position detection module does not generate the first position signal and / or the second position signal but detects a high level third position signal from the cleaning equipment, it is determined that the inlet position detection module (e.g., detection element 322) of the cleaning equipment is faulty, and a second alarm signal can be issued.

[0153] In practical applications, if the injection tube position detection module does not generate a first position signal and / or a second position signal, it indicates that the injection tube 120 is currently in the middle position of extension or retraction (i.e., between the first position and the second position). If a third position signal is received from the cleaning equipment and the third position signal is high, it indicates that the inlet position detection module of the cleaning equipment has issued an error signal. This indicates that the inlet position detection module of the cleaning equipment (e.g., detection element 322) may be faulty. A second alarm signal can be issued to remind the user so that the user can promptly repair the inlet position detection module (e.g., detection element 322).

[0154] In some embodiments, the injection control method 1000 may further include:

[0155] In step S1014, in response to the second position signal generated by the injection tube position detection module, which indicates that the injection tube is in the second position, and the detection of a high level of the third position signal from the cleaning equipment, it can be determined that the inlet position detection module of the cleaning equipment is faulty and / or the inlet of the cleaning fluid storage section is in the open state, and a third alarm signal is issued.

[0156] In practical applications, if the injection tube position detection module generates a second position signal, it indicates that the injection tube 120 is currently in the second position, that is, the injection tube 120 has not yet extended. At this time, if a third position signal is received and the third position signal is high, it indicates that the inlet position detection module (e.g., detection element 322) of the cleaning equipment may be malfunctioning or has other faults, and / or the inlet position detection module sends a high-level third position signal because the inlet 330 has always been in the open state (i.e., the inlet 330 is faulty). The user can be reminded by issuing a third alarm signal so that the user can promptly inspect the inlet 330 and / or the inlet position detection module.

[0157] In some embodiments, the liquid injection control method 1000 may further include: step S1016, when a third position signal is detected to be continuously low before and after the generation of the first position signal for a duration greater than or equal to a predetermined duration, it can be determined that the alignment between the liquid injection tube 120 and the liquid inlet 330 has failed this time, and the first motor is controlled to operate, the first motor drives the liquid injection tube to move from the first position to the second position, so that the liquid injection tube exits the cleaning fluid storage section and returns to the initial state (e.g., the second position). Thus, the liquid injection tube 120 can be automatically retracted after the alignment between the liquid injection tube 120 and the liquid inlet 330 has failed this time, as determined by the first position signal and the third position signal.

[0158] In some embodiments, the injection control method 1000 may further include:

[0159] Step S1018: In response to the second position signal generated by the injection tube position detection module, indicating that the injection tube is in the second position, update the number of alignment failures;

[0160] Specifically, the injection tube position detection module generates a second position signal, indicating that the injection tube 120 has now returned to the second position, the alignment is complete and the alignment failed, and the alignment failure count can be incremented by 1.

[0161] Step S1020: Determine whether the number of alignment failures after the update is less than a preset value;

[0162] If the number of alignment failures is less than the preset value, the process can return to step S1002, control the first motor to operate, and drive the injection tube to move from the second position to the first position again, so that the injection tube extends into the cleaning fluid storage section of the cleaning device again, and start the next alignment attempt; if the number of alignment failures is greater than or equal to the preset value, the process can continue to step S1022.

[0163] It should be noted that the preset value here can be set as needed. For example, the preset value can be set to 5 or other values.

[0164] Step S1012: Issue the first alarm signal.

[0165] Therefore, multiple alignment attempts can be made after one alignment failure. If alignment still fails after multiple attempts, it indicates a possible malfunction. An initial alarm signal can be issued to alert the user so that the user can promptly inspect and repair the relevant components in the base station and / or cleaning equipment.

[0166] It should be noted that the first alarm signal, the second alarm signal, and the third alarm signal of this disclosure may be the same or different, and can be set as needed.

[0167] Figure 12 This is a schematic block diagram of the structure of a liquid injection control device that employs a hardware implementation of a processing system according to one embodiment of the present disclosure.

[0168] See Figure 12 As shown, the injection control device 1200 may include:

[0169] The first motor control module 1202 is used to start and control the action of the first motor. The first motor drives the injection tube to move from the second position to the first position so that the injection tube extends into the cleaning fluid storage section of the cleaning equipment.

[0170] The detection module 1204 is configured to, in response to a first position signal generated by the injection tube position detection module indicating that the injection tube is located at the first position, detect whether a third position signal from the cleaning equipment has changed, wherein the third position signal is used to indicate that the inlet of the cleaning fluid storage section is located at the third position; and, when a change in the third position signal from the cleaning equipment is detected, send a first message to the second motor control module.

[0171] The second motor control module 1206 is used to start the second motor in response to the first message from the detection module. The second motor drives the cleaning fluid into the injection tube to inject the cleaning fluid into the cleaning fluid storage section.

[0172] In some embodiments, the detection module 1204 is further configured to determine that the alignment has failed when the third position signal is low for a duration greater than or equal to a predetermined duration, and send a second message to the first motor control module; the first motor control module 1202 is further configured to control the first motor to operate in response to the second message from the detection module 1204, and the first motor drives the injection tube to move from the first position to the second position so that the injection tube exits the cleaning fluid storage section.

[0173] In some embodiments, the injection control device 1200 further includes: a failure recording module 1208; a detection module 1204, which is further configured to send a third message to the failure recording module 1208 in response to a second position signal generated by the injection tube position detection module indicating that the injection tube is in a second position; and the failure recording module 1208, which is configured to update the number of alignment failures in response to the third message from the detection module 1204.

[0174] In some embodiments, the liquid injection control device 1200 may further include an alarm module 1210. The detection module 1204 is further configured to determine whether the number of alignment failures updated by the failure record module 1208 is less than a preset value; if the number of alignment failures is less than the preset value, it sends a fourth message to the first motor control module 1202; if the number of alignment failures is greater than or equal to the preset value, it sends a fifth message to the alarm module 1210. The first motor control module 1202 is further configured to control the first motor to move in response to the fourth message, thereby driving the liquid injection tube to move from the second position to the first position again, so that the liquid injection tube extends again into the cleaning fluid storage section of the cleaning equipment. The alarm module 1210 is configured to issue a first alarm signal in response to the fifth message.

[0175] In some embodiments, the detection module 1204 is further configured to detect a high level third position signal from the cleaning equipment when the injection tube position detection module does not generate a first position signal and / or a second position signal, determine that the inlet position detection module of the cleaning equipment is faulty, and send a sixth message to the alarm module 1210; the alarm module 1210 is further configured to issue a second alarm signal in response to the sixth message.

[0176] In some embodiments, the detection module 1204 is further configured to, in response to a second position signal generated by the injection tube position detection module indicating that the injection tube is located at the second position, detect a high level third position signal from the cleaning equipment, determine that the inlet position detection module of the cleaning equipment is faulty and / or the inlet of the cleaning fluid storage section is open, and send a seventh message to the alarm module 1210; the alarm module 1210 is further configured to, in response to the seventh message, issue a third alarm signal.

[0177] In practical applications, the injection control device 1200 can be implemented through software, hardware, or a combination of both.

[0178] The first message, the second message, the fourth message, the fifth message, the sixth message, and the seventh message can be, for example, instructions, information, control messages under a specific communication protocol, or other forms. They can be messages for communication between devices or software communication messages within a device. This disclosure does not limit the specific form, format, transmission method, etc. of these messages.

[0179] The apparatus may include corresponding modules that perform one or more steps in the flowchart above. Therefore, each or more steps in the flowchart above can be performed by a corresponding module, and the apparatus may include one or more of these modules. A module may be one or more hardware modules specifically configured to perform a corresponding step, or implemented by a processor configured to perform a corresponding step, or stored in a computer-readable medium for implementation by a processor, or implemented through some combination thereof.

[0180] This hardware architecture can be implemented using a bus architecture. The bus architecture can include any number of interconnect buses and bridges, depending on the specific application and overall design constraints of the hardware. Bus 1300 connects various circuits including one or more processors 1400, memory 1500, and / or hardware modules. Bus 1300 can also connect various other circuits 1600 such as peripherals, voltage regulators, power management circuits, external antennas, etc.

[0181] Bus 1300 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Component (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, only one connection line is used in this diagram, but this does not imply that there is only one bus or one type of bus.

[0182] Any process or method description in the flowcharts or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain. The processor performs the various methods and processes described above. For example, the method embodiments of this disclosure may be implemented as software programs tangibly contained in a machine-readable medium, such as memory. In some embodiments, part or all of the software program may be loaded and / or installed via memory and / or a communication interface. When the software program is loaded into memory and executed by the processor, one or more steps of the methods described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform one of the methods described above by any other suitable means (e.g., by means of firmware).

[0183] The logic and / or steps represented in the flowchart or otherwise described herein may be specifically implemented in any readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0184] For the purposes of this specification, a "readable storage medium" can be any means capable of containing, storing, communicating, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable read-only memory (CDROM). Furthermore, a readable storage medium can even be paper or other suitable media on which a program can be printed, since a program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in memory.

[0185] It should be understood that various parts of this disclosure can be implemented in hardware, software, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0186] Those skilled in the art will understand that all or part of the steps of the methods described above can be implemented by a program instructing related hardware. The program can be stored in a readable storage medium, and when executed, the program includes one or a combination of the steps of the method implementation.

[0187] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a readable storage medium. The storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0188] This disclosure also provides an electronic device, including: a memory storing execution instructions; and a processor or other hardware module executing the execution instructions stored in the memory, causing the processor or other hardware module to perform the above-described liquid injection control method.

[0189] This disclosure also provides a readable storage medium storing execution instructions, which, when executed by a processor, are used to implement the above-described liquid injection control method.

[0190] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0191] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0192] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A method for controlling fluid injection, characterized in that, include: Start and control the first motor to move, and drive the injection tube from the second position to the first position so that the injection tube extends into the cleaning fluid storage section of the cleaning equipment. In response to a first position signal generated by the injection tube position detection module, indicating that the injection tube is in the first position, it is detected whether a third position signal from the cleaning equipment has changed, the third position signal being used to indicate that the inlet of the cleaning fluid storage section is in the third position; When a jump is detected from the third position signal of the cleaning equipment, the second motor is started, and the second motor drives the cleaning fluid into the injection pipe to inject the cleaning fluid storage section. Specifically, when the injection tube position detection module does not generate the first position signal and / or the second position signal but detects a high level third position signal from the cleaning equipment, it determines that the inlet position detection module of the cleaning equipment is faulty and issues a second alarm signal; in response to the second position signal generated by the injection tube position detection module indicating that the injection tube is in the second position, and the detection of a high level third position signal from the cleaning equipment, it determines that the inlet position detection module of the cleaning equipment is faulty and / or the inlet of the cleaning fluid storage section is in an open state, and issues a third alarm signal.

2. The injection control method according to claim 1, characterized in that, The step of starting and controlling the first motor includes: starting the first motor in response to a liquid replenishment signal from the cleaning equipment and a machine positioning signal generated by the charging device.

3. The injection control method according to claim 1, characterized in that, Also includes: In response to a full filling signal from the cleaning equipment, the second motor is controlled to enter a non-working state to stop the liquid injection; as well as, Control the first motor to drive the injection tube from the first position to the second position, so that the injection tube exits the cleaning fluid storage section.

4. The injection control method according to claim 1, characterized in that, Also includes: If the third position signal is detected to be continuously low before and after the first position signal is generated and the duration is greater than or equal to a predetermined duration, it is determined that the alignment has failed. The first motor is then controlled to move, and the first motor drives the injection tube to move from the first position to the second position so that the injection tube exits the cleaning fluid storage section.

5. The injection control method according to claim 4, characterized in that, Also includes: In response to a second position signal generated by the injection tube position detection module, indicating that the injection tube is in the second position, the number of alignment failures is updated; Determine whether the updated number of alignment failures is less than a preset value; When the number of alignment failures is less than the preset value, the first motor is controlled to operate to drive the injection tube to move from the second position to the first position again, so that the injection tube extends into the cleaning fluid storage section of the cleaning equipment again. When the number of alignment failures is greater than or equal to the preset value, a first alarm signal is issued.

6. A liquid injection control device, characterized in that, include: The first motor control module is used to start and control the operation of the first motor. The first motor drives the injection tube to move from the second position to the first position so that the injection tube extends into the cleaning fluid storage section of the cleaning equipment. The detection module is configured to, in response to a first position signal generated by the injection tube position detection module indicating that the injection tube is located at the first position, detect whether a third position signal from the cleaning equipment has changed, wherein the third position signal is used to indicate that the inlet of the cleaning fluid storage section is located at the third position; and, when a change in the third position signal from the cleaning equipment is detected, send a first message to the second motor control module. The second motor control module is used to start the second motor in response to the first message from the detection module. The second motor drives the cleaning fluid into the injection tube to inject the cleaning fluid storage section. The detection module is further configured to determine that the alignment has failed when the third position signal is low and the duration is greater than or equal to a predetermined duration, and send a second message to the first motor control module; the first motor control module is further configured to control the first motor to operate in response to the second message from the detection module, and the first motor drives the injection tube to move from the first position to the second position so that the injection tube exits the cleaning fluid storage section. The injection control device further includes: a failure recording module; the detection module is also configured to send a third message to the failure recording module in response to a second position signal generated by the injection tube position detection module, indicating that the injection tube is located at the second position; the failure recording module is configured to update the number of alignment failures in response to the third message from the detection module. The liquid injection control device further includes: an alarm module; the detection module is further configured to determine whether the number of alignment failures updated by the failure record module is less than a preset value, and send a fourth message to the first motor control module when the number of alignment failures is less than the preset value, and send a fifth message to the alarm module when the number of alignment failures is greater than or equal to the preset value; the first motor control module is further configured to control the first motor to operate in response to the fourth message, so as to drive the liquid injection tube to move from the second position to the first position again, so that the liquid injection tube extends into the cleaning fluid storage section of the cleaning equipment again; the alarm module is configured to issue a first alarm signal in response to the fifth message; the detection module is further configured to detect that the third position signal from the cleaning equipment is high level when the liquid injection tube position detection module does not generate the first position signal and / or the second position signal, determine that the liquid inlet position detection module of the cleaning equipment is faulty, and send a sixth message to the alarm module; the alarm module is further configured to issue a second alarm signal in response to the sixth message. The detection module is further configured to respond to a second position signal generated by the injection tube position detection module, indicating that the injection tube is located at the second position, detect a high level third position signal from the cleaning equipment, determine that the inlet position detection module of the cleaning equipment is faulty and / or the inlet of the cleaning fluid storage section is open, and send a seventh message to the alarm module; the alarm module is further configured to issue a third alarm signal in response to the seventh message.

7. An electronic device, characterized in that, include: The memory stores execution instructions; as well as A processor that executes the execution instructions stored in the memory, causing the processor to perform the injection control method according to any one of claims 1 to 5.

8. A base station, characterized in that, It includes the injection control device as described in claim 6 or the electronic device as described in claim 7.

9. A readable storage medium, characterized in that, The readable storage medium stores execution instructions, which, when executed by a processor, are used to implement the injection control method according to any one of claims 1 to 5.

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