Control method of cleaning system and cleaning system

Abstract

The invention relates to a control method of a cleaning system and the cleaning system.The method comprises the steps that an initial parameter signal of a battery module is obtained, and it is determined that the battery module supplies power to a window cleaning robot according to the initial parameter signal; controlling the battery module to provide a first working voltage until the current residual electric quantity of the battery module is smaller than a first preset electric quantity; controlling the battery module to alternately provide the second working voltage and the first working voltage, controlling the battery module to provide the second working voltage after an alternating period is finished and the current residual electric quantity is smaller than a second preset electric quantity, maintaining the second working voltage for a first duration, and then ending power supply of the battery module; the window cleaning robot works normally when receiving the first working voltage, and keeps being adsorbed to the same position of the glass when receiving the second working voltage. According to the method, the window cleaning robot judges the electric quantity of the battery module by detecting the change of the input voltage, and further judges whether to continue normal window erasing action or keep being adsorbed on the glass, so that the cost is reduced, and the purpose of communication can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of window cleaning robots, and in particular to a control method of a cleaning system and a cleaning system. Background Art

[0002] There are more and more window-cleaning robots on the market, but the current window-cleaning robots are limited to use indoors or in scenes with mains power sockets. Some outdoor glass cannot be used because there is no mains power to power the window-cleaning robots. In order to ensure that the window-cleaning robots can adhere to the glass for a period of time (for example, 20 minutes) without falling off when the mains power is suddenly cut off during the window-cleaning process, the window-cleaning robots usually have a small-capacity battery module inside. However, window-cleaning robots used in conjunction with base stations usually do not have small-capacity batteries inside, so how to notify the window-cleaning robots of the remaining power of the base station battery module in real time is a problem that must be solved.

[0003] At present, most of the above problems are solved in the market by the following two methods:

[0004] Solution 1: Use wireless communication modules for communication delivery, that is, equip the base station and the window cleaning robot with a wireless module. This implementation solution is the most commonly used, but it has the following disadvantages:

[0005] (1) Costs increased significantly;

[0006] (2) When the product is certified, it may cause more EMC problems.

[0007] Solution 2: Add a signal transmission line (such as a serial port signal line) to the power supply cable of the window cleaning robot for information exchange between the base station and the window cleaning robot. The principle of this solution is simple, but the disadvantages are as follows:

[0008] (1) The number of power supply wires needs to be increased from two to three or more, which will lead to complicated workmanship and a significant increase in costs;

[0009] (2) Since the window cleaning robot operates with a high current, there is a risk that the signal transmitted on the signal line will be interfered with. Summary of the invention

[0010] Based on this, it is necessary to provide a control method and a cleaning system for the existing window cleaning robots in order to solve the above problems.

[0011] The present application provides a control method for a cleaning system, the cleaning system comprising a window cleaning robot and a base station, the base station having a built-in battery module, the control method comprising:

[0012] S1, obtaining an initial parameter signal of a battery module, and determining whether the battery module supplies power to the window cleaning robot according to the initial parameter signal; if yes, proceeding to step S3;

[0013] S3. The battery module provides a first working voltage for the window cleaning robot until the current remaining power of the battery module is less than a first preset power, and then step S5 is entered;

[0014] S5. The battery module alternately provides a second working voltage and a first working voltage for the window cleaning robot, and after the alternation cycle ends, it is judged whether the current remaining power of the battery module is less than a second preset power; if so, step S7 is entered;

[0015] S7. The battery module provides a second working voltage for the window cleaning robot and ends the power supply from the battery module to the window cleaning robot after maintaining for a first duration;

[0016] Wherein, the window cleaning robot works normally when receiving the first working voltage and remains adsorbed at the same position on the glass when receiving the second working voltage.

[0017] In one embodiment, the initial parameter signal includes the initial remaining power; the step of obtaining the initial parameter signal of the battery module and determining whether the battery module supplies power to the window cleaning robot according to the initial parameter signal includes:

[0018] S11. Obtain the initial remaining power of the battery module and judge whether the initial remaining power is greater than a third preset power:

[0019] S12. If so, determine that the battery module supplies power to the window cleaning robot and enter step S3.

[0020] In one embodiment, the specific steps of obtaining the initial parameter signal of the battery module and determining whether the battery module supplies power to the window cleaning robot according to the initial parameter signal further include: S13. If not, determine that the battery module ends the power supply to the window cleaning robot.

[0021] In one embodiment, the specific steps of the battery module alternately providing a second working voltage and a first working voltage for the window cleaning robot and judging whether the current remaining power of the battery module is less than a second preset power after the alternation cycle ends include:

[0022] S51. Control the battery module to provide a second working voltage for the window cleaning robot and maintain for a second duration;

[0023] S52. After the second duration ends, control the battery module to provide and maintain a first working voltage for the window cleaning robot for a third duration;

[0024] S53. Loop to execute the above steps until the number of voltage conversion alternations is equal to the preset alternation number;

[0025] S54. Determine whether the current remaining power of the battery module is less than a second preset power; if so, proceed to step S7.

[0026] In one embodiment, the step of determining whether the current remaining power of the battery module is less than the second preset power further includes: if not, return to step S3.

[0027] In one embodiment, the preset number of alternating times is set to 1.

[0028] In one embodiment, the second duration is equal to the third duration.

[0029] In one embodiment, the second preset power is less than or equal to the first preset power.

[0030] In one embodiment, the second working voltage is less than the first working voltage.

[0031] In one embodiment, when the current remaining power of the battery module is less than the first preset power and / or when the current remaining power of the battery module is less than the second preset power, it further includes the step of outputting a power shortage prompt signal.

[0032] In one embodiment, the base station is also built-in with an adapter; the control method further includes the steps of detecting whether the adapter is connected to an external power source; if so, end the power supply from the battery module to the window cleaning robot and control the adapter to supply power to the window cleaning robot; if not, proceed to step S1.

[0033] A cleaning system provided by the present application, the cleaning system includes a window cleaning robot and a base station, the base station includes a controller, a battery module, a switch module and a conversion module, the switch module and the conversion module are respectively connected to the controller, the battery module is connected to the conversion module, and the switch module is connected to the window cleaning robot through a two-core wire;

[0034] The conversion module is configured to step up or step down the power signal input by the battery module and output a first working voltage or a second working voltage to the switch module according to the control signal of the controller;

[0035] The switch module is configured to conduct with the window cleaning robot according to the enable signal output by the controller;

[0036] The controller is configured to determine whether the switch module conducts with the window cleaning robot according to the initial parameter signal of the battery module;

[0037] The controller is configured to, after determining that the switch module is turned on with the window cleaning robot, control the conversion module to continuously output a first operating voltage until the current remaining power of the battery module is less than a first preset power;

[0038] The controller is further configured to, when the current remaining power of the battery module is less than the first preset power, control the conversion module to alternately output a second operating voltage and a first operating voltage, and determine whether the current remaining power of the battery module is less than a second preset power after the end of the alternating cycle;

[0039] The controller is further configured to, when the current remaining power of the battery module is less than the second preset power, control the conversion module to output the second operating voltage, and after maintaining for a first duration, the battery module ends power supply to the window cleaning robot;

[0040] Wherein, the window cleaning robot operates normally when receiving the first operating voltage, and remains adsorbed at the same position on the glass when receiving the second operating voltage.

[0041] In one embodiment, the base station further includes an adapter, and the adapter is connected to the switch module; the controller is further configured to, after the adapter accesses an external power supply, control the adapter to supply power to the window cleaning robot, and end the power supply of the battery module to the window cleaning robot.

[0042] In one embodiment, the conversion module includes a first adjustment circuit and a second adjustment circuit. The first adjustment circuit is configured to receive the power signal input by the battery module for conversion, and output a first operating voltage or a second operating voltage according to the control signal output by the controller;

[0043] The second adjustment module is configured to receive the power signal output by the battery module or the adapter for step-up / step-down, and output a third operating voltage to the controller.

[0044] In one embodiment, the first adjustment circuit is further configured to charge the battery module after the adapter accesses an external power supply.

[0045] In one embodiment, the base station further includes a prompt module, and the prompt module is connected to the controller. The prompt module is configured to output a low power prompt signal when the current remaining power of the battery module is less than the second preset power and / or the conversion module outputs the second operating voltage and after maintaining for a first duration.

[0046] A computer-readable storage medium provided by the present application stores a computer program / instructions, and when the computer program / instructions are executed by a processor, the control method of the cleaning system as described in any one of the above is implemented.

[0047] One of the above technical solutions has the following advantages and beneficial effects:

[0048] In each of the embodiments of the control method of the above cleaning system, the method includes: obtaining an initial parameter signal of the battery module, and determining that the battery module supplies power to the window cleaning robot according to the initial parameter signal; controlling the battery module to provide a first working voltage for the window cleaning robot until the current remaining power of the battery module is less than a first preset power; controlling the battery module to alternately provide a second working voltage and a first working voltage for the window cleaning robot, and after the end of the alternating cycle, and when the current remaining power of the battery module is less than a second preset power, controlling the battery module to provide a second working voltage for the window cleaning robot, and ending the power supply of the battery module to the window cleaning robot after maintaining for a first duration; wherein, the window cleaning robot works normally when receiving the first working voltage and remains adsorbed at the same position on the glass when receiving the second working voltage. This method enables the window cleaning robot to judge the power condition of the battery module by detecting the change of the input voltage, and further judge whether to continue the normal window cleaning operation or just stay adsorbed on the glass and standby. In this way, no additional cost is incurred, and the purpose of mutual communication is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 One of the flowcharts of the control method of the cleaning system in an embodiment of the present application;

[0050] Figure 2 Another flowchart of the control method of the cleaning system in an embodiment of the present application;

[0051] Figure 3 Another flowchart of the control method of the cleaning system in an embodiment of the present application;

[0052] Figure 4 One of the structural schematic diagrams of the cleaning system in an embodiment of the present application;

[0053] Figure 5 Another structural schematic diagram of the cleaning system in an embodiment of the present application;

[0054] Figure 6 Another structural schematic diagram of the cleaning system in an embodiment of the present application.

[0055] Among them, the corresponding relationship between the reference numerals and the component names is as follows:

[0056] 10 Controller, 20 Battery module, 30 Switch module, 40 Conversion module, 41 First adjustment circuit, 42 Second adjustment circuit, 50 Adapter. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] To more clearly understand the above objects, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0058] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0059] The control method of the cleaning system in some embodiments of the present invention will be described below with reference to the accompanying drawings.

[0060] As Figure 1 shown, this embodiment discloses a control method of a cleaning system. The cleaning system includes a window cleaning robot and a base station. The base station is internally provided with a battery module 20. The control method includes:

[0061] S1. Obtain the initial parameter signal of the battery module 20, and determine whether the battery module 20 supplies power to the window cleaning robot according to the initial parameter signal; if so, proceed to step S3;

[0062] S3. The battery module 20 provides a first working voltage for the window cleaning robot until the current remaining power of the battery module 20 is less than a first preset power, and then proceed to step S5;

[0063] S5. The battery module 20 alternately provides a second working voltage and a first working voltage for the window cleaning robot, and after the alternation period ends, determine whether the current remaining power of the battery module 20 is less than a second preset power; if so, proceed to step S7;

[0064] S7. The battery module 20 provides a second working voltage for the window cleaning robot and maintains it for a first duration, and then ends the power supply of the battery module 20 to the window cleaning robot;

[0065] Wherein, the window cleaning robot works normally when receiving the first working voltage and remains adsorbed at the same position on the glass when receiving the second working voltage.

[0066] A control method for a cleaning system disclosed in the present application is applied to a cleaning system including a base station and a window cleaning robot. A battery module 20 is built in the base station. The method includes: obtaining an initial parameter signal of the battery module 20, and determining that the battery module 20 supplies power to the window cleaning robot according to the initial parameter signal; controlling the battery module 20 to provide a first working voltage for the window cleaning robot until the current remaining power of the battery module 20 is less than a first preset power; controlling the battery module 20 to alternately provide a second working voltage and a first working voltage for the window cleaning robot, and after the end of the alternating cycle, and when the current remaining power of the battery module 20 is less than a second preset power, controlling the battery module 20 to provide a second working voltage for the window cleaning robot, and ending the power supply of the battery module 20 to the window cleaning robot after maintaining for a first duration; wherein, the window cleaning robot works normally when receiving the first working voltage and remains adsorbed at the same position on the glass when receiving the second working voltage. This method enables the window cleaning robot to judge the power condition of the battery module 20 by detecting the change of the input voltage, and then judge whether to continue the normal window cleaning action or just stay adsorbed on the glass and standby. In this way, neither additional cost is incurred nor the purpose of mutual communication is achieved.

[0067] Among them, the base station and the window cleaning robot work together, and its core function is used as a charging pile. The battery module 20 in the base station can directly or indirectly supply power to the window cleaning robot through a power cord. In this embodiment, the switch module 30 is connected to the window cleaning robot through a two-core wire.

[0068] The initial parameter signal of the battery module 20 can be one or a combination of voltage, current, and remaining power. For example, the initial parameter signal is the remaining power. By obtaining the remaining power of the battery module 20 and comparing it with a set threshold, when the remaining power is greater than the set threshold, it is determined to use the battery module 20 to supply power to the window cleaning robot.

[0069] The battery module 20 can provide a first working voltage or a second working voltage for the window cleaning robot. The battery module 20 can output a target voltage as needed through a programmable buck (Buck) or boost (Boost) circuit. For example, after the input voltage of the battery module 20 enters the Buck circuit, it is stepped down, and the Buck circuit outputs a second working voltage. After the input voltage of the battery module 20 enters the Boost circuit, it is stepped up, and the Boost circuit outputs a first working voltage. In addition, the battery module 20 can also use a pulse width modulation circuit to adjust the duty cycle by using a high-frequency switching circuit, equivalently output different average voltages, so as to output a target voltage as needed.

[0070] The first operating voltage can be the rated operating voltage of the window cleaning robot. After receiving the first operating voltage, the window cleaning robot can operate normally. Here, normal operation includes that the window cleaning robot may or may not perform the window cleaning action, but only walk. In addition, the window cleaning robot should be adsorbed on the glass at all times. The second operating voltage can be less than the first operating voltage. When the window cleaning robot receives the second operating voltage, it remains adsorbed at the same position on the glass and does not move, so as to ensure that the window cleaning robot can be adsorbed on the glass for a period of time even when the battery module 20 does not have enough power to support the window cleaning action. Exemplarily, the first operating voltage can be 24V, and the second operating voltage can be 20V.

[0071] It should be noted that when the first operating voltage is applied and the window cleaning robot operates normally, it means that all components or systems of the window cleaning robot, such as the negative pressure system, drive system, heating system, water spraying system, swinging scrubbing plate and other components, as long as they exist, operate normally. When receiving the second operating voltage, except for the negative pressure system, other systems stop working. In this way, the battery in the base station only supplies power to the negative pressure system of the window cleaning robot, increasing the time for the window cleaning robot to be adsorbed on the glass.

[0072] As Figure 2 shown, in addition to the features of the above embodiments, this embodiment further defines that: the initial parameter signal includes the initial remaining power.

[0073] The steps of obtaining the initial parameter signal of the battery module 20 and determining whether the battery module 20 supplies power to the window cleaning robot according to the initial parameter signal include:

[0074] S11. Obtain the initial remaining power of the battery module 20 and determine whether the initial remaining power is greater than the third preset power:

[0075] S12. If so, determine that the battery module 20 supplies power to the window cleaning robot and enter step S3.

[0076] Among them, the third preset power can be set according to the minimum power required to maintain the normal operation of the window cleaning robot for a certain period of time. For example, the window cleaning robot needs at least 20% of the power of the battery module 20 to operate normally for five minutes. When the initial remaining power of the battery module 20 is greater than 20%, it is determined that the battery module 20 supplies power to the window cleaning robot.

[0077] As Figure 2 shown, in addition to the features of the above embodiments, this embodiment further defines that: the specific steps of obtaining the initial parameter signal of the battery module 20 and determining whether the battery module 20 supplies power to the window cleaning robot according to the initial parameter signal further include:

[0078] S13. If not, determine that the battery module 20 ends the power supply to the window cleaning robot.

[0079] Specifically, when the initial remaining power of the battery module 20 is less than the third preset power, it is determined not to start the battery module 20 to supply power to the window cleaning robot.

[0080] As Figure 3 shown, in addition to the features of the above embodiments, this embodiment further defines that the battery module 20 alternately provides the second working voltage and the first working voltage for the window cleaning robot, and after the alternation cycle ends, the specific steps for determining whether the current remaining power of the battery module 20 is less than the second preset power include:

[0081] S51. Control the battery module 20 to provide the second working voltage for the window cleaning robot and maintain it for the second duration;

[0082] S52. After the second duration ends, control the battery module 20 to provide and maintain the first working voltage for the window cleaning robot for the third duration;

[0083] S53. Loop through the above steps until the number of voltage conversion alternations is equal to the preset number of alternations;

[0084] S54. Determine whether the current remaining power of the battery module 20 is less than the second preset power; if so, enter step S7.

[0085] Among them, the number of voltage conversion alternations can refer to converting from the second working voltage to the first working voltage, counting once, and then converting from the first working voltage to the second working voltage, counting once, and so on. The preset number of alternations is one, two, three, or multiple. For example, when the preset number of alternations is one and the current remaining power of the battery module 20 is less than the first preset power, the battery module 20 first provides the second working voltage for the window cleaning robot and maintains it for the second duration, and then allows the battery module 20 to provide the first working voltage for the window cleaning robot and maintain it for the third duration. At this time, the number of voltage conversion alternations is counted once. After the third duration ends, immediately determine whether the current remaining power of the battery module 20 is less than the second preset power.

[0086] The second duration and the third duration should not be too long. When the second duration and the third duration are set too long, it not only affects the normal window cleaning of the window cleaning robot, resulting in an extended cleaning time, but also easily accelerates the consumption of the battery module 20 and cannot ensure that the battery module 20 can adsorb on the glass and maintain the first duration when the power is less than the first preset power.

[0087] In addition to the features of the above embodiments, this embodiment further defines that the steps for determining whether the current remaining power of the battery module 20 is less than the second preset power further include: if not, return to step S3.

[0088] Specifically, after the cycle in which the battery module 20 alternately provides the second working voltage and the first working voltage for the window cleaning robot ends, when the current remaining power of the battery module 20 is greater than the second preset power, control the battery module 20 to continue to provide the first working voltage for the window cleaning robot until the current remaining power of the battery module 20 is less than the first preset power.

[0089] In addition to the features of the above embodiments, this embodiment further defines that the preset number of alternations is set to 1.

[0090] In addition to the features of the above embodiments, this embodiment further defines that the second duration is equal to the third duration.

[0091] In addition to the features of the above embodiments, this embodiment further defines that the second preset power is less than or equal to the first preset power.

[0092] In addition to the features of the above embodiments, this embodiment further defines that the second working voltage is less than the first working voltage.

[0093] Wherein, the first working voltage is a voltage signal at which the window cleaning robot can work normally, and the second working voltage is a voltage signal at which the window cleaning robot can adsorb on the glass. Based on providing the second working voltage to the window cleaning robot after the current remaining power of the battery module 20 is less than the second preset power, it is ensured that the window cleaning robot can remain adsorbed on the glass for the longest time.

[0094] In addition to the features of the above embodiments, this embodiment further defines that when the current remaining power of the battery module 20 is less than the first preset power and / or when the current remaining power of the battery module 20 is less than the second preset power, the following steps are further included: outputting a power shortage prompt signal.

[0095] Wherein, in step S3, when the current remaining power of the battery module 20 is less than the first preset power, the user can be prompted that the current remaining power of the battery module 20 is insufficient through buzzer alarm or voice. Additionally, in step S5, when it is determined that the current remaining power of the battery module 20 is less than the second preset power, the user can also be prompted that the current remaining power of the battery module 20 is insufficient through buzzer alarm or voice. After receiving the prompt signal, the user can promptly recycle the window cleaning robot to reduce the risk of the window cleaning robot falling from a height.

[0096] In addition to the features of the above embodiments, this embodiment further defines that the base station is also internally provided with an adapter 50;

[0097] The control method further includes the step of detecting whether the adapter 50 is connected to an external power source;

[0098] If so, end the power supply from the battery module 20 to the window cleaning robot, and control the adapter 50 to supply power to the window cleaning robot;

[0099] If not, proceed to step S1.

[0100] Among them, the input end of the adapter 50 is connected to an external power supply, converts the power signal input by the external power supply, and outputs the rated output voltage of the adapter 50 through the output end of the adapter 50. For example, the external power supply can be 220V AC mains. After the adapter 50 is connected to 220V, the rated output voltage of the adapter 50 is 24V, which meets the requirement for the window cleaning robot to perform window cleaning. At this time, the window cleaning robot can be powered by the adapter 50, and there is no need for the battery module 20 to power the window cleaning robot.

[0101] It should be noted that when the external power supply is cut off, the battery module 20 can immediately power the window cleaning robot to maintain the window cleaning robot to continue to work normally or remain adsorbed on the glass without moving, improving the safety and reliability of the cleaning system.

[0102] In addition, it should also be noted that in some embodiments, the rated output voltage of the adapter 50 can also be less than the first operating voltage. The output end of the adapter 50 can be connected to a boost circuit, and the boost circuit boosts the rated output voltage of the adapter 50 and outputs a target voltage to the window cleaning robot.

[0103] It should be understood that although Figures 1-3 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figures 1-3 at least a part of the steps in

[0104] such as Figure 4 shown, this embodiment provides a cleaning system. The cleaning system includes a window cleaning robot and a base station. The base station includes a controller 10, a battery module 20, a switch module 30, and a conversion module 40. The switch module 30 and the conversion module 40 are respectively connected to the controller 10. The battery module 20 is connected to the conversion module 40. The switch module 30 is connected to the window cleaning robot through a two-core wire;

[0105] The conversion module 40 is used to boost or buck the power signal input by the battery module 20 and output a first operating voltage or a second operating voltage to the switch module 30 according to the control signal of the controller 10;

[0106] The switch module 30 is used to conduct electricity with the window cleaning robot according to the enable signal output by the controller 10;

[0107] The controller 10 is configured to determine whether the switch module 30 conducts electricity with the window cleaning robot according to the initial parameter signal of the battery module 20;

[0108] The controller 10 is used to control the conversion module 40 to continuously output the first working voltage after determining that the switch module 30 conducts electricity with the window cleaning robot until the current remaining power of the battery module 20 is less than the first preset power;

[0109] The controller 10 is further used to control the conversion module 40 to alternately output the second working voltage and the first working voltage when the current remaining power of the battery module 20 is less than the first preset power, and determine whether the current remaining power of the battery module 20 is less than the second preset power after the alternation period ends;

[0110] The controller 10 is further used to control the conversion module 40 to output the second working voltage when the current remaining power of the battery module 20 is less than the second preset power, and the battery module 20 ends the power supply to the window cleaning robot after maintaining the first duration;

[0111] Wherein, the window cleaning robot works normally when receiving the first working voltage and remains adsorbed at the same position on the glass when receiving the second working voltage.

[0112] Wherein, the conversion module 40 can boost or buck the voltage output by the battery module 20, so as to output the target voltage for powering the window cleaning robot; Exemplarily, the conversion module 40 can be a combined circuit composed of a Buck circuit and a Boost circuit, and the conversion circuit is controlled by the controller 10. For example, when the output voltage of the battery module 20 is less than the first working voltage, the controller 10 controls the Boost circuit to conduct and the Buck circuit to cut off, and the Boost circuit boosts the output voltage of the battery module 20 until the first working voltage. In addition, in some embodiments, the controller 10 can also output a PWM signal to the conversion module 40, and by adjusting the duty cycle, the conversion module 40 equivalently outputs different average voltages, so as to output the target voltage as required.

[0113] The switch circuit can be controlled to conduct or cut off according to the enable signal sent by the controller 10. For example, when the controller 10 sends a high-level signal to the switch circuit, the switch circuit conducts, and the voltage signal output by the conversion module 40 can be transmitted to the window cleaning robot through the switch circuit; when the controller 10 sends a low-level signal to the switch circuit, the switch circuit cuts off. It should be noted that the switch module 30 is connected to the window cleaning robot through two-core wires. When the switch circuit conducts, the battery module 20 and the window cleaning robot form a power supply loop.

[0114] The controller 10 can be a microcontroller unit (MCU). The controller 10 may include a control pin, an enable pin, and a voltage detection pin. The control pin can be used to connect to the conversion module 40 for the controller 10 to output a control signal to the conversion module 40 to adjust and change its output voltage. The enable pin can be used to connect to the switch module 30 for the controller 10 to output an enable signal to control the conduction or cut-off of the switch module 30. The voltage detection pin can be used to connect to the battery module 20 for the controller 10 to judge the battery level according to the voltage output by the battery module 20.

[0115] Specifically, after the base station responds to work, the controller 10 first obtains the initial parameter signal of the battery module 20 and judges whether to supply power to the window cleaning robot by the battery module 20 based on the initial parameter signal. When it is determined that the power is supplied by the battery module 20, the controller 10 controls the conversion module 40 to output the first working voltage and controls the switch module 30 to conduct. At this time, the window cleaning robot receives the first working voltage and works normally. Until the current remaining voltage of the battery module 20 is less than the first preset battery level, the controller 10 controls the conversion module 40 to alternately output the second working voltage and the first working voltage and judges whether the current remaining battery level of the battery module 20 is less than the second preset battery level after the alternation period ends. If the current remaining battery level is less than the second preset battery level, the controller 10 controls the conversion module 40 to output the second working voltage. At this time, the window cleaning robot adsorbs at the same position on the glass and ends the power supply from the battery module 20 to the window cleaning robot after maintaining for the first duration.

[0116] The cleaning system of the present application includes a window cleaning robot and a base station. The base station includes a controller 10, a battery module 20, a switch module 30, and a conversion module 40. The conversion module 40 is connected to the controller 10. The conversion module 40 can convert the power signal input by the battery module 20 and output the first working voltage or the second working voltage to the switch module 30 according to the control signal of the controller 10. The switch module 30 is connected to the controller 10. The switch module 30 can conduct with the window cleaning robot according to the enable signal output by the controller 10, so that the voltage output by the conversion module 40 is transmitted to the window cleaning robot. The switch module 30 of the present application is connected to the window cleaning robot by a two-core wire. By changing the voltage provided by the battery module 20 for the window cleaning robot by the controller 10, the window cleaning robot can obtain the battery level of the battery module 20 according to the change of the voltage, and then judge whether to continue the normal window cleaning action or just adsorb on the glass and standby without moving. This not only does not increase the cost additionally but also achieves the purpose of mutual communication.

[0117] As Figure 5 shown, in addition to the features of the above embodiments, this embodiment further defines that the base station further includes an adapter 50, and the adapter 50 is connected to the switch module 30;

[0118] The controller 10 is further configured to control the adapter 50 to supply power to the window cleaning robot after the adapter 50 is connected to an external power source, and end the power supply of the battery module 20 to the window cleaning robot.

[0119] As Figure 6 shown, in addition to the features of the above embodiments, this embodiment further defines that the conversion module 40 includes a first adjustment circuit 41 and a second adjustment circuit 42. The first adjustment circuit 41 is configured to receive the power signal input by the battery module 20 for conversion, and output a first operating voltage or a second operating voltage according to the control signal output by the controller 10.

[0120] The second adjustment module is configured to receive the power signal output by the battery module 20 or the adapter 50 for step-up / step-down, and output a third operating voltage to the controller 10.

[0121] Among them, the second adjustment circuit 42 can step up / step down the power signal output by the battery module 20 or the adapter 50 to obtain a third operating voltage to supply power to the controller 10. For example, the second adjustment circuit 42 can be a DC-DC conversion circuit.

[0122] In addition to the features of the above embodiments, this embodiment further defines that the first adjustment circuit 41 is further configured to charge the battery module 20 after the adapter 50 is connected to an external power source.

[0123] Specifically, after the adapter 50 is connected to an external power source, the adapter 50 supplies power to the window cleaning robot, and at this time, there is no need for the battery module 20 to supply power to the window cleaning robot; while the adapter 50 supplies power to the window cleaning robot, the voltage output by the adapter 50 also charges the battery module 20 through the first adjustment circuit 41.

[0124] In addition to the features of the above embodiments, this embodiment further defines that the base station further includes a prompting module. The prompting module is connected to the controller 10, and the prompting module is configured to output a power shortage prompt signal when the current remaining power of the battery module 20 is less than a second preset power and / or the conversion module 40 outputs a second operating voltage and maintains it for a first duration.

[0125] This embodiment also provides a computer-readable storage medium storing a computer program / instructions, and when the computer program / instructions are executed by a processor, the control method of the above cleaning system is implemented.

[0126] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in this application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0127] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0128] The above embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A control method for a cleaning system, the cleaning system comprising a window cleaning robot and a base station, the base station having a built-in battery module, characterized in that: The control method comprises: S1, obtaining an initial parameter signal of a battery module, and determining whether the battery module supplies power to the window cleaning robot according to the initial parameter signal; if yes, proceeding to step S3; S3, the battery module provides a first working voltage for the window cleaning robot until the current remaining power of the battery module is less than a first preset power, and then proceeds to step S5; S5, the battery module alternately provides the second working voltage and the first working voltage to the window cleaning robot, and after the alternating cycle ends, determines whether the current remaining power of the battery module is less than the second preset power; if so, proceeds to step S7; S7, the battery module provides the window cleaning robot with a second operating voltage, and stops the battery module from supplying power to the window cleaning robot after maintaining the first time period; The window cleaning robot works normally when receiving the first working voltage, and remains adsorbed on the same position of the glass when receiving the second working voltage.

2. The control method of the cleaning system according to claim 1, characterized in that: The initial parameter signal includes an initial remaining power; The specific steps of acquiring the initial parameter signal of the battery module and determining whether the battery module supplies power to the window cleaning robot according to the initial parameter signal include: S11, obtaining an initial remaining power of the battery module, and determining whether the initial remaining power is greater than a third preset power; S12: If yes, determine that the battery module supplies power to the window cleaning robot, and proceed to step S3.

3. The control method of the cleaning system according to claim 2, characterized in that: The specific step of acquiring the initial parameter signal of the battery module and determining whether the battery module supplies power to the window cleaning robot according to the initial parameter signal also includes: S13, if not, determining that the battery module stops supplying power to the window cleaning robot.

4. The control method of the cleaning system according to claim 1, characterized in that: The battery module alternately provides the second working voltage and the first working voltage for the window cleaning robot, and after the alternating cycle ends, the specific steps of judging whether the current remaining power of the battery module is less than the second preset power include: S51, controlling the battery module to provide a second operating voltage for the window cleaning robot and maintaining the voltage for a second duration; S52, after the second time period ends, controlling the battery module to provide the window cleaning robot with an output first working voltage and maintaining it for a third time period; S53, looping through the above steps until the voltage conversion alternation times is equal to the preset alternation times; S54, determine whether the current remaining power of the battery module is less than the second preset power; if so, proceed to step S7.

5. The control method of the cleaning system according to claim 4, characterized in that: The step of determining whether the current remaining power of the battery module is less than the second preset power also includes: if not, returning to step S3.

6. The control method of the cleaning system according to claim 4, characterized in that: The preset number of alternations is set to 1; and / or, The second duration is equal to the third duration.

7. The control method of the cleaning system according to claim 1, characterized in that: The second preset power level is less than or equal to the first preset power level.

8. The control method of the cleaning system according to any one of claims 1 to 7, characterized in that: The second operating voltage is lower than the first operating voltage.

9. The control method of the cleaning system according to claim 1, characterized in that: When the current remaining power of the battery module is less than the first preset power and / or when the current remaining power of the battery module is less than the second preset power, the step of outputting a low power prompt signal is further performed.

10. The control method of the cleaning system according to claim 1, characterized in that: The base station is also equipped with a built-in adapter; The control method further comprises the steps of: detecting whether the adapter is connected to an external power source; If yes, stop the battery module from supplying power to the window cleaning robot, and control the adapter to supply power to the window cleaning robot; If not, go to step S1.

11. A cleaning system, characterized in that: The cleaning system comprises a window cleaning robot and a base station, wherein the base station comprises a controller, a battery module, a switch module and a conversion module, wherein the switch module and the conversion module are respectively connected to the controller, the battery module is connected to the conversion module, and the switch module is connected to the window cleaning robot via a two-core wire; The conversion module is used to step up or step down the power signal input by the battery module, and output the first working voltage or the second working voltage to the switch module according to the control signal of the controller; The switch module is used to conduct with the window cleaning robot according to the enable signal output by the controller; The controller is used to determine whether the switch module is connected to the window cleaning robot according to the initial parameter signal of the battery module; The controller is further configured to control the conversion module to continuously output the first working voltage after determining that the switch module is connected to the window cleaning robot, until the current remaining power of the battery module is less than a first preset power; The controller is also used to control the conversion module to alternately output the second working voltage and the first working voltage when the current remaining power of the battery module is less than the first preset power, and to determine whether the current remaining power of the battery module is less than the second preset power after the alternation cycle ends; The controller is also used to control the conversion module to output a second working voltage when the current remaining power of the battery module is less than a second preset power, and to stop the battery module from supplying power to the window cleaning robot after maintaining the first time period; The window cleaning robot works normally when receiving a first working voltage, and remains adsorbed on the glass when receiving a second working voltage.

12. The cleaning system according to claim 11, characterized in that The base station also includes an adapter, which is connected to the switch module; the controller is also used to control the adapter to supply power to the window cleaning robot after the adapter is connected to an external power supply, and to stop the battery module from supplying power to the window cleaning robot.

13. The cleaning system according to claim 12, characterized in that The conversion module includes a first adjustment circuit and a second adjustment circuit. The first adjustment circuit is used to receive the power signal input by the battery module for conversion, and output the first working voltage or the second working voltage according to the control signal output by the controller; the second adjustment module is used to receive the power signal output by the battery module or the adapter for voltage increase / decrease, and output the third working voltage to the controller.

14. The cleaning system according to claim 13, characterized in that The first regulating circuit is also used to charge the battery module after the adapter is connected to an external power source.

15. The cleaning system according to claim 11, characterized in that The base station also includes a prompt module, which is connected to the controller. The prompt module is used to output a low-battery prompt signal when the current remaining power of the battery module is less than a second preset power and / or the conversion module outputs a second operating voltage and maintains it for a first time period.

16. A computer-readable storage medium, characterized in that: A computer program / instruction is stored, and when the computer program / instruction is executed by a processor, the control method of the cleaning system according to any one of claims 1 to 10 is implemented.

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