Automatic cleaning system and control method

Abstract

The invention provides an automatic cleaning system and a control method, the automatic cleaning system comprises a cleaning robot, the cleaning robot comprises a wiping plate, and the wiping plate is used for installing a wiping piece; the base station is used for stopping the cleaning robot and comprises a storage unit for storing a wiping piece; the automatic cleaning system further comprises a moving unit used for being connected with the wiping plate and driving the wiping plate to move into the storage unit in the first direction, so that the wiping plate can complete dismounting and / or pasting of the wiping piece in the storage unit; and the controller is at least used for calculating the movement distance of the wiping plate driven by the moving unit in the first direction and judging the number of the wiping pieces in the storage unit according to the movement distance. Through the arrangement, the automatic cleaning system can more accurately recognize the number of the wiping pieces, the timeliness of automatic replacement of the wiping pieces is guaranteed, and the working efficiency of the cleaning robot is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic cleaning, and in particular to an automatic cleaning system and a control method. Background Art

[0002] The existing method for measuring the number of mops in a mop box is usually to directly measure the thickness of the remaining mops in the mop box through a sensor. However, due to the material or placement of the mops themselves, it is difficult to use sensors to complete accurate measurements. Therefore, the existing measurement method cannot accurately characterize the number of mops in the mop box. Summary of the invention

[0003] In view of this, the purpose of the present disclosure is to provide an automatic cleaning system and control method that can accurately characterize the number of wipers in a storage unit.

[0004] In order to achieve one of the above-mentioned disclosed purposes, the present disclosure provides an automatic cleaning system, comprising: a cleaning robot, the cleaning robot comprising a wiping board, the wiping board being used to install wiping pieces; a base station for the cleaning robot to dock, comprising a storage unit for storing wiping pieces; the automatic cleaning system also comprises: a moving unit, used to connect the wiping board, drive the wiping board to move along a first direction to the storage unit, so that the wiping board can complete the removal and / or pasting of the wiping pieces in the storage unit; a controller, at least used to calculate the movement distance of the wiping board driven by the moving unit in the first direction, and judge the number of wiping pieces in the storage unit according to the movement distance.

[0005] As a further improvement of an embodiment of the present disclosure, the mobile unit and the controller are both arranged in the base station, and the mobile unit includes a connecting member and a driving assembly, the connecting member is used to connect the wiping plate removed from the cleaning robot; the driving assembly is used to drive the connecting member to drive the wiping plate to move along the first direction to the storage unit.

[0006] As a further improvement of an embodiment of the present disclosure, the storage unit includes a clean bin for storing new wiping pieces and a recycling bin for storing dirty wiping pieces; the moving unit is configured to drive the wiping board into the recycling bin, and complete the removal of the dirty wiping pieces connected to the wiping board in the recycling bin; the moving unit is also configured to drive the wiping board into the clean bin, and complete the pasting of the new wiping pieces in the clean bin.

[0007] As a further improvement of an embodiment of the present disclosure, the mobile unit can drive the wiping plate to move from an initial position above the storage unit along the first direction to the clean bin; the controller is used to calculate a first movement distance of the mobile unit in the first direction; when the first movement distance is less than a first threshold, the wiping piece is replaced normally; when the first movement distance is greater than or equal to the first threshold, a reminder message is issued.

[0008] As a further improvement of an embodiment of the present disclosure, the reminder information includes a first reminder information and a second reminder information: when the first movement distance is greater than or equal to a first threshold and less than or equal to a second threshold, the first reminder information is issued; when the first movement distance is greater than the second threshold, the second reminder information is issued.

[0009] As a further improvement of an embodiment of the present disclosure, the mobile unit can drive the wiping plate to move from an initial position above the storage unit along the first direction to the recovery bin; the controller is used to calculate a second movement distance of the mobile unit in the first direction; when the second movement distance is greater than a third threshold, the wiping piece is replaced normally; when the second movement distance is less than or equal to the third threshold, the cleaning robot is controlled to issue a reminder message.

[0010] As a further improvement of an embodiment of the present disclosure, the reminder information includes third reminder information and fourth reminder information: when the second movement distance is less than or equal to a third threshold and greater than or equal to a fourth threshold, the third reminder information is issued; when the second movement distance is less than the fourth threshold, the fourth reminder information is issued.

[0011] As a further improvement of an embodiment of the present disclosure, the storage unit includes an in-place detection module, which is used to detect whether the storage unit has reached the target position, and when the storage unit moves to the target position, the moving unit is controlled to stop moving.

[0012] As a further improvement of an embodiment of the present disclosure, the controller includes a counting structure for detecting the number of revolutions of the driving component, and calculates the movement distance of the mobile unit according to the detected number of revolutions.

[0013] In order to achieve another purpose of the above disclosure, the present disclosure provides a control method for an automatic cleaning system, comprising the following steps:

[0014] The moving unit is used to connect the wiping plate and drive the wiping plate to move along the first direction into the storage unit, so that the wiping plate can complete the removal and / or pasting of the wiping piece in the storage unit; calculate the movement distance of the wiping plate driven by the moving unit in the first direction, and judge the number of wiping pieces in the storage unit according to the movement distance.

[0015] Compared with the prior art, the technical effect of the present invention is that the sensor directly measures the number of wiping members in the storage unit and converts it into a measurement of the movement distance of the wiping plate in the first direction, and calculates the number of wiping members in the storage unit through the movement distance, thereby avoiding measurement errors when the sensor directly measures the wiping members. The controller can more accurately identify the number of wiping members, ensure the timeliness of automatic replacement of the wiping members, and improve the operating efficiency of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the implementation methods or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only implementation methods of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of a first state of an automatic cleaning system provided by an embodiment of the present disclosure;

[0018] Figure 2 A schematic diagram of a second state of an automatic cleaning system provided by an embodiment of the present disclosure;

[0019] Figure 3 A schematic diagram of a third state of an automatic cleaning system provided by an embodiment of the present disclosure;

[0020] Figure 4 A schematic diagram of a fourth state of an automatic cleaning system provided by an embodiment of the present disclosure;

[0021] Figure 5 This is a flow chart of a control method for an automatic cleaning system provided in one embodiment of the present disclosure.

[0022] Attached figures: 100, base station; 1, storage unit; 11, in-place detection module; 12, abutment block; 13, clean bin; 14, recovery bin; 141, removal part; 2, moving unit; 21, driving assembly; 211, driving gear; 22, connecting part; 23, synchronous belt; 24, first gear; 25, second gear; 26, guide column; 3, frame; 31, first arm; 32, second arm; 41, first conveying unit; 42, second conveying unit; 5, controller; 200, wiping plate; 210, wiping part. DETAILED DESCRIPTION

[0023] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0024] Embodiment It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] The existing base station directly measures the height / weight of the wipers in the storage unit through sensors, and then characterizes the number of wipers recovered / remaining in the storage unit through the test results. However, when using a height sensor to measure the height of the wipers in the storage unit to characterize the number of wipers, there is a problem that the disassembled and recovered wipers are not placed flat, which affects the height of the wipers, resulting in the measured height being unable to accurately characterize the number of wipers; when using a weight sensor to measure the weight of the wipers in the storage unit to characterize the number of wipers, there is a problem that water stains and dust are attached to the disassembled and recovered wipers, which affects the weight of the wipers, resulting in the measured weight being unable to accurately characterize the number of wipers.

[0026] See also Figures 1 to 4 The automatic cleaning system disclosed in the present invention comprises a cleaning robot, which comprises a wiping plate 200 for mounting a wiping piece 210 ; a base station 100 for the cleaning robot to dock, which comprises a storage unit 1 for storing the wiping piece 210 .

[0027] The automatic cleaning system also includes: a moving unit 2, which is used to connect the wiping plate 200 and drive the wiping plate 200 to move along the first direction to the storage unit 1, so that the wiping plate 200 can complete the removal and / or pasting of the wiping piece 210 in the storage unit 1; a controller 5, which is used to calculate the movement distance of the wiping plate 200 driven by the moving unit 2 in the first direction, and judge the number of wiping pieces 210 in the storage unit 1 according to the movement distance.

[0028] In the automatic cleaning system disclosed in the present invention, the thickness and the amount of compression of the wiping piece 210 are basically stable. The wiping plate 200 is driven by the moving unit 2 to move into the storage unit 1, compacting the wiping piece 210 in the storage unit 1, and the movement distance of the wiping plate 200 in the automatic cleaning system is calculated by the controller 5, thereby calculating the total thickness of the wiping piece 210 in the storage unit 1. This can more accurately identify the number of wiping pieces 210, ensure the timeliness of automatic replacement of the wiping pieces 210, and improve the operating efficiency of the cleaning robot.

[0029] See also Figure 1 and Figure 2 In one embodiment of the present disclosure, the mobile unit 2 and the controller 5 are both disposed in the base station 100. In this embodiment, when the wiping member 210 of the cleaning robot needs to be replaced, the cleaning robot stops at the base station 100 and disassembles the wiping plate 200 in the base station 100; the mobile unit 2 connects the wiping plate 200, drives the wiping plate 200 to move to the initial position, and moves from the initial position along the first direction to the storage unit 1 to compact the wiping member 210 in the storage unit 1; the controller 5 calculates the movement distance of the wiping plate 200 in the first direction, and determines the number of wiping members 210 in the storage unit 1 according to the movement distance; then, the wiping member 210 on the wiping plate 200 is replaced in the storage unit 1, and is taken away from the storage unit 1 by the mobile unit 2, and the cleaning robot continues cleaning after installing the wiping plate 200 with the replaced wiping member 210.

[0030] In this embodiment, the mobile unit 2 at least includes a driving component 21 and a connecting member 22, wherein the driving component 21 drives the connecting member 22 to move in the base station 100, and the connecting member 22 is used to connect the wiping plate 200 removed from the cleaning robot. The driving component 21 can accurately control the driving speed and the start and stop state so that the wiping plate 200 is accurately positioned at the initial position, which is convenient for the calculation component to calculate the movement distance of the wiping plate 200, and also convenient for the connecting member 22 to connect the wiping plate 200.

[0031] Furthermore, the driving assembly 21 uses a synchronous belt 23 to drive the connecting member 22 to move. The base station 100 includes a frame 3, which serves as a supporting structure of the base station 100 and is used to install other units; optionally, the frame 3 is L-shaped, including a first arm 31 and a second arm 32, and the first arm 31 is along a first direction (such as Figure 1 The second arm extends in the second direction (such as Figure 1 X-axis). Figure 1 In the orientation shown in , the wiping plate 200 moves along the first direction, wherein the first direction is the Z direction in the figure. The driving assembly 21 is mounted on the frame 3 and is provided with a driving gear 211; the synchronous belt 23 is arranged along the Z direction, and a first gear 24 is provided at one end close to the driving assembly 21, and a second gear 25 is provided at one end close to the second arm 32; the first gear 24 is a double gear, which is meshed with both the driving gear 211 and the inner teeth of the synchronous belt 23; the second gear 25 is rotatably mounted on the second arm 32, and is meshed with the inner teeth of the synchronous belt 23. Alternatively, the driving assembly 21 may also adopt other suitable structures to drive the connecting member 22 to move, such as a connecting structure using a screw rod and a slider. In other embodiments, the above-mentioned first direction may be other directions at a certain angle to the Z direction, not limited to the Z direction.

[0032] When the connecting member 22 needs to move in the first direction, the driving assembly 21 is activated, and the driving gear 211 rotates accordingly, driving the first gear 24 to rotate, and then the synchronous belt 23 moves and drives the connecting member 22 to move in the first direction.

[0033] Furthermore, a guide post 26 is further provided in the base station 100, one end of which is mounted on the second arm 32, and the other end of which extends along the first direction. A guide hole that cooperates with the guide post 26 is provided on the connecting member 22. When the connecting member 22 moves, the guide post 26 can guide the connecting member 22, thereby enhancing the stability of the connecting member 22 when moving, and preventing the connecting member 22 from deflecting.

[0034] See also Figure 1 and Figure 2 In one embodiment of the present disclosure, the storage unit 1 includes an in-place detection module 11, which is used to detect whether the storage unit 1 reaches the target position. When the storage unit 1 moves to the target position, the moving unit 2 is controlled to stop moving.

[0035] It is understandable that when the mobile unit 2 drives the wiping plate 200 to compact the wiping member 210 in the storage unit 1, it will further press the storage unit 1 after compacting the wiping member 210, causing the storage unit 1 to move. The in-position detection module 11 can locate the target position of the storage unit 1, so as to control the mobile unit 2 to stop moving in time and accurately calculate the moving distance of the wiping plate 200.

[0036] Furthermore, the in-place detection module 11 may be an in-place switch or a current detection unit, etc. When the in-place detection module 11 is an in-place switch, the in-place detection module 11 may be optionally arranged on the rack 3, located on one side of the storage unit 1, and the relative position of the in-place detection module 11 and the rack 3 is fixed; an abutment block 12 matching the in-place detection module 11 is arranged on the storage unit 1. When the storage unit 1 moves downward due to the pressing action of the mobile unit, so that the abutment block 12 abuts against the in-place detection module 11, the in-place detection module 11 sends a stop signal to the mobile unit 2, and the mobile unit 2 stops moving. At this time, the position of the wiping plate 200 is the stop position, and the movement distance calculated by the controller 5 refers to the movement distance of the wiping plate 200 from the initial position to the stop position.

[0037] When the in-place detection module 11 is a current detection unit, the driving component 21 drives the connecting member 22 and the wiping plate 200 to move toward the storage unit 1. The wiping plate 200 first presses against the wiping member 210 and then continues to press against the storage unit 1. The storage unit 1 stops after being pressed to the target position. At this time, the resistance of the wiping plate continues to increase, and the current of the driving component 21 continues to increase accordingly. When the in-place detection module 11 monitors that the current of the driving component 21 reaches a certain value or the current change within a certain period of time reaches a certain value, a stop signal is sent to the driving component 21, and the driving component 21 stops moving.

[0038] See also Figure 1 and Figure 3 In one embodiment of the present disclosure, the storage unit 1 includes a clean bin 13 for storing new wiping pieces 210 and a recycling bin 14 for storing dirty wiping pieces 210; the mobile unit 2 is configured to drive the wiping plate 200 into the recycling bin 14, and complete the removal of the dirty wiping pieces 210 connected to the wiping plate 200 in the recycling bin 14; the mobile unit 2 is also configured to drive the wiping plate 200 into the clean bin 13, and complete the pasting of the new wiping piece 210 in the clean bin 13. It should be noted that when the mobile unit 2 drives the wiping plate 200 into the clean bin 13, the removal of the dirty wiping piece 210 on the wiping plate 200 has been completed. The setting of the clean bin 13 and the recycling bin 14 can automatically complete the removal and pasting of the wiping piece 210, reducing the need for manual operation.

[0039] See also Figure 1 and Figure 2 In one embodiment of the present disclosure, the recovery bin 14 has an opening for the connection member 22 and the wiping plate 200 to extend into, and a removal member 141 is provided at the opening, and the removal member 141 is used to remove the wiping member 210 when the wiping plate 200 is separated from the recovery bin 14. Preferably, the removal member 141 can be a hook.

[0040] For further information, see Figure 1 and Figure 2The initial positions include the initial position H0 corresponding to the recovery bin 14 and the initial position H1 corresponding to the clean bin 13. The base station 100 is further provided with a first conveying unit 41, which is used to convey the recovery bin 14 to the first working position, that is, below the initial position H0.

[0041] The first conveying unit 41 may be a conveying belt, which is arranged along the second direction (eg Figure 1 The recovery bin 14 moves along the second direction, so that the recovery bin 14 and the clean bin 13 can be stacked along the first direction, saving the space occupied by the recovery bin 14 and the clean bin 13 in the second direction.

[0042] When the wiping piece 210 needs to be removed, the connecting piece 22 connects the wiping plate 200 and moves to the initial position H0 driven by the driving component 21; the first conveying unit 41 conveys the recovery bin 14 to the first working position; the driving component 21 drives the wiping plate 200 to move along the first direction and extend into the recovery bin 14 to compact the wiping piece 210, and then drives the wiping plate 200 to separate from the recovery bin 14 and remove the wiping piece 210 by the removal piece 141 when separating from the recovery bin 14.

[0043] For further information, see Figure 3 and Figure 4 The base station 100 is further provided with a second conveying unit 42, which is used to convey the clean bin 13 to the second working position, that is, below the initial position H1. The second conveying unit 42 can be a conveyor belt, which is arranged along the second direction (such as Figure 3 Alternatively, based on Figure 3 In the orientation shown in the figure, the first conveying unit 41 can move along the first direction (such as the Z direction in the figure) to convey the recovery bin 14 and the clean bin 13 respectively, and accordingly, the second conveying unit 42 is cancelled.

[0044] In another embodiment of the present disclosure, a second direction motion unit is further provided in the base station 100, and the second direction motion unit is used to drive the mobile unit 2 connected with the wiping plate 200 to move in the second direction to adapt to the positions of the recovery bin 14 and the clean bin 13. Accordingly, the positions of the recovery bin 14 and the clean bin 13 remain unchanged, and the first conveying unit 41 and the second conveying unit 42 are cancelled. Preferably, the second direction motion unit may include a second driving assembly and a guide rail extending along the second direction, and the mobile unit 2 and the wiping plate 200 move on the guide rail driven by the second driving assembly. The structure of the second direction motion unit is not repeated here, as long as it can drive the mobile unit 2 and the wiping plate 200 to move in the second direction. Alternatively, the second direction motion unit may also be configured to drive the wiping plate 200 to move in the second direction, and move in the first direction driven by the mobile unit 2.

[0045] When the wiping plate 200 needs to be attached with a clean wiping piece 210, the connecting piece 22, driven by the driving assembly 21, drives the wiping plate 200 to move to the initial position H1; the second conveying unit 42 conveys the clean bin 13 to the second working position; the driving assembly 21 drives the wiping plate 200 to move and extend into the clean bin 13, and the wiping plate 200 compacts and adheres to the wiping piece 210, completing the attachment of the wiping piece 210. Figure 3 and Figure 4 In one embodiment of the present disclosure, the mobile unit 2 can drive the wiping plate 200 to move from the initial position H1 located above the storage unit 1 to the clean bin 13 along the first direction; the controller 5 is used to calculate the first movement distance of the mobile unit 2 in the first direction; when the first movement distance is less than the first threshold, the wiping piece 210 is replaced normally; when the first movement distance is greater than or equal to the first threshold, a reminder message is issued. The first movement distance is used to determine whether the wiping piece 210 in the clean bin 13 is exhausted. When the first movement distance is less than the first threshold, it means that the number of wiping pieces 210 in the clean bin 13 is large and does not need to be replenished; when the first movement distance is greater than or equal to the first threshold, it means that the number of wiping pieces 210 in the clean bin 13 is small and needs to be replenished. In addition, the robot sends out a reminder message to remind the user to pay attention to the number of wiping pieces 210 in the clean bin 13 and replenish them in time.

[0046] Furthermore, the reminder information includes a first reminder information and a second reminder information: when the first movement distance is greater than or equal to the first threshold value and less than or equal to the second threshold value, the first reminder information is issued; when the first movement distance is greater than the second threshold value, the second reminder information is issued. By setting the first threshold value and the second threshold value, the number of wipers 210 in the clean bin 13 is further classified to judge the urgency of replenishing the wipers 210, so that the user can more accurately judge the timing of replenishing the wipers 210.

[0047] Specifically, if the first movement distance is greater than or equal to the first threshold value and less than or equal to the second threshold value, it means that the number of wipers 210 in the clean bin 13 is small but not nearly exhausted; the first reminder information means that the cleaning robot reminds the user to replenish the wipers 210; the first movement distance is greater than the second threshold value, which means that the number of wipers 210 in the clean bin 13 is nearly exhausted or has been exhausted; the second reminder information means that the cleaning robot issues an alarm to remind the user that the wipers 210 must be replenished before the next replacement of the wipers 210. Further, when the cleaning robot issues an alarm, it may issue an alarm reminder to the user and / or shut down the cleaning robot to ensure that the wipers 210 in the clean bin 13 are replenished when the wipers 210 are replaced next time. The cleaning robot may issue the first reminder information and the second reminder information in one or more of voice, text, and light. The reminder methods of the first reminder information and the second reminder information may be the same or different.

[0048] See also Figure 1 and Figure 2 In one embodiment of the present disclosure, the mobile unit 2 can drive the wiping plate 200 to move from the initial position H0 located above the storage unit 1 to the recovery bin 14 along the first direction; the controller 5 is used to calculate the second movement distance of the mobile unit 2 in the first direction; when the second movement distance is greater than the third threshold, the wiping piece 210 is replaced normally; when the second movement distance is less than or equal to the third threshold, the cleaning robot is controlled to issue a reminder message. The second movement distance is used to determine whether the wiping piece 210 in the recovery bin 14 needs to be cleaned. When the second movement distance is greater than the third threshold, it means that the number of wiping pieces 210 in the recovery bin 14 is small and does not need to be cleaned; when the second movement distance is less than or equal to the third threshold, it means that a certain number of wiping pieces 210 have been accumulated in the recovery bin 14 and need to be cleaned. In addition, when the second movement distance is less than or equal to the third threshold, the cleaning robot issues a reminder message, which can remind the user to pay attention to the number of wiping pieces 210 in the recovery bin 14 and clean them in time.

[0049] For further information, see Figure 1 and Figure 2 The reminder information includes a third reminder information and a fourth reminder information: when the second movement distance is less than or equal to the third threshold value and greater than or equal to the fourth threshold value, the third reminder information is issued; when the second movement distance is less than the fourth threshold value, the fourth reminder information is issued. By setting the third threshold value and the fourth threshold value, the number of wipers 210 in the recovery bin 14 is further graded to judge the urgency of cleaning the recovery bin 14, so that the user can more accurately judge the timing of cleaning the recovery bin 14.

[0050] Specifically, if the second movement distance is less than or equal to the third threshold value, and greater than or equal to the fourth threshold value, it means that the number of wipers 210 in the recycling bin 14 is large, but not nearly full; the third reminder information means that the cleaning robot reminds the user to clean the recycling bin 14; the second movement distance is less than the fourth threshold value, which means that the number of wipers 210 in the recycling bin 14 is full or about to be full; the fourth reminder information means that the cleaning robot issues an alarm to remind the user that the visceral wiping pieces 210 in the recycling bin 14 must be cleaned before the next replacement of the wiping pieces 210. Further, when the cleaning robot issues an alarm, it can issue an alarm reminder to the user and or shut down the cleaning robot to ensure that the visceral wiping pieces 210 in the recycling bin 14 have been cleaned when the wiping pieces 210 are replaced next time. The cleaning robot can issue the third reminder information and the fourth reminder information in one or more of voice, text, and light. The reminder methods of the third reminder information and the fourth reminder information can be the same or different.

[0051] See also Figure 1 and Figure 2In one embodiment of the present disclosure, the controller 5 includes a counting structure for detecting the number of revolutions of the driving component 21, and calculates the movement distance of the mobile unit 2 according to the detected number of revolutions. By detecting the number of revolutions of the driving component 21 to calculate the movement distance of the mobile unit 2, the movement distance of the wiping plate 200 in the first direction can be more accurately reflected.

[0052] Further, the counting structure for counting the number of revolutions of the driving component 21 in the controller 5 may be an encoder unit, which detects the number of revolutions of the driving component 21, which is proportional to the movement distance of the mobile unit 2, so the movement distance of the mobile unit 2 can be calculated based on the number of revolutions. Optionally, the encoder unit includes a first magnet and an electromagnetic encoder relative to the first magnet, and the first magnet is installed on the driving gear 211. When the driving component 21 drives the driving gear 211 to rotate, the first magnet rotates with the driving gear 211, so the magnetic field of the first magnet on the electromagnetic encoder changes, and the electromagnetic encoder can obtain the angle of the first magnet according to the change in the magnetic field, thereby obtaining the number of revolutions of the driving component 21. Optionally, the encoder unit includes a light source, a grating disk, a photosensitive element and a signal processing circuit; the grating disk is a circular plate of a certain diameter, and is installed on the motor shaft of the driving component 21, and a number of light-transmitting and light-opaque lines are closely arranged on the grating disk. The light source and the photosensitive element are arranged on both sides of the grating disk relative to each other, wherein the light source is installed on the housing of the driving component 21, and the photosensitive element is away from the driving component 21. When the driving component 21 rotates, the grating plate rotates accordingly, and the light emitted by the light source passes through the translucent and opaque lines to form moiré fringes (alternating light and dark stripes). The photosensitive element detects the changes in the moiré fringes and converts them into electrical signals; the signal processing circuit processes and analyzes the signal output by the photosensitive element, calculates the rotation angle of the grating plate, and thus obtains the number of revolutions of the driving component 21.

[0053] When the wiping plate 200 moves to the initial position H0 and the recovery bin 14 moves to the first working position, the mobile unit 2 drives the wiping plate 200 to move toward the recovery bin 14, and further presses the recovery bin 14 after compacting the wiping member 210 in the recovery bin 14; after the recovery bin 14 is pressed and moves for a certain distance, the in-place detection module 11 is triggered; the in-place detection module 11 sends a stop signal to the mobile unit 2, and the mobile unit 2 and the wiping plate 200 stop moving; at this time, the controller 5 obtains the number of revolutions of the driving component 21 during this period, and the movement distance of the wiping plate 200 in the first direction is equal to the product of the number of revolutions of the driving component 21 and the circumference of the driving gear 211.

[0054] It can be understood that the initial position H0 of the wiping plate 200 and the stop position of the recovery bin 14 are fixed, therefore, the spacing L between the initial position H0 and the bottom wall position of the recovery bin 14 when it is in the stop position (when there is no wiping member 210) is fixed, which is equal to the sum of the movement distance of the wiping plate 200 and the total thickness of the wiping members 210 in the recovery bin 14; therefore, when the movement distance of the wiping plate 200 is large, it proves that the number of wiping members 210 in the recovery bin 14 is small; when the movement distance of the wiping plate 200 is small, it proves that the number of wiping members 210 in the recovery bin 14 is large. At the same time, the thickness and force compression amount of each wiping member 210 are basically stable, therefore, the total thickness of the wiping members 210 in the recovery bin 14 can be calculated by the spacing L and the movement distance of the wiping plate 200, and the number of wiping members 210 can be calculated by the total thickness, and the calculation result is more accurate. Correspondingly, the number of wiping members 210 in the clean bin 13 can also be calculated according to the above method, which will not be repeated here.

[0055] In another embodiment of the present disclosure, the controller 5 includes a counting structure for directly detecting the moving distance of the wiping plate 200. For example, the controller 5 may be a visual sensor, a laser ranging sensor, etc. When the controller 5 is a visual sensor, the controller 5 can collect the initial position H0 and the stop position of the wiping plate 200 through an optical device such as a camera, and then transmit the image to an image processing chip for processing and analysis, and finally obtain the moving distance of the wiping plate 200. When the controller 5 is a laser ranging sensor, the controller 5 can emit a laser beam to the wiping plate 200 at the initial position and the stop position, respectively, and measure the time for the laser beam to be reflected back from the surface of the wiping plate 200, calculate the distance between the laser ranging sensor and the wiping plate 200 at the initial position and the distance between the laser ranging sensor and the wiping plate 200 at the stop position, and then calculate the moving distance of the wiping plate 200.

[0056] In another embodiment of the present disclosure, the mobile unit 2 is disposed in the cleaning robot and is used to movably connect the wiping plate 200. When the wiping piece 210 connected to the wiping plate 200 needs to be replaced, the cleaning robot stops at the base station 100, and the mobile unit 2 drives the wiping plate 200 to move to the initial position. Further, the mobile unit 2 drives the wiping plate 200 to move from the initial position to the storage unit 1 along the first direction to compact the wiping piece 210 in the storage unit 1; the controller 5 calculates the movement distance of the wiping plate 200 in the first direction, and determines the number of wiping pieces 210 in the storage unit 1 according to the movement distance; then, the wiping piece 210 on the wiping plate 200 is replaced in the storage unit 1, and is taken away from the storage unit 1 by the mobile unit 2, so that the wiping plate 200 connected with the clean wiping piece 210 moves back to the bottom of the cleaning robot to complete the subsequent cleaning task according to the instruction.

[0057] It should be noted that, in the present disclosure, only the example of the controller 5 being used to calculate the movement distance of the wiping plate 200 driven by the mobile unit 2 in the first direction is used for illustration. In fact, the controller 5 can also be used to control the operation of the mobile unit 2; in addition, it should be further explained that, when the mobile unit 2 is arranged in the base station 100, the controller 5 can be arranged in the base station 100, and be integrated with or separated from the base station control structure in the base station 100 for controlling the operation of the base station 100; when the mobile unit 2 is arranged in the cleaning robot, the controller 5 can be arranged in the cleaning robot, and be integrated with or separated from the robot control structure in the cleaning robot for controlling the operation of the cleaning robot, that is, the specific installation position of the controller 5 in the present disclosure can be selected according to actual needs, and the description in the embodiments of this specification is only exemplary and should not be limited to this.

[0058] Based on the same inventive concept, corresponding to any of the above-mentioned automatic cleaning systems, the present disclosure further provides a control method of an automatic cleaning system, which is applied to the above-mentioned automatic cleaning system. The automatic cleaning system also includes a mobile unit 2, and the control method includes:

[0059] Step S1, the mobile unit 2 is used to connect the wiping plate 200 removed from the cleaning robot, and drive the wiping plate 200 to move along the first direction to the storage unit 1, so that the wiping plate 200 can complete the removal and / or sticking of the wiping member 210 in the storage unit 1;

[0060] Step S2 , calculating the movement distance of the wiping plate 200 driven by the moving unit 2 in the first direction, and determining the number of the wiping members 210 in the storage unit 1 according to the movement distance.

[0061] The control method of the automatic cleaning system disclosed in the present invention controls the mobile unit 2 to drive the wiping plate 200 to move into the storage unit 1 and compact the wiping piece 210 in the storage unit 1, and then calculates the movement distance of the wiping plate 200 in the automatic cleaning system, and infers the total thickness of the wiping piece 210 in the storage unit 1 through the movement distance, so as to more accurately identify the number of wiping pieces 210, ensure the timeliness of automatic replacement of the wiping pieces 210, and improve the operating efficiency of the cleaning robot.

[0062] When the wiping member 210 of the cleaning robot needs to be replaced, the cleaning robot docks at the base station 100 and disassembles the wiping plate 200 in the base station 100; the mobile unit 2 of the base station 100 connects to the wiping plate 200, drives the wiping plate 200 to move to the initial position above the storage unit 1, and moves from the initial position along the first direction into the storage unit 1 to compact the wiping member 210 in the storage unit 1; the controller 5 calculates the movement distance of the wiping plate 200 in the first direction, and determines the number of wiping members 210 in the storage unit 1 according to the movement distance; then, the wiping member 210 on the wiping plate 200 is replaced in the storage unit 1, and is taken away from the storage unit 1 by the mobile unit 2, and the cleaning robot continues cleaning after installing the wiping plate 200 with the replaced wiping member 210.

[0063] It should be noted that "some body" or "some part" can be a part of the corresponding "component", that is, "some body" or "some part" can be integrally formed with the "other parts of the component"; or it can be an independent component that can be separated from the "other parts of the component", that is, "some body" or "some part" can be independently manufactured and then combined with the "other parts of the component" into a whole. The expression of the above-mentioned "some body" or "some part" in this disclosure is only one of the implementation methods, for the convenience of reading, rather than limiting the scope of protection of this disclosure, as long as it contains the above-mentioned features and has the same function, it should be understood as an equivalent technical solution of this disclosure.

[0064] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims.

[0065] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. This narrative style of the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole. Under the concept of the present disclosure, the above embodiments or the technical features in different embodiments may also be appropriately combined, and there are many other variations in different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0066] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and principles of the embodiments of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. An automatic cleaning system, comprising: A cleaning robot, the cleaning robot comprising a wiping plate, the wiping plate being used for mounting a wiping member; A base station for the cleaning robot to dock, comprising a storage unit for storing wiping pieces; Characterized in that the automatic cleaning system also includes: A moving unit, used to connect the wiping plate and drive the wiping plate to move along a first direction into the storage unit, so that the wiping plate can complete the removal and / or sticking of the wiping piece in the storage unit; The controller is at least used to calculate the movement distance of the wiping plate driven by the moving unit in the first direction, and to determine the number of wiping members in the storage unit according to the movement distance.

2. The automatic cleaning system according to claim 1, characterized in that: The mobile unit and the controller are both arranged in the base station. The mobile unit includes a connecting member and a driving assembly. The connecting member is used to connect the wiping plate removed from the cleaning robot; the driving assembly is used to drive the connecting member to drive the wiping plate to move along the first direction to the storage unit.

3. The automatic cleaning system according to claim 1, characterized in that: The storage unit includes a clean bin for storing new wipers and a recovery bin for storing dirty wipers; The moving unit is configured to drive the wiping plate into the recovery bin and complete the removal of the dirty wiping member connected to the wiping plate in the recovery bin; The moving unit is also configured to drive the wiping plate into the clean bin and complete the pasting of the new wiping piece in the clean bin.

4. The automatic cleaning system according to claim 3, characterized in that: The moving unit can drive the wiping plate to move from an initial position above the storage unit to the clean bin along the first direction; The controller is used to calculate a first movement distance of the mobile unit in the first direction; When the first movement distance is less than a first threshold, the wiping member is replaced normally; When the first movement distance is greater than or equal to a first threshold, a reminder message is issued.

5. The automatic cleaning system according to claim 4, characterized in that: The reminder information includes first reminder information and second reminder information: When the first movement distance is greater than or equal to a first threshold and less than or equal to a second threshold, issuing a first reminder message; When the first movement distance is greater than a second threshold, a second reminder message is issued.

6. The automatic cleaning system according to claim 3, characterized in that: The moving unit can drive the wiping plate to move from an initial position above the storage unit to the recovery bin along the first direction; The controller is used to calculate a second movement distance of the mobile unit in the first direction; When the second movement distance is greater than a third threshold, the wiping member is replaced normally; When the second movement distance is less than or equal to the third threshold, the cleaning robot is controlled to issue a reminder message.

7. The automatic cleaning system according to claim 6, characterized in that: The reminder information includes third reminder information and fourth reminder information: When the second movement distance is less than or equal to a third threshold and greater than or equal to a fourth threshold, issuing a third reminder message; When the second movement distance is less than a fourth threshold, a fourth reminder message is issued.

8. The automatic cleaning system according to claim 1, characterized in that: The storage unit comprises an in-place detection module, and the in-place detection module is used to detect whether the storage unit reaches a target position, and when the storage unit moves to the target position, the moving unit is controlled to stop moving.

9. The automatic cleaning system according to claim 2, characterized in that: The controller includes a counting structure for detecting the number of revolutions of the driving assembly, and calculates a moving distance of the moving unit according to the detected number of revolutions.

10. A control method for an automatic cleaning system, characterized in that: The following steps are involved: The moving unit is used to connect the wiping plate and drive the wiping plate to move along the first direction into the storage unit, so that the wiping plate can complete the removal and / or sticking of the wiping piece in the storage unit; The moving distance of the wiping plate driven by the moving unit in the first direction is calculated, and the number of wiping members in the storage unit is determined according to the moving distance.

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