Cleaning method, device and system

Abstract

An embodiment of the present application provides a cleaning method, device and system. A push rod is configured for the self-moving device. When the self-moving device is located in the base station and receives a first signal from the push rod, it actively exits the base station. After the push rod and the self-moving device are docked, the self-moving device performs a 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 self-moving device is triggered to exit the base station by the push rod. After the self-moving device and the push rod are docked, the self-moving device cleans the temporarily dirty area under the control of the push rod, achieving rapid cleaning of the temporarily dirty area, with a simple operation method and short time consumption.

Description

Technical Field

[0001] Embodiments of the present application relate to the technical field of household cleaning, and particularly to a cleaning method, device 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, a floor cleaning robot can automatically clean rooms, saving a large amount of labor and material costs.

[0003] Normally, a floor cleaning robot autonomously traverses in a "bow" shape in the area to be cleaned. When a user expects the floor cleaning robot to only clean a certain dirty area, it needs to be operated multiple times to achieve. For example, the floor cleaning robot is charging at the base station. The user accidentally gets some dust, debris, etc. on the carpet. The user expects the floor cleaning robot to not perform a "bow" shape traversal of the entire house, but only clean the dirty area. To achieve this goal, the user guides the floor cleaning robot to the dirty area and clean it through voice, an application (APP) on the terminal device, etc.

[0004] However, the above cleaning method is cumbersome and time-consuming, resulting in low cleaning efficiency. Summary of the Invention

[0005] Embodiments of the present application provide a cleaning method, device, system and readable storage medium. By triggering a self-mobile device to exit the base station with a push rod, and after the push rod is docked with the self-mobile device, the self-mobile device performs a cleaning task under the control of the push rod, with simple operation and short time consumption.

[0006] In a first aspect, embodiments of the present application provide a cleaning method, which is applied to a self-mobile device. The method includes:

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

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

[0009] In a second aspect, embodiments of the present application provide a cleaning device, including:

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

[0011] A processing module, configured to, when the push rod is docked with the self-mobile device, cause the self-mobile device to perform a cleaning task under the control of the push rod.

[0012] In a third aspect, an embodiment of the present application provides a self - moving device, including: a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the self - moving device implements the method described in the first aspect above or any possible implementation manner of the first aspect.

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

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product containing a computing program. When the computer program is executed by a processor, it implements the method described in the first aspect above or any possible implementation manner of the first aspect.

[0015] The cleaning method, device, and system provided by the embodiments of the present application configure a push rod for the self - moving device. When the self - moving device is located in the base station and receives a 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 executes a 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 self - moving device is triggered to exit the base station by the push rod. After the self - moving device is docked with the push rod, the self - moving device cleans the temporarily dirty area under the control of the push rod, achieving rapid cleaning of the temporarily dirty area. The operation method is simple and time - consuming is short. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings:

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

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

[0019] Figure 1C is a schematic diagram after the self - moving device is docked with the push rod provided by the embodiment of the present application;

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

[0021] Figure 3It is a flowchart of the cleaning method provided by the embodiments of the present application;

[0022] Figure 4 It is a schematic diagram of the cleaning device provided by the embodiments of the present application;

[0023] Figure 5 It is a schematic structural diagram of a self - moving device provided by the embodiments of the present application. Detailed implementation manners

[0024] Self - moving devices are also known as robots, autonomous mobile devices, self - moving robots, etc. Since they can liberate human hands, they are widely used in various industries. A floor - cleaning robot is a common self - moving device. Some floor - cleaning robots only have the function of sweeping the floor and use the sweeping component to clean the ground. Some floor - cleaning robots also have the function of mopping the floor. They can not only use the sweeping component to clean the ground but also use the mopping component to wash the floor, so they are very popular.

[0025] Traditional floor - cleaning robots pre - construct and store an environmental map and autonomously traverse the working area according to the environmental map to complete cleaning tasks, such as traversing in a "bow" shape. The environmental map includes multiple areas, such as Xiaoming's room, the living room, etc.

[0026] When the user wants to clean a certain area, in one way, the user sends a voice command to the floor - cleaning robot, such as "Clean Xiaoming's room". After the floor - cleaning robot recognizes the voice command, it parses the voice command and completes the task.

[0027] In another way, the user marks the area to be cleaned in the environmental map through an application (APP), such as Xiaoming's room, and instructs the floor - cleaning robot through the APP.

[0028] The premise for the floor - cleaning robot to clean the above - specified area is that the area exists in the environmental map. When the user temporarily designates the working area, for example, the user expects the floor - cleaning robot to clean a dirty area with dust and debris on the carpet. In one way, the user marks the dirty area in the environmental map with the help of the APP, such as circling an area in Xiaoming's room, and instructs the floor - cleaning robot through the APP. If the user marks the working area in the environmental map with the help of the APP every time, the process is cumbersome and the accuracy is poor.

[0029] In another way, the user guides the floor - cleaning robot to come to the user's side through voice. Then the floor - cleaning robot cleans a preset area centered on itself, such as cleaning the area within a range of 3 meters around. This method requires a relatively quiet environment. When there is too much environmental noise or sound sources, the accuracy is poor and the cost is high.

[0030] Whether it is to clean a designated area existing in the environmental map or a working area temporarily designated by the user, after the self-mobile device reaches the designated area, it autonomously traverses the working area to complete the cleaning task. This cleaning method requires the user to interact with the sweeping robot multiple times, such as through an APP or voice, which is a cumbersome process and has poor accuracy.

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

[0032] In addition, the sweeping robot is equipped with a supporting base station, which is convenient for the sweeping robot to charge, wash the mop, dry, collect dust, fill 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 various ways. In one way, when the base station starts self-cleaning to clean the base station, it triggers the sweeping robot to exit the base station; in another way, the sweeping robot is forcibly removed from the base station by humans. In yet another way, the user triggers the sweeping robot to exit the base station by operating the APP. In yet another way, the user interacts with the sweeping robot through voice to make the sweeping robot exit the base station. However, these several 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 manually carried to the dirty area by manpower, which is time-consuming and laborious.

[0034] Although the user can also guide the sweeping robot to the dirty area through voice, this method requires a relatively quiet environment. When there is too much environmental 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, device and system, which trigger the self-mobile device to exit the base station through a push rod, and after the push rod is docked with the self-mobile device, execute the cleaning task under the control of the push rod, with simple operation and short time consumption.

[0036] The self - moving device provided by the embodiment of the present application is any mechanical device that can autonomously move and work in its environment. For example, the self - moving device can be a robot, a purifier, a driverless vehicle, etc. Among them, the robot can include a floor - cleaning robot, a window - cleaning robot, a home - care robot, a reception robot, etc., which are not limited here. These self - moving devices rely on the power provided by rechargeable batteries to move autonomously and have an automatic re - charging function. When the battery power is insufficient, water needs to be injected, the rag needs to be cleaned, or other re - charging conditions are met, they will automatically return to the base station. The self - moving device returning to the base station for charging is also called docking of the self - moving device and the base station, the self - moving device being docked on the charging pile, docking on the pile, etc., which refers to the action of the charging spring plate of the self - moving device contacting the charging terminal of the charging pile. 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 perform Bluetooth communication with the self - moving device and can be removed from the base station to be detached from the base station, or the push rod can be placed on the base station to be charged. 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. Since after the push rod is inserted and docked with the floor - cleaning robot, the self - moving device is no longer in the automatic mode but works under the control of the push rod. Hereinafter, the working mode of the floor - cleaning robot under the control of the push rod after being docked with the push rod is called the manual mode. The working state of the floor - cleaning robot when it is detached from the control of the push rod is called the automatic mode.

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

[0039] Figure 1A is the front view of the cleaning system provided by the embodiment of the present application. Figure 1B is the side view of the cleaning system provided by the embodiment of the present application. Figure 1C is the schematic diagram after the self - moving device is docked with the push rod provided by the embodiment of the present application. Figure 1A In [the figure], 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 charging, cleaning the rag, injecting liquid, on standby, etc. on the base station 100.

[0040] Figure 1B In [the figure], the self - moving device 200 is not located on the base station 100, and the push rod 300 is docked with the base station 100.

[0041] Figure 1C In [the figure], 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, and the self - moving device 200 cleans the dirty area under the drive of the push rod 300.

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

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

[0044] The self - moving device 200 can control the floor sweeping assembly to perform floor sweeping tasks alone, or can control the mopping assembly to perform mopping tasks alone, or control the floor sweeping assembly and the mopping assembly to perform floor sweeping and mopping tasks simultaneously. The side brush assembly 23, the roller brush assembly 24, and the wiping assembly 25 are all provided at the bottom of the device body 21, and relative to the forward direction of the device body 21, the side brush assembly 23 and the roller brush assembly 24 are provided in front of the wiping assembly 25. Based on this setting structure, when the self - moving device 200 performs floor sweeping and mopping tasks simultaneously, the effect of sweeping the floor first and then mopping the floor can be achieved.

[0045] Various sensors are also provided on the above - mentioned self - moving device 200, including but not limited to: lidar, ultrasonic sensors, downward - looking sensors, side - looking sensors, mechanical bumper plates, etc. The lidar includes Laser Direct Structuring (LDS) sensors, Time of Flight (TOF) sensors, etc.

[0046] It should be noted that although the above Figure 2 takes the self - moving device 200 having a wiping assembly 25, that is, having a mopping function as an example to illustrate the self - moving device. However, the embodiments of the present application are not limited. For example, the self - moving device 200 may also only have a floor sweeping function and not have a mopping function. When the self - moving device 200 is a robot with only a floor sweeping function and enters the manual mode when a push rod is installed on the self - moving device 200, it sucks dust under the drive of the push rod, and at this time, the self - moving device 200 works like a vacuum cleaner.

[0047] It can be understood that after the self - moving device 200 is docked with the push rod and enters the manual mode, the self - moving device 200 sucks dust from 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 at the same time, the push rod is installed on the self - moving device 200, and the self - moving device 200 automatically raises the wiping assembly 25, that is, closes the mopping function. Then, under the drive of the push rod, it cleans the dirty area.

[0048] In addition, when the temporary dirty area is a soup area or a water stain area, after the self - moving device 200 is docked with the push rod, that is, after the self - moving device enters the manual mode, the self - moving device 200 can also turn on the mopping function. The self - moving device sucks water from the dirty area at a higher intensity under the drive of the push rod. After the water suction is completed, it raises the wiping assembly and continues to clean the dirty area. Or, the self - moving device turns on both the sweeping function and the mopping function at the same time, and the intensities of sweeping and mopping are higher than those of the traditional zigzag traversal, so as to first sweep and then mop the dirty area.

[0049] Based on the above self - moving device and cleaning system, the embodiment of the present application further provides a cleaning method, which is applied to the self - moving device. Exemplarily, please refer to Figure 3 . Figure 3 It is a flowchart of the cleaning method provided by the embodiment of the present application. This embodiment includes:

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

[0051] Normally, after the self - moving device first enters an unfamiliar working area, it creates an environmental map of the working area, and then performs routine cleaning of the working area according to the environmental map. For example, the environmental map includes the living room, the master bedroom, the study, and Xiaoming's room. The user sets the cleaning time, such as 10:00 am every day. Then, at 10:00 am every day, the self - moving device cleans each room according to the environmental map, so that the user can enjoy a clean and comfortable living environment when returning home at night. During the routine cleaning process, the self - moving device traverses the living room, the master bedroom, etc. in a "zigzag" or "figure - eight" manner in turn. After completing the routine cleaning, the self - moving device returns to the base station for charging, self - cleaning, etc. Then, the self - moving device stands by in the base station.

[0052] When the self - moving device is located in the base station, if it receives the first signal from the push rod, it automatically exits the base station. For example, the self - moving device applies a certain speed to the drive wheels through the motor, so that the drive wheels rotate to drive the self - moving device to exit the base station.

[0053] In an embodiment of the present application, the first signal is used to trigger the self - moving device to exit the base station. The first signal can be a Bluetooth signal, an infrared signal, etc., and the embodiments of the present application do not limit it. The embodiments of the present application also do not limit the timing of the push rod sending the first signal. For example, the push rod sends the first signal after detaching from the base station; for another example, after the push rod detaches from 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 - moving device is located in the base station, but the push rod is not located in the base station but in places such as a sofa or a corner. When the user presses the button on the push rod, the push rod is triggered to send the first signal.

[0054] After the self - moving device receives the first signal, it is considered that the user expects the self - moving device and the push rod to be docked and enter the manual mode, so that the user can drive the self - moving device through the push rod to make the self - moving device clean the dirty area.

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

[0056] In an embodiment of the present application, the working mode in which the self - moving device is docked with the push rod and performs a cleaning task under the control of the push rod is called the manual mode. A micro - switch is set 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. After that, if the push rod detaches from the self - moving device, the micro - switch triggers the self - moving device to enter the automatic mode.

[0057] To realize the docking of the self - moving device and the push rod, a magnetic adaptor is set on the self - moving device, and a magnetic part is provided on the push rod. The magnetic part is sucked into the magnetic adaptor, so that the self - moving device and the push rod are docked. The embodiments of the present application do 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 regular cleaning, during regular cleaning, the self - moving device autonomously performs a "bow - shaped" traversal of the working area. In the embodiments of the present application, the self - moving device cleans the dirty area driven by the push rod, and the traveling trajectory can be "bow - shaped" or not "bow - shaped".

[0058] When the self - moving device only has a sweeping function, the self - moving device cleans the dirty area in the control mode of the push rod, making the self - moving device work like a vacuum cleaner. When the self - moving device has both a sweeping function and a mopping function at the same time, 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 by the embodiment of the present application configures a push rod for the self - moving device. When the self - moving device is located in the base station and receives a first signal from the push rod, it actively exits the base station. After the push rod and the self - moving device are docked, the self - moving device performs a 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 self - moving device is triggered to exit the base station by the push rod. After the self - moving device and the push rod are docked, the temporary dirty area is cleaned under the control of the push rod, achieving rapid cleaning of the temporary dirty area. The operation method is simple and time - consuming is short.

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

[0061] When the self - moving device autonomously traverses the working area, it cleans the working area with a default cleaning intensity. When the self - moving device is docked with the push rod and performs a cleaning task driven by the push rod, it is default that the degree of dirt in the area to be cleaned is relatively high. Therefore, the self - moving device automatically adjusts the cleaning intensity, and the adjusted cleaning intensity is higher than that 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 at the first gear. When the self - moving device enters the manual mode, that is, when the self - moving device performs a 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 that of the first gear.

[0062] In addition, when the self - moving device is docked with the push rod and performs a cleaning task driven by 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 dirt in the working area and performs the cleaning task driven by the push rod.

[0063] With this solution, after the self - moving device enters the manual mode, the cleaning intensity is automatically increased, achieving the purpose of improving the cleaning quality.

[0064] The embodiment of the present application does not limit the sending timing of the first signal. In one way, the first signal is sent after the push rod detaches from the base station, and the first signal includes status information, and the status 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 - moving device are successfully paired via Bluetooth, the push rod and the self - moving device communicate through the Bluetooth protocol. When the push rod is on the base station, it broadcasts status information through Bluetooth, and the status information is used to indicate that the push rod is charging, the current battery level, etc. When the push rod is removed from the base station by the user, the push rod broadcasts the first signal through Bluetooth, and the first signal is used to indicate that the push rod is in a non - charging state, the current battery level of the push rod, etc.

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

[0067] In addition, a Hall device can also be set on the base station or the push rod. The base station uses the Hall signal to identify whether the push rod is charging on the base station. When the base station determines according to the Hall signal that the push rod has detached from the base station and is in a non - charging state, it sends status information to the push rod, and the status information indicates that the push rod is in a non - charging state. Then, the push rod broadcasts the first signal via Bluetooth.

[0068] Adopting this solution, after the push rod detaches from the base station, it sends the first signal to quickly trigger the self - moving device to exit the base station. The operation method is simple and efficient.

[0069] In another way, the first signal is a signal broadcast after the push rod is in a state of detaching from the base station and the 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.

[0070] Exemplarily, sometimes users may take the push rod off the base station out of curiosity or other reasons. If the push rod sends the first signal as soon as it detaches from the base station, it will accidentally trigger the self - moving device to exit the base station. To avoid accidental triggering, the push rod does not immediately send the first signal after detaching from the base station, but broadcasts the first signal only after the user presses the button on the push rod. The first signal indicates that the push rod is in a non - charging state due to detaching from the base station, and moreover, the first signal is also used to indicate that the button on the push rod is pressed by the user. Pressing the button on the push rod indicates that the user highly expects the self - moving device to enter the manual mode.

[0071] In addition, it is very likely that the push rod is not located on the base station. When the push rod is outside the base station, if the user expects to clean a temporarily dirty area, the user can also press the button on the push rod to trigger the self - moving device to exit the base station. After the self - moving device exits the base station, it docks with the push rod and thus enters the manual mode.

[0072] Adopting this solution, when the push rod is in a state of detaching from the base station, if the user presses the button on the push rod, it triggers the self - moving device to exit the base station, avoiding accidentally triggering the self - moving device to exit the base station.

[0073] Optionally, when the self - moving device is located at the base station, it may be in a standby state or a working state. The standby state includes the state where the self - moving device is charging on the base station, the state where the self - moving device is waiting for a task on the base station after charging is completed, or the task pause state. Among them, the working state includes drying, filling water, self - cleaning, cleaning the rag, dust collection, etc. The task pause state includes returning to the base station during mapping to pause mapping, returning to the base station for charging during autonomous traversal to pause autonomous traversal, pausing drying, pausing cleaning the rag, pausing self - cleaning, etc.

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

[0075] In addition, when the self - moving device is in the standby state, it can further determine whether the self - moving device is in the charging state, the full - charge waiting state, or the task pause state, and determine whether to exit the base station according to the current state and the category of the first signal. For example, if the self - moving device is currently in the charging state and the first signal is sent after the push rod is detached from the base station, the self - moving device exits the base station.

[0076] Another example, if the self - moving device is currently in the task pause state and the first signal is sent after the push rod is detached from the base station, the self - moving device prompts the user whether to exit the base station.

[0077] For example, if the self - moving device is currently in the task pause state, the first signal is that the push rod is in the state of being detached from the base station, and the first signal is sent after the button on the push rod is pressed, the self - moving device exits the base station.

[0078] Adopting this solution, after receiving the first signal, if the self - moving device is currently in the standby state, it exits the base station; if the self - moving device is in the working state, it does not exit the base station, avoiding interrupting the currently executing task and mis - triggering, etc., achieving the purpose of improving the intelligence of the self - moving device.

[0079] Optionally, after the above Figure 3 After step 301, that is, after the self - moving device exits the base station, it is very likely that it will not be docked with the push rod for a long time. For example, the user does not insert the rod for a long time, resulting in the self - moving device not being docked with the push rod; another example is that the distance between the push rod and the self - moving device is too long, resulting in the self - moving device being unable to receive the first signal again, and thus unable to explore the area to find the rod; another example is that there is a communication packet loss between the push rod and the self - moving device, resulting in the self - moving device being unable to receive the first signal again, and thus unable to explore the area to find the rod; another example is that after the user removes the push rod from the base station, the user places the push rod back on the base station.

[0080] To prevent the self - moving device from remaining outside the base station without docking with the push rod for a long time, after the self - moving device exits the base station, it determines whether it docks with the push rod within the first time period, that is, whether the push rod is inserted into the self - moving device. If the self - moving device docks with the push rod within the first time period after exiting the base station, it performs a cleaning task under the control of the push rod. If the self - moving device has not docked with the push rod after the first time period since exiting the base station and there is no prior task to be performed outside the base station, the self - moving device returns to the base station. After returning to the base station, the self - moving device charges at the base station. If there is a prior task to be performed on the base station before step 301 is executed, the prior task continues to be executed after returning to the base station. When the self - moving device has not docked with the push rod after the first time period since exiting the base station and there is a prior task to be performed outside the base station, the prior task is performed outside the base station. Among them, the prior tasks performed outside the base station include: traversal cleaning tasks, mapping tasks, etc. The prior tasks performed on the base station include drying, automatic water injection, etc. The first time period is, for example, 1 minute, 50 seconds, etc., and the embodiments of the present application do not limit this.

[0081] Adopting this solution, after the self - moving device exits the base station, if it does not dock with the push rod after waiting for the first time period, it automatically returns to the base station or performs a prior task, preventing the self - moving device from staying outside the base station for a long time and achieving the purpose of improving the intelligence of the self - moving device.

[0082] In the above - mentioned embodiments, the example of the push rod sending the first signal to trigger the self - moving device to exit the base station is used for illustration. However, the embodiments of the present application are not limited to this. For example, when the self - moving device is located on the base station, the user can also trigger the self - moving device to leave the base station through voice, APP, etc. Then, the push rod sends the first signal. For example, the push rod sends the first signal after detaching from the base station; or, the user removes the push rod from the base station and presses the button on the push rod to make the push rod send the first signal; or, the push rod is originally outside the base station and the user presses the button on the push rod to make the push rod send the first signal.

[0083] After the self - moving device receives the first signal and after the push rod and the self - moving device are docked, it enters the manual supply mode. If the self - moving device is not docked with the push rod, that is, the user has not installed the push rod on the self - moving device all the time, the self - moving device returns to the base station after waiting for the second time period. The second time period is, for example, 1 minute, 50 seconds, 90 seconds, etc., and the embodiments of the present application do not limit this.

[0084] The user triggers the self - moving 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, or even the push rod has not detached from the base station, resulting in the self - moving device not receiving the first signal. In this case, the self - moving device does not return to the base station after exiting the base station, avoiding interference with the existing logic.

[0085] The above describes the behavior of the self - moving device after it detaches from the base station under the trigger of the first signal when it is initially located at the base station. Next, the behavior of the self - moving device when it receives the first signal outside the base station will be described in detail.

[0086] Optionally, when the self - moving device is performing a current task outside the base station and receives the first signal, the current task is paused. Thereafter, if the push rod is docked with the self - moving device within the second time period, a cleaning task is performed under the control of the push rod; if the push rod is not docked with the self - moving device after the second time period, the current task is continued.

[0087] Exemplarily, the current task can be zig - zag traversal, mapping, etc., which are not limited in the embodiments of the present application. When the self - moving device is performing the current task outside the base station, 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. In this case, the self - moving device pauses the current task and waits. If the push rod is docked with the self - moving device within the second time period, that is, the user installs the push rod on the self - moving device, the self - moving device performs a 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 - moving device is not docked with the push rod, the self - moving device continues to perform the current task.

[0088] Adopting this solution, when the self - moving device is performing a current task outside the base station, if it receives the push rod signal, the current task is paused, and after the self - moving device is docked with the push rod, it enters the manual working mode to achieve the purpose of quickly cleaning the temporarily dirty area.

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

[0090] Exemplarily, the user can trigger the self - moving device to leave the base station through voice, APP, the exit button on the self - moving device, the exit button on the base station, etc. After the self - moving device leaves the base station, it is in the standby state. Thereafter, 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 outside the base station, and the user presses the button on the push rod to trigger the push rod to send the first signal. After the self - moving device receives the first signal and the push rod is docked with the self - moving device, it enters the manual working mode. If the self - moving device is not docked with the push rod, the self - moving device returns to the base station after waiting for the second time period. The second time period can be, for example, 1 minute, 50 seconds, 90 seconds, etc., which are not limited in the embodiments of the present application.

[0091] Optionally, in the above embodiments, after the self - moving device docks with the push rod and performs a cleaning task under the control of the push rod, the self - moving device further receives a second signal from the push rod, and the second signal is used to instruct the self - moving device to return to the base station. Then, after the push rod detaches from the self - moving device, the self - moving device returns to the base station.

[0092] Exemplarily, there is a micro - switch on the self - moving device. When the push rod docks with the self - moving device, it enters the manual mode and performs a cleaning task under the drive of the push rod. Then, after the push rod detaches from the self - moving device, the self - moving device switches to the automatic mode. If the user expects the self - moving device to automatically return to the base station after the push rod detaches from the base station, the user first presses the button on the push rod to trigger the push rod to send a second signal, and the self - moving device receives the second signal. When the push rod is removed from the self - moving device by the user, the self - moving 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 user double - clicks the button to send the second signal by the push rod.

[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 the first signal. After the self - moving device receives the first signal, it exits the base station. Then, the user inserts the push rod into the self - moving device to make the self - moving device dock with the push rod, and drives the self - moving device through the push rod to clean the dirty area. After cleaning, the user drives the self - moving device through the push rod to make the self - moving device return near the base station. Before removing the rod, the user double - clicks the button on the push rod to trigger the push rod to send the second signal, and then the user removes the rod. After the self - moving device receives the second signal and after the push rod detaches from the self - moving device, it returns to the base station under the guidance of the recharge signal emitted by the recharge light on the base station.

[0094] Adopting this solution, after the cleaning task is completed, the self - moving device is triggered by the second signal of the push rod to automatically return to the base station, avoiding the self - moving device staying outside the base station for a long time, and achieving the purpose of improving the intelligence of the self - moving device.

[0095] Optionally, in the above embodiments, after the self - moving device docks with the push rod and performs a cleaning task under the control of the push rod, if the push rod detaches from the self - moving device, the self - moving device switches to the automatic mode. Then, when there is no prior task executed 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 executed outside the base station before the self - moving device receives the first signal, it continues to execute the prior task in the automatic mode.

[0096] Exemplarily, before the push rod detaches from the self - moving device, if the user does not press the button, that is, the second signal is not sent before the push rod detaches from the self - moving device, the self - moving device switches to the automatic mode after the push rod detaches. After the self - moving device switches to the automatic mode, if there is no prior task executed outside the base station, such as traversing cleaning tasks, mapping tasks, etc., the self - moving device returns to the base station. After the self - moving device switches to the automatic mode, if there are prior tasks such as traversing cleaning tasks, mapping tasks, etc. executed outside the base station and the battery of the self - moving device is sufficient, the prior tasks are executed in the automatic mode.

[0097] After the self - moving device switches to the automatic mode, if there is a prior task executed on the base station, such as automatic water injection, automatic dust collection and other tasks, before receiving the first signal, after the self - moving device returns to the base station, it continues to execute the prior task.

[0098] Adopting this solution, after the rod is detached, the self - moving device automatically returns to the base station or continues to execute the prior task, avoiding the self - moving device staying outside the base station for a long time and avoiding the prior task being in a suspended state for a long time, achieving the purpose of improving the intelligence of the self - moving device.

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

[0100] Exemplarily, after the self - moving device exits the base station triggered by the first signal, if the user does not want the self - moving device to enter the manual mode, that is, does not expect the self - moving device to execute the cleaning task under the control of the push rod. At this time, the user does not insert the push rod into the self - moving device. The user presses the button on the push rod to trigger the push rod to broadcast the third signal, and the third signal is used to indicate that the self - moving device does not need to execute the cleaning task under the control of the push rod. After the self - moving device receives the third signal, if there is no prior task, it returns to the base station to charge; if there is a prior task and the prior task is a task executed outside the base station, it executes the prior task outside the base station; if there is a prior task and the prior task is a prior task executed on the base station, it returns to the base station and continues to execute the prior task. Prior tasks executed outside the base station are, for example, traversing cleaning tasks, mapping tasks, etc., and prior tasks executed on the base station are, for example, drying tasks, self - cleaning tasks, etc.

[0101] The third signal is a Bluetooth signal or the like. In actual implementation, different buttons can be set on the push rod for sending the first signal, the second signal, or the third signal; alternatively, a single button can be set on the push rod, and by different pressing methods, the push rod is triggered to send the first signal, the second signal, and the third signal.

[0102] Adopting this solution, before the self - moving device exits the docking with the push rod at the base station, if it receives the third signal from the push rod, it will automatically return to the base station or continue to execute the prior task, avoiding the self - moving device staying outside the base station for a long time and avoiding the prior task being in a suspended state for a long time, thus achieving the purpose of improving the intelligence of the self - moving device.

[0103] Next, taking the self - moving device as a sweeping robot as an example, combined with specific application scenarios, the above - mentioned cleaning method will be described in detail.

[0104] Application Scenario 1

[0105] The sweeping robot is a robot with only a sweeping function. The sweeping robot and the push rod have completed Bluetooth pairing in advance. The base station is located on the balcony. The sweeping robot is located at the base station and is in a standby state, and the push rod is also on the base station. The user accidentally gets some dust, debris, etc. on the classroom carpet and hopes that the sweeping robot enters the manual mode. So the user comes to the balcony and removes the push rod from the base station. After the push rod detaches from the base station, it broadcasts the first signal. After the sweeping robot receives the first signal, it exits the base station. Then, the user inserts the push rod into the sweeping robot to make the push rod and the sweeping robot dock. After docking, the user holds the handle of the push rod, making the push rod drive the sweeping robot to clean the dirty area.

[0106] After cleaning, the user pushes the sweeping robot near the base station through the push rod and presses the button on the push rod to trigger the push rod to send the second signal. After detaching the rod, the sweeping robot automatically returns to the base station for charging.

[0107] Application Scenario 2

[0108] The sweeping robot is a robot with only a sweeping function. The sweeping robot and the push rod have completed Bluetooth pairing in advance. The base station is located on the balcony. The sweeping robot is located at the base station and is in a standby state, and the push rod is also on the base station. The user accidentally gets some dust, debris, etc. on the bedroom carpet and hopes that the sweeping robot enters the manual mode. So the user comes to the balcony, removes the push rod from the base station, triggering the sweeping robot to exit the base station. Then, 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, and the sweeping robot enters the manual mode to clean the dirty area.

[0109] After cleaning, the user presses the button on the push rod, triggering the push rod to send a second signal. After detaching the rod, the sweeping robot fails to find the base station, so it performs repositioning and path planning, and returns to the base station for charging according to the planned path.

[0110] Application Scenario Three

[0111] The sweeping robot is a robot with only sweeping function, and the sweeping robot and the push rod are pre-paired via Bluetooth. The base station is located on the balcony. When the sweeping robot first enters an unfamiliar environment, it maps the unfamiliar environment, which includes areas such as the dining room, living room, and balcony. During the mapping process, the battery level of the sweeping robot drops below the preset level, so the sweeping robot returns to the base station for charging. The user accidentally gets some dust, debris, etc. on the bedroom carpet and hopes that the sweeping robot enters the manual mode. So the user comes to the balcony and removes the push rod from the base station. Since the sweeping robot still has unfinished prior tasks and is in a task pause 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 expects the sweeping robot to enter the 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, and the sweeping robot enters the manual mode to clean the dirty area.

[0112] After cleaning, the user removes the push rod from the sweeping robot. The sweeping robot finds that there are unfinished prior tasks and the battery level is sufficient, so it continues to complete the prior tasks.

[0113] Application Scenario Four

[0114] The sweeping robot has both sweeping and mopping functions, and the sweeping robot and the push rod are pre-paired via Bluetooth. The base station is located on the balcony. The sweeping robot is located at the base station and is in the state of washing the mop, and the push rod is also on the base station. The user accidentally spills soup on the ground and hopes that the sweeping robot enters the manual mode. So the user comes to the balcony, removes the push rod from the base station and presses the button on the push rod. The sweeping robot sends a prompt message: The mop is being washed currently, please wait. After a period of time, the sweeping robot finishes washing the mop and continues to receive the first signal, then it automatically exits the base station and comes to the dining room. It stops moving when it is 30 centimeters 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, and the sweeping robot enters the manual mode to absorb water and mop the soup area.

[0115] After cleaning, the user uses the push rod to push the sweeping robot near the base station, removes the push rod from the sweeping robot. The sweeping robot finds no prior tasks, so it automatically returns to the base station.

[0116] Application Scenario Five

[0117] The floor cleaning robot has both floor cleaning and mopping functions. The floor cleaning robot and the push rod have completed Bluetooth pairing in advance. The base station is located on the balcony. The floor cleaning robot is located at the base station and is in the state of cleaning the mop. The push rod is also located on the base station. The user accidentally gets some dust, debris, etc. on the bedroom carpet and hopes that the floor cleaning robot enters the manual mode. So the user comes to the balcony, takes the push rod off the base station and presses the button on the push rod. The floor cleaning robot sends out a prompt message: The mop is being cleaned currently, please wait. After a period of time, when the floor cleaning robot finishes cleaning the mop and continues to receive the first signal, it automatically exits the base station, comes to the bedroom and raises the wiping component. It stops moving forward when it is 30 centimeters away from the push rod. The user installs the push rod on the floor cleaning robot, holds the handle of the push rod and pushes and pulls, and the floor cleaning robot enters the manual mode to clean the dust area on the carpet.

[0118] After the cleaning is completed, the user takes the push rod off the floor cleaning robot. The floor cleaning robot automatically returns to the base station and continues the mop cleaning task.

[0119] Application Scenario Six

[0120] The floor cleaning robot has both floor cleaning and mopping functions. The floor cleaning robot and the push rod have completed Bluetooth pairing in advance. The base station is located on the balcony. The push rod is located on the base station, and the floor cleaning robot is performing a zigzag traversal of the living room.

[0121] The floor cleaning robot is located at the base station and is in the standby state. The push rod is also located on the base station. The user accidentally spills soup on the ground and hopes that the floor cleaning robot enters the manual mode. So the user comes to the balcony, takes the push rod off 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 floor cleaning robot pauses the traversal. Within 45 seconds, the user installs the push rod on the floor cleaning robot to make the floor cleaning robot and the push rod dock. The user holds the handle of the push rod and pushes and pulls, and the floor cleaning robot mops the dirty area.

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

[0123] Application Scenario Seven

[0124] The floor sweeping robot has both floor sweeping function and mopping function, and the floor sweeping robot and the push rod have completed Bluetooth pairing in advance. The base station is located on the balcony, the floor sweeping robot is in the standby state, and the push rod is placed on the sofa. The user accidentally spills soup on the ground and expects the floor sweeping robot to enter the manual mode. The user picks up the push rod and comes to the soiled area, and presses the button on the push rod. The push rod broadcasts the first signal. After receiving the first signal, the floor sweeping robot comes to the dining room. It stops moving when it is 30 centimeters away from the push rod. The user installs the push rod on the floor sweeping robot, holds the handle of the push rod and pushes and pulls, and the floor sweeping robot enters the manual mode to clean the soiled area.

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

[0126] Application scenario eight

[0127] The floor sweeping robot and the push rod have completed Bluetooth pairing in advance. The base station is located on the balcony, the push rod is on the base station, and the floor sweeping robot is on the base station and in the standby state. The user removes the push rod from the base station without pressing the button on the push rod, and then puts the push rod back on the base station. After waiting for 30 seconds, the floor sweeping robot automatically returns to the base station.

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

[0129] Figure 4 It is a schematic diagram of the cleaning device provided by the embodiment of the present application. The cleaning device 400 includes: a traveling module 41 and a processing module 42.

[0130] When the self - moving device is located at the base station and receives the first signal from the push rod, it exits the base station;

[0131] When the push rod and the self - moving device are docked, 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 detaches from the base station, and the first signal includes status information, and the status 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 detaching from the base station and the 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.

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

[0135] The traveling module 41 is configured 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 manner, the traveling module 41, after exiting the base station when the self-mobile device is located at the base station and receives a first signal from the push rod, is further configured to return to the base station when the self-mobile device has not docked with the push rod after a first period of time after exiting the base station and there is no prior task being executed outside the base station; and / or,

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

[0138] In a feasible implementation manner, the processing module 42 is further configured to pause 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 period of time, execute a cleaning task under the control of the push rod; if the push rod and the self-mobile device are not docked after the second period of time, continue to execute the current task.

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

[0140] The traveling module 41 is configured to return to the base station when the push rod detaches from the self-mobile device.

[0141] In a feasible implementation manner, after the self-mobile device executes a cleaning task under the control of the push rod after the push rod and the self-mobile device are docked, when the push rod detaches from the self-mobile device, the processing module 42 is further configured to switch to an automatic mode;

[0142] The traveling module 41 is configured to return to the base station in the automatic mode when there is no prior task being executed 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 prior task executed outside the base station before the self - moving device receives the first signal, continue to execute the prior 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 in 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, where the third signal is used to indicate that there is no need to execute a cleaning task under the control of the push rod;

[0145] The traveling module 41 is configured to return to the base station when the self - moving device has no prior task;

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

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

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

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

[0150] A processor 51 and a 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 self - moving device as above.

[0153] The specific implementation process of the processor 51 can be referred to in the above - mentioned method embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here in this embodiment.

[0154] Optionally, the self - moving device 500 further includes a communication component 53. Among them, the processor 51, the memory 52, and the communication component 53 can be connected through a bus 54.

[0155] The embodiments of the present application also provide a 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 cleaning method implemented by the self-moving device as described above.

[0156] The embodiments of the present application also provide a computer program product. The computer program product includes a computer program. When the computer program is executed by a processor, it implements the cleaning method implemented by the self-moving device as described above.

[0157] Those skilled in the art will readily conceive of 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 general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

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

Claims

1. A cleaning method, characterized in that, Applied to a self - moving device, the method includes: When the self - moving device located at the base station receives a first signal from the push rod, the self - moving device exits the base station. The first signal emitted by the push rod is used to control the self - moving device to exit the base station; After the push rod and the self - moving device are docked, the self - moving device performs a cleaning task under the control of the push rod; When the push rod and the self - moving device are not docked, if there is no prior task, the self - moving device returns to the base station. If there is a prior task, the self - moving device executes the prior task.

2. The method according to claim 1, wherein: The first signal is sent after the push rod detaches from the base station. The first signal contains status information, and the status information is used to indicate that the push rod is in a non - charging state.

3. The method according to claim 1, wherein: The first signal is a signal broadcast after the push rod is in a state of detaching from the base station and a key on the push rod is pressed. The first signal contains status information and action information. The status information is used to indicate that the push rod is in a non - charging state, and the action information is used to indicate that the key is pressed.

4. The method according to any one of claims 1 to 3, characterized in that The step of "When the self - moving device located at the base station receives a first signal from the push rod, the self - moving device exits the base station" includes: When the self - moving device is located at the base station and receives a first signal from the push rod, determine whether the self - moving device is in a standby state; When the self - moving 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, The step of "When the push rod and the self - moving device are not docked, if there is no prior task, the self - moving device returns to the base station. If there is a prior task, the self - moving device executes the prior task" includes: When the self - moving device has not been docked with the push rod after a first period of time since it exits the base station and there is no prior task being executed outside the base station, return to the base station; When the self - moving device has not been docked with the push rod after a first period of time since it exits the base station and there is a prior task being executed outside the base station, execute the prior task.

6. The method according to any one of claims 1 to 3, characterized in that, It further includes: When the self - moving device is executing a current task outside the base station and receives the first signal, pause the current task; If the push rod and the self - moving device are docked within a second period of time, perform a cleaning task under the control of the push rod; If the push rod and the self - moving device are not docked after the second period of time, continue to execute the current task.

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

8. The method according to any one of claims 1 to 3, characterized in that, After the step of "After the push rod and the self - moving device are docked, the self - moving device performs a cleaning task under the control of the push rod", it further includes: When the push rod detaches from the self - moving device, switch to the automatic mode; When there is no prior task being executed outside the base station before the self - moving device receives the first signal, return to the base station in the automatic mode; When there is a prior task executed outside the base station before the self - moving device receives the first signal, continue to execute the prior task in the automatic mode.

9. The method according to any one of claims 1 to 3, characterized in that When the push rod and the self - moving device are not docked, if there is no prior task, return to the base station; if there is a prior task, then execute the prior task, including: When the push rod and the self - moving device are not docked, receive a third signal from the push rod, and the third signal is used to indicate that there is no need to execute a cleaning task under the control of the push rod. When the self - moving device has no prior task, return to the base station. When the self - moving device has an unfinished prior task, continue to execute the prior task, and the prior task is a task that was not completed before the self - moving device received the first signal.

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

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

12. A cleaning system, characterized in that, Include: Base station; A push rod that docks with the base station when on the base station and can dock with the self - moving device after detaching from the base station. The first signal emitted by the push rod is used to control the self - moving device to exit the base station. A self - moving device having an adapter port for docking with the push rod, docking with the base station when located at the base station, and when receiving the first signal from the push rod, exiting the base station; when exiting the base station, docking with the push rod through the adapter port to act under the drive of the push rod, and used to execute the method according to any one of claims 1 to 10.

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