Cleaning system

Abstract

The invention relates to a cleaning system, the cleaning system comprises a cleaning device and a base station, the cleaning device comprises a dust box, a first dust collection unit communicating with the dust box and a battery electrically connected with the first dust collection unit, and the first dust collection unit is used for absorbing garbage outside the cleaning device into the dust box; the base station comprises a dust collection cavity and a second dust collection unit communicated with the dust collection cavity; the cleaning equipment further comprises a controller, and when the current voltage of the battery is smaller than or equal to a first voltage threshold value, the controller controls the cleaning equipment to return to the base station; the cleaning system has a dust collection mode, and when the cleaning system is in the dust collection mode, the second dust collection unit is started to absorb garbage in the dust box into the dust collection cavity. While the dust collection efficiency is improved, the base station can be equipped with the fan with smaller power, and meanwhile, the fan noise during working is also reduced.

Description

Technical Field

[0001] The present application relates to the technical field of smart home appliances, and more specifically to a cleaning system. Background Art

[0002] At present, when the cleaning system (including base stations and cleaning equipment, such as sweeping robots, etc.) collects dust, the solution usually adopted is that when the cleaning equipment enters the preset position on the base station, the fan on the base station sucks the garbage in the dust box of the cleaning equipment into the dust collection chamber of the base station for storage. The base station charges the cleaning equipment that enters the preset position, and turning on the fan on the cleaning equipment can effectively improve the dust collection efficiency. However, when the cleaning equipment cooperates with the base station for dust collection, it will generate a large power (about 60W), and this power exceeds the power supplied by the base station for charging (about 24W). It may cause the cleaning equipment, which already has little power, to lose power or restart, and fail to complete the work smoothly. However, if the charging power of the base station is increased, the cost will increase significantly. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] The present application provides a cleaning system, which includes a cleaning device and a base station, wherein the cleaning device includes a dust box, a first dust collecting unit connected to the dust box, and a battery electrically connected to the first dust collecting unit, wherein the first dust collecting unit is used to absorb garbage outside the cleaning device into the dust box; the base station includes a dust collecting chamber and a second dust collecting unit connected to the dust collecting chamber; the cleaning device also includes a controller, and when the current voltage of the battery is less than or equal to a first voltage threshold, the controller controls the cleaning device to return to the base station; the cleaning system has a dust collection mode, and when the cleaning system is in the dust collection mode, the second dust collecting unit is started to absorb the garbage in the dust box into the dust collecting chamber; if the current voltage of the battery is greater than the second voltage threshold, the controller starts the first dust collecting unit so that the first dust collecting unit assists the second dust collecting unit in collecting dust; wherein, the second voltage threshold is less than the first voltage threshold.

[0005] By setting the first voltage threshold and the second voltage threshold, when the current voltage of the battery is less than the first voltage threshold, it indicates that the cleaning device is low on power and needs to enter the base station for charging. After entering the base station, if the current voltage of the battery of the cleaning device is greater than the second voltage threshold, it indicates that the remaining power of the cleaning device can cooperate with the base station for dust collection, and the first dust collection unit is turned on. If the current voltage of the battery of the cleaning device is less than or equal to the second voltage threshold, it indicates that the power of the cleaning device is insufficient to cooperate with the base station for dust collection, and the first dust collection unit is turned off to avoid power failure or restart of the cleaning device. The working state of the cleaning device can be switched reasonably, and the power of the cleaning device can be reasonably allocated. On the premise of ensuring that the cleaning device will not lose power or restart, the cleaning device can assist the second dust collection unit in dust collection, improve the dust collection efficiency, and enable the base station to be equipped with a smaller power fan, reduce hardware costs, and also reduce fan noise during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The following drawings of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the device and principle of the present application. In the drawings,

[0007] Figure 1 This is a schematic structural diagram of a cleaning system according to an embodiment of the present application, wherein the first fan is not working and the second fan is working.

[0008] Figure 2 This is a schematic structural diagram of a cleaning system according to an embodiment of the present application, wherein the first fan and the second fan operate simultaneously.

[0009] Figure 3 is a schematic structural diagram of a cleaning device in a cleaning system according to an embodiment of the present application;

[0010] Figure 4 is a schematic structural block diagram of a cleaning system according to an embodiment of the present application;

[0011] Figure 5 This is a schematic diagram of the working process of the cleaning equipment in the embodiment of the present application.

[0012] Description of reference numerals:

[0013] 100-cleaning device, 101-device body, 110-dust box, 111-accommodating chamber, 112-dust inlet, 113-dust outlet, 120-first fan, 130-dust inlet channel, 140-roller brush, 150-first channel, 151-first docking port, 160-traveling mechanism, 161-traveling wheel, 163-universal wheel, 170-roller brush cover, 200-base station, 210-dust collection chamber, 220-second fan, 230-second channel, A, B-airflow direction DETAILED DESCRIPTION

[0014] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.

[0015] It should be understood that the present application can be implemented in different forms and should not be construed as being limited to the embodiments presented herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present application to those skilled in the art. In the accompanying drawings, the sizes and relative sizes of layers and regions may be exaggerated for clarity. The same reference numerals throughout represent the same elements.

[0016] It should be understood that although the terms first, second, third, etc. can be used to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or part from another element, component, region, layer or part. Therefore, without departing from the teachings of the present application, the first element, component, region, layer or part discussed below can be represented as a second element, component, region, layer or part.

[0017] Spatially relative terms such as "under", "beneath", "below", "under", "above", "above", etc., may be used herein for convenience of description to describe the relationship of one element or feature to other elements or features shown in the figures. It should be understood that the spatially relative terms are intended to encompass different orientations of the device in use and operation in addition to the orientation shown in the figures.

[0018] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0019] Embodiments of the invention are described herein with reference to cross-sectional views as schematic diagrams of ideal embodiments (and intermediate structures) of the present application. Thus, variations in the shapes shown due to, for example, manufacturing techniques and / or tolerances can be expected. Therefore, embodiments of the present application should not be limited to the specific shapes shown herein, but include shape deviations due to, for example, manufacturing. Therefore, what is shown in the figures is schematic in nature, and their shapes are not intended to display the actual shape of the device and are not intended to limit the scope of the present application.

[0020] Please refer to the attached Figures 1 to 5 The cleaning system according to an embodiment of the present application is exemplarily described. The cleaning system includes a cleaning device 100 and a base station 200 .

[0021] The cleaning device 100 may be a sweeping robot, a sweeping and mopping robot, etc., and includes a dust box 110 battery, a controller, and a first dust collection unit such as a first fan 120. The battery is used to power the first dust collection unit. The first fan 120 is used to generate negative pressure in the dust box 110 to absorb garbage outside the cleaning device 100 into the dust box 110.

[0022] Specifically, the dust box 110 includes a accommodating chamber 111, a dust inlet 112 connected to the accommodating chamber 111, an air outlet connected to the accommodating chamber 111, and a dust outlet 113 connected to the accommodating chamber 111. The accommodating chamber 111 is used to accommodate garbage. The dust inlet 112 is connected to the outside of the cleaning device 100, and the garbage outside the cleaning device 100 can enter the accommodating chamber 111 through the dust inlet 112. In the embodiment of the present application, the cleaning device 100 is provided with a dust inlet channel 130, and the dust inlet 112 is connected to the outside of the cleaning device 100 through the dust inlet channel 130. In some other embodiments, the dust inlet channel 130 may not be provided on the cleaning device 100, and the dust inlet 112 of the dust box 110 is directly connected to the outside of the cleaning device 100. The air inlet of the first fan 120 is connected to the air outlet of the dust box 110 directly or through a connecting air duct. The first fan 120 is used to generate negative pressure in the accommodating chamber 111 of the dust box 110 to absorb the garbage outside the cleaning device 100 into the dust box 110. A filter is provided at the air outlet of the dust box 110 or upstream of the air outlet. The filter allows the gas in the accommodating chamber 111 to enter the first fan 120 through it, and restricts the garbage in the accommodating chamber 111 from entering the first fan 120 through it, so that the garbage remains in the accommodating chamber 111. The filter can be a filter screen, a high efficiency air filter (HEPA) or other suitable filter. The dust outlet 113 of the dust box 110 is used for the garbage in the accommodating chamber 111 to leave the accommodating chamber 111. A cover plate is provided at the dust outlet 113, which is located outside the dust outlet 113. The cover plate can be connected to the dust box 110 through a torsion spring, or the cover plate can be a rubber sheet directly connected to the dust box 110. When the air pressure in the accommodating chamber 111 is less than or equal to the air pressure outside the dust outlet 113, the cover plate covers the dust outlet 113, so that the dust outlet 113 is closed; when the air pressure in the accommodating chamber 111 is greater than the air pressure outside the dust outlet 113 and the force exerted by the air pressure on the cover plate exceeds a certain magnitude, the air pressure pushes the cover plate to move and open the dust outlet 113. At this time, the garbage in the accommodating chamber 111 can leave the accommodating chamber 111 through the dust outlet 113. Thus, when the first fan 120 is working to collect dust, a negative pressure is generated in the accommodating chamber 111, the cover plate closes the dust outlet 113, and the gas outside the cleaning device 100 and the garbage enter the accommodating chamber 111 through the dust inlet channel 130 and the dust inlet 112 in turn, and then the gas enters the first fan 120 through the filter element and the air outlet, and is discharged through the air outlet of the first fan 120, and the garbage remains in the accommodating chamber 111.

[0023] See attached Figure 3In the embodiment of the present application, the cleaning device 100 also includes a device body 101 and a walking mechanism 160, the dust box 110 and the first fan 120 are both installed on the device body 101, and the walking mechanism 160 includes a power member connected to the device body 101 and a walking wheel 161 connected to the power member, and the power member is used to drive the walking wheel 161 to rotate relative to the device body 101 to drive the device body 101 to move on the surface to be cleaned. In the embodiment of the present application, the power member is a motor, and the walking mechanism 160 also includes a universal wheel 163 rotatably connected to the device body 101, and the universal wheel 163 is located at the front of the device body 101 facing the side of the surface to be cleaned. It should be noted that the "front" in this application refers to the part facing the forward direction of the cleaning device 100 (the side facing the forward direction of the cleaning device 100). There can be two walking wheels 161, which are located in the middle of the side of the device body 101 facing the surface to be cleaned. The walking wheel 161 and the universal wheel 163 can be arranged in an isosceles triangle on the side of the device body 101 facing the surface to be cleaned. In some embodiments, the driving assembly may include a power member and a track wheel. The track wheel is located on the side of the equipment body 101 facing the surface to be cleaned. The power member is connected to the track wheel for driving the track wheel to rotate, thereby driving the equipment body 101 to move on the surface to be cleaned.

[0024] In an embodiment of the present application, the cleaning device 100 also includes a roller brush 140 and a roller brush motor for driving the roller brush 140 to rotate. The controller of the cleaning device 100 is electrically connected to the roller brush motor and is used to control the roller brush motor to drive the roller brush to rotate. The roller brush 140 is used to clean the surface to be cleaned while rotating.

[0025] The roller brush 140 is located on the side of the device body 101 facing the surface to be cleaned and on the outside of the dust inlet 112 of the dust box 110. The device body 101 has a mounting groove for mounting the roller brush 140 facing the surface to be cleaned, and the roller brush 140 is mounted in the mounting groove. The mounting groove also has a roller brush cover 170 on the outside. The roller brush cover 170 is detachably connected to the device body 101. The roller brush cover 170 has a hollow portion at a position corresponding to the mounting groove, and the hollow portion is used to expose the roller brush 140. Specifically, the roller brush 140 is located on the side of the dust inlet channel 130 away from the dust inlet 112, and the central axis of the roller brush 140 is parallel to the surface to be cleaned. The bristles and / or rubber strips on the roller brush 140 are in contact with the surface to be cleaned, so that when the roller brush 140 rotates, the bristles and / or rubber strips can push the garbage on the surface to be cleaned to the dust inlet channel 130 so that it can enter the accommodating chamber 111 through the dust inlet channel 130 and the dust inlet 112. The roller brush motor is connected to the roller brush 140 of the roller brush 140 for driving the roller brush 140 to rotate. In the embodiment of the present application, the roller brush motor can drive the roller brush 140 to rotate in a first direction and a second direction. The first direction is consistent with the rotation direction of the walking wheel 161 when the cleaning device 100 moves forward, that is, the first direction is Figure 1 The second direction is opposite to the first direction, that is, the second direction is Figure 1 When the cleaning device 100 moves on the surface to be cleaned and the first fan 120 works to collect dust, the roller brush motor drives the roller brush 140 to rotate in the first direction to push the garbage on the surface to be cleaned to the dust inlet channel 130 and then absorb it into the accommodating cavity 111 of the dust box 110.

[0026] The base station 200 includes a second dust collecting unit and a dust collecting chamber 210, wherein the second dust collecting unit includes a second fan 220. The dust collecting chamber 210 is used to hold garbage. When the cleaning device 100 is in a preset position in the base station 200, the dust collecting chamber 210 is connected to the dust box 110 through the dust collecting channel 300. In an embodiment of the present application, the dust collecting channel 300 includes a first channel 150 located on the cleaning device 100 and a second channel 230 located on the base station 200, the first end of the first channel 150 is connected to the dust box 110, the cover plate outside the dust outlet 113 is located in the first channel 150, and the second end of the first channel 150 is the first docking port 151 on the cleaning device 100. The first end of the second channel 230 is connected to the dust inlet 112 of the dust collecting chamber 210, and the second end of the second channel 230 is the second docking port on the base station 200. When the cleaning device 100 is in a preset position in the base station 200, the first docking port 151 docks with the second docking port (i.e. docks by abutting or plugging), so that the dust collecting chamber 210 is connected to the dust box 110 through the dust collecting channel 300. The second fan 220 is used to generate negative pressure in the dust collecting chamber 210 to absorb the garbage in the dust box 110 into the dust collecting chamber 210 through the dust collecting channel 300. The air inlet of the second fan 220 is connected to the air outlet of the dust collecting chamber 210, and a filter is provided at the air outlet, which allows the gas in the accommodating chamber 111 to enter the fan through it, and restricts the garbage in the accommodating chamber 111 from entering the fan through it, so that the garbage remains in the accommodating chamber 111. The filter can be a filter, a high-efficiency air filter or other suitable filter. Thus, when the cleaning device 100 is in a preset position in the base station 200 and the second fan 220 is working, the second fan 220 generates negative pressure in the dust collecting chamber 210, and the gas pressure in the dust collecting channel 300 is less than the pressure in the accommodating chamber 111 of the dust box 110. The cover is opened, and the garbage in the accommodating chamber 111 enters the dust collecting chamber 210 through the dust outlet 113, the dust collecting channel 300, and the dust inlet 112 of the dust collecting chamber 210 in turn, so that the garbage in the dust box 110 can be absorbed and stored in the dust collecting chamber 210.

[0027] In an embodiment of the present application, the first docking port 151 is located at the rear of the cleaning device 100 to achieve dust collection at the rear. The dust inlet 112 of the dust box 110 is located on the side of the dust box 100 facing the front of the cleaning device, and the dust outlet 113 of the dust box is located on the side of the dust box 100 facing the rear of the cleaning device, and the dust outlet 113 is connected to the first docking port 151. Thus, when the second fan 220 is working to collect dust, the flow trajectory of the airflow in the dust box 110 is a straight line (or approximately a straight line), which can better take away the garbage in the dust box 110, and there is basically no dead angle. In some other embodiments, the first docking port can be located at the bottom of the cleaning device 100 to achieve bottom dust collection, and the position of the first docking port can be flexibly configured according to the specific design requirements of the cleaning device 100 and the base station 200 by the technical personnel in the art.

[0028] In an embodiment of the present application, the cleaning system has a dust collection mode. When the cleaning system is in the dust collection mode, the second dust collection unit is started to absorb the garbage in the dust box into the dust collecting chamber. Specifically, the dust collecting chamber 210 is connected to the dust box 100, and the second fan 220 is started to generate negative pressure in the dust collecting chamber 210 to absorb the garbage in the dust box 110 into the dust collecting chamber 210.

[0029] In an embodiment of the present application, the cleaning system may enter the dust collection mode when a specific button corresponding to the dust collection mode on the base station 200 is triggered. In some other embodiments, the cleaning system may automatically enter the dust collection mode when other preset trigger conditions are met. For example, the base station 200 and / or the cleaning device may be provided with an in-place determination unit, and the in-place determination unit is used to determine whether the cleaning device 100 is in a preset position in the base station 200. When the in-place determination unit determines that the cleaning device 100 is in the preset position in the base station 200, the cleaning system enters the dust collection mode. The in-place determination unit may include a contact sensor, a proximity sensor or other suitable sensor provided on the base station 200, which is used to be triggered when the cleaning device 100 is in the preset position in the base station 200, so that when it is triggered, it can be determined that the cleaning device 100 is in the preset position in the base station 200. Alternatively, when the charging electrode on the base station 200 is in electrical contact with the charging electrode on the cleaning device 100, it is determined that the cleaning device 100 is in a preset position in the base station 200. It should be noted that the electrical contact between the charging electrode on the base station 200 and the charging electrode on the cleaning device 100 does not mean that the base station 200 starts charging the battery of the cleaning device 100. At this time, only a small current can be passed to determine that the cleaning device 100 is in place.

[0030] like Figure 4As shown, in an embodiment of the present application, the cleaning device 100 also includes a battery, which is electrically connected to the first fan 120 and the roller brush motor to power them. The base station 200 also includes a power supply circuit, which is connected to the mains power and the second fan 220 to receive the mains power and power the second fan 220. When the cleaning system is in the dust collection mode and the first fan 120 assists in dust collection, the battery supplies power to the first fan 120, and the power supply circuit supplies power to the second fan 220. The base station 200 also includes a charging circuit, which is connected to the mains power. When the cleaning device 100 is in a preset position in the base station 200, the charging circuit is electrically connected to the battery, and the charging circuit can charge the battery. The cleaning system also has a charging mode, and when the cleaning system is in the charging mode, the charging circuit charges the battery. In some embodiments, when the cleaning system is in the dust collection mode, the charging circuit is disabled, that is, the charging circuit does not charge the battery of the cleaning device 100 when the cleaning system is in the dust collection mode, and the charging circuit can be configured to charge the battery of the cleaning device 100 when the dust collection is completed and the cleaning system is in the non-dust collection mode. In this way, when the cleaning system is in the dust collection mode, most of the electric energy received by the base station 200 can be used to power the second fan 220, so that the second fan 220 can operate at a higher power, improve the dust collection effect, and avoid the charging circuit taking away part of the electric energy to cause the power of the second fan 220 to decrease. In addition, if the charging of the battery of the cleaning device is turned on while the cleaning device is working, the charging voltage will be lowered, and in this application, charging the battery of the cleaning device after dust collection will not affect the charging voltage. In some other embodiments, the charging circuit can also charge the battery of the cleaning device 100 when the cleaning system is in the dust collection mode.

[0031] In some embodiments, a user interface is provided on the cleaning device 100, and the user can start the cleaning work of the cleaning device 100 through the user interface, such as a switch button, etc. During the cleaning process of the cleaning device, the current voltage of the battery of the cleaning device is collected, and the current voltage of the battery is compared with the first voltage threshold. When the current voltage of the battery is less than the first voltage threshold, the cleaning device is controlled to stop cleaning and return to the base station. When the current voltage of the battery is greater than or equal to the first voltage threshold, it indicates that the remaining power of the cleaning device can continue to perform cleaning work, such as cleaning by a roller brush. If before the cleaning work is completed, the current voltage of the battery always satisfies or is greater than or equal to the first voltage threshold, the cleaning device can continue to perform the cleaning work until the cleaning work is completed, and the cleaning device 100 is controlled to move back to the base station 200 for charging (i.e., recharging).

[0032] Exemplarily, the base station 200 also includes a first controller, which is connected to the in-place determination unit and is used to determine whether the cleaning device 100 is in a preset position in the base station 200 through the in-place determination unit. The first controller is also connected to the second fan 220 control. Specifically, the first controller can be a single-chip microcomputer or other suitable control device, which is electrically connected to the second fan 220 to control the second fan 220. The controller on the cleaning device 100 is called the second controller. The second controller provided on the cleaning device 100 is connected to the drive assembly, the first fan 120 and the roller brush motor, and the second controller controls the drive assembly to drive the cleaning device 100 to travel on the surface to be cleaned, and controls the first fan 120 and the roller brush motor to work, so as to achieve cleaning of the surface to be cleaned. The first controller and the second controller can be connected by connecting contacts or wireless communication modules (such as infrared communication modules, Bluetooth communication modules or WIFI communication modules, etc.).

[0033] When the cleaning device 100 stops cleaning and arrives at the base station 200, the second controller of the cleaning device 100 can control the roller brush to self-clean, and when the self-cleaning is completed, the cleaning device 100 returns to the base station 200. Exemplarily, the controller of the cleaning device 100 controls the roller brush motor to drive the roller brush to rotate for self-cleaning, including controlling the roller brush motor to drive the roller brush to rotate in a first direction. Exemplarily, the controller controls the roller brush motor to drive the roller brush to rotate for self-cleaning, and also includes: controlling the roller brush motor to drive the roller brush to rotate alternately along the first direction and the second direction mentioned above.

[0034] In some embodiments, when the cleaning device 100 and the base station 200 are docked, for example, when the cleaning device 100 is in a preset position in the base station 200, the cleaning system enters the dust collection mode, at which time the first controller can start the second dust collection unit, for example, control the second fan 220 to work, to collect dust. Specifically, when the first controller determines through the in-place determination unit that the cleaning device 100 and the base station 200 are docked, the second fan 220 is controlled to start working. After the second fan 220 is started, the airflow enters the dust collection chamber 210 from the outside of the cleaning device 100 through the dust inlet channel 130, the dust inlet port, the accommodating chamber, the dust outlet port, and the dust collection channel 300 in sequence (the direction of the airflow is as shown in FIG. 1 ). Figure 1 (shown in A).

[0035] After the cleaning device 100 enters the base station 200, if the current voltage of the battery of the cleaning device 100 in the base station 200 is greater than the second voltage threshold, the first dust collection unit of the cleaning device 100, such as the first fan 120, is started to assist the second dust collection unit in collecting dust. The first dust collection unit may be turned on at the same time as the second dust collection unit of the base station is turned on to assist the second dust collection unit in collecting dust, or it may be turned on when a preset time, such as 10s, is reached after the second dust collection unit is turned on. In some embodiments, when the cleaning system is in the dust collection mode, the dust collection chamber 210 is connected to the dust box 100, and the second fan 220 is first started to generate negative pressure in the dust collection chamber 210 to absorb the garbage in the dust box 110 into the dust collection chamber 210. After the second fan 220 works for a preset time, and if the current voltage of the battery of the cleaning device 100 in the base station 200 is greater than the second voltage threshold, the first fan 120 is started, and the preset time may be 5 seconds or other time greater than 5 seconds, such as 10 seconds. When the cleaning system enters the dust collection mode, the second fan 220 starts to work. After the second fan 220 is started, the airflow enters the dust collection chamber 210 from the outside of the cleaning device 100 through the dust inlet channel 130, the dust inlet port 112, the accommodating chamber 111, the dust outlet port 113, and the dust collection channel 300 in sequence (the direction of the airflow is as shown in FIG. Figure 1 As shown in A). Since the first fan 120 is not working at this time, the airflow preferentially carries away the fine dust and some garbage in the accommodating chamber 111 of the dust box 110 and enters the dust collecting chamber 210, which can effectively prevent the dust from adhering to the filter element in the dust box 110, thereby increasing the service life of the filter element. After the second fan 220 has been working for a preset time, and the remaining power of the battery of the cleaning device is sufficient to support the first fan 120 to assist the second fan 220 in collecting dust, the first fan 120 starts to start working. At this time, the first fan 120 and the second fan 220 work at the same time, and a part of the airflow that enters the accommodating chamber 111 through the dust inlet channel 130 and the dust inlet port 112 enters the dust collecting chamber 210 through the dust outlet port 113 and the dust collecting channel 300 (the direction of the airflow is as shown in FIG. 2 ). Figure 2 A in the figure), another part of the airflow enters the first fan 120 through the air outlet on the dust box 110, and is discharged through the air outlet of the first fan 120 (the direction of the airflow is shown in FIG. Figure 2 B). The simultaneous operation of the first fan 120 and the second fan 220 can significantly increase the velocity and flow rate of the airflow in the dust box 110, thereby being able to carry heavier garbage, so that it can enter the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300 under the action of the second fan 220, thereby improving the dust collection effect of the base station 200. In the embodiment of the present application, the power of the second fan 220 is greater than the power of the first fan 120, thereby preventing some garbage from being adsorbed on the filter element of the dust box 110 and unable to enter the dust collecting chamber 210.

[0036] In the embodiment of the present application, there are two first fans 120, both of which are connected to the dust box 110, and the two first fans 120 are configured to start simultaneously after the second fan 220 works for a preset time, so as to increase the air flow rate and flow rate in the accommodating chamber 111 of the entire dust box 110, so that the garbage in the accommodating chamber 111 can more easily enter the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300 under the action of the second fan 220. In the embodiment of the present application, the dust box 110 has a first air outlet and a second air outlet on both sides, and the air inlets of the two first fans 120 are connected to the first air outlet and the second air outlet respectively, and the first air outlet and the second air outlet are arranged in different directions, so that the airflows formed by the two first fans 120 can flow out of the dust box 110 in different directions. When the cleaning system is in the dust collection mode and the two first fans 120 and the second fans 220 are working at the same time, the airflow entering the accommodating chamber 111 of the dust box 110 will be divided into three streams, one stream entering the first fan 120 through the first air outlet, another stream entering the second fan 220 through the second air outlet, and another stream entering the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300. The three streams of air greatly increase the air velocity and flow rate in the entire accommodating chamber 111. The greater air velocity and flow rate can carry more garbage or heavier garbage. The airflows in different directions can effectively disturb the garbage in the dust box 110, so that the garbage in the accommodating chamber 111 is easier to enter the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300 under the action of the second fan 220, thereby greatly improving the cleanliness of the dust box 110, increasing the service life of the dust box 110, reducing the number of times the user cleans the dust box 110, and improving the user experience.

[0037] In the embodiment of the present application, the dust inlet 112 and the dust outlet 113 are located in the dust box 110 in the third direction (i.e. Figure 2 The first air outlet and the second air outlet are located on both sides of the dust box 110 in the fourth direction (i.e. Figure 2The third direction may be perpendicular or non-perpendicular to the fourth direction. Thus, when the cleaning system is in the dust collection mode and the two first fans 120 and the second fans 220 are working at the same time, the airflow velocity in the third direction will increase significantly, especially near the dust inlet 112. The airflow generated by the two first fans 120 can make the garbage in the dust box 110 tend to move between the first air outlet and the second air outlet, that is, move to the flow path of the airflow generated by the second fan 220. The airflow generated by the second fan 220 can better push the garbage in the accommodating chamber 111 to move along the third direction (that is, move in the direction from the dust inlet 112 to the dust outlet 113), thereby better pushing the garbage in the accommodating chamber 111 to enter the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300, thereby improving the dust collection effect of the base station 200. In some other embodiments, the number of the first fan 120 can also be one. In some other embodiments, the air inlet may be located at the top of the dust box 110 (i.e., the side of the dust box 110 away from the surface to be cleaned). In some other embodiments, the dust outlet 113 may be located at the bottom of the dust box 110, i.e., the side of the dust box 110 facing the surface to be cleaned. The specific positions of the dust inlet 112, the dust outlet 113, and the air outlet on the dust box 110 may be flexibly adjusted by those skilled in the art according to the design requirements of the cleaning device 100 and the base station 200.

[0038] In some embodiments, when there are two first fans 120, the second controller can control the two first fans 120 to work alternately after the second fans 220 work for a preset time and the current voltage of the battery of the cleaning device is greater than the second voltage threshold, that is, one first fan 120 is first started and works for a third time (e.g., 10 seconds or other suitable time), then the first fan 120 is turned off, and the other first fan 120 is started and works for a fourth time (e.g., 10 seconds or other suitable time), and then turned off, and so on. In this way, on the one hand, the flow direction of the airflow in the dust box 110 can be changed, and the garbage in the accommodating chamber 111 can be disturbed, so that it is easier to enter the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300 under the action of the second fan 220; on the other hand, it can prevent some garbage from being continuously adsorbed on the filter element at the corresponding air outlet under the action of the first fan 120. In some embodiments, when the cleaning system is in the dust collection mode, if the current voltage of the battery is greater than the second voltage threshold, the second controller controls the roller brush motor to drive the roller brush 140 to rotate, so as to assist the second dust collection unit in collecting dust. The rotation of the roller brush 140 can disturb the airflow entering the dust box 110, change the flow direction of the airflow, thereby making the airflow entering the dust box 110 flow irregularly, blowing up the garbage originally in the corner of the accommodating chamber 111, making it easier for the garbage to enter the dust collection chamber 210 through the dust outlet 113 and the dust collection channel 300 under the action of the second fan 220, thereby significantly improving the dust collection effect of the base station 200. Specifically, the roller brush 140 can be driven to rotate when the second fan 220 works alone or when the first fan 120 is started (that is, when the first fan 120 and the second fan 220 work at the same time).

[0039] Specifically, the second controller is connected to the roller brush motor control, and is used to control the roller brush 140 to rotate alternately in the first direction and the second direction. Specifically, when the second fan 220 is started or when the first fan 120 is started, the second controller also controls the roller brush motor to drive the roller brush 140 to rotate alternately in the first direction and the second direction. For example, the roller brush 140 rotates in the first direction for a first time (for example, 5 seconds or other suitable time), and then rotates in the second direction for a second time (for example, 5 seconds or other suitable time, and the second time can be less than or equal to the first time), and so on. Compared with the roller brush continuously rotating in the first direction, the roller brush 140 rotates alternately in the first direction and the second direction, which can better disturb the airflow entering the dust inlet channel 130 (that is, entering the dust inlet port 112), so that the garbage is easier to enter the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300 under the action of the second fan 220, thereby significantly improving the dust collection effect of the base station 200. The roller brush 140 rotates alternately in the first direction and the second direction and can also effectively clean the residual hair or other foreign matter on the roller brush 140, ensuring that the roller brush 140 is in a relatively clean state during the next cleaning. It should be noted that when the roller brush motor drives the roller brush 140 to rotate alternately in the first direction and the second direction, it first drives the roller brush 140 to rotate in the first direction, so that the garbage adhered to the roller brush enters the dust box 110 and the dust collecting chamber 210 under the action of the airflow, and prevents the garbage from being thrown out. Of course, in some embodiments, the timing when the roller brush 140 starts to rotate may be different from the timing when the first fan 120 and the timing when the second fan 220 are started. For example, the timing when the roller brush 140 starts to rotate may be later than the timing when the second fan 220 is started and earlier than the timing when the first fan 120 is started, or later than the timing when the first fan 120 is started. In some other embodiments, the timing when the roller brush 140 starts to rotate may be the same as the timing when the first fan 120 and the timing when the second fan 220 are started. The timing when the roller brush 140 starts to rotate may be limited according to actual conditions.

[0040] When the cleaning device 100 collects dust on the base station 200, the first fan and the roller brush of the cleaning device 100 are turned on to cooperate with the base station 200 to complete dust collection, which can improve the dust collection efficiency. In other embodiments, when the cleaning system is in the dust collection mode, the rotation of the roller brush can also be omitted, that is, the first dust collection unit and the second dust collection unit work together.

[0041] In some embodiments, after starting the first dust collection unit of the cleaning device, if the current voltage of the battery of the cleaning device is less than or equal to the third voltage threshold, the first dust collection unit stops working, wherein the third voltage threshold is less than the second voltage threshold. In some embodiments, if the current voltage of the battery is less than or equal to the third voltage threshold, the second controller also controls the roller brush motor to stop rotating.

[0042] Among them, the third voltage threshold is smaller than the above-mentioned first voltage threshold. When the first dust collection unit of the cleaning device is working, the power of the battery of the cleaning device will be continuously consumed. When the current voltage of the battery of the cleaning device is smaller than or equal to the third voltage threshold, the first dust collection unit of the cleaning device is controlled to stop working to reduce power loss, so as to avoid excessive power consumption of the battery of the cleaning device resulting in power failure or restart. The second dust collection unit of the base station continues to complete the dust collection. In this way, it can also effectively ensure that the battery of the cleaning device will not be damaged by over-discharge, thereby ensuring the life of the battery.

[0043] In some embodiments, taking the example that the first dust collection unit and the roller brush of the cleaning device both participate in the work to assist the second dust collection unit in collecting dust, during the dust collection process, if the current voltage of the battery of the cleaning device is always greater than the third voltage threshold, then during the operation of the second dust collection unit, the first dust collection unit and the roller brush will remain in working state until the working time of both reaches the set time respectively. Specifically, assuming that in the dust collection mode, the complete working time of the first dust collection unit is the first set time, and the complete working time of the roller brush is the second set time, the first set time can be the same as the second set time, or it can be different from the second set time, and there is no unique limitation here.

[0044] For the cleaning system, after the second dust collection unit works for a preset time (for example, the second dust collection unit completes the dust collection work, and the preset time can be any suitable time, such as 20s, 25s, 30s or 40s, etc.), the base station starts charging the battery of the cleaning device. The current voltage of the battery does not affect the operation of the second dust collection unit. In the dust collection mode, regardless of the current voltage of the battery relative to the third voltage threshold, the second dust collection unit will work for a preset time. After the second dust collection unit works for a preset time, the cleaning system will switch from the dust collection mode to the charging mode. It is not difficult to understand that the first set time length and the second set time length are less than or equal to the preset time.

[0045] In other words, the base station will not charge the battery of the cleaning device until the second dust collection unit completes the dust collection work. When the cleaning system is in dust collection mode, the base station will not charge the battery of the cleaning device. The base station needs to prioritize the completion of the dust collection operation to ensure that when the cleaning device leaves the base station after charging, the dust box of the cleaning device has enough space to collect the garbage generated in the next cleaning task, and ensure that the battery of the cleaning device has enough power.

[0046] Exemplarily, the cleaning device has multiple gears, and the aforementioned first voltage threshold, second voltage threshold, and third voltage threshold are determined according to mapping data. The first voltage threshold is greater than the second voltage threshold, and the second voltage threshold is greater than the third voltage threshold. The mapping data includes mapping relationship data of the working voltage, working current, and working time of the cleaning device at different gears, wherein the working time includes the time it takes for the cleaning device to go from full power to shutdown at different gears.

[0047] The mapping data is obtained by measuring the treadmill data of the cleaning equipment at different gears. Taking five gears as an example, from low to high, they are gear 1, gear 2, gear 3, gear 4 and gear 5. The working voltage (that is, the voltage of the battery) and the working current per second when the cleaning equipment is fully charged to automatically shut down at different gears are recorded to form the final mapping data. Optionally, the mapping data can be data in the form of a table, or it can also be data composed of curves, or it can also be other data that can reflect the mapping relationship. From gear 1 to gear 5, Table 1, Table 2, Table 3, Table 4 and Table 5 correspond to each other. By querying Tables 1 to 5, the working data of the cleaning equipment at different gears can be obtained, such as when the cleaning equipment starts charging at a specified gear, the working voltage and working current of the cleaning equipment during charging, etc. Exemplarily, the above-mentioned gears can also be increased or decreased according to actual conditions. For example, it can also be set to gear 1 to gear 7 or gear 1 to gear 9, etc., which will not be repeated here. It is worth mentioning that each gear can correspond to a working mode, and the treadmill data will be different in different working modes.

[0048] The following will introduce how to obtain the above-mentioned first voltage threshold, second voltage threshold and third voltage threshold by mapping data. It is worth mentioning that the following method is only used as an example, and other suitable methods may also be applicable to this application.

[0049] Exemplarily, the above-mentioned first voltage threshold represents the recharging voltage Vrc, which refers to the threshold voltage at which the cleaning device completes the cleaning task and starts the recharging mode. When the cleaning device works in different gears, Vrc may be different. When the cleaning device is working, the cleaning device can select the corresponding first voltage threshold according to the gear it is in to determine whether to recharge.

[0050] In some embodiments, the cleaning device includes multiple working modes, wherein the multiple working modes include a first working mode. When the cleaning device is in the first working mode, the cleaning device does not perform self-cleaning of the cleaning module before returning to the base station after stopping the cleaning work. When the cleaning device is in the first working mode, the corresponding first voltage threshold is: the standby voltage corresponding to the working voltage at the first time point in the working time in the mapping relationship data of the first gear among the multiple gears, wherein the cleaning device runs the first working mode in the first gear, and the first time point and the charging time point are separated by a first preset time length, and the charging time point is the time point corresponding to the battery voltage when the cleaning device enters the base station for charging in the first gear.

[0051] The above-mentioned first gear can be the lowest gear (for example, corresponding to gear 1), and its corresponding mapping relationship data is the data in Table 1. Exemplarily, the first preset time can be 15min or other suitable time. For example, the working current is obtained through Table 1, and the working voltage when recharging under the Vcs voltage in the standby state is calculated. This voltage is found in Table 1, and it is pushed forward 15min to obtain the working voltage at this time, and then converted into the standby voltage through the internal resistance of the cleaning equipment. The standby voltage is also the first voltage threshold. The internal resistance of the cleaning equipment includes the resistance of components such as batteries and connectors. Exemplarily, the first voltage threshold can be 14.1V or other suitable values.

[0052] For example, before the cleaning device enters the base station, the roller brush can also rotate for self-cleaning. After the cleaning device enters the base station for charging, if the first dust collection unit is turned on, the roller brush rotates to assist the second dust collection unit in collecting dust, and if the first dust collection unit is turned off, the roller brush stops rotating. When collecting dust, the opening and closing of the roller brush in the cleaning device is synchronized with the first dust collection unit, or it can be asynchronous.

[0053] Due to the different working modes, there is another way to calculate the above-mentioned first voltage threshold. In some embodiments, multiple working modes include a second working mode. When the cleaning device is in the second working mode, the cleaning device stops the cleaning work and performs self-cleaning of the cleaning module before returning to the base station. When the cleaning device is in the second working mode, the corresponding first voltage threshold is: the standby voltage corresponding to the working voltage at the third time point in the working time in the mapping relationship data of the second gear among the multiple gears (for example, corresponding to gear 4), wherein the cleaning device runs the second working mode in the second gear, and the third time point and the self-cleaning time point are separated by a second preset time length. The self-cleaning time point is the time point corresponding to the working voltage of the cleaning module of the cleaning device during self-cleaning. The working voltage of the cleaning module during self-cleaning is obtained based on the working current of the cleaning module during self-cleaning and the internal resistance of the cleaning device. The working current of the cleaning module during self-cleaning is obtained through the mapping relationship data of the second gear.

[0054] It is worth mentioning that there may be other gears between the first gear and the second gear.

[0055] Exemplarily, the mapping relationship data corresponding to the second gear is the relevant data in Table 4, and the second preset duration is 21s or other suitable durations. The working current of the roller brush during self-cleaning is queried through Table 4, and converted into the working voltage of the roller brush during self-cleaning through the internal resistance. Query Table 4 to obtain the working voltage pushed forward 21S by this voltage, and convert it into the standby voltage again through the internal resistance, that is, the standby voltage value during recharging is obtained, which is the first voltage threshold. Compared with the calculation of the first voltage threshold in the second gear, because the roller brush participates in self-cleaning in this gear, the size of its first voltage threshold will be different.

[0056] Exemplarily, the third voltage threshold is the minimum working threshold Vcp during dust collection, that is, the minimum working voltage threshold for the cleaning device to exit the dust collection mode in the dust collection mode. Compared with the first voltage threshold and the second voltage threshold, the third voltage threshold is the smallest. Only when the voltage of the cleaning device is higher than the third voltage threshold, the first dust collection unit can remain turned on, otherwise it may cause the cleaning device to lose power.

[0057] The third voltage threshold is: the working voltage corresponding to the third time point in the working time in the mapping relationship data of the middle gear among the multiple gears, wherein the third time point and the end time of the working time are separated by a third preset time length. Exemplarily, the middle gear is the third gear, and the corresponding mapping relationship data is the data in Table 3. The third preset time length can be 30s or other suitable time lengths. The working voltage 30s before shutdown is queried in Table 3, and this voltage is set as the third voltage threshold. Once the current voltage of the battery is lower than this value during dust collection, the cleaning device immediately exits the dust collection mode, the first dust collection unit and the roller brush stop working, and the base station continues to complete dust collection. Exemplarily, the third voltage threshold can be 12V or other suitable values.

[0058] The second voltage threshold is the minimum starting voltage Vcs before dust collection, that is, the minimum voltage threshold before starting the first fan and the roller brush after the cleaning device arrives at the base station. After the cleaning device enters the base station, if the standby voltage is less than or equal to the second voltage threshold, the second dust collection unit and the roller brush cannot be started.

[0059] Optionally, the second voltage threshold is: the open circuit voltage corresponding to the working voltage at the second time point in the working time in the mapping relationship data of the middle gear among the multiple gears, wherein the second time point and the third time point are separated by a fourth preset time length, and the open circuit voltage is the sum of the working voltage at the second time point and the internal resistance voltage of the cleaning device. Optionally, the fourth preset time length is greater than or equal to the preset dust collection time of the second dust collection unit of the base station (for example, 25s, 30s or other suitable time), so as to ensure that the remaining power of the battery of the cleaning device can meet the dust collection needs. Exemplarily, the fourth preset time length is 25s or other suitable time. The middle gear is the above-mentioned gear 3, and the corresponding mapping relationship data is the data in Table 3. Query Table 3, find the time point corresponding to the third voltage threshold, push forward the working time of 25s, and record the voltage at this time as Vcp25s. It is assumed here that the internal resistance of the battery is in the ohmic characteristic range, and the battery open circuit voltage Voc=Vw+IR, Vw=Vcp25s is used by the formula. I is the working current, R is the resistance of the battery and connector, usually between 0.1-0.25 ohms, here we take 0.25 ohms, calculate the open circuit voltage at this time, that is, the second voltage threshold. The second voltage threshold is 13.5V.

[0060] For example, after the cleaning equipment has been used for a period of time, it may lose power quickly due to battery aging and other reasons. When collecting dust, the voltage may reach the threshold in advance, causing the robot to be unable to start the fan and roller brush normally to cooperate with the base station to collect dust. To solve this problem, when the current voltage of the battery is less than or equal to the second voltage threshold or the third voltage threshold, the second controller also: adds a predetermined increase value to the current first voltage threshold to update the first voltage threshold. The initial value of the first voltage threshold is determined according to the mapping data, and then, whenever the battery voltage is less than or equal to the second voltage threshold or the third voltage threshold, the first voltage threshold is updated once, and the updated first voltage threshold is used for the next cleaning to determine whether to recharge. In some other embodiments, whenever the battery voltage is less than or equal to the second voltage threshold or the third voltage threshold, the current first voltage threshold is added to the predetermined increase value to update the first voltage threshold. Exemplarily, whenever a preset update condition is met, the current cache data is added by 1 to obtain the updated cache data, wherein the preset update condition includes that when the cleaning device returns to the base station, the current voltage of the battery is less than or equal to the second voltage threshold, or the current voltage of the battery is less than or equal to the third voltage threshold; the initial first voltage threshold is added to the updated voltage threshold to update the first voltage threshold to obtain the updated first voltage threshold, wherein the updated voltage threshold is equal to the product of the updated cache data and the preset increase value. The first voltage threshold is added to the predetermined increase value, that is, the first voltage threshold is added to the product of the updated cache data and the preset update value to update the first voltage threshold to obtain the updated first voltage threshold. The initial value of the cache data can be 0. On the basis of the initial value of 0, whenever the current voltage of the battery is less than or equal to the second voltage threshold or the current voltage of the battery is less than or equal to the third voltage threshold, 1 is added to the current cache data. Exemplarily, the cached data is N, and the initial value of N is 0. When the first fan and roller brush are turned off in advance during a robot dust collection (that is, when the current voltage of the battery is less than or equal to the second voltage threshold during the robot dust collection, the first fan and roller brush are turned off in advance), or the voltage is lower than the second voltage threshold after recharging, the cached data is +1. Taking the initial first voltage threshold of 14.1v as an example, Vrc=14.1V+N*0.1, the first voltage threshold will increase by about 2%, and the battery power of the cleaning device will be more before charging to ensure the working requirements of assisting the second dust collection unit to collect dust. When the cleaning device is shut down normally, the cached data will be saved. If the user replaces the new battery, the cached data will be restored to the default value of 0 after the power is cut off. In the above manner, when the battery ages during the use of the cleaning device and the capacity decreases significantly, a certain degree of optimization can be performed to ensure the reasonable distribution of power of the cleaning device.

[0061] Through the above voltage threshold determination and parameter compensation, this application can enable the cleaning equipment to more intelligently allocate the power required for cleaning and recharging. Under the condition of ensuring the appropriate amount of power required to complete the entire work process of roller brush self-cleaning, recharging and dust collection, there is no need to set an excessively high recharging threshold, allowing more power to be used to complete the cleaning task.

[0062] like Figure 5 The figure shows a specific working flow diagram of the cleaning device in the embodiment of the present application. Figure 5 As shown, when work starts, the cleaning function of the cleaning device is started, and the cleaning device performs cleaning operations. During the cleaning process, the current voltage of the battery of the cleaning device will be compared with the first voltage threshold. If the current voltage of the battery is less than the first voltage threshold, the cleaning device will stop working, the roller brush of the cleaning device will perform self-cleaning, and the cleaning device will return to the base station for charging, thereby realizing the recharging of the cleaning device. When it stops working, the breakpoint will be recorded, and subsequent scanning will be completed after charging.

[0063] When the current voltage of the battery of the cleaning device is greater than or equal to the first voltage threshold Vcr, it indicates that the remaining power of the cleaning device can continue cleaning work, such as cleaning by a roller brush. If the current voltage of the battery of the cleaning device always satisfies or is greater than or equal to the first voltage threshold before the cleaning work is completed, the cleaning device can continue cleaning work until the cleaning work is completed, and the cleaning device is controlled to move back to the base station for charging. When the cleaning work is completed, the roller brush of the cleaning device will perform self-cleaning and the cleaning device will return to the base station for charging.

[0064] After reaching the base station, the current voltage of the battery of the cleaning device will be compared with the second voltage threshold Vcs. If the current voltage of the battery is less than or equal to the second voltage threshold, the second dust collection unit and the roller brush cannot be started, and the second dust collection unit of the base station is started to collect dust. Only the second fan of the base station works for dust collection. If the current voltage of the battery is greater than the second voltage threshold, the first dust collection unit of the cleaning device, such as the first fan and the roller brush, will also participate in the work, assisting the second dust collection unit in dust collection, and cooperating with the base station to collect dust to improve the dust collection efficiency. Specifically, the details of the first fan and the roller brush participating in dust collection can refer to the relevant description in the previous text.

[0065] When the first dust collecting unit and the roller brush of the cleaning device are both involved in the work to assist the second dust collecting unit in collecting dust, and during the dust collecting process, the battery voltage of the cleaning device is always greater than the third voltage threshold, the first dust collecting unit and the roller brush of the cleaning device stop working and the base station starts charging the cleaning device. The dust collection work is completed when the dust collection time reaches the preset dust collection time, or, after starting the first dust collecting unit of the cleaning device to collect dust, if the current voltage of the battery of the cleaning device is less than or equal to the third voltage threshold, the first dust collecting unit and the roller brush stop working, and then the base station starts charging the cleaning device. In this way, the remaining power of the battery of the cleaning device can be used to provide power for the first dust collecting unit and the roller brush to assist the second dust collecting unit in collecting dust.

[0066] In summary, according to the cleaning system of the present application, when performing dust collection operations, the battery power of the cleaning equipment can be reflected by the current voltage of the battery of the cleaning equipment. When the current voltage of the battery is less than the first voltage threshold, it indicates that the cleaning equipment is insufficient in power and needs to enter the base station. After entering the base station, if the current voltage of the battery of the cleaning equipment is greater than the second voltage threshold, it indicates that the remaining power of the cleaning equipment can cooperate with the base station for dust collection, and the first dust collection unit is turned on. If the current voltage of the battery of the cleaning equipment is less than or equal to the second voltage threshold, it indicates that the power of the cleaning equipment is insufficient to cooperate with the base station for dust collection, and the first dust collection unit is turned off to avoid power failure of the cleaning equipment. And in the dust collection operation, if the current voltage of the battery is less than the third voltage threshold, the cleaning equipment will be stopped in time to reduce energy consumption and save the power of the cleaning equipment. By controlling the cleaning equipment, the working mode of the cleaning equipment can be switched reasonably to ensure the power of the cleaning equipment during the dust collection process.

[0067] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0068] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0069] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0070] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0071] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0072] It should be noted that the above-mentioned embodiments illustrate rather than limit the invention and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims.

Claims

1. A cleaning system, characterized in that: The cleaning system comprises a cleaning device and a base station, wherein the cleaning device comprises a dust box, a first dust collecting unit connected to the dust box, and a battery electrically connected to the first dust collecting unit, wherein the first dust collecting unit is used to absorb garbage outside the cleaning device into the dust box; The base station includes a dust collecting chamber and a second dust collecting unit connected to the dust collecting chamber; The cleaning device further comprises a controller, and when the current voltage of the battery is less than or equal to a first voltage threshold, the controller controls the cleaning device to return to the base station; The cleaning system has a dust collection mode. When the cleaning system is in the dust collection mode, the second dust collection unit is started to absorb the garbage in the dust box into the dust collection chamber; if the current voltage of the battery is greater than a second voltage threshold, the controller starts the first dust collection unit so that the first dust collection unit assists the second dust collection unit in collecting dust; wherein the second voltage threshold is less than the first voltage threshold.

2. The system according to claim 1, characterized in that The controller further: after starting the first dust collecting unit, if the current voltage of the battery is less than or equal to a third voltage threshold, controls the first dust collecting unit to stop working, wherein the third voltage threshold is less than the second voltage threshold.

3. The system according to claim 1, characterized in that The cleaning device further comprises a roller brush and a roller brush motor, wherein the roller brush motor is electrically connected to the battery and is used to drive the roller brush to rotate. The controller further comprises: After the cleaning device stops cleaning and before the cleaning device enters the base station, the roller brush motor is controlled to drive the roller brush to rotate for self-cleaning.

4. The system according to claim 3, characterized in that The controller controls the roller brush motor to drive the roller brush to rotate for self-cleaning, including: controlling the roller brush motor to drive the roller brush to rotate in a first direction, or controlling the roller brush motor to drive the roller brush to rotate alternately in a first direction and a second direction, wherein the first direction and the second direction are opposite.

5. The system according to claim 1, characterized in that The cleaning device further comprises a roller brush and a roller brush motor, wherein the roller brush motor is electrically connected to the battery and is used to drive the roller brush to rotate. The controller further comprises: When the cleaning system is in the dust collection mode, if the current voltage of the battery is greater than the second voltage threshold, the roller brush motor is controlled to drive the roller brush to rotate to assist the second dust collection unit in collecting dust. If the current voltage of the battery is less than or equal to the third voltage threshold, the roller brush motor is controlled to stop rotating, and the third voltage threshold is less than the second voltage threshold.

6. The system according to claim 5, characterized in that The controlling of the roller brush motor to drive the roller brush to rotate to assist the second dust collecting unit in collecting dust includes: controlling the roller brush motor to drive the roller brush to rotate in a first direction, or controlling the roller brush motor to drive the roller brush to rotate alternately in a first direction and a second direction, wherein the first direction and the second direction are opposite.

7. The system according to claim 2, characterized in that The controller also: When the cleaning device returns to the base station, if the current voltage of the battery is less than or equal to the second voltage threshold or the current voltage of the battery is less than or equal to the third voltage threshold, the current first voltage threshold is added with a predetermined increase value to update the first voltage threshold.

8. The system according to claim 2, characterized in that The controller also: Whenever a preset update condition is met, the current cache data is added by 1 to obtain updated cache data, wherein the preset update condition includes that when the cleaning device returns to the base station, the current voltage of the battery is less than or equal to the second voltage threshold, or the current voltage of the battery is less than or equal to the third voltage threshold; The initial first voltage threshold is added with an updated voltage threshold to update the first voltage threshold to obtain an updated first voltage threshold, wherein the updated voltage threshold is equal to the product of the updated cache data and a preset increase value.

9. The system according to any one of claims 1 to 8, characterized in that: The base station is configured to charge the battery after the second dust collection unit works for a preset time.

10. The system according to any one of claims 1 to 8, characterized in that The controller is more specifically: If the current voltage of the battery is greater than the second voltage threshold, the battery is controlled to supply power to the first dust collecting unit to start the first dust collecting unit, so that the first dust collecting unit assists the second dust collecting unit in collecting dust.

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