Cleaning method, equipment and system

Abstract

The embodiment of the invention provides a cleaning method, device and system, a push rod is configured for a self-moving device, and when the self-moving device is located in a base station and receives a first signal from the push rod, the self-moving device actively quits the base station. And after the push rod is in butt joint with the self-moving equipment, the self-moving equipment executes a cleaning task under the control of the push rod. By adopting the scheme, when a user expects the self-moving equipment to clean the temporary area, the self-moving equipment is triggered to exit from the base station through the push rod. After the self-moving device is in butt joint with the push rod, the self-moving device is controlled by the push rod to clean the temporary dirty area, rapid cleaning of the temporary dirty area is achieved, the operation mode is simple, and consumed time is short.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of household cleaning technology, and in particular to a cleaning method, equipment and system. Background Art

[0002] With the development of artificial intelligence (AI) technology, robots have gradually entered people's daily lives, bringing great convenience to people's lives. For example, sweeping robots can automatically clean the room, saving a lot of manpower and material costs.

[0003] Normally, the sweeping robot autonomously traverses the area to be cleaned in a "bow" shape. When the user expects the sweeping robot to clean only a certain dirty area, multiple operations are required to achieve this. For example, the sweeping robot is charging at the base station, and the user accidentally leaves some dust and debris on the carpet. The user expects the sweeping robot to only clean the dirty area without traversing the whole house in a "bow" shape. To achieve this goal, the user guides the sweeping robot to the dirty area and cleans it through voice, applications (APPs) on the terminal device, etc.

[0004] However, the above cleaning methods are cumbersome and time-consuming, resulting in low cleaning efficiency. Summary of the invention

[0005] The embodiments of the present application provide a cleaning method, device, system and readable storage medium, which triggers a mobile device to exit a base station through a push rod, and after the push rod and the mobile device are docked, the cleaning task is performed under the control of the push rod, which is simple to operate and time-saving.

[0006] In a first aspect, an embodiment of the present application provides a cleaning method, which is applied to a self-moving device, and the method comprises:

[0007] When the self-mobile device is located at the base station and receives a first signal from the push rod, exiting the base station;

[0008] When the push rod is docked with the self-moving device, the self-moving device performs a cleaning task under the control of the push rod.

[0009] In a second aspect, an embodiment of the present application provides a cleaning device, comprising:

[0010] A moving module, configured to exit the base station when the self-moving device is located at the base station and receives a first signal from the push rod;

[0011] The processing module is used to enable the self-moving device to perform a cleaning task under the control of the push rod after the push rod and the self-moving device are docked.

[0012] In a third aspect, an embodiment of the present application provides a self-mobile device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the method described in the first aspect or various possible implementation methods of the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the method described in the first aspect or various possible implementation methods of the first aspect.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computing program, and when the computer program is executed by a processor, the method described in the first aspect or various possible implementation methods of the first aspect is implemented.

[0015] The cleaning method, device and system provided in the embodiments of the present application configure a push rod for the self-moving device, and when the self-moving device is located at the base station and receives the first signal from the push rod, it actively exits the base station. After the push rod is docked with the self-moving device, the self-moving device performs the cleaning task under the control of the push rod. With this solution, when the user expects the self-moving device to clean a temporary area, the push rod is used to trigger the self-moving device to exit the base station. After the self-moving device is docked with the push rod, the self-moving device cleans the temporary dirty area under the control of the push rod, thereby achieving rapid cleaning of the temporary dirty area, with a simple operation method and short time consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work:

[0017] Figure 1A is a front view of a cleaning system provided by an embodiment of the present application;

[0018] Figure 1B is a side view of a cleaning system provided by an embodiment of the present application;

[0019] Figure 1C is a schematic diagram of a self-mobile device and a push rod after docking provided by an embodiment of the present application;

[0020] Figure 2 is a bottom schematic diagram of a self-moving device provided in an embodiment of the present application;

[0021] Figure 3is a flow chart of the cleaning method provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of a cleaning device provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of the structure of a self-moving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] Self-moving devices are also called robots, autonomous mobile devices, self-moving robots, etc. They are widely used in various industries because they can free human hands. A sweeping robot is a common self-moving device. Some sweeping robots only have the sweeping function and use the sweeping component to clean the floor. Some sweeping robots also have the mopping function, which can use the sweeping component to sweep the floor and the mopping component to mop the floor, so they are very popular.

[0025] Traditional sweeping robots pre-build and store environmental maps, and autonomously traverse the working area according to the environmental maps to complete cleaning tasks, such as "bow" traversal, etc. The environmental map includes multiple areas, such as Xiao Ming's room, living room, etc.

[0026] When a user wants to clean a certain area, in one method, the user issues a voice command to the sweeping robot, such as "clean Xiao Ming's room". After the sweeping robot recognizes the voice command, it parses the voice command and completes the task.

[0027] In another method, the user uses an application (APP) to mark the area that he wants to clean in the environment map, such as Xiao Ming's room, and instructs the sweeping robot through the APP.

[0028] The premise for the sweeping robot to clean the above-mentioned designated area is that the area exists in the environmental map. When the user temporarily specifies the working area, for example, the user expects the sweeping robot to clean the dirty area with dust and debris on the carpet. In one method, the user uses the APP to mark the dirty area in the environmental map, such as circling an area in Xiao Ming's room, and instructs the sweeping robot through the APP. If the user uses the APP to mark the working area in the environmental map every time, the process is cumbersome and the accuracy is poor.

[0029] In another method, the user guides the robot vacuum cleaner to come to the user through voice, and then the robot vacuum cleaner cleans the preset area with itself as the center, for example, cleaning the surrounding 3 meters. This method requires a relatively quiet environment. When there is too much ambient noise or sound source, the accuracy is poor and the cost is high.

[0030] Whether cleaning the designated area in the environment map or the work area temporarily designated by the user, the mobile device will autonomously traverse the work area to complete the cleaning task after arriving at the designated area. This cleaning method requires the user to interact with the sweeping robot multiple times, such as through an APP or voice interaction, which is cumbersome and has poor accuracy.

[0031] Compared with a sweeping robot, when using a vacuum cleaner to clean a dirty area, it is only necessary to aim the suction port of the vacuum cleaner at the dirty area and turn on the vacuuming mode. Therefore, it is urgent to combine the vacuuming functions of the sweeping robot and the vacuum cleaner.

[0032] In addition, the sweeping robot has a matching base station, which is convenient for charging the sweeping robot, cleaning the rag, drying, collecting dust, filling water, etc. This base station is also called a full-function base station. When the sweeping robot is charging or on standby at the full-function base station, it can exit the base station in a variety of ways. In one way, when the base station starts self-cleaning to clean the base station, the sweeping robot is triggered to exit the base station; in another way, the sweeping robot is manually forced to move out of the base station. In another way, the user triggers the sweeping robot to exit the base station by operating the APP. In another way, the user interacts with the sweeping robot through voice to make the sweeping robot exit the base station. However, these exit methods are too single and cannot reflect the intelligence and automation of the sweeping robot.

[0033] Moreover, when the user expects the sweeping robot to quickly clean a temporary dirty area, after the sweeping robot exits the base station, it still needs to be moved to the dirty area by manpower, which is time-consuming and labor-intensive.

[0034] Although users can also use voice to guide the sweeping robot to the dirty area, this method requires a relatively quiet environment. When there is too much ambient noise or sound source, the accuracy is poor and the cost is high.

[0035] Based on this, the embodiments of the present application provide a cleaning method, equipment and system, which triggers the self-moving device to exit the base station through a push rod, and after the push rod and the self-moving device are docked, the cleaning task is performed under the control of the push rod, which is simple to operate and time-saving.

[0036] The self-moving device provided in the embodiment of the present application is any mechanical device that can move and work autonomously in its environment. For example, the self-moving device can be a robot, a purifier, an unmanned vehicle, etc. Among them, the robot may include a sweeping robot, a glass-wiping robot, a home care robot, a welcoming robot, etc., which are not limited here. These self-moving devices rely on the power provided by the rechargeable battery to move autonomously, and have an automatic recharging function. When the power is low, water needs to be filled, the rag needs to be cleaned, or when other recharging conditions are met, it automatically returns to the base station. The self-moving device returns to the base station for charging, which is also called docking between the self-moving device and the base station, the self-moving device on the pile, the pile, etc., which refers to the action of the charging reed of the self-moving device and the charging terminal of the charging pile in contact. The base station is also called a workstation, a charging pile, a maintenance station, etc.

[0037] A push rod is also provided on the base station. The push rod can communicate with the self-moving device through Bluetooth, and can be removed from the base station to detach from the base station, or the push rod can be placed on the base station to charge the push rod. When the push rod is detached from the base station, it can be installed on the self-moving device, and the user can drive the self-moving device by operating the push rod. After the push rod is inserted into the sweeping robot and docked with the sweeping robot, the self-moving device is no longer in automatic mode, but works under the control of the push rod. The working mode under the control of the push rod after the sweeping robot is docked with the push rod is referred to as manual mode. The working state in which the sweeping robot is separated from the control of the push rod is called automatic mode.

[0038] Below, taking the self-moving device as a cleaning robot as an example, the cleaning method, device, system and readable storage medium described in the embodiments of the present application are described in detail.

[0039] Figure 1A It is a front view of the cleaning system provided in an embodiment of the present application. Figure 1B It is a side view of the cleaning system provided in an embodiment of the present application. Figure 1C It is a schematic diagram of a self-mobile device and a push rod after docking provided by an embodiment of the present application. Figure 1A In the embodiment, the base station 100 is docked with the self-moving device 200, and the base station 100 is docked with the push rod 300, that is, the push rod 300 is on standby or charging on the base station 100, and the self-moving device 200 is charged, cleaned, injected, on standby, etc. on the base station 100.

[0040] Figure 1B Since the mobile device 200 is not located on the base station 100 , the push rod 300 is docked with the base station 100 .

[0041] Figure 1C In the process, the user removes the push rod 300 from the base station 100 and installs the push rod 300 on the self-moving device 200. The user holds the handle of the push rod 300 and pushes and pulls it. The self-moving device 200 cleans the dirty area under the drive of the push rod 300.

[0042] Figure 2 This is a bottom schematic diagram of the self-moving device provided in the embodiment of the present application. Figure 2 The self-moving device 200 at least includes a device body 21, a travel mechanism 22, a side brush assembly 23, a memory and a processor (not shown in the figure) arranged on the device body 21. In addition, the self-moving device 200 also includes a roller brush assembly 24, a wiping assembly 25, a dust box and various sensors arranged on the device body 21. Figure 1A In the figure, the traveling mechanism 22 includes driving wheels, universal wheels, etc., which are mainly used to realize the autonomous movement of the equipment body 21.

[0043] The device body 21 is also provided with a sweeping assembly for sweeping and a mopping assembly for mopping. The sweeping assembly includes at least a fan assembly, a dust box, a side brush assembly 23, and a roller brush assembly 24; the mopping assembly includes at least a wiping assembly 25 and a water supply assembly. The wiping assembly 25 includes a rag, a transmission mechanism, and the water supply assembly includes a water pump, a pipeline, a valve, and a water tank.

[0044] The self-moving device 200 can control the sweeping component to perform the sweeping task alone, or control the mopping component to perform the mopping task alone, or control the sweeping component and the mopping component to perform the sweeping and mopping tasks at the same time. The side brush component 23, the roller brush component 24 and the wiping component 25 are all arranged at the bottom of the device body 21, and relative to the forward direction of the device body 21, the side brush component 23 and the roller brush component 24 are arranged in front of the wiping component 25. Based on this setting structure, the self-moving device 200 can achieve the effect of sweeping first and then mopping when performing the sweeping task and the mopping task at the same time.

[0045] The self-moving device 200 is also provided with various sensors, including but not limited to: laser radar, ultrasonic sensor, downward sensor, side sensor, mechanical collision plate, etc. The laser radar includes laser direct structuring (LDS) sensor, time of flight (TOF) sensor, etc.

[0046] It should be noted that although the above Figure 2 In the figure, the self-moving device 200 is described by taking the example of having the wiping component 25, that is, having the mopping function. However, the embodiment of the present application is not limited, for example, the self-moving device 200 may only have the sweeping function, and not the mopping function. When the self-moving device 200 is a robot with only the sweeping function, when the push rod is installed on the self-moving device 200 and enters the manual mode, dust is sucked under the drive of the push rod, and the self-moving device 200 works like a vacuum cleaner.

[0047] It is understandable that after the self-moving device 200 and the push rod are docked to enter the manual mode, the self-moving device 200 can vacuum the dirty area under the drive of the push rod, and can also suck away a small amount of liquid, such as water stains, soup, etc. When the self-moving device has both sweeping and mopping functions, the push rod is installed on the self-moving device 200, and the self-moving device 200 automatically raises the wiping component 25, that is, turns off the mopping function, and then cleans the dirty area under the drive of the push rod.

[0048] In addition, when the temporary dirty area is a soup area or a water stain area, after the self-moving device 200 and the push rod are docked, that is, after the self-moving device enters the manual mode, the self-moving device 200 can also start the mopping function, and the self-moving device, driven by the push rod, absorbs water from the dirty area with a high intensity, and after the water absorption is completed, the wiping component is raised and the dirty area is continued to be cleaned. Alternatively, the self-moving device simultaneously starts the sweeping function and the mopping function, and the intensity of sweeping and mopping is higher than the intensity of the traditional bow-shaped traversal, so that the dirty area is swept first and then mopped.

[0049] Based on the above-mentioned self-moving device and cleaning system, the present application embodiment also provides a cleaning method, which is applied to the self-moving device. For example, please refer to Figure 3 . Figure 3 Flow chart of the cleaning method provided in the embodiment of the present application. This embodiment includes:

[0050] 301. When a self-mobile device is located at a base station and receives a first signal from a push rod, exit the base station.

[0051] Normally, when a self-mobile device enters an unfamiliar work area for the first time, an environmental map is created for the work area, and then routine cleaning of the work area is performed based on the environmental map. For example, the environmental map includes the living room, master bedroom, study, and Xiao Ming's room. The user sets the cleaning time, such as 10 a.m. every day. After that, at 10 a.m. every day, the self-mobile device cleans each room according to the environmental map, so that the user can enjoy a clean and comfortable living environment when he returns home at night. During the routine cleaning process, the self-mobile device traverses the living room, master bedroom, etc. in turn in the shape of a "bow" or a "return". After completing the routine cleaning, the self-mobile device returns to the base station for charging, self-cleaning, etc. After that, the self-mobile device is on standby at the base station.

[0052] When the self-moving device is located at the base station, if the first signal from the push rod is received, the self-moving device automatically exits the base station. For example, the self-moving device applies a certain speed to the driving wheel through the motor, so that the driving wheel rotates to drive the self-moving device to exit the base station.

[0053] In the embodiment of the present application, the first signal is used to trigger the self-mobile device to exit the base station. The first signal can be a Bluetooth signal, an infrared signal, etc., which is not limited by the embodiment of the present application. The embodiment of the present application also does not limit the timing of the push rod sending the first signal. For example, the push rod sends the first signal after it leaves the base station; for another example, after the push rod leaves the base station and the button on the push rod is pressed, the push rod sends the first signal; for another example, initially, the self-mobile device is located at the base station, but the push rod is not located at the base station, but is located on a sofa, a corner, etc., and the user presses the button on the push rod to trigger the push rod to send the first signal.

[0054] After the self-moving device receives the first signal, it is considered that the user desires the self-moving device to dock with the push rod and enter the manual mode, so that the user drives the self-moving device through the push rod to make the self-moving device clean the dirty area.

[0055] 302. After the push rod is docked with the self-moving device, the self-moving device performs a cleaning task under the control of the push rod.

[0056] In the embodiment of the present application, the self-moving device is docked with the push rod, and the working mode in which the cleaning task is performed under the control of the push rod is called the manual mode. A micro switch and the like are arranged on the self-moving device. When the push rod is docked with the self-moving device, the micro switch triggers the self-moving device to enter the manual mode. Afterwards, if the push rod is detached from the self-moving device, the micro switch triggers the self-moving device to enter the automatic mode.

[0057] In order to achieve the docking between the self-moving device and the push rod, a magnetic adapter is provided on the self-moving device, and the push rod has a magnetic part, which is sucked into the magnetic adapter, so that the self-moving device and the push rod are docked. The embodiment of the present application does not limit the docking method of the self-moving device and the push rod. After the push rod and the self-moving device are docked, the user holds the push rod and pushes and pulls, and the self-moving device cleans the dirty area under the control of the push rod. Different from traditional conventional cleaning, during conventional cleaning, the self-moving device autonomously traverses the working area in a "bow" shape, while in the embodiment of the present application, the self-moving device cleans the dirty area under the drive of the push rod, and the travel trajectory may be a "bow" shape or may not be a "bow" shape.

[0058] When the self-moving device only has the sweeping function, the self-moving device cleans the dirty area in the control mode of the push rod, so that the self-moving device works like a vacuum cleaner. When the self-moving device has both the sweeping and mopping functions, after the self-moving device and the push rod are docked and enter the manual mode, it can sweep only, mop only, or sweep and mop together.

[0059] The cleaning method provided in the embodiment of the present application configures a push rod for the self-moving device, and when the self-moving device is located at the base station and receives the first signal from the push rod, it actively exits the base station. After the push rod is docked with the self-moving device, the self-moving device performs the cleaning task under the control of the push rod. With this solution, when the user expects the self-moving device to clean a temporary area, the push rod is used to trigger the self-moving device to exit the base station. After the self-moving device is docked with the push rod, the temporary dirty area is cleaned under the control of the push rod, thereby achieving rapid cleaning of the temporary dirty area, and the operation method is simple and time-saving.

[0060] Optionally, the cleaning force of the self-moving device under the control of the push rod is higher than the cleaning force of the self-moving device when it autonomously traverses the working area.

[0061] When the self-moving device autonomously traverses the working area, the working area is cleaned according to the default cleaning intensity. When the self-moving device is docked with the push rod and performs the cleaning task driven by the push rod, the default level of dirtiness in the area to be cleaned is relatively high, so the self-moving device automatically adjusts the cleaning intensity, and the adjusted cleaning intensity is higher than the cleaning intensity when the self-moving device autonomously traverses the working area. For example, when the self-moving device autonomously traverses the working area, the cleaning intensity is in the first gear. When the self-moving device enters manual mode, that is, when the self-moving device performs the cleaning task driven by the push rod, the self-moving device adjusts the cleaning intensity to the second gear, and the cleaning intensity of the second gear is higher than the cleaning intensity of the first gear.

[0062] In addition, when the self-moving device is docked with the push rod and performs the cleaning task under the drive of the push rod, the self-moving device can also perform the cleaning task according to the cleaning intensity set by the user; or, the self-moving device determines the cleaning intensity according to the degree of dirtiness of the working area and performs the cleaning task under the drive of the push rod.

[0063] With this solution, after the mobile device enters the manual mode, the cleaning force is automatically increased to achieve the purpose of improving the cleaning quality.

[0064] The embodiment of the present application does not limit the timing of sending the first signal. In one embodiment, the first signal is sent after the push rod is separated from the base station, and the first signal includes state information, and the state information is used to indicate that the push rod is in a non-charging state.

[0065] Taking the first signal as a Bluetooth signal as an example, after the push rod and the self-mobile device are successfully paired via Bluetooth, the push rod and the self-mobile device communicate via the Bluetooth protocol. When the push rod is on the base station, the state information is broadcast via Bluetooth, and the state information is used to indicate that the push rod is charging, the current power level, etc. When the push rod is removed from the base station by the user, the push rod broadcasts the first signal via Bluetooth, and the first signal is used to indicate that the push rod is not charging, the current power level, etc.

[0066] When the mobile device receives the first signal, since the first signal indicates that the push rod is currently in a non-charging state, the mobile device believes that the user wants the mobile device to enter the manual mode, and thus the mobile device actively exits the base station.

[0067] In addition, a Hall device may be provided on the base station or the push rod, and the base station uses the Hall signal to identify whether the push rod is being charged on the base station. When the base station determines that the push rod is detached from the base station and is in a non-charging state according to the Hall signal, the state information is sent to the push rod, and the state information indicates that the push rod is in a non-charging state. Afterwards, the push rod broadcasts the first signal via Bluetooth.

[0068] With this solution, after the push rod leaves the base station, a first signal is sent to quickly trigger the mobile device to exit the base station. The operation is simple and efficient.

[0069] In another embodiment, the first signal is a signal broadcast after the push rod is separated from the base station and a button on the push rod is pressed, and the first signal includes status information and behavior information, the status information is used to indicate that the push rod is in a non-charging state, and the behavior information is used to indicate that the button is pressed.

[0070] For example, the user may take the push rod off the base station due to curiosity or other reasons. If the push rod sends the first signal once it leaves the base station, it will erroneously trigger the self-mobile device to exit the base station. In order to avoid false triggering, the push rod does not send the first signal immediately after leaving the base station, but broadcasts the first signal after the user presses a button on the push rod. The first signal indicates that the push rod is in a non-charging state due to leaving the base station, and the first signal is also used to indicate that the button on the push rod is pressed by the user. The button on the push rod is pressed, indicating that the user greatly desires the self-mobile device to enter the manual mode.

[0071] In addition, the push rod is most likely not located on the base station. When the push rod is outside the base station, if the user wishes to clean a temporarily dirty area, they can also press a button on the push rod to trigger the mobile device to exit the base station. After the mobile device exits the base station, it docks with the push rod and enters manual mode.

[0072] With this solution, when the push rod is in a state of being separated from the base station, if the user presses a button on the push rod, the mobile device is triggered to exit the base station, thereby avoiding accidental triggering of the mobile device to exit the base station.

[0073] Optionally, when the self-mobile device is located at the base station, it may be in a standby state or a working state. The standby state includes the state in which the self-mobile device is charging on the base station, the state in which the self-mobile device is waiting for a task on the base station after charging, or the task paused state. Among them, the working state includes drying, water filling, self-cleaning, cleaning the rag, collecting dust, etc. The task paused state includes returning to the base station during map building to suspend map building, returning to the base station to charge during autonomous traversal to suspend autonomous traversal, suspending drying, suspending cleaning the rag, suspending self-cleaning, etc.

[0074] In order to avoid interrupting the current task, after receiving the first signal from the push rod, the self-mobile device determines whether it is in the standby state, and only exits the base station when the self-mobile device is in the standby state. If the self-mobile device is currently in the working state, the user is prompted that the self-mobile device is currently in the working state and cannot exit the base station. For example, the self-mobile device outputs prompt information through voice, animation, light, etc.

[0075] In addition, when the self-mobile device is in a standby state, it can be further determined whether the self-mobile device is in a charging state, a fully charged waiting state, or a task paused state, and whether to exit the base station is determined according to the current state and the type of the first signal. For example, if the self-mobile device is currently in a charging state, and the first signal is sent after the push rod is separated from the base station, the self-mobile device exits the base station.

[0076] For another example, if the mobile device is currently in a task pause state and the first signal is sent after the push rod is separated from the base station, the mobile device prompts the user whether to exit the base station.

[0077] For another example, if the mobile device is currently in a task pause state, and the first signal is that the push rod is in a state of being separated from the base station, and the button on the push rod is pressed and sent, the mobile device exits the base station.

[0078] By adopting this solution, after the mobile device receives the first signal, if the mobile device is currently in standby mode, it will exit the base station; if the mobile device is in working mode, it will not exit the base station, thereby avoiding interruption of the currently executing task and false triggering, etc., thereby achieving the purpose of improving the intelligence of the mobile device.

[0079] Optional, above Figure 3 After step 301, that is, after the self-mobile device exits the base station, it is very likely that it has not been docked with the push rod for a long time. For example, the user has not plugged in the rod for a long time, resulting in the self-mobile device not being docked with the push rod; for another example, the distance between the push rod and the self-mobile device is too long, resulting in the self-mobile device being unable to receive the first signal again, and thus unable to explore the area to find the rod; for another example, the communication packet between the push rod and the self-mobile device is lost, resulting in the self-mobile device being unable to receive the first signal again, and thus unable to explore the area to find the rod; for another example, after the user removes the push rod from the base station, he places the push rod on the base station again.

[0080] In order to avoid the self-mobile device not being docked with the push rod for a long time and being always outside the base station, after the self-mobile device exits the base station, it is determined whether it is docked with the push rod within the first time length, that is, whether the push rod is inserted into the self-mobile device. If the self-mobile device is docked with the push rod within the first time length after exiting the base station, the cleaning task is performed under the control of the push rod. If the self-mobile device is still not docked with the push rod after the first time length after exiting the base station, and there is no previous task performed outside the base station, the self-mobile device returns to the base station. After returning to the base station, the self-mobile device is charged at the base station. If there is a previous task performed on the base station before executing step 301, the previous task will continue to be performed after returning to the base station. When the self-mobile device has not been docked with the push rod after the first time length after exiting the base station, and there is a previous task performed outside the base station, the previous task is performed outside the base station. Among them, the previous tasks performed outside the base station include: traversal cleaning tasks, mapping tasks, etc. The previous tasks performed on the base station include drying, automatic water injection, etc. The first time length is, for example, 1 minute, 50 seconds, etc., which is not limited by the embodiments of the present application.

[0081] With this solution, after the self-mobile device exits the base station, if it does not dock with the push rod after waiting for a first period of time, it will automatically return to the base station or execute the previous task, thereby preventing the self-mobile device from staying outside the base station for a long time, thereby achieving the purpose of improving the intelligence of the self-mobile device.

[0082] In the above embodiments, the example of the push rod sending a first signal to trigger the self-mobile device to exit the base station is used for explanation. However, the embodiments of the present application are not limited to this. For example, the self-mobile device is located on the base station, and the user can also trigger the self-mobile device to leave the base station through voice, APP, etc. After that, the push rod sends the first signal. For example, the push rod sends the first signal after it leaves the base station; for another example, the user removes the push rod from the base station and presses a button on the push rod, causing the push rod to send the first signal; for another example, the push rod is originally located outside the base station, and the user presses a button on the push rod, causing the push rod to send the first signal.

[0083] After the mobile device receives the first signal and the push rod is docked with the mobile device, the manual power supply mode is entered. If the mobile device is not docked with the push rod, that is, the user has not installed the push rod on the mobile device, the mobile device returns to the base station after waiting for the second time. The second time is, for example, 1 minute, 50 seconds, 90 seconds, etc., which is not limited in the embodiment of the present application.

[0084] The user triggers the self-mobile device to exit the base station through voice, APP, etc. Although the user removes the push rod from the base station, the push rod does not send the first signal, and even the push rod does not leave the base station, resulting in the self-mobile device not receiving the first signal. In this case, the self-mobile device will not return to the base station after exiting the base station to avoid interference with the existing logic.

[0085] The above describes the behavior of the self-mobile device after leaving the base station triggered by the first signal when the self-mobile device is initially located at the base station. The following describes the behavior of the self-mobile device receiving the first signal when it is outside the base station in detail.

[0086] Optionally, when the self-moving device is executing a current task outside the base station and receives the first signal, the current task is suspended. Afterwards, if the push rod and the self-moving device are docked within a second time period, the cleaning task is executed under the control of the push rod; if the push rod and the self-moving device are not docked after the second time period, the current task continues to be executed.

[0087] Exemplarily, the current task may be bow-shaped traversal, map building, etc., which is not limited by the embodiments of the present application. When the self-mobile device performs the current task outside the base station, the user removes the push rod from the base station to trigger the push rod to send a first signal, or the user removes the push rod from the base station and presses a button to trigger the push rod to send a first signal. In this case, the self-mobile device pauses the current task and waits. If the push rod and the self-mobile device are docked within the second time period, that is, the user installs the push rod on the self-mobile device, the self-mobile device performs the cleaning task under the control of the push rod. When the waiting time is greater than or equal to the second time period, and the self-mobile device is not docked with the push rod, the self-mobile device continues to perform the current task.

[0088] With this solution, when the self-mobile device is performing the current task outside the base station, if it receives a push rod signal, it will pause the current task and enter the manual working mode after the self-mobile device is docked with the push rod, thereby achieving the purpose of quickly cleaning the temporarily dirty area.

[0089] Optionally, when the self-moving device is in a standby state outside the base station and receives the first signal, after the push rod is docked with the self-moving device, the cleaning task is performed under the control of the push rod.

[0090] Exemplarily, the user can trigger the self-mobile device to leave the base station through voice, APP, exit button on the self-mobile device, exit button on the base station, etc. The self-mobile device is in standby mode after leaving the base station. Afterwards, the user removes the push rod from the base station to trigger the push rod to send the first signal; or, the user removes the push rod from the base station and presses a button to trigger the push rod to send the first signal; or, the push rod is originally located outside the base station, and the user presses a button on the push rod to trigger the push rod to send the first signal. After the self-mobile device receives the first signal, and after the push rod and the self-mobile device are docked, it enters the manual working mode. If the self-mobile device is not docked with the push rod, the self-mobile device waits for the second time period before returning to the base station. The second time period can be, for example, 1 minute, 50 seconds, 90 seconds, etc., which is not limited by the embodiments of the present application.

[0091] Optionally, in the above embodiment, after the self-moving device and the push rod are docked, the self-moving device performs the cleaning task under the control of the push rod and further receives a second signal from the push rod, the second signal being used to instruct the self-moving device to return to the base station. Afterwards, when the push rod is detached from the self-moving device, the self-moving device returns to the base station.

[0092] Exemplarily, the self-mobile device has a micro switch, and when the push rod and the self-mobile device are docked, the manual mode is entered, and the cleaning task is performed under the drive of the push rod. Afterwards, when the push rod is detached from the self-mobile device, the self-mobile device switches to automatic mode. If the user expects the self-mobile device to automatically return to the base station after the push rod is detached from the base station, first press the button on the push rod to trigger the push rod to send a second signal, and the self-mobile device receives the second signal. When the push rod is removed from the self-mobile device by the user, the self-mobile device automatically returns to the base station. The first signal and the second signal can be signals sent by the push rod after the user presses different buttons; or, the first signal and the second signal can also be signals sent by the push rod after the user presses the same button. The user long presses the button to send the first signal, and the push rod sends the second signal when the user double-clicks the button.

[0093] For example, when the self-moving device is on the base station, the user removes the push rod from the base station and long presses the button to trigger the push rod to send a first signal. After receiving the first signal, the self-moving device exits the base station. Afterwards, the user inserts the push rod into the self-moving device so that the self-moving device and the push rod are docked, and the self-moving device is driven by the push rod to clean the dirty area. After cleaning, the user drives the self-moving device by the push rod to return the self-moving device to the vicinity of the base station. Before removing the rod, the user double-clicks the button on the push rod to trigger the push rod to send a second signal, and then the user removes the rod. After the self-moving device receives the second signal and after the push rod is detached from the self-moving device, it returns to the base station under the guidance of the recharging signal emitted by the recharging light on the base station.

[0094] With this solution, after completing the cleaning task, the self-moving device automatically returns to the base station under the triggering of the second signal of the push rod, avoiding the self-moving device from staying outside the base station for a long time, thereby achieving the purpose of improving the intelligence of the self-moving device.

[0095] Optionally, in the above embodiment, after the self-moving device and the push rod are docked, and after the self-moving device performs a cleaning task under the control of the push rod, if the push rod is detached from the self-moving device, the self-moving device switches to the automatic mode. Afterwards, when there is no prior task performed outside the base station before the self-moving device receives the first signal, it returns to the base station in the automatic mode; when there is a prior task performed outside the base station before the self-moving device receives the first signal, it continues to perform the prior task in the automatic mode.

[0096] Exemplarily, before the push rod is separated from the mobile device, if the user does not press the button, that is, the push rod does not send the second signal before it is separated from the mobile device, the push rod is switched to the automatic mode after it is separated from the mobile device. After the mobile device is switched to the automatic mode, if there is no previous task executed outside the base station, such as traversal cleaning task, mapping task, etc., the mobile device returns to the base station. After the mobile device is switched to the automatic mode, if there is a previous task executed outside the base station, such as traversal cleaning task, mapping task, etc., and the power of the mobile device is sufficient, the previous task is executed in the automatic mode.

[0097] After the mobile device switches to automatic mode, if there is a previous task executed on the base station before receiving the first signal, such as automatic water injection, automatic dust collection, etc., the mobile device continues to execute the previous task after returning to the base station.

[0098] By adopting this solution, after the pole is removed, the self-moving device automatically returns to the base station or continues to perform the previous task, avoiding the self-moving device from staying outside the base station for a long time and avoiding the previous task from being suspended for a long time, thereby achieving the purpose of improving the intelligence of the self-moving device.

[0099] Optionally, in the above embodiment, after the self-moving device exits the base station under the triggering of the first signal, when the push rod and the self-moving device are not docked, a third signal from the push rod is received, and the third signal is used to indicate that there is no need to perform the cleaning task under the control of the push rod. Afterwards, if the self-moving device has no previous task, it returns to the base station; if the self-moving device has an unfinished previous task, it continues to perform the previous task. The previous task is a task that was not completed before the self-moving device received the first signal.

[0100] Exemplarily, after the mobile device exits the base station under the triggering of the first signal, if the user does not want the mobile device to enter the manual mode, that is, does not expect the mobile device to perform the cleaning task under the control of the push rod. At this time, the user has not inserted the push rod into the mobile device. The user presses the button on the push rod to trigger the push rod to broadcast the third signal, which is used to indicate that the mobile device does not need to perform the cleaning task under the control of the push rod. After the mobile device receives the third signal, if there is no previous task, it returns to the base station to charge; if there is a previous task, and the previous task is a task executed outside the base station, the previous task is executed outside the base station; if there is a previous task, and the previous task is a previous task executed on the base station, it returns to the base station and continues to execute the previous task. The previous task executed outside the base station is, for example, a traversal cleaning task, a mapping task, etc., and the next task executed on the base station is, for example, a drying task, a self-cleaning task, etc.

[0101] The third signal is a Bluetooth signal, etc. In actual implementation, different buttons can be set on the push rod to send the first signal, the second signal or the third signal; or a button is set on the push rod to trigger the push rod to send the first signal, the second signal and the third signal through different pressing methods.

[0102] By adopting this solution, before the self-mobile device exits the base station and docks with the push rod, if it receives a third signal from the push rod, it will automatically return to the base station or continue to execute the previous task, thereby avoiding the self-mobile device from staying outside the base station for a long time and avoiding the previous task from being suspended for a long time, thereby achieving the purpose of improving the intelligence of the self-mobile device.

[0103] Below, taking the self-moving device as a sweeping robot as an example, the above cleaning method is described in detail in combination with specific application scenarios.

[0104] Application scenario 1

[0105] The sweeping robot is a robot that only has the sweeping function. The sweeping robot and the push rod are pre-paired by Bluetooth. The base station is located on the balcony, the sweeping robot is located on the base station and is in standby mode, and the push rod is also located on the base station. The user accidentally leaves some dust, debris, etc. on the classroom carpet and expects the sweeping robot to enter manual mode. So the user goes to the balcony and removes the push rod from the base station. After the push rod is separated from the base station, it broadcasts the first signal. After receiving the first signal, the sweeping robot exits the base station. After that, the user inserts the push rod into the sweeping robot so that the push rod and the sweeping robot are docked. After docking, the user holds the handle of the push rod so that the push rod drives the sweeping robot to clean the dirty area.

[0106] After cleaning, the user pushes the robot vacuum cleaner to the vicinity of the base station through the push rod and presses the button on the push rod to trigger the push rod to send a second signal. After the rod is removed, the robot vacuum cleaner automatically returns to the base station for charging.

[0107] Application scenario 2

[0108] The sweeping robot is a robot that only has sweeping functions. The sweeping robot and the push rod are pre-paired by Bluetooth. The base station is located on the balcony, the sweeping robot is located on the base station and is in standby mode, and the push rod is also located on the base station. The user accidentally leaves some dust, debris, etc. on the bedroom carpet and expects the sweeping robot to enter manual mode. So the user goes to the balcony and removes the push rod from the base station, triggering the sweeping robot to exit the base station. After that, the sweeping robot comes to the bedroom. The user installs the push rod on the sweeping robot, holds the handle of the push rod and pushes and pulls it, and the sweeping robot enters manual mode to clean the dirty area.

[0109] After cleaning, the user presses the button on the push rod to trigger the push rod to send a second signal. After the rod is removed, the sweeping robot finds that it cannot find the base station, so it performs relocation and plans a path, and returns to the base station to charge according to the planned path.

[0110] Application scenario three

[0111] The sweeping robot is a robot that only has the sweeping function. The sweeping robot and the push rod are paired with Bluetooth in advance. The base station is located on the balcony. The sweeping robot enters an unfamiliar environment for the first time and builds a map of the unfamiliar environment, which includes areas such as the dining room, living room, and balcony. During the map building process, the power of the sweeping robot drops below the preset power, so the sweeping robot returns to the base station to charge. The user accidentally leaves some dust, debris, etc. on the bedroom carpet and expects the sweeping robot to enter manual mode. So the user goes to the balcony and removes the push rod from the base station. Since the sweeping robot still has unfinished previous tasks and is in a task paused state, it will not exit the base station. When the user presses the button on the push rod, the sweeping robot determines that the user really needs to expect the sweeping robot to enter manual mode, so it exits the base station. The sweeping robot comes to the bedroom. The user installs the push rod on the sweeping robot, holds the handle of the push rod and pushes and pulls it, and the sweeping robot enters manual mode to clean the dirty area.

[0112] After cleaning is completed, the user removes the push rod from the sweeping robot. If the sweeping robot finds that there is an unfinished previous task and the power is sufficient, it will continue to complete the previous task.

[0113] Application scenario 4

[0114] The sweeping robot has both sweeping and mopping functions, and the sweeping robot and the push rod are pre-paired with Bluetooth. The base station is located on the balcony, the sweeping robot is located on the base station and is in the state of cleaning the rag, and the push rod is also located on the base station. The user accidentally spilled soup on the ground and expected the sweeping robot to enter manual mode. So the user went to the balcony, removed the push rod from the base station and pressed the button on the push rod. The sweeping robot issued a prompt message: The rag is currently being cleaned, please wait. After a while, the sweeping robot completes the rag cleaning, and continues to receive the first signal, then it automatically exits the base station and comes to the restaurant. It stops moving when it is 30 cm away from the push rod. The user installs the push rod on the sweeping robot, holds the handle of the push rod and pushes and pulls it, and the sweeping robot enters manual mode to absorb water from the soup area and mop the floor.

[0115] After cleaning, the user uses the push rod to push the sweeping robot to the vicinity of the base station, removes the push rod from the sweeping robot, and the sweeping robot automatically returns to the base station if it finds that there is no previous task.

[0116] Application Scenario 5

[0117] The sweeping robot has both sweeping and mopping functions, and the sweeping robot and the push rod are pre-paired with Bluetooth. The base station is located on the balcony, the sweeping robot is located on the base station and is in the state of cleaning the rag, and the push rod is also located on the base station. The user accidentally left some dust, debris, etc. on the bedroom carpet, and expected the sweeping robot to enter manual mode. So the user went to the balcony, removed the push rod from the base station and pressed the button on the push rod. The sweeping robot issued a prompt message: The rag is currently being cleaned, please wait. After a while, the sweeping robot completes the rag cleaning, and continues to receive the first signal, then it automatically exits the base station, comes to the bedroom and raises the wiping component. It stops moving when it is 30 cm away from the push rod. The user installs the push rod on the sweeping robot, holds the handle of the push rod and pushes and pulls it, and the sweeping robot enters manual mode to clean the dust area on the carpet.

[0118] After cleaning, the user removes the push rod from the robot vacuum cleaner, and the robot vacuum cleaner automatically returns to the base station to continue the cleaning task.

[0119] Application Scenario 6

[0120] The robot vacuum cleaner has both sweeping and mopping functions. The robot vacuum cleaner and the push rod are pre-paired with Bluetooth. The base station is located on the balcony, the push rod is located on the base station, and the robot vacuum cleaner is performing a bow-shaped traversal of the living room.

[0121] The sweeping robot is located at the base station and is in standby mode, and the push rod is also located on the base station. The user accidentally spills soup on the ground and expects the sweeping robot to enter manual mode. So the user goes to the balcony, removes the push rod from the base station and presses the button on the push rod, triggering the push rod to broadcast the first signal. After receiving the first signal, the sweeping robot pauses the traversal. Within 45 seconds, the user installs the push rod on the sweeping robot so that the sweeping robot and the push rod are docked. The user holds the handle of the push rod and pushes and pulls it, and the sweeping robot mops the dirty area.

[0122] After cleaning, the user removes the push rod from the sweeping robot and places it on the base station. The sweeping robot performs repositioning and returns to the position where the task was interrupted to continue traversing the living room.

[0123] Application Scenario 7

[0124] The robot vacuum cleaner has both sweeping and mopping functions, and the robot vacuum cleaner and the push rod are pre-paired with Bluetooth. The base station is located on the balcony, the robot vacuum cleaner is in standby mode, and the push rod is placed on the sofa. The user accidentally spills soup on the floor and wants the robot vacuum cleaner to enter manual mode. The user picks up the push rod and comes to the dirty area, and presses the button on the push rod, and the push rod broadcasts the first signal. The robot vacuum cleaner receives the first signal and comes to the restaurant. It stops moving when it is 30 cm away from the push rod. The user installs the push rod on the robot vacuum cleaner, holds the handle of the push rod and pushes and pulls it, and the robot vacuum cleaner enters manual mode to clean the dirty area.

[0125] After cleaning, the user uses the push rod to push the sweeping robot to the balcony, removes the push rod from the sweeping robot and places it on the base station, and the sweeping robot automatically returns to the base station.

[0126] Application Scenario 8

[0127] The robot vacuum cleaner and the push rod are pre-paired via Bluetooth. The base station is on the balcony, the push rod is on the base station, and the robot vacuum cleaner is on the base station and in standby mode. The user removes the push rod from the base station, does not press the button on the push rod, and then puts the push rod back to the base station. The robot vacuum cleaner waits for 30 seconds and then automatically returns to the base station.

[0128] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0129] Figure 4 A schematic diagram of a cleaning device provided in an embodiment of the present application. The cleaning device 400 comprises: a moving module 41 and a processing module 42 .

[0130] When the self-mobile device is located at the base station and receives a first signal from the push rod, exiting the base station;

[0131] When the push rod is docked with the self-moving device, the self-moving device performs a cleaning task under the control of the push rod.

[0132] In a feasible implementation, the first signal is sent after the push rod is separated from the base station, and the first signal includes state information, where the state information is used to indicate that the push rod is in a non-charging state.

[0133] In a feasible implementation, the first signal is a signal broadcast after the push rod is in a state of being separated from the base station and a button on the push rod is pressed, and the first signal includes status information and behavior information, the status information is used to indicate that the push rod is in a non-charging state, and the behavior information is used to indicate that the button is pressed.

[0134] In a feasible implementation, the processing module 42 is further used to determine whether the self-moving device is in a standby state when the self-moving device is located at the base station and receives the first signal from the push rod;

[0135] The moving module 41 is used to exit the base station when the self-mobile device is in a standby state or a task pause state.

[0136] In a feasible implementation, the traveling module 41 is used for returning to the base station when the self-mobile device is located at the base station and receives a first signal from the push rod, after exiting the base station, and when the self-mobile device has not docked with the push rod for a first period of time after exiting the base station and has no prior task to be performed outside the base station; and / or,

[0137] The processing module 42 is further configured to execute a previous task when the mobile device has not docked with the push rod for a first period of time after exiting the base station and there is a previous task executed outside the base station.

[0138] In a feasible implementation, the processing module 42 is also used to suspend the current task when the self-mobile device is executing the current task outside the base station and receives the first signal; if the push rod and the self-mobile device are docked within a second time period, the cleaning task is performed under the control of the push rod; if the push rod and the self-mobile device are not docked after the second time period, the current task continues to be executed.

[0139] In a feasible implementation, the processing module 42 is further used to receive a second signal from the push rod after the push rod and the self-moving device are docked and the self-moving device performs a cleaning task under the control of the push rod, wherein the second signal is used to instruct the self-moving device to return to the base station;

[0140] The moving module 41 is used for returning the push rod to the base station after the push rod is separated from the self-moving device.

[0141] In a feasible implementation, the processing module 42 is further configured to switch to the automatic mode after the push rod is connected to the self-moving device and the self-moving device performs the cleaning task under the control of the push rod and after the push rod is separated from the self-moving device;

[0142] The traveling module 41 is configured to return to the base station in the automatic mode when there is no previous task performed outside the base station before the self-mobile device receives the first signal;

[0143] The processing module 42 is further configured to, when there is a previous task being executed outside the base station before the mobile device receives the first signal, continue to execute the previous task in the automatic mode.

[0144] In a feasible implementation, the processing module 42 is further configured to, when the self-moving device is located at the base station and receives the first signal from the push rod, after exiting the base station and when the push rod and the self-moving device are not docked, receive a third signal from the push rod, wherein the third signal is used to indicate that the cleaning task does not need to be performed under the control of the push rod;

[0145] The traveling module 41 is used to return to the base station when the self-mobile device has no previous task;

[0146] The processing module 42 is further configured to continue executing a previous task when the self-mobile device has an unfinished previous task, wherein the previous task is a task that was not completed before the self-mobile device received the first signal.

[0147] In a feasible implementation, the cleaning force of the self-moving device under the control of the push rod is higher than the cleaning force of the self-moving device when it autonomously traverses the working area.

[0148] The cleaning device provided in the embodiment of the present application can perform the actions of the self-moving device in the above-mentioned embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0149] Figure 5 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application. Figure 5 As shown, the mobile device 500 includes:

[0150] Processor 51 and memory 52;

[0151] The memory 52 stores computer instructions;

[0152] The processor 51 executes the computer instructions stored in the memory 52 , so that the processor 51 executes the cleaning method implemented by the mobile device as described above.

[0153] The specific implementation process of the processor 51 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0154] Optionally, the mobile device 500 further includes a communication component 53 , wherein the processor 51 , the memory 52 and the communication component 53 may be connected via a bus 54 .

[0155] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, they are used to implement the cleaning method implemented by the mobile device as described above.

[0156] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the cleaning method implemented by the mobile device as described above is implemented.

[0157] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0158] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A cleaning method, characterized in that: Applied to a self-equipped device, the method comprises: When the self-moving device located at the base station receives a first signal from the push rod, it exits the base station, and the first signal emitted by the push rod is used to control the self-moving device to exit from the base station; When the push rod is docked with the self-moving device, the self-moving device performs a cleaning task under the control of the push rod.

2. The method according to claim 1, characterized in that The first signal is sent after the push rod is separated from the base station, and the first signal includes state information, where the state information is used to indicate that the push rod is in a non-charging state.

3. The method according to claim 1, characterized in that The first signal is a signal broadcast after the push rod is separated from the base station and a button on the push rod is pressed. The first signal includes status information and behavior information. The status information is used to indicate that the push rod is in a non-charging state, and the behavior information is used to indicate that the button is pressed.

4. The method according to any one of claims 1 to 3, characterized in that When the mobile device is located at the base station and receives a first signal from the push rod, exiting the base station includes: When the self-moving device is located at the base station and receives a first signal from the push rod, determining whether the self-moving device is in a standby state; When the self-mobile device is in a standby state, exit the base station.

5. The method according to any one of claims 1 to 3, characterized in that: When the mobile device is located at the base station and receives the first signal from the push rod, after exiting the base station, the method further includes: When the mobile device does not dock with the push rod after a first period of time after exiting the base station, and there is no previous task executed outside the base station, returning to the base station; and / or, When the mobile device exits the base station and does not dock with the push rod for a first period of time, and there is a previous task executed outside the base station, the previous task is executed.

6. The method according to any one of claims 1 to 3, characterized in that: Also includes: When the self-mobile device is executing a current task outside the base station and receives the first signal, pausing the current task; If the push rod is docked with the self-moving device within the second time period, the cleaning task is performed under the control of the push rod; If the push rod and the self-moving device are not docked after the second time period, the current task continues to be executed.

7. The method according to any one of claims 1 to 3, characterized in that After the push rod is docked with the self-moving device and the self-moving device performs a cleaning task under the control of the push rod, the method further includes: receiving a second signal from the push rod, wherein the second signal is used to instruct the self-moving device to return to the base station; When the push rod is separated from the self-moving device, it returns to the base station.

8. The method according to any one of claims 1 to 3, characterized in that: After the push rod is docked with the self-moving device and the self-moving device performs a cleaning task under the control of the push rod, the method further includes: When the push rod is separated from the self-moving device, switching to automatic mode; When there is no previous task executed outside the base station before the self-mobile device receives the first signal, returning to the base station in the automatic mode; When there is a previous task executed outside the base station before the self-mobile device receives the first signal, the previous task continues to be executed in the automatic mode.

9. The method according to any one of claims 1 to 3, characterized in that: When the mobile device is located at the base station and receives the first signal from the push rod, after exiting the base station, the method further includes: When the push rod and the self-moving device are not docked, receiving a third signal from the push rod, the third signal being used to indicate that the cleaning task does not need to be performed under the control of the push rod; When the self-mobile device has no previous task, returning to the base station; When the self-mobile device has an unfinished previous task, the previous task continues to be executed, where the previous task is a task that was not completed before the self-mobile device received the first signal.

10. The method according to any one of claims 1 to 3, characterized in that: Also includes: The cleaning force of the self-moving device under the control of the push rod is higher than the cleaning force when the self-moving device autonomously traverses the working area.

11. A self-propelled device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the mobile device implements the method according to any one of claims 1 to 10.

12. A cleaning system, characterized in that: include: Base station; A push rod, which docks with the base station when on the base station, and can dock with the self-moving device after being detached from the base station, and the first signal emitted by the push rod is used to control the self-moving device to exit from the base station; A self-moving device has an adapter port for docking with the push rod, docks with the base station when located at the base station, and exits the base station when receiving a first signal from the push rod; when exiting the base station, it docks with the push rod through the adapter port to move under the drive of the push rod, and is used to execute the method described in any one of claims 1 to 10.

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