Base station, sweeping system, intelligent cleaning method, sweeping robot and storage medium

Abstract

The embodiment of the invention discloses a base station, a sweeping system, an intelligent cleaning method, a sweeping robot and a storage medium. Wherein the base station comprises a sewage tank and / or a sewage pipeline; the first sensing module is arranged in the sewage tank and / or the sewage pipeline and is configured to detect a first electrical parameter of sewage in the sewage tank and / or the sewage pipeline and convert the first electrical parameter into a first substance content; and the processing module is connected with the first sensing module and is configured to determine the smudginess degree of the sewage at least based on the first substance content. According to the embodiment of the invention, the accuracy of the determined dirty degree of the sewage can be ensured, and the cleaning effect of executing related cleaning operation based on the accurate dirty degree of the sewage is ensured to be good.

Description

Technical Field

[0001] The present invention relates to the field of intelligent cleaning, but is not limited to this field. In particular, it relates to a base station, a floor cleaning system, an intelligent cleaning method, a floor cleaning robot, and a storage medium. Background Art

[0002] In related technologies, a base station can be used to perform intelligent cleaning operations. However, in related technologies, the base station is easily interfered by external factors, resulting in an inability to accurately determine a suitable intelligent cleaning operation. For example, in the process of determining the intelligent cleaning operation to be performed by detecting the infrared light transmittance of the sewage generated during the cleaning process, the dirt in the sewage adheres to the pipe wall, resulting in an inability to determine the accurate infrared light transmittance, and the determined intelligent cleaning operation to be performed is inaccurate. Thus, it is impossible to ensure good cleaning effect of the base station. Summary of the Invention

[0003] To overcome the problems existing in related technologies, embodiments of the present disclosure disclose a base station, a floor cleaning system, an intelligent cleaning method, a floor cleaning robot, and a storage medium to solve the problem of how to ensure good cleaning effect.

[0004] According to a first aspect of embodiments of the present disclosure, there is provided a base station, the base station including:

[0005] A sewage tank and / or a sewage pipe;

[0006] A first sensing module, disposed in the sewage tank and / or the sewage pipe, configured to detect a first electrical parameter of the sewage in the sewage tank and / or the sewage pipe, and convert the first electrical parameter into a first substance content;

[0007] A processing module, connected to the first sensing module, configured to determine the dirtiness degree of the sewage at least based on the first substance content.

[0008] In some embodiments, the first sensing module includes:

[0009] A first electrode, configured to detect the first electrical parameter when the sewage passes through the first electrode;

[0010] A first functional module, connected to the first electrode, configured to convert the first electrical parameter into the first substance content.

[0011] In some embodiments, the base station includes:

[0012] A first support portion, the internal space of the first support portion communicating with the sewage pipe;

[0013] The first functional module is located on the outer wall of the first support part, and the sensing end of the first electrode extends into the housing of the first support part.

[0014] In some embodiments, the water inlet of the sewage pipe is communicated with the accommodation space of the base station, the water outlet of the sewage pipe is connected to the sewage tank, and the sewage pipe is configured to transmit sewage passing through the accommodation space; the accommodation space is used to accommodate the object to be cleaned.

[0015] In some embodiments, the base station further includes:

[0016] A clean water pipe, the water inlet of the clean water pipe is connected to a clean water tank, the water outlet of the clean water pipe is communicated with the accommodation space, and is configured to transmit the clean water in the clean water tank to the accommodation space;

[0017] A second sensing module, disposed in the clean water pipe and / or the clean water tank, includes: a second electrode and a second functional module connected to the second electrode, the first electrode is configured to detect a second electrical parameter when the clean water passes through the second electrode, and the second functional module is configured to convert the second electrical parameter into a second substance content;

[0018] The processing module, connected to the second sensing module, is configured to determine the degree of dirtiness of the sewage based on the first substance content and the second substance content.

[0019] In some embodiments, the base station includes:

[0020] A second support part, the internal space of the second support part is communicated with the clean water pipe;

[0021] The second functional module is located on the outer wall of the second support part, and the sensing end of the second electrode extends into the second support part.

[0022] In some embodiments, the processing module is configured to control the base station to enter a cleaning mode corresponding to the degree of dirtiness of the sewage.

[0023] According to a second aspect of the embodiments of the present disclosure, a floor cleaning system is provided, the floor cleaning system includes:

[0024] A floor cleaning robot, including: a cleaning component;

[0025] A base station as described in any one of the embodiments of the present disclosure;

[0026] When the floor cleaning robot moves to the base station and the cleaning component is located in the accommodation space of the base station, the base station cleans the cleaning component based on the cleaning mode corresponding to the degree of dirtiness of the sewage.

[0027] According to a third aspect of the embodiments of the present disclosure, there is provided an intelligent cleaning method, which is applied to any of the base stations of the present disclosure, and the method includes:

[0028] In response to a detected first intelligent cleaning request, convert the acquired first electrical parameter into a first substance content;

[0029] Determine the dirtiness degree of the sewage based on at least the first substance content;

[0030] Enter a cleaning mode corresponding to the dirtiness degree of the sewage.

[0031] In some embodiments, the determining the dirtiness degree of the sewage based on the first substance content includes:

[0032] Determine the dirtiness degree of the sewage based on the difference between a preset substance content and the first substance content.

[0033] In some embodiments, the determining the dirtiness degree of the sewage based on the difference between the preset substance content and the first substance content includes:

[0034] Determine the dirtiness degree of the sewage based on the difference interval where the difference is located;

[0035] Wherein, different difference intervals correspond to different dirtiness degrees of the sewage.

[0036] In some embodiments, the method further includes:

[0037] Convert the acquired second electrical parameter into a second substance content;

[0038] The determining the dirtiness degree of the sewage based on at least the first substance content includes:

[0039] Determine the dirtiness degree of the sewage based on the first substance content and the second substance content.

[0040] In some embodiments, the method further includes at least one of the following:

[0041] When the clean water in the clean water tank flows into the clean water pipeline, update the second electrical parameter;

[0042] When the clean water is injected into the clean water tank, update the second electrical parameter;

[0043] Update the second electrical parameter according to a predetermined period.

[0044] In some embodiments, the entering the cleaning mode corresponding to the dirtiness degree of the sewage includes:

[0045] When the degree of dirtiness of the sewage is greater than a first preset threshold, a second intelligent cleaning request is initiated in the cleaning mode until the degree of dirtiness of the sewage is less than the first preset threshold.

[0046] According to a fourth aspect of the embodiments of the present disclosure, there is provided an intelligent cleaning method, which is applied to a floor cleaning robot. The method includes:

[0047] When the floor cleaning robot completes the cleaning of the target area and the cleaning component of the floor cleaning robot is located in the accommodating space of the base station, a first intelligent cleaning request is sent to the base station; wherein, the first intelligent cleaning request is used to instruct the base station to determine the degree of dirtiness of the sewage generated during the cleaning of the cleaning component.

[0048] Execute a cleaning strategy determined according to the degree of dirtiness of the sewage; wherein, the cleaning strategy includes a strategy for cleaning the target area.

[0049] In some embodiments, the method includes:

[0050] Receive the degree of dirtiness of the sewage returned by the base station based on the first intelligent cleaning request.

[0051] Determine the cleaning strategy based on the degree of dirtiness of the sewage.

[0052] In some embodiments, the executing the cleaning strategy determined according to the degree of dirtiness of the sewage includes:

[0053] When the degree of dirtiness of the sewage is greater than a second preset threshold, increase the cleaning frequency of cleaning the target area based on the cleaning strategy.

[0054] According to a fifth aspect of the embodiments of the present disclosure, there is provided a floor cleaning robot, including:

[0055] A processor;

[0056] A memory configured to store instructions executable by the processor;

[0057] Wherein, the processor is configured to: when executed, implement the steps in any of the intelligent cleaning methods in the embodiments of the present disclosure.

[0058] According to a sixth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, which stores a computer-executable program, and when the executable program is executed by a processor, it implements the method described in any of the embodiments of the present disclosure.

[0059] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0060] In an embodiment of the present disclosure, a base station is provided. The base station includes: a sewage tank and / or sewage pipes; a first sensing module disposed in the sewage tank and / or the sewage pipes, configured to detect a first electrical parameter of the sewage in the sewage tank and / or the sewage pipes and convert the first electrical parameter into a first substance content; and a processing module connected to the first sensing module, configured to determine the degree of dirtiness of the sewage based at least on the first substance content. Here, since the first electrical parameter of the sewage can be detected by the first sensing module in the base station and converted into the first substance content, the detection of the first electrical parameter is only related to the sewage itself in the sewage tank and / or the sewage pipes, and the influence of external interference factors on the detection result of the first electrical parameter is small.

[0061] In the embodiment of the present disclosure, when the influence of external interference factors on the detection result of the first electrical parameter is small, the first electrical parameter corresponding to the sewage itself can be accurately detected by the first sensing module disposed in the sewage tank and / or the sewage pipes, so as to accurately determine the first substance content by using the accurate first electrical parameter. Compared with the related art in which the base station cannot accurately perform the cleaning operation, resulting in the inability to ensure the cleaning effect of the base station, in the embodiment of the present disclosure, the degree of dirtiness of the sewage can be accurately determined based on the accurately determined first substance content, so as to perform the relevant cleaning operation by using the degree of dirtiness of the sewage. In this way, the accuracy of the determined degree of dirtiness of the sewage can be ensured, and the cleaning effect of performing the relevant cleaning operation based on the accurate degree of dirtiness of the sewage is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present invention and, together with the specification, are used to explain the principles of the present invention.

[0063] Figure 1 FIG. [X] is a schematic structural diagram of a base station shown according to an exemplary embodiment;

[0064] Figure 2 FIG. [X] is a schematic structural diagram of a base station shown according to an exemplary embodiment;

[0065] Figure 3 FIG. [X] is a schematic structural diagram of a base station shown according to an exemplary embodiment;

[0066] Figure 4 FIG. [X] is a schematic structural diagram of a base station shown according to an exemplary embodiment;

[0067] Figure 5 FIG. [X] is a schematic structural diagram of a floor cleaning system shown according to an exemplary embodiment;

[0068] Figure 6Schematic flowchart of an intelligent cleaning method according to an exemplary embodiment;

[0069] Figure 7 Schematic flowchart of an intelligent cleaning method according to an exemplary embodiment;

[0070] Figure 8 Schematic flowchart of an intelligent cleaning method according to an exemplary embodiment;

[0071] Figure 9 Schematic structural diagram of an electronic device according to an exemplary embodiment.

[0072] Reference numerals: sweeping system 1; base station 11; sewage pipe 111; water inlet 111a; water outlet 111b; first sensing module 112; first electrode 1121; first functional module 1122; processing module 113; first support portion 114; clean water pipe 115; water inlet 115a; water outlet 115b; second sensing module 116; second electrode 1161; second functional module 1162; second support portion 117; clean water tank 118; storage module 119; sweeping robot 12. Detailed implementation manners

[0073] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be construed as limitations on the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0074] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0075] In the following description, the terms "first / second / third" are used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when permitted, so that the embodiments of the present invention described herein can be implemented in an order other than that illustrated or described herein.

[0076] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0077] To better understand the embodiments of the present disclosure, some application scenarios in the related art are described below:

[0078] In the related art, with the development of floor-sweeping robots, users have put forward higher requirements for the cleaning ability of floor-sweeping robots for the cleaning area and household environment of the home. Base station type floor-sweeping systems have emerged in the related art, and the base station type floor-sweeping systems have functions such as zoned cleaning and mopping and backwashing. The base station type floor-sweeping system includes a floor-sweeping robot and a base station for the floor-sweeping robot to backwash the cleaning components. The floor-sweeping robot already has the function of performing two cleanings in a specific zone designated by the user. For example, the user can stipulate the kitchen area by himself / herself, and the floor-sweeping robot can perform secondary sweeping and mopping on the kitchen area. The floor-sweeping robot can also implement the function of backwashing the mopping cloth and then continuing the cleaning according to the specified cleaning area. For example, the cleaning area can be stipulated as 10m 2 , and the floor-sweeping robot can return to the base station to clean the cleaning components after cleaning an area of 10m 2 . After cleaning the cleaning components, it can return to the breakpoint position to continue cleaning the area to be cleaned. At this time, it can ensure that the cleaning components are clean, and reduce problems such as secondary pollution and uneven cleanliness of the cleaning components to the area to be cleaned. However, in the related art, the degree of dirt in small areas cannot be recognized within a zone. Facing a heavily soiled area to be cleaned, it cannot intelligently perform an additional cleaning of the dirty mop or an additional area cleaning, nor can it intelligently judge the cleanliness within the specified cleaning area. The floor-sweeping system in the related art cannot flexibly enter a suitable cleaning mode or execute a suitable cleaning strategy.

[0079] In some embodiments, the infrared light transmittance of the sewage transmitted in the transmission pipeline can be detected; the infrared light transmittance of the sewage is converted into the content of a first substance (TDS). The content of the first substance can be the content of total dissolved solids in the sewage. Here, since the sewage will adhere to the inner wall of the transmission pipeline during the transmission of the sewage in the transmission pipeline, it is impossible to accurately detect the infrared light transmittance of the sewage, nor can the content of the first substance be accurately determined through the inaccurate infrared light transmittance. Thus, the accuracy of the determined content of the first substance is poor. In the process of determining the degree of dirt of the sewage using the content of the first substance, it is difficult to ensure the accuracy of the determined degree of dirt of the sewage.

[0080] Based on this, as Figure 1 and Figure 2 shown, the embodiments of the present disclosure provide a base station 11, and the base station 11 includes:

[0081] A sewage tank and / or a sewage pipeline 111;

[0082] The first sensing module 112 is disposed in the sewage tank and / or the sewage pipe 111, configured to detect a first electrical parameter of the sewage in the sewage tank and / or the sewage pipe, and convert the first electrical parameter into a first substance content;

[0083] The processing module 113 is connected to the first sensing module 112, configured to determine the degree of dirtiness of the sewage at least based on the first substance content.

[0084] It should be noted that the base station may include a housing, Figure 1 and Figure 2 Each of the structures shown can be located inside the housing of the base station.

[0085] In some embodiments, inside the housing, the base station may further include a charging module, which is configured to charge the sweeping robot in the sweeping system.

[0086] In some embodiments, the base station 11 may be configured to clean an object to be cleaned. The sewage pipe can be used to transport the sewage generated by the base station during the process of cleaning the object to be cleaned, and the sewage tank can be used to store the sewage generated by the base station during the process of cleaning the object to be cleaned.

[0087] In some embodiments, the object to be cleaned can be any object that needs to be cleaned by the base station 11. Exemplarily, the object to be cleaned can be a cleaning component of the sweeping robot. For example, the object to be cleaned can be a mop of the sweeping robot. In an actual application scenario, after the sweeping robot completes the cleaning of the target area, the cleaning component of the sweeping robot can move inside the base station 11 and wait for the base station 11 to clean the cleaning component.

[0088] In some embodiments, the base station 11 may be provided with a sewage tank. The water outlet 111b of the first transmission pipe 111 can be connected to the water inlet of the sewage tank, and the water outlet of the sewage tank can be connected to a dedicated sewage outlet. Alternatively, the water outlet 111b of the first transmission pipe 111 can be directly connected to the dedicated sewage outlet.

[0089] In some embodiments, the first electrical parameter may refer to the conductivity of the sewage. The first substance content may refer to the content of a predetermined substance in the sewage. The predetermined substance may be dissolved solids, and the first substance content may be the value of the total dissolved solids (TDS) corresponding to the sewage calculated based on the conductivity of the sewage. The first functional module 1122 configured to convert the first electrical parameter into the first substance content may refer to that the first functional module 1122 is configured to convert the first electrical parameter into the TDS value of the sewage.

[0090] In some embodiments, such as Figures 2 to 4As shown, the base station 11 further includes:

[0091] A fresh water pipeline 115 and / or a fresh water tank 118, where the fresh water pipeline 115 and / or the fresh water tank 118 are configured to provide fresh water for cleaning an object to be cleaned;

[0092] A second sensing module 116, disposed inside the fresh water pipeline 115 and / or the fresh water tank 118, configured to detect a second electrical parameter of the fresh water in the fresh water pipeline 115 and / or the fresh water tank 118, and convert the second electrical parameter into a second substance content;

[0093] A processing module 113, connected to the second sensing module 116, configured to determine the degree of dirtiness of the sewage based on the first substance content and the second substance content.

[0094] In some embodiments, the second electrical parameter may refer to the conductivity of the fresh water. The second substance content may refer to the content of a predetermined substance in the fresh water. The predetermined substance may be dissolved solids, and the second substance content may be the TDS value corresponding to the fresh water calculated based on the conductivity of the fresh water.

[0095] In the embodiments of the present disclosure, since the second sensing module 116 is used to detect the second electrical parameter and convert the second electrical parameter into the second substance content, and the processing module 113 can determine the degree of dirtiness of the sewage based on the first substance content and the second substance content, therefore, the second substance content corresponding to the fresh water can be used as a judgment benchmark, so that the difference between the sewage and the fresh water can be determined by comparing the difference between the first substance content and the second substance content, and thus the degree of dirtiness of the sewage compared to the fresh water can be accurately determined. In this way, the accuracy of the determined degree of dirtiness can be ensured.

[0096] The embodiments of the present disclosure provide a base station, the base station includes: a sewage tank and / or a sewage pipeline; a first sensing module, disposed in the sewage tank and / or the sewage pipeline, configured to detect a first electrical parameter of the sewage in the sewage tank and / or the sewage pipeline, and convert the first electrical parameter into a first substance content; a processing module, connected to the first sensing module, configured to determine the degree of dirtiness of the sewage based at least on the first substance content. Here, since the first electrical parameter of the sewage can be detected by the first sensing module in the base station and the first electrical parameter is converted into the first substance content, therefore, the detection of the first electrical parameter is only related to the sewage itself in the sewage tank and / or the sewage pipeline, and the influence of external interference factors on the detection result of the first electrical parameter is small.

[0097] In the embodiments of the present disclosure, when the influence of external interference factors on the detection result of the first electrical parameter is small, the first sensing module disposed inside the sewage tank and / or the sewage pipeline can accurately detect the first electrical parameter corresponding to the sewage itself, so as to accurately determine the content of the first substance by using the accurate first electrical parameter. Compared with the related art in which the base station cannot accurately perform the cleaning operation, resulting in the inability to ensure the cleaning effect of the base station, in the embodiments of the present disclosure, the degree of dirtiness of the sewage can be accurately determined based on the accurately determined content of the first substance, so as to perform the relevant cleaning operation by using the degree of dirtiness of the sewage. In this way, the accuracy of the determined degree of dirtiness of the sewage can be ensured, and the cleaning effect of performing the relevant cleaning operation based on the accurate degree of dirtiness of the sewage is good.

[0098] In some embodiments, as Figure 1 shown, the first sensing module 112 includes:

[0099] The first electrode 1121 is configured to detect the first electrical parameter when the sewage passes through the first electrode 1121.

[0100] The first functional module 1122 is connected to the first electrode 1121 and is configured to convert the first electrical parameter into the content of the first substance.

[0101] It should be noted that any of the first sensing modules 112 in the embodiments of the present disclosure disposed inside the sewage tank and / or the sewage pipeline 111 may mean that all the structures of the first sensing module 112 are disposed inside the sewage tank and / or the sewage pipeline 111, or, it may also mean that some structures (for example, the first electrode) of the first sensing module 112 are disposed inside the sewage tank and / or the sewage pipeline.

[0102] In the embodiments of the present disclosure, since the first sensing module 112 in the cleaning device 11 can detect the first electrical parameter when the sewage passes through the first electrode 1121, and the first functional module 1122 of the first sensing module 112 can convert the first electrical parameter into the first substance content. Therefore, the detection of the first electrical parameter is only related to the sewage itself flowing through the first electrode 1121, and the influence of external interference factors on the detection result of the first electrical parameter is small. In the embodiments of the present disclosure, when the influence of external interference factors on the detection result of the first electrical parameter is small, the first electrode 1121 arranged inside the sewage pipeline can accurately detect the corresponding first electrical parameter of the sewage itself when the sewage flows through the first electrode 1121, so as to accurately determine the first substance content by using the accurate first electrical parameter. Compared with the related art in which the base station 11 cannot accurately perform the cleaning operation, resulting in the inability to ensure the cleaning effect of the base station 11, in the embodiments of the present disclosure, the degree of dirtiness of the sewage can be accurately determined based on the accurately determined first substance content, so as to perform relevant cleaning operations by using the degree of dirtiness of the sewage. In this way, the accuracy of the determined degree of dirtiness of the sewage can be ensured, and the cleaning effect of performing relevant cleaning operations based on the accurate degree of dirtiness of the sewage is good.

[0103] In some embodiments, please refer to again Figure 1 , the base station 11 includes:

[0104] The first support portion 114, the internal space of the first support portion 114 communicates with the sewage pipeline 111;

[0105] The first functional module 1122 is located on the outer wall of the first support portion 114, and the sensing end of the first electrode 1121 extends into the housing of the first support portion 114.

[0106] It can be understood that the sensing end of the first electrode 1121 extends into the housing of the first support portion 114, and the internal space of the first support portion 114 communicates with the sewage pipeline 111. That is to say, the object (for example, sewage) transmitted in the sewage pipeline 111 can pass through the sensing end of the first electrode 1121.

[0107] In some embodiments, the specific connection manner between the first functional module 1122 and the first support portion 114 may not be limited, and it is only necessary to ensure that the first functional module 1122 can be located on the outer wall of the first support portion 114. Exemplarily, the first functional module 1122 can be snapped onto the outer wall of the first support portion 114, or the first functional module 1122 can be welded to the outer wall of the first support portion 114.

[0108] In some embodiments, please refer to again Figure 1, the water inlet 111a of the sewage pipe 111 communicates with the accommodation space of the base station 11 and is configured to transmit the sewage passing through the accommodation space; wherein, the accommodation space is used to accommodate the object to be cleaned.

[0109] In some embodiments, the base station may further include: a base including a tray for accommodating the object to be cleaned; a clean water tank; a clean water pipe connected to the clean water tank and a spray head connected to the water outlet of the clean water pipe; the spray head communicates with the tray; the clean water pipe is configured to spray clean water onto the object to be cleaned on the tray through the spray head to clean the object to be cleaned. It can be understood that any accommodation space described in the embodiments of the present disclosure may refer to the space formed in the tray.

[0110] In some embodiments, the accommodation space of the base station may be provided inside the housing. In some application scenarios, a moving component that can move in a predetermined direction is provided on the housing. When the moving component moves to the first position, the accommodation space inside the housing is not connected to the outside, and the object to be cleaned cannot enter the accommodation space. When the moving component moves to the second position, the accommodation space of the housing is connected to the outside, and the object to be cleaned can enter the accommodation space.

[0111] In some embodiments, the base station 11 may be configured to clean the object to be cleaned located in the accommodation space, and the sewage pipe 111 may be configured to transmit the sewage generated by the base station 11 during the process of cleaning the object to be cleaned. It can be understood that at this time, any sewage passing through the accommodation space in the embodiments of the present disclosure is the sewage generated when the base station 11 cleans the object to be cleaned.

[0112] In some embodiments, the object to be cleaned may be any object that needs to be cleaned by the base station 11 in the accommodation space. Exemplarily, the object to be cleaned may be the cleaning component of a floor cleaning robot. For example, the object to be cleaned may be the mopping cloth of a floor cleaning robot. In an actual application scenario, after the floor cleaning robot completes the cleaning of the target area, the cleaning component of the floor cleaning robot may move to the accommodation space of the base station 11 and wait for the base station 11 to clean the cleaning component.

[0113] In some embodiments, as Figures 2 to 4 shown, the base station 11 includes:

[0114] A clean water pipe 115, the water inlet 115a of the clean water pipe 115 is connected to the clean water tank 118, and the water outlet 115b of the clean water pipe 115 communicates with the accommodation space and is configured to transmit the clean water in the clean water tank 118 to the accommodation space;

[0115] The second sensing module 116 is disposed in the fresh water pipeline and / or the fresh water tank, and includes: a second electrode 1161 and a second functional module 1162 connected to the second electrode 1161. The first electrode 1121 is configured to detect a second electrical parameter when fresh water passes through the second electrode 1161, and the second functional module 1162 is configured to convert the second electrical parameter into a second substance content;

[0116] The processing module 113 is connected to the second sensing module 116 and is configured to determine the degree of dirtiness of the sewage based on the first substance content and the second substance content.

[0117] It should be noted that the second sensing module 116 is disposed inside the fresh water pipeline 115, which may mean that all structures of the second sensing module are disposed inside the fresh water pipeline 115, or it may mean that some structures of the second sensing module (for example, the second electrode) are disposed inside the fresh water pipeline 115.

[0118] In some embodiments, the base station 11 may be configured to use the fresh water in the fresh water tank 118 to clean the object to be cleaned.

[0119] In some embodiments, the base station 11 further includes: a storage module 119. The storage module 119 is respectively connected to the second sensing module 116 and the processing module 113. The storage module 119 is configured to store the second substance content output by the second sensing module 116. The processing module 113 is further configured to call the second substance content from the storage module.

[0120] In some embodiments, the second electrical parameter may refer to the conductivity detected when fresh water passes through the second electrode 1161. The second substance content may refer to the content of a predetermined substance in the fresh water. The predetermined substance may be dissolved solids, and the second substance content may be the TDS value corresponding to the fresh water calculated based on the conductivity of the fresh water.

[0121] In the embodiments of the present disclosure, since the second functional module 1162 of the second sensing module 116 is used to convert the second electrical parameter detected when fresh water passes through the second electrode 1161 into a second substance content, and the processing module 113 can determine the degree of dirtiness of the sewage based on the first substance content and the second substance content, therefore, the second substance content corresponding to the fresh water can be used as a judgment reference, so that the difference between the sewage and the fresh water can be determined by comparing the difference between the first substance content and the second substance content, and thus the degree of dirtiness of the sewage compared to the fresh water can be accurately determined. In this way, the accuracy of the determined degree of dirtiness can be ensured.

[0122] As Figure 3 shown, the base station 11 includes:

[0123] The second support part 117, the internal space of the second support part 117 communicates with the clean water pipe 115;

[0124] The second functional module 1162 is located on the outer wall of the second support part 117, and the sensing end of the second electrode 1161 extends into the second support part 117.

[0125] It can be understood that the sensing end of the second electrode 1161 extends into the housing of the second support part 117, and the internal space of the second support part 117 communicates with the clean water pipe 115. That is to say, the object (for example, clean water) transmitted in the clean water pipe 115 can pass through the sensing end of the second electrode 1161.

[0126] In some embodiments, the specific connection manner between the second functional module 1162 and the second support part 117 may not be limited, and it is only necessary to ensure that the second functional module 1162 can be located on the outer wall of the second support part 117. Exemplarily, the second functional module 1162 can be snap-connected to the outer wall of the second support part 117, or the second functional module 1162 can be welded to the outer wall of the second support part 117.

[0127] In some embodiments, the processing module 113 is configured to control the base station 11 to enter a cleaning mode corresponding to the degree of dirtiness of the sewage.

[0128] In the embodiments of the present disclosure, the cleaning mode that the base station 11 should enter can be accurately determined based on the determined degree of dirtiness of the sewage, so that the object to be cleaned can be cleaned based on the appropriate cleaning mode. For example, when the object to be cleaned is relatively dirty, the object to be cleaned can be cleaned by using a longer cleaning time and / or cleaning times. In this way, it can ensure that the cleaning effect of the object to be cleaned is good.

[0129] As Figure 5 shown, the embodiments of the present disclosure provide a sweeping system 1, and the sweeping system 1 includes:

[0130] A sweeping robot 12, including: a cleaning component;

[0131] The base station 11 as described in any one of the embodiments of the present disclosure;

[0132] When the sweeping robot moves to the base station 11 and the cleaning component is located in the accommodating space of the base station 11, the base station 11 cleans the cleaning component based on the cleaning mode corresponding to the degree of dirtiness of the sewage.

[0133] In some embodiments, any one of the base stations 11 in the embodiments of the present disclosure may be a base station for a floor cleaning robot 12 to wash the cleaning component back, and the floor cleaning robot 12 may clean a target area to be cleaned through the cleaning component. The cleaning component may be any type of component with cleaning ability. For example, the cleaning component may include a mop.

[0134] As Figure 6 shown, the embodiments of the present disclosure provide an intelligent cleaning method, which is applied to any one of the base stations 11 in the embodiments of the present disclosure. The method includes:

[0135] Step S601, in response to a detected first intelligent cleaning request, convert the acquired first electrical parameter into a first substance content;

[0136] Step S602, determine the dirtiness degree of the sewage based on at least the first substance content;

[0137] Step S603, enter a cleaning mode corresponding to the dirtiness degree of the sewage.

[0138] In one embodiment, it may be that when the object to be cleaned is located in the accommodation space of the base station, a first intelligent cleaning request initiated by a user's touch operation on a predetermined button is detected. The first intelligent cleaning request may be used to instruct the base station to determine the dirtiness degree of the sewage generated during the cleaning of the object to be cleaned. The predetermined button may include a virtual button and / or a physical button.

[0139] In some embodiments, the object to be cleaned may be the cleaning component of the floor cleaning robot. It may be that when the cleaning component of the floor cleaning robot moves into the accommodation space of the base station, a first intelligent cleaning request initiated by the floor cleaning robot is detected.

[0140] In some embodiments, it may be that when the floor cleaning robot finishes cleaning the target area and the cleaning component of the floor cleaning robot moves into the accommodation space of the base station, a first intelligent cleaning request initiated by the floor cleaning robot is detected.

[0141] Here, the specific manner of detecting the first intelligent cleaning request may not be limited, and it is only necessary to ensure that the first intelligent cleaning request can be detected when the object to be cleaned (for example, the cleaning component of the floor cleaning robot) is located in the accommodation space.

[0142] In some embodiments, in response to a detected first intelligent cleaning request, a second intelligent request is initiated and the acquired first electrical parameter is converted into a first substance content; based at least on the first substance content, the dirtiness degree of the sewage is determined; and a cleaning mode corresponding to the dirtiness degree of the sewage is entered. The second intelligent cleaning request is used to instruct the base station to clean the object to be cleaned. The cleaning mode is used to determine at least one of the following during the process of the base station cleaning the object to be cleaned: the cleaning duration of cleaning the object to be cleaned, the number of cleaning times of cleaning the object to be cleaned, and the cleaning intensity of cleaning the object to be cleaned. The dirtiness degree of the sewage can be positively correlated with at least one of the cleaning duration, the number of cleaning times, and the cleaning intensity corresponding to the cleaning mode.

[0143] In some embodiments, there may be a first mapping relationship between the first substance content and the dirtiness degree of the sewage, and based on the first substance content and the first mapping relationship, the dirtiness degree of the sewage can be determined.

[0144] In some embodiments, in response to a detected first intelligent cleaning request, the acquired first electrical parameter is converted into a first identifier, and the first identifier is used to indicate the first substance content; different first identifiers indicate different first substance contents;. Based at least on the first identifier, a second identifier is determined; the second identifier is used to indicate the dirtiness degree of the sewage; different second identifiers may indicate different second substance contents. A cleaning mode corresponding to the second identifier is entered. In some embodiments, any of the first mapping relationships in the embodiments of the present disclosure may also be a mapping relationship between the first identifier and the second identifier, and based on the first identifier and the first mapping relationship, the dirtiness degree of the sewage indicated by the second identifier can be determined.

[0145] In some embodiments, the character length of the first identifier and / or the character length of the second identifier can be less than a length threshold, so as to quickly resolve the dirtiness degree of the sewage corresponding to the second identifier through the first identifier and the second identifier with smaller lengths.

[0146] In one embodiment, after the base station finishes cleaning the object to be cleaned, the first electrical parameter and the first substance content corresponding to the first electrical parameter can be updated; based on the updated first electrical parameter, the dirtiness degree of the sewage is updated; and a cleaning mode corresponding to the updated dirtiness degree of the sewage is entered. Here, since the dirtiness degree of the sewage and the corresponding cleaning mode will be updated again after the base station finishes cleaning the object to be cleaned, therefore, the cleaning mode can be adjusted in time to ensure good cleaning effect of cleaning the object to be cleaned when the object to be cleaned is still not cleaned clean.

[0147] In some embodiments, when the base station cleans the object to be cleaned the number of times reaching the first cleaning number, the first electrical parameter and the first substance content corresponding to the first electrical parameter are updated; based on the updated first electrical parameter, the degree of dirtiness of the sewage is updated; and a cleaning mode corresponding to the updated degree of dirtiness of the sewage is entered; the first cleaning number is the number of times the object to be cleaned is cleaned corresponding to the cleaning mode. Here, after entering the cleaning mode, the first electrical parameter, the first substance content and the cleaning mode may be updated only after the object to be cleaned is cleaned according to the cleaning number corresponding to the cleaning mode. In this way, the resource overhead caused by frequent execution of update operations can be reduced.

[0148] In some embodiments, the first electrical parameter and the first substance content corresponding to the first electrical parameter may be updated within a predetermined time before each base station cleans the object to be cleaned; the degree of dirtiness of the sewage may be updated based on the updated first electrical parameter; based on the degree of dirtiness, it may be determined whether to continue cleaning the object to be cleaned; if it is determined to continue cleaning the object to be cleaned, the number of cleaning times corresponding to the cleaning mode may be increased until the degree of dirtiness of the sewage is less than the first dirtiness threshold. Here, the cleaning mode corresponding to the first electrical parameter, the first substance content, and the degree of dirtiness of the sewage may be re-detected each time the object to be cleaned is almost cleaned. In this way, the appropriate cleaning mode can be determined in a timely manner, reducing the situation where the cleaning time is too long due to continuing to clean the object to be cleaned when the object to be cleaned has been cleaned, thereby improving the cleaning efficiency.

[0149] In some embodiments, in response to the base station cleaning the object to be cleaned for a first cleaning time, the first electrical parameter and the first substance content corresponding to the first electrical parameter are updated; based on the updated first electrical parameter, the degree of dirtiness of the sewage is updated; and a cleaning mode corresponding to the updated degree of dirtiness of the sewage is entered; the first cleaning time is the cleaning time for cleaning the object to be cleaned corresponding to the cleaning mode.

[0150] In some embodiments, the dirtiness of the sewage can be used to characterize the dirtiness of the cleaning object. Entering a cleaning mode corresponding to the dirtiness of the sewage in any of the embodiments of the present disclosure may refer to entering a cleaning mode corresponding to the dirtiness of the object to be cleaned.

[0151] In some embodiments, there is a second mapping relationship between the degree of dirtiness of the sewage and the degree of dirtiness of the object to be cleaned, and the degree of dirtiness of the object to be cleaned can be determined based on the degree of dirtiness of the sewage and the second mapping relationship.

[0152] In some embodiments, in response to a detected first intelligent cleaning request, the acquired first electrical parameter is converted into a first substance content; at least based on the first substance content, the degree of dirtiness of the sewage is determined; and the degree of dirtiness of the sewage is sent to the sweeping robot. It should be noted that any object to be cleaned in the embodiments of the present disclosure may be a cleaning component provided on the sweeping robot for cleaning a target area.

[0153] In some embodiments, in response to a detected first intelligent request, the acquired first electrical parameter is converted into a first substance content; at least based on the first substance content, the degree of dirtiness of the sewage is determined; based on the degree of dirtiness of the sewage, a cleaning strategy corresponding to the sweeping robot is determined; wherein the cleaning strategy includes a strategy for the sweeping robot to clean the target area; and the cleaning strategy is sent to the sweeping robot. Here, the determination process of determining the cleaning strategy can be set in the base station, so as to reduce the computational operations of the sweeping robot and facilitate the sweeping robot to quickly clean the target area based on the received cleaning strategy.

[0154] In one embodiment, in some embodiments, the degree of dirtiness of the sewage can also be used to characterize the degree of dirtiness of the target area. Any of the embodiments of the present disclosure that determines the cleaning strategy corresponding to the sweeping robot based on the degree of dirtiness of the sewage may refer to determining the cleaning strategy of the sweeping robot based on the degree of dirtiness of the target area.

[0155] In some embodiments, there is a third mapping relationship between the degree of dirtiness of the sewage and the degree of dirtiness of the target area, and the degree of dirtiness of the target area can be determined based on the degree of dirtiness of the sewage and the third mapping relationship.

[0156] In an embodiment of the present disclosure, in response to a detected first intelligent cleaning request, the acquired first electrical parameter is converted into a first substance content; at least based on the first substance content, the degree of dirtiness of the sewage is determined; and a cleaning mode corresponding to the degree of dirtiness of the sewage is entered. Here, since when the first intelligent request is detected, the acquired first electrical parameter is converted into a first substance content, that is, the substance content in the sewage is determined by detecting the first electrical parameter corresponding to the sewage, and the substance content can be based on. Here, the acquisition result of the first electrical parameter is only related to the sewage itself transmitted in the sewage pipe, and the influence of external interference factors on the detection result of the first electrical parameter is small. In the embodiment of the present disclosure, when the influence of external interference factors on the detection result of the first electrical parameter is small, the first electrical parameter corresponding to the sewage itself can be accurately detected to accurately determine the first substance content by using the accurate first electrical parameter. Compared with the related art in which the base station cannot accurately perform the cleaning operation, resulting in the inability to ensure the cleaning effect of the base station, in the embodiment of the present disclosure, the degree of dirtiness of the sewage can be accurately determined based on the accurately determined first substance content, so as to perform related cleaning operations by using the degree of dirtiness of the sewage. In this way, the accuracy of the determined degree of dirtiness of the sewage can be ensured, and the cleaning effect of performing related cleaning operations based on the accurate degree of dirtiness of the sewage is good.

[0157] In some embodiments, the determining the degree of dirtiness of the sewage based on the first substance content includes:

[0158] Determining the degree of dirtiness of the sewage based on the difference between a preset substance content and the first substance content.

[0159] In some embodiments, the preset substance content can be used to represent the TDS value corresponding to a reference liquid. Here, the specific type of the reference liquid may not be limited, and it is only necessary to ensure that the degree of dirtiness of the reference liquid is small. Exemplarily, the reference liquid may be clean water.

[0160] In some embodiments, the difference is positively correlated with the degree of dirtiness of the sewage.

[0161] In some embodiments, there may be a fourth mapping relationship between the difference and the degree of dirtiness of the sewage. The determining the degree of dirtiness of the sewage based on the difference between the preset substance content and the first substance content may include: determining the degree of dirtiness of the sewage based on the difference and the fourth mapping relationship.

[0162] In the embodiments of the present disclosure, since the degree of dirtiness of the sewage can be determined based on the difference between the preset substance content and the first substance content, therefore, in the process of determining the degree of dirtiness of the sewage, the preset substance content can be used as a clear reference standard. By judging the difference between the first substance content and the predetermined content, the degree of dirtiness of the sewage can be determined quickly and accurately, without spending a lot of time to determine the degree of dirtiness corresponding to the first substance content through complex calculations. In this way, the efficiency and accuracy of determining the degree of dirtiness of the sewage can be improved.

[0163] In some embodiments, the determining the degree of dirtiness of the sewage based on the difference between the preset substance content and the first substance content includes:

[0164] Determining the degree of dirtiness of the sewage based on the difference interval where the difference is located;

[0165] Wherein, different difference intervals correspond to different degrees of dirtiness of the sewage.

[0166] In some embodiments, for the same difference value range, at least two difference intervals can be set. The interval lengths of the at least two difference intervals can be determined according to a first parameter, and the first parameter is used to characterize the accuracy requirement for the determined degree of dirtiness of the sewage. The interval length of the difference interval is inversely related to the number. The value of the first parameter can be inversely related to the interval length of the difference interval, and the value of the first parameter can be positively related to the number of difference intervals.

[0167] Exemplarily, for the same difference value range, when the accuracy requirement characterized by the first parameter is relatively high, more difference intervals can be set according to a smaller interval length. For example, three difference intervals can be set, and the three difference intervals can be the first difference interval, the second difference interval, and the third difference interval respectively. The degree of dirtiness of the sewage corresponding to the first difference interval can be a mild degree of dirtiness, the degree of dirtiness of the sewage corresponding to the second difference interval can be a moderate degree of dirtiness, and the degree of dirtiness of the sewage corresponding to the third difference interval can be a severe degree of dirtiness. At this time, based on the difference interval where the difference is located, the degree of dirtiness corresponding to the sewage can be determined quickly and accurately, so as to enter the cleaning mode corresponding to the accurate degree of dirtiness. For example, when the difference is located in the first difference interval, the degree of dirtiness of the sewage can be accurately determined to be a mild degree of dirtiness, and the base station can enter the cleaning mode corresponding to the mild degree of dirtiness to clean the object to be cleaned. For example, the base station can only clean the object to be cleaned once again in the cleaning mode corresponding to the mild degree of dirtiness.

[0168] In the embodiments of the present disclosure, since the degree of fouling of the sewage can be determined based on the difference range in which the difference is located, and the degree of fouling of the sewage corresponding to different difference ranges is different, therefore, compared with the method that needs to determine the degree of fouling of the sewage corresponding to all differences through complex calculations, or needs to determine the degree of fouling of the sewage corresponding to each difference through a complex search process, in the embodiments of the present disclosure, the degree of fouling of the sewage corresponding to the difference range can be quickly and accurately determined by judging the difference range in which the difference is located. In this way, the efficiency of determining the degree of fouling can be improved on the premise of ensuring the accuracy of the determined degree of fouling.

[0169] In some embodiments, the method further includes:

[0170] Converting the obtained second electrical parameter into a second substance content;

[0171] The determining the degree of fouling of the sewage based at least on the first substance content includes:

[0172] Determining the degree of fouling of the sewage based on the first substance content and the second substance content.

[0173] It should be noted that any preset substance content described in the present disclosure may refer to the second substance content here.

[0174] In the embodiments of the present disclosure, since the second electrical parameter of the obtained fresh water can be converted into a second substance content, and the degree of fouling of the sewage is determined based on the first substance content and the second substance content, therefore, the second substance content corresponding to the fresh water can be used as a judgment reference, and the difference between the sewage and the fresh water can be determined by determining the relationship between the first substance content corresponding to the sewage and the second substance content corresponding to the fresh water, so as to accurately determine the degree of fouling of the sewage compared with the fresh water. In this way, the accuracy of the determined degree of fouling can be ensured.

[0175] In some embodiments, the method further includes at least one of the following:

[0176] Updating the second electrical parameter when the fresh water in the fresh water tank flows into the fresh water pipeline;

[0177] Updating the second electrical parameter when the fresh water is injected into the fresh water tank;

[0178] Updating the second electrical parameter according to a predetermined period.

[0179] In some embodiments, when the fresh water in the fresh water tank flows into the fresh water pipeline, the second electrical parameter is updated; the updated second electrical parameter obtained is converted into a second substance content to obtain the updated second substance content; based on the updated second substance content and the first substance content, the degree of dirtiness of the sewage is determined; enter the cleaning mode corresponding to the degree of dirtiness of the sewage. Here, in the process of each time the fresh water in the fresh water tank is transmitted to the object to be cleaned through the fresh water pipeline to clean the object to be cleaned with the fresh water, the latest and accurate second electrical parameter can be updated, and when the second substance content of the fresh water in the fresh water tank changes, the change in the second substance content of the fresh water in the fresh water tank can still be detected in time through the updated second electrical parameter, so as to accurately update the second substance content. In this way, in the process of determining the degree of dirtiness of the sewage based on the first substance content and the second substance content, the degree of dirtiness of the sewage can be accurately determined based on the first substance content and the accurately updated second substance content.

[0180] In some embodiments, when the fresh water is injected into the fresh water tank, the second electrical parameter is updated; the updated second electrical parameter obtained is converted into a second substance content to obtain the updated second substance content; based on the updated second substance content and the first substance content, the degree of dirtiness of the sewage is determined; enter the cleaning mode corresponding to the degree of dirtiness of the sewage. Here, when the second substance content of the fresh water injected into the fresh water tank is different, or when the second substance content of the fresh water injected into the fresh water tank is different from the second substance content of the fresh water originally stored in the fresh water tank, the second electrical parameter corresponding to the fresh water can be updated in time to obtain the accurate second substance content. In this way, in the process of determining the degree of dirtiness of the sewage based on the first substance content and the second substance content, the degree of dirtiness of the sewage can be accurately determined based on the first substance content and the accurate second substance content.

[0181] In some embodiments, the second electrical parameter is updated according to a predetermined period, and the second electrical parameter is updated; the updated second electrical parameter obtained is converted into a second substance content to obtain the updated second substance content; based on the updated second substance content and the first substance content, the degree of dirtiness of the sewage is determined; enter the cleaning mode corresponding to the degree of dirtiness of the sewage.

[0182] In some embodiments, the predetermined period can be greater than the interval time for injecting fresh water into the fresh water tank and / or the interval time for the fresh water in the fresh water tank to flow into the fresh water pipeline. Here, the frequency of updating the second electrical parameter can be reduced, and the resource overhead can be reduced.

[0183] In some embodiments, after obtaining the second substance content corresponding to the clean water, the second substance content can be stored in the storage module for the base station to call the second substance content when it is necessary to determine the degree of dirtiness of the sewage, and determine the degree of dirtiness of the sewage based on the first substance content and the second substance content. After updating the second substance content, the second substance content stored in the storage module can be updated.

[0184] In some embodiments, entering the cleaning mode corresponding to the degree of dirtiness of the sewage includes:

[0185] When the degree of dirtiness of the sewage is greater than a first preset threshold, a second intelligent cleaning request is initiated in the cleaning mode until the degree of dirtiness of the sewage is less than the first preset threshold.

[0186] It should be noted that initiating a second intelligent cleaning request in the cleaning mode until the degree of dirtiness of the sewage is less than the preset threshold may mean initiating a second intelligent request in the cleaning mode until the degree of dirtiness of the object to be cleaned is less than the preset threshold. Among them, the degree of dirtiness of the sewage can be used to represent the degree of dirtiness of the object to be cleaned.

[0187] In some embodiments, the second intelligent request is used to instruct the base station to clean the object to be cleaned according to the cleaning mode.

[0188] In the embodiments of the present disclosure, when the degree of dirtiness of the sewage is greater than a first preset threshold, a second intelligent cleaning request can be initiated in the cleaning mode to increase the frequency of the base station cleaning the object to be cleaned until the degree of dirtiness of the sewage is less than the first preset threshold. In this way, it can ensure that the cleaning effect of the object to be cleaned is good.

[0189] As Figure 7 shown, the method is applied to a floor sweeping robot, and the method includes:

[0190] Step S701, when the floor sweeping robot completes the cleaning of the target area and the cleaning component of the floor sweeping robot is located in the accommodating space of the base station, send a first intelligent cleaning request to the base station; wherein, the first intelligent cleaning request is used to instruct the base station to determine the degree of dirtiness of the sewage generated during the cleaning of the cleaning component;

[0191] Step S702, execute the cleaning strategy determined according to the degree of dirtiness of the sewage; wherein, the cleaning strategy includes a strategy for cleaning the target area.

[0192] In some embodiments, when the floor cleaning robot has cleaned all the target areas, it is determined that the floor cleaning robot has completed the cleaning of the target area; and / or, when the area of the area cleaned by the floor cleaning robot reaches a predetermined area, it is determined that the floor cleaning robot has completed the cleaning of the target area. When the floor cleaning robot has completed the cleaning of the target area and the cleaning component of the floor cleaning robot is located in the accommodation space of the base station, a first intelligent cleaning request is sent to the base station; wherein, the first intelligent cleaning request is used to instruct the base station to determine the degree of dirtiness of the sewage generated during the cleaning of the cleaning component; execute a cleaning strategy determined according to the degree of dirtiness of the sewage; wherein, the cleaning strategy includes a strategy for cleaning the target area.

[0193] In some embodiments, the target area is divided into M target sub-areas according to a predetermined area; when the floor cleaning robot has cleaned the m-th target sub-area and the cleaning component of the floor cleaning robot is located in the accommodation space of the base station, a first intelligent cleaning request is sent to the base station; wherein, the first intelligent cleaning request is used to instruct the base station to determine the degree of dirtiness of the sewage generated during the cleaning of the cleaning component; execute the cleaning strategy determined according to the degree of dirtiness of the sewage until the m-th target sub-area is cleaned; wherein, the cleaning strategy includes a strategy for cleaning the m-th target sub-area; when the m-th target sub-area is cleaned, the floor cleaning robot cleans the (m + 1)-th target sub-area according to the cleaning steps for cleaning the m-th target sub-area, where m + 1 is not greater than M and M is a positive integer. Here, a relatively large target area can be divided into multiple target sub-areas, so as to perform refined cleaning based on the smaller target sub-areas, and reduce the situation that the cleaning component with a high degree of dirtiness due to the large target area being cleaned for a long time without being cleaned contaminates the target area again.

[0194] In some embodiments, the cleaning strategy may include a strategy for cleaning the whole of the target area; and / or, the cleaning strategy includes a strategy for cleaning a part of the target area. For example, the cleaning strategy may include a strategy for cleaning the target sub-area. The cleaning strategy can be used to determine the number of back-and-forth sweeps, the back-and-forth sweep duration, and the back-and-forth sweep intensity for back-sweeping the target area. The degree of dirtiness of the sewage can be positively correlated with at least one of the number of back-and-forth sweeps, the back-and-forth sweep time, and the back-and-forth sweep intensity corresponding to the cleaning strategy.

[0195] In some embodiments, N target areas to be cleaned can be set. After the sweeping robot cleans the nth target area, it can continue to clean the (n + 1)th target area until all target areas are cleaned. The area types of different target areas can be different, where n + 1 is not greater than N, and N is a positive integer. Exemplarily, 3 target areas to be cleaned can be set, and the 3 target areas to be cleaned can be the kitchen, the bedroom, and the living room respectively, and the area types of the kitchen, the bedroom, and the living room are different.

[0196] In some embodiments, the cleaning strategy can be the cleaning strategy sent by the base station received by the sweeping robot. Here, the determination process of determining the cleaning strategy can be set in the base station, thereby reducing the calculation operations of the sweeping robot, and facilitating the sweeping robot to quickly clean the target area based on the received cleaning strategy. Alternatively, the cleaning strategy can be the cleaning strategy determined by the sweeping robot after the sweeping robot sends the dirtiness level of the sewage to the sweeping robot.

[0197] In the embodiments of the present disclosure, the base station can be used to determine the accurate dirtiness level of the sewage, so as to accurately determine a suitable cleaning strategy based on the accurate dirtiness level of the sewage. In this way, the cleaning effect during the execution of the cleaning strategy can be ensured to be good.

[0198] In some embodiments, the method includes:

[0199] Receiving the dirtiness level of the sewage returned by the base station based on the first intelligent cleaning request;

[0200] Determining the cleaning strategy based on the dirtiness level of the sewage.

[0201] In some embodiments, the dirtiness level of the sewage can also be used to characterize the dirtiness level of the target area. Any one of the embodiments of the present disclosure for determining the cleaning strategy based on the dirtiness level of the sewage can refer to the sweeping robot determining the cleaning strategy based on the dirtiness level of the target area.

[0202] In some embodiments, there is a third mapping relationship between the dirtiness level of the sewage and the dirtiness level of the target area, and the sweeping robot can determine the dirtiness level of the target area based on the dirtiness level of the sewage and the third mapping relationship.

[0203] In some embodiments, the determining the cleaning strategy based on the dirtiness level of the sewage includes: if the dirtiness level is greater than a preset threshold, determining the cleaning strategy as the strategy of resweeping the target area and / or the target sub-area, or, if the dirtiness level is less than the preset threshold, determining the cleaning strategy as the strategy of stopping resweeping the current target area and / or the target sub-area and continuing to clean the next target area and / or the target sub-area.

[0204] In some embodiments, when the floor cleaning robot finishes back - sweeping a target area and / or a target sub - area once and the cleaning component of the floor cleaning robot is located in the accommodation space of the base station, a first intelligent cleaning request may be sent to the base station; wherein, the first intelligent cleaning request is used to instruct the base station to determine the degree of dirtiness of the sewage generated during the cleaning of the cleaning component; receive the updated degree of dirtiness of the sewage sent by the base station; update the cleaning strategy based on the updated degree of dirtiness of the sewage. Execute the updated cleaning strategy. Here, each time the floor cleaning robot finishes back - sweeping a target area and / or a target sub - area, the cleaning strategy can be re - determined to timely adapt to the degree of dirtiness corresponding to the target area and / or target sub - area after the floor cleaning robot finishes cleaning, flexibly adjust the cleaning strategy, reduce the situation of still following the original cleaning strategy when the degree of dirtiness of the target area and / or target sub - area is relatively small, reduce the waste of cleaning resources, and improve the cleaning efficiency.

[0205] In some embodiments, determining the cleaning strategy based on the degree of dirtiness of the sewage includes: if the degree of dirtiness is greater than a preset threshold, determining the cleaning strategy as the strategy of back - sweeping the target area and / or the target sub - area for a second cleaning time, and the cleaning strategy is used to determine at least one of the following: the number of back - sweeps, the back - sweep duration, and the back - sweep intensity; or, if the degree of dirtiness is less than the preset threshold, determining the cleaning strategy as the strategy of stopping back - sweeping the current target area and / or target sub - area and continuing to clean the next target area and / or target sub - area.

[0206] In some embodiments, when the number of times the floor cleaning robot back - sweeps the target area and / or the target sub - area according to the cleaning strategy reaches the second cleaning time, the floor cleaning robot receives the updated degree of dirtiness of the sewage sent by the base station and updates the cleaning strategy based on the updated degree of dirtiness of the sewage. Wherein, the second cleaning time may be the number of back - sweeps of the target area and / or the target sub - area corresponding to the cleaning strategy. Or, when the number of times the floor cleaning robot back - sweeps the target area and / or the target sub - area according to the cleaning strategy does not reach the second cleaning time, the floor cleaning robot does not receive the updated degree of dirtiness of the sewage and / or does not update the cleaning strategy according to the updated degree of dirtiness of the sewage. Here, by limiting the timing of the floor cleaning robot to update the cleaning strategy, that is, only after the floor cleaning robot finishes back - sweeping the target area and / or the target sub - area according to the number of back - sweeps corresponding to the cleaning strategy, the cleaning strategy is updated. In this way, the frequency of the floor cleaning robot updating the cleaning strategy can be reduced, and the efficiency of the floor cleaning robot back - sweeping the target area and / or the target sub - area can be improved.

[0207] In some embodiments, when the duration of the resweeping of the target area and / or target sub-area by the floor cleaning robot according to the cleaning strategy reaches a second cleaning duration, the floor cleaning robot receives the updated dirt level of the sewage sent by the base station and updates the cleaning strategy based on the updated dirt level of the sewage. Here, the second cleaning duration may be the duration of the resweeping of the target area and / or target sub-area corresponding to the cleaning strategy. Alternatively, when the duration of the resweeping of the target area and / or target sub-area by the floor cleaning robot according to the cleaning strategy does not reach the second resweeping duration, the floor cleaning robot does not receive the updated dirt level of the sewage and / or does not update the cleaning strategy based on the updated dirt level of the sewage. Here, the timing of the floor cleaning robot updating the cleaning strategy can be limited, that is, the cleaning strategy is updated only after the floor cleaning robot has reswept the target area and / or target sub-area according to the resweeping duration corresponding to the cleaning strategy. In this way, the frequency of the floor cleaning robot updating the cleaning strategy can be reduced, and the efficiency of the floor cleaning robot resweeping the target area and / or target sub-area can be improved.

[0208] In some embodiments, executing the cleaning strategy determined according to the dirt level of the sewage includes:

[0209] When the dirt level of the sewage is greater than a preset threshold, increase the cleaning frequency of cleaning the target area based on the cleaning strategy.

[0210] In some embodiments, when the dirt level of the sewage is greater than a second preset threshold, the cleaning frequency of cleaning the target area based on the cleaning strategy can be increased until the dirt level of the sewage is less than the second preset threshold. It should be noted that increasing the cleaning frequency of cleaning the target area based on the cleaning strategy until the dirt level of the sewage is less than the second preset threshold may mean increasing the cleaning frequency of cleaning the target area based on the cleaning strategy until the dirt level of the target area is less than the second preset threshold. Here, the dirt level of the sewage can be used to characterize the dirt level of the target area. It should be noted that the second preset threshold here may be the same as any of the first preset thresholds in the embodiments of the present disclosure. Alternatively, the second preset threshold here may also be different from any of the first preset thresholds in the embodiments of the present disclosure.

[0211] Here, by accurately determining the dirt level of the sewage, when the dirt level of the sewage is greater than the preset threshold, the cleaning frequency of cleaning the target area based on the cleaning strategy can be increased until the target area is cleaned, so as to ensure good cleaning effect of the target area.

[0212] For a better understanding of the embodiments of the present disclosure, please refer to Figure 8 , Figure 8An intelligent cleaning method is exemplarily shown. The intelligent cleaning method is applied to any one of the base stations 11 in the embodiments of the present disclosure. When the sweeping robot 12 finishes cleaning the target area and the cleaning component of the sweeping robot 12 is located in the accommodation space of the base station 11, the first sensing module 112 is used to detect the content of the first substance corresponding to the sewage transmitted in the sewage pipe 111; the second sensing module 116 is used to detect the content of the second substance corresponding to the clean water transmitted in the clean water pipe 115; the processing module 113 is used to calculate the difference between the content of the first substance and the content of the second substance; the processing module 113 is used to determine the degree of dirtiness of the sewage based on the difference; the processing module 113 is used to determine the degree of dirtiness of the cleaning component based on the degree of dirtiness of the sewage; in response to the degree of dirtiness of the cleaning component being greater than the first preset threshold, the processing module 113 is used to increase the cleaning frequency corresponding to the cleaning component until the degree of dirtiness of the cleaning component is less than the first preset threshold; the processing module 113 is used to determine the degree of dirtiness of the target area based on the degree of dirtiness of the sewage; in response to the degree of dirtiness of the target area being greater than the second preset threshold, the processing module 113 is used to increase the cleaning frequency of cleaning the target area until the degree of dirtiness of the target area is less than the second preset threshold.

[0213] In some embodiments, the embodiments of the present disclosure provide a sweeping robot 12, which includes:

[0214] A processor;

[0215] A memory configured to store instructions executable by the processor;

[0216] Wherein, the processor is configured to: when executed, implement the steps in any one of the above cleaning methods in the embodiments of the present disclosure.

[0217] In some embodiments, the embodiments of the present disclosure provide a computer-readable storage medium, and the readable storage medium stores an executable program, wherein when the executable program is executed by a processor, the method in any one of the embodiments of the present disclosure is implemented.

[0218] Figure 9 It is a block diagram of an electronic device 900 shown according to an exemplary embodiment. The method of the present disclosure can be applied to this electronic device.

[0219] Referring to Figure 9 , the electronic device 900 may include one or more of the following components: a processing component 902, a memory 904, a power component 906, a multimedia component 908, an audio component 910, an input / output (I / O) interface 912, a sensor component 914, and a communication component 916.

[0220] The processing component 902 generally controls the overall operation of the electronic device 900, such as operations associated with display, telephone calls, data communication, camera operations, and recording operations. The processing component 902 may include one or more processors 920 to execute instructions to complete all or part of the steps of the above methods. In addition, the processing component 902 may include one or more modules to facilitate the interaction between the processing component 902 and other components. For example, the processing component 902 may include a multimedia module to facilitate the interaction between the multimedia component 908 and the processing component 902.

[0221] The memory 904 is configured to store various types of data to support the operation of the device 900. Examples of such data include instructions for any application or method operating on the electronic device 900, contact data, phone book data, messages, pictures, videos, etc. The memory 904 may 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, a magnetic disk, or an optical disk.

[0222] The power component 906 provides power to various components of the electronic device 900. The power component 906 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 900.

[0223] The multimedia component 908 includes a screen that provides an output interface between the electronic device 900 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may not only sense the boundaries of touch or swipe actions, but also detect the duration and pressure associated with the touch or swipe operations. In some embodiments, the multimedia component 908 includes a front camera and / or a rear camera. When the device 900 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each of the front camera and the rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0224] The audio component 910 is configured to output and / or input audio signals. For example, the audio component 910 includes a microphone (MIC) that is configured to receive external audio signals when the electronic device 900 is in an operating mode, such as a call mode, a recording mode, and a voice determination mode. The received audio signal can be further stored in the memory 904 or transmitted via the communication component 916. In some embodiments, the audio component 910 further includes a speaker for outputting audio signals.

[0225] The I / O interface 912 provides an interface between the processing component 902 and a peripheral interface module, and the peripheral interface module may be a keyboard, a click wheel, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a power button, and a lock button.

[0226] The sensor component 914 includes one or more sensors for providing an assessment of various aspects of the status of the electronic device 900. For example, the sensor component 914 can detect the on / off state of the device 900, the relative positioning of components, such as the display and keypad of the electronic device 900. The sensor component 914 can also detect a change in the position of the electronic device 900 or a component of the electronic device 900, the presence or absence of user contact with the electronic device 900, the orientation or acceleration / deceleration of the electronic device 900, and a change in the temperature of the electronic device 900. The sensor component 914 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 914 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 914 can further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0227] The communication component 916 is configured to facilitate communication between the electronic device 900 and other devices in a wired or wireless manner. The electronic device 900 can access a wireless network based on communication standards, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 916 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 916 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0228] In an exemplary embodiment, the electronic device 900 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0229] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as the memory 904 including instructions, and the above instructions can be executed by the processor 920 of the electronic device 900 to complete the above method. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0230] Those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed in this disclosure.

[0231] It should be understood that the present invention is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A base station, characterized in that, the base station includes: a sewage tank and / or a sewage pipe; a first sensing module, disposed in the sewage tank and / or the sewage pipe, configured to detect a first electrical parameter of the sewage in the sewage tank and / or the sewage pipe, and convert the first electrical parameter into a first substance content; a processing module, connected to the first sensing module, configured to determine the degree of dirtiness of the sewage at least based on the first substance content.

2. The base station according to claim 1, characterized in that, the first sensing module includes: a first electrode, configured to detect the first electrical parameter when sewage passes through the first electrode; a first functional module, connected to the first electrode, configured to convert the first electrical parameter into the first substance content.

3. The base station according to claim 2, characterized in that, the base station includes: a first support part, the internal space of the first support part communicating with the sewage pipe; the first functional module is located on the outer wall of the first support part, and the sensing end of the first electrode extends into the housing of the first support part.

4. The base station according to claim 1, characterized in that, the water inlet of the sewage pipe communicates with the accommodation space of the base station, the water outlet of the sewage pipe is connected to the sewage tank, and the sewage pipe is configured to transmit the sewage passing through the accommodation space; wherein, the accommodation space is used to accommodate the object to be cleaned.

5. The base station according to claim 4, characterized in that, the base station further includes: a clean water pipe, the water inlet of the clean water pipe is connected to a clean water tank, the water outlet of the clean water pipe communicates with the accommodation space, and is configured to transmit the clean water in the clean water tank to the accommodation space; a second sensing module, disposed in the clean water pipe and / or the clean water tank, including: a second electrode and a second functional module connected to the second electrode, the first electrode is configured to detect a second electrical parameter when clean water passes through the second electrode, and the second functional module is configured to convert the second electrical parameter into a second substance content; the processing module, connected to the second sensing module, configured to determine the degree of dirtiness of the sewage based on the first substance content and the second substance content.

6. The base station according to claim 5, characterized in that, the base station includes: a second support part, the internal space of the second support part communicating with the clean water pipe; the second functional module is located on the outer wall of the second support part, and the sensing end of the second electrode extends into the second support part.

7. The base station according to claim 1, characterized in that, the processing module is configured to control the base station to enter a cleaning mode corresponding to the degree of dirtiness of the sewage.

8. A floor cleaning system, characterized in that, the floor cleaning system includes: a floor cleaning robot, including: a cleaning component; the base station according to any one of claims 1 to 7; when the floor cleaning robot moves to the base station and the cleaning component is located in the accommodation space of the base station, the base station cleans the cleaning component based on the cleaning mode corresponding to the degree of dirtiness of the sewage.

9. An intelligent cleaning method, characterized in that, the method is applied to the base station according to any one of claims 1-7, and the method includes: responding to a detected first intelligent cleaning request, converting the acquired first electrical parameter into a first substance content; determining the degree of dirtiness of the sewage based on at least the first substance content; entering a cleaning mode corresponding to the degree of dirtiness of the sewage.

10. The cleaning method according to claim 9, characterized in that, the determining the degree of dirtiness of the sewage based on the first substance content includes: determining the degree of dirtiness of the sewage based on the difference between a preset substance content and the first substance content.

11. The cleaning method according to claim 10, characterized in that, the determining the degree of dirtiness of the sewage based on the difference between the preset substance content and the first substance content includes: determining the degree of dirtiness of the sewage based on the difference interval where the difference is located; wherein, different difference intervals correspond to different degrees of dirtiness of the sewage.

12. The cleaning method according to claim 9, characterized in that, the method further includes: converting the acquired second electrical parameter into a second substance content; the determining the degree of dirtiness of the sewage based on at least the first substance content includes: determining the degree of dirtiness of the sewage based on the first substance content and the second substance content.

13. The cleaning method according to claim 12, characterized in that, the method further includes at least one of the following: updating the second electrical parameter when the clean water in the clean water tank flows into the clean water pipeline; updating the second electrical parameter when the clean water is injected into the clean water tank; updating the second electrical parameter according to a predetermined period.

14. The cleaning method according to claim 9, characterized in that, the entering a cleaning mode corresponding to the degree of dirtiness of the sewage includes: when the degree of dirtiness of the sewage is greater than a first preset threshold, initiating a second intelligent cleaning request in the cleaning mode until the degree of dirtiness of the sewage is less than the first preset threshold.

15. An intelligent cleaning method, characterized in that, the method is applied to a floor sweeping robot, and the method includes: when the floor sweeping robot completes the cleaning of the target area and the cleaning component of the floor sweeping robot is located in the accommodating space of the base station, sending a first intelligent cleaning request to the base station; wherein, the first intelligent cleaning request is used to instruct the base station to determine the degree of dirtiness of the sewage generated during the cleaning of the cleaning component; executing a cleaning strategy determined according to the degree of dirtiness of the sewage; wherein, the cleaning strategy includes a strategy for cleaning the target area.

16. The method according to claim 15, characterized in that, the method includes: receiving the degree of dirtiness of the sewage returned by the base station based on the first intelligent cleaning request; determining the cleaning strategy based on the degree of dirtiness of the sewage.

17. The cleaning method according to claim 15, characterized in that, the executing a cleaning strategy determined according to the degree of dirtiness of the sewage includes: When the degree of dirtiness of the sewage is greater than a second preset threshold, increase the cleaning frequency of cleaning the target area based on the cleaning strategy.

18. A floor cleaning robot, characterized in that, comprising: a processor; a memory configured to store instructions executable by the processor; wherein the processor is configured to: when executed, implement the steps in any one of the intelligent cleaning methods in claims 15 to 17 above.

19. A computer-readable storage medium, characterized in that, the readable storage medium stores an executable program, wherein the executable program, when executed by a processor, implements the method according to any one of claims 9 to 14 or 15 to 17.

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