Sweeping machine, cleaning system and control method of sweeping machine

Abstract

The present application belongs to the technical field of cleaning tools, and specifically relates to a sweeper, a cleaning system, and a control method for the sweeper, wherein the sweeper comprises a mobile carrier; a self-propelled mechanism, driving the mobile carrier to move along the surface to be cleaned; an air duct, arranged on the mobile carrier; a negative pressure device, installed on the mobile carrier and connected to the air duct, used to evacuate the air duct to generate airflow in the air duct; a dust collection container, accommodated in the air duct; a detection unit, installed on the mobile carrier, used to collect specific physical information of the sweeper, and the specific physical information is physical information that can change with the change of the filling state of the dust collection container. The detection unit can collect specific physical information, and can accurately judge the full load state of the dust collection container, so as to promptly prompt the user to clean the dust collection container, ensure the cleaning effect and extend the service life.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning tools, and specifically relates to a sweeping machine, a cleaning system, and a control method for the sweeping machine. Background Art

[0002] A sweeping robot is generally equipped with a dust box for collecting garbage. In order to facilitate users to clean up garbage, the prior art generally sets the dust box as a disposable consumable. When the dust box is full, the user can take out the garbage together with the dust box and discard it. However, the prior art lacks products that can detect the use status of the dust box. Users can only judge when to replace the dust box based on experience. When the dust box is not replaced in time, it will seriously affect the working performance of the sweeper. If the user wants to know the status of the dust box in time, he must frequently disassemble the outer shell of the sweeper for inspection, which increases the burden on the user and affects the user experience. Summary of the invention

[0003] In view of the shortcomings of the prior art described above, the purpose of the present application is to provide a sweeper, a cleaning system and a control method for the sweeper, which can enable the user to promptly detect whether the dust collection container is full, so as to improve the cleaning efficiency and reduce the burden on the user.

[0004] To achieve the above-mentioned purpose and other related purposes, the present application provides a sweeping machine, comprising:

[0005] A mobile carrier, wherein the mobile carrier is equipped with a self-propelled mechanism to drive the mobile carrier to move along the surface to be cleaned;

[0006] An air duct, arranged on the mobile carrier;

[0007] A negative pressure device, mounted on the mobile carrier and connected to the air duct, for extracting air from the air duct to generate airflow in the air duct;

[0008] A dust collecting container is accommodated in the air duct, a first air inlet is provided on the windward side of the dust collecting container, and at least a part of the dust collecting container is made of a filter material so that the dust collecting container can be passed through by the airflow and the garbage carried in the airflow is retained in the dust collecting container;

[0009] The detection unit is installed on the mobile carrier and is used to collect specific physical information of the sweeper, where the specific physical information is physical information that can change with the change of the filling state of the dust collection container.

[0010] The beneficial effects of this arrangement are as follows: the sweeper is equipped with a self-propelled mechanism, which can drive the mobile carrier to walk along the surface to be cleaned, realizing the autonomous cleaning function without the need for additional control. The cleaning system consisting of the air duct, negative pressure device and dust collection container can generate airflow, suck the garbage into the dust collection container, and ensure efficient cleaning of the ground. The design of the dust collection container allows the garbage carried in the airflow to be retained in the container, and some areas made of filter materials can effectively filter the air, so that the dust collection container can continuously and efficiently collect garbage. The detection unit can collect specific physical information and accurately determine the full load status of the dust collection container, so as to promptly prompt the user to clean the dust collection container, ensure the cleaning effect and extend the service life; the feedback unit can generate sensory signals that the user can perceive, so that the user can take action in time. The sweeper has autonomous movement, efficient cleaning, intelligent detection and user-friendly feedback functions, which can improve cleaning efficiency, reduce usage costs and enhance user experience.

[0011] In an optional embodiment of the present application, the negative pressure device includes a fan, the sweeper also includes a controller, the fan is electrically connected to the controller, the controller is configured to control the fan to operate at a constant current, and the detection unit includes a speed detection unit for detecting the speed of the fan.

[0012] The beneficial effects of this setting are: by detecting the fan speed, the cleaning work can be closely combined with the actual needs, ensuring the cleaning effect while improving work efficiency. Regularly cleaning the dust collection container can effectively extend the service life of the sweeper. Detecting the fan speed can remind the user to clean the dust collection container in time to avoid long-term retention of garbage, which will cause the machine performance to decline or even damage, thereby extending the life and stability of the equipment.

[0013] In an optional embodiment of the present application, the negative pressure device includes a fan, the sweeper also includes a controller, the fan is electrically connected to the controller, the controller is configured to control the fan to operate at a constant speed, and the detection unit includes a current detection unit for detecting the working current of the fan.

[0014] The beneficial effect of this setting is that by real-time monitoring of the fan's current consumption, the filling status of the dust container can be indirectly reflected. When the dust container is full, the fan needs more power to maintain normal dust collection efficiency, and the fan's current consumption will increase relatively. The system can set a current threshold. When the fan current exceeds the threshold, the system can determine that the dust container has reached a full load state and trigger corresponding processing measures, such as reminding the user to empty the dust container.

[0015] In an optional embodiment of the present application, the detection unit includes a wind speed detection unit and / or an air pressure detection unit arranged in the air duct.

[0016] The beneficial effect of this arrangement is that by monitoring the wind speed changes in the dust collection duct, the filling status of the dust collection container can be judged more accurately, ensuring that the user is reminded to clean the dust collection container at the right time to avoid dust overflow or affect the dust collection effect. Unlike current detection, wind speed detection is not affected by factors such as current fluctuations, and is more stable and reliable, and can accurately reflect the actual filling status of the dust collection container. Air pressure detection can accurately reflect the changes in the internal pressure of the dust collection container, thereby accurately judging the filling status of the dust collection container, ensuring that the user is reminded to clean the dust collection container at the right time; air pressure detection is relatively stable, not affected by external factors, and can reliably monitor the filling status of the dust collection container and provide stable detection results.

[0017] In an optional embodiment of the present application, the mobile carrier includes a first structural member and a second structural member, at least the dust collecting container is installed on the first structural member, the first structural member is assembled so that at least part of its weight acts on the second structural member, and the detection unit includes a weight detection unit arranged between the first structural member and the second structural member to detect the weight change of the first structural member.

[0018] The beneficial effect of this setting is that the accumulation of dust and debris inside the dust container will cause the weight of the dust container to increase. During the operation of the sweeping robot, the weight change of the dust container can be monitored by the built-in weighing sensor. When the preset weight threshold is reached, the system can determine that the dust container is full and trigger corresponding processing measures, such as reminding the user to clean the dust container or automatically stopping the work.

[0019] In an optional embodiment of the present application, the dust collecting container is made of a flexible material, and is configured so that its volume can expand as more garbage is collected therein, and the detection unit includes a volume detection unit for detecting a volume change of the dust collecting container.

[0020] The beneficial effect of this setting is: as dust and debris continue to accumulate in the dust collection container, the volume of the flexible material dust collection container will gradually expand. When the dust collection container is full, its volume change will reach a specific threshold. By monitoring the volume change of the dust collection container, the system can determine whether the dust collection container is full, thereby triggering corresponding processing measures, such as reminding the user to clean the dust collection container or automatically stop working.

[0021] In an optional embodiment of the present application, the dust collecting container is made of a flexible material, the mobile carrier is provided with a compression mechanism for compressing the dust collecting container, and the detection unit includes a stroke detection unit for detecting a compression stroke of the compression mechanism, or a pressure detection unit for detecting a pressure change of the compression mechanism.

[0022] The beneficial effect of this arrangement is that when dust and debris in the dust collection container continue to accumulate, the sweeper will use a mechanical device to squeeze the dust collection container, and determine the filling degree of the dust collection container by detecting the change in the squeezing stroke or the pressure generated by the squeezing. When the dust and debris in the dust collection container reaches a certain amount, the squeezing stroke or squeezing pressure will change significantly, and the system can determine whether the dust collection container is full by monitoring this change, thereby triggering corresponding treatment measures.

[0023] In an optional embodiment of the present application, a light-transmitting area is provided at least near the first air inlet of the dust collecting container, and the detection unit includes a photoelectric detection unit for detecting whether there is garbage at the first air inlet, and the photoelectric detection unit is arranged opposite to the light-transmitting area.

[0024] The beneficial effect of this setting is that when the dust and debris in the dust collection container reaches a certain height, it will block or obstruct the light emitted by the photoelectric sensor, causing the sensor to detect a change in the signal. The system determines the filling degree of the dust collection container by monitoring the signal change output by the photoelectric sensor. When the signal reaches the preset threshold, the system can determine that the dust collection container is full and trigger corresponding processing measures, such as reminding the user to clean it or automatically stopping work.

[0025] In an optional embodiment of the present application, the air duct is provided with a cavity for accommodating the dust collecting container, the cavity is provided with a second air inlet and a second air outlet, the first air inlet is arranged opposite to the second air inlet, and the filter material is arranged at least in an area on the dust collecting container opposite to the second air outlet.

[0026] The beneficial effects of such a configuration are as follows: the use of a cavity to independently contain the dust collection container can effectively isolate the garbage and dust in the dust collection container, prevent it from causing pollution or damage to other parts of the sweeper, and ensure stable operation of the equipment. The first air inlet and the second air inlet are arranged relative to each other, which can achieve effective guidance and flow control of the airflow, improve the dust collection efficiency, and ensure that garbage and dust can be effectively sucked into the dust collection container. The filter material is arranged on the dust collection container, which can filter the airflow and remove dust and bacteria in the air. While separating the dust collection container, it can also improve the air quality and keep the indoor environment clean. The provision of the dust collection container in the cavity makes the cleaning and replacement of the dust collection container more convenient and quick, reduces the complexity and time-consuming of maintenance work, and improves the overall maintainability of the equipment.

[0027] In an optional embodiment of the present application, the container wall of the dust collecting container is made of air-permeable material, and the container wall of the dust collecting container itself constitutes the filter material.

[0028] The beneficial effects of such a setting are as follows: the container wall of the dust collection container made of breathable material itself constitutes a filter material, which can effectively filter dust, bacteria and other particulate matter in the air, reduce the dust from entering the environment or being re-emitted into the air, and improve the air quality. The container wall of the dust collection container can prevent dust from entering the dust collection container and then being discharged again, reduce the dust accumulation of other parts inside the sweeping robot, reduce the frequency of cleaning and maintenance, and extend the life of the equipment. Since the container wall itself is the filter material, the use of components such as independent filter screens or filter cartridges is reduced, the maintenance cost is reduced, and the frequency and cost of replacing the filter material are also reduced. The container wall of the dust collection container made of breathable material usually has good wear resistance and easy cleaning, and the cleaning and maintenance process is simpler and faster. Users can easily clean the dust collection container and keep it clean and hygienic. The container wall of the dust collection container itself constitutes a filter material, which can make full use of the entire container wall as a filter, improve the dust collection efficiency, and ensure that the inhaled dust and dirt are effectively captured and stored.

[0029] In an optional embodiment of the present application, the container wall of the dust collecting container is made of a high molecular polymer film, a first air outlet is provided in the area of ​​the dust collecting container opposite to the second air outlet, and the filter material is arranged at the first air outlet.

[0030] The beneficial effects of this arrangement are: the dust collecting container made of high molecular polymer film is lighter, and because the areas of the dust collecting container except the filter material are all made of airtight materials, it can effectively prevent tiny dust from passing through the container wall and entering the inner cavity of the sweeping machine shell, thereby reducing the maintenance cost of the sweeping machine and increasing the service life of the sweeping machine.

[0031] In an optional embodiment of the present application, a first bracket is provided on a side of the dust collecting container opposite to the second air inlet, and the first bracket is detachably connected to an edge of the second air inlet.

[0032] The beneficial effect of such a configuration is that the first bracket can effectively support the first air inlet of the dust collecting container, thereby preventing the first air inlet from folding, collapsing, etc., which would prevent the airflow from smoothly entering the dust collecting container.

[0033] In an optional embodiment of the present application, a second bracket is provided on a side of the dust collecting container opposite to the second air outlet, and the second bracket is detachably connected to an edge of the second air outlet.

[0034] The beneficial effect of such an arrangement is that the second bracket can effectively support the filter material of the dust collecting container to prevent the filter material from folding, collapsing, etc.

[0035] In an optional embodiment of the present application, the second air inlet and the second air outlet are located on the same side of the cavity, and a fixed bracket is provided on the side of the dust collecting container opposite to the second air inlet and the second air outlet, and the fixed bracket is detachably connected to the inner wall of the cavity where the second air inlet and the second air outlet are located.

[0036] The beneficial effect of such arrangement is that since the second air inlet and the second air outlet are located on the same side of the cavity, the dust collecting container only needs to be provided with a fixed bracket on this side.

[0037] In an optional embodiment of the present application, a main air inlet is provided at one end of the air duct away from the negative pressure device, and the main air inlet is arranged on the bottom surface of the mobile carrier.

[0038] In an optional embodiment of the present application, the main air inlet is provided with a receiving cavity for receiving a roller brush, the roller brush is rotatably arranged in the receiving cavity, and a portion of the roller surface of the roller brush protrudes below the bottom surface of the movable carrier.

[0039] The beneficial effects of this arrangement are as follows: the roller brush is located at the air inlet and can directly contact the ground, effectively sweeping away dust, hair and debris on the ground, improving cleaning efficiency, and the rotation of the roller brush can bring dust and debris into the dust suction duct to ensure more thorough cleaning. The roller brush at the air inlet can effectively stir the dust on the ground, making it easier to be sucked into the dust suction duct, increasing the dust suction force and improving the dust suction effect. The roller brush at the air inlet can pre-treat the ground, such as loosening stubborn dirt and entangled hair on the ground, providing better preparation for subsequent vacuuming work and ensuring a more thorough vacuuming effect. Setting the roller brush at the air inlet can effectively prevent large particles from clogging the dust suction duct, reduce the risk of duct blockage, and maintain the vacuuming efficiency and stability of the vacuum robot. Setting the roller brush at the air inlet helps reduce the possibility of damage to the roller brush during operation, extend the service life of the roller brush, and reduce replacement costs.

[0040] In an optional embodiment of the present application, the sweeper further includes a feedback unit, which is installed on the mobile carrier and is used to generate a reminder signal according to the specific physical information collected by the detection unit. The feedback unit includes at least one of a lighting module, a speaker module, a vibration module, and a display module.

[0041] To achieve the above objectives and other related objectives, the present application also provides a cleaning system, comprising:

[0042] A sweeping machine, wherein the sweeping machine is provided with a dust collection container;

[0043] A base station, wherein the base station is provided with a receiving portion for receiving the sweeping machine;

[0044] The sweeping machine and / or the base station is provided with a detection unit, and the detection unit is used to collect specific physical information of the sweeping machine, and the specific physical information is physical information that can change with the change of the filling state of the dust collection container;

[0045] The sweeping machine and / or the base station are provided with a wireless communication module, and the sweeping machine and / or the base station are configured such that when the detection unit detects that the dust collection container is full, the sweeping machine and / or the base station sends a dust full alarm message through the wireless communication module.

[0046] The beneficial effects of such a setting are as follows: the user can receive the dust fullness status of the dust collection container in real time through mobile terminals such as mobile phones, and promptly understand the working status of the sweeper, which is convenient for the user to arrange the cleaning operation in time, thereby improving the convenience and timeliness of the operation; the user does not have to go to the sweeper or the base station in person to know the status of the dust collection container, and can remotely monitor and view the cleaning status through the mobile terminal anytime and anywhere, thereby improving the user experience.

[0047] In order to achieve the above-mentioned purpose and other related purposes, the present application also provides a control method of a sweeping machine, comprising the following steps:

[0048] When the negative pressure device operates in a normal cleaning mode, the detection unit detects a first measurement value of the specific physical information;

[0049] Comparing the first measurement value with a preset critical value of the specific physical information to determine whether the first measurement value exceeds the critical value;

[0050] If so, the negative pressure device is controlled to work in the obstacle removal mode for a preset time and then resumes working in the normal cleaning mode, and obtains a second measurement value of the specific physical information detected by the detection unit at this time; the obstacle removal mode is a working mode for eliminating air duct blockage failure;

[0051] Compare the second measured value with the critical value to determine whether the second measured value exceeds the critical value

[0052] If so, it is identified as a dust-full state.

[0053] In an optional embodiment of the present application, the normal cleaning mode is that the negative pressure device works with a first suction force, and the obstacle removal mode is that the negative pressure device works with a second suction force, and the second suction force is greater than the first suction force; or

[0054] The normal cleaning mode is that the negative pressure device works in a first airflow direction, and the obstacle removal mode is that the negative pressure device works in a second airflow direction.

[0055] In an optional embodiment of the present application, the following steps are also included:

[0056] When the negative pressure device stops working, the detection unit detects a third measurement value of the specific physical information;

[0057] Comparing the third measurement value with a preset critical value of the specific physical information to determine whether the third measurement value exceeds the critical value;

[0058] If so, it is identified as a dust-full state.

[0059] In an optional embodiment of the present application, the dust collecting container is made of a flexible material, the mobile carrier is provided with a compression mechanism for compressing the dust collecting container, and the detection unit includes a stroke detection unit for detecting a compression stroke of the compression mechanism, or a pressure detection unit for detecting a pressure change of the compression mechanism;

[0060] The following steps are also included:

[0061] When a preset condition is met, a control signal is sent to the compression mechanism to control the compression mechanism to work until the stroke or pressure of the compression mechanism reaches a preset value, wherein the preset condition is met when a preset time has passed since the last start of the compression mechanism, or the sweeper has run a preset distance;

[0062] Acquire a first limit measurement value of the specific physical information detected by the detection unit during the compression process of the compression mechanism;

[0063] Comparing the first limit measurement value with a preset critical value of the specific physical information to determine whether the first limit measurement value exceeds the critical value;

[0064] If so, it is identified as a dust-full state.

[0065] The technical effect of the present application is that the detection unit can collect specific physical information and accurately judge the full load status of the dust collection container, thereby prompting the user to clean the dust collection container in time, ensuring the cleaning effect and extending the service life. The sweeper has autonomous movement, efficient cleaning, intelligent detection and user-friendly feedback functions, which can improve cleaning efficiency, reduce use costs and enhance user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 is a three-dimensional diagram of a dust collection container of a sweeping machine provided in an embodiment of the present application in a disassembled state;

[0067] Figure 2 is a stereoscopic diagram of a dust collecting container of a sweeping machine provided by an embodiment of the present application in a disassembled state from another perspective;

[0068] Figure 3 is a bottom view of the sweeping machine provided in an embodiment of the present application;

[0069] Figure 4 yes Figure 3 AA section view;

[0070] Figure 5 is a three-dimensional diagram of a dust collection container according to an embodiment of the present application;

[0071] Figure 6 is a three-dimensional diagram of the dust collection container provided by an embodiment of the present application from another perspective;

[0072] Figure 7 is a working principle diagram of the detection unit provided in Example 1 of the present application;

[0073] Figure 8 is a working principle diagram of the detection unit provided in Example 2 of the present application;

[0074] Fig. 9 is a working principle diagram of the detection unit provided in Example 3 of the present application;

[0075] Fig.10 is a working principle diagram of the detection unit provided in Example 4 of the present application;

[0076] Fig.11 is a structural principle diagram of a detection unit provided in Example 5 of the present application;

[0077] Fig.12 is a structural principle diagram of a detection unit provided in Example 6 of the present application;

[0078] Fig.13 is a structural principle diagram of a detection unit provided in Example 7 of the present application;

[0079] Fig.14 is a structural principle diagram of a detection unit provided in Example 8 of the present application;

[0080] Fig.15 is a structural principle diagram of a detection unit provided in Example 9 of the present application;

[0081] Fig.16 is a structural principle diagram of a detection unit provided in Example 10 of the present application;

[0082] Fig.17 This is an application scenario diagram of the cleaning system provided in Example 11 of the present application;

[0083] Fig.18 is a control flow chart of the sweeping machine provided in the embodiment of the present application;

[0084] Fig.19 is a control flow chart of the sweeping machine provided in Examples 1-4 of the present application;

[0085] Fig. 20 is a control flow chart of the sweeping machine provided in Examples 5-7 of the present application;

[0086] Fig.21 is a control flow chart of the sweeping machine provided in Example 8 of the present application;

[0087] Fig. 22 is a control flow chart of a base station provided in Embodiment 9 of the present application;

[0088] Fig.23 is a control flow chart of a base station provided in Embodiment 10 of the present application;

[0089] Fig.24 is a control flow chart of the cleaning system provided in Example 11 of the present application;

[0090] Fig.25 is a structural block diagram of a cleaning device provided in an embodiment of the present application;

[0091] Fig.26 It is an exploded view of another structure of a dust collection container and a sweeping machine provided in an embodiment of the present application;

[0092] Fig. 27 It is a three-dimensional diagram of another dust collection container provided in an embodiment of the present application.

[0093] Description of reference numerals:

[0094] 100, sweeper; 10, mobile carrier; 101, cover plate; 102, first structural member; 103, second structural member; 1001, rotation speed detection unit; 1002, current detection unit; 1003, wind speed detection unit; 1004, air pressure detection unit; 1005, first weight detection unit; 1006, volume detection unit; 1007, photoelectric detection unit; 1008, first stroke detection unit; 1009, first pressure detection unit; 11, air duct; 111, cavity; 112, second air inlet; 1121, movable door; 113, second air outlet; 114, main air inlet; 12, negative pressure device; 13. Roller brush; 14. First magnetic unit; 15. Driving wheel; 16. Steering wheel; 17. Side brush; 18. Disc mop; 20. Dust collection container; 21. First air inlet; 22. First air outlet; 23. First bracket; 24. Second bracket; 25. Second magnetic unit; 26. Light-transmitting area; 27. Fixed bracket; 30. First compression mechanism; 40. Feedback unit; 41. Controller; 42. Alarm execution unit; 200. Base station; 2001. Second weight detection unit; 2002. Second stroke detection unit; 2003. Second pressure detection unit; 210. Second compression mechanism; 300. Mobile terminal. DETAILED DESCRIPTION

[0095] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0096] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present application in a schematic manner, and therefore the illustrations only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0097] A sweeping robot usually consists of a chassis, a laser radar, sensors, an electric motor, a central processing unit, and a battery. The chassis of a sweeping robot usually has wheels or tracks to move and navigate the entire cleaning area. The chassis is usually also equipped with an electric motor to drive the movement of the sweeping robot. The sweeping robot is equipped with a laser radar sensor to scan and perceive the surrounding environment, create a map, and identify obstacles so that the entire room can be cleaned safely and efficiently. A sweeping robot is usually equipped with various sensors, such as collision sensors, fall sensors, and ground sensors, which are used to detect obstacles, prevent the robot from falling from the edge of the stairs, and detect information such as the degree of dirt on the ground. The electric motor is usually used to drive the brush, wheels, or dust collection device of the sweeping robot, and to rotate the laser radar for environmental perception. The built-in central processing unit of the sweeping robot is used to process sensor data, laser radar data, execute navigation algorithms, and control the work of various components. The sweeping robot perceives the surrounding environment through laser radar and other sensors, creates a map, and plans the cleaning path to ensure that the entire cleaning area is covered. Then, it moves along the pre-planned path, driven by an electric motor, and cleans the floor through vacuum cleaners, brushes, and other devices, while detecting the degree of dirt on the floor through sensors. During the cleaning process, the robot vacuum cleaner can adjust its path in real time, avoid obstacles, and return to the charging station to charge according to the remaining battery power, and continue cleaning after charging. The structure and working principle of the robot vacuum cleaner enable it to autonomously sense and plan the cleaning path, realize autonomous cleaning and charging, and thus provide users with efficient and convenient home cleaning solutions.

[0098] As an important representative of modern household cleaning tools, the vacuuming principle and dust collection system design of the sweeping robot play a vital role in its cleaning effect. The vacuuming system of the sweeping robot usually consists of a motor, a vacuum port, a filter system and a dust collection box. The motor is the core component of the sweeping robot to generate vacuum suction. The negative pressure generated by its high-speed rotation can suck dust, hair, debris and other particles on the ground into the vacuum port. The vacuum port is usually located at the bottom of the sweeping robot. Through the movement of the robot on the ground, the vacuum port can effectively absorb the dirt on the ground. Once the dirt is sucked into the vacuum port of the sweeping robot, it will be sent to the dust collection box through the pipe. In this process, the filtration system plays an important role. The filtration system is generally composed of a filter, filter cotton, HEPA filter, etc., which can filter dust particles in the air while allowing clean air to pass through. In particular, the HEPA filter can effectively filter fine particulate matter, improve air quality, and reduce the spread of allergens. As a container for collecting dust, the design and capacity of the dust collection box will also affect the vacuuming effect of the sweeping robot. Generally speaking, the larger the dust box capacity, the longer the robot vacuum cleaner can clean without having to frequently empty the dust box; conversely, the smaller the dust box capacity, the more frequently it needs to be cleaned. When the dust box is full, it will have a significant impact on the vacuuming effect. Since the dust box space is filled, it is no longer possible to inhale dust, resulting in a decrease in the vacuuming effect. For users, it is particularly important to empty the dust box in time. To empty the dust box, you can open the dust box of the robot vacuum cleaner, pour out the dust, clean the inside of the dust box, and then put it back into the robot vacuum cleaner. This ensures that the robot vacuum cleaner maintains a good vacuuming effect and keeps the home environment clean and comfortable.

[0099] In order to further facilitate users to clean up the garbage in the dust box, the dust box is designed as a disposable dust bag. The disposable dust bag of the sweeping robot is a cleaning consumable that can collect and hold dust, debris and other dirt generated during the vacuuming process. The disposable dust bag is usually composed of filter paper, dust nozzle and connecting parts. The filter paper is the main body of the dust bag, which has good filtering performance and can effectively filter dust particles to ensure clean air. The dust nozzle is located at one end of the dust bag and is responsible for absorbing dust and dirt. The connecting part is the part that connects the dust bag and the vacuum suction port of the sweeping robot, which plays a role of fixing and sealing. When removing the disposable dust bag, first stop the sweeping robot, make sure the power is turned off and disconnect the power cord. Find the installation location of the dust bag, which is generally located at the bottom, side or top of the sweeping robot. According to the instruction manual or diagram, find the part that fixes the disposable dust bag (usually a buckle or a clamp). Open or unfasten the fixing part to remove the disposable dust bag. When installing the disposable dust bag, ensure that the structure of the new disposable dust bag is intact. According to the shape of the dust bag and the design of the connecting parts, correctly install the dust bag into the sweeping robot, ensure that the connecting parts are firm, ensure that the dust bag is installed in the correct position, the dust nozzle is aligned with the suction port, and the connecting parts are tightly fixed.

[0100] Regular replacement of disposable dust bags is the key to maintaining the vacuuming effect of sweeping robots. However, existing sweeping machines lack the dust fullness detection function for disposable dust bags, which will lead to a series of problems. First, the sweeping machine cannot remind users to replace the dust bag in time, which may cause users to replace the dust bag prematurely, wasting the cleaning capacity and materials that have not been fully utilized. This will increase the user's cost of use, especially in the long-term use process. Secondly, when the disposable dust bag is filled with too much dust, hair and other debris, its dust collection efficiency will gradually decrease, affecting the cleaning effect and performance of the sweeping machine. If the user does not replace the dust bag in time, the sweeping machine may not be able to clean the ground, and even dust and dirt will be sprinkled on the ground again during the cleaning process, which greatly reduces the cleaning effect. In addition, the sweeping machine requires users to manually check the status of the dust bag regularly to determine whether it needs to be replaced, which increases the user's workload and maintenance difficulty. Especially for some busy users, it is easy to ignore or forget this step, resulting in the normal operation of the sweeping machine being affected. Finally, if the user does not replace the dust bag for a long time and causes the dust bag to become overly full, the suction power of the sweeper may be affected, and may even cause problems such as overheating and damage to the equipment, reducing the service life of the equipment. This will cause the user to require additional repair or replacement costs, increasing the overall cost of using the sweeper.

[0101] The present application provides a sweeping machine, a base station, a cleaning system, a control method and a cleaning device which can automatically identify whether the dust bag is full according to the change in the physical state before and after the dust bag is fully loaded. The system detects the dust and debris level in the dust bag through a sensor, thereby automatically identifying whether the dust bag is full. The user does not need to manually check the dust bag status. The system can intelligently manage and monitor the use of the dust bag, providing a more convenient user experience; it avoids the user from replacing the dust bag prematurely before it is fully utilized, thereby saving the use of the dust bag and other resources. By maximizing the use of the capacity of each dust bag, it can improve the cleaning efficiency and reduce the frequency of replacing the dust bag, saving the user's cost and energy; timely replacement of a fully loaded dust bag can maintain the dust suction performance and cleaning efficiency of the sweeping machine, and avoid excessive accumulation of dust bags that leads to a decrease in cleaning effect; the automatic identification function can ensure that the sweeping machine Always in the best working condition, improve cleaning efficiency, and reduce the possibility of secondary cleaning; regular replacement of dust bags can maintain the normal operation of the sweeping machine equipment and avoid excessive wear and damage; the system that automatically identifies whether the dust bag is fully loaded can help users replace the dust bag in time, extend the service life of the sweeping machine equipment, and reduce maintenance and replacement costs; this intelligent system can provide a smarter and more convenient cleaning experience, so that users do not need to pay attention to the dust bag status frequently, and enjoy a more relaxed and efficient cleaning process. Users can rest assured that the sweeping machine manages the dust bag by itself and focus on other matters, which improves the overall user experience; the intelligent control system based on the dust bag status can automatically adjust the working mode and cleaning path of the cleaning machine according to the real-time situation, optimize the cleaning efficiency and energy consumption management. This intelligent control method can make cleaning equipment more intelligent and efficient.

[0102] The technical solution of the present application is described in detail below in conjunction with specific embodiments:

[0103] Example 1: Please refer to Figures 1 to 7As shown, the sweeping machine provided in this embodiment includes a mobile carrier 10, an air duct 11, a negative pressure device 12, a dust collection container 20, a detection unit and a feedback unit 40. The mobile carrier 10 is equipped with a self-propelled mechanism to drive the mobile carrier 10 to move along the surface to be cleaned; the air duct 11 is arranged on the mobile carrier 10; the negative pressure device 12 is installed on the mobile carrier 10 and connected to the air duct 11, and is used to evacuate the air duct 11 so that an airflow is generated in the air duct 11; the dust collecting container 20 is accommodated in the air duct 11, and a first air inlet 21 is provided on the windward side of the dust collecting container 20, and at least a part of the area of ​​the dust collecting container 20 is made of filter material, so that the dust collecting container 20 can be passed through by the airflow and the garbage carried in the airflow is retained in the dust collecting container 20; the detection unit is installed on the mobile carrier 10, and is used to collect specific physical information of the sweeper, and the specific physical information is physical information that can change with the change of the filling state of the dust collecting container 20; the feedback unit 40 is installed on the mobile carrier 10, and is used to generate a reminder signal according to the specific physical information collected by the detection unit.

[0104] The sweeper is equipped with a self-propelled mechanism, which can drive the mobile carrier 10 to walk along the surface to be cleaned, realizing the autonomous cleaning function without additional control. The cleaning system composed of the air duct 11, the negative pressure device 12 and the dust container 20 can generate airflow, suck the garbage into the dust container 20, and ensure efficient cleaning of the ground. The design of the dust container 20 allows the garbage carried in the airflow to be retained in the container, and the partial area made of filter material can effectively filter the air, so that the dust container 20 can continuously and efficiently collect garbage. The detection unit can collect specific physical information, accurately judge the full load state of the dust container 20, so as to promptly prompt the user to clean the dust container 20, ensure the cleaning effect and extend the service life; the feedback unit 40 can generate sensory signals that the user can perceive, so that the user can take action in time. The sweeper has autonomous movement, efficient cleaning, intelligent detection and user-friendly feedback functions, which can improve cleaning efficiency, reduce use costs and enhance user experience.

[0105] The sweeping robot provided in this application can be Fig.18 The control method shown realizes the detection of dust full signal, specifically, comprises the following steps:

[0106] S11: Acquire the measurement value of the specific physical information detected by the detection unit;

[0107] S12: comparing the measured value with a preset critical value of the specific physical information to determine whether the measured value exceeds the critical value;

[0108] S13: If yes, it is identified as a dust full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0109] If not, return to step S11.

[0110] This control method provides a general idea of ​​dust full signal detection and feedback. Its specific implementation method needs to be adaptively adjusted according to the specific type of the detection unit. This part will be described in detail in the description of subsequent embodiments and will not be repeated here.

[0111] See also Figure 7 As shown, in this embodiment, the negative pressure device 12 includes a fan, and the sweeper also includes a controller 41. The fan is electrically connected to the controller 41. The controller 41 is configured to control the fan to operate at a constant current. The detection unit includes a speed detection unit 1001 for detecting the speed of the fan.

[0112] It should be understood that when the fan is working at a constant current, when the garbage accumulation in the dust container 20 reaches a certain level, it will affect the speed of the fan. By monitoring this speed change, it is possible to accurately identify whether the dust container 20 needs to be cleaned. Once the fan speed is detected to be abnormal, it means that the dust container 20 may be fully loaded. The system can issue a warning signal or reminder in time to let the user know and take cleaning measures. This timely reminder can avoid the dust container 20 overflowing, resulting in a decrease in the cleaning effect or even damage to the device. By monitoring the fan speed, an accurate judgment of the filling condition of the dust container 20 can be achieved. In addition, different degrees of garbage accumulation will cause different changes in the fan speed. The system can determine the cleaning needs of the dust container 20 based on these changes, effectively avoiding waste caused by misjudgment or untimely cleaning.

[0113] Timely cleaning of the dust container 20 can maintain the efficient cleaning ability of the sweeper and avoid the accumulation of garbage affecting the cleaning effect. By detecting the fan speed, the cleaning work can be closely combined with the actual needs, and the work efficiency can be improved while ensuring the cleaning effect. Regular cleaning of the dust container 20 can effectively extend the service life of the sweeper. Detecting the fan speed can remind the user to clean the dust container 20 in time to avoid the long-term retention of garbage, which may cause the performance of the machine to decline or even damage, thereby extending the life and stability of the equipment. In a specific embodiment, a cover plate 101 that can be movably opened can be provided on the top of the mobile carrier 10 to facilitate the disassembly of the dust container 20.

[0114] See also Figure 1 , 2As shown in Figure 4, in a specific embodiment, the air duct 11 is provided with a cavity 111 for accommodating the dust container 20, the cavity 111 is provided with a second air inlet 112 and a second air outlet 113, the first air inlet 21 and the second air inlet 112 are arranged opposite to each other, and the filter material is at least arranged in the area opposite to the second air outlet 113 on the dust container 20. It should be understood that the use of the cavity 111 to independently accommodate the dust container 20 can effectively isolate the garbage and dust in the dust container 20, prevent it from causing pollution or damage to other parts of the sweeper, and ensure the stable operation of the equipment. The first air inlet 21 and the second air inlet 112 are arranged opposite to each other, which can achieve effective guidance and flow control of the airflow, improve the dust collection efficiency, and ensure that the garbage and dust can be effectively sucked into the dust container 20. The filter material is arranged on the dust container 20, which can filter the airflow, filter out dust and bacteria in the air, and while separating the dust container 20, it can also improve the air quality and keep the indoor environment clean. The arrangement of the dust collecting container 20 in the cavity 111 makes the cleaning and replacement of the dust collecting container 20 more convenient and quick, reduces the complexity and time consumption of maintenance work, and improves the overall maintainability of the equipment.

[0115] In an optional embodiment of the present application, the container wall of the dust collection container 20 is made of a breathable material, and the container wall of the dust collection container 20 itself constitutes the filter material. It should be understood that the container wall of the dust collection container 20 made of breathable material itself constitutes the filter material, which can effectively filter dust, bacteria and other particulate matter in the air, reduce these dust particles from entering the environment or being emitted into the air again, and improve the air quality. The container wall of the dust collection container 20 can prevent dust from entering the dust collection container 20 and then being discharged again, reduce dust accumulation in other parts inside the sweeping robot, reduce the frequency of cleaning and maintenance, and extend the life of the equipment. Since the container wall itself is the filter material, the use of components such as independent filter screens or filter cartridges is reduced, the maintenance cost is reduced, and the frequency and cost of replacing the filter material are also reduced. The container wall of the dust collection container 20 made of breathable material usually has good wear resistance and easy cleaning, and the cleaning and maintenance process is simpler and faster. The user can easily clean the dust collection container 20 and keep it clean and hygienic. The container wall of the dust collecting container 20 itself constitutes the filter material, which can fully utilize the entire container wall as a filter, improve the dust collection efficiency, and ensure that the sucked dust and dirt are effectively captured and stored.

[0116] It should be noted that the dust container 20 can also be made of other airtight materials. For example, in some other embodiments, the container wall of the dust container 20 is made of a polymer film, and the area of ​​the dust container 20 opposite to the second air outlet 113 is provided with a first air outlet 22, and the filter material is arranged at the first air outlet 22. The dust container 20 made of a polymer film is more lightweight, and since the area of ​​the dust container 20 except the filter material is made of an airtight material, it can effectively prevent tiny dust from passing through the container wall and entering the inner cavity of the housing of the sweeper, thereby reducing the maintenance cost of the sweeper and increasing the service life of the sweeper.

[0117] In an optional embodiment of the present application, a first bracket 23 is provided on the side of the dust container 20 opposite to the second air inlet 112, and the first bracket 23 is connected to the edge of the second air inlet 112 in a detachable manner. The first bracket 23 can effectively support the first air inlet 21 of the dust container 20 to prevent the first air inlet 21 from folding, collapsing, etc., which causes the airflow to be unable to smoothly enter the dust container 20. In a further specific embodiment, a quick-connect structure that can be quickly connected to the inner wall of the cavity 111 can be provided on the first bracket 23. The quick-connect structure can be, for example, a first magnetic unit 14 provided on the inner wall of the cavity 111, and a second magnetic unit 25 provided on the first bracket 23, or a buckle and a slot provided on the inner wall of the cavity 111 and the first bracket 23, respectively.

[0118] In an optional embodiment of the present application, a second bracket 24 is provided on the side of the dust collecting container 20 opposite to the second air outlet 113, and the second bracket 24 is connected to the edge of the second air outlet 113 in a detachable manner. Similarly, the second bracket 24 can effectively support the filter material of the dust collecting container 20 to prevent the filter material from folding, collapsing, etc. It should be noted that since there is a suction force at the second air outlet 113, the dust collecting container 20 can be naturally unfolded under the action of negative pressure, so the second bracket 24 is not necessary. In some embodiments, the second bracket 24 can also be removed.

[0119] See also Fig.26 , 27 As shown, in another specific embodiment, the second air inlet 112 and the second air outlet 113 may be located on the same side of the cavity 111, and a fixing bracket 27 is provided on the side of the dust collecting container opposite to the second air inlet 112 and the second air outlet 113, and the fixing bracket 27 is detachably connected to the inner wall of the cavity 111 where the second air inlet 112 and the second air outlet 113 are located. In this embodiment, since the second air inlet 112 and the second air outlet 113 are located on the same side of the cavity 111, the dust collecting container 20 only needs to be provided with a fixing bracket 27 on this side.

[0120] See also Figure 3 As shown, in an optional embodiment of the present application, a main air inlet 114 is provided at one end of the air duct 11 away from the negative pressure device 12, and the main air inlet 114 is arranged on the bottom surface of the mobile carrier 10. Furthermore, a sweeping assembly and a mopping assembly may be arranged on the bottom surface of the sweeper, wherein the sweeping assembly may include, for example, a side brush 17 and a roller brush 13, and the mopping assembly may include, for example, a rotatably arranged disc mop 18. The self-propelled mechanism of the sweeper may include, for example, a driving wheel 15 and a steering wheel 16 arranged on the bottom surface.

[0121] In an optional embodiment of the present application, the main air inlet 114 is provided with a receiving chamber for receiving the roller brush 13, the roller brush 13 is rotatably arranged in the receiving chamber, and part of the roller surface of the roller brush 13 protrudes below the bottom surface of the mobile carrier 10. The roller brush 13 is located at the air inlet and can directly contact the ground, effectively sweeping away dust, hair and debris on the ground, improving the cleaning efficiency, and the rotation of the roller brush 13 can bring dust and debris into the dust suction duct 11 to ensure more thorough cleaning. The roller brush 13 can effectively stir the dust on the ground at the air inlet, making it easier to be sucked into the dust suction duct 11, increasing the dust suction force and improving the dust suction effect. The roller brush 13 can pre-treat the ground at the air inlet, such as loosening stubborn dirt and entangled hair on the ground, providing better preparation for subsequent vacuuming work and ensuring a more thorough vacuuming effect. Placing the roller brush 13 at the air inlet can effectively prevent large particles from blocking the dust suction air duct 11, reduce the risk of blocking the air duct 11, and maintain the dust suction efficiency and stability of the vacuum robot. Placing the roller brush 13 at the air inlet helps reduce the possibility of the roller brush 13 being damaged during operation, prolong the service life of the roller brush 13, and reduce the replacement cost.

[0122] See also Figure 7 As shown, in an optional embodiment of the present application, the feedback unit 40 may include a controller 41 and an alarm execution unit 42, wherein the controller 41 may be reused with the controller 41 of the fan mentioned above, or a separate controller may be used, and the alarm execution unit 42 may include at least one of a lighting module, a speaker module, a vibration module, and a display module.

[0123] Example 2

[0124] See also Figure 8 As shown, the difference between this embodiment and embodiment 1 is only the type of the detection unit. Specifically, in this embodiment, the controller 41 is configured to control the fan to operate at a constant speed, and the detection unit includes a current detection unit 1002 for detecting the working current of the fan.

[0125] It should be understood that when the dust and debris in the dust container 20 are filled more, the fan needs to spend more power to generate enough suction to suck the waste into the dust container 20. Therefore, the change of the filling state of the dust container 20 will cause the load of the fan to change, and then cause the current consumption of the fan to change. By real-time monitoring of the current consumption of the fan, the filling state of the dust container 20 can be indirectly reflected. When the dust container 20 is filled more, the fan needs more power to maintain normal dust collection efficiency, and the current consumption of the fan will increase relatively. The system can set a current threshold. When it is detected that the fan current exceeds the threshold, the system can determine that the dust container 20 has reached a full load state and trigger corresponding processing measures, such as reminding the user to empty the dust container 20. Therefore, by detecting the filling state of the dust container 20 through the change of the fan current, the function of automatically identifying whether the dust container 20 needs to be replaced can be realized. The method of detecting the filling state of the dust container 20 based on the current can enable the sweeping robot to have an intelligent reminder function, promptly notify the user that the dust container 20 is full, and guide the user to clean the dust container 20 in time to avoid dust overflow or affect the dust collection effect. Timely replacement of the dust container 20 can prevent dust from clogging the air duct 11 and the fan, reduce the additional burden when the equipment is running, extend the service life of the equipment, and maintain the efficient working state of the vacuum robot. Ensuring that the dust container 20 always maintains an appropriate filling state can ensure that the vacuum robot continues to provide efficient cleaning effects and ensure the smooth progress of the cleaning operation. Automatically detecting the filling state of the dust container 20 and reminding the user to clean it reduces the user's operating burden, improves the user experience, and makes the sweeping robot more user-friendly.

[0126] Example 3

[0127] See also Fig. 9 As shown, the difference between this embodiment and embodiment 1 is only the type of the detection unit. Specifically, in this embodiment, the detection unit includes a wind speed detection unit 1003 arranged in the air duct 11.

[0128] It should be understood that as dust and debris continue to accumulate in the dust collection container 20, the wind speed detection unit 1003 can monitor the change of the airflow in the dust collection air duct 11. When the dust collection container 20 is full of dust, the airflow in the dust collection air duct 11 is blocked and the wind speed decreases accordingly. The system can set a wind speed threshold. When the wind speed in the dust collection air duct 11 is detected to be lower than the threshold, the system can determine that the dust collection container 20 is full and trigger corresponding processing measures, such as reminding the user to empty the dust collection container 20.

[0129] The use of wind speed detection to determine whether the dust container 20 is fully loaded has the following advantages: by monitoring the wind speed changes in the dust suction air duct 11, the filling state of the dust container 20 can be more accurately determined, ensuring that the user is reminded to clean the dust container 20 at the right time to avoid dust overflow or affect the dust suction effect. Unlike current detection, wind speed detection is not affected by factors such as current fluctuations, is more stable and reliable, and can accurately reflect the actual filling situation of the dust container 20. The application range of the wind speed detection unit 1003 is relatively wide, is not limited by specific circuits or power supply conditions, is suitable for various types of sweeping robots, and has strong versatility. Using the wind speed detection unit 1003 to determine the filling state of the dust container 20 will not increase the additional current burden, and will not affect the stability and power consumption of the equipment. The full load judgment method based on wind speed detection can enable the sweeping robot to have an intelligent reminder function, allowing users to clean the dust container 20 in time, and improve the convenience and comfort of use.

[0130] To sum up, using wind speed to detect whether the dust collection container 20 is fully loaded has multiple advantages such as accurate judgment, stability and reliability, wide applicability, no additional current burden, and intelligent reminders, providing users with a more intelligent and convenient cleaning experience, and improving the work efficiency and user-friendliness of the sweeping robot.

[0131] Example 4

[0132] See also Fig.10 As shown, the difference between this embodiment and embodiment 1 is only the type of the detection unit. Specifically, in this embodiment, the detection unit includes an air pressure detection unit 1004 arranged in the air duct 11.

[0133] It should be understood that the continuous accumulation of dust and debris in the dust container 20 will cause changes in the internal pressure of the dust container 20. When the dust container 20 is filled, the air pressure downstream of the dust container 20 will decrease due to increased wind resistance. The system can set an air pressure threshold. When the air pressure downstream of the dust container 20 is detected to be lower than the threshold, the system can determine that the dust container 20 is full and trigger corresponding processing measures, such as reminding the user to empty the dust container 20.

[0134] Using air pressure detection to determine whether the dust container 20 is fully loaded has the following advantages: air pressure detection can accurately reflect the changes in the internal pressure of the dust container 20, thereby accurately determining the filling status of the dust container 20, ensuring that the user is reminded to clean the dust container 20 at an appropriate time; air pressure detection is relatively stable, not affected by external factors, and can reliably monitor the filling status of the dust container 20 to provide stable detection results; since the air pressure changes are relatively sensitive, the air pressure detection unit 1004 can quickly respond to changes in the filling status of the dust container 20, and promptly remind the user to clean, so as to avoid affecting the vacuuming effect or equipment operation; air pressure detection does not require additional power supply, so it will not increase the additional power consumption of the equipment, and will not affect the operating efficiency and stability of the equipment; the full load judgment method based on air pressure detection can enable the sweeping robot to have an intelligent prompt function, reminding the user that the dust container 20 is full, making the cleaning process more intelligent and convenient.

[0135] In summary, the use of the air pressure detection unit 1004 to determine whether the dust collection container 20 is fully loaded has multiple advantages such as accuracy, stability, quick response, no power consumption, and intelligent functions, providing users with a more intelligent and convenient cleaning experience, and improving the work efficiency and user-friendliness of the sweeping robot.

[0136] The above embodiments 1-4 all utilize the relationship between the filling state of the dust collection container 20 and the airflow to identify the full load state of the dust collection container 20. Therefore, the above embodiments 1-4 can use the same control strategy to detect the dust full signal, which is as follows:

[0137] See also Fig.19 As shown, a control method applied to the sweeping machine comprises the following steps:

[0138] S21: Obtain a first measurement value of the specific physical information detected by the detection unit when the negative pressure device 12 works in the normal cleaning mode; it should be understood that the normal cleaning mode refers to a mode in which the sweeper uses normal suction during normal cleaning, and the suction is usually between 1000 and 2000 Pa.

[0139] S22: Compare the first measurement value with the preset critical value of the specific physical information to determine whether the first measurement value exceeds the critical value; in combination with the above embodiments 1-4, the first measurement value may be the current, rotation speed, wind speed of the air duct 11 or air pressure in the air duct 11 of the fan. The critical value may be determined by prior experiments or based on the experience of technicians.

[0140] S23: If yes, then control the negative pressure device 12 to work in the obstacle removal mode for a preset time and then resume working in the normal cleaning mode, and obtain the second measurement value of the specific physical information detected by the detection unit at this time; the obstacle removal mode is a working mode for eliminating air duct blockage faults. For example, in the obstacle removal mode, the fan can be controlled to use a suction force greater than that in the normal cleaning mode to suck out the blockage fault. Specifically, the normal cleaning mode is that the negative pressure device works with a first suction force, and the obstacle removal mode is that the negative pressure device works with a second suction force, and the second suction force is greater than the first suction force; or control the fan to reverse and eliminate the blockage fault by backblowing. Specifically, the normal cleaning mode is that the negative pressure device works in a first airflow direction, and the obstacle removal mode is that the negative pressure device works in a second airflow direction. It should be understood that when the airflow in the air duct 11 is abnormal, in addition to the situation where the dust collecting container is fully loaded, it is also possible that the air duct 11 is blocked, so it is necessary to avoid false alarms caused by this situation. For this reason, the present application uses a suction force greater than that in normal operation to clear the air duct 11 to avoid the above-mentioned false alarms.

[0141] S24: Compare the second measured value with the critical value to determine whether the second measured value exceeds the critical value. It should be understood that since the influence of the blockage of the air duct 11 is excluded in advance, the second measured value can truly reflect the filling state of the dust collection container 20.

[0142] S25: If yes, it is identified as a dust full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0143] The control method detects specific physical information, such as the current, rotation speed, wind speed or air pressure of the fan, and other parameters, and judges the state of the dust collection container 20 according to the measured value, so as to realize intelligent control and feedback, thereby improving the autonomy and intelligence of the sweeping robot. When judging whether the dust collection container 20 is fully loaded, the method takes into account abnormal conditions such as blockage of the air duct 11, and dredges the air duct 11 by using the second suction force to avoid the occurrence of false alarms, effectively eliminates the erroneous recognition caused by the abnormality of the air duct 11, and improves the reliability and stability of the system. When the dust collection container 20 is detected to be fully loaded, the negative pressure device 12 is controlled to work with the second suction force to clear the air duct 11 to achieve the effect of clearing the air duct 11, thereby ensuring that the sweeping robot works in the best state, and improving the cleaning efficiency and cleaning effect. When the detection unit detects that the dust collection container 20 is fully loaded or the air duct 11 is abnormal, the system can generate a sensory signal through the feedback unit 40 in time to remind the user to clean or handle it in time, so as to ensure that the user can understand the status of the device in time, and enhance the convenience and experience of use. Determining the critical value based on experimental results or the experience of technicians makes the system more personalized and adaptable, and can adjust parameters according to specific circumstances, thereby improving the flexibility and adaptability of the system.

[0144] In summary, the sweeping robot control method has multiple advantages such as intelligence, troubleshooting, improved cleaning efficiency, timely feedback and personalized adaptation, which provides users with more intelligent and efficient cleaning services and improves the performance and user experience of the sweeping robot.

[0145] Example 5

[0146] See also Fig.11 As shown, the main difference between this embodiment and embodiment 1 is that the type of detection unit is different. Specifically, the mobile carrier 10 includes a first structural member 102 and a second structural member 103, at least the dust collecting container 20 is installed on the first structural member 102, the first structural member 102 is assembled so that at least part of its weight acts on the second structural member 103, and the detection unit includes a first weight detection unit 1005 arranged between the first structural member 102 and the second structural member to detect the weight change of the first structural member 102.

[0147] It should be understood that the accumulation of dust and debris inside the dust container 20 will cause the weight of the dust container 20 to increase. During operation, the sweeping robot can monitor the weight change of the dust container 20 through a built-in weighing sensor. When the preset weight threshold is reached, the system can determine that the dust container 20 is full and trigger corresponding processing measures, such as reminding the user to clean the dust container 20 or automatically stopping the operation.

[0148] The method of using weight changes to detect the full load state of the dust container 20 has the following advantages: the weight change inside the dust container 20 can accurately reflect the filling state of the dust container 20, ensure the accurate detection of the full load state, and promptly remind the user to clean up; the weight change detection method can monitor the state of the dust container 20 in real time, without waiting until the container is completely filled to detect, and can remind the user to perform cleaning operations more promptly; in the sweeping robot, the cost of integrating the weight sensor is low and does not take up too much space, so it is a relatively simple and cost-effective method for design and manufacturing; compared with other detection methods, weight change detection does not require additional energy supply, so it will not increase the power consumption of the equipment and maintain the working efficiency of the equipment; the detection method based on weight changes can make the sweeping robot more intelligent, and when the dust container 20 is full, it can automatically stop working or remind the user to clean up, thereby improving user experience and operational convenience.

[0149] In summary, using weight changes to detect the full load state of the dust collection container 20 of the sweeping robot has multiple advantages such as accuracy, real-time monitoring, simple cost, no additional energy consumption and intelligent operation, which provides users with a more intelligent and convenient cleaning experience and improves the working efficiency and user-friendliness of the sweeping robot.

[0150] Example 6

[0151] See also Fig.12 As shown, the main difference between this embodiment and embodiment 1 is the type of detection unit. Specifically, the dust collecting container 20 is made of flexible material, and the dust collecting container 20 is configured so that its volume can expand as the amount of garbage collected therein increases. The detection unit includes a volume detection unit 1006 for detecting the volume change of the dust collecting container 20.

[0152] It should be understood that as dust and debris continue to accumulate in the dust container 20, the volume of the flexible material dust container 20 will gradually expand. When the dust container 20 is full, its volume change will reach a specific threshold. By monitoring the volume change of the dust container 20, the system can determine whether the dust container 20 is full, thereby triggering corresponding processing measures, such as reminding the user to clean the dust container 20 or automatically stopping work.

[0153] The benefits of this detection method include: using the volume change of the dust collection container 20 to detect the full load status, being able to monitor the status of the dust collection container 20 in real time, and promptly reminding the user to clean up, without having to wait until the container is completely filled to perform detection; the volume change of the dust collection container 20 can accurately reflect the filling status of the dust collection container 20, and can accurately judge the full load status to avoid false alarms or missed alarms; using flexible materials and the volume change of the dust collection container 20 to detect the full load status, without the need for additional sensors or electronic components, simplifying the complexity of design and manufacturing, and reducing costs; this detection method does not require additional energy supply, does not increase the power consumption of the equipment, and is in line with the concept of energy conservation and environmental protection.

[0154] In summary, the use of a dust collection container 20 made of flexible material and utilizing its volume change to detect the full load state has multiple benefits such as real-time monitoring, accuracy, simplified design, energy saving and environmental protection, and extended maintenance cycle, providing users with a more intelligent and convenient cleaning experience and improving the working efficiency and user-friendliness of the sweeping robot.

[0155] Example 7

[0156] See also Fig.13 As shown, the main difference between this embodiment and embodiment 1 is that the type of the detection unit is different. Specifically, the dust collecting container 20 is provided with a light-transmitting area 26 at least near the first air inlet 21, and the detection unit includes a photoelectric detection unit 1007 for detecting whether there is garbage at the first air inlet 21, and the photoelectric detection unit 1007 is arranged opposite to the light-transmitting area 26.

[0157] It should be understood that when the dust and debris in the dust container 20 reaches a certain height, it will block or obstruct the light emitted by the photoelectric sensor, causing the sensor to detect a change in the signal. The system determines the filling degree of the dust container 20 by monitoring the change in the signal output by the photoelectric sensor. When the signal reaches a preset threshold, the system can determine that the dust container 20 is full and trigger corresponding processing measures, such as reminding the user to clean it or automatically stopping work.

[0158] The benefits of this detection method include: the photoelectric sensor can accurately detect the filling status of the dust collection container 20, and immediately trigger the detection when the dust and debris reach a certain height, thereby achieving a quick response and accurate judgment of the full load status; the photoelectric sensor can monitor the state changes of the dust collection container 20 in real time, and the user does not need to wait until the container is completely filled before detecting, and promptly reminds the user to perform cleaning operations, thereby improving cleaning efficiency and user experience; the photoelectric sensor is very sensitive to the height changes of dust and debris inside the dust collection container 20, and can accurately reflect the filling status of the dust collection container 20, avoiding false alarms or missed alarms; the photoelectric sensor consumes relatively little energy during the detection process, will not increase the additional power consumption of the equipment, saves energy costs, and complies with the concept of energy conservation and environmental protection; the photoelectric sensor is small in size and easy to install, and is easy to integrate inside the dust collection container 20, will not take up too much space, and maintains the compactness and aesthetics of the equipment.

[0159] In summary, the method of using photoelectric sensors to detect whether the dust collection container 20 is fully loaded has multiple advantages such as accuracy, real-time monitoring, high sensitivity, energy saving and easy integration, providing users with a more intelligent, efficient and convenient cleaning experience, and improving the performance and user-friendliness of the sweeping robot.

[0160] The above embodiments 5-7 respectively detect whether the dust collection container 20 is fully loaded by detecting the volume or weight change of the dust collection container 20. In order to ensure the reliability of the detection result, the above three embodiments should all be detected when the sweeper is in the standby state. The control logic is similar, so the same control strategy can be adopted, which is as follows:

[0161] See also Fig. 20 As shown, a control method applied to the sweeping machine comprises the following steps:

[0162] S31: Determine whether the negative pressure device stops working;

[0163] S32: If yes, obtain a third measurement value of the specific physical information detected by the detection unit; in combination with the above embodiments 5-7, the third measurement value may be a volume change of the dust collecting container 20 or a weight change of the dust collecting container 20.

[0164] S33: Compare the third measurement value with a preset critical value of the specific physical information to determine whether the third measurement value exceeds the critical value; the critical value can be determined through preliminary experiments or based on the experience of technicians.

[0165] S34: If yes, it is identified as a dust full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0166] The control method can intelligently judge the filling state of the dust container 20 of the sweeper, and realize intelligent full load detection by comparing the real-time measurement value of specific physical information with the preset critical value. Once the measurement value exceeds the preset critical value, the control feedback unit 40 can generate a sensory signal to promptly remind the user that the dust container 20 may be fully loaded and needs to be cleaned, thereby improving the user experience and cleaning efficiency. The control method uses the volume change or weight change of the dust container 20 as the measurement value of specific physical information according to the actual situation, and can be flexibly selected according to the needs of different models of sweepers or different application scenarios, thereby enhancing the applicability and versatility of the control method; by comparing the measurement value of specific physical information with the preset critical value, the judgment logic of the full load state is simplified, the system complexity is reduced, and it is easy to apply and maintain in practice; the control method generates a sensory signal when the full load state is detected, thereby realizing timely reminders to the user to clean up, which can reduce energy waste caused by long-term overloading, and is in line with the concept of energy saving and environmental protection.

[0167] To sum up, the above-mentioned sweeping robot control method has multiple advantages such as intelligent full load detection, timely feedback, flexibility, simplified operation, energy saving and environmental protection, etc., which provides users with a more intelligent, efficient and convenient cleaning experience and improves the performance and user-friendliness of the sweeping robot.

[0168] Example 8

[0169] See also Fig.14 As shown, the main difference between this embodiment and embodiment 1 is the different types of detection units. Specifically, the dust container 20 is made of a flexible material, the mobile carrier 10 is provided with a first compression mechanism 30 for compressing the dust container 20, and the detection unit includes a first stroke detection unit 1008 for detecting the compression stroke of the first compression mechanism 30, or a first pressure detection unit 1009 for detecting the pressure change of the first compression mechanism 30. In a further specific embodiment, for example, the compression of the dust container 20 can be achieved by pressurizing the second bracket 24. In order to prevent garbage from overflowing from the first air inlet 21 when the dust container 20 is compressed, a shutter-type movable door 1121 can be provided on the outer side of the first air inlet 21. When compression is performed, the movable door 1121 can be closed, and the movable door 1121 can be opened after the compression detection is completed.

[0170] When dust and debris in the dust container 20 continue to accumulate, the sweeper will use a mechanical device to squeeze the dust container 20, and determine the filling degree of the dust container 20 by detecting the change of the squeezing stroke or the pressure generated by the squeezing. When the dust and debris in the dust container 20 reaches a certain amount, the squeezing stroke or squeezing pressure will change significantly, and the system can determine whether the dust container 20 is full by monitoring this change, thereby triggering corresponding treatment measures.

[0171] This method of detecting full load has the following advantages: by detecting the change of the extrusion stroke or the extrusion pressure to determine the filling state of the dust container 20, the real-time monitoring of the full load state is realized, and the user can be reminded to perform the cleaning operation in time to maintain the efficient working state of the sweeper. The method of squeezing the dust container 20 can accurately reflect the filling condition inside the dust container 20. When the dust and debris reach a certain level, the squeezing stroke or the squeezing pressure will change significantly, and the full load state of the dust container 20 can be accurately determined, avoiding misjudgment or missed judgment; the method of squeezing the dust container 20 is suitable for various types of sweeping robots, whether it is a wheeled or tracked design, the squeezing stroke or the squeezing pressure can be used to determine the full load state of the dust container 20, and it has strong applicability and versatility; the full load detection of the dust container 20 is performed by mechanical squeezing. Compared with other more complex detection methods, the mechanized processing is more reliable and stable, which reduces the failure rate and improves the reliability and stability of the system. After using the squeezing stroke or squeezing pressure to determine the full load state of the dust collection container 20, the system can automatically trigger the cleaning mechanism to realize automatic cleaning of the dust collection container 20, further improving the intelligence and automation level of the sweeping robot and providing users with a more convenient use experience.

[0172] To sum up, the detection method of using the extrusion stroke or extrusion pressure to determine whether the dust collection container 20 is fully loaded has many advantages such as real-time monitoring, accuracy, strong applicability, mechanized processing and automatic cleaning. It is an effective and reliable full load detection method, which provides better guarantee for the performance and user experience of the sweeping robot.

[0173] See also Fig.21 As shown, based on the above-mentioned embodiment 8, the present application provides a control method for a sweeping machine, comprising the following steps:

[0174] S41: Determine whether the negative pressure device stops working;

[0175] S42: If so, determine whether a preset time has passed since the last time the compression mechanism was started, or whether the sweeper has run a preset distance; it should be understood that the detection means provided in this embodiment requires the compression mechanism to perform an active compression action, so this detection method is not suitable for real-time detection, but requires intermittent detection according to a pre-set cycle to reduce equipment energy consumption.

[0176] S43: If yes, a control signal is sent to the compression mechanism to control the compression mechanism to work until the stroke or pressure of the compression mechanism reaches a preset value;

[0177] S44: obtaining a first limit measurement value of the specific physical information detected by the detection unit during the compression process of the compression mechanism;

[0178] S45: Compare the first limit measurement value with a preset critical value of the specific physical information to determine whether the first limit measurement value exceeds the critical value;

[0179] S46: If yes, it is identified as a dust full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0180] The control method detects the dust container 20 according to a preset cycle, which effectively reduces the energy consumption of the equipment. By controlling the working time of the compression mechanism, the waste of energy caused by continuous work is avoided, the energy utilization efficiency is improved, and energy saving and consumption reduction are achieved. By using the preset time or distance to judge whether the compression mechanism needs to work, the dust container 20 can be detected in time before it is not fully loaded, so as to maintain the efficient working state of the sweeper, prevent the dust container 20 from being overloaded and cleaned in time, and improve the cleaning efficiency and performance stability. By comparing the limit measurement value of the specific physical information detected during the compression process of the compression mechanism with the preset critical value, the accurate judgment of the full load state of the dust container 20 is achieved, the misjudgment or missed judgment is avoided, and the reliability and accuracy of the system are ensured. The method controls the operation of the compression mechanism through a control signal, judges whether a sensory signal is generated according to the change of the detection value, realizes the intelligent detection and processing control of the full load state of the dust container 20, and improves the user experience and the intelligence level of the system. By adopting the intermittent detection method, the frequent interference of the full load state detection of the dust container 20 on the equipment can be reduced, the maintenance cost and failure rate of the equipment are reduced, and the service life of the equipment is extended.

[0181] In summary, the above method for detecting the full load state of the dust collection container 20 of the sweeping robot has many advantages such as energy saving and consumption reduction, preventive reminders, accurate judgment, intelligent control and reduced maintenance costs, providing comprehensive and effective guarantee for the performance and user experience of the sweeping robot.

[0182] Example 9

[0183] See also Fig.15 As shown, in this embodiment, the base station 200 is used to detect the dust collection container 20 of the sweeping machine 100 to identify whether it is fully loaded, as follows:

[0184] This embodiment provides a base station 200, including a base station body, a detection unit and a feedback unit 40; the base station body is provided with a receiving portion for receiving a sweeping machine 100; the detection unit is installed on the base station body, and is used to collect specific physical information of the sweeping machine 100 in the receiving portion, and the specific physical information is physical information that has significant differences when the dust collection container 20 of the sweeping machine 100 is fully loaded and not fully loaded; the feedback unit 40 is installed on the base station body, and is used to receive the detection data of the detection unit, and is used to generate a sensory signal that can be perceived by the user. Specifically, the detection unit includes a second weight detection unit 2001 for detecting the weight of the sweeping machine 100.

[0185] It should be understood that when the sweeping machine 100 returns to the base station 200, the base station 200 can weigh the sweeping machine 100, and the base station 200 obtains the current weight data of the sweeping machine 100 through the weighing sensor. By comparing the current weight with the weight in the empty state or the preset full-load weight, the base station 200 can determine the increase of dust and debris in the dust collection container 20, thereby identifying the full-load state of the dust collection container 20.

[0186] This method of detecting whether the dust collection container 20 is fully loaded has the following advantages: the base station 200 can accurately obtain the current weight data of the sweeper 100 through the weighing sensor, thereby realizing accurate identification of the fully loaded state, avoiding misjudgment or missed judgment, and improving the accuracy and reliability of identification. By identifying the full load state of the dust container 20 by weighing, real-time monitoring of the state of the dust container 20 can be achieved, and the user can be reminded to perform cleaning operations in time to maintain the efficient working state of the sweeper 100; the method of using the base station 200 to weigh and identify the full load state is relatively simple and easy to implement, and does not require complex sensors or control systems, thereby reducing the complexity and maintenance cost of the system; the full load state identification by weighing is suitable for different types of sweeper robots 100, whether they are wheeled or track-type designs, and the full load state of the dust container 20 can be determined by the weighing method of the base station 200, which has strong versatility and applicability; after weighing and identifying the full load state by the base station 200, the system can automatically trigger the cleaning mechanism to realize automatic cleaning of the dust container 20, thereby enhancing the intelligence and automation of the sweeper robot 100 and improving the user experience.

[0187] To sum up, the method of using the base station 200 to weigh and identify the full load status of the dust collection container 20 of the sweeping machine 100 has many advantages such as high accuracy, real-time monitoring, simple and easy implementation, strong applicability and automated processing. It is an effective and reliable full load status identification method, which provides comprehensive guarantee for the performance and user experience of the sweeping machine 100 robot.

[0188] See also Fig. 22 As shown, based on the above-mentioned embodiment 9, the present application provides a control method applied to the base station 200, comprising the following steps:

[0189] S51: When the sweeping machine 100 returns to the base station 200 , the measurement value of the specific physical information detected by the detection unit is obtained; specifically, the measurement value is the entire weight of the sweeping machine 100 .

[0190] S52: Compare the measured value with the preset critical value of the specific physical information to determine whether the measured value exceeds the critical value; the critical value represents the weight of the sweeping robot 100 when fully loaded, and this weight can be determined through preliminary experiments or based on the experience of technicians.

[0191] S53: If yes, it is identified as a dust full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0192] The control method determines whether the dust container 20 is fully loaded by comparing the whole weight of the sweeping machine 100 with the preset full-load weight critical value, thereby realizing simple and intuitive control logic and being easy to implement and operate. When the sweeping machine 100 returns to the base station 200, the whole weight information is immediately obtained and compared, and the full load state of the dust container 20 can be responded to in real time, thereby improving the real-time and agility of the system. The setting of the critical value can be adjusted according to the experimental results or the experience of the technicians, and has certain flexibility and personalized customization to adapt to different environments and needs. By measuring the whole weight of the machine and comparing it with the critical value, the full load state of the dust container 20 can be accurately determined, thereby avoiding misjudgment or missed judgment, and improving the accuracy and reliability of recognition. The method obtains weight information for comparison only when necessary, thereby effectively reducing energy consumption, saving the operating cost of the system, and improving energy utilization efficiency. When it is determined that the dust container 20 is fully loaded, the control feedback unit 40 generates a sensory signal, which can automatically trigger a cleaning mechanism or an alarm reminder, thereby realizing intelligent dust container 20 processing and improving the intelligence level of the system.

[0193] In summary, the above-mentioned base station 200 control method has many advantages such as simplicity, real-time response, personalized setting, high accuracy, energy saving and intelligent processing, which provides an effective and reliable control means for the management of the dust collection container 20 of the sweeping robot 100.

[0194] Example 10

[0195] See also Fig.16 As shown, the main difference between this embodiment and embodiment 9 is the different types of detection units. Specifically, in this embodiment, the base station body is provided with a second compression mechanism 210 for compressing the dust collection container 20, and the detection unit includes a second stroke detection unit 2002 for detecting the compression stroke of the second compression mechanism 210, or a second pressure detection unit 2003 for detecting the pressure change of the second compression mechanism 210. The top cover of the sweeper 100 can be provided with an openable cover plate, and the dust collection container 20 can be exposed when the cover plate is opened. At this time, the second compression mechanism 210 provided in the base station 200 can squeeze the dust collection container 20, and the base station 200 determines the full load state of the dust collection container 20 by the stroke change or pressure change of the second compression mechanism 210.

[0196] When the sweeping machine 100 returns to the base station 200, the second compression mechanism 210 in the base station 200 will perform a compression operation on the dust collection container 20 of the sweeping machine 100, compressing the dust and debris in the dust collection container 20 by mechanical force to reduce the volume in the container. During the compression of the dust collection container 20, the base station 200 will detect the stroke or pressure change of the second compression mechanism 210 through a sensor. According to the stroke or pressure change of the second compression mechanism 210, the base station 200 can determine the density change of the dust and debris in the dust collection container 20, thereby identifying the full load state of the dust collection container 20.

[0197] The advantages of this detection method include: the base station 200 compresses the dust container 20 by using a compression mechanism, and identifies the full load state by detecting the stroke or pressure of the compression mechanism, which can realize real-time monitoring of the state of the dust container 20, promptly remind the user to perform cleaning operations, and maintain the efficient working state of the sweeper 100; compared with continuous monitoring, this method performs compression and detection only when needed, which reduces energy waste, reduces the energy consumption of the equipment, and improves energy utilization efficiency; by detecting the stroke or pressure change of the compression mechanism to determine the full load state of the dust container 20, it is possible to accurately determine the density change of dust and debris in the container, with high accuracy and reliability; after identifying the full load state of the dust container 20, the system can automatically trigger the cleaning mechanism to realize automatic cleaning of the dust container 20, improve the intelligence and automation of the sweeper 100 robot, and enhance the user experience; this method uses mechanical compression to identify the full load state of the dust container 20. Compared with other more complex detection methods, mechanized processing is more reliable and stable, reduces the failure rate, and improves the reliability and stability of the system.

[0198] To sum up, the base station 200 uses a compression mechanism to squeeze the dust container 20 of the sweeping machine 100, and determines the full load state of the dust container 20 by detecting the stroke or pressure of the compression mechanism. The detection method has many advantages such as real-time monitoring, energy saving, high reliability, automated processing and mechanized processing, and provides comprehensive guarantee for the performance and user experience of the sweeping machine 100 robot.

[0199] See also Fig.23 As shown, based on the base station 200 described in embodiment 10, the present application provides a control method for the base station 200, comprising the following steps:

[0200] S61: When the sweeping machine 100 returns to the base station 200, a control signal is sent to the second compression mechanism 210 to control the second compression mechanism 210 to work until the stroke or pressure of the second compression mechanism 210 reaches a preset value;

[0201] S62: Obtain a second limit measurement value of the specific physical information detected by the detection unit during the compression process of the second compression mechanism 210; specifically, the second limit measurement value is a limit stroke or a limit pressure of the second compression mechanism 210.

[0202] S63: Compare the second limit measurement value with a preset critical value of the specific physical information to determine whether the second limit measurement value exceeds the critical value; the critical value can be obtained through preliminary experiments.

[0203] S64: If yes, it is identified as a dust full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0204] The control method of the base station 200 controls the second compression mechanism 210 to work until the stroke or pressure reaches a preset value, and obtains the limit measurement value during the compression process, so as to more accurately obtain the physical information inside the dust container 20, thereby improving the accuracy of judging the full load state; the limit measurement value is obtained during the compression process, and compared with the critical value to judge whether it is exceeded, so as to realize real-time monitoring of the state of the dust container 20, timely judge the full load state, and improve the response speed and accuracy of the system; by sending a control signal to the second compression mechanism 210 and monitoring the physical information during the compression process, the automatic control and judgment of the state of the dust container 20 are realized, the manual intervention is reduced, and the intelligence of the system is improved; the control method can accurately identify the full load state and generate a sensory signal, and can timely trigger the cleaning action, thereby improving the cleaning efficiency and the use experience of the dust container 20; the method compresses and detects the dust container 20 only when necessary, which saves the consumption of energy and system resources, improves the resource utilization efficiency of the system, and reduces the operating cost; by generating a sensory signal, the state of the dust container 20 can be fed back to the user in a timely manner, helping the user understand the cleaning situation, and improving the user's control and management capabilities of the sweeping robot 100.

[0205] In summary, the above-mentioned base station 200 control method has many advantages such as high accuracy, real-time monitoring, automatic control, improved cleaning efficiency, resource conservation and data feedback, which provides a more intelligent and efficient control means for the management of the dust collection container 20 of the sweeping robot 100, and improves the system performance and user experience.

[0206] It should be noted that, in addition to the above-mentioned embodiments 9 and 10, the base station 200 can also use other methods to detect whether the dust collection container 20 of the sweeping machine 100 is full of dust. For example, the detection unit includes a volume detection unit 1006 for detecting the volume of the dust collection container 20 or a photoelectric detection unit 1007 for detecting whether there is garbage at the garbage entrance of the dust collection container 20.

[0207] Embodiment 11

[0208] See also Fig.17As shown, the main difference between this embodiment and other embodiments lies in the interaction method of feedback signals. Specifically, this embodiment provides a cleaning system, including a sweeping machine 100, a base station 200 and a mobile terminal 300; the sweeping machine 100 is provided with a dust collection container 20; the base station 200 is provided with a receiving portion for receiving the sweeping machine 100; the mobile terminal 300 is communicatively connected with the sweeping machine 100 and / or the base station 200; the sweeping machine 100 and / or the base station 200 are provided with a detection unit, and the detection unit is used to collect specific physical information of the sweeping machine 100, and the specific physical information is physical information that has significant differences when the dust collection container 20 is fully loaded and not fully loaded; the sweeping machine 100 and / or the base station 200 are configured such that when the detection unit detects that the dust collection container 20 is fully loaded, the sweeping machine 100 and / or the base station 200 sends a dust full alarm message to the mobile terminal 300.

[0209] See also Fig.24 As shown, based on this embodiment, the present application also provides a control method applied to the cleaning system, comprising the following steps:

[0210] S71: Obtain the measurement value of the specific physical information detected by the detection unit; the specific elements of the measurement value can refer to the scheme described in Examples 1-10 and will not be repeated here.

[0211] S72: Compare the measured value with a preset critical value of the specific physical information to determine whether the measured value exceeds the critical value;

[0212] S73: If yes, it is identified as a dust full state, and a dust full alarm message may be sent to the mobile terminal 300.

[0213] It should be understood that in the present embodiment, the user can receive the dust full status of the dust collection container 20 in real time through the mobile terminal 300 such as a mobile phone, and timely understand the working status of the sweeping machine 100, which is convenient for the user to arrange the cleaning operation in time, thereby improving the convenience and timeliness of the operation; the user does not have to go to the sweeping machine 100 or the base station 200 in person to know the status of the dust collection container 20, and can remotely monitor and view the cleaning status through the mobile terminal 300 anytime and anywhere, thereby improving the user experience; the mobile terminal 300 can realize the intelligent reminder function, such as setting a regular reminder for the user to clean the dust collection container 20, or sending an alarm to notify the user to handle it in time when the dust collection container 20 is full, thereby improving The user's management and maintenance capabilities of the sweeping machine 100 are improved; after the detection results are sent to the mobile terminal 300, historical data can be retained, and the user can view the historical records of the dust collection container 20 status, helping the user to understand the usage and cleaning cycle, so as to better manage the work of the sweeping machine 100 robot; as a device commonly used by users, the mobile terminal 300 has a user-friendly interface and simple operation, and the user can easily obtain the status information of the dust collection container 20, thereby improving the user experience; by sending the detection results through the mobile terminal 300, the sweeping machine 100 or the base station 200 can also track and record the working status of the equipment, which provides a basis for maintenance and service, and helps to improve the reliability and continuous operation capability of the equipment.

[0214] To sum up, the interactive method in which the sweeping machine 100 or the base station 200 performs dust full detection on the dust collection container 20 of the sweeping machine 100 and sends the detection result to a mobile terminal 300 such as a mobile phone has many advantages such as real-time reminder, remote monitoring, intelligent reminder, data retention, user-friendliness and tracking maintenance, providing users with a more convenient and intelligent management experience, and improving the operability of the equipment and user satisfaction.

[0215] The present application also provides a cleaning device, including a storage medium and a processor, wherein the storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the method described in the above embodiments 1-11 are implemented.

[0216] In summary, the sweeping machine 100, base station 200, cleaning system, control method and cleaning device provided by the present application detect the dust and debris levels in the dust bag through sensors, thereby automatically identifying whether the dust bag is fully loaded. The user does not need to manually check the status of the dust bag. The system can intelligently manage and monitor the use of the dust bag, providing a more convenient user experience; it prevents the user from replacing the dust bag prematurely before it is fully utilized, thereby saving the use of dust bags and other resources. By maximizing the capacity of each dust bag, it can improve cleaning efficiency and reduce the frequency of replacing dust bags, saving users' costs and energy; timely replacement of a fully loaded dust bag can maintain the dust suction performance and cleaning efficiency of the sweeping machine 100, and avoid excessive accumulation of dust bags resulting in a decrease in cleaning effect; the automatic identification function can ensure that the sweeping machine 100 is always in the best working condition, providing High cleaning efficiency reduces the possibility of secondary cleaning; regular replacement of dust bags can maintain the normal operation of the sweeper 100 device and avoid excessive wear and damage; the system that automatically identifies whether the dust bag is fully loaded can help users replace the dust bag in time, extend the service life of the sweeper 100 device, and reduce maintenance and replacement costs; this intelligent system can provide a smarter and more convenient cleaning experience, allowing users to enjoy a more relaxed and efficient cleaning process without having to pay frequent attention to the dust bag status. Users can rest assured that the sweeper 100 manages the dust bag by itself and focus on other matters, thereby improving the overall user experience; the intelligent control system based on the dust bag status can automatically adjust the working mode and cleaning path of the cleaning machine according to the real-time situation, optimize the cleaning efficiency and energy consumption management, and this intelligent control method can make cleaning equipment more intelligent and efficient.

[0217] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

[0218] In the description herein, many specific details are provided, such as examples of parts and / or methods, to provide a complete understanding of the embodiments of the present application. However, those skilled in the art will recognize that the embodiments of the present application can be practiced without one or more specific details or by other devices, systems, components, methods, parts, materials, parts, etc. In other cases, known structures, materials or operations are not specifically shown or described in detail to avoid blurring the aspects of the embodiments of the present application.

Claims

1. A sweeping machine, characterized in that: include: Mobile carrier; A self-propelled mechanism drives the mobile carrier to move along the surface to be cleaned; An air duct, arranged on the mobile carrier; A negative pressure device, mounted on the mobile carrier and connected to the air duct, for extracting air from the air duct to generate airflow in the air duct; The dust collecting container is accommodated in the air duct, the windward side of the dust collecting container is provided with a first air inlet, and at least a partial area of ​​the dust collecting container is made of filter material, so that the dust collecting container can be passed by the airflow and the garbage carried in the airflow is retained in the dust collecting container; the air duct is provided with a cavity for accommodating the dust collecting container, the cavity is provided with a second air inlet and a second air outlet, the first air inlet is arranged opposite to the second air inlet; a second bracket is provided on the side of the dust collecting container opposite to the second air outlet, and the second bracket is connected to the edge of the second air outlet in a detachable manner; and A detection unit, installed on the mobile carrier, for collecting specific physical information of the sweeper, the specific physical information being physical information that can change as the filling state of the dust collection container changes; The dust collecting container is made of a flexible material, the mobile carrier is provided with a compression mechanism for compressing the dust collecting container, and the detection unit includes a stroke detection unit for detecting a compression stroke of the compression mechanism, or a pressure detection unit for detecting a pressure change of the compression mechanism.

2. The sweeping machine according to claim 1, characterized in that: The filter material is at least arranged in a region of the dust collecting container opposite to the second air outlet.

3. The sweeping machine according to claim 2, characterized in that: The container wall of the dust collecting container is made of air-permeable material, and the container wall of the dust collecting container itself constitutes the filter material.

4. The sweeping machine according to claim 2, characterized in that: The container wall of the dust collecting container is made of a high molecular polymer film, the area of ​​the dust collecting container opposite to the second air outlet is provided with a first air outlet, and the filter material is arranged at the first air outlet.

5. The sweeping machine according to claim 2, characterized in that: A first bracket is provided on a side of the dust collecting container opposite to the second air inlet, and the first bracket is detachably connected to an edge of the second air inlet.

6. The sweeping machine according to claim 2, characterized in that: The second air inlet and the second air outlet are located on the same side of the cavity, and a fixing bracket is provided on the side of the dust collecting container opposite to the second air inlet and the second air outlet, and the fixing bracket is detachably connected to the inner wall of the cavity where the second air inlet and the second air outlet are located.

7. The sweeping machine according to claim 1, characterized in that: A main air inlet is provided at one end of the air duct away from the negative pressure device. The main air inlet is provided with a receiving cavity for receiving a roller brush. The roller brush is rotatably arranged in the receiving cavity.

8. The sweeping machine according to claim 1, characterized in that: The sweeping machine further includes a feedback unit, which is installed on the mobile carrier and is used to generate a reminder signal according to the specific physical information collected by the detection unit.

9. The sweeping machine according to claim 8, characterized in that: The feedback unit includes at least one of a lighting module, a speaker module, a vibration module, and a display module.

10. A cleaning system, characterized in that: include: A sweeping machine, the sweeping machine is provided with a mobile carrier, an air duct and a dust collection container, the dust collection container is made of a flexible material, the mobile carrier is provided with a compression mechanism for compressing the dust collection container; the air duct is provided with a cavity for accommodating the dust collection container, and the windward side of the dust collection container is provided with a first air inlet; the cavity is provided with a second air inlet and a second air outlet, the first air inlet is arranged opposite to the second air inlet; a second bracket is provided on the side of the dust collection container opposite to the second air outlet, and the second bracket is connected to the edge of the second air outlet in a detachable manner; A base station, wherein the base station is provided with a receiving portion for receiving the sweeping machine; The sweeping machine and / or the base station are provided with a detection unit, which is used to collect specific physical information of the sweeping machine, and the specific physical information is physical information that can change with the change of the filling state of the dust collecting container; the detection unit includes a stroke detection unit for detecting the compression stroke of the compression mechanism, or a pressure detection unit for detecting the pressure change of the compression mechanism.

11. The cleaning system according to claim 10, characterized in that The sweeping machine and / or the base station are provided with a wireless communication module, and the sweeping machine and / or the base station are configured such that when the detection unit detects that the dust collection container is full, the sweeping machine and / or the base station sends a dust full alarm message through the wireless communication module.

12. A method for controlling a sweeping machine, the sweeping machine comprising: Mobile carrier; A self-propelled mechanism drives the mobile carrier to move along the surface to be cleaned; An air duct, arranged on the mobile carrier; A negative pressure device, mounted on the mobile carrier and connected to the air duct, for extracting air from the air duct to generate airflow in the air duct; The dust collecting container is accommodated in the air duct, the windward side of the dust collecting container is provided with a first air inlet, and at least a partial area of ​​the dust collecting container is made of filter material, so that the dust collecting container can be passed by the airflow and the garbage carried in the airflow is retained in the dust collecting container; the air duct is provided with a cavity for accommodating the dust collecting container, the cavity is provided with a second air inlet and a second air outlet, the first air inlet is arranged opposite to the second air inlet; a second bracket is provided on the side of the dust collecting container opposite to the second air outlet, and the second bracket is connected to the edge of the second air outlet in a detachable manner; and a detection unit, installed on the mobile carrier, for collecting specific physical information of the sweeper, the specific physical information being physical information that can change with the change of the filling state of the dust collection container; the dust collection container is made of a flexible material, the mobile carrier is provided with a compression mechanism for compressing the dust collection container, and the detection unit includes a stroke detection unit for detecting the compression stroke of the compression mechanism, or a pressure detection unit for detecting the pressure change of the compression mechanism; It is characterized by comprising the following steps: When the negative pressure device operates in a normal cleaning mode, the detection unit detects a first measurement value of the specific physical information; Comparing the first measurement value with a preset critical value of the specific physical information to determine whether the first measurement value exceeds the critical value; If so, the negative pressure device is controlled to work in the obstacle removal mode for a preset time and then resumes working in the normal cleaning mode, and obtains a second measurement value of the specific physical information detected by the detection unit at this time; the obstacle removal mode is a working mode for eliminating air duct blockage failure; Compare the second measured value with the critical value to determine whether the second measured value exceeds the critical value If so, it is identified as a dust-full state; The method further comprises the following steps: When the negative pressure device stops working, if a preset condition is met, a control signal is sent to the compression mechanism to control the compression mechanism to work until the stroke or pressure of the compression mechanism reaches a preset value, and the preset condition is met when a preset time has passed since the last start of the compression mechanism, or the sweeper has run a preset distance; Acquire a first limit measurement value of the specific physical information detected by the detection unit during the compression process of the compression mechanism; Comparing the first limit measurement value with a preset critical value of the specific physical information to determine whether the first limit measurement value exceeds the critical value; If so, it is identified as a dust-full state.

13. The control method of the sweeping machine according to claim 12, characterized in that: The normal cleaning mode is that the negative pressure device works with a first suction force, and the obstacle removal mode is that the negative pressure device works with a second suction force, which is greater than the first suction force; or The normal cleaning mode is that the negative pressure device works in a first airflow direction, and the obstacle removal mode is that the negative pressure device works in a second airflow direction.

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