Base station of sweeper, sweeper system and control method of sweeper system

Abstract

The invention relates to the technical field of sweepers, particularly provides a base station of a sweeper, a sweeper system and a control method of the sweeper system, and aims to solve the problems that the rest time of a user is occupied and the housework amount of the user is increased due to the fact that water of an existing sweeper system needs to be manually replaced. In order to achieve the purpose, the base station of the sweeper comprises a base station body, and the lower portion of the base station body is provided with a walking device; the radar sensing module is arranged at the front end of the base station main body, and the radar sensing module is used for acquiring obstacle information in front of the base station main body; and the controller is in communication connection with the walking device and the radar sensing module, and the controller controls the walking device to move to the drainage position and the water adding position according to the obstacle information. Two hands of the user can be liberated, the housework amount of the user is reduced, and the experience feeling of the user is improved.

Description

Technical Field

[0001] The present application relates to the technical field of sweeping machines, and specifically provides a sweeping machine base station, a sweeping machine system, and a control method for the sweeping machine system. Background Art

[0002] At present, with the accelerated pace of life, household sweeping robot systems are gradually becoming popular. The household sweeping robot system generally includes a sweeping robot body and a base station for charging and changing water for the sweeping robot body. The sweeping robot body moves along the indoor floor under the guidance of its own positioning cruise system and obstacle avoidance system to realize the automatic mopping function.

[0003] The base station of a sweeping machine usually includes a clean water tank and a sewage tank. After the sweeping machine enters the base station, the clean water in the clean water tank cleans the sweeping machine, and the sewage formed after cleaning is discharged into the sewage tank. Therefore, users need to frequently replace the sewage and add clean water to the base station. Especially for users with high requirements for family hygiene, the sweeping machine may need to clean the ground several times a day. Accordingly, the water in the base station needs to be replaced in time, which will take up the user's rest time and increase the user's housework. This makes the problem of replacing water in the base station a burden in the user's daily life.

[0004] Accordingly, the art needs a new technical solution to solve the above problems. Summary of the invention

[0005] The present application aims to solve the above-mentioned technical problem, that is, to solve the problem that the existing sweeping machine system requires manual water replacement, thereby occupying the user's rest time and increasing the user's housework workload.

[0006] In a first aspect, the present application provides a base station of a sweeping machine, comprising:

[0007] A base station body, which has a clean water tank and a sewage tank inside, and a walking device at the bottom of the base station body;

[0008] A radar sensing module, which is disposed at the front end of the base station body, and is used to obtain obstacle information in front of the base station body; and

[0009] A controller is respectively connected to the walking device and the radar sensing module for communication, and the controller controls the walking device to move to a drainage position and a water adding position according to the obstacle information.

[0010] In a technical solution of the base station of the above-mentioned sweeping machine, a first liquid level sensor is arranged in the sewage tank, the controller is communicatively connected with the first liquid level sensor, and the controller controls the walking device to move to the drainage position according to the detection value of the first liquid level sensor.

[0011] In a technical solution of the base station of the above-mentioned sweeping machine, a first control valve is provided at the drain outlet of the sewage tank, and the controller is communicatively connected with the first control valve for controlling the opening and closing of the first control valve.

[0012] In a technical solution of the base station of the above-mentioned sweeping machine, a cleaning device is arranged in the sewage tank, and the cleaning device is used to clean the sewage tank.

[0013] In a technical solution of the base station of the above-mentioned sweeping machine, the base station further includes:

[0014] A positioning cruise module is arranged in the base station body, and the positioning cruise module is used to plan the walking path of the base station body.

[0015] In a second aspect, the present application provides a sweeping machine system, comprising:

[0016] The base station described in any one of the first aspects;

[0017] a second control valve, which is disposed at the water outlet of the clean water source, and the controller is in communication connection with the second control valve, and is used to control the opening and closing of the second control valve; and

[0018] Sweeping machine body.

[0019] In a technical solution of the above-mentioned sweeping machine system, it also includes:

[0020] A second liquid level sensor is disposed in the clean water tank. The controller is in communication connection with the second liquid level sensor. The controller controls the second control valve to close according to the detection value of the second liquid level sensor.

[0021] In a third aspect, the present application provides a control method for a sweeping machine system, the sweeping machine system comprising a base station and a sweeping machine body, the control method comprising:

[0022] Get the liquid level value of the sewage tank;

[0023] When the liquid level value of the sewage tank reaches a first preset liquid level value, controlling the sweeping machine body to separate from the base station;

[0024] Controlling the base station to move to a drainage position;

[0025] Discharging the sewage in the sewage tank;

[0026] Controlling the base station to move to a water adding position;

[0027] Refill the clean water tank; and

[0028] The base station is controlled to move to an initial position.

[0029] In a technical solution of the control method of the above-mentioned sweeping machine system, a first control valve is provided in the sewage tank, and the step of "discharging the sewage in the sewage tank" further includes:

[0030] Control the first control valve to open so that the sewage in the sewage tank is discharged; and / or

[0031] The sweeping machine system further includes a second control valve disposed at a water outlet of the clean water source, and the step of "adding water to the clean water tank" further includes:

[0032] The second control valve is controlled to open and water is added into the clean water tank.

[0033] In a technical solution of the control method of the above-mentioned sweeping machine system, the sweeping machine system further includes a second liquid level sensor disposed in the clean water tank, and the step of "adding water to the clean water tank" further includes:

[0034] Monitoring the liquid level value of the clean water tank by means of the second liquid level sensor;

[0035] When the liquid level value of the clean water tank reaches a second preset liquid level value, the second control valve is controlled to close.

[0036] In a technical solution of the control method of the above-mentioned sweeping machine system, the sweeping machine system further includes a cleaning device disposed in the sewage tank, and the control method further includes:

[0037] The sewage tank is cleaned by the cleaning device.

[0038] As described in the above technical solution, the sweeping machine system of the present application is adopted, and the control method of the sweeping machine system is executed. According to the detection value of the first liquid level sensor, when the water of the base station needs to be replaced, the base station can automatically move to the drainage position according to the set walking path, and realize automatic sewage discharge through the first control valve, and then move to the water adding position, realize automatic addition of clean water through the second control valve and the second liquid level sensor, and finally return to the initial position. Compared with the traditional method of manually replacing the water of the base station, the present application greatly reduces the user's housework, and the base station water replacement operation does not need to occupy the user's rest time, and the user does not need to remember the time to replace the water of the base station every day, thereby improving the user's experience.

[0039] Scenario 1:

[0040] 1. A base station for a sweeping machine, comprising:

[0041] A base station body, which has a clean water tank and a sewage tank inside, and a walking device at the bottom of the base station body;

[0042] A radar sensing module, which is disposed at the front end of the base station body, and is used to obtain obstacle information in front of the base station body; and

[0043] A controller is respectively connected to the walking device and the radar sensing module for communication, and the controller controls the walking device to move to a drainage position and a water adding position according to the obstacle information.

[0044] Scenario 2:

[0045] 2. The base station according to Scheme 1 is characterized in that a first liquid level sensor is provided in the sewage tank, the controller is communicatively connected with the first liquid level sensor, and the controller controls the walking device to move toward the drainage position according to the detection value of the first liquid level sensor.

[0046] Solution 3:

[0047] 3. The base station according to Scheme 2 is characterized in that a first control valve is provided at the drain outlet of the sewage tank, and the controller is communicatively connected with the first control valve for controlling the opening and closing of the first control valve.

[0048] Solution 4:

[0049] 4. The base station according to Solution 1 is characterized in that a cleaning device is provided in the sewage tank, and the cleaning device is used to clean the sewage tank.

[0050] Solution 5:

[0051] 5. A base station according to any one of solutions 1 to 4, characterized in that the base station further comprises:

[0052] A positioning cruise module is arranged in the base station body, and the positioning cruise module is used to plan the walking path of the base station body.

[0053] Solution 6:

[0054] 6. A sweeping machine system, characterized by comprising:

[0055] A base station according to any one of solutions 1 to 5;

[0056] a second control valve, which is disposed at the water outlet of the clean water source, and the controller is in communication connection with the second control valve, and is used to control the opening and closing of the second control valve; and

[0057] Sweeping machine body.

[0058] Solution 7:

[0059] 7. The sweeping machine system according to solution 6 is characterized in that it also includes:

[0060] A second liquid level sensor is disposed in the clean water tank. The controller is in communication connection with the second liquid level sensor. The controller controls the second control valve to close according to the detection value of the second liquid level sensor.

[0061] Solution 8:

[0062] 8. A control method for a sweeping machine system, characterized in that the sweeping machine system includes a base station and a sweeping machine body, and the control method includes:

[0063] Get the liquid level value of the sewage tank;

[0064] When the liquid level value of the sewage tank reaches a first preset liquid level value, controlling the sweeping machine body to separate from the base station;

[0065] Controlling the base station to move to a drainage position;

[0066] Discharging the sewage in the sewage tank;

[0067] Controlling the base station to move to a water adding position;

[0068] Refill the clean water tank; and

[0069] The base station is controlled to move to an initial position.

[0070] Solution 9:

[0071] 9. The control method according to solution 8 is characterized in that a first control valve is provided in the sewage tank, and the step of “discharging the sewage in the sewage tank” further comprises:

[0072] Control the first control valve to open so that the sewage in the sewage tank is discharged; and / or

[0073] The sweeping machine system further includes a second control valve disposed at a water outlet of the clean water source, and the step of "adding water to the clean water tank" further includes:

[0074] The second control valve is controlled to open and water is added into the clean water tank.

[0075] Solution 10:

[0076] 10. The control method according to solution 9 is characterized in that the sweeping machine system further comprises a second liquid level sensor disposed in the clean water tank, and the step of "adding water to the clean water tank" further comprises:

[0077] Monitoring the liquid level value of the clean water tank by means of the second liquid level sensor;

[0078] When the liquid level value of the clean water tank reaches a second preset liquid level value, the second control valve is controlled to close.

[0079] Solution 11:

[0080] 11. The control method according to solution 8 is characterized in that the sweeping machine system further includes a cleaning device disposed in the sewage tank, and the control method further includes:

[0081] The sewage tank is cleaned by the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, in which:

[0083] Figure 1 It is a main structural block diagram of the sweeping machine system provided in the embodiment of the present application;

[0084] Figure 2 It is a schematic flow chart of the main steps of the control method of the sweeping machine system given in the embodiment of the present application;

[0085] Figure 3 It is a detailed step flow chart of the control method of the sweeping robot system given in the embodiment of the present application.

[0086] In the figures, the reference numerals refer to the following:

[0087] 1. Base station body; 11. Clean water tank; 12. Sewage tank; 2. Positioning cruise module; 3. Radar sensing module; 4. Controller;

[0088] 100. Base station; 200. Sweeping robot body. DETAILED DESCRIPTION

[0089] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application and are not used to limit the scope of protection of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0090] It should be noted that in the description of this application, the terms "upper", "lower", "inner", "outer", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the relevant devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting this application. In addition, ordinal numbers such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0091] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0092] Reference Figure 1 , is a sweeping machine system disclosed in the present application, which includes a sweeping machine base station 100 and a sweeping machine body 200. The sweeping machine base station 100 includes a base station body 1, a positioning cruise module 2, a radar sensing module 3 and a controller 4.

[0093] A power module is provided in the base station body 1. Optionally, the power module can be a lithium battery, etc. A wireless charging module is provided on the back of the base station body 1, and the lithium battery can be charged through the wireless charging module. A walking device is provided at the lower part of the base station body 1. The controller 4 is connected to the walking device for communication. When the controller 4 sends a command to the walking device, the base station body 1 walks along the ground driven by the walking device.

[0094] The walking device can be a structure such as a roller assembly. For example, in a possible implementation of the present application, the roller assembly is slidably arranged on the base station body 1 in the vertical direction. The walking device also includes a driving assembly arranged on the base station body 1. The driving assembly is connected to the roller assembly. The driving assembly can not only drive the roller assembly to walk along the ground, but also drive the roller assembly to rise and fall, so that when the base station is in a stationary state, the roller assembly can retract upward, and the bottom surface of the base station body 1 can be in contact with the ground to facilitate the sweeper body to enter the base station body 1. When the base station body 1 receives a walking command, the driving assembly controls the roller assembly to extend downward, and the roller assembly contacts the ground, driving the base station body 1 to move.

[0095] The base station body 1 has a clean water tank 11 and a sewage tank 12 inside, wherein the clean water tank 11 provides clean water to the sweeper body to clean the mop assembly on the sweeper body, and the sewage formed after cleaning is discharged into the sewage tank 12.

[0096] The positioning cruise module 2 is arranged in the base station body 1, and the positioning cruise module 2 is used to plan the walking path of the base station body 1. For example, the positioning cruise module 2 generates a map according to the user's indoor space position, and then marks specific coordinates on the map according to the position to be reached by the base station body 1, and generates a walking path according to the coordinate value. The positioning cruise method is similar to that of the sweeper body, and this application will not be repeated here.

[0097] The radar sensing module 3 is arranged at the front end of the base station body 1. The radar sensing module 3 is communicated with the controller 4. The radar sensing module 3 is used to obtain obstacle information in front of the base station body 1. When the base station body 1 moves along its set walking path, when the radar sensing module 3 detects an obstacle in front, it sends a signal to the controller 4, and the controller 4 controls the walking device to turn to avoid the obstacle, and then continues to move along the set walking path.

[0098] It should be noted that the function of the base station of the sweeping machine in the present application is to control the base station 100 to automatically replace the water after the clean water in the clean water tank 11 is used up or the sewage tank 12 is full of sewage. Therefore, a drainage position and a water adding position need to be set in the user's indoor area. For example, the drainage position can be the floor drain position of the bathroom, and the water adding position can be the faucet position of the balcony, kitchen or bathroom. It can be understood that when the positioning cruise module 2 generates a map, the above-mentioned drainage position and water adding position are used as two important coordinate points. When setting the walking path of the sweeping machine, the base station 100 must at least be able to move to the drainage position, and then move from the drainage position to the water adding position.

[0099] When the base station 100 of the sweeping machine in the present application is used to replace water, when the water change demand is met, the controller 4 first controls the sweeping machine body 200 to leave the base station 100, and then the controller 4 controls the walking device to move along the set walking path to the drainage position. When encountering an obstacle in the process, the controller 4 controls the walking device to turn according to the obstacle information obtained by the radar sensing module 3. At the drainage position, the controller 4 controls the sewage tank 12 to discharge the sewage, and then the controller 4 controls the base station body 1 to walk to the water adding position, and water is added to the base station body 1 at the water adding position. After the water adding is completed, the controller 4 can control the base station body to return to the initial position, and the controller 4 controls the sweeping machine body 200 to enter the base station 100.

[0100] As an optional technical solution of the present application, a first liquid level sensor is provided in the sewage tank 12, and the first liquid level sensor is communicatively connected with the controller 4. The first liquid level sensor is used to detect the liquid level value in the sewage tank 12. When the first liquid level sensor detects that the liquid level value in the sewage tank 12 reaches a preset value, the controller 4 controls the walking device to start. When it is confirmed that the sweeping machine body 200 has left the base station 100, the walking device moves to the drainage position.

[0101] The liquid level information in the sewage tank 12 is obtained by the first liquid level sensor, and the base station 100 is controlled to start the water replacement operation according to the liquid level information, thereby realizing automatic control without the need for the user to issue instructions.

[0102] It should be understood that the startup of the base station 100 in the present application is not limited to the above-mentioned method. For example, a liquid level sensor can be set in the clean water tank 11 to control the startup of the base station 100 by obtaining the liquid level information in the clean water tank 11. When the amount of clean water in the clean water tank 11 is insufficient, the water replacement operation is started.

[0103] As an optional technical solution of the present application, a first control valve is provided at the drain outlet of the sewage tank 12, and the first control valve is connected to the controller 4 for communication. In one implementation of the present application, the first control valve may be a solenoid valve. When the walking device moves to the drain position, the controller 4 controls the first control valve to open, so that the sewage in the sewage tank 12 is discharged. When the sewage is discharged, the first control valve automatically closes, or in some other implementations, the first control valve automatically closes after a preset sewage discharge time (the preset time should at least ensure that the sewage in the sewage tank 12 can be completely discharged). The present application does not impose any specific restrictions on this.

[0104] By setting the first control valve, the sewage in the sewage tank 12 is automatically discharged, thereby realizing automatic control without the need for the user to issue instructions for control.

[0105] As an optional technical solution of the present application, a cleaning device is also provided in the sewage tank 12. In an optional implementation, the cleaning device includes a disc-shaped cleaning brush and a driver connected to the cleaning brush. The cleaning brush can be arranged at the bottom of the sewage tank 12. The driver can be a power output component such as a servo motor. The output end of the driver is connected to the central axis of the cleaning brush. When the driver is started, the cleaning brush is driven to rotate.

[0106] By setting a cleaning device in the sewage tank 12, before each sewage discharge, the controller 4 controls the driver to start, driving the cleaning brush to rotate, so that impurities adhering to the inner wall of the sewage tank 12 fall off, and at the same time, the sediment at the bottom of the sewage tank 12 is stirred to prevent dirt from settling at the bottom of the sewage tank 12 or impurities from adhering to the inner wall of the sewage tank 12 during the long-term use of the sweeping machine system, thereby preventing bacteria from growing in the sewage tank 12. Therefore, the setting of the cleaning device is conducive to the discharge of sewage and keeps the sewage tank 12 clean.

[0107] As an optional technical solution of the present application, the sweeping machine system further includes a second control valve, which is installed at the outlet of the clean water source. The controller 4 is electrically connected to the second control valve to control the opening and closing of the second control valve. The second control valve may be a solenoid valve. When the base station 100 moves to the water adding position, the controller 4 controls the second control valve to open and add water to the clean water tank 11. When the clean water tank 11 is filled with water, the second control valve is closed.

[0108] The closing of the second control valve can be controlled by setting the duration of its opening. For example, the duration of each opening of the second control valve can be set to 20 seconds or 30 seconds. After the second control valve is opened for the set duration, the clean water tank 11 is just filled up, and the second control valve is automatically closed.

[0109] In another possible implementation of the present application, a second liquid level sensor is provided in the clean water tank 11, and the controller 4 is in communication connection with the second liquid level sensor. After the second control valve is opened, the clean water source adds water to the clean water tank 11. During this process, the second liquid level sensor monitors the liquid level in the clean water tank 11. When the liquid level in the clean water tank 11 reaches a preset value, the controller 4 controls the second control valve to close and stops the water adding process.

[0110] This application connects the second liquid level sensor and the second control valve to the controller 4 for communication. When the base station 100 moves to the water adding position, the controller 4 controls the second control valve to open, adds water to the clean water tank 11, and monitors the liquid level in the clean water tank 11 through the second liquid level sensor. When the liquid level in the clean water tank 11 reaches a preset value, the controller 4 controls the second control valve to close. The above method realizes automatic water adding and controls the amount of water added, thereby making the automatic water replacement process of the sweeping robot system more intelligent, without the need for the user to manually issue instructions to participate in the water adding process, or the user to add water by himself, thereby improving the user experience.

[0111] It should also be noted that a cover can be provided at the opening of the clean water tank 11 to close the clean water tank 11. An electric hardware for controlling the cover to automatically open or close is installed at the opening of the clean water tank 11. The electric hardware is communicated with the controller 4. When the clean water tank 11 reaches the water adding position, the controller 4 controls the electric hardware to operate and open the cover. When the clean water tank 11 is filled with water, the controller 4 controls the electric hardware to operate and close the cover.

[0112] Of course, in some other implementations, the opening of the clean water tank 11 can also eliminate the cover plate, and the clean water tank 11 can be set to a normally open state. Each time water is added, water can be added directly into the clean water tank 11 through its opening, thereby eliminating the need to control the opening and closing of the cover plate.

[0113] Reference Figure 2 The present application also discloses a control method for a sweeping machine system, which comprises the following steps:

[0114] S101: Obtaining a liquid level value of a sewage tank through a first liquid level sensor.

[0115] S102: When the liquid level value of the sewage tank reaches a first preset liquid level value, the sweeping machine is controlled to separate from the base station.

[0116] It should be understood that the specific value of the first preset liquid level value can be set according to actual needs. For example, the first preset liquid level value can be set to 80%, 90%, etc. of the total volume of the sewage tank.

[0117] S103: Control the base station to move to a drainage position.

[0118] Among them, the above-mentioned drainage position can be set to the center point of the bathroom floor drain, or the slope area where the floor drain is located.

[0119] S104: Drain the sewage in the sewage tank.

[0120] S105: Control the base station to move to the water adding position.

[0121] Among them, the above-mentioned water adding position can be set to be directly below the faucet of the balcony, kitchen or bathroom. More precisely, the water adding position should make the axis of the faucet drain pipe coincide with the central axis of the sewage tank, thereby ensuring that clean water can enter the sewage tank.

[0122] S106: Add water to the clean water tank.

[0123] S107: Control the base station to move to the initial position.

[0124] Among them, the above-mentioned initial position refers to the position of the starting point of the base station. The initial position can also be understood as the position of the base station when it is in a non-water replacement state. At this position, the base station can be charged by the wireless charging module.

[0125] After the above step S107, the following steps may be further included: controlling the sweeping machine body to return to its position, that is, controlling the sweeping machine body to enter the base station. Then, according to the power information of the sweeping machine body, the base station may charge the sweeping machine body to ensure that the power of the sweeping machine body can support it to carry out the next stage of cleaning work.

[0126] As an optional technical solution of the present application, during the process of the above step S103, the control method further includes: cleaning the sewage tank by a cleaning device.

[0127] During the process of the base station moving to the drainage position, the sewage tank is cleaned by the cleaning device, so that the impurities in the sewage tank are mixed with the sewage, so that when step S104 is performed, the sewage and impurities in the sewage tank can be discharged at the same time, so that the sewage discharge is more sufficient. In one implementation, the duration of each rotation of the cleaning device can be set. For example, during each movement of the base station to the drainage position, the cleaning device automatically shuts down after running for 10 seconds or 15 seconds.

[0128] As an optional technical solution of the present application, the above step S104 specifically includes:

[0129] S1041: Control the first control valve to open to discharge the sewage in the sewage tank.

[0130] The above step S106 specifically includes:

[0131] S1061: Control the second control valve to open and add water into the clean water tank.

[0132] Furthermore, step S106 further includes:

[0133] S1062: Monitor the liquid level value of the clean water tank through the second liquid level sensor, and determine whether the liquid level value of the clean water tank reaches a second preset liquid level value.

[0134] S1063: When the liquid level value of the clean water tank reaches the second preset liquid level value, the second control valve is controlled to close and the addition of water into the clean water tank is stopped.

[0135] It should be understood that the specific value of the second preset liquid level value can be set according to actual needs. For example, the second preset liquid level value can be set to 80%, 90%, etc. of the total volume of the clean water tank.

[0136] By adopting the sweeping machine system of the present application and executing the control method of the sweeping machine system, according to the detection value of the first liquid level sensor, when the water of the base station needs to be replaced, the base station can automatically move to the drainage position according to the set walking path, and automatically discharge the sewage through the first control valve, and then move to the water adding position, and automatically add clean water through the second control valve and the second liquid level sensor, and finally return to the initial position. Compared with the traditional method of manually replacing the water of the base station, the present application greatly reduces the user's housework, and the base station water replacement operation does not need to occupy the user's rest time, and the user does not need to remember the time to replace the water of the base station every day, thereby improving the user's experience.

[0137] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A base station for a sweeping machine, characterized in that: include: A base station body, which has a clean water tank and a sewage tank inside, and a walking device at the bottom of the base station body; A radar sensing module, which is arranged at the front end of the base station body, and the radar sensing module is used to obtain obstacle information in front of the base station body; as well as A controller is respectively connected to the walking device and the radar sensing module for communication, and the controller controls the walking device to move to a drainage position and a water adding position according to the obstacle information.

2. The base station according to claim 1, characterized in that A first liquid level sensor is arranged in the sewage tank, and the controller is in communication connection with the first liquid level sensor. The controller controls the walking device to move toward the drainage position according to the detection value of the first liquid level sensor.

3. The base station according to claim 2, characterized in that A first control valve is provided at the drain outlet of the sewage tank, and the controller is in communication connection with the first control valve for controlling the opening and closing of the first control valve.

4. The base station according to claim 1, characterized in that A cleaning device is arranged in the sewage tank, and the cleaning device is used to clean the sewage tank.

5. The base station according to any one of claims 1 to 4, characterized in that: The base station also includes: A positioning cruise module is arranged in the base station body, and the positioning cruise module is used to plan the walking path of the base station body.

6. A sweeping machine system, characterized in that: include: The base station according to any one of claims 1 to 5; a second control valve, which is disposed at the water outlet of the clean water source, and the controller is in communication connection with the second control valve, and is used to control the opening and closing of the second control valve; and Sweeping machine body.

7. The sweeping machine system according to claim 6, characterized in that: Also includes: A second liquid level sensor is disposed in the clean water tank. The controller is in communication connection with the second liquid level sensor. The controller controls the second control valve to close according to the detection value of the second liquid level sensor.

8. A control method for a sweeping machine system, characterized in that: The sweeping machine system includes a base station and a sweeping machine body, and the control method includes: Get the liquid level value of the sewage tank; When the liquid level value of the sewage tank reaches a first preset liquid level value, controlling the sweeping machine body to separate from the base station; Controlling the base station to move to a drainage position; Discharging the sewage in the sewage tank; Controlling the base station to move to a water adding position; Refill the clean water tank; and The base station is controlled to move to an initial position.

9. The control method according to claim 8, characterized in that: A first control valve is provided in the sewage tank, and the step of "discharging the sewage in the sewage tank" further includes: Control the first control valve to open so that the sewage in the sewage tank is discharged; and / or The sweeping machine system further includes a second control valve disposed at the outlet of the clean water source, and the step of "adding water to the clean water tank" further includes: The second control valve is controlled to open and water is added into the clean water tank.

10. The control method according to claim 9, characterized in that: The sweeping machine system further includes a second liquid level sensor disposed in the clean water tank, and the step of "adding water to the clean water tank" further includes: Monitoring the liquid level value of the clean water tank by means of the second liquid level sensor; When the liquid level value of the clean water tank reaches a second preset liquid level value, the second control valve is controlled to close.

Images