Cleaning assembly transportation method, device and system, electronic equipment, medium and product

Abstract

The invention provides a cleaning assembly transportation method, device and system, electronic equipment, a medium and a product, relates to the field of intelligent robots, and is applied to a cleaning system comprising cleaning equipment and a cleaning base station. The cleaning base station has a starting position, an ending position and a target position; the target position is a position where the transport vehicle starts to decelerate; the transport vehicle is used for transporting the cleaning assembly from the starting position to the ending position; comprising the steps that a transport vehicle is controlled to transport a to-be-transported cleaning assembly from an initial position to a target position based on a first speed; after the cleaning assembly arrives at the target position, the transport vehicle is controlled to transport the cleaning assembly from the target position to the termination position based on the second speed, so that transportation of the cleaning assembly is achieved; as the first speed is greater than the second speed, the kinetic energy of the transport vehicle is reduced by reducing the speed in advance at the target position, so that the transport vehicle is more easily and accurately stopped at the termination position, and therefore, the transport vehicle can be accurately aligned with the placement or replacement position of the cleaning assembly, and time waste and reduction of transport efficiency are reduced.

Description

Technical Field

[0001] The present application relates to the field of intelligent robots, and in particular to a cleaning component transportation method, device, system, electronic equipment, medium and product. Background Art

[0002] In the design and application of cleaning equipment, a variety of types of cleaning components can be installed to meet the needs of different users and the material types of the surfaces to be cleaned. Since the material of each surface to be cleaned has different requirements for cleaning components, realizing the automatic replacement of cleaning components is an important development in smart home cleaning technology.

[0003] In the prior art, various types of cleaning components can be pre-stored in the cleaning base station. When the cleaning equipment replaces the cleaning components, the cleaning components to be replaced and the disassembled cleaning components can be transported to the corresponding locations based on the transport vehicle in the cleaning base station to realize the replacement of the cleaning components.

[0004] However, due to the lack of sufficient positioning accuracy, the transport vehicle cannot accurately align the replacement and placement positions of the cleaning components, which in turn leads to a waste of replacement time and reduced efficiency. Summary of the invention

[0005] The present application provides a cleaning component transportation method, device, system, electronic device, medium and product. In the process of transporting cleaning components based on a transport vehicle, by planning the deceleration target position in advance, the transport vehicle is controlled to run from the starting position to the target position at a first speed, and then to the end position at a second speed. While saving time, the transport vehicle can also be accurately aligned with the replacement and placement position of the cleaning components, thereby improving overall efficiency.

[0006] In a first aspect, the present application provides a cleaning component transport method, which is applied to a cleaning system; the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a transport vehicle and at least one type of cleaning component; the cleaning base station has a starting position, an ending position, and a target position; when the starting position is a position for storing the cleaning component, the ending position is a position for replacing the cleaning component; when the starting position is a position for replacing the cleaning component, the ending position is a position for storing the cleaning component; the target position is a position where the transport vehicle starts to decelerate; the transport vehicle is used to transport the cleaning component from the starting position to the ending position; the method includes:

[0007] Controlling the transport vehicle to transport the cleaning component to be transported from a starting position to a target position based on a first speed; the target position is between the starting position and the ending position;

[0008] After the transport vehicle arrives at the target position, the transport vehicle is controlled to transport the cleaning component to be transported from the target position to the end position based on the second speed to realize the transportation of the cleaning component; the first speed is greater than the second speed.

[0009] The use of a lower second speed near the end position makes the movement of the transport carriage more controlled. This lower speed allows for more precise positioning, ensuring that the transport carriage can be accurately aligned with the replacement and placement position of the cleaning component.

[0010] It can be understood that the lower second speed means that the transport vehicle has smaller kinetic energy and inertia, and can respond to braking more quickly to reduce the deviation caused by inertia, so that the transport vehicle can stop more accurately at the end position, and the low-speed driving reduces the impact and vibration of the transport vehicle when stopping, reduces the potential risk of damage to cleaning components and cleaning equipment, and improves the safety of transportation operations.

[0011] Therefore, by accurately aligning the replacement and placement positions of cleaning components, the number of adjustments required during the replacement and placement process is reduced, thereby shortening the operation time and improving the overall efficiency. Precise positioning can also reduce failures and downtime caused by inaccurate positioning, thereby improving the reliability and availability of the cleaning system.

[0012] Optionally, when the starting position is a first storage position for storing a first cleaning component to be installed on the cleaning device, and the ending position is a replacement position for receiving the first cleaning component, controlling the transport vehicle to transport the cleaning component to be transported from the starting position to the target position based on a first speed, and after the transport vehicle arrives at the target position, controlling the transport vehicle to transport the cleaning component to be transported from the target position to the ending position based on a second speed, so as to realize the transportation of the cleaning component, including:

[0013] determining a first target location;

[0014] Controlling the transport vehicle to transport the first cleaning component from the first storage location to the first target location based on a first speed;

[0015] After the transport vehicle reaches the first target position, the transport vehicle is controlled to transport the first cleaning component from the first target position to the replacement position based on the second speed to achieve replacement of the cleaning component.

[0016] In this way, by using a higher first speed in the initial stage, the transport vehicle can quickly approach the first target position, thereby improving the overall transport efficiency, and using a lower second speed when approaching the replacement position, the transport vehicle can more accurately align with the replacement position and reduce installation errors. The precise positioning reduces the number of adjustments required during the replacement process, thereby shortening the operation time and improving the overall replacement efficiency. The low-speed driving reduces the impact and vibration of the transport vehicle when it stops, reducing the potential risk of damage to the cleaning components and cleaning equipment.

[0017] Optionally, the cleaning base station has a plurality of storage locations for storing at least one type of cleaning component; determining the first target location comprises:

[0018] Determine a third storage position closest to the replacement position from the plurality of storage positions; the first target position is between the third storage position and the replacement position;

[0019] A first preset time is determined, and a first target position is determined based on the first preset time and the first speed; the first preset time is the time during which the transport vehicle runs at the first speed between the third storage position and the replacement position.

[0020] Therefore, the present application reduces the transportation distance and time and improves the overall transportation efficiency by selecting the third storage position closest to the replacement position. When approaching the replacement position, the transport vehicle can accurately start to decelerate at the first target position, thereby improving the positioning accuracy of the replacement position. By determining the first preset time, the transport path and transport speed are optimized to ensure that the transport vehicle accurately stops at the replacement position and decelerates after the first preset time, thereby shortening the movement time of the transport vehicle.

[0021] Optionally, determining the first preset time includes:

[0022] Obtaining the historical running time of the transport vehicle between the third storage position and the replacement position and the historical deceleration time of the transport vehicle;

[0023] The first preset time is determined based on the historical operating time and the historical deceleration time.

[0024] In this way, based on the historical operating time and the historical deceleration time, a reasonable first preset time is calculated. By reasonably determining the first preset time, the first target position is determined based on the first preset time and the first speed, thereby ensuring that the transport vehicle can start to decelerate at the reasonable first target position, thereby improving transportation efficiency. Since the present application uses historical data for analysis, it can more accurately predict the operating time of the transport vehicle in the current transport task, improve the accuracy of time scheduling, reduce errors and failures caused by improper time scheduling, and improve the reliability of the cleaning system.

[0025] Optionally, the method further includes:

[0026] Before the cleaning system replaces the cleaning component, the transport vehicle is controlled to reciprocate between the replacement position and the fourth storage position farthest from the replacement position, and the historical running time between any two positions is obtained;

[0027] Determine the historical deceleration time required for the transport vehicle to slow down to a stop between any two locations.

[0028] Therefore, by obtaining and analyzing the historical operating time and historical deceleration time, the speed and deceleration strategy of the transport vehicle can be optimized to improve transportation efficiency. By understanding the operating characteristics of the transport vehicle between different positions, its movement can be controlled more accurately to ensure the accuracy of the replacement process. The data obtained through reciprocating motion can help the transport vehicle adapt to the transportation task requirements in different application scenarios and improve the flexibility of the cleaning system.

[0029] Optionally, when the starting position is a replacement position for receiving the second cleaning component removed from the cleaning device, and the ending position is a second storage position for storing the second cleaning component, the transport vehicle is controlled to transport the cleaning component to be transported from the starting position to the target position based on a first speed, and after the transport vehicle arrives at the target position, the transport vehicle is controlled to transport the cleaning component to be transported from the target position to the ending position based on a second speed, so as to realize the transportation of the cleaning component, including:

[0030] determining a second target location;

[0031] Controlling the transport vehicle to transport the second cleaning component from the replacement position to the second target position based on the first speed;

[0032] After the transport vehicle arrives at the second target position, the transport vehicle is controlled to transport the second cleaning component from the second target position to the second storage position based on the second speed to achieve storage of the cleaning component.

[0033] In this way, by using a higher first speed in the initial stage, the transport vehicle can quickly approach the second target position, thereby improving the overall transport efficiency, and by using a lower second speed when approaching the second storage position, the transport vehicle can more accurately align with the second storage position and reduce storage errors. The precise positioning reduces the number of adjustments required during the storage process, thereby shortening the operation time and improving the overall storage efficiency. The low-speed driving reduces the impact and vibration of the transport vehicle when it stops, reducing the potential risk of damage to cleaning components and cleaning equipment.

[0034] Optionally, determining a second target position includes:

[0035] determining a fifth storage position located before the second storage position; the second target position is between the second storage position and the fifth storage position;

[0036] A second preset time is determined, and a second target position is determined based on the second preset time and the first speed; the second preset time is the time during which the transport vehicle runs at the first speed between the second storage position and the fifth storage position.

[0037] Therefore, the present application reduces the transportation distance and time and improves the overall transportation efficiency by selecting the appropriate fifth storage position and the second target position. When approaching the second storage position, the transport vehicle can accurately start to decelerate at the second target position, thereby improving the positioning accuracy of the second storage position. By determining the second preset time, the transportation path and transportation speed are optimized to ensure that the transport vehicle accurately stops at the second storage position and decelerates after the second preset time, thereby shortening the movement time of the transport vehicle.

[0038] Optionally, determining the second preset time includes:

[0039] Obtaining a historical running time of the transport vehicle between the second storage location and the fifth storage location and a historical deceleration time of the transport vehicle;

[0040] The second preset time is determined based on the historical operating time and the historical deceleration time.

[0041] In this way, based on the historical operating time and the historical deceleration time, a reasonable second preset time is calculated. By reasonably determining the second preset time, it is ensured that the transport vehicle can start to decelerate at a reasonable time point, thereby improving transportation efficiency. Since this application uses historical data for analysis, it can more accurately predict the operating time of the transport vehicle in the current transportation task, improve the accuracy of time scheduling, reduce errors and failures caused by improper time scheduling, and improve the reliability of the cleaning system.

[0042] Optionally, the cleaning base station further includes a position sensor; the position sensor is used to locate the position reached by the transport vehicle; the method further includes:

[0043] determining whether the transport vehicle is located at the end position based on a sensor signal generated by the position sensor;

[0044] If not, the transport vehicle is controlled to move toward the end position based on a third speed until it is determined based on the sensor signal that the transport vehicle is located at the end position; the third speed is less than the second speed.

[0045] In this way, by using the third speed to fine-tune the position, the transport vehicle can be more accurately aligned with the end position, reducing positioning errors, and through precise speed control, repeated adjustments due to inaccurate positioning are reduced, thereby improving operational efficiency. Therefore, through precise alignment of the end position and speed control, abnormal situations caused by inaccurate positioning are reduced and the stability of the cleaning system is improved.

[0046] Optionally, the position sensor is a position detection switch, and when the transport vehicle is aligned with the position detection switch, the position detection switch generates an optocoupler signal.

[0047] Among them, the position detection switch can provide precise position detection to ensure that the transport vehicle can be accurately aligned when it arrives at a specific position, and then quickly respond to the arrival of the transport vehicle and generate an optocoupler signal. The optocoupler signal transmission has good anti-electromagnetic interference capability and can ensure accurate signal transmission. Compared with other types of high-precision position sensors, the position detection switch is usually low in cost, suitable for large-scale applications, and has good cost-effectiveness. In addition, the installation and use of the position detection switch is relatively simple, and does not require complicated settings and calibration, which reduces the complexity and maintenance cost of the cleaning system.

[0048] Optionally, the cleaning base station also includes a cleaning disk and multiple storage disks; each storage disk corresponds to a storage position; the cleaning disk corresponds to a replacement position; the multiple storage disks are used to store at least one type of cleaning components; the replacement position is deployed with a position detection switch; each storage position is deployed with a position detection switch, or the storage positions corresponding to the storage disks on the same horizontal line are deployed with position detection switches.

[0049] In this way, a position detection switch is deployed at each storage position and replacement position to ensure that the cleaning components and cleaning trays can be accurately positioned and aligned, thereby improving the accuracy of cleaning component replacement and storage and reducing the risk of misoperation. In addition, the position detection switch can automatically detect whether the transport vehicle has arrived at the correct position, thereby improving the reliability of the cleaning system, reducing failures and downtime caused by misalignment or failure to arrive at the terminal position correctly, and improving overall efficiency.

[0050] Optionally, controlling the transport vehicle to move toward the end position based on the third speed until it is determined based on the sensor signal that the transport vehicle is at the end position comprises:

[0051] After determining that the optocoupler signal at the end position is not triggered, controlling the transport vehicle to move in the first direction based on the third speed until the optocoupler signal at the end position is triggered and stops moving;

[0052] After determining that the optocoupler signal at the end position has been triggered but is not currently triggered, the transport vehicle is controlled to move in the second direction based on the third speed until the optocoupler signal at the end position is triggered and stops moving; the first direction and the second direction are opposite.

[0053] In this way, by using the optocoupler signal to fine-tune the position, the transport vehicle can be more accurately aligned with the end position, reducing positioning errors. Through precise optocoupler signal detection, repeated adjustments due to inaccurate position are reduced, improving overall operating efficiency. Furthermore, through more accurate position control, the transport vehicle can be better dispatched and the utilization efficiency of the entire cleaning system can be improved.

[0054] Optionally, the method further includes:

[0055] When there is a third cleaning component to be updated in the cleaning base station, determining a sixth storage location corresponding to the third cleaning component;

[0056] Determine a third target position; the third target position is between the sixth storage position and the end position; the end position is a replacement position for receiving the third cleaning component;

[0057] Controlling the transport vehicle to transport the third cleaning component from the sixth storage location to the third target location based on the first speed;

[0058] After the transport vehicle reaches the third target position, the transport vehicle is controlled to transport the third cleaning component from the third target position to the replacement position based on the second speed, and a prompt message is generated to remind the user to take away the third cleaning component.

[0059] Therefore, during the updating process of the cleaning components, a higher first speed can be used in the initial stage to allow the transport vehicle to quickly approach the replacement area, thereby improving the overall transport efficiency, and a lower second speed can be used when approaching the replacement position to allow the transport vehicle to more accurately align with the replacement position, thereby reducing delivery errors. By generating prompt information, users can be informed of the arrival of the cleaning components to be updated in a timely manner, thereby reducing the adjustment and waiting time required during the updating process and improving user participation and satisfaction.

[0060] Optionally, the method further includes:

[0061] In response to the user taking away the third cleaning component and placing the updated fourth cleaning component, a fourth target position is determined; the fourth target position is between the sixth storage position and the seventh storage position; the seventh storage position is a position before the sixth storage position;

[0062] Controlling the transport vehicle to transport the fourth cleaning component from the replacement position to the fourth target position based on the first speed;

[0063] After the transport vehicle arrives at the fourth target position, the transport vehicle is controlled to transport the fourth cleaning component from the fourth target position to the sixth storage position based on the second speed to achieve the update of the cleaning component.

[0064] In this way, with the help of the transport vehicle, the user can manually replace the old cleaning component in the storage disk. That is, in response to the user's operation, the transport vehicle quickly approaches the fourth target position by using a higher first speed in the initial stage to improve the overall transportation efficiency, and uses a lower second speed when approaching the sixth storage position, so that the transport vehicle can more accurately align with the storage position. This human-machine cooperation method improves the overall update efficiency.

[0065] In a second aspect, the present application provides a cleaning component transport device, which is applied to a cleaning system; the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a transport vehicle and at least one type of cleaning component; the cleaning base station has a starting position, an ending position and a target position; when the starting position is a position for storing the cleaning component, the ending position is a position for replacing the cleaning component; when the starting position is a position for replacing the cleaning component, the ending position is a position for storing the cleaning component; the target position is a position where the transport vehicle starts to decelerate; the transport vehicle is used to transport the cleaning component from the starting position to the ending position; the device includes:

[0066] A control module, used to control the transport vehicle to transport the cleaning component to be transported from a starting position to a target position based on a first speed; the target position is between the starting position and the ending position;

[0067] The transport module is used to control the transport vehicle to transport the cleaning components to be transported from the target position to the end position based on the second speed after the transport vehicle arrives at the target position, so as to realize the transportation of the cleaning components; the first speed is greater than the second speed.

[0068] In a third aspect, the present application provides a cleaning system, which includes: a cleaning device and a cleaning base station; the cleaning base station includes a transport vehicle and at least one type of cleaning component; the cleaning base station has a starting position, an ending position and a target position; when the starting position is a position for storing the cleaning component, the ending position is a position for replacing the cleaning component; when the starting position is a position for replacing the cleaning component, the ending position is a position for storing the cleaning component; the target position is the position where the transport vehicle starts to decelerate; the transport vehicle is used to transport the cleaning component from the starting position to the ending position; the cleaning system is used to perform a method as described in any one of the first aspects.

[0069] In a fourth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0070] Memory stores computer-executable instructions;

[0071] The processor executes the computer-executable instructions stored in the memory to implement any method as described in the first aspect.

[0072] In a fifth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement any method as in the first aspect.

[0073] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which implements any method in the first aspect when executed by a processor.

[0074] It should be noted that the second to sixth aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

[0075] In summary, the present application provides a cleaning component transportation method, device, system, electronic device, medium and product. By determining a key position of a cleaning base station - a target position, the transport vehicle is decelerated in advance at the target position so that the transport vehicle stops accurately at the end position during the process of transporting the cleaning component. The target position is the position where the transport vehicle starts to decelerate and is located between the starting position and the end position. When the starting position is a position for storing the cleaning component, the end position is a position for replacing the cleaning component. The transport vehicle moves between the starting position and the end position to realize the replacement of the cleaning component; when the starting position is a position for replacing the cleaning component, the end position is a position for storing the cleaning component. The position of the cleaning component, the transport vehicle moves between the starting position and the ending position, is used to realize the storage of the cleaning component; specifically, the transport vehicle starts from the starting position at a higher first speed, and transports the cleaning component to be transported to the target position. The high speed in this stage is intended to shorten the transportation time and improve the transportation efficiency. Once the transport vehicle arrives at the target position, the transport vehicle starts to decelerate and continues to transport the cleaning component to the ending position at a lower second speed. The purpose of deceleration is to improve the transportation accuracy and ensure that the transport vehicle can accurately reach the ending position. In this way, the transport vehicle can more accurately align with the placement or replacement position of the cleaning component, reducing the time waste and reduced transportation efficiency caused by inaccurate positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0077] Figure 1 A partial structural schematic diagram of a cleaning system provided in an embodiment of the present application;

[0078] Figure 2 A schematic cross-sectional structure diagram of a cleaning base station provided in an embodiment of the present application;

[0079] Figure 3A schematic diagram of the structure of a transport track provided in an embodiment of the present application;

[0080] Figure 4 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0081] Figure 5 A schematic diagram of a flow chart of a cleaning component transportation method provided in an embodiment of the present application;

[0082] Figure 6 A schematic diagram of the structure of a cleaning component transport device provided in an embodiment of the present application;

[0083] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0084] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0085] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0086] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0087] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0088] Since different types of materials of the surface to be cleaned require corresponding types of cleaning components for cleaning, the problem of replacing the cleaning components arises, that is, after determining the material type of the surface to be cleaned, how to replace the cleaning components of the cleaning equipment with cleaning components that match the material type of the surface to be cleaned.

[0089] In the related art, since various types of cleaning components are pre-stored in the cleaning base station, when the cleaning equipment replaces the cleaning components, the cleaning components to be replaced and the disassembled cleaning components can be transported to the corresponding locations based on the transport vehicle in the cleaning base station to realize the replacement of the cleaning components.

[0090] Exemplarily, during the execution of a cleaning task, the cleaning device can identify the material of the surface to be cleaned to determine the material type of the surface to be cleaned. The material type may include smooth tile surfaces, wooden panels, marble, non-smooth tile surfaces, etc. The embodiment of the present application does not specifically limit the material type; each material type corresponds to a matching cleaning component. Therefore, during the execution of a cleaning task, the cleaning device can use a cleaning component that matches the material type to clean the surface to be cleaned to optimize the cleaning effect.

[0091] Among them, to clean the surface to be cleaned using a cleaning component that matches the material type, it is necessary to determine whether the type of the current cleaning component installed on the cleaning device matches the material type of the surface to be cleaned; if they match, continue to use the currently installed cleaning component to clean the surface to be cleaned; if they do not match, the cleaning device returns to the cleaning base station, replaces the target cleaning component that matches the material type of the surface to be cleaned, and then returns to the surface to be cleaned, and uses the target cleaning component to clean the surface to be cleaned.

[0092] Optionally, the cleaning device returns to the cleaning base station and the process of replacing the target cleaning component that matches the material type of the surface to be cleaned includes: the cleaning device returns to the cleaning base station and docks with the cleaning base station, and then the cleaning device disassembles the currently installed cleaning component and places the current cleaning component at the replacement position of the replaceable cleaning component of the cleaning base station, and then the cleaning device leaves the cleaning base station.

[0093] Furthermore, the transport vehicle on the cleaning base station moves from any placement position of the cleaning component to the replacement position through the transport rail, and then the transport vehicle picks up the current cleaning component, and further returns to the empty placement position in the cleaning base station, removes the current cleaning component from the transport vehicle, and places it in the empty placement position.

[0094] After the transport vehicle is empty, the transport vehicle can move to the placement position for placing the target cleaning component, pick up the target cleaning component and place it on the transport vehicle, then the transport vehicle moves to the replacement position, removes the target cleaning component from the transport vehicle and places it at the replacement position, and then the transport vehicle returns to any position where the cleaning component can be placed.

[0095] Furthermore, the cleaning device enters and docks with the cleaning base station, and the target cleaning component at the replacement position is installed on the cleaning component sleeve of the cleaning device itself, thereby achieving the installation of the cleaning component.

[0096] However, due to the lack of sufficient positioning accuracy, the transport vehicle cannot accurately align the replacement and placement positions of the cleaning components, resulting in a waste of replacement time and reduced efficiency.

[0097] In view of the above problems, the present application provides a cleaning component transportation method, by determining a key position of a cleaning base station - a target position, decelerating in advance at the target position, so that the transport vehicle can accurately stop at the end position during the process of transporting the cleaning component. The target position is the position where the transport vehicle starts to decelerate, and is located between the starting position and the end position. When the starting position is a position for storing the cleaning component, the end position is a position for replacing the cleaning component. The transport vehicle moves between the starting position and the end position to achieve the replacement of the cleaning component; when the starting position is a position for replacing the cleaning component, the end position is a position for storing the cleaning component. The transport vehicle moves between the starting position and the ending position to realize the storage of the cleaning components; specifically, the transport vehicle starts from the starting position at a higher first speed to transport the cleaning components to the target position. The high speed in this stage is intended to shorten the transportation time and improve the transportation efficiency. Once the transport vehicle arrives at the target position, the transport vehicle starts to decelerate and continues to transport the cleaning components to the ending position at a lower second speed. The purpose of deceleration is to improve the transportation accuracy and ensure that the transport vehicle can accurately reach the ending position. In this way, the transport vehicle can more accurately align with the placement or replacement position of the cleaning components, reducing the time waste and reduced transportation efficiency caused by inaccurate positioning.

[0098] Optionally, the cleaning component transportation method provided in the present application is applied to a cleaning system, exemplarily, Figure 1 A partial structural diagram of a cleaning system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the cleaning system 300 includes a cleaning device 100 and a cleaning base station 200; the cleaning base station 200 includes a transport vehicle 202 and at least one type of cleaning component 201; the cleaning base station 200 has a starting position, an ending position and a target position; when the starting position is a position for storing cleaning components, the ending position is a position for replacing cleaning components; when the starting position is a position for replacing cleaning components, the ending position is a position for storing cleaning components; the target position is the position where the transport vehicle 202 starts to decelerate; the transport vehicle 202 is used to transport the cleaning components from the starting position to the ending position. In order to enable the transport vehicle 202 to transport the cleaning components from the starting position to the ending position, the cleaning base station 200 also includes a transport track to provide a moving path for the movement of the transport vehicle.

[0099] For example, Figure 2 A schematic cross-sectional structure diagram of a cleaning base station provided in an embodiment of the present application is shown as follows: Figure 2As shown, the cleaning base station 200 includes a transport vehicle 202, three types of cleaning components 201 and a transport track 203. The transport vehicle 202 is used to transport the three types of cleaning components, pick up the disassembled current cleaning components from the replacement position, and transport the disassembled current cleaning components to the placement position for storage; it should be noted that the embodiment of the present application does not specifically limit the type and quantity of the cleaning components 201, and the above is only an example.

[0100] For example, Figure 3 A schematic diagram of the structure of a transport track provided in an embodiment of the present application, such as Figure 3 As shown, the transport track 203 is bent to form a lifting section and a translation section. The transport vehicle 202 can move to the side of the placement position along the lifting section based on the transport track 203, and can move to the top of the replacement position along the translation section.

[0101] Optionally, the cleaning base station 200 includes multiple storage disks and cleaning disks, the multiple storage disks are used to store at least one type of cleaning components and detachably fix the cleaning components, the multiple storage disks are distributed from top to bottom on the side walls of the cleaning base station, the bottom of the storage disks is roughly parallel to the side walls of the cleaning base station, each storage disk corresponds to a storage position, i.e., a placement position, and the cleaning disk corresponds to a replacement position.

[0102] Optionally, the cleaning base station 200 further includes a position sensor 204; the position sensor 204 is used to locate the position where the transport vehicle 202 arrives; illustratively, the position sensor 204 can be a position detection switch, such as Figure 2 As shown, each storage position is deployed with a position detection switch, and the position detection switch can be deployed at the center of each storage disk. The embodiment of the present application does not specifically limit the deployment position of the position detection switch. For example, the position detection switch can also be deployed at any position on the storage position corresponding to the storage disk on the same horizontal line, such as Figure 2 The deployment position of the position detection switch can be any position on the dotted line shown in , so that when the transport vehicle 202 passes through the deployment position, the position detection switch generates a signal change, indicating that the transport vehicle 202 is currently at the center of the storage disk.

[0103] Similarly, a position detection switch (not shown in the figure) is also provided at the cleaning disc to ensure that the transport vehicle 202 can be accurately stopped at the position of the cleaning disc through the positioning of the position detection switch, so as to facilitate the installation and removal of the cleaning components.

[0104] In this way, a position detection switch is deployed at each storage position and replacement position to ensure that the cleaning components and cleaning trays can be accurately positioned and aligned, thereby improving the accuracy of cleaning component replacement and storage and reducing the risk of misoperation. In addition, the position detection switch can automatically detect whether the transport vehicle has arrived at the correct position, thereby improving the reliability of the cleaning system, reducing failures and downtime caused by misalignment or failure to arrive at the terminal position correctly, and improving overall efficiency.

[0105] Optionally, the position detection switch may be an optical coupler. The embodiment of the present application does not specifically limit the device type of the position sensor 204 , and it only needs to locate the position of the transport vehicle 202 .

[0106] Optionally, when the transport vehicle 202 is aligned with the position detection switch, the position detection switch generates an optocoupler signal.

[0107] The position detection switch can provide precise position detection to ensure that the transport vehicle 202 can be accurately aligned when it reaches a specific position, and then quickly respond to the arrival of the transport vehicle 202 to generate an optocoupler signal. The optocoupler signal transmission has good anti-electromagnetic interference capability and can ensure accurate signal transmission. Compared with other types of high-precision position sensors, position detection switches are usually lower in cost, suitable for large-scale applications, and have good cost-effectiveness. In addition, the installation and use of position detection switches are relatively simple, and do not require complicated settings and calibration, which reduces the complexity and maintenance costs of the cleaning system.

[0108] Optionally, the cleaning device 100 includes a cleaning robot, and the cleaning component 201 includes a rag component of the cleaning robot; wherein the cleaning robot includes a sweeping robot, a mopping robot, a floor washing robot, a sweeping and mopping robot, or any other automatic cleaning device with a cleaning function; the cleaning component may include a rag component of the cleaning robot, and the rag component may be a rag disc component such as a round rag, a triangular rag, or the like. The embodiments of the present application do not specifically limit the types of the cleaning device 100 and the cleaning component 201.

[0109] For example, Figure 4 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 4 As shown, the application scenario includes a cleaning device 100 and a cleaning base station 200. Taking the cleaning device 100 as a sweeping robot as an example, when it is determined that the cleaning component currently used by the sweeping robot does not match the material type of the surface to be cleaned, the sweeping robot returns to the cleaning base station and replaces the target cleaning component that matches the material type of the surface to be cleaned.

[0110] Among them, the cleaning base station 200 includes at least one type of cleaning component, a transport vehicle, a cleaning tray and multiple storage trays; optionally, after the sweeping robot returns to the cleaning base station 200, it docks with the cleaning base station 200, and then the sweeping robot disassembles the currently installed cleaning component, places the currently installed cleaning component on the cleaning tray of the cleaning base station 200, and then leaves the cleaning base station 200.

[0111] In this way, the transport vehicle on the cleaning base station 200 moves from any storage disk to the position of the cleaning disk, and then the transport vehicle picks up the currently installed cleaning component, and transports the currently installed cleaning component from the position of the cleaning disk to the first target position based on the first speed. After the transport vehicle arrives at the first target position, the transport vehicle is controlled to transport the currently installed cleaning component from the first target position to the position of the empty storage disk based on the second speed, and the currently installed cleaning component is disassembled and placed at the position of the empty storage disk to realize the storage of the currently installed cleaning component.

[0112] Optionally, after the transport cart is empty, the transport cart moves to the position on the storage disk where the target cleaning component is stored, picks up the target cleaning component and places it on the transport cart, and the transport cart transports the target cleaning component to a second target position based on the first speed. After the transport cart arrives at the second target position, the transport cart is controlled to transport the target cleaning component from the second target position to a position above the cleaning disk based on the second speed, the target cleaning component is removed from the transport cart and placed on the cleaning disk, and the transport cart returns to any position on the storage disk.

[0113] Furthermore, the sweeping robot enters and docks with the cleaning base station 200, and installs the target cleaning component on the cleaning disc onto its own cleaning component sleeve.

[0114] It should be noted that there are a series of positions in the cleaning base station 200, including cleaning disk position 0, cleaning component 1 position 1, cleaning component 2 position 2, ..., cleaning component N position N, and their corresponding position relationships are from bottom to top, that is, cleaning disk position 0 is located at the bottom of all positions, and cleaning component N position N is located at the top of all positions. The transport vehicle stops at each position, and the above-mentioned cleaning component transportation method can be used, which will not be repeated in detail in the embodiments of the present application.

[0115] Optionally, each cleaning component has a corresponding material type that is most suitable for cleaning, so a mapping relationship of material type-cleaning component type-storage location can be formed. In this way, after determining the material type, the required cleaning component type can be accurately located, and then the target storage location can be determined.

[0116] In this way, since the first speed is lower than the second speed, the transport vehicle is controlled to decelerate in advance at the target position, and can then accurately stop at the end position.

[0117] It is understandable that the transport vehicle has greater kinetic energy and inertia when traveling at high speed. Stopping directly at high speed may cause it to exceed the end position. By decelerating in advance at the target position, the kinetic energy of the transport vehicle is reduced, making it easier to stop accurately at the end position. Moreover, a lower speed means a shorter braking distance. This smooth deceleration process reduces the shaking or impact that may occur when the transport vehicle stops, allowing the transport vehicle to stop safely in a shorter distance.

[0118] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0119] Figure 5 A schematic diagram of a cleaning component transportation method provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the clean component transport method is used for Figure 1 The cleaning system shown; the cleaning component transportation method comprises the following steps:

[0120] S501, controlling the transport vehicle to transport the cleaning component to be transported from the starting position to the target position based on a first speed; the target position is between the starting position and the ending position.

[0121] In an embodiment of the present application, the first speed may refer to the driving speed of the transport vehicle between the starting position and the target position. The target position is the position where the transport vehicle starts to decelerate in this transport task, and is located between the starting position and the ending position. The starting position is the position where the transport vehicle starts the transport task, which is usually the storage position or replacement position of the cleaning component; the ending position is the final destination of the transport task, which is usually the replacement position or storage position of the cleaning component. There is a mapping relationship between the starting position and the ending position, that is, when the starting position is the storage position, the ending position is the replacement position, and when the starting position is the replacement position, the ending position is the storage position.

[0122] The replacement position is Figure 4 In the application scenario shown, the storage position is above the cleaning plate. Figure 4 The location of the storage disk in the application scenario shown.

[0123] For example, when the cleaning device is performing a cleaning task, if the material of the surface to be cleaned is identified as a wooden surface board, and the type of cleaning component currently installed on the cleaning device is used to clean smooth tile surfaces, then the cleaning device can be controlled to return to the cleaning base station and replace the target cleaning component suitable for cleaning wooden surfaces.

[0124] After the cleaning device returns to the cleaning base station, it docks with the cleaning base station, and then the cleaning device disassembles the currently installed cleaning component, places the currently installed cleaning component at the replacement position, and then leaves the cleaning base station; further, the transport vehicle on the cleaning base station moves from any storage position to the replacement position, the transport vehicle picks up the currently installed cleaning component, and then transports the currently installed cleaning component to the empty storage position.

[0125] Optionally, after the transport vehicle is empty, the transport vehicle moves to a storage location of a target cleaning component suitable for cleaning the wooden surface board, picks up the target cleaning component and places it on the transport vehicle, and then transports the target cleaning component to a replacement location.

[0126] The process of the transport vehicle transporting the cleaning component from the replacement position to the storage position or from the storage position to the replacement position corresponds to S501-502. For details, please refer to Figure 4 The description of the illustrated embodiment will not be repeated here.

[0127] It should be noted that the first speed is determined based on multiple factors such as the transport efficiency of the transport vehicle, the space size of the cleaning base station, the performance of the transport vehicle, and the weight and size of the cleaning components. For example, under the premise of ensuring safety and the performance of the transport vehicle, the transportation from the starting position to the target position is completed at a higher first speed to improve the overall transportation efficiency. Alternatively, the first speed is determined by considering factors such as the braking performance, acceleration, and maximum drivable speed of the transport vehicle. The embodiment of the present application does not specifically limit the determining factors and size of the first speed.

[0128] S502: After the transport vehicle arrives at the target position, control the transport vehicle to transport the cleaning component to be transported from the target position to the end position based on the second speed to realize the transportation of the cleaning component; the first speed is greater than the second speed.

[0129] In the embodiment of the present application, the second speed is the driving speed of the transport vehicle from the target position to the end position, and the second speed is lower than the first speed. The second speed can be driving at the target position at the second speed, and then decelerating at a predetermined acceleration until the speed is close to 0, so that the transport vehicle stops at the end position, or the second speed is a very small speed, and then after the transport vehicle drives to the end position based on the second speed, a braking strategy is immediately adopted to stop the transport vehicle at the end position. The embodiment of the present application does not specifically limit the speed of the transport vehicle at each position or each moment in the driving process between the target position and the end position based on the second speed. It can also first drive at a constant speed based on the second speed, and then decelerate at a predetermined acceleration to make the transport vehicle stop at the end position.

[0130] It should be noted that the second speed can be determined based on factors such as the braking distance, positioning accuracy, and inertia of the transport vehicle. For example, the second speed can be determined based on the shortest braking distance of the transport vehicle, or when approaching the terminal position, the transport vehicle can be driven at a lower second speed to ensure the positioning accuracy of the transport vehicle and ensure that it stops accurately at the terminal position. The embodiment of the present application does not specifically limit the determining factors and size of the second speed.

[0131] The use of a lower second speed near the end position makes the movement of the transport carriage more controlled. This lower speed allows for more precise positioning, ensuring that the transport carriage can be accurately aligned with the replacement and placement position of the cleaning component.

[0132] It can be understood that the lower second speed means that the transport vehicle has smaller kinetic energy and inertia, and can respond to braking more quickly to reduce the deviation caused by inertia, so that the transport vehicle can stop more accurately at the end position, and the low-speed driving reduces the impact and vibration of the transport vehicle when stopping, reduces the potential risk of damage to cleaning components and cleaning equipment, and improves the safety of transportation operations.

[0133] Therefore, by accurately aligning the replacement and placement positions of cleaning components, the number of adjustments required during the replacement and placement process is reduced, thereby shortening the operation time and improving the overall efficiency. Precise positioning can also reduce failures and downtime caused by inaccurate positioning, thereby improving the reliability and availability of the cleaning system.

[0134] Optionally, when the starting position is a first storage position for storing a first cleaning component to be installed on the cleaning device, and the ending position is a replacement position for receiving the first cleaning component, controlling the transport vehicle to transport the cleaning component to be transported from the starting position to the target position based on a first speed, and after the transport vehicle arrives at the target position, controlling the transport vehicle to transport the cleaning component to be transported from the target position to the ending position based on a second speed, so as to realize the transportation of the cleaning component, including:

[0135] determining a first target location;

[0136] Controlling the transport vehicle to transport the first cleaning component from the first storage location to the first target location based on a first speed;

[0137] After the transport vehicle reaches the first target position, the transport vehicle is controlled to transport the first cleaning component from the first target position to the replacement position based on the second speed to achieve replacement of the cleaning component.

[0138] In an embodiment of the present application, the first target position is an intermediate position point between the first storage position and the replacement position of the transport vehicle, and is the position point where the transport vehicle starts to decelerate. By selecting an appropriate first target position, the speed of the transport vehicle can be adjusted when it approaches the replacement position, thereby improving the positioning accuracy.

[0139] Exemplarily, the transport vehicle departs from the first storage location at a first speed and transports the first cleaning component to the first target location. For example, according to a predetermined path, the transport vehicle can travel at a higher first speed to improve transportation efficiency. The embodiment of the present application does not specifically limit the predetermined path, and the predetermined path is at least a portion of the transport track.

[0140] Furthermore, after the transport vehicle reaches the first target position, it starts to decelerate, that is, the transport vehicle continues to travel from the first target position to the replacement position based on the second speed. At a lower speed, the transport vehicle can be more accurately aligned with the replacement position to ensure accurate replacement of the cleaning component.

[0141] In this way, by using a higher first speed in the initial stage, the transport vehicle can quickly approach the first target position, thereby improving the overall transport efficiency, and using a lower second speed when approaching the replacement position, the transport vehicle can more accurately align with the replacement position and reduce installation errors. The precise positioning reduces the number of adjustments required during the replacement process, thereby shortening the operation time and improving the overall replacement efficiency. The low-speed driving reduces the impact and vibration of the transport vehicle when it stops, reducing the potential risk of damage to the cleaning components and cleaning equipment.

[0142] Optionally, the cleaning base station has a plurality of storage locations for storing at least one type of cleaning component; determining the first target location comprises:

[0143] Determine a third storage position closest to the replacement position from the plurality of storage positions; the first target position is between the third storage position and the replacement position;

[0144] A first preset time is determined, and a first target position is determined based on the first preset time and the first speed; the first preset time is the time during which the transport vehicle runs at the first speed between the third storage position and the replacement position.

[0145] In the embodiment of the present application, the third storage position is the storage position closest to the replacement position among the multiple storage positions. Selecting the third storage position as a reference point can optimize the transportation path and transportation time, and then accurately determine the first target position. In this way, by selecting a suitable first target position, it can be ensured that the transport vehicle adjusts its speed when approaching the replacement position, thereby improving positioning accuracy.

[0146] In this step, by calculating the first preset time, it is possible to determine when the transport vehicle needs to start slowing down so as to reach the first target position at the appropriate time, and then use the first speed and the first preset time to calculate the distance traveled by the transport vehicle within the first preset time to determine the first target position.

[0147] Exemplarily, when the end position is the replacement position corresponding to the cleaning disc, the transport vehicle moves from the first storage position to the replacement position. When the transport vehicle moves to the third storage position, the timing is started. After the first preset time has passed, the transport vehicle starts to decelerate, that is, it decelerates at the first target position to accurately stop at the replacement position of the cleaning disc.

[0148] By setting the first predetermined time instead of immediately slowing down at the third storage position, the movement time of the transport vehicle can be saved. At the same time, this method of judging in advance when to slow down can ensure that the transport vehicle can accurately stop at the replacement position of the cleaning disc.

[0149] Therefore, the present application reduces the transportation distance and time and improves the overall transportation efficiency by selecting the third storage position closest to the replacement position. When approaching the replacement position, the transport vehicle can accurately start to decelerate at the first target position, thereby improving the positioning accuracy of the replacement position. By determining the first preset time, the transport path and transport speed are optimized to ensure that the transport vehicle accurately stops at the replacement position and decelerates after the first preset time, thereby shortening the movement time of the transport vehicle.

[0150] Optionally, determining the first preset time includes:

[0151] Obtaining the historical running time of the transport vehicle between the third storage position and the replacement position and the historical deceleration time of the transport vehicle;

[0152] The first preset time is determined based on the historical operating time and the historical deceleration time.

[0153] In the embodiment of the present application, the historical operating time refers to the time taken by the transport vehicle to move from the third storage position to the replacement position during the past performance of a transport task or a self-check process. The self-check process refers to a self-check action before the transport vehicle is started and officially moves, that is, a round trip between position 0 and position N, and the movement time between any two adjacent storage positions located on the same horizontal line, as well as the movement time between the storage position and the replacement position, that is, the historical operating time, is recorded as a reference for setting the predetermined time.

[0154] The historical deceleration time refers to the time taken by the transport vehicle to decelerate from the target position to completely stop at the replacement position during the past transport tasks or self-inspection process. The historical deceleration time may include the braking time of the transport vehicle.

[0155] In some embodiments, the historical deceleration time includes the time T1 from when the transport vehicle starts to decelerate from the target position to when it stops decelerating, and after stopping decelerating, within the time T1, the transport vehicle decelerates until it decelerates to a certain position, and at this position, the transport vehicle brakes and decelerates until it stops moving, and the transport vehicle brakes and decelerates until it stops corresponding to the time T2, which corresponds to the braking time of the transport vehicle.

[0156] In other embodiments, the historical deceleration time is the time T3 from when the transport vehicle starts braking at the target position until it stops moving. During the time T3, the transport vehicle brakes and decelerates until it stops. This time T3 corresponds to the braking time of the transport vehicle.

[0157] It should be noted that the embodiment of the present application does not specifically limit the movement process of the transport vehicle during the historical deceleration time period. It can decelerate from the target position during the historical deceleration time period until it stops at the replacement position.

[0158] Optionally, the historical operating time and the historical deceleration time may be obtained from the operation record of the transport vehicle or the cleaning system log. The embodiment of the present application does not specifically limit the source of obtaining the historical operating time and the historical deceleration time.

[0159] In this way, based on the historical operating time and the historical deceleration time, a reasonable first preset time is calculated. By reasonably determining the first preset time, the first target position is determined based on the first preset time and the first speed, thereby ensuring that the transport vehicle can start to decelerate at the reasonable first target position, thereby improving transportation efficiency. Since the present application uses historical data for analysis, it can more accurately predict the operating time of the transport vehicle in the current transport task, improve the accuracy of time scheduling, reduce errors and failures caused by improper time scheduling, and improve the reliability of the cleaning system.

[0160] Optionally, the method further includes:

[0161] Before the cleaning system replaces the cleaning component, the transport vehicle is controlled to reciprocate between the replacement position and the fourth storage position farthest from the replacement position, and the historical running time between any two positions is obtained;

[0162] Determine the historical deceleration time required for the transport vehicle to slow down to a stop between any two locations.

[0163] It should be noted that before the transport vehicle replaces the cleaning components, such as before it starts moving after being powered on, there is a corresponding self-check process. For example, the transport vehicle is controlled to perform multiple reciprocating movements between the replacement position and the fourth storage position farthest from the replacement position. During each reciprocating movement, the running time of the transport vehicle between any two positions is recorded, as well as the time required for the transport vehicle to decelerate from the beginning to stop completely.

[0164] The historical deceleration time is then determined based on the braking capacity of the transport vehicle (braking time) and the movement time between the last two positions, such as determining the historical deceleration time based on the difference between the two. The embodiment of the present application does not specifically limit the method for determining the historical deceleration time.

[0165] It can be understood that since the reciprocating motion can be performed at least once, when the reciprocating motion is performed multiple times, the historical running time and historical deceleration time between any two positions can be determined by calculating the mean or other weighted average algorithms.

[0166] Optionally, before the cleaning system replaces the cleaning components, the transport vehicle is controlled to reciprocate between the replacement position and each storage position, or the transport vehicle is controlled to move successively between any two positions. The embodiment of the present application does not specifically limit the movement process of the transport vehicle corresponding to the historical operating time and the historical deceleration time. The above is merely an example.

[0167] Therefore, by obtaining and analyzing the historical operating time and historical deceleration time, the speed and deceleration strategy of the transport vehicle can be optimized to improve transportation efficiency. By understanding the operating characteristics of the transport vehicle between different positions, its movement can be controlled more accurately to ensure the accuracy of the replacement process. The data obtained through reciprocating motion can help the transport vehicle adapt to the transportation task requirements in different application scenarios and improve the flexibility of the cleaning system.

[0168] Optionally, when the starting position is a replacement position for receiving the second cleaning component removed from the cleaning device, and the ending position is a second storage position for storing the second cleaning component, the transport vehicle is controlled to transport the cleaning component to be transported from the starting position to the target position based on a first speed, and after the transport vehicle arrives at the target position, the transport vehicle is controlled to transport the cleaning component to be transported from the target position to the ending position based on a second speed, so as to realize the transportation of the cleaning component, including:

[0169] determining a second target location;

[0170] Controlling the transport vehicle to transport the second cleaning component from the replacement position to the second target position based on the first speed;

[0171] After the transport vehicle arrives at the second target position, the transport vehicle is controlled to transport the second cleaning component from the second target position to the second storage position based on the second speed to achieve storage of the cleaning component.

[0172] In an embodiment of the present application, the second target position is an intermediate point between the transport vehicle from the replacement position to the second storage position, which is the point where the transport vehicle starts to decelerate. By selecting an appropriate second target position, the speed can be adjusted when the transport vehicle approaches the storage position, thereby improving the positioning accuracy.

[0173] Illustratively, the transport vehicle starts from the replacement position at a first speed and transports the second cleaning component to the second target position. At this time, the transport vehicle can also travel at a higher first speed according to a predetermined path to improve transportation efficiency. The embodiment of the present application does not specifically limit the predetermined path, and it can refer to the description of the above embodiment.

[0174] Furthermore, after the transport vehicle reaches the second target position, it starts to decelerate, that is, the transport vehicle continues to travel from the second target position to the second storage position based on the second speed. At a lower speed, the transport vehicle can be more accurately aligned with the second storage position to ensure accurate storage of the cleaning components.

[0175] In this way, by using a higher first speed in the initial stage, the transport vehicle can quickly approach the second target position, thereby improving the overall transport efficiency, and by using a lower second speed when approaching the second storage position, the transport vehicle can more accurately align with the second storage position and reduce storage errors. The precise positioning reduces the number of adjustments required during the storage process, thereby shortening the operation time and improving the overall storage efficiency. The low-speed driving reduces the impact and vibration of the transport vehicle when it stops, reducing the potential risk of damage to cleaning components and cleaning equipment.

[0176] Optionally, determining a second target position includes:

[0177] determining a fifth storage position located before the second storage position; the second target position is between the second storage position and the fifth storage position;

[0178] A second preset time is determined, and a second target position is determined based on the second preset time and the first speed; the second preset time is the time during which the transport vehicle runs at the first speed between the second storage position and the fifth storage position.

[0179] In an embodiment of the present application, the fifth storage position is a reference point, located before the second storage position, and is used to help determine the second target position. The fifth storage position is selected as a reference point to enable the transport vehicle to perform better path planning and speed control during transportation.

[0180] In this step, by calculating the second preset time, it can be determined when the transport vehicle needs to start slowing down so as to reach the second target position at the appropriate time, and then using the first speed and the second preset time, the distance that the transport vehicle can travel within the second preset time is calculated to determine the second target position.

[0181] Exemplarily, when the end position is the second storage position, the transport vehicle moves from the replacement position corresponding to the cleaning disc to the second storage position. When the transport vehicle moves to the fifth storage position P-1, the timing is started. After the second preset time, the transport vehicle starts to slow down, that is, it slows down at the second target position to accurately stop at the second storage position P.

[0182] By setting the second predetermined time instead of immediately slowing down at the fifth storage position P-1, the movement time of the transport vehicle can be saved. At the same time, this method of judging in advance when to slow down can ensure that the transport vehicle can stop accurately at the second storage position P.

[0183] Therefore, the present application reduces the transportation distance and time and improves the overall transportation efficiency by selecting the appropriate fifth storage position and the second target position. When approaching the second storage position, the transport vehicle can accurately start to decelerate at the second target position, thereby improving the positioning accuracy of the second storage position. By determining the second preset time, the transportation path and transportation speed are optimized to ensure that the transport vehicle accurately stops at the second storage position and decelerates after the second preset time, thereby shortening the movement time of the transport vehicle.

[0184] Optionally, determining the second preset time includes:

[0185] Obtaining a historical running time of the transport vehicle between the second storage location and the fifth storage location and a historical deceleration time of the transport vehicle;

[0186] The second preset time is determined based on the historical operating time and the historical deceleration time.

[0187] In this step, the historical running time refers to the time taken by the transport vehicle to move from the second storage position to the fifth storage position in the past when performing a transport task or performing a self-check process. The self-check process can refer to the description of the above embodiment and will not be repeated here.

[0188] The historical deceleration time refers to the time taken by the transport vehicle from the beginning of deceleration to a complete stop at the second storage position during the past transport tasks or self-inspection processes. It should be noted that the source description or definition of the historical operating time and the historical deceleration time can refer to the description of the above embodiment. The two are only different in the position segments, and the other contents are similar.

[0189] In this way, based on the historical operating time and the historical deceleration time, a reasonable second preset time is calculated. By reasonably determining the second preset time, it is ensured that the transport vehicle can start to decelerate at a reasonable time point, thereby improving transportation efficiency. Since this application uses historical data for analysis, it can more accurately predict the operating time of the transport vehicle in the current transportation task, improve the accuracy of time scheduling, reduce errors and failures caused by improper time scheduling, and improve the reliability of the cleaning system.

[0190] Optionally, the method further includes:

[0191] determining whether the transport vehicle is located at the end position based on a sensor signal generated by the position sensor;

[0192] If not, the transport vehicle is controlled to move toward the end position based on a third speed until it is determined based on the sensor signal that the transport vehicle is located at the end position; the third speed is less than the second speed.

[0193] In an embodiment of the present application, the position sensor can generate a sensor signal to detect the current position of the transport vehicle, and then determine whether the transport vehicle has reached the terminal position based on the sensor signal. The type and deployment position of the position sensor in the embodiment of the present application are not specifically limited.

[0194] Exemplarily, if the sensor signal indicates that the transport vehicle has not reached the end position, further position adjustment is required, that is, the transport vehicle is controlled to move toward the end position at a third speed (less than the second speed); if the sensor signal indicates that the transport vehicle has reached the end position, it means that the transportation process is completed.

[0195] Among them, the third speed is used to fine-tune the position of the transport vehicle to ensure that it can accurately reach the end position, which can be a first storage position, a replacement position, a second storage position, etc. The embodiment of the present application does not specifically limit the size of the third speed, and the third speed can be determined based on the actual application scenario.

[0196] Optionally, in the present application, the sensor signal may be continuously monitored, and the movement of the transport vehicle may be dynamically adjusted according to the sensor signal until reaching the end position is confirmed.

[0197] In this way, by using the third speed to fine-tune the position, the transport vehicle can be more accurately aligned with the end position, reducing positioning errors, and through precise speed control, repeated adjustments due to inaccurate positioning are reduced, thereby improving operational efficiency. Therefore, through precise alignment of the end position and speed control, abnormal situations caused by inaccurate positioning are reduced and the stability of the cleaning system is improved.

[0198] It can be understood that when the transport vehicle adjusts its position based on the third speed, the movement of the transport vehicle is more controllable, which facilitates precise position adjustment, and thus the speed and direction can be adjusted more finely to ensure that the transport vehicle reaches the terminal position accurately. By performing position adjustment and error correction, it helps to make fine adjustments when approaching the terminal position to ensure accurate parking.

[0199] Optionally, controlling the transport vehicle to move toward the end position based on the third speed until it is determined based on the sensor signal that the transport vehicle is at the end position comprises:

[0200] After determining that the optocoupler signal at the end position is not triggered, controlling the transport vehicle to move in the first direction based on the third speed until the optocoupler signal at the end position is triggered and stops moving;

[0201] After determining that the optocoupler signal at the end position has been triggered but is not currently triggered, the transport vehicle is controlled to move in the second direction based on the third speed until the optocoupler signal at the end position is triggered and stops moving; the first direction and the second direction are opposite.

[0202] In an embodiment of the present application, the sensor signal is an optocoupler signal, which is used to detect whether the transport vehicle has reached the end position, that is, whether the end position has been reached is determined by whether the optocoupler signal is blocked. The optocoupler signal has two states: triggered (the optocoupler signal is blocked) and not triggered (the optocoupler signal is not blocked).

[0203] For example, in abnormal situations, if the stop position of the transport vehicle is slightly beyond the end position, the transport vehicle needs to be controlled to retract to the end position, or if the stop position of the transport vehicle is slightly close to the end position, the transport vehicle needs to be controlled to advance to the end position.

[0204] On the basis of the above, when the transport vehicle stops moving, it can be detected whether the optocoupler signal at the end position has been triggered. If not, it means that the transport vehicle has stopped in front of the end position, that is, it has not stopped in place; if it has been triggered and is still being triggered at this time, it means that the stop position of the transport vehicle is accurate; if it has been triggered but is no longer triggered, it means that the transport vehicle has stopped behind the end position, that is, far away from the end position.

[0205] Therefore, for the above abnormal situations, the transport vehicle position needs to be corrected: for the case where there is no trigger, the transport vehicle moves forward at a low speed until the optocoupler signal at the end position begins to be triggered; for the case where there is a trigger but is not currently triggered, the transport vehicle moves backward at a low speed until the optocoupler signal at the end position begins to be triggered.

[0206] In this way, by using the optocoupler signal to fine-tune the position, the transport vehicle can be more accurately aligned with the end position, reducing positioning errors. Through precise optocoupler signal detection, repeated adjustments due to inaccurate position are reduced, improving overall operating efficiency. Furthermore, through more accurate position control, the transport vehicle can be better dispatched and the utilization efficiency of the entire cleaning system can be improved.

[0207] Optionally, the method further includes:

[0208] When there is a third cleaning component to be updated in the cleaning base station, determining a sixth storage location corresponding to the third cleaning component;

[0209] Determine a third target position; the third target position is between the sixth storage position and the end position; the end position is a replacement position for receiving the third cleaning component;

[0210] Controlling the transport vehicle to transport the third cleaning component from the sixth storage location to the third target location based on the first speed;

[0211] After the transport vehicle reaches the third target position, the transport vehicle is controlled to transport the third cleaning component from the third target position to the replacement position based on the second speed, and a prompt message is generated to remind the user to take away the third cleaning component.

[0212] It should be noted that the cleaning components on the storage disk may need to be updated due to their service life or damage, that is, old cleaning components may need to be replaced with new cleaning components stored in the storage disk so that clean, suitable and available cleaning components can be installed on the cleaning equipment when the cleaning components need to be replaced.

[0213] In the embodiment of the present application, the sixth storage position is the position where the third cleaning component to be updated is stored, and the third cleaning component can be taken out for replacement by identifying and selecting the correct sixth storage position.

[0214] It is understandable that during the replacement of the old and new cleaning components, the third target position still needs to be determined. By selecting a suitable third target position, it can be ensured that the transport vehicle can adjust its speed when approaching the replacement position, thereby improving positioning accuracy.

[0215] Exemplarily, the transport vehicle picks up the cleaning component that needs to be replaced from the storage disk corresponding to the sixth storage position, and then starts from the sixth storage position at a first speed to transport the third cleaning component to the third target position. After the transport vehicle arrives at the third target position, it starts to slow down, and the transport vehicle continues to travel from the third target position to the replacement position at a second speed. At a lower speed, the transport vehicle can more accurately align with the replacement position to ensure the accurate delivery of the cleaning component. When the transport vehicle arrives at the replacement position, it is disassembled from the transport vehicle and placed on the cleaning disk, and the transport vehicle returns to the position of any storage disk. Furthermore, the cleaning system generates a prompt message to remind the user to take away the third cleaning component, and then through timely prompt information, it ensures that the user can respond quickly and complete the replacement of the cleaning component.

[0216] It should be noted that the embodiment of the present application does not specifically limit the content, display format and sending format of the generated prompt information. For example, it can be sent in the form of a message box prompt to a terminal device that establishes a communication connection with the cleaning system to remind the user.

[0217] Therefore, during the updating process of the cleaning components, a higher first speed can be used in the initial stage to allow the transport vehicle to quickly approach the replacement area, thereby improving the overall transport efficiency, and a lower second speed can be used when approaching the replacement position to allow the transport vehicle to more accurately align with the replacement position, thereby reducing delivery errors. By generating prompt information, users can be informed of the arrival of the cleaning components to be updated in a timely manner, thereby reducing the adjustment and waiting time required during the updating process and improving user participation and satisfaction.

[0218] Optionally, the method further includes:

[0219] In response to the user taking away the third cleaning component and placing the updated fourth cleaning component, a fourth target position is determined; the fourth target position is between the sixth storage position and the seventh storage position; the seventh storage position is a position before the sixth storage position;

[0220] Controlling the transport vehicle to transport the fourth cleaning component from the replacement position to the fourth target position based on the first speed;

[0221] After the transport vehicle arrives at the fourth target position, the transport vehicle is controlled to transport the fourth cleaning component from the fourth target position to the sixth storage position based on the second speed to achieve the update of the cleaning component.

[0222] In this step, it is also necessary to select a suitable fourth target position to ensure that the transport vehicle adjusts its speed when approaching the sixth storage position to improve positioning accuracy.

[0223] Exemplarily, in response to the user manually removing the old cleaning component (the third cleaning component) on the cleaning tray and placing a new cleaning component (the fourth cleaning component) on the cleaning tray, the transport vehicle can return to the replacement position corresponding to the cleaning tray, pick up the new cleaning component, transport it to the sixth storage position, disassemble the new cleaning component and place it in the corresponding storage tray.

[0224] Among them, the transportation process includes the transport vehicle starting from the replacement position corresponding to the cleaning disc at a first speed, transporting the new cleaning component to the fourth target position, and starting to decelerate after the transport vehicle arrives at the fourth target position. The transport vehicle continues to travel from the fourth target position to the sixth storage position at a second speed. At a lower speed, the transport vehicle can more accurately align with the sixth storage position to ensure the accurate storage of the new cleaning component.

[0225] Optionally, in addition to transporting the new cleaning component to the storage disk corresponding to the sixth storage position for storage, the new cleaning component may also be transported to an empty storage position on the storage disk, which is not specifically limited in the embodiment of the present application.

[0226] In this way, with the help of the transport vehicle, the user can manually replace the old cleaning component in the storage disk. That is, in response to the user's operation, the transport vehicle quickly approaches the fourth target position by using a higher first speed in the initial stage to improve the overall transportation efficiency, and uses a lower second speed when approaching the sixth storage position, so that the transport vehicle can more accurately align with the storage position. This human-machine cooperation method improves the overall update efficiency.

[0227] In the foregoing embodiments, the cleaning component transportation method provided by the embodiments of the present application is introduced, and in order to realize the various functions in the method provided by the embodiments of the present application, the cleaning system as the execution subject may include a hardware structure and / or a software module, and the above functions are realized in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0228] For example, Figure 6 A schematic diagram of a cleaning component transport device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the cleaning component transport device 600 is applied to a cleaning system; the cleaning system includes a cleaning device and a cleaning base station; the cleaning base station includes a transport vehicle and at least one type of cleaning component; the cleaning base station has a starting position, an ending position and a target position; when the starting position is a position for storing the cleaning component, the ending position is a position for replacing the cleaning component; when the starting position is a position for replacing the cleaning component, the ending position is a position for storing the cleaning component; the target position is a position where the transport vehicle starts to decelerate; the transport vehicle is used to transport the cleaning component from the starting position to the ending position; the cleaning component transport device 600 includes:

[0229] The control module 601 is used to control the transport vehicle to transport the cleaning component to be transported from the starting position to the target position based on the first speed; the target position is between the starting position and the ending position;

[0230] The transport module 602 is used to control the transport vehicle to transport the cleaning components to be transported from the target location to the end location based on the second speed after the transport vehicle arrives at the target location, so as to transport the cleaning components; the first speed is greater than the second speed.

[0231] Optionally, when the starting position is a first storage position for storing a first cleaning component to be installed on a cleaning device, and the ending position is a replacement position for receiving the first cleaning component, the cleaning component transport device 600 is specifically used for:

[0232] determining a first target location;

[0233] Controlling the transport vehicle to transport the first cleaning component from the first storage location to the first target location based on a first speed;

[0234] After the transport vehicle reaches the first target position, the transport vehicle is controlled to transport the first cleaning component from the first target position to the replacement position based on the second speed to achieve replacement of the cleaning component.

[0235] Optionally, the cleaning base station has a plurality of storage locations for storing at least one type of cleaning components; the cleaning component transport device 600 includes a first determination unit, the first determination unit being used to:

[0236] Determine a third storage position closest to the replacement position from the plurality of storage positions; the first target position is between the third storage position and the replacement position;

[0237] A first preset time is determined, and a first target position is determined based on the first preset time and the first speed; the first preset time is the time during which the transport vehicle runs at the first speed between the third storage position and the replacement position.

[0238] Optionally, the first determining unit includes a first determining subunit, and the first determining subunit is used to:

[0239] Obtaining the historical running time of the transport vehicle between the third storage position and the replacement position and the historical deceleration time of the transport vehicle;

[0240] The first preset time is determined based on the historical operating time and the historical deceleration time.

[0241] Optionally, the cleaning component transport device 600 further includes a first determination module, the first determination module being configured to:

[0242] Before the cleaning system replaces the cleaning component, the transport vehicle is controlled to reciprocate between the replacement position and the fourth storage position farthest from the replacement position, and the historical running time between any two positions is obtained;

[0243] Determine the historical deceleration time required for the transport vehicle to slow down to a stop between any two locations.

[0244] Optionally, when the starting position is a replacement position for receiving the second cleaning component removed from the cleaning device, and the ending position is a second storage position for storing the second cleaning component, the cleaning component transport device 600 is specifically used for:

[0245] determining a second target location;

[0246] Controlling the transport vehicle to transport the second cleaning component from the replacement position to the second target position based on the first speed;

[0247] After the transport vehicle arrives at the second target position, the transport vehicle is controlled to transport the second cleaning component from the second target position to the second storage position based on the second speed to achieve storage of the cleaning component.

[0248] Optionally, the cleaning component transport device 600 includes a second determining unit, the second determining unit being configured to:

[0249] determining a fifth storage position located before the second storage position; the second target position is between the second storage position and the fifth storage position;

[0250] A second preset time is determined, and a second target position is determined based on the second preset time and the first speed; the second preset time is the time during which the transport vehicle runs at the first speed between the second storage position and the fifth storage position.

[0251] Optionally, the second determining unit includes a second determining subunit, and the second determining subunit is used to:

[0252] Obtaining a historical running time of the transport vehicle between the second storage location and the fifth storage location and a historical deceleration time of the transport vehicle;

[0253] The second preset time is determined based on the historical operating time and the historical deceleration time.

[0254] Optionally, the cleaning base station further includes a position sensor; the position sensor is used to locate the position where the transport vehicle arrives; the cleaning component transport device 600 further includes a second determination module, the second determination module is used to:

[0255] determining whether the transport vehicle is located at the end position based on a sensor signal generated by the position sensor;

[0256] If not, the transport vehicle is controlled to move toward the end position based on a third speed until it is determined based on the sensor signal that the transport vehicle is located at the end position; the third speed is less than the second speed.

[0257] Optionally, the position sensor is a position detection switch, and when the transport vehicle is aligned with the position detection switch, the position detection switch generates an optocoupler signal.

[0258] Optionally, the cleaning base station also includes a cleaning disk and multiple storage disks; each storage disk corresponds to a storage position; the cleaning disk corresponds to a replacement position; the multiple storage disks are used to store at least one type of cleaning components; the replacement position is deployed with a position detection switch; each storage position is deployed with a position detection switch, or the storage positions corresponding to the storage disks on the same horizontal line are deployed with position detection switches.

[0259] Optionally, the second determining module is specifically configured to:

[0260] After determining that the optocoupler signal at the end position is not triggered, controlling the transport vehicle to move in the first direction based on the third speed until the optocoupler signal at the end position is triggered and stops moving;

[0261] After determining that the optocoupler signal at the end position has been triggered but is not currently triggered, the transport vehicle is controlled to move in the second direction based on the third speed until the optocoupler signal at the end position is triggered and stops moving; the first direction and the second direction are opposite.

[0262] Optionally, the cleaning component transport device 600 further includes a third determination module, the third determination module being configured to:

[0263] When there is a third cleaning component to be updated in the cleaning base station, determining a sixth storage location corresponding to the third cleaning component;

[0264] Determine a third target position; the third target position is between the sixth storage position and the end position; the end position is a replacement position for receiving the third cleaning component;

[0265] Controlling the transport vehicle to transport the third cleaning component from the sixth storage location to the third target location based on the first speed;

[0266] After the transport vehicle reaches the third target position, the transport vehicle is controlled to transport the third cleaning component from the third target position to the replacement position based on the second speed, and a prompt message is generated to remind the user to take away the third cleaning component.

[0267] Optionally, the cleaning component transport device 600 further includes an update module, the update module being used to:

[0268] In response to the user taking away the third cleaning component and placing the updated fourth cleaning component, a fourth target position is determined; the fourth target position is between the sixth storage position and the seventh storage position; the seventh storage position is a position before the sixth storage position;

[0269] Controlling the transport vehicle to transport the fourth cleaning component from the replacement position to the fourth target position based on the first speed;

[0270] After the transport vehicle arrives at the fourth target position, the transport vehicle is controlled to transport the fourth cleaning component from the fourth target position to the sixth storage position based on the second speed to achieve the update of the cleaning component.

[0271] It should be noted that the specific implementation principle and effects of the above-mentioned cleaning component transportation device can be found in the relevant descriptions and effects corresponding to the above-mentioned embodiments, and will not be elaborated here.

[0272] The present application also provides a schematic diagram of the structure of an electronic device. Figure 7A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the electronic device 700 may include: a processor 701 and a memory 702 that is communicatively connected to the processor 701; the memory 702 stores a computer program; the processor 701 executes the computer program stored in the memory 702, so that the processor 701 executes the method described in any of the above embodiments.

[0273] The memory 702 and the processor 701 may be connected via a bus 703 .

[0274] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0275] An embodiment of the present application further provides a chip for executing instructions, wherein the chip is used to execute the method described in any of the preceding embodiments as executed by the cleaning system in any of the preceding embodiments of the present application.

[0276] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method described in any of the aforementioned embodiments performed by the cleaning system in any of the aforementioned embodiments of the present application can be implemented.

[0277] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0278] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0279] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0280] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0281] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly implemented as being executed by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0282] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0283] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0284] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special computer.

[0285] An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as ASIC). Of course, the processor and the storage medium can also be present in the cleaning equipment or the main control device as discrete components.

[0286] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0287] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0288] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0289] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0290] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A method for transporting a cleaning component, characterized in that: Applicable to a cleaning system; the cleaning system comprises a cleaning device and a cleaning base station; the cleaning base station comprises a transport vehicle and at least one type of cleaning component; The cleaning base station has a starting position, an ending position and a target position; when the starting position is a position for storing the cleaning component, the ending position is a position for replacing the cleaning component; when the starting position is a position for replacing the cleaning component, the ending position is a position for storing the cleaning component; The target position is the position where the transport vehicle starts to decelerate; The transport vehicle is used to transport the cleaning component from the starting position to the ending position; the method comprises: Controlling the transport vehicle to transport the cleaning component to be transported from the starting position to the target position based on a first speed; The target position is between the starting position and the ending position; After the transport vehicle arrives at the target position, the transport vehicle is controlled to transport the cleaning component to be transported from the target position to the end position based on a second speed to transport the cleaning component; the first speed is greater than the second speed.

2. The method according to claim 1, characterized in that: When the starting position is a first storage position for storing a first cleaning component to be installed on the cleaning device, and the ending position is a replacement position for receiving the first cleaning component, the transport vehicle is controlled to transport the cleaning component to be transported from the starting position to the target position based on a first speed, and after the transport vehicle reaches the target position, the transport vehicle is controlled to transport the cleaning component to be transported from the target position to the ending position based on a second speed, so as to transport the cleaning component, including: determining a first target location; controlling the transport vehicle to transport the first cleaning component from the first storage location to the first target location based on a first speed; After the transport vehicle reaches the first target position, the transport vehicle is controlled to transport the first cleaning component from the first target position to the replacement position based on a second speed to achieve replacement of the cleaning component.

3. The method according to claim 2, characterized in that The cleaning base station has a plurality of storage locations for storing the at least one type of cleaning components; Determine the first target location, including: Determine a third storage position closest to the replacement position from the plurality of storage positions; the first target position is between the third storage position and the replacement position; A first preset time is determined, and a first target position is determined based on the first preset time and the first speed; the first preset time is the time during which the transport vehicle runs at the first speed between the third storage position and the replacement position.

4. The method according to claim 3, characterized in that: Determining a first preset time includes: Acquire the historical running time of the transport vehicle between the third storage position and the replacement position and the historical deceleration time of the transport vehicle; A first preset time is determined based on the historical operating time and the historical deceleration time.

5. The method according to claim 4, characterized in that The method further comprises: Before the cleaning system replaces the cleaning components, the transport vehicle is controlled to reciprocate between the replacement position and a fourth storage position farthest from the replacement position, and the historical running time between any two positions is obtained; The historical deceleration time required for the transport vehicle to decelerate to a stop between any two positions is determined.

6. The method according to claim 1, characterized in that When the starting position is a replacement position for receiving the second cleaning component removed from the cleaning device, and the ending position is a second storage position for storing the second cleaning component, the transport vehicle is controlled to transport the cleaning component to be transported from the starting position to the target position based on a first speed, and after the transport vehicle reaches the target position, the transport vehicle is controlled to transport the cleaning component to be transported from the target position to the ending position based on a second speed, so as to realize the transportation of the cleaning component, including: determining a second target location; Controlling the transport vehicle to transport the second cleaning component from the replacement position to the second target position based on a first speed; After the transport vehicle reaches the second target position, the transport vehicle is controlled to transport the second cleaning component from the second target position to the second storage position based on a second speed to achieve storage of the cleaning component.

7. The method according to claim 6, characterized in that Determine the second target location, including: determining a fifth storage position located before the second storage position; the second target position being between the second storage position and the fifth storage position; A second preset time is determined, and a second target position is determined based on the second preset time and the first speed; the second preset time is the time that the transport vehicle runs at the first speed between the second storage position and the fifth storage position.

8. The method according to claim 7, characterized in that Determining a second preset time includes: Acquire the historical running time of the transport vehicle between the second storage position and the fifth storage position and the historical deceleration time of the transport vehicle; A second preset time is determined based on the historical operating time and the historical deceleration time.

9. The method according to claim 1, characterized in that: The cleaning base station further includes a position sensor; the position sensor is used to locate the position reached by the transport vehicle; the method further includes: determining whether the transport vehicle is located at the end position based on a sensor signal generated by the position sensor; If not, the transport vehicle is controlled to move toward the end position based on a third speed until it is determined based on the sensor signal that the transport vehicle is located at the end position; the third speed is less than the second speed.

10. The method according to claim 9, characterized in that The position sensor is a position detection switch, and when the transport vehicle is aligned with the position detection switch, the position detection switch generates an optical coupler signal.

11. The method according to claim 10, characterized in that The cleaning base station also includes a cleaning disk and multiple storage disks; each storage disk corresponds to a storage position; the cleaning disk corresponds to a replacement position; the multiple storage disks are used to store the at least one type of cleaning components; the replacement position is deployed with the position detection switch; each storage position is deployed with the position detection switch, or the storage positions corresponding to the storage disks on the same horizontal line are deployed with the position detection switch.

12. The method according to claim 10, characterized in that Controlling the transport vehicle to move toward the end position based on a third speed until it is determined based on the sensor signal that the transport vehicle is located at the end position, comprising: After determining that the optocoupler signal at the end position is not triggered, controlling the transport vehicle to move in the first direction based on the third speed until the optocoupler signal at the end position is triggered and stops moving; After determining that the optocoupler signal at the end position has been triggered but is not currently triggered, the transport vehicle is controlled to move in the second direction based on a third speed until the optocoupler signal at the end position is triggered and stops moving; the first direction and the second direction are opposite.

13. The method according to claim 1, characterized in that The method further comprises: When there is a third cleaning component to be updated in the cleaning base station, determining a sixth storage location corresponding to the third cleaning component; Determine a third target position; the third target position is between the sixth storage position and the end position; the end position is a replacement position for receiving the third cleaning component; controlling the transport vehicle to transport the third cleaning component from the sixth storage location to the third target location based on a first speed; After the transport vehicle reaches the third target position, the transport vehicle is controlled to transport the third cleaning component from the third target position to the replacement position based on the second speed, and a prompt message is generated to remind the user to take away the third cleaning component.

14. The method according to claim 13, characterized in that The method further comprises: In response to the user taking away the third cleaning component and placing the updated fourth cleaning component, a fourth target position is determined; the fourth target position is between the sixth storage position and the seventh storage position; the seventh storage position is a position before the sixth storage position; Controlling the transport vehicle to transport the fourth cleaning component from the replacement position to the fourth target position based on a first speed; After the transport vehicle reaches the fourth target position, the transport vehicle is controlled to transport the fourth cleaning component from the fourth target position to the sixth storage position based on a second speed to achieve an update of the cleaning component.

15. A cleaning component transport device, characterized in that: Applicable to a cleaning system; the cleaning system comprises a cleaning device and a cleaning base station; the cleaning base station comprises a transport vehicle and at least one type of cleaning component; The cleaning base station has a starting position, an ending position and a target position; when the starting position is a position for storing the cleaning component, the ending position is a position for replacing the cleaning component; when the starting position is a position for replacing the cleaning component, the ending position is a position for storing the cleaning component; The target position is the position where the transport vehicle starts to decelerate; The transport vehicle is used to transport the cleaning component from the starting position to the ending position; the device comprises: A control module, configured to control the transport vehicle to transport the cleaning component to be transported from the starting position to the target position based on a first speed; the target position is between the starting position and the ending position; The transport module is used to control the transport vehicle to transport the cleaning component to be transported from the target position to the terminal position based on a second speed after the transport vehicle arrives at the target position, so as to realize the transportation of the cleaning component; the first speed is greater than the second speed.

16. A cleaning system, characterized in that: The cleaning system comprises: a cleaning device and a cleaning base station; the cleaning base station comprises a transport vehicle and at least one type of cleaning component; the cleaning base station has a starting position, an ending position and a target position; when the starting position is a position for storing the cleaning component, the ending position is a position for replacing the cleaning component; when the starting position is a position for replacing the cleaning component, the ending position is a position for storing the cleaning component; the target position is the position where the transport vehicle starts to decelerate; the transport vehicle is used to transport the cleaning component from the starting position to the ending position; the cleaning system is used to perform the method described in any one of claims 1 to 14.

17. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 14.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 14.

19. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 14.

Images