Cleaning system with cleaning part self-cleaning function and control method

Abstract

The invention discloses a cleaning system with a cleaning part self-cleaning function and a control method, and belongs to the technical field of cleaning equipment, the cleaning system comprises a cleaning robot, a base station and a control module, the cleaning robot is provided with a cleaning part, and the base station is provided with a clean water tank and / or a sewage tank. Through the combination of the water shortage water level, the first floater and the first induction piece, it is ensured that the cleaning piece can smoothly finish current self-cleaning after starting self-cleaning, the situation that the cleaning piece stops cleaning due to water shortage of the water purification tank when half of the cleaning piece is cleaned is avoided, and the cleaning piece does not need to be self-cleaned again when the cleaning piece is started next time. Through the combination of the full water level, the second floater and the second induction piece, it is ensured that sewage generated in the current self-cleaning process of the cleaning piece can be completely pumped into the sewage tank, and the situation that the current self-cleaning of the cleaning piece cannot be finished smoothly due to the fact that the sewage tank is full of water and the self-cleaning sewage of the cleaning piece cannot be discharged smoothly is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a cleaning system with a self-cleaning function for a cleaning member. In addition, the present invention also relates to a control method applied to the self-cleaning of the cleaning member. Background Art

[0002] Nowadays, as a kind of intelligent household cleaning appliance, a cleaning robot plays an increasingly important role in people's daily lives. The existing cleaning robot is provided with a cleaning member for wiping the ground. When the cleaning robot works, the cleaning member wipes the ground, enabling the cleaning robot to have a floor mopping function. The cleaning robot is configured with a base station. When the cleaning robot docks at the base station, it can complete procedures such as battery charging, self-cleaning and drying of the cleaning member, dust collection, and water addition. In order to realize the self-cleaning of the cleaning member, the base station is generally provided with a clean water tank and a sewage tank. The clean water tank provides cleaning water when the cleaning member performs self-cleaning, and the sewage after cleaning is pumped into the sewage tank. In the prior art, if the clean water tank runs out of water during the self-cleaning process of the cleaning member, it indicates that the amount of water in the clean water tank is almost exhausted, and the self-cleaning of the cleaning member can only stop and prompt to wait for user intervention. Since the clean water tank is generally arranged inside the base station, the user cannot view the remaining water volume of the clean water tank in real time. If water is not added to the clean water tank in time, the current self-cleaning of the cleaning member will be interrupted, that is, the cleaning member stops cleaning halfway through the cleaning, and the cleaning member needs to perform self-cleaning again when it is started next time, which will cause waste of clean water and time. In addition, due to the interruption of the self-cleaning of the cleaning member, the subsequent work of the cleaning robot is also interrupted accordingly, which will reduce the working efficiency of the cleaning robot and is not conducive to improving the user experience. Summary of the Invention

[0003] In order to solve the above-mentioned drawbacks and deficiencies existing in the prior art, the present invention provides a cleaning system with a self-cleaning function for a cleaning member, which ensures that the cleaning member can successfully end the current self-cleaning after starting the self-cleaning through the combination of a water shortage water level, a first float, and a first sensing member, avoiding the situation that the cleaning member stops cleaning halfway through the cleaning due to water shortage in the clean water tank.

[0004] In order to achieve the above technical object, the present invention provides a cleaning system with a self-cleaning function for a cleaning member, including a cleaning robot, a base station, and a control module. The cleaning robot is provided with a cleaning member for wiping a surface to be cleaned, and the base station is provided with a clean water tank for providing self-cleaning water for the cleaning member and / or a sewage tank for collecting sewage from the self-cleaning of the cleaning member.

[0005] The water purification tank is provided with a water shortage level and a first float for reflecting the liquid level height in the water purification tank. The base station is provided with a first sensing member for sensing the height of the first float and signal-connected to the control module. The first sensing member is triggered by the first float lowered to the water shortage level. The remaining water storage volume V1 in the water purification tank corresponding to the height of the water shortage level and the water demand Vq for a single self-cleaning of the cleaning member satisfy Vq ≤ V1 < 2 * Vq; and / or,

[0006] The sewage tank is provided with a full water level and a second float for reflecting the liquid level height in the sewage tank. The base station is provided with a second sensing member for sensing the height of the second float and signal-connected to the control module. The second sensing member is triggered by the second float raised to the full water level. The remaining water storage space V2 in the sewage tank corresponding to the height of the full water level and the drainage volume Vp for a single self-cleaning of the cleaning member satisfy Vp ≤ V2 < 2 * Vp.

[0007] The present invention also provides a control method applied to the self-cleaning of the cleaning member. If the first sensing member is triggered by the first float during the self-cleaning of the cleaning member, and the control module determines according to the output signal fed back by the first sensing member that the remaining water volume in the water purification tank meets the water demand for the current self-cleaning of the cleaning member, then the cleaning member continues the current self-cleaning; and / or,

[0008] If the second sensing member is triggered by the second float during the self-cleaning of the cleaning member, and the control module determines according to the output signal fed back by the second sensing member that the remaining space in the sewage tank meets the drainage demand for the current self-cleaning of the cleaning member, then the cleaning member continues the current self-cleaning.

[0009] Preferably, the cleaning system is provided with a prompting module;

[0010] If the first sensing member feeds back an output signal to the control module during the current self-cleaning of the cleaning member, the control module commands the prompting module to give a water adding prompt signal after the current self-cleaning of the cleaning member ends; and / or,

[0011] If the second sensing member feeds back an output signal to the control module during the current self-cleaning of the cleaning member, the control module commands the prompting module to give a cleaning prompt signal after the current self-cleaning of the cleaning member ends.

[0012] Preferably, if the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the first sensing part does not change after being triggered by the first float, the control module determines that the clean water tank is short of water according to the output signal of the first sensing part and commands the prompting module to give a water - adding prompt signal and / or the control module commands the prompting module to give a water - adding prompt signal when the cleaning robot is about to start the next cleaning operation; and / or,

[0013] If the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the second sensing part does not change after being triggered by the second float, the control module determines that the sewage tank is full of water according to the output signal of the second sensing part and commands the prompting module to give a cleaning prompt signal and / or the control module commands the prompting module to give a cleaning prompt signal when the cleaning robot is about to start the next cleaning operation.

[0014] Preferably, if the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the first sensing part changes once after being triggered by the first float, the control module determines that the clean water tank is not in place according to the output signal of the first sensing part, and the control module commands the prompting module to give a clean water tank loading prompt signal when the cleaning robot is about to start the next cleaning operation.

[0015] Preferably, if the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the first sensing part changes three times and then remains unchanged after being triggered by the first float, the control module determines that the clean water tank is in place and the water level in the clean water tank is higher than the water - shortage level, and the clean water tank meets the condition for the cleaning robot to start the next cleaning operation; and / or,

[0016] If the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the second sensing part changes once and then remains unchanged after being triggered by the second float, the control module determines that the sewage tank is in place and the water level in the sewage tank is lower than the full - water level, and the sewage tank meets the condition for the cleaning robot to start the next cleaning operation.

[0017] Preferably, when the cleaning robot is about to start the next cleaning operation, if the control module determines according to the output signal of the first sensing part that the clean water tank has not been filled with water or installed within the preset time ΔT1, or if the control module determines according to the output signal of the second sensing part that the sewage tank has not been cleaned or installed within the preset time ΔT2, then the cleaning robot stops starting;

[0018] Among them, the preset time ΔT1 and the preset time ΔT2 can be timed synchronously or successively.

[0019] Preferably, the base station is provided with a drying module for drying the cleaning member.

[0020] If the current self-cleaning of the cleaning member is a mid-way backwash during the working process, the cleaning robot leaves the base station and continues to work after the current self-cleaning of the cleaning member is completed.

[0021] If the current self-cleaning of the cleaning member is the last self-cleaning, the control module commands the drying module to dry the cleaning member after the current self-cleaning of the cleaning member is completed.

[0022] Preferably, the drying module has a heating member for heating the drying air flow.

[0023] Preferably, the first float is provided with a first magnet, and the first sensing member is a magnetic induction member; and / or,

[0024] The second float is provided with a second magnet, and the second sensing member is a magnetic induction element.

[0025] After adopting the above technical solution, the present invention has the following advantages:

[0026] 1. For the cleaning system provided by the present invention, the water shortage level and the first float are set in the water purification tank, and the first sensing member is set in the base station. When the water volume in the water purification tank decreases and the first float drops to the height of the water shortage level, the first sensing member is triggered. Since the remaining water volume V1 in the water purification tank corresponding to the height of the water shortage level and the water demand Vq for a single self-cleaning of the cleaning member satisfy the relationship of Vq ≤ V1 < 2*Vq, when the first sensing member is triggered by the first float, it indicates that the remaining water volume in the water purification tank still meets the water use requirements for the current self-cleaning of the cleaning member, and the cleaning member can normally complete the current self-cleaning. By combining the water shortage level, the first float and the first sensing member, it is ensured that the cleaning member can smoothly end the current self-cleaning after starting the self-cleaning, avoiding the situation that the cleaning member stops cleaning halfway due to water shortage in the water purification tank, and the cleaning member does not need to perform self-cleaning again when starting next time, which is beneficial to saving water resources and time, and also beneficial to improving the user experience.

[0027] A sewage tank is provided with a full water level and a second float, and a base station is provided with a second sensing member. When the water volume in the sewage tank increases and the second float rises to the height of the full water level, the second sensing member is triggered. Since the remaining water storage space V2 of the sewage tank corresponding to the height of the full water level and the drainage volume Vp of the cleaning member for a single self-cleaning satisfy the relationship of Vp ≤ V2 < 2 * Vp, when the second sensing member is triggered by the second float, it indicates that the space in the sewage tank still meets the sewage discharge requirements for the current self-cleaning of the cleaning member, and the cleaning member can continue to normally complete the current self-cleaning. Through the combination of the full water level, the second float and the second sensing member, it is ensured that the sewage generated by the cleaning member during the current self-cleaning can be completely pumped into the sewage tank, avoiding the situation that the self-cleaning sewage of the cleaning member cannot be smoothly discharged due to the full sewage tank, resulting in the failure to smoothly end the current self-cleaning of the cleaning member.

[0028] 2. In the control method provided by the present invention, if the first sensing member is triggered during the self-cleaning process of the cleaning member, and the control module determines according to the trigger signal of the first sensing member that the remaining water volume in the clean water tank can still meet the requirements for the current cleaning, then the current self-cleaning of the cleaning member can continue, avoiding the situation that the self-cleaning of the cleaning member is interrupted due to insufficient clean water supply.

[0029] If the second sensing member is triggered during the self-cleaning process of the cleaning member, and the control module determines according to the trigger signal of the second sensing member that the remaining water storage space in the sewage tank can still meet the sewage discharge requirements after the current cleaning, then the current self-cleaning of the cleaning member can continue, avoiding the situation that the self-cleaning of the cleaning member is interrupted due to insufficient sewage storage space.

[0030] 3. If the first sensing member is triggered during the self-cleaning process of the cleaning member, and after the current self-cleaning of the cleaning member, the remaining water volume in the clean water tank cannot meet the water consumption for the next self-cleaning of the cleaning member, the control module commands the prompting module to issue a water addition prompt signal, thereby reminding the user to add water to the clean water tank so that the clean water tank can smoothly supply cleaning water when the cleaning member performs the next self-cleaning.

[0031] If the second sensing member is triggered during the self-cleaning process of the cleaning member, and after the current self-cleaning of the cleaning member, the remaining water storage space in the sewage tank cannot meet the sewage discharge requirements for the next self-cleaning of the cleaning member, the control module commands the prompting module to issue a cleaning prompt signal, thereby reminding the user to clean the sewage tank so that the sewage tank can smoothly collect cleaning sewage when the cleaning member performs the next self-cleaning.

[0032] 4. If the current self - cleaning of the cleaning part is the last self - cleaning, and the first sensing part is triggered during this cleaning, it indicates that the water purification tank is in a water - shortage state. After this self - cleaning is completed, the control module commands the prompt module to give a water - adding prompt signal so that the water purification tank can meet the conditions for the cleaning robot to start the next cleaning task. If the signal of the first sensing part has not changed, it indicates that the user has not added water to the water purification tank. When the cleaning robot is about to start the next cleaning task, the control module commands the prompt module to give a water - adding prompt signal so that the cleaning robot can start the cleaning task when the water volume in the water purification tank is sufficient, ensuring that the water purification tank can smoothly provide water for the self - cleaning of the cleaning part when the cleaning robot returns to the base station.

[0033] If the current self - cleaning of the cleaning part is the last self - cleaning, and the second sensing part is triggered during this cleaning, it indicates that the sewage tank is full. After this self - cleaning is completed, the control module commands the prompt module to give a cleaning prompt signal so that the sewage tank can meet the conditions for the cleaning robot to start the next cleaning task. If the signal of the second sensing part has not changed, it indicates that the user has not cleaned the sewage tank. When the cleaning robot is about to start the next cleaning task, the control module commands the prompt module to give a cleaning prompt signal so that the cleaning part robot can start the cleaning task when the sewage - holding space in the sewage tank is sufficient, ensuring that the sewage tank can smoothly collect the cleaning sewage after the self - cleaning of the cleaning part.

[0034] 5. If the current self - cleaning of the cleaning part is the last self - cleaning, and the first sensing part has a signal change after being triggered during this cleaning, it indicates that the user has taken out the water purification tank from the base station and not reinstalled it. The control module determines based on this that the water purification tank is not in place. When the cleaning robot is about to start the next cleaning task, the control module commands the prompt module to give a water - purification - tank - reinstalling prompt signal so that the water purification tank can provide water for the self - cleaning of the cleaning part when the cleaning robot returns to the base station.

[0035] 6. If the current self - cleaning of the cleaning part is the last self - cleaning, and the first sensing part has three signal changes and then remains unchanged after being triggered during this cleaning, it indicates that the water purification tank is in place and the water level in the water purification tank is higher than the water - shortage level. The water volume in the water purification tank meets the water - using requirements for at least one self - cleaning of the cleaning part, ensuring that the water purification tank can meet the conditions for the cleaning robot to start the next cleaning task.

[0036] If the current self - cleaning of the cleaning part is the last self - cleaning, and the second sensing part has a signal change and then remains unchanged after being triggered during this cleaning, it indicates that the user has cleaned the sewage tank and reinstalled it. The control module determines based on this that the sewage tank is in place and the water level in the sewage tank is lower than the full - water level. The sewage - holding space in the sewage tank meets the self - cleaning drainage requirements for at least one time of the cleaning part, ensuring that the sewage tank can meet the conditions for the cleaning robot to normally start the next cleaning task. Description of the Drawings

[0037] Figure 1 It is the overall schematic diagram of the cleaning system in the first embodiment;

[0038] Figure 2 It is the schematic diagram of the cleaning robot in the cleaning system of the first embodiment;

[0039] Figure 3 It is the schematic diagram of the clean water tank in the cleaning system of the first embodiment providing self-cleaning water for the cleaning part, and the sewage tank collecting the self-cleaning sewage of the cleaning part;

[0040] Figure 4 It is the schematic diagram of the clean water tank in the cleaning system of the first embodiment;

[0041] Figure 5 It is the schematic diagram of the sewage tank in the cleaning system of the first embodiment;

[0042] Figure 6 It is the schematic diagram of the control module in the cleaning system of the first embodiment;

[0043] Figure 7 It is the schematic diagram of the air drying module in the cleaning system of the first embodiment;

[0044] Figure 8 It is the schematic flow diagram of the control method in the first embodiment;

[0045] Figure 9 It is the schematic flow diagram of the clean water tank in the control method of the first embodiment providing self-cleaning water for the cleaning part;

[0046] Figure 10 It is the schematic flow diagram of the sewage tank in the control method of the first embodiment collecting the self-cleaning sewage of the cleaning part.

[0047] In the figure, 100 - cleaning robot, 110 - cleaning part,

[0048] 200 - base station, 210 - base station main body, 220 - cleaning tray, 221 - cleaning tank,

[0049] 300 - control module, 310 - first control board, 320 - second control board, 330 - prompt module,

[0050] 410 - clean water tank, 411 - first chute, 420 - first float, 421 - first magnet, 430 - first sensor, 440 - water supply pipeline, 450 - water supply pump,

[0051] 510 - sewage tank, 511 - second chute, 520 - second float, 521 - second magnet, 530 - second sensor, 540 - sewage discharge pipeline, 550 - sewage discharge pump,

[0052] 600 - air - drying module, 610 - motor, 620 - fan wheel, 630 - heating element. Detailed implementation mode

[0053] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following words indicating orientation or positional relationships, such as "up", "down", "left", "right", "longitudinal", "lateral", "inner", "outer", "vertical", "horizontal", "top", "bottom", etc., are only based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0054] Embodiment 1

[0055] Combined with Figure 4 、 Figure 5 A cleaning system with a self - cleaning function for a cleaning part provided in Embodiment 1 of the present invention includes a cleaning robot 100, a base station 200, and a control module 300. The cleaning robot 100 is provided with a cleaning part 110 for wiping the surface to be cleaned. The base station 200 is provided with a clean water tank 410 for supplying self - cleaning water to the cleaning part 110 and a sewage tank 510 for collecting the sewage from the self - cleaning of the cleaning part 110. The clean water tank 410 is provided with a water - shortage water level and a first float 420 for reflecting the liquid level height in the clean water tank 410. The base station 200 is provided with a first sensing part 430 for sensing the height of the first float 420 and signal - connected to the control module 300. The first sensing part 430 is triggered by the first float 420 that has dropped to the water - shortage water level. The remaining water storage volume V1 of the clean water tank 410 corresponding to the height of the water - shortage water level and the water demand Vq for a single self - cleaning of the cleaning part 110 satisfy Vq ≤ V1 < 2 * Vq. The sewage tank 510 is provided with a full - water water level and a second float 520 for reflecting the liquid level height in the sewage tank 510. The base station 200 is provided with a second sensing part 530 for sensing the height of the second float 520 and signal - connected to the control module 300. The second sensing part 530 is triggered by the second float 520 that has risen to the full - water water level. The remaining water - holding space V2 of the sewage tank 510 corresponding to the height of the full - water water level and the drainage volume Vp for a single self - cleaning of the cleaning part 110 satisfy Vp ≤ V2 < 2 * Vp.

[0056] By combining the water shortage water level, the first float 420, and the first sensing member 430, it is ensured that the cleaning member 110 can smoothly end the current self-cleaning after starting the self-cleaning, avoiding the situation where the cleaning member 110 stops cleaning halfway due to water shortage in the clean water tank 410. When the cleaning member 110 is started next time, it is not necessary to perform self-cleaning again, which is beneficial to saving water resources and time, and also beneficial to improving the user experience. By combining the full water level, the second float 520, and the second sensing member 530, it is ensured that the sewage generated by the cleaning member 110 during the current self-cleaning can be completely pumped into the sewage tank 510, avoiding the situation where the self-cleaning sewage of the cleaning member 110 cannot be smoothly discharged due to the full sewage tank 510, resulting in the inability to smoothly end the current self-cleaning of the cleaning member 110.

[0057] Combination Figure 1 、 Figure 2 As a preferred solution of this embodiment, the cleaning member 110 is provided at the rear of the cleaning robot 100. The base station 200 includes a base station main body 210 and a cleaning tray 220 detachably installed on the bottom side of the base station main body 210. The base station main body 210 and the cleaning tray 220 cooperate to form a docking cavity for the rear part of the cleaning robot 100 to enter. The cleaning tray 220 is provided with a cleaning groove 221 below the docking cavity. When the cleaning robot 100 returns to the base station 200, it reverses backward into the base station 200. The rear part of the cleaning robot 100 is located in the docking cavity, and the cleaning member 110 is located in the cleaning groove 221, so that the cleaning member 110 can perform self-cleaning in the cleaning groove 221. As an alternative solution of this embodiment, the cleaning member 110 on the cleaning robot 100 can be a horizontally rotating mop, or a single or two axially transverse roller brushes, or a tracked mop structure, and there is no excessive limitation here. The specific structure of the cleaning groove 221 on the cleaning tray 220 is determined according to the structure of the cleaning member 110. Other structures of the cleaning robot 100 can refer to the prior art, such as setting side brush assemblies, dust suction assemblies, batteries, etc., and will not be elaborated here.

[0058] The clean water tank 410 and the sewage tank 510 are detachably installed in the base station main body 210, combination Figure 3, As an alternative solution of this embodiment, a water supply pipeline 440 and a sewage pipeline 540 are provided inside the base station main body 210. One end of the water supply pipeline 440 is detachably docked with the clean water tank 410, and the other end of the water supply pipeline 440 extends to the cleaning tank 221. A water supply pump 450 is provided on the water supply pipeline 440. The clean water in the clean water tank 410 can flow to the cleaning tank 221 under the pumping action of the water supply pump 450 for the cleaning member 110 to perform cleaning. One end of the sewage pipeline 540 is detachably docked and communicated with the cleaning tank 221, and the other end of the sewage pipeline 540 is detachably docked and communicated with the sewage tank 510. A sewage pump 550 is provided on the sewage pipeline 540. The sewage in the cleaning tank 221 flows to the sewage tank 510 under the pumping action of the sewage pump 550 to achieve sewage collection. Of course, the specific structure for the clean water tank 410 to provide self-cleaning water for the cleaning member 110 and the specific structure for the sewage tank 510 to collect the self-cleaning sewage of the cleaning member 110 are not limited to the structures described above and shown in the drawings, and other reasonable structures can also be adopted.

[0059] Combined with Figure 6 , As an alternative solution of this embodiment, the control module 300 includes a first control board 310 provided inside the cleaning robot 100 and a second control board 320 provided inside the base station 200. The electrical components on the cleaning robot 100 are electrically connected to and / or signal-connected to the first control board 310, and the electrical components on the base station 200 are electrically connected to and / or signal-connected to the second control board 320. The first control board 310 and the second control board 320 can communicate with each other through a wireless communication method to coordinate the working procedures. As an alternative solution of this embodiment, the first control board 310 and the second control board 320 can also not communicate with each other. The electrical components of the cleaning robot 100 are only controlled by the first control board 310, and the electrical components of the base station 200 are only controlled by the second control board 320.

[0060] In this embodiment, the first sensing member 430 and the second sensing member 530 are both connected to the second control board 320, and the water supply pump 450 and the sewage pump 550 are controlled by the second control board 320. The base station 200 is also provided with a prompting module 330, and the prompting module 330 is signal-connected to the second control board 320. As an alternative solution of this embodiment, the prompting module 330 can make at least one prompting method such as a sound prompt, a flashing prompt, and a mobile phone APP signal prompt.

[0061] Combined with Figure 4, a first chute 411 extending vertically is provided in the clean water tank 410. The first chute 411 communicates with the inner cavity of the clean water tank 410. A first float 420 is arranged in the first chute 411. The first float 420 can float up and down within a certain height range under the buoyancy of the liquid in the clean water tank 410. A first magnet 421 is provided on the first float 420. The first sensing member 430 is arranged approximately at the same height as the water shortage level. The first sensing member 430 adopts a magnetic induction element. Specifically, the first sensing member 430 can adopt a Hall element, a reed switch or other magnetic induction elements that meet the detection requirements.

[0062] Hypothesis: The water requirement Vq for a single self - cleaning of the cleaning part 110 is 200 mL, the remaining water storage V1 in the clean water tank 410 corresponding to the height of the water - shortage level is 250 mL, the output signal when the first sensing part 430 is not triggered is 0, and the output signal when the first sensing part 430 is triggered by the first magnet 421 on the first float 420 is 1. When there is more water in the clean water tank 410, the first float 420 is at a high position in the first sliding groove 411, and the first float 420 cannot trigger the first sensing part 430, so the output signal of the first sensing part 430 is 0. During the cleaning process of the cleaning part 110, the clean water tank 410 provides cleaning water for the cleaning part 110. When the water volume in the clean water tank 410 decreases and the first float 420 follows the liquid level down to the height of the water - shortage level, the first sensing part 430 is triggered by the first magnet 421, and the output signal of the first sensing part 430 changes from 0 to 1. The control module 300 judges according to the signal change of the first sensing part 430 that the water volume in the clean water tank 410 is less than 200 mL, but the remaining water volume in the clean water tank 410 can still meet the water requirement for the current self - cleaning of the cleaning part 110, so the self - cleaning program of the cleaning part 110 can continue. After the self - cleaning of the cleaning part 110 this time, the remaining water volume in the clean water tank 410 is less than 200 mL, which does not meet the water requirement for the next self - cleaning of the cleaning part 110, and the clean water tank 410 is in a water - shortage state. If the user does not take out the clean water tank 410 to add water after the self - cleaning of the cleaning part 110, the signal of the first sensing part 430 does not change after being triggered by the first float 420 and remains 1 all the time. The control module 300 judges according to the signal of the first sensing part 430 that the user has not added water to the water - short clean water tank 410, and the control module 300 can command the prompt module 330 to give a water - adding prompt signal to remind the user to add water to the clean water tank 410. If the user takes out the water - short clean water tank 410 from the base station 200 after the self - cleaning of the cleaning part 110, the first magnet 421 is out of the sensing range of the first sensing part 430, and the output signal of the first sensing part 430 changes from 1 to 0, that is, the output signal fed back by the first sensing part 430 changes once after being triggered by the first float 420. The control module 300 judges according to the signal change of the first sensing part 430 that the clean water tank 410 is not in place. At this time, the control module 300 can command the prompt module 330 to give a clean - water - tank - loading prompt signal to remind the user to load the clean water tank 410 into the base station 200.If the user removes the water-deficient water purification tank 410 from the base station 200 after the cleaning component 110 finishes self-cleaning and then reinstalls the water purification tank 410 filled with water into the base station 200, the output signal of the first sensing component 430 changes from 1 to 0 when the user removes the water purification tank 410 from the base station 200. When the user reinstalls the water purification tank 410 filled with water into the base station 200, the output signal of the first sensing component 430 changes from 0 to 1 and then to 0 and remains 0 continuously. That is, the sensing signal fed back by the first sensing component 430 after being triggered by the first float 420 changes three times and then remains. The control module 300 determines that the water purification tank 410 is in place and full of water according to the signal change of the first sensing component 430, and the water volume in the water purification tank 410 meets the water use requirements for the next self-cleaning of the cleaning component 110.

[0063] Combined with Figure 5 , a second chute 511 extending vertically is provided in the sewage tank 510. The second chute 511 communicates with the inner cavity of the sewage tank 510. The second float 520 is arranged in the second chute 511. The second float 520 can float up and down within a certain height range under the buoyancy of the liquid in the sewage tank 510. The second float 520 is provided with a second magnet 521. The second sensing component 530 is arranged approximately at the same height as the full water level. The second sensing component 530 adopts a magnetic induction element. Specifically, the second sensing component 530 can adopt a Hall element, a reed switch or other magnetic induction elements that meet the detection requirements.

[0064] Hypothesis: The drainage volume Vp of a single self-cleaning of the cleaning member 110 is also 200 mL. The remaining water storage space V2 of the clean water tank 410 corresponding to the height of the water shortage level is 260 mL. The output signal of the second sensing member 530 when not triggered is 1, and the output signal is 0 when the second sensing member 530 is triggered by the second magnet 521 on the second float 520. When the water volume in the sewage tank 510 is small, the second float 520 is at the low position in the second chute 511, and the second float 520 cannot trigger the second sensing member 530, and the output signal of the second sensing member 530 is 1. During the cleaning process of the cleaning member 110, the self-cleaning sewage of the cleaning member 110 is pumped into the sewage tank 510. When the water volume in the sewage tank 510 increases and the second float 520 rises with the liquid level to the height of the full water level, the second sensing member 530 is triggered by the second magnet 521, and the output signal of the second sensing member 530 changes from 1 to 0. The control module 300 judges according to the signal change of the second sensing member 530 that the remaining water storage space of the sewage tank 510 is less than 200 mL, but the remaining water storage space of the sewage tank 510 can still meet the sewage discharge requirements of the current self-cleaning of the cleaning member 110, and the self-cleaning program of the cleaning member 110 can continue. After the self-cleaning of the cleaning member 110 this time, the remaining water storage space in the sewage tank 510 is less than 200 mL, which does not meet the sewage discharge requirements of the next self-cleaning of the cleaning member 110, and the sewage tank 510 is in a full water state. If the user does not take out the sewage tank 510 for cleaning, or if the user does not reinstall the sewage tank 510 into the base station 200 after taking it out, the output signal of the second sensing member 530 will always be 0. The control module 300 judges according to the signal of the second sensing member 530 that the sewage tank 510 is full or not in place, and the control module 300 can command the prompt module 330 to make a cleaning prompt signal to remind the user to clean the sewage tank 510. If the user takes out the full sewage tank 510 from the base station 200 after the self-cleaning of the cleaning member 110 and reinstalls the emptied sewage tank 510 into the base station 200, the signal of the second sensing member 530 changes from 0 to 1 and then remains 1, that is, the output signal fed back by the second sensing member 530 after being triggered by the second float 520 changes once and then remains. The control module 300 judges according to the signal change of the second sensing member 530 that the sewage tank 510 is in place and emptied, and the internal water storage space of the sewage tank 510 meets the sewage discharge requirements for the next self-cleaning of the cleaning member 110.

[0065] Combined with Figure 7, the base station 200 is provided with a drying module 600 for drying the cleaning member 110. The drying module 600 is controlled by the second control board 320. When the cleaning robot 100 finishes the cleaning work and returns to the base station 200 and ends the self-cleaning of the cleaning member 110, the control module 300 commands the drying module 600 to dry the wet cleaning member 110, so that the cleaning member 110 is kept in a dry state, avoiding the generation of peculiar smell or the growth of mildew on the wet cleaning member 110, which is beneficial to improving the user experience. After the drying is completed, the cleaning system can enter the standby state and wait for the cleaning robot 100 to start the next cleaning work. Specifically, the drying module 600 includes a motor 610, a fan wheel 620 driven by the motor 610, and a diversion channel for guiding the drying air flow to the cleaning member 110. The drying air flow formed by the motor 610 driving the fan wheel 620 flows along the diversion channel to the cleaning member 110, so that the drying air flow can dry the wet cleaning member 110. As a preferred solution of this embodiment, in order to improve the drying efficiency of the cleaning member 110, the drying module 600 is provided with a heating member 630. The heating member 630 can adopt a structure such as a heating wire. When drying the cleaning member 110, the heating member 630 is powered on for heating. The air flow formed by the motor 610 driving the fan wheel 620 is heated when flowing through the heating member 630 to form a hot air flow, and the hot air flow flows along the diversion channel to the cleaning member 110 to dry the cleaning member 110. As an alternative solution of this embodiment, the drying module 600 can also cancel the setting of the heating member 630.

[0066] Combined with Figure 8 , Figure 9 , Figure 10 , the embodiment of the present invention also provides a control method for self-cleaning of the cleaning member based on the cleaning system with the above structure. If the first sensing member 430 is triggered by the first float 420 during the self-cleaning of the cleaning member 110, the control module 300 judges that the remaining water volume in the clean water tank 410 meets the water demand for the current self-cleaning of the cleaning member 110 according to the sensing signal fed back by the first sensing member 430, then the cleaning member 110 continues the current self-cleaning step. If the second sensing member 530 is triggered by the second float 520 during the self-cleaning of the cleaning member 110, the control module 300 judges that the remaining space in the sewage tank 510 meets the sewage discharge demand for the current self-cleaning of the cleaning member 110 according to the sensing signal fed back by the second sensing member 530, then the cleaning member 110 continues the current self-cleaning step.

[0067] Combined with the foregoing description and Figure 9, specifically, after the cleaning robot 100 returns to the base station 200 and enters the self-cleaning program of the cleaning component 110, the clean water tank 410 supplies water for self-cleaning to the cleaning component 110. When the water level in the clean water tank 410 decreases and the first float 420 follows the liquid level down to the height where the water shortage level is located, the first sensing component 430 is triggered by the first magnet 421, and the output signal of the first sensing component 430 changes from 0 to 1. The control module 300 determines based on the signal change of the first sensing component 430 that the water volume in the clean water tank 410 is less than 200 mL, but the remaining water volume in the clean water tank 410 can still meet the water requirement for the current self-cleaning of the cleaning component 110, and the self-cleaning step of the cleaning component 110 can continue. After the current self-cleaning of the cleaning component 110 is completed, the remaining water volume in the clean water tank 410 is less than 200 mL, which does not meet the water requirement for the next self-cleaning of the cleaning component 110, and the clean water tank 410 is in a water shortage state. If the user does not take out the clean water tank 410 to add water after the self-cleaning of the cleaning component 110, the signal of the first sensing component 430 does not change after being triggered by the first float 420 and remains 1 all the time. The control module 300 determines based on the signal of the first sensing component 430 that the user has not added water to the water-short clean water tank 410, and the control module 300 can command the prompting module 330 to give a water-adding prompt signal to remind the user to add water to the clean water tank 410. If the user takes out the water-short clean water tank 410 from the base station 200 after the self-cleaning of the cleaning component 110, the first magnet 421 is out of the sensing range of the first sensing component 430, and the output signal of the first sensing component 430 changes from 1 to 0, that is, the sensing signal fed back by the first sensing component 430 after being triggered by the first float 420 changes once. The control module 300 determines based on the signal change of the first sensing component 430 that the clean water tank 410 is not in place. At this time, the control module 300 can command the prompting module 330 to give a prompt signal for loading the clean water tank 410 to remind the user to load the clean water tank 410 into the base station 200. If the user takes out the water-short clean water tank 410 from the base station 200 and then reloads the clean water tank 410 after adding water into the base station 200 after the self-cleaning of the cleaning component 110, the output signal of the first sensing component 430 changes from 1 to 0 when the user takes out the clean water tank 410 from the base station 200, and the output signal of the first sensing component 430 changes from 0 to 1 and then to 0 and remains 0 after the user reloads the clean water tank 410 after adding water into the base station 200, that is, the sensing signal fed back by the first sensing component 430 after being triggered by the first float 420 changes three times and then remains. The control module 300 determines based on the signal change of the first sensing component 430 that the clean water tank 410 is in place and full of water, and the water volume in the clean water tank 410 meets the water requirement for the next self-cleaning of the cleaning component 110.

[0068] When the current self-cleaning of the cleaning member 110 is the last self-cleaning at the end of a working cycle of the cleaning robot 100, if the output signal fed back by the first sensing member 430 does not change after being triggered by the first float 420, the control module 300 determines that the clean water tank 410 is short of water according to the output signal of the first sensing member 430 and commands the prompting module 330 to generate a water addition prompting signal. If the user has not added water to the clean water tank 410 all the time, when the cleaning robot 100 is about to start the next cleaning task, the control module 300 commands the prompting module 330 to generate a water addition prompting signal. If the user does not add water to the clean water tank 410 or does not reinstall the clean water tank 410 after adding water into the base station 200 within the preset time ΔT1, the control module 300 determines accordingly that the clean water tank 410 does not meet the preset conditions for the cleaning robot 100 to start the next cleaning task, and then the cleaning robot 100 stops starting. When the user installs the clean water tank 410 after adding water into the base station 200, the control module 300 determines that the clean water tank 410 is in place and full of water according to the change of the output signal of the first sensing member 430. The control module 300 determines accordingly that the clean water tank 410 meets the preset conditions for the cleaning robot 100 to start the next cleaning task. When other preset conditions are also met, the cleaning robot 100 can normally start the next cleaning task. As an optional solution of this embodiment, the preset time ΔT1 can be set to reasonable durations such as 30s, 1min, 3min, 5min, 7min, 10min, 12min, 15min, etc.

[0069] Combined with the foregoing description and Figure 10, after the self - cleaning of the cleaning part 110, the sewage is discharged into the sewage tank 510. When the water volume in the sewage tank 510 increases and the second float 520 rises with the liquid level to the height where the full - water level is located, the second sensor 530 is triggered by the second magnet 521. The output signal of the second sensor 530 changes from 1 to 0. The control module 300 judges according to the change of the output signal of the second sensor 530 that the remaining space in the sewage tank 510 is less than 200 mL. However, the remaining space in the sewage tank 510 can still meet the sewage - discharge requirement of the current self - cleaning of the cleaning part 110, and the self - cleaning program of the cleaning part 110 can continue. After the current self - cleaning of the cleaning part 110, the remaining space in the sewage tank 510 is less than 200 mL, which does not meet the sewage - discharge requirement of the next self - cleaning of the cleaning part 110. The sewage tank 510 is in a full - water state. If the user does not take out the sewage tank 510 for cleaning, or if the user takes out the sewage tank 510 and does not reinstall it into the base station 200, the output signal of the second sensor 530 will always be 0. The control module 300 judges whether the sewage tank 510 is full or not in place according to the output signal of the second sensor 530. The control module 300 can command the prompt module 330 to give a cleaning prompt signal to remind the user to clean the sewage tank 510. If the user takes out the full - water sewage tank 510 from the base station 200 after the self - cleaning of the cleaning part 110 and reinstalls the emptied sewage tank 510 into the base station 200, the signal of the second sensor 530 changes from 0 to 1 and then remains 1, that is, the induction signal fed back by the second sensor 530 remains after one change after being triggered by the second float 520. The control module 300 judges according to the change of the output signal of the second sensor 530 that the sewage tank 510 is in place and emptied, and the internal space of the sewage tank 510 meets the sewage - discharge requirement of the next self - cleaning of the cleaning part 110.

[0070] When the current self - cleaning of the cleaning member 110 is the last self - cleaning of the cleaning robot 100 at the end of a working cycle, if the output signal feedback by the second sensing member 530 does not change after being triggered by the second float 520, the control module 300 determines that the sewage tank 510 is full of water based on the sensing signal of the second sensing member 530 and commands the prompting module 330 to give a cleaning prompt signal. If the user has not cleaned the sewage tank 510 all the time, when the cleaning robot 100 is about to start the next cleaning job, the control module 300 commands the prompting module 330 to give a cleaning prompt signal. If the user does not clean the sewage tank 510 or reinstall the cleaned sewage tank 510 into the base station 200 within the preset time ΔT2, the control module 300 determines that the sewage tank 510 does not meet the preset conditions for the cleaning robot 100 to start the next cleaning job, and then the cleaning robot 100 stops starting. Until the user reinstalls the cleaned sewage tank 510 into the base station 200, and the control module 300 determines that the sewage tank 510 is in place and empty based on the change of the output signal of the second sensing member 530. The control module 300 determines that the sewage tank 510 meets the preset conditions for the cleaning robot 100 to start the next cleaning job. Under the premise that other preset conditions are also met, the cleaning robot 100 can normally start the next cleaning job. As an optional solution of this embodiment, the preset time ΔT2 can be set to reasonable durations such as 30s, 1min, 3min, 5min, 7min, 10min, 12min, 15min, etc.

[0071] When either the clean water tank 410 or the sewage tank 510 is not in place, or the clean water tank 410 is in place but in a water - shortage state, or the sewage tank 510 is in place but in a full - water state, the cleaning robot 100 cannot start the next cleaning job. The control module 300 commands the prompting module 330 to give a prompt signal to remind the user to perform corresponding operations. Only when the full - water - state clean water tank 410 and the empty - state sewage tank 510 are both in place, can the cleaning robot 100 successfully start the next cleaning job.

[0072] If the current self - cleaning of the cleaning robot 100 is a mid - course back - wash, and the first sensing member 430 or the second sensing member 530 is triggered during the current self - cleaning of the cleaning member 110, and the clean water tank 410 or the sewage tank 510 does not meet the requirements for the next self - cleaning of the cleaning member 110. After the current self - cleaning of the cleaning member 110 ends, the control module 300 commands the prompting module 330 to give a corresponding prompt signal. If the user does not handle it within the preset time, the cleaning robot 100 stops working until the clean water tank 410 and the sewage tank 510 both meet the requirements for the next self - cleaning of the cleaning member 110, and then the cleaning robot 100 returns to the relay position to continue working. If the user does not handle it for a long time, the current cleaning job of the cleaning member 110 of the cleaning robot 100 ends prematurely.

[0073] If the current self - cleaning of the cleaning robot 100 is the last self - cleaning in a working cycle, after the self - cleaning is completed, the control module 300 commands the air - drying module 600 to air - dry the wet cleaning part 110 so that the cleaning part 110 remains in a dry state.

[0074] As an alternative to this embodiment, the base station 200 can be directly connected to a faucet through a water pipe to provide water for self - cleaning the cleaning part 110. The setting of the water purification tank 410, the first float 420, and the first sensing element 430 can be cancelled, and there is no need to consider the problem of whether the water purification tank 410 lacks water. At this time, the base station 200 is only provided with a sewage tank 510.

[0075] As an alternative to this embodiment, the base station 200 can directly discharge the self - cleaning sewage of the cleaning part 110 to a sink or a sewer pipe or a drain through a water pipe. The setting of the sewage tank 510, the second float 520, and the second sensing element 530 can be cancelled, and there is no need to consider the problem of whether the sewage tank 510 is full of water. At this time, the base station 200 is only provided with a water purification tank 410.

[0076] As an alternative to this embodiment, the water requirement Vq for a single self - cleaning of the cleaning part 110 and the drainage volume Vp for a single self - cleaning of the cleaning part 110 can also be set to other reasonable water volumes such as 150 mL, 160 mL, 170 mL, 180 mL, 190 mL, 210 mL, 220 mL, etc.

[0077] As an alternative to this embodiment, the difference between the remaining water storage volume V1 of the water purification tank 410 corresponding to the height of the water - shortage level and the water requirement Vq for a single self - cleaning of the cleaning part 110 can also be other reasonable sizes such as 0, 10 mL, 20 mL, 30 mL, 40 mL, 60 mL, 70 mL, 80 mL, 90 mL, 100 mL, 110 mL, 120 mL, 130 mL, 140 mL, 150 mL, etc.

[0078] As an alternative to this embodiment, the difference between the remaining water - holding space V2 of the sewage tank 510 corresponding to the height of the full - water level and the drainage volume Vp for a single self - cleaning of the cleaning part 110 can also be other reasonable sizes such as 0, 10 mL, 20 mL, 30 mL, 40 mL, 60 mL, 70 mL, 80 mL, 90 mL, 100 mL, 110 mL, 120 mL, 130 mL, 140 mL, 150 mL, etc.

[0079] As an alternative to this embodiment, the water requirement Vq for a single self - cleaning of the cleaning part 110 can be slightly greater than the drainage volume Vp for a single self - cleaning of the cleaning part 110.

[0080] As an implementable solution of this embodiment, when both the clean water tank 410 and the sewage tank 510 do not meet the conditions for the cleaning member 110 to perform the next self-cleaning, if one of the clean water tank 410 or the sewage tank 510 is processed within the preset time and the other is not processed within the preset time, the preset processing time of the unprocessed object can be re-timed according to the unprocessed object, or can continue to be timed within the original preset time.

[0081] In addition to the above preferred embodiments, the present invention has other implementation manners. Those skilled in the art can make various changes and deformations according to the present invention. As long as they do not depart from the spirit of the present invention, they shall fall within the scope defined in the claims of the present invention.

Claims

1. A cleaning system with a self-cleaning function for a cleaning member, comprising a cleaning robot, a base station and a control module. The cleaning robot is provided with a cleaning member for wiping a surface to be cleaned, and the base station is provided with a clean water tank for supplying self-cleaning water to the cleaning member and / or a sewage tank for collecting the sewage from the self-cleaning of the cleaning member. It is characterized in that, the clean water tank is provided with a water shortage level and a first float for reflecting the liquid level height in the clean water tank. The base station is provided with a first sensing member for sensing the height of the first float and signal-connected to the control module. The first sensing member is triggered by the first float lowered to the water shortage level. The remaining water storage volume V1 in the clean water tank corresponding to the height of the water shortage level and the water demand Vq for a single self-cleaning of the cleaning member satisfy Vq ≤ V1 < 2*Vq; and / or, the sewage tank is provided with a full water level and a second float for reflecting the liquid level height in the sewage tank. The base station is provided with a second sensing member for sensing the height of the second float and signal-connected to the control module. The second sensing member is triggered by the second float raised to the full water level. The remaining water storage space V2 in the sewage tank corresponding to the height of the full water level and the drainage volume Vp for a single self-cleaning of the cleaning member satisfy Vp ≤ V2 < 2*Vp.

2. A control method applied to the self-cleaning of a cleaning member, which is applied to the cleaning system with a self-cleaning function for a cleaning member according to claim 1. It is characterized in that, if the first sensing member is triggered by the first float during the self-cleaning of the cleaning member, and the control module determines according to the output signal fed back by the first sensing member that the remaining water volume in the clean water tank meets the water demand for the current self-cleaning of the cleaning member, then the cleaning member continues the current self-cleaning; and / or, if the second sensing member is triggered by the second float during the self-cleaning of the cleaning member, and the control module determines according to the output signal fed back by the second sensing member that the remaining space in the sewage tank meets the drainage demand for the current self-cleaning of the cleaning member, then the cleaning member continues the current self-cleaning.

3. The control method for self-cleaning of a cleaning part according to claim 2, wherein The cleaning system is provided with a prompting module; if the first sensing member feeds back an output signal to the control module during the current self-cleaning of the cleaning member, the control module commands the prompting module to give a water addition prompting signal after the current self-cleaning of the cleaning member; and / or, if the second sensing member feeds back an output signal to the control module during the current self-cleaning of the cleaning member, the control module commands the prompting module to give a cleaning prompting signal after the current self-cleaning of the cleaning member.

4. The control method applied to the self-cleaning of a cleaning member according to claim 3. It is characterized in that, if the current self-cleaning of the cleaning member is the last self-cleaning and the output signal fed back by the first sensing member does not change after being triggered by the first float, the control module determines that the clean water tank is short of water according to the output signal of the first sensing member and commands the prompting module to give a water addition prompting signal and / or the control module commands the prompting module to give a water addition prompting signal when the cleaning robot is ready to start the next cleaning work; and / or, If the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the second sensing part does not change after being triggered by the second float, the control module determines that the sewage tank is full of water based on the output signal of the second sensing part and commands the prompting module to generate a cleaning prompt signal, and / or the control module commands the prompting module to generate a cleaning prompt signal when the cleaning robot is about to start the next cleaning operation.

5. A control method for self - cleaning of a cleaning part according to claim 3, wherein If the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the first sensing part changes once after being triggered by the first float, the control module determines that the clean water tank is not in place based on the output signal of the first sensing part, and the control module commands the prompting module to generate a clean water tank loading prompt signal when the cleaning robot is about to start the next cleaning operation.

6. A control method for self - cleaning of a cleaning part according to claim 3, wherein If the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the first sensing part changes three times and then remains unchanged after being triggered by the first float, the control module determines that the clean water tank is in place and the water level in the clean water tank is higher than the water - shortage level, and the clean water tank meets the condition for the cleaning robot to start the next cleaning operation; and / or, If the current self - cleaning of the cleaning part is the last self - cleaning and the output signal fed back by the second sensing part changes once and then remains unchanged after being triggered by the second float, the control module determines that the sewage tank is in place and the water level in the sewage tank is lower than the full - water level, and the sewage tank meets the condition for the cleaning robot to start the next cleaning operation.

7. A control method for self-cleaning of a cleaning part according to any one of claims 2 to 6, characterized in that, When the cleaning robot is about to start the next cleaning operation, if the control module determines that the clean water tank has not been refilled or loaded within the preset time ΔT1 based on the output signal of the first sensing part, or if the control module determines that the sewage tank has not been cleaned or loaded within the preset time ΔT2 based on the output signal of the second sensing part, then the cleaning robot stops starting; Among them, the preset time ΔT1 and the preset time ΔT2 can be timed synchronously or successively.

8. A control method for self - cleaning of a cleaning part according to any one of claims 2 to 6, characterized in that, The base station is provided with a drying module for drying the cleaning part; If the current self - cleaning of the cleaning part is a mid - way back - wash during the working process, the cleaning robot leaves the base station and continues to work after the current self - cleaning of the cleaning part is completed. If the current self - cleaning of the cleaning part is the last self - cleaning, the control module commands the drying module to dry the cleaning part after the current self - cleaning of the cleaning part is completed.

9. The control method for self-cleaning of a cleaning part according to claim 8, characterized in that, The drying module has a heating part for heating the drying air flow.

10. A control method for self - cleaning of a cleaning part according to any one of claims 2 - 6, wherein The first float is provided with a first magnet, and the first sensing element is a magnetic induction element; and / or, the second float is provided with a second magnet, and the second sensing element is a magnetic induction element.

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