Cleaning method, device and cleaning system of cleaning robot

Abstract

The present application provides a cleaning method, device and cleaning system for a cleaning robot, which relate to the technical field of cleaning equipment. The method comprises: in the process of the cleaning robot performing a current cleaning task based on a currently installed first rag component, if it is determined that there is a need to replace the rag component for cleaning, obtaining the working status of a cleaning base station; when the working status is an available state, controlling the cleaning robot to return to the cleaning base station to replace the second rag component; when the working status is an unavailable state, adjusting the cleaning strategy of the cleaning robot and / or the working status of the cleaning base station, so that when the cleaning robot returns to the cleaning base station to replace the rag component, the working status is an available state or the working status is in a stage of accelerating the switching from an unavailable state to an available state, thereby reducing the time the cleaning robot waits for readiness, ensuring that the rag component is efficiently utilized and quickly replaced, and improving the overall cleaning efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning method, device and cleaning system for a cleaning robot. Background Art

[0002] With the prevalence of smart home devices, cleaning robots have become a common cleaning tool in many households. Modern cleaning robots are typically equipped with multiple cleaning components, such as a side brush, a roller brush, and a mop, to achieve comprehensive cleaning of the surface. During the cleaning process, the condition of the mop can affect the cleaning effect, so it needs to be replaced or cleaned as appropriate.

[0003] In related technologies, cleaning robots usually rely on sensors and preset programs to detect the status of the rag assembly. When the cleaning robot carries the rag assembly to perform a cleaning task, if the sensor detects that the rag assembly is too dirty, worn or dry, it will trigger the need to replace the rag. At this time, the cleaning robot will pause the current cleaning task and return directly to the cleaning base station to replace or clean the rag.

[0004] However, scheduling conflicts may occur between the cleaning task and the wipe component replacement task, causing the cleaning robot to be unable to effectively coordinate the two, resulting in interruption or reduced efficiency of the cleaning task. Summary of the Invention

[0005] The present application provides a cleaning method, device and cleaning system for a cleaning robot. By timely obtaining the working status of the rag component and / or the cleaning base station of the cleaning base station, the cleaning strategy of the cleaning robot and the management strategy of the cleaning base station are flexibly adjusted, so that the cleaning robot can achieve more effective scheduling between the replacement needs of the rag component and the cleaning tasks, reduce task interruptions, improve cleaning efficiency, and ensure that the rag component can be replaced in time when needed.

[0006] In a first aspect, the present application provides a cleaning method for a cleaning robot, which is applied to a cleaning system. The cleaning system includes a cleaning robot and a cleaning base station. The cleaning base station includes at least a first rag assembly and a second rag assembly. The method includes:

[0007] When the cleaning robot is performing a current cleaning task based on the currently installed first rag assembly and determines that the rag assembly needs to be replaced for cleaning, obtaining the working status of the cleaning base station;

[0008] When the working state is an available state, the cleaning robot is controlled to return to the cleaning base station to replace the second rag component;

[0009] When the working state is unavailable, adjust the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station so that when the cleaning robot returns to the cleaning base station to replace the rag component, the working state is available or the working state is in the stage of accelerating the switching from the unavailable state to the available state.

[0010] In this way, by timely obtaining the working status of the cleaning base station to determine whether to replace the rag component, or by choosing to adjust the cleaning strategy and the working status of the cleaning base station, the interruption time of the cleaning task can be minimized, the continuity of the cleaning task can be ensured, and unnecessary waiting time can be reduced. Therefore, by intelligently adjusting the cleaning strategy and / or the working status of the cleaning base station of the cleaning robot, the cleaning robot can continue to operate efficiently under non-ideal conditions, maximize the use of existing resources, and improve the overall work efficiency of the cleaning robot. This process demonstrates extremely high flexibility and adaptability, enabling the cleaning system to cope with different cleaning environments and needs. In addition, this process can also reduce the user's attention to and intervention needs on the status of the cleaning system, thereby improving user convenience and satisfaction.

[0011] It can be understood that by monitoring the working status of the cleaning base station, which at least includes the working status of the rag assembly in the cleaning base station, it is ensured that the cleaning robot knows whether the cleaning base station can immediately replace the rag assembly before deciding to return to the cleaning base station, and then controls the cleaning robot to perform the corresponding rag assembly replacement or intelligently adjust the cleaning robot's cleaning strategy and / or the working status of the cleaning base station, so that the cleaning robot can achieve more effective scheduling between the rag assembly replacement needs and the cleaning tasks, reduce task interruptions, improve cleaning efficiency, and ensure that the rag assembly can be replaced in time when needed.

[0012] Optionally, the first rag assembly and the second rag assembly are rag assemblies with the same cleaning function; or, the first rag assembly and the second rag assembly are rag assemblies with at least partially different cleaning functions, and the first rag assembly and the second rag assembly are at least partially different in cleaning power, friction power, heat preservation ability, and water locking ability.

[0013] In this way, using rag components with the same function can reduce replacement time, ensure that the cleaning task is not interrupted, and thus improve overall efficiency. Using different rag components can be optimized for specific cleaning tasks, ensuring that ideal cleaning effects can be achieved in various situations. Therefore, this application introduces rag components with multiple cleaning functions and dynamic cleaning strategies, so that the cleaning robot can provide customized cleaning solutions for different areas and cleaning surface types, effectively overcoming the problem of single cleaning function, and can adapt to different cleaning needs and cleaning surface types. This flexibility enables the cleaning system to more effectively respond to diverse cleaning challenges.

[0014] Optionally, determining that the rag assembly needs to be replaced for cleaning includes at least one of the following:

[0015] Based on preset cleaning sequences;

[0016] Based on the detected type of dirt and / or material of the area to be cleaned;

[0017] changing the area to be cleaned and / or the cleaning mode in response to a user's instruction;

[0018] The cleaning area of the first wipe assembly is greater than a first threshold;

[0019] The dirtiness of the first rag component is greater than a second threshold;

[0020] The cleaning time of the first wiping cloth component is greater than a third threshold.

[0021] During the cleaning process, selecting the right type of rag assembly to match the area to be cleaned is a key factor in ensuring the cleaning effect. Therefore, by replacing the rag assembly at the appropriate time, the type of the replaced rag assembly and the area to be cleaned will be better matched, thereby ensuring the cleaning effect. In addition, the present application intelligently determines the replacement timing of the rag assembly based on multiple conditions, which can reduce unnecessary replacements and optimize the use of the rag assembly. This automated rag assembly replacement judgment reduces the need for user intervention and improves user convenience and satisfaction. In addition, the cleaning system can also dynamically adjust according to real-time detection and user instructions, demonstrating extremely high flexibility and adaptability.

[0022] Optionally, when the working state is unavailable, adjusting the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station includes:

[0023] When it is determined that the working state is an unavailable state, adjusting the cleaning operation process of the cleaning robot, or waiting for the second rag component in the cleaning base station to be in an available state, and then controlling the cleaning robot to replace the second rag component;

[0024] And / or, control the cleaning base station to switch the working mode of the second rag component to speed up the progress of the second rag component being in a usable state.

[0025] In this way, by adjusting the cleaning operation process of the cleaning robot, it is possible to ensure that the cleaning robot continues to perform cleaning tasks and avoid downtime caused by waiting for the rag component to be replaced, thereby improving the overall cleaning efficiency. By optimizing the working mode of the cleaning base station, the preparation time of the rag component can be accelerated, and the downtime of the cleaning robot caused by waiting for the rag component to be replaced can be reduced, thereby ensuring the continuity of the cleaning task. Therefore, by reducing the interruption and delay of the cleaning task, a smoother and more efficient cleaning service can be provided, thereby improving user satisfaction and experience. In addition, the cleaning system can flexibly adjust the cleaning strategy and / or the working status of the cleaning base station according to the current working status, thereby adapting to different working environments and emergencies, improving the adaptability and flexibility of the system, and enhancing the reliability and stability of the overall system.

[0026] Optionally, the cleaning base station further includes a third rag assembly to be used; when the working state is determined to be unavailable, adjusting the cleaning operation process of the cleaning robot includes:

[0027] When it is determined that the working state is an unavailable state, the cleaning robot is controlled to return to the cleaning base station to replace the third rag assembly, so that the cleaning robot cleans the area to be cleaned based on the third rag assembly.

[0028] In this way, by introducing the third rag component, a redundancy option is added to ensure that when the second rag component of the cleaning base station is unavailable, the cleaning task can continue without waiting for the second rag component to become available, thereby ensuring the continuity and efficiency of the task. The use of the third rag component can significantly reduce the waiting time of the cleaning robot and avoid task interruption due to replacement of the rag component. By rationally utilizing the third rag component, the cleaning system can more effectively manage rag resources, reduce the idle time of the rag component, and improve overall resource utilization. In addition, by reducing task interruptions and equipment idle time, the cleaning system can reduce costs, as well as reduce the inconvenience caused by equipment waiting and task interruption, and improve user experience and satisfaction.

[0029] Optionally, when it is determined that the working state is an unavailable state, controlling the cleaning robot to return to the cleaning base station to replace the third rag component includes:

[0030] When the working state is determined to be unavailable, if the cleaning base station still has a third rag component having at least some of the same functions as the second rag component, the cleaning robot is controlled to return to the cleaning base station to replace the third rag component, or,

[0031] When it is determined that the working state is unavailable, if the cleaning base station still has a third rag component with different functions from the second rag component, the cleaning robot is controlled to return to the cleaning base station to replace the third rag component and adjust the cleaning order of the cleaning robot.

[0032] In this way, by providing a third rag component with the same or similar function, the redundancy of the cleaning system is increased, ensuring that the cleaning task can continue even if the second rag component is unavailable, that is, when the second rag component is unavailable, the third rag component is used immediately, thereby avoiding the interruption of the cleaning task and maintaining the continuity of the cleaning work. The use of the third rag component with the same function can also ensure that the cleaning robot can continue to perform the cleaning task in an efficient manner and maintain the cleaning quality. By adding a spare third rag component, the risk caused by the failure or unavailability of a single component can be reduced, and the stability and reliability of the system can be enhanced. In addition, by reducing the interruption and delay of the cleaning task, a more stable and efficient cleaning service can be provided, thereby improving user satisfaction.

[0033] Alternatively, when the cleaning base station also has a third rag component with different functions from the second rag component, the flexibility of the system is increased by utilizing the third rag component with different functions, ensuring that the cleaning task can continue when the second rag component is unavailable, and by adjusting the cleaning sequence to adapt to the characteristics of the third rag component, ensuring that the cleaning robot achieves the ideal cleaning effect under the current conditions. Therefore, by flexibly using rag components with different functions, the cleaning system can maximize the use of existing resources and reduce resource waste caused by mismatch of rag components. Since the cleaning system can dynamically adjust the cleaning plan according to the functional characteristics of the available rag components, it improves its adaptability to emergencies and changing environments, provides more flexible and efficient cleaning services, reduces service interruptions caused by the unavailability of the second rag component, and improves user experience and satisfaction.

[0034] Optionally, the unavailable state includes a drying state; controlling the cleaning base station to switch the working mode of the second rag component includes:

[0035] When the second rag assembly is in a drying state, controlling the cleaning base station to switch to an accelerated drying mode to accelerate the drying of the second rag assembly;

[0036] Alternatively, the drying of the second rag assembly is terminated, and the second rag assembly is controlled to switch from a drying state to a standby replacement state.

[0037] In this way, through the accelerated drying mode, the preparation time of the second rag component can be shortened, so that it can be restored to a usable state more quickly, thereby reducing the waiting time of the cleaning robot and improving the overall task efficiency. By terminating the drying and directly switching to the standby replacement state, the available second rag component can be quickly provided in an emergency, avoiding long interruptions to the cleaning task. Therefore, by accelerating the drying or terminating the drying in advance, the cleaning system can put the second rag component into use more quickly, reducing the interruption time of the cleaning task, and the cleaning system can flexibly choose the strategy of accelerating or terminating the drying according to the urgency of the current task and the needs of the rag component, so as to better meet the actual cleaning needs and improve the adaptability to different working environments and emergencies. In addition, by dynamically adjusting the drying process, time and energy resources can be more effectively managed to reduce unnecessary waste.

[0038] Optionally, the unavailable state also includes a cleaning state; controlling the cleaning base station to switch the working mode of the second rag component includes:

[0039] When the second rag assembly is in the cleaning process, after the second rag assembly completes cleaning, controlling the second rag assembly to switch to a standby replacement state;

[0040] Alternatively, when the second rag component is in the cleaning process, the cleaning base station is controlled to switch to the accelerated drying mode after executing the cleaning mode to accelerate the drying of the second rag component.

[0041] In this way, by switching to the standby replacement state immediately after cleaning is completed, the rag component can be put into use quickly, reducing the waiting time of the cleaning robot and improving the availability of the equipment, or controlling the cleaning base station to immediately enter the accelerated drying mode after cleaning is completed, which can significantly shorten the turnaround time of the second rag component from cleaning to availability, ensuring the continuity of the cleaning task. Therefore, the cleaning system can flexibly choose the strategy of direct standby or accelerated drying according to task requirements and time urgency to better adapt to different cleaning scenarios and needs, thereby ensuring that the second rag component is restored to use in the shortest time, maintaining the efficient operation of the cleaning robot, and avoiding the decline in cleaning efficiency due to component unavailability. In addition, it provides faster and more efficient cleaning services, reduces the user's need for manual intervention, and improves user experience and satisfaction.

[0042] Optionally, the unavailable state also includes an uncleaned state; controlling the cleaning base station to switch the working mode of the second rag component includes:

[0043] When the second rag assembly is in an unwashed state, the cleaning robot is controlled to return to the cleaning base station to replace the second rag assembly, and after the second rag assembly is replaced, the cleaning base station is controlled to switch to a cleaning mode to clean the second rag assembly;

[0044] Alternatively, when the second rag assembly is in an uncleaned state, the cleaning robot is controlled to return to the cleaning base station to replace the second rag assembly, and after replacing the second rag assembly, the cleaning base station is controlled to switch to the cleaning mode. After executing the cleaning mode, it is switched to the accelerated drying mode to accelerate the drying of the second rag assembly.

[0045] In this way, when it is detected that the second rag component is in an uncleaned state, the cleaning robot is instructed to return to the cleaning base station to replace the rag, and immediately start the cleaning mode after the replacement is completed to clean the second rag component. By closely combining the replacement and cleaning processes, the rag component is ensured to be cleaned in time, unnecessary pauses and repeated operations are reduced, and the efficiency of the entire cleaning process is optimized. Or by entering the accelerated drying mode immediately after cleaning, the time from cleaning to usability of the rag component can be shortened, the waiting time of the cleaning robot can be reduced, and the availability of the equipment can be improved. Therefore, the cleaning system can flexibly adjust the cleaning and drying processes according to the status and task requirements of the second rag component. By reasonably scheduling the replacement, cleaning and drying of the rag component, it can ensure that the second rag component is restored to use in the shortest time, maintain the efficient operation of the cleaning robot, and avoid the decline in cleaning efficiency due to component unavailability.

[0046] Optionally, the method further includes:

[0047] During the process of the cleaning robot returning to the cleaning base station to replace the second rag assembly, when the cleaning robot is in a charging state, it is determined that the cleaning robot is located at a rag assembly replacement position.

[0048] Therefore, determining the position of the cleaning robot by the charging status simplifies the positioning and confirmation process, reduces the need for additional sensors or positioning systems, and improves the simplicity and reliability of the cleaning system. In addition, using the charging status as a position confirmation method reduces replacement failures or delays caused by inaccurate positioning, thereby improving the reliability of the cleaning system.

[0049] Optionally, the method further includes:

[0050] During the process of controlling the cleaning robot to return to the cleaning base station to replace the second rag assembly, the cleaning base station is controlled to charge the cleaning robot.

[0051] While the cleaning robot is charging, the cleaning base station can perform the replacement operation of the rag component, so that the cleaning robot does not need to perform separate operations between the replacement of the rag component and charging, maximizing the time the cleaning robot stays at the cleaning base station, thereby saving time.

[0052] In addition, after the charging port is docked with the cleaning robot, the fast charging mode can be activated to reduce the charging time.

[0053] It should also be noted that charging the cleaning robot while replacing the wipe assembly can also ensure that it has sufficient power when returning to the cleaning task, reducing task interruptions caused by insufficient power. By integrating charging and wipe replacement into one process, the cleaning system can not only make more efficient use of time and resources, reduce unnecessary waiting and repetitive operations, but also reduce the operating steps and complexity, and improve the simplicity and user-friendliness of the cleaning system.

[0054] In a second aspect, the present application provides a cleaning device for a cleaning robot, which is applied to a cleaning system. The cleaning system includes a cleaning robot and a cleaning base station. The cleaning base station includes at least a first rag assembly and a second rag assembly. The device includes:

[0055] an acquisition module, configured to acquire the working status of the cleaning base station when the cleaning robot determines that a rag assembly needs to be replaced for cleaning during the process of performing the current cleaning task based on the currently installed first rag assembly;

[0056] A control module, configured to control the cleaning robot to return to the cleaning base station to replace the second rag assembly when the working state is an available state;

[0057] The adjustment module is used to adjust the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station when the working state is an unavailable state, so that when the cleaning robot returns to the cleaning base station to replace the rag component, the working state is an available state or the working state is in a stage of accelerating the switching from an unavailable state to an available state.

[0058] In a third aspect, the present application provides a cleaning system, the cleaning system comprising a cleaning robot and a cleaning base station, the cleaning base station comprising at least a first rag assembly and a second rag assembly;

[0059] The cleaning system is used to perform the method according to any one of the first aspects.

[0060] It should be noted that the second to third aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

[0061] In summary, the present application provides a cleaning method, device and cleaning system for a cleaning robot. When the cleaning robot is performing the current cleaning task, when the cleaning system detects that the rag component needs to be replaced to continue cleaning the area to be cleaned, the working status of the cleaning base station will be obtained. The working status includes at least the working status of the rag component in the cleaning base station. If the working status is an available state, such as the rag component is clean or dry and can be replaced immediately, the cleaning robot is controlled to return to the cleaning base station to replace the second rag component. If the working status is an unavailable state, such as the rag component is dirty or being washed and cannot be replaced immediately, the cleaning strategy of the cleaning robot and / or the working status of the cleaning base station are adjusted. The purpose of the adjustment is to ensure that the cleaning robot returns to the cleaning base station to replace the second rag component. When the station replaces the rag component, the cleaning base station can quickly switch to an available state, or speed up the cleaning and drying process of the rag component in the cleaning base station. In this way, by real-time monitoring of the working status of the cleaning base station, including the monitoring of the working status of the rag component, the cleaning system can replace the rag component in time when needed, reducing the interruption time of the cleaning task, and dynamically adjust the cleaning strategy according to the real-time status of the rag component and the cleaning base station, especially adjusting the cleaning strategy and the status of the cleaning base station in the unavailable state, speeding up the process of switching from the unavailable state to the available state, reducing the time the cleaning robot waits for readiness, ensuring that the rag component is efficiently utilized and quickly replaced, and effectively resolving the scheduling conflict between cleaning tasks and rag replacement tasks, thereby improving the overall cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0063] Figure 1 A schematic diagram of a partial structure of a cleaning system provided in an embodiment of the present application;

[0064] Figure 2 A schematic structural diagram of a cleaning base station provided in an embodiment of the present application;

[0065] Figure 3 A schematic diagram of an application scenario provided in an embodiment of the present application;

[0066] Figure 4 A schematic flow chart of a cleaning method for a cleaning robot provided in an embodiment of the present application;

[0067] Figure 5 A schematic structural diagram of a cleaning device of a cleaning robot provided in an embodiment of the present application;

[0068] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0069] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0070] To facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first device and the second device are merely used to distinguish between different devices and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily mean that they are different.

[0071] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0072] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or plural.

[0073] Currently, cleaning robots are typically equipped with multiple cleaning components, such as a side brush, a roller brush, and a mop, to achieve efficient surface cleaning. The side brush and roller brush are primarily used for dry cleaning, while the mop is primarily used for wet cleaning. To keep the mop moist, the robot is equipped with a small water tank to continuously refill the mop during the cleaning process, enabling effective wet mopping.

[0074] When the robot completes its cleaning task and returns to the base station, the cleaning cloth assembly can be cleaned in the cleaning tank on the base station, leaving it clean and ready for subsequent cleaning tasks. Furthermore, the cleaning cloth assembly can be optionally dried after cleaning to keep it dry and hygienic after the cleaning task is completed. This design not only improves the cleaning efficiency of the robot but also extends the life of the cleaning cloth assembly.

[0075] In related technologies, cleaning robots can rely on sensors and preset programs to detect the status of the rag assembly. When the cleaning robot carries the rag assembly to perform a cleaning task, if the sensor detects that the rag assembly is too dirty, worn or dry, it will trigger the need to replace the rag. At this time, the cleaning robot will pause the current cleaning task and return directly to the cleaning base station to replace or clean the rag.

[0076] However, scheduling conflicts may occur between the cleaning task and the wipe component replacement task, causing the cleaning robot to be unable to effectively coordinate the two, resulting in interruption or reduced efficiency of the cleaning task.

[0077] It should also be noted that while cleaning robots offer a replaceable wipe assembly, their cleaning functionality is relatively limited and they cannot provide a customized cleaning experience for different cleaning areas and surface types. This limitation can result in suboptimal cleaning results when handling surfaces of varying materials. For example, different cleaning surfaces such as hard floors, tiles, and carpets may require different cleaning strategies and humidity control to achieve the desired cleaning effect.

[0078] In response to the above problems, the present application provides a cleaning method for a cleaning robot. When the cleaning robot is performing the current cleaning task, when the cleaning system detects that the rag component needs to be replaced to continue cleaning the area to be cleaned, the working status of the cleaning base station will be obtained. The working status includes at least the working status of the rag component in the cleaning base station. If the working status is an available state, such as the rag component is clean or dry and can be replaced immediately, the cleaning robot is controlled to return to the cleaning base station to replace the second rag component. If the working status is an unavailable state, such as the rag component is dirty or being cleaned and cannot be replaced immediately, the cleaning strategy of the cleaning robot and / or the working status of the cleaning base station are adjusted. The purpose of the adjustment is to ensure that the cleaning robot returns to the cleaning base station to replace the rag component. When the rag assembly is in use, the cleaning base station can quickly switch to an available state, or speed up the cleaning and drying process of the rag assembly in the cleaning base station. In this way, by real-time monitoring of the working status of the cleaning base station, including the monitoring of the working status of the rag assembly, the cleaning system can replace the rag assembly in time when needed, reducing the interruption time of the cleaning task, and dynamically adjust the cleaning strategy according to the real-time status of the rag assembly and the cleaning base station, especially adjusting the cleaning strategy and the status of the cleaning base station in an unavailable state, speeding up the process of switching from an unavailable state to an available state, reducing the time the cleaning robot waits for readiness, ensuring that the rag assembly is efficiently utilized and quickly replaced, and effectively resolving the scheduling conflict between cleaning tasks and rag replacement tasks, thereby improving overall cleaning efficiency.

[0079] Optionally, the cleaning method of the cleaning robot provided in this application is applied to a cleaning system, exemplarily, Figure 1 A schematic diagram of a cleaning system according to an embodiment of the present invention is shown in FIG. Figure 1 As shown, the cleaning system 300 includes a cleaning robot 100 and a cleaning base station 200 ; the cleaning base station 200 includes at least a first wiping cloth component 201 and a second wiping cloth component 202 .

[0080] For example, Figure 2 A schematic diagram of the structure of a cleaning base station provided in an embodiment of the present application is shown as follows: Figure 2 As shown, the cleaning base station 200 includes at least a first rag assembly 201 and a second rag assembly 202, and the first rag assembly 201 and the second rag assembly 202 are rag assemblies with the same cleaning function; or, the first rag assembly 201 and the second rag assembly 202 are rag assemblies with at least partially different cleaning functions, and the first rag assembly 201 and the second rag assembly 202 are at least partially different in cleaning power, friction force, heat preservation ability, and water locking ability.

[0081] For example, the first rag component 201 and the second rag component 202 can be at least part of a mopping rag, a phase change rag, a high friction rag, a water-locking rag, a water-absorbing rag, and a floor maintenance rag. The mopping rag is a rag with an ordinary mopping function, and the phase change rag is a rag that includes a phase change material layer in its structure. The phase change rag can absorb heat and maintain temperature, and can keep the cleaning surface warm and clean when cleaning, simulating the effect of mopping with hot water, and is suitable for occasions where hot water cleaning is required, such as removing grease and stubborn stains. The high friction rag (strong scraping) A rag is a rag designed with a high-friction surface to enhance physical cleaning ability and is suitable for cleaning rough or stubborn stains. A water-locking rag is a rag with a water-locking ring designed on the outer ring of the rag. The water-locking ring reduces the amount of water remaining on the rag when mopping the floor. It is suitable for cleaning tasks that require moisture control, such as wooden floors or other water-sensitive cleaning surfaces. An absorbent rag is a rag with high water absorption capacity, used to absorb moisture on the cleaning surface. It is suitable for cleaning spills, dry mopping the cleaning surface, or quickly drying the cleaning surface after cleaning.

[0082] If the first rag assembly 201 and the second rag assembly 202 have the same cleaning function, it means that they can be used interchangeably, that is, when the first rag assembly 201 becomes dirty or needs to be replaced, the cleaning robot can replace it with another spare second rag assembly 202. This redundant design ensures the continuity of the cleaning task.

[0083] If the first rag assembly 201 and the second rag assembly 202 have at least partially different cleaning functions, they can be optimized for different cleaning needs. For example, the first rag assembly 201 may have stronger cleaning power and friction, suitable for dealing with stubborn stains; while the second rag assembly 202 may have better heat retention and moisture retention, suitable for wet mopping or use on specific cleaning surfaces. When cleaning grease or oil stains, the cleaning robot can return to the cleaning base station 200 to replace the second rag assembly 202.

[0084] Optionally, the first rag assembly 201 and the second rag assembly 202 are multifunctional rag assemblies or independent functional rag assemblies; the multifunctional rag assembly has at least two of the following cleaning functions: heat preservation ability, water absorption ability, water locking ability, cleaning surface maintenance ability, polishing ability, antibacterial and deodorizing ability, and friction force greater than a preset threshold. For example, a mopping rag can also be a floor maintenance rag, and a water locking rag can also be a water absorbing rag. The independent functional rag assembly has one of the following cleaning functions: heat preservation ability, water absorption ability, water locking ability, cleaning surface maintenance ability, polishing ability, antibacterial and deodorizing ability, and friction force greater than a preset threshold.

[0085] In this way, using rag components with the same function can reduce replacement time, ensure that the cleaning task is not interrupted, and thus improve overall efficiency. Using different rag components can be optimized for specific cleaning tasks, ensuring that ideal cleaning effects can be achieved in various situations. Therefore, this application introduces rag components with multiple cleaning functions and dynamic cleaning strategies, so that the cleaning robot can provide customized cleaning solutions for different areas and cleaning surface types, effectively overcoming the problem of single cleaning function, and can adapt to different cleaning needs and cleaning surface types. This flexibility enables the cleaning system to more effectively respond to diverse cleaning challenges.

[0086] Optionally, the cleaning base station 200 may further include a rag assembly with at least one cleaning function, such as the cleaning base station 200 may include three rag assemblies with different cleaning functions, or the cleaning base station 200 may include two rag assemblies with the same cleaning function and one rag assembly with a different cleaning function.

[0087] Optional, such as Figure 2 As shown, the cleaning base station 200 is provided with a rag storage bin 203 for storing rag components with at least one cleaning function. The embodiment of the present application does not specifically limit the component structure and the storage quantity of the rag components.

[0088] Optionally, the cleaning base station 200 further includes a drying device (not shown in the figure), the drying device including a drying device in the rag storage bin 203 and a drying device in the cleaning tank 204. For example, the drying device can provide hot air to the rag storage bin 203 and / or the cleaning tank 204 to dry the rag assembly.

[0089] Optionally, the drying device includes a first air outlet and a second air outlet; the first air outlet faces the rag storage bin 203, and is used to provide hot air to the rag storage bin 203 to dry the rag assembly stored in the rag storage bin 203, and the second air outlet faces the cleaning tank 204, and is used to provide hot air to the cleaning tank 204 to dry the rag assembly in the cleaning tank 204.

[0090] Optionally, the cleaning robot 100 includes any automatic cleaning device with a cleaning function, such as a sweeping robot, a mopping robot, a washing robot, a sweeping and mopping robot, and the like. The rag assembly can be a rag plate assembly such as a round rag, a triangular rag, etc. The embodiment of the present application does not limit the specific types of the cleaning robot and the rag assembly.

[0091] For example, Figure 3 A schematic diagram of an application scenario provided in an embodiment of the present application is shown in FIG. Figure 3As shown, the application scenario includes a cleaning robot 100 and a cleaning base station 200. During the process of the cleaning robot 100 cleaning the area to be cleaned in the living room based on the currently installed first rag component, it is detected that there is a dirty area in the area to be cleaned as shown in the figure, and it is determined that the rag component needs to be replaced. At this time, the second rag component of the cleaning base station 200 suitable for cleaning the dirty area and / or the working status of the cleaning base station 200 can be obtained. If the second rag component is in an available state at this time, the cleaning robot 100 is controlled to return to the cleaning base station 200 to replace the second rag component. Further, the cleaning robot 100 is controlled to return to the dirty area to clean the dirty area.

[0092] If the second rag component is in an unusable state at this time, such as in a cleaning state, the working state of the cleaning base station 200 can be adjusted, and the cleaning base station can be switched to a quick drying mode, so that when the cleaning robot 100 returns to the cleaning base station 200 to replace the second rag component, the second rag component is in a stage of accelerating the switching from the unusable state to the usable state, thereby reducing the waiting time. Alternatively, the cleaning strategy of the cleaning robot 100 can be adjusted, such as adjusting the cleaning sequence to avoid cleaning the dirty area, and first cleaning other areas except the dirty area. After the second rag component is in a usable state, return to the cleaning base station 200 to replace the second rag component to clean the dirty area.

[0093] Optionally, when the cleaning robot 100 has finished cleaning the area to be cleaned in the living room based on the currently installed first rag assembly and needs to clean the next area to be cleaned, such as the kitchen area, it is determined that the rag assembly needs to be replaced. At this time, the second rag assembly suitable for cleaning the kitchen area of the cleaning base station 200 and / or the working status of the cleaning base station 200 can be obtained. If the second rag assembly is in an available state at this time, the cleaning robot 100 is controlled to return to the cleaning base station 200 to replace the second rag assembly. Further, the cleaning robot 100 is controlled to drive to the kitchen area to clean the kitchen area; if the second rag assembly is in an unavailable state at this time, such as in a drying state, the working state of the cleaning base station 200 can be adjusted, and the cleaning base station can be switched to a quick drying mode, so that when the cleaning robot 100 returns to the cleaning base station 200 to replace the second rag assembly, the second rag assembly is in a stage of accelerating the switching from the unavailable state to the available state, thereby reducing waiting time.

[0094] Among them, the unavailable state can include multiple states, which are not specifically limited in the embodiment of the present application. It can be determined based on the actual application scenario. For example, the unavailable state can also be a cleaned state, an uncleaned state, etc.

[0095] It can be understood that if the cleaning robot 100 cleans the kitchen area before cleaning the area to be cleaned in the living room, then after the cleaning robot finishes cleaning the kitchen area, when it needs to clean the area to be cleaned in the living room, its corresponding control logic is similar to the above-described process of switching from the area to be cleaned in the living room to cleaning the kitchen area. For details, please refer to the description of the above embodiment and will not be repeated here. The two are only different in the type of the required second rag component or the adjusted cleaning strategy and / or the working status of the cleaning base station.

[0096] It should be noted that the embodiment of the present application does not specifically limit the triggering conditions for determining the need to replace the rag assembly, which can be as follows: Figure 3 As shown, it is triggered after detecting that there is a dirty area that needs to replace the rag assembly for cleaning, or it can be triggered by the user's instruction to replace the rag assembly. The above is just an example.

[0097] It should also be noted that the embodiments of the present application do not specifically limit the application scenarios of the cleaning method of the cleaning robot. In different application scenarios, the methods of adjusting the cleaning strategy of the cleaning robot and / or the working status of the cleaning base station are different. Therefore, when the working status of the second rag component and / or the cleaning base station is in an unavailable state, there are many ways to adjust the cleaning strategy of the cleaning robot and / or the working status of the cleaning base station. The above scenarios are only examples, which can be adaptively adjusted based on the actual application scenarios.

[0098] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0099] Figure 4 A schematic diagram of a cleaning method for a cleaning robot provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the cleaning method of the cleaning robot is applied to Figure 1 The cleaning system shown; the cleaning method of the cleaning robot comprises the following steps:

[0100] S401. When the cleaning robot is performing a current cleaning task based on a currently installed first rag assembly and determines that a rag assembly needs to be replaced for cleaning, obtain the working status of the cleaning base station.

[0101] In an embodiment of the present application, the working status of the cleaning base station includes at least the working status of the rag component, and the working status of the rag component includes an available state and an unavailable state. The available state of the rag component refers to that the rag component to be replaced is in a usable state, for example, it can be a clean, washed or dried state. The unusable state of the rag component refers to that the rag component to be replaced is in an unusable state, for example, it can be a dirty, being washed or being dried state.

[0102] The working status of the cleaning base station also includes the working status of the cleaning base station itself. Optionally, the working status of the cleaning base station also includes an available status and an unavailable status. The working status of the cleaning base station corresponds to the working status of the rag component, that is, the available status of the cleaning base station refers to the cleaning base station being in a state where it can be used to replace the rag component, for example, it can be an idle state, a standby state, etc. At this time, the cleaning base station has no ongoing cleaning tasks, and the rag component to be replaced is in a usable state; the unavailable state of the cleaning base station refers to the cleaning base station being in a state where it cannot be used to replace the rag component, for example, it can be a cleaning state, a drying state, a fault state, etc. At this time, the rag component to be replaced in the cleaning base station is in an unusable state.

[0103] It should be noted that the embodiment of the present application does not limit the specific state corresponding to the working state of the cleaning base station, but as long as the working state of at least one of the rag component of the cleaning base station and the cleaning base station is determined, the subsequent S402-S403 can be executed.

[0104] S402: When the working state is an available state, control the cleaning robot to return to the cleaning base station to replace the second rag assembly.

[0105] Exemplarily, after determining that the working status of at least one of the rag assembly of the cleaning base station and the cleaning base station is available, that is, determining that there is a spare rag assembly in the cleaning base station, such as the second rag assembly, which is in a clean or dried state, the cleaning system can control the cleaning robot to return to the cleaning base station and automatically perform the rag assembly replacement operation, that is, replace the currently used first rag assembly with the spare second rag assembly, and after the replacement is completed, control the cleaning robot to return to the area to be cleaned to continue performing the cleaning task.

[0106] It should be noted that the embodiment of the present application does not limit the specific process of the cleaning robot returning to the cleaning base station to automatically perform the replacement operation of the rag component. It can refer to the existing replacement steps of the rag component or redefine new replacement steps of the rag component.

[0107] S403. When the working state is an unavailable state, adjust the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station so that when the cleaning robot returns to the cleaning base station to replace the rag component, the working state is an available state or the working state is in a stage of accelerating the switching from an unavailable state to an available state.

[0108] For example, when it is determined that the working status of at least one of the rag component of the cleaning base station and the cleaning base station is unavailable, the cleaning system needs to take measures to deal with this situation, that is, the cleaning system can adjust the cleaning strategy of the cleaning robot, for example, control the cleaning robot to temporarily change the cleaning path or cleaning order, or replace the third rag component with other cleaning functions, and adjust the cleaning order to give priority to cleaning areas that do not require the second rag component to clean.

[0109] Alternatively, the cleaning system can also adjust the working status of the cleaning base station, such as adjusting the working mode of the cleaning base station, to speed up the cleaning or drying process of the rag component in the cleaning base station, so as to speed up the switching of the rag component of the cleaning base station and / or the working status of the cleaning base station to an available state.

[0110] Optionally, adjusting the cleaning strategy of the cleaning robot also includes adjusting the stage of accelerating the switching of the working state from the unavailable state to the available state. For example, if it is confirmed that the type of the replaced rag component is the second rag component, but the third rag component can dry faster than the second rag component, the adjusted cleaning strategy is to replace the third rag component, thereby accelerating the stage of switching the working state from the unavailable state to the available state.

[0111] It should be noted that the embodiments of the present application do not limit the specific implementation method of adjusting the cleaning strategy of the cleaning robot and / or the working status of the cleaning base station. It can be determined based on the application scenario requirements or the rag component of the cleaning base station and the working status of the cleaning base station in the current scenario.

[0112] Exemplarily, after the cleaning robot adjusts the cleaning strategy and / or the working status of the cleaning base station, the cleaning base station is in an accelerated stage of switching from an unavailable state to an available state. Furthermore, when the cleaning robot returns to the cleaning base station to replace the rag component, the working status of the cleaning base station enters an available state from the accelerated stage. At this time, the cleaning robot can be controlled to replace the rag component.

[0113] It can be understood that after the cleaning robot adjusts the cleaning strategy and / or the working status of the cleaning base station, the cleaning base station is in an accelerated stage of switching from an unavailable state to an available state. Furthermore, when the cleaning robot returns to the cleaning base station to replace the rag component, the cleaning base station is still in the accelerated stage. At this time, the cleaning robot can be controlled to wait for a period of time, and the cleaning robot can be controlled to replace the rag component after waiting for a period of time. The embodiment of the present application does not specifically limit the working status of the cleaning base station when the cleaning robot returns to the cleaning base station to replace the rag component. The above is only an example.

[0114] In this way, by timely obtaining the working status of the cleaning base station to determine whether to replace the rag component, or by choosing to adjust the cleaning strategy and the working status of the cleaning base station, the interruption time of the cleaning task can be minimized, the continuity of the cleaning task can be ensured, and unnecessary waiting time can be reduced. Therefore, by intelligently adjusting the cleaning strategy and / or the working status of the cleaning base station of the cleaning robot, the cleaning robot can continue to operate efficiently under non-ideal conditions, maximize the use of existing resources, and improve the overall work efficiency of the cleaning robot. This process demonstrates extremely high flexibility and adaptability, enabling the cleaning system to cope with different cleaning environments and needs. In addition, this process can also reduce the user's attention to and intervention needs on the status of the cleaning system, thereby improving user convenience and satisfaction.

[0115] It can be understood that by monitoring the working status of the cleaning base station, which at least includes the working status of the rag assembly in the cleaning base station, it is ensured that the cleaning robot knows whether the cleaning base station can immediately replace the rag assembly before deciding to return to the cleaning base station, and then controls the cleaning robot to perform the corresponding rag assembly replacement or intelligently adjust the cleaning robot's cleaning strategy and / or the working status of the cleaning base station, so that the cleaning robot can achieve more effective scheduling between the rag assembly replacement needs and the cleaning tasks, reduce task interruptions, improve cleaning efficiency, and ensure that the rag assembly can be replaced in time when needed.

[0116] Optionally, in the present application, to determine whether the rag component of the cleaning base station and / or the working status of the cleaning base station is in an available state, it is possible to estimate whether the second rag component will be in an available state when the rag is replaced next time through a predetermined cleaning process, and it is also possible to estimate whether the second rag component will be in an available state after the first time period required for the cleaning robot to return to the cleaning base station through the first time period.

[0117] Exemplarily, according to the predetermined cleaning process, the second rag assembly needs to be replaced after approximately 40 minutes, so it is estimated in advance whether the working status of the second rag assembly will be in a usable state after 40 minutes. The 40 minutes may also include the time required for the cleaning robot to return to the cleaning base station; optionally, based on the time required for the cleaning robot to return to the cleaning base station being 5 minutes, it is estimated in advance whether the working status of the second rag assembly will be in a usable state after 5 minutes.

[0118] Among them, the process of estimating whether the working status of the second rag component is in a usable state includes calculating the time it takes for the second rag component to go from the current state to the usable state. For example, if the current state of the second rag component is a drying state, then the time required from the drying state to the end of drying is 10 minutes. When the second rag component is replaced after 40 minutes, the second rag component is in a usable state.

[0119] Optionally, the present application can also estimate in real time whether the working status of the second rag component is in an available state, that is, when the need to replace the rag component is triggered, the rag component and / or the working status of the cleaning base station is obtained to determine whether the second rag component is in an available state.

[0120] It should be noted that the embodiment of the present application does not specifically limit the method for determining whether the working status of the second rag component is in a usable state. The above is only an example.

[0121] Optionally, determining that the rag assembly needs to be replaced for cleaning includes at least one of the following:

[0122] Based on preset cleaning sequences;

[0123] Based on the detected type of dirt and / or material of the area to be cleaned;

[0124] changing the area to be cleaned and / or the cleaning mode in response to a user's instruction;

[0125] The cleaning area of the first wipe assembly is greater than a first threshold;

[0126] The dirtiness of the first rag component is greater than a second threshold;

[0127] The cleaning time of the first wiping cloth component is greater than a third threshold.

[0128] In an embodiment of the present application, the cleaning system can determine whether the rag assembly needs to be replaced according to a pre-set cleaning sequence. For example, after completing the cleaning of a specific area, the cleaning system automatically determines whether the rag assembly needs to be replaced to prepare for cleaning the next area.

[0129] In some embodiments, the type of dirt and / or material type of the area to be cleaned can also be detected by sensors, and the cleaning system can determine whether the currently installed first rag assembly is suitable for continued use, or whether it needs to be replaced with a more suitable second rag assembly. The dirt type can be oil, dust, food residue, water stains, particulate matter, stubborn stains, etc., and the material type can be wooden floors, carpets, tiles, etc. The embodiments of the present application do not specifically limit the dirt type and material type.

[0130] In other embodiments, the user can change the cleaning area or cleaning mode of the cleaning robot through an application, manual instructions or voice instructions, and the cleaning system can then determine whether the rag assembly needs to be replaced to adapt to the new cleaning requirements based on the new instructions.

[0131] In some other embodiments, the cleaning system may further record the area that has been cleaned by the first wiping cloth assembly. When the area exceeds a first threshold, the cleaning system determines that the wiping cloth assembly needs to be replaced to ensure the cleaning effect.

[0132] In some further embodiments, the degree of dirtiness of the first rag assembly can be detected by a sensor. When it exceeds a second threshold, the cleaning system determines that the first rag assembly needs to be replaced, or the usage time of the first rag assembly can be recorded. When the usage time exceeds a third threshold, it can also be determined that the first rag assembly needs to be replaced to prevent a decrease in the cleaning effect.

[0133] It should be noted that the embodiment of the present application does not specifically limit the sizes of the first threshold, the second threshold, and the third threshold, which can be set based on the requirements of actual application scenarios.

[0134] It should also be noted that the above-mentioned need to replace the mop can be triggered by a sudden need to replace the rag component or a predetermined need to replace the rag component. This application does not specifically limit the situation in which it is determined that the rag component needs to be replaced for cleaning. It can also be a scenario in which the need to replace the rag component is identified during other cleaning processes.

[0135] During the cleaning process, selecting the right type of rag assembly to match the area to be cleaned is a key factor in ensuring the cleaning effect. Therefore, by replacing the rag assembly at the appropriate time, the type of the replaced rag assembly and the area to be cleaned will be better matched, thereby ensuring the cleaning effect. In addition, the present application can intelligently determine the replacement timing of the rag assembly based on multiple conditions, which can reduce unnecessary replacements and optimize the use of the rag assembly. This automated rag assembly replacement judgment reduces the need for user intervention and improves user convenience and satisfaction. In addition, the cleaning system can also dynamically adjust according to real-time detection and user instructions, demonstrating extremely high flexibility and adaptability.

[0136] Optionally, when the working state is unavailable, adjusting the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station includes:

[0137] When it is determined that the working state is an unavailable state, adjusting the cleaning operation process of the cleaning robot, or waiting for the second rag component in the cleaning base station to be in an available state, and then controlling the cleaning robot to replace the second rag component;

[0138] And / or, control the cleaning base station to switch the working mode of the second rag component to speed up the progress of the second rag component being in a usable state.

[0139] The waiting for the second rag component in the cleaning base station to be in an available state includes: the second rag component entering an available state after accelerating the stage of switching from an unavailable state to an available state.

[0140] In an embodiment of the present application, adjusting the cleaning operation process of the cleaning robot may include changing the cleaning order or cleaning path of the cleaning robot, using the first rag component to prioritize cleaning other areas that are suitable for cleaning by the first rag component, or controlling the cleaning robot to replace a third rag component with other cleaning functions, and adjusting the cleaning order or cleaning path of the cleaning robot, using the third rag component to prioritize cleaning other areas that do not require the second rag component to clean.

[0141] Exemplarily, when it is determined that the working status is unavailable, for example, the spare second rag component is in a cleaning or drying state, the cleaning system can adjust the cleaning operation process of the cleaning robot, or can choose to let the cleaning robot pause the cleaning task and wait for the second rag component in the cleaning base station to complete the cleaning or drying process and reach an available state before replacing it. This cleaning strategy is suitable for situations where the cleaning task is not urgent.

[0142] Alternatively, the cleaning system can also control the cleaning base station to speed up the cleaning or drying process of the second rag component, for example, increasing the drying temperature, shortening the cleaning cycle, or using a more efficient cleaning mode and drying mode to speed up the progress of the rag component to a usable state.

[0143] It should be noted that the embodiment of the present application does not specifically limit the working mode of the second rag component that controls the switching of the cleaning base station. It only needs to speed up the progress of the second rag component to be in a usable state.

[0144] In this way, by adjusting the cleaning operation process of the cleaning robot, it is possible to ensure that the cleaning robot continues to perform cleaning tasks and avoid downtime caused by waiting for the rag component to be replaced, thereby improving the overall cleaning efficiency. By optimizing the working mode of the cleaning base station, the preparation time of the rag component can be accelerated, and the downtime of the cleaning robot caused by waiting for the rag component to be replaced can be reduced, thereby ensuring the continuity of the cleaning task. Therefore, by reducing the interruption and delay of the cleaning task, a smoother and more efficient cleaning service can be provided, thereby improving user satisfaction and experience. In addition, the cleaning system can flexibly adjust the cleaning strategy and / or the working status of the cleaning base station according to the current working status, thereby adapting to different working environments and emergencies, improving the adaptability and flexibility of the system, and enhancing the reliability and stability of the overall system.

[0145] Optionally, the cleaning base station further includes a third rag assembly to be used; when the working state is determined to be unavailable, adjusting the cleaning operation process of the cleaning robot includes:

[0146] When it is determined that the working state is an unavailable state, the cleaning robot is controlled to return to the cleaning base station to replace the third rag assembly, so that the cleaning robot cleans the area to be cleaned based on the third rag assembly.

[0147] For example, when the cleaning robot detects that the rag assembly needs to be replaced, if the current spare second rag assembly of the cleaning base station is in an unavailable state, such as being washed or dried, then the cleaning system can check whether there is a third rag assembly to be used in the cleaning base station. If the third rag assembly is in an available state, the cleaning system can instruct the cleaning robot to return to the cleaning base station to replace the third rag assembly. After the replacement is completed, the cleaning robot can immediately resume the cleaning task and continue to clean the area to be cleaned.

[0148] In this way, by introducing the third rag component, a redundancy option is added to ensure that when the second rag component of the cleaning base station is unavailable, the cleaning task can continue without waiting for the second rag component to become available, thereby ensuring the continuity and efficiency of the task. The use of the third rag component can significantly reduce the waiting time of the cleaning robot and avoid task interruption due to replacement of the rag component. By rationally utilizing the third rag component, the cleaning system can more effectively manage rag resources, reduce the idle time of the rag component, and improve overall resource utilization. In addition, by reducing task interruptions and equipment idle time, the cleaning system can reduce costs, as well as reduce the inconvenience caused by equipment waiting and task interruption, and improve user experience and satisfaction.

[0149] Optionally, when it is determined that the working state is an unavailable state, controlling the cleaning robot to return to the cleaning base station to replace the third rag component includes:

[0150] When it is determined that the working state is unavailable, if the cleaning base station still has a third rag assembly having at least some of the same functions as the second rag assembly, the cleaning robot is controlled to return to the cleaning base station to replace the third rag assembly.

[0151] In an embodiment of the present application, there is a third rag component in the cleaning base station that has at least some of the same functions as the second rag component, which means that the third rag component can replace the function of the second rag component to a certain extent. Therefore, when the cleaning system detects that there is a third rag component in the cleaning base station that has at least some of the same functions as the second rag component, and the third rag component is in a usable state, the cleaning system will instruct the cleaning robot to return to the cleaning base station to replace the third rag component to clean the area in the area to be cleaned that is suitable for cleaning by the second rag component. In this scenario, cleaning can continue according to the originally planned cleaning sequence.

[0152] Therefore, by providing a third rag component with the same or similar function, the redundancy of the cleaning system is increased, ensuring that the cleaning task can continue even if the second rag component is unavailable, that is, when the second rag component is unavailable, the third rag component is used immediately, thereby avoiding the interruption of the cleaning task and maintaining the continuity of the cleaning work. The use of the third rag component with the same function can also ensure that the cleaning robot can continue to perform the cleaning task in an efficient manner and maintain the cleaning quality. By adding a spare third rag component, the risk caused by the failure or unavailability of a single component can be reduced, and the stability and reliability of the system can be enhanced. In addition, by reducing the interruption and delay of the cleaning task, a more stable and efficient cleaning service can be provided, thereby improving user satisfaction.

[0153] Optionally, when it is determined that the working state is an unavailable state, controlling the cleaning robot to return to the cleaning base station to replace the third rag component includes:

[0154] When it is determined that the working state is unavailable, if the cleaning base station still has a third rag component with different functions from the second rag component, the cleaning robot is controlled to return to the cleaning base station to replace the third rag component and adjust the cleaning order of the cleaning robot.

[0155] In the embodiment of the present application, the third rag component has a different function from the second rag component, indicating that the rag type, cleaning function and applicable cleaning area of the third rag component are different from those of the second rag component. The embodiment of the present application does not specifically limit the rag type, cleaning function and applicable cleaning area of the third rag component.

[0156] For example, when the cleaning system detects that the rag assembly needs to be replaced and the second rag assembly is in an unavailable state, the system can further check whether there is a third rag assembly in the cleaning base station. If there is a third rag assembly in an available state in the cleaning base station, the cleaning system can instruct the cleaning robot to return to the cleaning base station to replace the third rag assembly. Due to the different functions of the third rag assembly, the system also needs to adjust the cleaning order of the cleaning robot so that the cleaning robot gives priority to cleaning the areas to be cleaned or tasks that are suitable for the third rag assembly, so as to give full play to its functions and ensure the continuity and efficiency of the cleaning work.

[0157] In this way, by utilizing the third rag component with different functions, the flexibility of the system is increased, ensuring that the cleaning task can continue when the second rag component is unavailable, and by adjusting the cleaning order to adapt to the characteristics of the third rag component, the cleaning robot can achieve the ideal cleaning effect under the current conditions. Therefore, by flexibly using rag components with different functions, the cleaning system can maximize the use of existing resources and reduce resource waste caused by mismatch of rag components. Since the cleaning system can dynamically adjust the cleaning plan according to the functional characteristics of the available rag components, it improves its adaptability to emergencies and changing environments, provides more flexible and efficient cleaning services, reduces service interruptions caused by the unavailability of the second rag component, and improves user experience and satisfaction.

[0158] Optionally, the unavailable state includes a drying state; controlling the cleaning base station to switch the working mode of the second rag component includes:

[0159] When the second rag assembly is in a drying state, controlling the cleaning base station to switch to an accelerated drying mode to accelerate the drying of the second rag assembly;

[0160] Alternatively, the drying of the second rag assembly is terminated, and the second rag assembly is controlled to switch from a drying state to a standby replacement state.

[0161] In an embodiment of the present application, the accelerated drying mode may refer to increasing the drying temperature or wind speed, replacing the drying position of the rag assembly, etc. The embodiment of the present application does not specifically limit the strategy adopted by the accelerated drying mode. For example, the cleaning base station has two drying positions, namely the drying position of the cleaning tank and the drying position of the rag storage bin. The rag assembly located in the rag storage bin is replaced to a position with better drying effect, that is, the rag assembly is replaced to a position in the rag storage bin closer to the first air outlet, or the rag assembly is transported from the rag storage bin to the cleaning tank position for drying, and hot air is provided through the second air outlet. The drying efficiency of the cleaning tank position is higher than that of other positions.

[0162] The ready-for-replacement state refers to a state in which the wipe assembly can be immediately used for replacement, even if it is not completely dry but is still within the operable range.

[0163] For example, when the cleaning robot is cleaning based on the installed first rag assembly, it is estimated that the second rag will be in a drying state at the moment of replacing the second rag assembly. At this time, the cleaning base station can be controlled to switch to the accelerated drying mode to speed up the drying process and make the second rag assembly reach a usable state faster. In this way, after the second rag assembly is dried, the cleaning robot is controlled to return to the cleaning base station to replace the second rag assembly, and clean the area to be cleaned based on the replaced second rag assembly.

[0164] Alternatively, in some cases, if the second rag assembly has reached an acceptable degree of dryness, the drying process may be terminated and the second rag assembly may be switched to a standby replacement state for easy replacement.

[0165] In this way, through the accelerated drying mode, the preparation time of the second rag component can be shortened, so that it can be restored to a usable state more quickly, thereby reducing the waiting time of the cleaning robot and improving the overall task efficiency. By terminating the drying and directly switching to the standby replacement state, the available second rag component can be quickly provided in an emergency, avoiding long interruptions to the cleaning task. Therefore, by accelerating the drying or terminating the drying in advance, the cleaning system can put the second rag component into use more quickly, reducing the interruption time of the cleaning task, and the cleaning system can flexibly choose the strategy of accelerating or terminating the drying according to the urgency of the current task and the needs of the rag component, so as to better meet the actual cleaning needs and improve the adaptability to different working environments and emergencies. In addition, by dynamically adjusting the drying process, time and energy resources can be more effectively managed to reduce unnecessary waste.

[0166] Optionally, the unavailable state also includes a cleaning state; controlling the cleaning base station to switch the working mode of the second rag component includes:

[0167] When the second rag assembly is in the cleaning process, after the second rag assembly completes cleaning, controlling the second rag assembly to switch to a standby replacement state;

[0168] Alternatively, when the second rag component is in the cleaning process, the cleaning base station is controlled to switch to the accelerated drying mode after executing the cleaning mode to accelerate the drying of the second rag component.

[0169] In the embodiment of the present application, the standby replacement state may refer to a state in which the rag component can be used for replacement immediately. In this step, the second rag component is in a state in which it can be used for replacement immediately after cleaning is completed without further drying treatment.

[0170] Exemplarily, when the cleaning robot is cleaning based on the installed first rag assembly, it is estimated that at the moment of replacing the second rag assembly, the second rag will be in a cleaning state. At this time, after waiting for the cleaning to be completed, the cleaning base station can be controlled to switch to the standby replacement state, and then the cleaning robot can be controlled to return to the cleaning base station to replace the second rag assembly. Alternatively, after the cleaning is completed, the cleaning base station can be controlled to switch to the accelerated drying mode to speed up the drying process so that the second rag assembly can quickly reach a usable state. After the second rag assembly is quickly dried, the cleaning robot can be controlled to return to the cleaning base station to replace the second rag assembly, and clean the area to be cleaned based on the replaced second rag assembly.

[0171] In this way, by switching to the standby replacement state immediately after cleaning is completed, the rag component can be put into use quickly, reducing the waiting time of the cleaning robot and improving the availability of the equipment, or controlling the cleaning base station to immediately enter the accelerated drying mode after cleaning is completed, which can significantly shorten the turnaround time of the second rag component from cleaning to availability, ensuring the continuity of the cleaning task. Therefore, the cleaning system can flexibly choose the strategy of direct standby or accelerated drying according to task requirements and time urgency to better adapt to different cleaning scenarios and needs, thereby ensuring that the second rag component is restored to use in the shortest time, maintaining the efficient operation of the cleaning robot, and avoiding the decline in cleaning efficiency due to component unavailability. In addition, it provides faster and more efficient cleaning services, reduces the user's need for manual intervention, and improves user experience and satisfaction.

[0172] It should be noted that after completing a cleaning task, the rag assembly typically needs to be dried for storage. However, if it is determined that a second rag assembly will be needed immediately for the next cleaning task, this process can be simplified. The second rag assembly only needs to be cleaned and can be put into use directly without the drying step. Since it does not need to be stored in the cleaning base station, the need for drying the rag assembly is reduced. Instead, the cleaned wet rag can be used directly for wet mopping operations. In situations where the cleaning robot needs to wet mop, this does not affect its cleaning function. Instead, the wet second rag assembly can be used to more effectively remove dirt and stubborn stains on the cleaning surface.

[0173] Optionally, the unavailable state also includes an uncleaned state; controlling the cleaning base station to switch the working mode of the second rag component includes:

[0174] When the second rag assembly is in an unwashed state, the cleaning robot is controlled to return to the cleaning base station to replace the second rag assembly, and after the second rag assembly is replaced, the cleaning base station is controlled to switch to a cleaning mode to clean the second rag assembly;

[0175] Alternatively, when the second rag assembly is in an uncleaned state, the cleaning robot is controlled to return to the cleaning base station to replace the second rag assembly, and after replacing the second rag assembly, the cleaning base station is controlled to switch to the cleaning mode. After executing the cleaning mode, it is switched to the accelerated drying mode to accelerate the drying of the second rag assembly.

[0176] For example, when the cleaning system detects that the second rag assembly is in an uncleaned state, it can instruct the cleaning robot to return to the cleaning base station to replace the second rag assembly. After the replacement is completed, the cleaning robot controls the cleaning base station to switch to the cleaning mode to clean the second rag assembly. Since the cleaning robot removes the first rag assembly and replaces the second rag assembly, the cleaning base station will clean the second rag assembly, which can save the time required for the rag replacement process and ensure that after the cleaning is completed, it can directly drive out of the cleaning base station to clean the area to be cleaned.

[0177] Alternatively, after cleaning is completed, you can also choose to switch to accelerated drying mode to quickly dry the second rag component, and after drying is completed, drive out of the cleaning base station to clean the area to be cleaned.

[0178] Optionally, when the second rag assembly is about to be cleaned, the second rag assembly can be controlled to enter a cleaning state, and after cleaning is completed, the second rag assembly can be controlled to switch to a standby replacement state;

[0179] Alternatively, after the cleaning base station is controlled to execute the cleaning mode, it switches to the accelerated drying mode to accelerate the drying of the second rag component.

[0180] In this way, when it is detected that the second rag component is in an uncleaned state, the cleaning robot is instructed to return to the cleaning base station to replace the rag, and immediately start the cleaning mode after the replacement is completed to clean the second rag component. By closely combining the replacement and cleaning processes, the rag component is ensured to be cleaned in time, unnecessary pauses and repeated operations are reduced, and the efficiency of the entire cleaning process is optimized. Or by entering the accelerated drying mode immediately after cleaning, the time from cleaning to usability of the rag component can be shortened, the waiting time of the cleaning robot can be reduced, and the availability of the equipment can be improved. Therefore, the cleaning system can flexibly adjust the cleaning and drying processes according to the status and task requirements of the second rag component. By reasonably scheduling the replacement, cleaning and drying of the rag component, it can ensure that the second rag component is restored to use in the shortest time, maintain the efficient operation of the cleaning robot, and avoid the decline in cleaning efficiency due to component unavailability.

[0181] Optionally, the method further includes:

[0182] During the process of the cleaning robot returning to the cleaning base station to replace the second rag assembly, when the cleaning robot is in a charging state, it is determined that the cleaning robot is located at a rag assembly replacement position.

[0183] In an embodiment of the present application, the cleaning base station has multiple functions, including charging and replacing the rag assembly. During the process of the cleaning robot returning to the cleaning base station, the cleaning system can detect whether the cleaning robot is in a charging state. This can be achieved by determining whether the charging interface of the cleaning base station is connected to the charging port of the cleaning robot.

[0184] For example, when the cleaning robot needs to replace the rag assembly, it needs to return to the cleaning base station. During the process of the cleaning robot returning to the cleaning base station, the cleaning system can detect whether the cleaning robot is in a charging state. If it is determined that the cleaning robot is in a charging state, it can be determined that the cleaning robot is in a rag assembly replacement position. Therefore, it can be confirmed through charging docking that it has reached the rag assembly replacement position. Once it is confirmed that the cleaning robot is in the rag assembly replacement position, the rag assembly replacement operation can be safely performed.

[0185] Optionally, after the replacement is completed, the cleaning robot can continue to charge or return to perform the cleaning task.

[0186] Therefore, determining the position of the cleaning robot by the charging status simplifies the positioning and confirmation process, reduces the need for additional sensors or positioning systems, and improves the simplicity and reliability of the cleaning system. In addition, using the charging status as a position confirmation method reduces replacement failures or delays caused by inaccurate positioning, thereby improving the reliability of the cleaning system.

[0187] Optionally, the method further includes:

[0188] During the process of controlling the cleaning robot to return to the cleaning base station to replace the second rag assembly, the cleaning base station is controlled to charge the cleaning robot.

[0189] In an embodiment of the present application, the cleaning base station can perform the replacement operation of the rag component while the cleaning robot is charging, so that the cleaning robot does not need to perform separate operations between the replacement of the rag component and charging, maximizing the time the cleaning robot stays at the cleaning base station, thereby saving time.

[0190] In addition, after the charging port is docked with the cleaning robot, the fast charging mode can be activated to reduce the charging time.

[0191] It should also be noted that charging the cleaning robot while replacing the wipe assembly can also ensure that it has sufficient power when returning to the cleaning task, reducing task interruptions caused by insufficient power. By integrating charging and wipe replacement into one process, the cleaning system can not only make more efficient use of time and resources, reduce unnecessary waiting and repetitive operations, but also reduce the operating steps and complexity, and improve the simplicity and user-friendliness of the cleaning system.

[0192] In the aforementioned embodiments, the cleaning method of the cleaning robot provided in the embodiments of the present application is introduced. In order to implement the various functions of the method provided in the above embodiments of the present application, the cleaning system as the execution subject may include a hardware structure and / or a software module, and implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0193] For example, Figure 5 A schematic diagram of the structure of a cleaning device of a cleaning robot provided in an embodiment of the present application is shown as follows: Figure 5 As shown, the cleaning device 500 of the cleaning robot is applied to a cleaning system, which includes a cleaning robot and a cleaning base station, wherein the cleaning base station includes at least a first rag assembly and a second rag assembly; the cleaning device 500 of the cleaning robot includes:

[0194] An acquisition module 501 is configured to acquire the working status of the cleaning base station when the cleaning robot determines that a cleaning cloth assembly needs to be replaced for cleaning during the process of performing the current cleaning task based on the currently installed first cleaning cloth assembly;

[0195] The control module 502 is configured to control the cleaning robot to return to the cleaning base station to replace the second rag assembly when the working state is an available state;

[0196] The adjustment module 503 is used to adjust the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station when the working state is an unavailable state, so that when the cleaning robot returns to the cleaning base station to replace the rag component, the working state is an available state or the working state is in a stage of accelerating the switching from an unavailable state to an available state.

[0197] Optionally, the first rag assembly and the second rag assembly are rag assemblies with the same cleaning function; or, the first rag assembly and the second rag assembly are rag assemblies with at least partially different cleaning functions, and the first rag assembly and the second rag assembly are at least partially different in cleaning power, friction power, heat preservation ability, and water locking ability.

[0198] Optionally, determining that the rag assembly needs to be replaced for cleaning includes at least one of the following:

[0199] Based on preset cleaning sequences;

[0200] Based on the detected type of dirt and / or material of the area to be cleaned;

[0201] changing the area to be cleaned and / or the cleaning mode in response to a user's instruction;

[0202] The cleaning area of the first wipe assembly is greater than a first threshold;

[0203] The dirtiness of the first rag component is greater than a second threshold;

[0204] The cleaning time of the first wiping cloth component is greater than a third threshold.

[0205] Optionally, the control module 502 is specifically configured to:

[0206] When it is determined that the working state is an unavailable state, adjusting the cleaning operation process of the cleaning robot, or waiting for the second rag component in the cleaning base station to be in an available state, and then controlling the cleaning robot to replace the second rag component;

[0207] And / or, control the cleaning base station to switch the working mode of the second rag component to speed up the progress of the second rag component being in a usable state.

[0208] Optionally, the cleaning base station further includes a third rag assembly to be used; the control module 502 includes an adjustment unit, which is used to:

[0209] When the working state is determined to be an unavailable state, the cleaning robot is controlled to return to the cleaning base station to replace the third rag assembly, so that the cleaning robot cleans the area to be cleaned based on the third rag assembly, or,

[0210] When it is determined that the working state is unavailable, if the cleaning base station still has a third rag assembly having at least some of the same functions as the second rag assembly, the cleaning robot is controlled to return to the cleaning base station to replace the third rag assembly.

[0211] Optionally, the adjustment unit is specifically configured to:

[0212] When it is determined that the working state is unavailable, if the cleaning base station still has a third rag component with different functions from the second rag component, the cleaning robot is controlled to return to the cleaning base station to replace the third rag component and adjust the cleaning order of the cleaning robot.

[0213] Optionally, the unavailable state includes a drying state; the control module 502 further includes a switching unit, the switching unit being configured to:

[0214] When the second rag assembly is in a drying state, controlling the cleaning base station to switch to an accelerated drying mode to accelerate the drying of the second rag assembly;

[0215] Alternatively, the drying of the second rag assembly is terminated, and the second rag assembly is controlled to switch from a drying state to a standby replacement state.

[0216] Optionally, the unavailable state also includes a cleaning state; the switching unit is used to:

[0217] When the second rag assembly is in the cleaning process, after the second rag assembly completes cleaning, controlling the second rag assembly to switch to a standby replacement state;

[0218] Alternatively, when the second rag component is in the cleaning process, the cleaning base station is controlled to switch to the accelerated drying mode after executing the cleaning mode to accelerate the drying of the second rag component.

[0219] Optionally, the unavailable state also includes an uncleaned state; the switching unit is configured to:

[0220] When the second rag assembly is in an unwashed state, the cleaning robot is controlled to return to the cleaning base station to replace the second rag assembly, and after the second rag assembly is replaced, the cleaning base station is controlled to switch to a cleaning mode to clean the second rag assembly;

[0221] Alternatively, when the second rag assembly is in an uncleaned state, the cleaning robot is controlled to return to the cleaning base station to replace the second rag assembly, and after replacing the second rag assembly, the cleaning base station is controlled to switch to the cleaning mode. After executing the cleaning mode, it is switched to the accelerated drying mode to accelerate the drying of the second rag assembly.

[0222] Optionally, the cleaning device 500 of the cleaning robot further includes a determination module, which is configured to:

[0223] During the process of the cleaning robot returning to the cleaning base station to replace the second rag assembly, when the cleaning robot is in a charging state, it is determined that the cleaning robot is located at a rag assembly replacement position.

[0224] Optionally, the cleaning device 500 of the cleaning robot further includes a charging module, which is used to:

[0225] During the process of controlling the cleaning robot to return to the cleaning base station to replace the second rag assembly, the cleaning base station is controlled to charge the cleaning robot.

[0226] It should be noted that the specific implementation principles and effects of the cleaning device 500 of the cleaning robot can be found in the corresponding descriptions and effects of the above embodiments, and will not be elaborated here.

[0227] The embodiment of the present application also provides an electronic device, Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the electronic device 600 may include: a processor 601 and a memory 602 communicatively connected to the processor 601; the memory 602 stores a computer program; the processor 601 executes the computer program stored in the memory 602, so that the processor 601 executes the method described in any of the above embodiments.

[0228] The memory 602 and the processor 601 may be connected via a bus 603 .

[0229] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0230] An embodiment of the present application further provides a chip for executing instructions, which is used to execute the method described in any of the aforementioned embodiments executed by the cleaning system in any of the aforementioned embodiments of the present application.

[0231] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the method described in any of the aforementioned embodiments performed by the cleaning system in any of the aforementioned embodiments of the present application.

[0232] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0233] Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these modules may be selected to implement the solution of this embodiment based on actual needs.

[0234] In addition, the functional modules in the various embodiments of the present application may be integrated into a single processing unit, or each module may exist physically separately, or two or more modules may be integrated into a single unit. The above-mentioned modules may be implemented in the form of hardware or hardware plus software functional units.

[0235] The integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The software functional modules stored in a storage medium include a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute some of the steps of the methods described in various embodiments of the present application.

[0236] It should be understood that the processor described above may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0237] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

[0238] A bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0239] The above-mentioned storage medium can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random-access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0240] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium may be an integral part of the processor. The processor and storage medium may be located in an application-specific integrated circuit (ASIC). Alternatively, the processor and storage medium may be present as discrete components within the cleaning device or the main control device.

[0241] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0242] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0243] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, 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, they should be considered to be within the scope of this specification.

[0244] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the claims.

[0245] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A cleaning method for a cleaning robot, characterized in that: Applied to a cleaning system, the cleaning system includes a cleaning robot and a cleaning base station, the cleaning base station includes at least a first rag assembly and a second rag assembly; the method includes: When the cleaning robot is performing a current cleaning task based on the currently installed first rag assembly and determines that the rag assembly needs to be replaced for cleaning, obtaining the working status of the cleaning base station; When the working state is an available state, controlling the cleaning robot to return to the cleaning base station to replace the second rag assembly; When the working state is an unavailable state, the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station are adjusted so that when the cleaning robot returns to the cleaning base station to replace the rag component, the working state is the available state or the working state is in the stage of accelerating the switching from the unavailable state to the available state.

2. The method according to claim 1, characterized in that The first rag assembly and the second rag assembly are rag assemblies with the same cleaning function; or, the first rag assembly and the second rag assembly are rag assemblies with at least partially different cleaning functions, and the first rag assembly and the second rag assembly are at least partially different in cleaning power, friction power, heat preservation ability, and water locking ability.

3. The method according to claim 1, characterized in that The situation where it is determined that the rag assembly needs to be replaced for cleaning includes at least one of the following: Based on preset cleaning sequences; Based on the detected type of dirt and / or material of the area to be cleaned; changing the area to be cleaned and / or the cleaning mode in response to a user's instruction; The cleaning area of the first rag assembly is greater than a first threshold; The dirtiness of the first rag component is greater than a second threshold; The cleaning time of the first rag component is greater than a third threshold.

4. The method according to claim 1, wherein When the working state is an unavailable state, adjusting the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station includes: When it is determined that the working state is an unavailable state, adjusting the cleaning operation process of the cleaning robot, or waiting for the second rag component in the cleaning base station to be in the available state, and then controlling the cleaning robot to replace the second rag component; And / or, controlling the cleaning base station to switch the working mode of the second rag assembly to speed up the progress of the second rag assembly being in the usable state.

5. The method according to claim 4, characterized in that The cleaning base station further includes a third rag assembly to be used; when determining that the working state is an unavailable state, adjusting the cleaning operation process of the cleaning robot includes: When it is determined that the working state is an unavailable state, the cleaning robot is controlled to return to the cleaning base station to replace the third rag assembly, so that the cleaning robot cleans the area to be cleaned based on the third rag assembly.

6. The method according to claim 5, characterized in that When determining that the working state is an unavailable state, controlling the cleaning robot to return to the cleaning base station to replace the third rag assembly includes: When it is determined that the working state is unavailable, if the cleaning base station also has the third rag component having at least some of the same functions as the second rag component, the cleaning robot is controlled to return to the cleaning base station to replace the third rag component, or, When it is determined that the working state is unavailable, if the cleaning base station also has the third rag component with different functions from the second rag component, the cleaning robot is controlled to return to the cleaning base station to replace the third rag component, and the cleaning order of the cleaning robot is adjusted.

7. The method according to claim 4, characterized in that The unavailable state includes a drying state; and controlling the cleaning base station to switch the working mode of the second rag component includes: When the second rag assembly is in a drying state, controlling the cleaning base station to switch to an accelerated drying mode to accelerate the drying of the second rag assembly; Alternatively, the drying of the second rag assembly is terminated, and the second rag assembly is controlled to switch from the drying state to the standby replacement state.

8. The method according to claim 4, characterized in that The non-usable state also includes a cleaning state; and controlling the cleaning base station to switch the working mode of the second rag component includes: When the second rag assembly is in the cleaning process, after the second rag assembly completes cleaning, controlling the second rag assembly to switch to a standby replacement state; Alternatively, when the second rag assembly is in a cleaning process, the cleaning base station is controlled to switch to an accelerated drying mode after executing the cleaning mode, so as to accelerate the drying of the second rag assembly.

9. The method according to claim 4, characterized in that The non-usable state also includes an uncleaned state; and controlling the cleaning base station to switch the working mode of the second rag assembly includes: When the second rag assembly is in an unwashed state, controlling the cleaning robot to return to the cleaning base station to replace the second rag assembly, and after replacing the second rag assembly, controlling the cleaning base station to switch to a cleaning mode to clean the second rag assembly; Alternatively, when the second rag assembly is in an uncleaned state, the cleaning robot is controlled to return to the cleaning base station to replace the second rag assembly, and after replacing the second rag assembly, the cleaning base station is controlled to switch to the cleaning mode, and after executing the cleaning mode, switch to the accelerated drying mode to accelerate the drying of the second rag assembly.

10. The method according to claim 1, characterized in that The method further comprises: During the process of the cleaning robot returning to the cleaning base station to replace the second rag assembly, when the cleaning robot is in a charging state, it is determined that the cleaning robot is located at a rag assembly replacement position.

11. The method according to claim 1, wherein The method further comprises: During the process of controlling the cleaning robot to return to the cleaning base station to replace the second rag assembly, the cleaning base station is controlled to charge the cleaning robot.

12. A cleaning device for a cleaning robot, characterized in that: Applicable to a cleaning system, the cleaning system includes a cleaning robot and a cleaning base station, the cleaning base station includes at least a first rag assembly and a second rag assembly; the device includes: An acquisition module, configured to acquire the working status of the cleaning base station when, during the process of the cleaning robot performing a current cleaning task based on the currently installed first rag assembly, it is determined that a rag assembly needs to be replaced for cleaning; A control module, configured to control the cleaning robot to return to the cleaning base station to replace the second rag assembly when the working state is an available state; An adjustment module is used to adjust the cleaning strategy of the cleaning robot and / or the working state of the cleaning base station when the working state is an unavailable state, so that when the cleaning robot returns to the cleaning base station to replace the rag component, the working state is the available state or the working state is in a stage of accelerating the switching from the unavailable state to the available state.

13. A cleaning system, characterized in that: The cleaning system includes a cleaning robot and a cleaning base station, wherein the cleaning base station includes at least a first rag assembly and a second rag assembly; The cleaning system is used to perform the method according to any one of claims 1 to 11.

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