Dust collection method, system and equipment and storage medium

Abstract

The invention provides a dust collection method, system and equipment and a storage medium. The cleaning robot is provided with a middle sweeper, a dust collection box and a main machine dust collection fan. The base station is provided with a base station dust collection fan, a dust collection storage piece and a hair cleaning device arranged in a parking position of a base station base, wherein an opening of the parking position is communicated with the base station base, and a cutting assembly of the hair cleaning device is arranged at the position of the opening. The method comprises the following steps: when the cleaning robot stops at a parking position of the base station, controlling a hair cleaning device of the base station and a host dust collection fan of the cleaning robot to work; and after the host dust collection fan completes host dust collection, the base station dust collection fan is controlled to carry out base station dust collection work, so that dirt in the dust collection box is collected into a dust collection storage piece of the base station. Hair on the middle sweeper is cut through the hair cleaning device, main machine dust collection is achieved in cooperation with the main machine dust collection fan, base station dust collection is achieved through the base station dust collection fan, and the dust collection effect can be improved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and particularly to a dust collection method, system, device, and storage medium. Background Art

[0002] Currently, after a cleaning robot performs a cleaning task, some objects such as hair and threads will adhere to and wind around the cleaning part (such as the middle sweep). These hair and thread-like objects are difficult to be sucked into the dust collection box. As the cleaning task is continuously performed, dirt accumulates on the middle sweep, affecting the cleaning effect. Summary of the Invention

[0003] Embodiments of this application provide a dust collection method, system, device, and storage medium.

[0004] An embodiment of this application provides a dust collection method. The dust collection method is applied to a cleaning device, and the cleaning device includes at least one of a cleaning robot and a base station; the cleaning robot is provided with a middle sweep, a dust collection box, and a main body dust collection fan; the base station is provided with a base station dust collection fan, a dust collection storage member, and a hair cleaning device is provided in the parking position of the base station base, wherein the opening of the parking position communicates with the base station base and the cutting component of the hair cleaning device is arranged at the opening position; the method includes:

[0005] When the cleaning robot docks at the parking position of the base station, control the hair cleaning device of the base station and the main body dust collection fan of the cleaning robot to work; after the main body dust collection fan of the cleaning robot completes the main body dust collection, control the base station dust collection fan of the base station to perform the base station dust collection work to collect the dirt in the dust collection box into the dust collection storage member of the base station.

[0006] In some embodiments, the hair cleaning device further includes a moving part and a rotating shaft, the moving part moves parallel to the extending direction of the middle sweep; the rotating shaft is arranged on the moving part and is perpendicular to the extending direction of the middle sweep; the cutting component is arranged on the rotating shaft and rotates around the rotating shaft; when the hair cleaning device is working, the moving part reciprocally moves along the extending direction of the middle sweep, and the rotation of the rotating shaft drives the cutting component to rotate to cut the hair on the middle sweep;

[0007] The method further includes: when the moving part reciprocally moves a preset number of times along the extending direction of the middle sweep at a first preset gear, control the hair cleaning device to work or stop working at a second preset gear; or, when the hair cleaning device works for a preset duration, control the hair cleaning device to work or stop working at a second preset gear; or, when the rotating shaft rotates a preset number of turns, control the hair cleaning device to work or stop working at a second preset gear.

[0008] In some embodiments, the hair cleaning device further includes a storage component, the storage component includes a storage member and a telescopic member, the telescopic member is disposed on the storage member, the cutting component is disposed on the telescopic member, the cutting component includes a plurality of comb teeth spaced apart on the telescopic member, the storage component is parallel and oppositely disposed to the middle sweep, when the hair cleaning device works, the telescopic member extends out of the storage member to cut the hair on the middle sweep through the comb teeth;

[0009] The method further includes: when the hair cleaning device works for a preset duration, controlling the hair cleaning device to work at a second preset gear or stop working.

[0010] In some embodiments, the method further includes determining whether the hair cleaning device stops working; if so, determining that the main dust collection fan of the cleaning robot completes main dust collection.

[0011] In some embodiments, the method further includes: obtaining the current total power of the cleaning robot and the base station; determining whether the current total power is less than a preset power threshold; if so, determining that the main dust collection fan of the cleaning robot completes main dust collection.

[0012] In some embodiments, the suction force of the base station dust collection fan during base station dust collection is greater than the suction force of the main dust collection fan during main dust collection.

[0013] In some embodiments, the main dust collection fan includes a main dust collection air duct, the inlet of the main dust collection air duct is disposed on the dust collection box, the dust collection box includes a dust collection port, and the dust collection port is correspondingly disposed with the middle sweep; controlling the hair cleaning device of the base station and the main dust collection fan of the cleaning robot to work includes: controlling the hair cleaning device and the middle sweep to work; and controlling the main dust collection fan to work to collect dirt into the dust collection box through the dust collection port;

[0014] The base station dust collection fan includes a base station dust collection air duct, and the base station dust collection air duct connects the dust collection box and the dust collection storage member; controlling the base station dust collection fan of the base station to perform base station dust collection work to collect the dirt in the dust collection box into the dust collection storage member of the base station further includes: controlling the middle sweep to rotate; controlling the base station dust collection fan of the base station to work to collect the dirt in the dust collection box and the middle sweep into the dust collection storage member of the base station.

[0015] An embodiment of the present application provides a dust collection system. The dust collection system includes a cleaning robot and a base station. A middle sweeper, a dust collection box, and a main unit dust collection fan are provided on the cleaning robot; a base station dust collection fan, a dust collection and storage member, and a hair cleaning device are provided on the base station, and the hair cleaning device is provided in a parking position on the base of the base station, wherein an opening of the parking position communicates with the base of the base station and a cutting assembly of the hair cleaning device is arranged at the opening position; when the base station detects that the cleaning robot docks at the parking position, it controls the hair cleaning device to work and sends a start instruction to the cleaning robot, and the cleaning robot controls the main unit dust collection fan to work when receiving the start instruction; after the main unit dust collection fan of the cleaning robot completes the main unit dust collection, it sends a feedback message to the base station, and the base station controls the base station dust collection fan to perform base station dust collection work when receiving the feedback message, so as to collect the dirt in the dust collection box into the dust collection and storage member of the base station.

[0016] An embodiment of the present application provides a cleaning device. The cleaning device includes a processor, a memory; and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing the dust collection method described in any of the above embodiments.

[0017] An embodiment of the present application provides a non-volatile computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the dust collection method described in any of the above embodiments.

[0018] In the dust collection method, cleaning device, dust collection system, and non-volatile computer-readable storage medium of the present application, when the cleaning robot returns to the docking position of the base station, it is generally necessary to collect dust from the cleaning robot. During dust collection, a hair cleaning device is provided in the base station, and the cutting assembly of the hair cleaning device is arranged at the opening position of the parking position, so that dirt such as hair attached or wound on the middle sweeper can be cut, thereby reducing the adhesion of dirt such as hair. At the same time, the main unit dust collection fan of the cleaning robot sucks, so that dirt such as hair with greatly reduced adhesion is sucked into the dust collection box. In this way, the adhesion of dirt such as hair can be reduced, the dust collection effect on dirt such as hair can be improved, the accumulation of dirt such as hair on the middle sweeper can be avoided, and the cleaning effect can be improved.

[0019] When this application performs dust collection, first, the hair cleaning device and the main unit dust collection fan cooperate to work, achieving main unit dust collection with relatively low power consumption. Then, after the main unit dust collection is completed, the base station dust collection fan with greater suction can be used to perform base station dust collection with relatively low power consumption again, sucking and collecting some dirt such as hair with greater adhesion remaining on the middle sweep and the dirt in the dust collection box into the dust collection and storage component of the base station. In this way, through the mutual cooperation of the hair cleaning device, the main unit dust collection fan, and the base station dust collection fan, hierarchical dust collection (i.e., main unit dust collection and base station dust collection) is achieved, ensuring that the power consumption of each stage of the dust collection process will not be too large, while further improving the dust collection effect.

[0020] Additional aspects and advantages of the embodiments of this application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of this application. Brief Description of the Drawings

[0021] The above and / or additional aspects and advantages of this application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0022] Figure 1 is a schematic structural diagram of the dust collection system of some embodiments of this application;

[0023] Figure 2 is a schematic three-dimensional cross-sectional diagram of the dust collection system of some embodiments of this application;

[0024] Figure 3 is a schematic structural diagram of the hair cleaning device of some embodiments of this application;

[0025] Figure 4 is a schematic structural diagram of the hair cleaning device of some embodiments of this application;

[0026] Figure 5 is a schematic structural diagram of the hair cleaning device of some embodiments of this application;

[0027] Figure 6 is a schematic structural diagram of the hair cleaning device of some embodiments of this application;

[0028] Figure 7 is a schematic flowchart of the dust collection method of some embodiments of this application;

[0029] Figure 8 is a schematic flowchart of the dust collection method of some embodiments of this application;

[0030] Figure 9 is a schematic flowchart of the dust collection method of some embodiments of this application;

[0031] Figure 10It is a schematic flowchart of the dust collection method according to some embodiments of the present application;

[0032] Figure 11 It is a schematic block diagram of the dust collection device according to some embodiments of the present application; and

[0033] Figure 12 It is a schematic diagram of the interaction between a non - volatile computer - readable storage medium and a processor according to some embodiments of the present application. Detailed Embodiments

[0034] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the embodiments of the present application, and should not be construed as a limitation to the embodiments of the present application.

[0035] In the present application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0036] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one feature. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, unless otherwise clearly and specifically defined.

[0037] To facilitate the understanding of the present application, the following explains the terms that appear in the present application:

[0038] Self - moving robot: A machine device that automatically performs work. It can either accept human commands, run pre - programmed programs, or act according to the principles and guidelines formulated by artificial intelligence technology.

[0039] A floor cleaning robot is a type of self - moving robot. A floor cleaning robot, also known as an automatic cleaning machine, intelligent vacuum cleaner, robot vacuum cleaner, etc., is a type of intelligent household appliance that can automatically complete floor cleaning work in a room by virtue of artificial intelligence. Generally, it uses a brushing and vacuuming method to first suck the ground debris into its own dust collection box, thereby completing the function of floor cleaning. Generally speaking, robots that complete cleaning, vacuuming, and mopping work are all classified as floor cleaning robots.

[0040] The cleaning robot of this application can be a self - moving robot or a device containing a self - moving robot. The self - moving robot can be a floor cleaning robot or an Automatic Mobile Robot (AMR), etc. For the sake of simplicity, this application takes the self - moving robot as a floor cleaning robot as an example for illustration. The principle is similar for other types of robots, so it will not be elaborated here.

[0041] After the cleaning robot completes cleaning, it can return to the base station and perform replenishment operations through the base station, such as charging, dust collection, and replenishing clean water. After the cleaning robot executes the cleaning task, some dirt will adhere to and entangle on the cleaning part (such as the middle brush). Generally, the cleaning robot will return to the base station for base - station dust collection. Through the super - strong suction of the base - station fan, the dirt in the dust collection box and the dirt on the cleaning part will be sucked into the dust collection and storage part (such as a storage bag, storage box, etc.) together. When the adhesion of dirt such as hair on the cleaning part is too strong (such as hair winding around the middle brush one or more times), at this time, it is difficult to suck the dirt such as hair on the cleaning part into the dust collection and storage part simply by suction. As the cleaning task is continuously executed, the dirt on the cleaning part accumulates, resulting in a significant reduction in the cleaning effect.

[0042] To solve the above - mentioned technical problems, an embodiment of this application provides a dust collection method.

[0043] First, the application scenario of the technical solution of this application will be introduced below. The dust collection method provided by this application can be applied to application scenarios such as Figure 1 and Figure 2 as shown.

[0044] In one embodiment, the cleaning device of this application may only include the cleaning robot 100, or the cleaning device only includes the base station 200; or the cleaning device includes a dust collection system 1000 (or called a dust collection station) composed of the cleaning robot 100 and the base station 200.

[0045] The dust collection system 1000 of this application includes the cleaning robot 100 and the base station 200. The cleaning robot 100 and the base station 200 can be connected through a network to determine the current status of the opposite end (such as battery status, working status, location information, etc.).

[0046] Among them, the cleaning robot 100 includes a vision sensor 10, a radar sensor 20, a processor 30, a memory 40, and a body 50; the processor 30 communicates with the vision sensor 10 and the radar sensor 20 respectively, and the vision sensor 10, the radar sensor 20, and the processor 30 are disposed on the body 50 of the cleaning robot 100.

[0047] The vision sensor 10 is used to collect scene images; the vision sensor 10 can be a visible light camera (Red-Green-Blue, RGB), a visible light depth camera (Red-Green-Blue-Depth, RGBD), an infrared camera, a thermal imaging camera, a depth camera, etc. The RGB camera and the RGBD camera can collect visible light images of the scene, the infrared camera can collect infrared images of the scene, the thermal imaging camera can collect thermal imaging images of the scene, and the depth camera can collect depth images.

[0048] Optionally, the vision sensor 10 includes one or more. The vision sensor 10 can be disposed on the side wall of the body 50. For example, the vision sensor 10 is disposed in the forward direction of the cleaning robot 100 to collect scene images in front of the cleaning robot 100, or the vision sensor 10 is disposed on both sides of the cleaning robot 100 to obtain scene images on both sides during the forward movement of the cleaning robot 100.

[0049] The radar sensor 20 is used to collect point cloud information of objects in the scene. The radar sensor 20 can be a lidar (Laser Direct Structuring, LDS), such as a TOF radar based on the principle of time-of-flight radar (Time of Flight, TOF), a structured light radar based on the principle of structured light, etc.

[0050] The radar sensor 20 is disposed on the top wall of the cleaning robot 100. The radar sensor 20 can protrude from the top wall, or the radar sensor 20 can be disposed inside the body 50 without protruding from the body 50, that is to say, the height of the radar sensor 20 can be lower than the height of the top wall.

[0051] The cleaning robot 100 can achieve positioning and navigation through devices such as the vision sensor 10 and the radar sensor 20. After the cleaning robot 100 completes the cleaning task, it can return to the base station 200 for replenishment, such as charging, cleaning the dust collection box, replenishing clean water, etc., to facilitate subsequent cleaning tasks.

[0052] In one embodiment, the cleaning robot 100 further includes a memory 40, and the memory 40 is used to store communication data between the cleaning robot 100 and the base station 200, and store scene images, point cloud information, map information, etc. captured by the vision sensor 10.

[0053] In one embodiment, the cleaning robot 100 further includes a charging interface 60 (specifically, it can be a charging electrode sheet), and the charging interface 60 is used to charge the cleaning robot 100.

[0054] Optionally, the charging interface 60 is provided on the bottom wall of the fuselage 50. When the cleaning robot 100 moves to the docking position of the base station 200, the charging interface 60 is electrically connected to the power supply interface 210 of the base station 200.

[0055] Optionally, in order to further improve the stability of the charging connection, both the charging interface 60 and the power supply interface 210 can be charging electrode sheets. The area of the charging electrode sheets can be designed according to the sizes of the cleaning robot 100 and the base station 200, so that when the cleaning robot 100 moves onto the base station 200, the charging interface 60 and the power supply interface 210 are at least partially in contact to achieve their electrical connection.

[0056] The charging electrode sheets can be two separate pieces, corresponding to the positive and negative poles of the charge respectively. The charging electrode sheets can be rectangular, circular, oval, etc. The two charging electrode sheets of the charging interface 60 are arranged side by side at intervals, and the two charging electrode sheets of the power supply interface 210 are arranged side by side at intervals. When the robot 100 moves onto the base station 200, the two charging electrode sheets of the charging interface 60 and the power supply interface 210 are respectively in contact to achieve the electrical connection between the charging interface 60 and the power supply interface 210.

[0057] In one embodiment, the cleaning robot 100 further includes a clean water tank 70, a dust collection box 80, a cleaning member 91, and a main body dust collection fan 92.

[0058] The clean water tank 70 is used to store the clean water sprayed in the area to be cleaned during the cleaning task execution of the cleaning robot 100.

[0059] The dust collection box 80 is used to collect the dirt during the cleaning task execution or dust collection process of the cleaning robot 100. The dust collection box 80 forms a dust collection port, which is generally arranged corresponding to the cleaning member 91. The dirt collected by the cleaning member 91 enters the dust collection box 80 through the dust collection port.

[0060] The cleaning member 91 is used to scrub the area to be cleaned during the cleaning task execution of the cleaning robot 100, and then the main body dust collection fan 92 sucks the scrubbed dirt into the dust collection box 80, thereby achieving the cleaning of the area to be cleaned.

[0061] Optionally, the cleaning member 91 includes a dry cleaning member (such as a central sweeper, a side sweeper, etc.) and a wet cleaning member (such as a mop, etc., and the mop includes a flat mop, a rotary mop, a roller brush, etc.). When the cleaning robot 100 performs a cleaning task, it will first use the dry cleaning member to sweep, and then use the wet cleaning member to mop the floor; alternatively, when the cleaning robot 100 performs a cleaning task, it will use the dry cleaning member and the wet cleaning member simultaneously to perform sweeping and mopping respectively.

[0062] Optionally, the main body dust collection fan 92 includes a main body dust collection air duct, and the inlet of the main body dust collection air duct is provided on the dust collection box 80. When the main body dust collection fan 92 operates, it sucks the air in the dust collection box 80 to form a negative pressure, so that the dust collection port of the dust collection box 80 sucks the dirt collected by the cleaning member 91.

[0063] In one embodiment, the base station 200 may include a power supply interface 210, a hair cleaning device 220, and a base station dust collection fan 230. The power supply interface 210 may be provided on the base station 200 (such as a preset area on the top wall or side wall of the base station 200), and the power supply interface 210 is correspondingly arranged with the charging interface 60 of the cleaning robot 100. Thus, when the cleaning robot 100 moves to the parking position of the base station 200, the charging interface 60 and the power supply interface 210 are exactly opposite to each other, which is beneficial to increasing the contact area between the charging interface 60 and the power supply interface 210 and improving the charging stability.

[0064] Optionally, the positions of the charging interface 60 and the power supply interface 210 are not limited to the above embodiments, as long as it is ensured that when the cleaning robot 100 moves to the base station 200, the charging interface 60 and the power supply interface 210 are arranged opposite to each other.

[0065] When the cleaning robot 100 moves to the base station 200, the charging interface 60 and the power supply interface 210 are in contact. The cleaning robot 100 can detect the electrical signal of the charging interface 60. When the cleaning robot 100 has not returned to the station, the electrical signal of the charging interface 60 remains at a low level, while when the cleaning robot 100 returns to the parking position of the base station 200, the electrical signal of the charging interface 60 changes from a low level to a high level. Therefore, by detecting whether the electrical signal of the charging interface 60 changes from a low level to a high level, it can be quickly determined whether the cleaning robot 100 has returned to the parking position of the base station 200.

[0066] The base station 200 can perform wired communication with the cleaning robot 100 through the charging interface 60 and the power supply interface 210 to obtain the data transmitted by the cleaning robot 100 or transmit data to the cleaning robot 100. When it is determined that the cleaning robot 100 has returned to the parking position of the base station 200, the wired communication between the cleaning robot 100 and the base station 200 can be realized through the charging interface 60 and the power supply interface 210 to cooperate in subsequent dust collection operations.

[0067] In addition, the processing power of the base station 200 can be utilized to process data, enabling the control of the cleaning robot 100. For example, the cleaning member 91 of the cleaning robot 100 can be controlled to rotate to cooperate with the base station 200 to clean the cleaning member 91, or the main dust collection fan 92 of the cleaning robot 100 can be controlled to operate for main dust collection.

[0068] The base station dust collection fan 230 is used to suck and clean the dirt in the dust collection box 80 of the cleaning robot 100. The base station dust collection fan 230 may include a base station dust collection air duct, and the base station dust collection air duct connects the dust collection box 80 and the dust collection and storage member 240. The dirt in the dust collection box 80 is sucked through the base station dust collection air duct into the dust collection and storage member 240 through the base station dust collection air duct, realizing the cleaning of the dirt in the dust collection box 80, so that the dust collection box 80 of the cleaning robot 100 can continue to store the dirt collected during subsequent cleaning tasks.

[0069] Please refer to Figure 3 , in one embodiment, the hair cleaning device 220 is disposed at the parking position of the base of the base station 200. The hair cleaning device 220 further includes a moving part 221 and a rotating shaft 222. The moving part 221 moves parallel to the extension direction of the middle sweep; the rotating shaft 222 is disposed on the moving part 221 and is perpendicular to the extension direction of the middle sweep; the cutting assembly 223 is disposed on the rotating shaft 222 and rotates around the rotating shaft 222; when the hair cleaning device 220 is working, the moving part 221 reciprocates along the extension direction of the middle sweep, and the rotating shaft 222 rotates to drive the cutting assembly 223 to rotate. An opening is formed at the parking position, and the cutting assembly 223 is disposed at the opening position, so that the cutting assembly 223 divides the dirt such as hair at various positions on the middle sweep.

[0070] Please refer to Figure 4 , optionally, the cutting assembly 223 includes a plurality of blades 2231, and the plurality of blades 2231 are arranged at intervals around the rotating shaft 222. The rotating shaft 222 includes multiple segments, and the plurality of blades 2231 are arranged at intervals around the rotating shaft 222 and are respectively disposed on the multiple segments.

[0071] Optionally, the plurality of blades 2231 include a first blade 2232 and a second blade 2233. The rotating shaft 222 includes a first segment 2221 and a second segment 2222. The first blade 2232 is disposed on the first segment 2221, and the second blade 2233 is disposed on the second segment 2222, wherein the orientations of the first blade 2232 and the second blade 2233 are opposite.

[0072] Please refer to Figure 5 and Figure 6, in another embodiment, the hair cleaning device 220 further includes a storage component 224. The cutting component 223 is disposed in the storage component 224. The storage component 224 is arranged parallel and opposite to the middle sweep. The storage component 224 includes a storage member 2241 and a telescopic member 2242. The telescopic member 2242 is disposed in the storage member 2241. The cutting component 223 is disposed in the telescopic member 2242. The cutting component 223 includes a plurality of comb teeth 2234 spaced apart on the telescopic member 2242.

[0073] Please refer to Figure 5 , when the hair cleaning device 220 is working, the telescopic member 2242 extends from the storage member 2241 to cut the hair on the middle sweep through the comb teeth 2234.

[0074] Please refer to Figure 6 , when the hair cleaning device 220 is not working, the telescopic member 2242 retracts into the storage member 2241.

[0075] Optionally, the width of the telescopic member 2242 is equal to the width of the middle sweep, so that the telescopic member 2242 can cut the hair in each area of the middle sweep without reciprocating movement along the extension direction of the middle sweep.

[0076] Optionally, the width of the telescopic member 2242 is less than the width of the middle sweep. The storage member 2241 can reciprocate along the extension direction of the middle sweep, driving the telescopic member 2242 to reciprocate along the extension direction of the middle sweep, so as to cut the hair in each area of the middle sweep.

[0077] The dust collection method of the present application will be elaborated in detail below:

[0078] Please refer to Figure 7 , the embodiment of the present application provides a dust collection method. Taking the application of this method to a cleaning device as an example, the cleaning device includes at least one of a cleaning robot and a base station; the cleaning robot is provided with a middle sweep, a dust collection box and a main machine dust collection fan; the base station is provided with a base station dust collection fan, a dust collection storage member, and a hair cleaning device is provided in the parking position of the base station base. The opening of the parking position is communicated with the base station base, and the cutting component of the hair cleaning device is arranged at the opening position; the dust collection method includes:

[0079] Step 011: When the cleaning robot docks at the parking position of the base station, control the hair cleaning device of the base station and the main machine dust collection fan of the cleaning robot to work;

[0080] Specifically, when it is detected that the electrical signal of the charging interface of the cleaning robot changes from low level to high level, it can be determined that the cleaning robot docks at the parking position of the base station. At this time, it means that the cleaning robot needs to collect dust, and the dirt collected by the cleaning task is collected into the dust collection storage member of the base station.

[0081] During dust collection, the main unit conducts dust collection first. Since the cutting component of the hair cleaning device is set at the opening position of the parking position, the cleaning device controls the hair cleaning device set by the control base station to work, and can cut the dirt such as hair attached or wound on the middle sweep, cutting the long hair and other dirt into multiple segments. After cutting, the adhesion of each segment of hair is greatly reduced. At the same time, the main unit dust collection fan of the cleaning robot conducts suction work, thereby sucking the hair and other dirt with greatly reduced adhesion into the dust collection box. In this way, through the hair cleaning device and the main unit dust collection fan for main unit dust collection, the adhesion of dirt such as hair can be reduced, the dust collection effect on dirt such as hair can be improved, the accumulation of dirt such as hair on the middle sweep can be avoided, and the cleaning effect can be improved.

[0082] Step 012: After the main unit dust collection fan of the cleaning robot completes the main unit dust collection, the base station dust collection fan of the control base station conducts base station dust collection work to collect the dirt in the dust collection box into the dust collection and storage component of the base station.

[0083] Specifically, during dust collection, in order to cut hair and improve the dust collection effect, generally the hair cleaning device and the base station dust collection fan will be operated. However, the power consumption of both the hair cleaning device and the base station dust collection fan during operation is relatively high. When operating at the same high power consumption, it will cause excessive dust collection power consumption, and even cause the power grid to trip due to excessive total power.

[0084] Therefore, based on the above technical problems, in the embodiments of the present application, a hierarchical dust collection strategy is used, and the main unit dust collection is combined with the base station dust collection to cooperate to complete the dust collection operation. During the main unit dust collection, the hair cleaning device cooperates with the main unit dust collection fan with lower power consumption, and the dust collection power consumption is lower; after the main unit dust collection is completed, the hair cutting generally is also completed. At this time, when entering the base station dust collection, the hair cleaning device may not need to be used anymore, or the hair cleaning device may be operated at a low power level to suck and collect the remaining hair and other dirt with relatively large adhesion on the middle sweep and the dirt in the dust collection box into the dust collection and storage component of the base station. In this way, through the hierarchical dust collection strategy, while ensuring low dust collection power consumption and avoiding tripping, the dust collection effect is further improved.

[0085] Please refer to Figure 8 , in some embodiments, the hair cleaning device further includes a moving part and a rotating shaft. The moving part moves parallel to the extending direction of the middle sweep; the rotating shaft is arranged on the moving part and is perpendicular to the extending direction of the middle sweep; the cutting component is arranged on the rotating shaft and rotates around the rotating shaft; when the hair cleaning device is working, the moving part reciprocates along the extending direction of the middle sweep, and the rotation of the rotating shaft drives the cutting component to rotate to cut the hair on the middle sweep;

[0086] The method further includes:

[0087] Step 013: When the moving part reciprocates a preset number of times along the extension direction of the middle sweep in the first preset gear, control the hair cleaning device to work or stop working in the second preset gear; or, when the hair cleaning device works for a preset duration, control the hair cleaning device to work or stop working in the second preset gear; or, when the rotating shaft rotates a preset number of turns, control the hair cleaning device to work or stop working in the second preset gear.

[0088] Specifically, in order to achieve hierarchical dust collection control, it is necessary to accurately judge the completion time of the main unit dust collection, so as to perform subsequent base station dust collection.

[0089] Among them, it is possible to determine whether the main unit dust collection is completed according to the working conditions of the hair cleaning device. For example, when it is detected that the hair cleaning device moves or stops working in the second preset gear, it is determined that the main unit dust collection is completed.

[0090] Since the length and area of the middle sweep are fixed, and the size of the cutting component of the hair cleaning device is also fixed, generally, the condition that all the dirt such as hair in each area on the middle sweep is cut can also be preset in advance through experiments. After the hair cleaning device cuts the dirt such as hair, the hair cleaning device can run at a low gear (i.e., the second preset gear) or stop running directly.

[0091] There are various ways to judge whether the hair cleaning device has cut the hair:

[0092] For example, when the moving part reciprocates a preset number of times along the extension direction of the middle sweep in the first preset gear, it can be determined that all the dirt such as hair has been cut. At this time, the cleaning device can control the hair cleaning device to work or stop working in the second preset gear.

[0093] Among them, when the first preset gear is different, the moving speed of the moving part is also different, and the preset number of reciprocating movements is also different. That is to say, the preset number can be determined according to the first preset gear. For example, there is a negative correlation between the preset number and the first preset gear. The higher the gear of the first preset gear, the fewer the preset number of times.

[0094] The second preset gear can be the lowest gear or the second lowest gear among multiple preset gears of the moving part, etc.

[0095] For another example, when the hair cleaning device works for a preset duration (an empirical value), it can be determined that all the dirt such as hair has been cut. At this time, the cleaning device can control the hair cleaning device to work or stop working in the second preset gear.

[0096] Among them, the preset duration can be determined according to the working conditions of the hair cleaning device. For example, it is negatively correlated with the moving gear of the moving part and the rotating speed of the rotating shaft. That is to say, the faster the moving speed of the moving part and the faster the rotating speed of the rotating shaft, the shorter the required preset duration.

[0097] For another example, in the case where the rotating shaft rotates a preset number of turns, it can be determined that all dirt such as hair has been cut. At this time, the cleaning device can control the hair cleaning device to work at the second preset gear or stop working.

[0098] Among them, the preset number of turns is an empirical value and can be obtained through experiments on the actual cutting effect of the hair cleaning device.

[0099] Optionally, the cleaning device can determine whether the main unit dust collection is completed by detecting the working conditions of the main unit dust collection fan. For example, when it is detected that the main unit dust collection fan stops working, it is determined that the main unit dust collection is completed.

[0100] Optionally, after the hair cleaning device finishes cutting the hair, the cleaning device can control the main unit dust collection fan to delay running for a preset duration (such as 10 seconds, 20 seconds, etc.), and then turn off the main unit dust collection fan, so as to ensure that the cut hair is all collected into the dust collection box and improve the dust collection effect.

[0101] Please refer to Figure 9 , in some embodiments, the hair cleaning device further includes a storage component. The cutting component is arranged in the storage component. The storage component is arranged parallel and opposite to the middle sweep. The storage component includes a storage part and a telescopic part. The telescopic part is arranged in the storage part. The cutting component is arranged in the telescopic part. The cutting component includes a plurality of comb teeth arranged at intervals on the telescopic part. When the hair cleaning device works, the telescopic part extends out of the storage part to cut the hair on the middle sweep through the comb teeth; the method further includes:

[0102] Step 014: When the hair cleaning device works for a preset duration, control the hair cleaning device to work at the second preset gear or stop working.

[0103] Specifically, in order to achieve hierarchical dust collection control, it is necessary to accurately judge the completion time of the main unit dust collection, so as to perform subsequent base station dust collection.

[0104] Among them, it can be determined whether the main unit dust collection is completed according to the working conditions of the hair cleaning device. For example, when it is detected that the hair cleaning device moves at the second preset gear or stops working, it is determined that the main unit dust collection is completed.

[0105] Since the length and area of the middle sweep are fixed, the size of the cutting assembly of the hair cleaning device is also fixed. Therefore, the conditions for cutting all the dirt such as hair in each area on the middle sweep can generally be preset in advance through experiments. After the hair cleaning device cuts the hair and other dirt, the hair cleaning device can operate at a low gear (i.e., the second preset gear) or stop running directly.

[0106] For example, when the storage member of the hair cleaning device can reciprocate along the extension direction of the middle sweep, the hair cleaning device can be controlled to work at the second preset gear (such as the storage member moves at a lower gear) or stop working (i.e., the telescopic member retracts into the storage member) when the storage member reciprocates a preset number of times.

[0107] For another example, when the storage member of the hair cleaning device is fixed, the cleaning device can determine that all the dirt such as hair has been cut after the hair cleaning device works for a preset duration (an empirical value). At this time, the cleaning device can control the hair cleaning device to work at the second preset gear (such as the telescopic member extends and retracts at a lower telescopic gear) or stop working (i.e., the telescopic member retracts into the storage member).

[0108] Among them, the preset duration can be determined according to the rotation gear of the middle sweep and the telescopic gear of the telescopic member. For example, the higher the rotation gear of the middle sweep (i.e., the faster the rotation speed), and the higher the telescopic gear (such as when the telescopic gear is at the highest gear, the telescopic member continuously extends out of the storage member), the shorter the required preset duration.

[0109] When the hair cleaning device completes hair cutting, the cleaning device controls the main unit dust collection fan to stop working, thereby completing the main unit dust collection.

[0110] Optionally, after the hair cleaning device completes hair cutting, the cleaning device can control the main unit dust collection fan to delay moving for a preset duration (such as 10 seconds, 20 seconds, etc.), and then turn off the main unit dust collection fan, so as to ensure that the cut hair is all collected into the dust collection box and improve the dust collection effect.

[0111] Optionally, the cleaning device can determine whether the main unit dust collection is completed by detecting the working condition of the main unit dust collection fan. For example, when it is detected that the main unit dust collection fan stops working, it is determined that the main unit dust collection is completed.

[0112] In some embodiments, in order to avoid the high power consumption caused by the simultaneous operation of the hair cleaning device and the base station dust collection fan, the cleaning device can control the hair cleaning device to stop running after determining that the hair cleaning device has completed hair cleaning. Only when it is detected that the hair cleaning device stops working, it is determined that the main unit dust collection is completed.

[0113] In some embodiments, the hair cleaning device has multiple working gears, and the power is different when operating at different gears. Therefore, as long as the total power consumption when the hair cleaning device and the base station dust collection fan operate together is lower than a specific power threshold, it can be ensured that the dust collection power consumption will not be too high.

[0114] Therefore, before the hair cleaning device finishes cleaning the hair and enters the base station for dust collection, the cleaning device can control the hair cleaning device to work at the second preset gear or stop working, as long as it is ensured that the current total power of the cleaning robot and the base station is less than the preset power threshold.

[0115] Among them, the current total power is the sum of the powers of each component of the cleaning robot and the base station operating. The preset power threshold can be determined according to the specific power threshold and the base station dust collection power corresponding to the current gear of the base station dust collection fan (the base station dust collection fan generally operates at the maximum gear during dust collection to ensure the dust collection effect), such as preset power threshold = specific power threshold - base station dust collection power.

[0116] In this way, when the current total power is less than the preset power threshold, it can be determined that the gear adjustment of the hair cleaning device meets the requirements. At this time, entering the base station for dust collection to control the base station dust collection fan to work will not cause the total power to be greater than the specific power threshold, thus avoiding excessive dust collection power consumption.

[0117] Please refer to Figure 10 , in some embodiments, the host dust collection fan includes a host dust collection air duct, the inlet of the host dust collection air duct is provided on the dust collection box, the dust collection box includes a dust collection port, and the dust collection port is correspondingly arranged with the middle sweep; Step 011: Control the hair cleaning device of the base station and the host dust collection fan of the cleaning robot to work, including:

[0118] Step 0111: Control the hair cleaning device and the middle sweep to work; and

[0119] Step 0112: Control the host dust collection fan to work to collect the dirt at the inlet into the dust collection box;

[0120] The base station dust collection fan includes a base station dust collection air duct, and the base station dust collection air duct connects the dust collection box and the dust collection storage member; Step 012: Control the base station dust collection fan of the base station to perform base station dust collection work to collect the dirt in the dust collection box into the dust collection storage member of the base station, and further includes:

[0121] Step 0121: Control the middle sweep to rotate;

[0122] Step 0122: Control the base station dust collection fan of the base station to work to collect the dirt in the dust collection box and the middle sweep into the dust collection storage member of the base station.

[0123] Specifically, when performing host dust collection, to ensure the effect of the hair cleaning device in cutting hair, the cleaning device can control the hair cleaning device and the middle sweeper to work together. While the middle sweeper rotates, the hair cleaning device cuts the hair on the middle sweeper. Compared with the situation where the middle sweeper does not rotate and the hair cleaning device can only cut the hair in a part of the area directly opposite to the cutting component, the hair cutting effect is better, and the hair in all areas of the middle sweeper can be cut.

[0124] At this time, the cleaning device controls the host dust collection fan to work, and the dirt at the entrance of the host dust collection air duct can be collected into the dust collection box. And because the middle sweeper continues to rotate, different areas of the middle sweeper are facing the entrance of the host dust collection air duct at different times, thereby improving the dust collection effect of the host dust collection.

[0125] When performing base station dust collection, when the base station dust collection fan is working, the middle sweeper is also constantly rotating, and different areas of the middle sweeper are facing the entrance of the host dust collection air duct at different times, so that the base station dust collection fan with greater suction collects the hair and other dirt in all areas of the middle sweeper and the dirt in the dust collection box into the dust collection and storage member, improving the dust collection effect of the base station dust collection.

[0126] Please refer to Figure 11 , to facilitate better implementation of the dust collection method of the embodiments of the present application, the embodiments of the present application also provide a dust collection device 10. The dust collection device 10 includes a control module 11.

[0127] The control module 11 is used to control the hair cleaning device of the base station and the host dust collection fan of the cleaning robot to work when the cleaning robot docks at the parking position of the base station; after the host dust collection fan of the cleaning robot completes host dust collection, control the base station dust collection fan of the base station to perform base station dust collection work to collect the dirt in the dust collection box into the dust collection and storage member of the base station.

[0128] In some embodiments, the dust collection device 10 further includes a judgment module 12, a determination module 13 and an acquisition module 14.

[0129] The control module 11 is further used to control the hair cleaning device to work or stop working at a second preset gear when the moving part reciprocates a preset number of times along the extension direction of the middle sweeper at a first preset gear; or, when the hair cleaning device works for a preset duration, control the hair cleaning device to work or stop working at a second preset gear; or, when the rotating shaft rotates a preset number of turns, control the hair cleaning device to work or stop working at a second preset gear.

[0130] In some embodiments, the control module 11 is further used to control the hair cleaning device to work or stop working at a second preset gear when the hair cleaning device works for a preset duration.

[0131] In some embodiments, the determination module 12 is configured to determine whether the hair cleaning device has stopped working; the determination module 13 is configured to, if so, determine that the main dust collection fan of the cleaning robot has completed main dust collection.

[0132] In some embodiments, the acquisition module 14 is configured to acquire the current total power of the cleaning robot and the base station; the determination module 12 is further configured to determine whether the current total power is less than a preset power threshold; the determination module 13 is further configured to, if so, determine that the main dust collection fan of the cleaning robot has completed main dust collection.

[0133] In some embodiments, the control module 11 is further configured to control the hair cleaning device and the middle sweeping operation; and control the main dust collection fan to operate to collect dirt into the dust collection box through the dust collection port; control the middle sweeper to rotate; control the base station dust collection fan of the base station to operate to collect the dirt in the dust collection box and the middle sweeper into the dust collection and storage member of the base station.

[0134] The device has been described above from the perspective of functional modules in combination with the accompanying drawings. These functional modules can be implemented in hardware form, can also be implemented by instructions in software form, and can also be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiments in the present application can be completed by the integrated logic circuit in the hardware of the processor and / or instructions in software form. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by the hardware-coded processor, or executed by a combination of the hardware and software modules in the coded processor. Optionally, the software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps in the above method embodiments.

[0135] The cleaning device according to the embodiments of the present application includes a processor, a memory, and a computer program. Among them, the computer program is stored in the memory and is executed by the processor. The computer program includes instructions for executing the dust collection method in any of the above embodiments.

[0136] As Figure 1 shown, the cleaning device may only include the cleaning robot 100, or the cleaning device only includes the base station 200; or the cleaning device includes the cleaning robot 100 and the base station 200 (or called the dust collection station).

[0137] Please refer to Figure 1 and Figure 2, the dust collection system 1000 according to the embodiments of the present application includes a cleaning robot 100 and a base station 200. When the base station 200 detects that the cleaning robot 100 is docked at the parking position, it controls the hair cleaning device 220 to work and sends a start instruction to the cleaning robot 100. When the cleaning robot 100 receives the start instruction, it controls the main unit dust collection fan 92 to work; after the main unit dust collection fan 92 of the cleaning robot 100 completes the main unit dust collection, it sends feedback information to the base station 200. When the base station 200 receives the feedback information, it controls the base station dust collection fan 230 to perform base station dust collection work to collect the dirt in the dust collection box 80 into the dust collection and storage member 240 of the base station 200.

[0138] In some embodiments, after the hair cleaning device 220 stops working, the base station 200 sends a stop instruction to the cleaning robot 100. When the cleaning robot 100 receives the stop instruction, it controls the main unit dust collection fan 92 to stop working. When the main unit dust collection fan 92 stops working, the cleaning robot 100 determines that the main unit dust collection is completed.

[0139] Please refer to Figure 12 , the embodiments of the present application also provide a computer-readable storage medium 500, on which a computer program 510 is stored. When the computer program 510 is executed by a processor 520, the steps of the dust collection method according to any one of the above embodiments are implemented. For the sake of brevity, it will not be elaborated here.

[0140] It can be understood that the computer program includes computer program code. The computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), and software distribution medium, etc.

[0141] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0142] Any process or method description shown in the flowchart or described in other ways herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0143] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A dust collection method, characterized in that, Applied to a cleaning device, the cleaning device includes at least one of a cleaning robot and a base station; a middle sweeper, a dust collection box and a main unit dust collection fan are provided on the cleaning robot; A base station dust collection fan, a dust collection and storage member are provided on the base station, and a hair cleaning device is provided in a parking position of the base station base, wherein an opening of the parking position communicates with the base station base and a cutting assembly of the hair cleaning device is arranged at the opening position; The method includes: When the cleaning robot docks at the parking position of the base station, controlling the hair cleaning device of the base station and the main unit dust collection fan of the cleaning robot to work; After the main unit dust collection fan of the cleaning robot completes the main unit dust collection, controlling the base station dust collection fan of the base station to perform base station dust collection work to collect the dirt in the dust collection box into the dust collection and storage member of the base station.

2. The dust collection method according to claim 1, characterized in that, The hair cleaning device further includes a moving part and a rotating shaft, the moving part moves parallel to the extending direction of the middle sweeper; the rotating shaft is arranged on the moving part and is perpendicular to the extending direction of the middle sweeper; the cutting assembly is arranged on the rotating shaft and rotates around the rotating shaft; when the hair cleaning device is working, the moving part reciprocates along the extending direction of the middle sweeper, and the rotating shaft rotates to drive the cutting assembly to rotate to cut the hair on the middle sweeper; The method further includes: When the moving part reciprocates a preset number of times along the extending direction of the middle sweeper at a first preset gear, controlling the hair cleaning device to work or stop working at a second preset gear; Or, when the hair cleaning device works for a preset duration, controlling the hair cleaning device to work or stop working at a second preset gear; Or, when the rotating shaft rotates a preset number of turns, controlling the hair cleaning device to work or stop working at a second preset gear.

3. The dust collection method according to claim 1, characterized in that, The hair cleaning device further includes a storage assembly, the cutting assembly is arranged on the storage assembly, the storage assembly is arranged parallel and opposite to the middle sweeper, the storage assembly includes a storage member and a telescopic member, the telescopic member is arranged on the storage member, the cutting assembly is arranged on the telescopic member, the cutting assembly includes a plurality of comb teeth arranged at intervals on the telescopic member, when the hair cleaning device is working, the telescopic member extends out of the storage member to cut the hair on the middle sweeper through the comb teeth; The method further includes: When the hair cleaning device works for a preset duration, controlling the hair cleaning device to work or stop working at a second preset gear.

4. The dust collection method according to any one of claims 1 to 3, characterized in that, It further includes: Judging whether the hair cleaning device stops working; If so, determining that the main unit dust collection fan of the cleaning robot has completed the main unit dust collection.

5. The dust collection method according to any one of claims 1 to 3, characterized in that, It further includes: Obtaining the current total power of the cleaning robot and the base station; Judging whether the current total power is less than a preset power threshold; If so, determining that the main unit dust collection fan of the cleaning robot has completed the main unit dust collection.

6. The dust collection method according to claim 1, characterized in that, The suction force of the base station dust collection fan during base station dust collection is greater than the suction force of the main unit dust collection fan during main unit dust collection.

7. The dust collection method according to claim 1, characterized in that, The host dust collection fan includes a host dust collection air duct, the inlet of the host dust collection air duct is arranged on the dust collection box, the dust collection box includes a dust collection port, and the dust collection port is arranged corresponding to the middle sweep; Controlling the hair cleaning device of the base station and the host dust collection fan of the cleaning robot to work includes: Controlling the hair cleaning device and the middle sweep to work; and Controlling the host dust collection fan to work to collect dirt into the dust collection box through the dust collection port; The base station dust collection fan includes a base station dust collection air duct, and the base station dust collection air duct connects the dust collection box and the dust collection and storage member; Controlling the base station dust collection fan of the base station to perform base station dust collection work to collect the dirt in the dust collection box into the dust collection and storage member of the base station further includes: Controlling the middle sweep to rotate; Controlling the base station dust collection fan of the base station to work to collect the dirt in the dust collection box and the middle sweep into the dust collection and storage member of the base station.

8. A dust collection system, characterized in that, Including: A cleaning robot, on which a middle sweep, a dust collection box and a host dust collection fan are provided; A base station, on which a base station dust collection fan, a dust collection and storage member are provided, and a hair cleaning device is provided in the parking position of the base station base, wherein the opening of the parking position is communicated with the base station base and the cutting assembly of the hair cleaning device is arranged at the opening position; When the base station detects that the cleaning robot docks at the parking position, it controls the hair cleaning device to work and sends a start command to the cleaning robot. When the cleaning robot receives the start command, it controls the host dust collection fan to work; After the host dust collection fan of the cleaning robot completes host dust collection, it sends feedback information to the base station. When the base station receives the feedback information, it controls the base station dust collection fan to perform base station dust collection work to collect the dirt in the dust collection box into the dust collection and storage member of the base station.

9. A cleaning device, characterized in that, Including: A processor, a memory; And A computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing the dust collection method according to any one of claims 1 to 7.

10. A non - volatile computer - readable storage medium for a computer program, characterized in that, When the computer program is executed by one or more processors, the dust collection method according to any one of claims 1-7 is implemented.

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