Cleaning all-in-one machine and operation control method thereof

Abstract

The invention relates to the field of household appliance control, in particular to a cleaning all-in-one machine and an operation control method thereof, and aims to solve the problem that normal work of clothes processing equipment and ground cleaning equipment is affected under the condition that communication is not established in the prior art. In order to achieve the purpose, the operation control method of the cleaning all-in-one machine comprises the following steps that clothes processing equipment accesses a map uploaded by a mobile cleaning device; the clothes processing equipment adjusts the working state of itself according to the position information of the movable cleaning device so as to cooperate with the movable cleaning device. The cleaning all-in-one machine comprises a controller, and the controller is configured to be capable of executing the method. According to the clothes processing equipment, the position information of the movable cleaning device is obtained by accessing the map through the server, and then the working state of the clothes processing equipment is adjusted to be matched with the movable cleaning device, so that the clothes processing equipment and the movable cleaning device can work normally without establishing communication.

Description

Technical Field

[0001] The present invention relates to the field of household appliance control, and specifically provides an all-in-one cleaning machine and an operation control method thereof. Background Art

[0002] There are more and more types of cleaning equipment available, such as washing machines, dryers, sweepers, mops, etc. Placing several cleaning equipment at home will take up a large floor space, reducing the available area in the room, causing inconvenience to users' lives. If you encounter equipment that needs to be connected to water pipes, you will also need to occupy wall space to set up the water pipes, which not only takes up space, but the exposed water pipes will also affect the appearance, and connecting the water pipes will also consume more money.

[0003] In order to alleviate this situation, integrated equipment can be used, such as an all-in-one washing and sweeping machine. The all-in-one washing and sweeping machine includes a clothing processing equipment and a floor cleaning equipment. The floor cleaning equipment includes a mobile cleaning device and a base station. The clothing processing equipment can be set above the floor cleaning equipment. This not only facilitates the work of the floor cleaning equipment, but also reduces the footprint of the clothing processing equipment and the floor cleaning equipment. If the inlet and outlet water pipes can be shared, then the wall space can be further saved and the quality of life of the user can be improved.

[0004] In actual application, the floor cleaning device and the clothes processing device work independently. Since the two devices share a common space, when the floor cleaning device and the clothes processing device need to work at the same time, the operation of one device may affect the operation performance of the other device, affecting the user experience. For example, when the clothes processing device is performing a dehydration process, the clothes processing device will cause the entire cleaning machine to vibrate, which will affect the mobile cleaning device from entering and exiting the base station, or affect the normal charging of the mobile cleaning device.

[0005] In order to solve this problem, the prior art requires that the clothing processing equipment and the floor cleaning equipment establish real-time communication and information exchange to obtain the operating status of the clothing processing equipment and the floor cleaning equipment and send requests, so as to timely adjust the operating status of one party according to the operating status of the other party to avoid the clothing processing equipment and the floor cleaning equipment from affecting each other. However, during actual use, network disconnection and the like may occur, resulting in the inability to achieve real-time communication and information exchange between the clothing processing equipment and the floor cleaning equipment, thereby affecting the normal operation of the clothing processing equipment and the floor cleaning equipment; and to achieve real-time communication and information exchange between the clothing processing equipment and the floor cleaning equipment, it is necessary to establish a network communication protocol. Establishing a network communication protocol is relatively complicated and requires determining the protocol type, defining the data format, determining the port number, implementing protocol encoding and decoding, implementing protocol transmission and processing, as well as testing and debugging.

[0006] Accordingly, the art requires a new cleaning machine operation control method to solve the above problems. Summary of the invention

[0007] The present invention aims to solve the above technical problem, that is, to solve the problem in the prior art that the normal operation of the clothing processing equipment and the floor cleaning equipment will be affected when the communication is not established. To this end, the present invention provides an all-in-one cleaning machine and an operation control method thereof, the all-in-one cleaning machine includes a clothing processing equipment and a floor cleaning equipment, the floor cleaning equipment includes a mobile cleaning device and a base station, and the operation control method includes the following steps: the clothing processing equipment accesses the map uploaded by the mobile cleaning device; the clothing processing equipment adjusts its own working state according to the location information of the mobile cleaning device to cooperate with the mobile cleaning device.

[0008] In the above-mentioned specific implementation method of the cleaning machine operation control method, "the clothing processing device accesses the map uploaded by the mobile cleaning device" specifically means: the clothing processing device obtains map access rights; the clothing processing device decides whether to access the map according to its own working status; if the clothing processing device remains in a non-vibration state, the map is not accessed; if the clothing processing device is about to enter a vibration state, the map is accessed before entering the vibration state to obtain the location information of the mobile cleaning device.

[0009] In the above-mentioned specific implementation method of the cleaning machine operation control method, "the clothing processing device adjusts its own working state according to the position information of the mobile cleaning device to cooperate with the mobile cleaning device" is specifically: the clothing processing device analyzes whether the remaining working time of the mobile cleaning device exceeds the preset threshold value according to the position information of the mobile cleaning device; if it exceeds the preset threshold value, the clothing processing device enters the vibration state; if it does not exceed the preset threshold value, the clothing processing device does not temporarily enter the vibration state to cooperate with the mobile cleaning device.

[0010] In the above-mentioned specific implementation of the method for controlling the operation of the all-in-one cleaning machine, the preset threshold is the time during which the clothing processing device is in a vibrating state.

[0011] In the above-mentioned specific implementation method of the cleaning machine operation control method, "the clothing processing equipment adjusts its own working state according to the position information of the mobile cleaning device to cooperate with the mobile cleaning device" specifically means: after the mobile cleaning device moves to the designated position, the clothing processing equipment adjusts its own working state to cooperate with the mobile cleaning device to enter the base station.

[0012] In the above-mentioned specific implementation of the method for controlling the operation of the cleaning machine, "adjusting its own working state" specifically includes: the clothing processing device suspending operation; and / or the clothing processing device maintaining a non-vibrating state.

[0013] In the above-mentioned specific implementation of the method for controlling the operation of the all-in-one cleaning machine, the clothing processing device and the floor cleaning device are both connected to the server via a communication module.

[0014] In the above specific implementation of the method for controlling the operation of the integrated cleaning machine, "the mobile cleaning device uploads the map to the server" specifically means that the mobile cleaning device creates the map after the first use and then uploads it to the server.

[0015] In the above-mentioned specific implementation of the cleaning machine operation control method, the non-vibration state includes: washing state, rinsing state, water filling state, drainage state, drying state, standby state, shutdown state and pause state.

[0016] A cleaning machine comprises a controller, wherein the controller is configured to execute any one of the methods described above.

[0017] When the above technical solution is adopted, the mobile cleaning device in the present invention creates a map after the first use, and then uploads the map to the server, and the clothing processing equipment obtains the map information uploaded by the current mobile cleaning device; when the mobile cleaning device works again, the map information will be updated in real time; the clothing processing equipment accesses the map through the server to obtain the location information of the mobile cleaning device, and then adjusts its own working state according to the location information to cooperate with the mobile cleaning device, so that the clothing processing equipment and the mobile cleaning device can work normally without establishing communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

[0019] Figure 1 It is a flow chart of the main steps of the cleaning machine operation control method of the present invention;

[0020] Figure 2 is a detailed flowchart of steps for determining whether to access an address according to the state of a clothes processing device in the present invention;

[0021] Figure 3 It is a detailed flowchart of the steps for determining whether to adjust the state of the clothes processing equipment according to the position of the mobile cleaning device in the present invention. DETAILED DESCRIPTION

[0022] The preferred embodiments of the present invention 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 invention and are not used to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0023] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "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 the present invention. 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.

[0024] In addition, it should be noted that in the description of the present invention, 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 the present invention can be understood according to specific circumstances.

[0025] Furthermore, in order to more clearly demonstrate the core technical solution of the present invention, the description of the known structures of the clothing processing equipment and the floor cleaning equipment is omitted in the following description. However, this omission is only for the convenience of description and does not mean that the clothing processing equipment and the floor cleaning equipment can be without these structures.

[0026] like Figure 1 As shown, the present invention proposes an operation control method for an all-in-one cleaning machine, which includes a clothing processing device and a floor cleaning device. The clothing processing device is used to clean clothes and can be a drum washing machine, a pulsator washing machine, a stirring washing machine, a dryer, a shoe washing machine, a clothing care machine, and other laundry devices can also be used in this solution; the floor cleaning device can be a sweeping robot, a mopping robot, a sweeping and mopping robot, a sweeping and wiping robot, and a floor scrubber; the floor cleaning device includes a mobile cleaning device and a base station, and the operation control method includes the following steps: the mobile cleaning device uploads a map to a server; the clothing processing device accesses the map uploaded by the mobile cleaning device to obtain the location information of the mobile cleaning device; the clothing processing device adjusts its own working state according to the location information of the mobile cleaning device to cooperate with the mobile cleaning device.

[0027] In the prior art, the normal operation of the clothing processing equipment and the floor cleaning equipment will be affected if communication is not established. In order to ensure the normal operation of the clothing processing equipment and the floor cleaning equipment, in this embodiment, no real-time communication and information exchange are established between the clothing processing equipment and the floor cleaning equipment. After the mobile cleaning device is used for the first time, a map is established according to the situation at home, and then the map is uploaded to the server, and the clothing processing device obtains the map information of the current mobile cleaning device; then, as the mobile cleaning device works, the location information of the mobile cleaning device on the map will be updated in real time; the clothing processing device accesses the map through the server, and can obtain the location information of the mobile cleaning device, and then adjusts its own working state according to the location information to cooperate with the mobile cleaning device. In this way, the clothing processing device and the mobile cleaning device can work normally without establishing communication. It is relatively complicated to establish a network communication protocol between the clothing processing equipment and the floor cleaning equipment. In the present invention, by accessing the map in the server, the clothing processing equipment and the floor cleaning equipment do not need to establish a network communication protocol and can work normally without affecting each other. The present invention reduces the difficulty of communication, makes communication more concise and efficient, and the clothing processing device does not need to establish a communication binding with the mobile processing device, which also improves the flexibility of communication.

[0028] The clothing processing equipment can determine the status and distance of the mobile cleaning device based on the location information of the mobile cleaning device on the map, and can also predict the time when the mobile cleaning device returns to the base station based on the changes in the position of the mobile cleaning device and the cleaning actions. The clothing processing equipment can also monitor the position changes of the mobile cleaning device, determine the size of the area that has been cleaned, and determine the subsequent working status and working position of the mobile cleaning device, and then adjust its own working status based on this information to cooperate with the mobile cleaning device.

[0029] The mobile cleaning device can collect environmental data through built-in sensors and pass the data to the navigation and motion algorithms for dynamic navigation and planning. The real-time map management algorithm is responsible for managing and distributing the environmental data collected by the sensors, and fusing and analyzing the data with the perception and mapping algorithms. In this way, the mobile cleaning device can update the map in real time and update its own position on the map. On the map, the laundry processing equipment can view the current position and cleaning route of the mobile cleaning device.

[0030] Furthermore, "clothing processing equipment accesses the map uploaded by the mobile cleaning device" is specifically: the clothing processing equipment and the floor cleaning equipment are connected to the platform server through the communication module. After the mobile cleaning device establishes the map, it will synchronize the map to the server, and then authorize the clothing processing equipment to share the map. The clothing processing device can access the map only after obtaining the map access permission. The mobile cleaning device can also establish communication with the server with the help of other communication protocols. The server can store and process data from the sweeping robot, such as maps of the cleaning area, logs during the cleaning process, equipment status and other information.

[0031] Since the clothes processing equipment and the floor cleaning equipment have not established communication, the clothes processing equipment does not know the working status of the mobile cleaning device, so the clothes processing equipment must decide whether to access the map based on its own working status; if the clothes processing equipment remains in a non-vibrating state, it will not interfere with the work of the mobile cleaning device and there is no need to access the map. If the clothes processing equipment is about to enter a vibrating state, it will access the map before entering the vibrating state to obtain the location information of the mobile cleaning device, and determine whether it needs to adjust its own working status based on the location of the mobile cleaning device at this time.

[0032] The current state of the clothing processing device includes: shutdown state, standby state, pause state, operating state, end of operation state and fault state, etc. The operating state includes washing state, rinsing state, water filling state, drainage state, drying state and dehydration state, etc. When the clothing processing device is in dehydration state or fault state, it may produce large vibrations, so these states are vibration states; when the clothing processing device is in shutdown state, standby state, pause state, end of operation state, generally no large vibrations will be produced, so these states are non-vibration states. Different clothing processing devices will have different states. Here, the states that most clothing processing devices will have are summarized, and other states are not listed one by one. Because the method in the present invention divides these states into those that will produce vibrations and those that will not produce vibrations, no matter what type of clothing processing device currently has what state, this method is applicable.

[0033] The non-vibration state in this embodiment does not only refer to a state where no vibration is generated, but generally refers to a state where the vibration generated is not obvious and is not enough to affect the working state of the floor cleaning device. The non-vibration state also generally refers to a state where the vibration generated is relatively obvious and affects the normal working state of the floor cleaning device.

[0034] Since different parameters of the clothing processing equipment cause different vibration intensities, a vibration sensor can be set to test the vibration intensities of different parameters in advance, record information such as vibration frequency and vibration amplitude, and then divide the programs corresponding to different parameters into vibration state and non-vibration state.

[0035] Before washing clothes, the user will select a washing program or set parameters for each stage, such as the water level, whether the washing method is gentle wash, regular wash or heavy-duty intensive wash, the duration of each stage, whether air drying is required, etc. After the washing starts, the clothing processing equipment will perform the washing process according to the set parameters. The clothing processing equipment can analyze in advance based on these parameters which stages the clothing processing equipment will be in a vibrating state and which stages the clothing processing equipment will be in a non-vibrating state, and then use them to adjust the working state of the clothing processing equipment.

[0036] Further, if Figure 2 As shown, "the clothing processing device adjusts its own working state to cooperate with the mobile cleaning device according to the position information of the mobile cleaning device" specifically means: the clothing processing device analyzes whether the remaining working time of the mobile cleaning device exceeds a preset threshold value according to the position information of the mobile cleaning device; the preset threshold value can be the time when the clothing processing device is in a vibrating state, or it can be the time from when the clothing processing device enters the vibrating state to when the vibration stops.

[0037] If it exceeds the preset threshold, it means that the mobile cleaning device has enough time to finish its work and enter the base station, and the clothing processing equipment can be allowed to enter the vibration state to work; if it does not exceed the preset threshold, it means that if the clothing processing equipment enters the vibration state, when the mobile cleaning device finishes its work and enters the base station, the clothing processing equipment has not finished its work in the vibration state. Since the clothing processing equipment and the mobile cleaning device have not established communication, the clothing processing equipment will affect the mobile cleaning device from entering the base station. In order to avoid this situation, the clothing processing equipment will not enter the vibration state temporarily, and wait for the mobile cleaning device to return to the base station before entering the vibration state, or the position of the mobile cleaning device moves, such as going to other areas for cleaning again, causing the remaining working time of the mobile cleaning device to change by more than the set threshold, at which time the clothing processing equipment can enter the vibration state. The clothing processing equipment determines the way the mobile cleaning device enters the base station from the map, that is, the map position of the mobile cleaning device is consistent with or overlaps with the base station, or the map position of the mobile cleaning device is consistent with or overlaps with the clothing processing equipment. The task progress of the mobile cleaning device can be analyzed based on the location information of the mobile cleaning device, and the remaining working time of the mobile cleaning device can be determined based on the task progress. For example, if the task progress is 95% complete based on the location information of the mobile cleaning device, the time required for the remaining 5% of the cleaning work can be determined.

[0038] This embodiment not only avoids the normal operation of the clothing processing equipment and the floor cleaning equipment from being affected, but also saves the working time of the cleaning machine as much as possible. The clothing processing equipment can immediately enter the vibration state after waiting for the mobile cleaning device to return to the base station, or if it is known from the map information that the position of the mobile cleaning device has moved, causing the remaining working time to change by more than the set threshold, the clothing processing equipment can also immediately enter the vibration state.

[0039] For example, when a clothing processing device washes clothing, the clothing processing device will not generate large vibrations in the initial water filling state and the washing state, so there is no need to access the map of the mobile cleaning device. When the clothing is washed and is about to enter the dehydration state, since the dehydration state will generate large vibrations that affect the mobile cleaning device from entering the base station, the clothing processing device accesses the map of the mobile cleaning device before entering the dehydration state to obtain the position of the mobile cleaning device, and determines whether to enter the dehydration state based on the position information of the mobile cleaning device. Assuming that the dehydration state needs to be maintained for 10 minutes, determine whether the time taken by the mobile cleaning device to return to the base station from the current position exceeds 10 minutes. If it exceeds 10 minutes, it means that the clothing processing device can complete the dehydration before the mobile cleaning device returns to the base station, which will not affect the mobile cleaning device from entering the base station. Then the clothing processing device can enter the dehydration state.

[0040] If it does not exceed 10 minutes, it means that the clothes processing equipment cannot complete dehydration before the mobile cleaning device returns to the base station, which will affect the mobile cleaning device from entering the base station. In this case, the clothes processing equipment will not enter the dehydration state temporarily, and the current washing program can be paused until the mobile cleaning device enters the base station and then enters the washing program; in the process of the clothes processing equipment pausing the current washing program and waiting for the mobile cleaning device to enter the base station, the clothes processing equipment can access the map again after a period of time to obtain the location of the mobile cleaning device, so as to confirm whether the mobile cleaning device changes the path. If the mobile cleaning device does not change the path, the clothes processing equipment will continue to wait for the mobile cleaning device to enter the base station. If the mobile cleaning device changes the path, so that the time taken for the mobile cleaning device to return to the base station from the current position exceeds 10 minutes, the clothes processing equipment can enter the dehydration state.

[0041] Further, if Figure 3 As shown, "the clothing processing device adjusts its own working state according to the position information of the mobile cleaning device to cooperate with the mobile cleaning device" specifically means: after the mobile cleaning device moves to the designated position, the clothing processing device adjusts its own working state to cooperate with the mobile cleaning device to enter the base station.

[0042] In this embodiment, in addition to judging the remaining working time of the mobile cleaning device, several designated positions or designated ranges can be set in advance. The clothing processing device accesses the map information of the mobile cleaning device at regular intervals. When the mobile cleaning device moves to the designated position or enters the designated range, it is judged that the mobile cleaning device is about to return to the base station, and the clothing processing device adjusts its own working status in time.

[0043] For example, a clothing processing device washes clothing, and the washing process is generally divided into an early water injection state, a mid-term washing state, and a late dehydration state. Since the clothing processing device will not generate large vibrations in the water injection state and the washing state, the mobile cleaning device can enter the base station when the clothing processing device is in the water injection state and the washing state. At this time, the clothing processing device may not access the map, and the clothing processing device may also access the map to monitor the position of the mobile cleaning device; if the clothing is washed and is about to enter the dehydration state, since the dehydration state will generate large vibrations that affect the mobile cleaning device from entering the base station, it is necessary to monitor the position of the mobile cleaning device. If the mobile cleaning device is detected to be outside the designated position at the beginning, the clothing processing device may enter the dehydration state. In order to avoid the mobile cleaning device returning to the base station midway, the clothing processing device accesses the map once every period of time. If it is detected that the mobile cleaning device has not moved to the designated position or is outside the designated range, the clothing processing device works normally; if it is detected that the mobile cleaning device moves to the designated position or enters the designated range, the clothing processing device immediately adjusts its own working state to avoid interfering with the work of the mobile cleaning device.

[0044] The time interval between two adjacent visits can be kept consistent. For example, the map can be visited every 2 minutes. It can also be adjusted according to actual conditions. For example, the time interval for the next visit can be determined based on the location information of the last mobile cleaning device. If the last mobile cleaning device was in the middle of the house, the time interval for the next visit can be appropriately extended. If the last mobile cleaning device was at the edge of the house or even close to the base station, the time interval for the next visit can be appropriately shortened. For example, the clothing processing device is located on the balcony of the bedroom. The mobile cleaning device was in the living room during the last visit. Since the living room and the balcony are far apart, the time interval for the next visit can be appropriately shortened. A next visit can be made after a 3-minute interval after the last map visit; if the mobile cleaning device was in the bedroom during the last visit, since the bedroom is close to the balcony, a next visit can be made after a half-minute interval after the last map visit to avoid interference when the mobile cleaning device enters the base station; the time interval between two visits can also be changed according to the cleaning progress. For example, if the cleaning task of the mobile cleaning device has just started or the cleaning progress is halfway, a next visit can be made after a 3-minute interval after the last map visit; if the cleaning task of the mobile cleaning device has reached 90%, a next visit can be made after a half-minute interval after the last map visit.

[0045] The designated position can be adjusted according to the time it takes for the clothing processing device to adjust from a vibrating state to a non-vibrating state. If the time it takes to adjust from a vibrating state to a non-vibrating state is longer, the designated position can be farther away from the location of the clothing processing device. If the time it takes to adjust from a vibrating state to a non-vibrating state is shorter, the designated position can be closer to the location of the clothing processing device.

[0046] Furthermore, "adjusting its own working state" is specifically: the clothing processing equipment suspends work and waits for the mobile cleaning device to enter the base station; and / or the clothing processing equipment remains in a non-vibrating state, such as entering a washing state, which not only does not interfere with the mobile cleaning device, but also allows the clothes to be washed more cleanly.

[0047] A cleaning machine includes a clothes processing device and a floor cleaning device. The floor cleaning device includes a mobile cleaning device and a base station. The clothes processing device is preferably arranged above the floor cleaning device to facilitate the mobile cleaning device to enter and exit the base station. Since the clothes processing device and the floor cleaning device are designed as an integrated unit, the clothes processing device and the base station are integrated. As long as the distance between the mobile cleaning device and the base station is obtained, it is equivalent to obtaining the distance between the mobile cleaning device and the mobile cleaning device. The cleaning machine also includes a controller, which is configured to be able to execute any of the methods described above.

[0048] So far, the technical solutions of the present invention 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 invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, 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 invention.

Claims

1. A method for controlling the operation of a cleaning machine, wherein the cleaning machine comprises a clothes processing device and a floor cleaning device, wherein the floor cleaning device comprises a mobile cleaning device and a base station, wherein: The operation control method comprises the following steps: The laundry treatment equipment accesses the map uploaded by the mobile cleaning device; The clothes processing device adjusts its own working state according to the position information of the mobile cleaning device to cooperate with the mobile cleaning device.

2. The cleaning machine operation control method according to claim 1, characterized in that: The “map uploaded by the mobile cleaning device accessed by the clothing processing device” is specifically: Clothes handling equipment obtains map access permissions; The clothing processing device decides whether to access the map according to its own working state; if the clothing processing device remains in a non-vibrating state, the map is not accessed; if the clothing processing device is about to enter a vibrating state, the map is accessed before entering the vibrating state to obtain the location information of the mobile cleaning device.

3. The operation control method of the cleaning machine according to claim 1, characterized in that: The “clothing processing device adjusts its own working state according to the position information of the mobile cleaning device to cooperate with the mobile cleaning device” specifically includes: The clothes processing device analyzes whether the remaining working time of the mobile cleaning device exceeds a preset threshold according to the location information of the mobile cleaning device; If the preset threshold is exceeded, the clothing treatment device enters a vibration state; If the preset threshold is not exceeded, the clothes processing device will not enter the vibration state temporarily to cooperate with the mobile cleaning device.

4. The cleaning machine operation control method according to claim 3, characterized in that: The preset threshold is the time during which the laundry processing device is in a vibrating state.

5. The cleaning machine operation control method according to claim 1, characterized in that: The “clothing processing device adjusts its own working state according to the position information of the mobile cleaning device to cooperate with the mobile cleaning device” specifically includes: After the mobile cleaning device moves to the designated position, the clothes processing equipment adjusts its own working state to cooperate with the mobile cleaning device to enter the base station.

6. The cleaning machine operation control method according to claim 1, characterized in that: The "adjusting one's own working status" is specifically: Clothes handling equipment is suspended; and / or The clothes treating apparatus is kept in a non-vibrating state.

7. The operation control method of the cleaning machine according to claim 1, characterized in that: Both the clothing processing equipment and the floor cleaning equipment are connected to the server via a communication module.

8. The operation control method of the cleaning machine according to claim 1, characterized in that: The “mobile cleaning device uploading the map to the server” specifically includes: The map is created after the mobile cleaning device is used for the first time and then uploaded to the server.

9. The operation control method of the cleaning machine according to claim 2, characterized in that: The non-vibration state includes: washing state, rinsing state, water filling state, drainage state, drying state, standby state, shutdown state and pause state.

10. A cleaning machine, comprising a controller, characterized in that: The controller is configured to execute the method according to any one of claims 1-9.

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