Cleaning system and control method and device thereof

Abstract

The invention provides a cleaning system and a control method and device thereof.The cleaning system comprises clothes cleaning equipment, a sweeper and a mechanical arm, the clothes cleaning equipment comprises a sweeper base station, the sweeper base station is provided with a first containing cavity formed in the side face of the clothes cleaning equipment, and the sweeper is arranged in the first containing cavity; the mechanical arm is detachably arranged on the clothes cleaning equipment, and the sweeper is detachably connected with a second connecting part on the mechanical arm through a first connecting part. According to the cleaning system, the sweeper and the washing machine are integrated, the occupied space is reduced, the pipeline structure is simplified, the moving capacity of the sweeper is fully utilized, the functions of intelligent clothes conveying, clothes airing and the like are achieved in combination with the mechanical arm, the linkage capacity between the washing machine and the sweeper is improved, the two hands of a user are liberated, and the use experience is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of household appliances, and particularly relates to a cleaning system, a control method, and a device thereof. Background Art

[0002] In recent years, the development of smart home appliances has been extremely rapid, and washing machines and floor sweepers have become essential household appliances for each family. In related technologies, in order to enhance the linkage ability and integration degree between smart home appliances, a double-washing device integrating a washing machine and a floor sweeper has emerged.

[0003] However, in the related double-washing device, the linkage effect between the washing machine and the floor sweeper is poor, and only some relatively simple interaction functions can be realized, resulting in a poor user experience. Summary of the Invention

[0004] To improve the linkage ability between the washing machine and the floor sweeper, embodiments of the present disclosure provide a cleaning system, a control method, a device, and a storage medium thereof.

[0005] In a first aspect, embodiments of the present disclosure provide a cleaning system, including:

[0006] A laundry cleaning device, where the laundry cleaning device includes a floor sweeper base station, and the floor sweeper base station has a first accommodation cavity opened on a side of the laundry cleaning device;

[0007] A floor sweeper disposed in the first accommodation cavity, where the floor sweeper includes a first connection portion disposed on the top; and

[0008] A robotic arm detachably disposed on the laundry cleaning device, where the robotic arm is provided with a second connection portion, and the first connection portion is detachably connected to the second connection portion.

[0009] In some embodiments, the laundry cleaning device is provided with a second accommodation cavity, the robotic arm is provided with a third connection portion, the second accommodation cavity is provided with a fourth connection portion, and the robotic arm is detachably disposed in the second accommodation cavity through the third connection portion and the fourth connection portion.

[0010] In some embodiments, the robotic arm is a foldable multi-link structure, the second connection portion is disposed at one end of the multi-link structure, and a clamping mechanism is disposed at the other end of the multi-link structure.

[0011] In some embodiments, the first connection portion and the second connection portion include an electromagnetic connector and electrical connection contacts, and when the electromagnetic connectors are attracted and connected, the electrical connection contacts are in contact conduction.

[0012] Second aspect, an embodiment of the present disclosure provides a cleaning system control method. The cleaning system includes a clothing cleaning device and a floor sweeper. The method includes:

[0013] In response to the end of the clothing processing program of the clothing cleaning device, send a clothes drying instruction to the user;

[0014] In response to the start of the automatic clothes drying program, control the floor sweeper to be connected to the robotic arm;

[0015] The floor sweeper controls the robotic arm to place the clothes in the clothing cleaning device at a target position.

[0016] In some embodiments, the step of sending a clothes drying instruction to the user in response to the end of the clothing processing program of the clothing cleaning device includes:

[0017] In response to the end of the clothing processing program of the clothing cleaning device, the clothing cleaning device sends the clothes drying instruction to the floor sweeper;

[0018] The floor sweeper, in response to receiving the clothes drying instruction, obtains the user terminal position and controls the floor sweeper to move to the user terminal position;

[0019] The floor sweeper generates a notification instruction based on the clothes drying instruction.

[0020] In some embodiments, the step of controlling the floor sweeper to be connected to the robotic arm in response to the start of the automatic clothes drying program includes:

[0021] In response to not receiving a response instruction for the clothes drying instruction within a preset time or receiving an automatic clothes drying instruction returned for the clothes drying instruction, determine that the automatic clothes drying program has started;

[0022] Control the first connecting portion of the floor sweeper to be magnetically connected to the second connecting portion of the robotic arm, and control the magnetic connection between the third connecting portion of the robotic arm and the fourth connecting portion of the clothing cleaning device to be disconnected.

[0023] In some embodiments, the step of the floor sweeper controlling the robotic arm to place the clothes in the clothing cleaning device at a target position includes:

[0024] The floor sweeper controls the robotic arm to pick up the clothes from the clothing cleaning device;

[0025] The floor sweeper obtains the first position of the target storage device and controls the floor sweeper to move to the first position;

[0026] Collect an image of the target storage device at the first position and perform image detection on the image to determine the target position;

[0027] Control the robotic arm to place the clothing at the target position.

[0028] In a third aspect, an embodiment of the present disclosure provides a cleaning system control device. The cleaning system includes a clothing cleaning device and a floor sweeper. The device includes:

[0029] An instruction sending module, configured to send a clothes drying instruction to the user in response to the end of the clothing processing program of the clothing cleaning device;

[0030] A connection control module, configured to control the connection between the floor sweeper and the robotic arm in response to the start of an automatic clothes drying program;

[0031] A clothes drying control module, configured to control the robotic arm by the floor sweeper to place the clothing in the clothing cleaning device at a target position.

[0032] In some embodiments, the instruction sending module is configured to:

[0033] In response to the end of the clothing processing program of the clothing cleaning device, the clothing cleaning device sends the clothes drying instruction to the floor sweeper;

[0034] The floor sweeper, in response to receiving the clothes drying instruction, acquires the user terminal position and controls the floor sweeper to move to the user terminal position;

[0035] The floor sweeper generates a notification instruction based on the clothes drying instruction.

[0036] In some embodiments, the connection control module is configured to:

[0037] In response to not receiving a response instruction for the clothes drying instruction within a preset time, or receiving an automatic clothes drying instruction returned for the clothes drying instruction, determine that the automatic clothes drying program is started;

[0038] Control the magnetic connection between the first connection part of the floor sweeper and the second connection part of the robotic arm, and control the disconnection of the magnetic connection between the third connection part of the robotic arm and the fourth connection part of the clothing cleaning device.

[0039] In some embodiments, the clothes drying control module is configured to:

[0040] The floor sweeper controls the robotic arm to pick up the clothing from the clothing cleaning device;

[0041] The floor sweeper acquires the first position of the target storage device and controls the floor sweeper to move to the first position;

[0042] Collect an image of the target storage device at the first position, and perform image detection on the image to determine the target position.

[0043] Control the robotic arm to place the clothes at the target position.

[0044] In a fourth aspect, an embodiment of the present disclosure provides a storage medium storing computer instructions for causing a computer to execute the method according to any embodiment of the second aspect.

[0045] The cleaning system according to the embodiment of the present disclosure includes a clothes cleaning device, a floor sweeper, and a robotic arm. The clothes cleaning device includes a floor sweeper base station. The floor sweeper base station has a first accommodation cavity opened on the side of the clothes cleaning device. The floor sweeper is disposed in the first accommodation cavity. The robotic arm is detachably disposed on the clothes cleaning device. The floor sweeper is detachably connected to a second connection portion on the robotic arm through a first connection portion. In the embodiment of the present disclosure, the cleaning system integrates the floor sweeper and the washing machine, reducing space occupation and simplifying the pipeline structure. Moreover, it makes full use of the moving ability of the floor sweeper and combines with the robotic arm to realize functions such as intelligent clothes transportation and drying, improving the linkage ability between the washing machine and the floor sweeper, liberating the user's hands, and enhancing the use experience. Description of the Drawings

[0046] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0047] Figure 1 It is a schematic structural diagram of a double-washing device in the related art.

[0048] Figure 2 It is a schematic structural diagram of a cleaning system according to some embodiments of the present disclosure.

[0049] Figure 3 It is a schematic structural diagram of a cleaning system according to some embodiments of the present disclosure.

[0050] Figure 4 It is a schematic structural diagram of a cleaning system according to some embodiments of the present disclosure.

[0051] Figure 5 It is a schematic structural diagram of a cleaning system according to some embodiments of the present disclosure.

[0052] Figure 6 It is a flowchart of a cleaning system control method according to some embodiments of the present disclosure.

[0053] Figure 7 is a flowchart of a cleaning system control method according to some embodiments of the present disclosure.

[0054] Figure 8 is a flowchart of a cleaning system control method according to some embodiments of the present disclosure.

[0055] Figure 9 is a schematic diagram of a cleaning system control method according to some embodiments of the present disclosure.

[0056] Figure 10 is a flowchart of a cleaning system control method according to some embodiments of the present disclosure.

[0057] Figure 11 is a structural block diagram of a cleaning system control device according to some embodiments of the present disclosure.

[0058] Figure 12 is a structural block diagram of a cleaning system according to some embodiments of the present disclosure. Detailed implementation manners

[0059] The technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present disclosure belong to the scope of protection of the present disclosure. In addition, the technical features involved in different embodiments of the present disclosure described below can be combined with each other as long as they do not conflict with each other.

[0060] In recent years, the development of smart home appliances has been extremely rapid, and washing machines and floor sweepers have become essential household appliances for each family. In a home environment, for aesthetic reasons, washing machines and floor sweeper bases are generally installed in cabinets in an embedded manner. In this way, 2 cabinets and 2 waterways are required to install the washing machine and the floor sweeper respectively, which undoubtedly increases the space occupation and the wiring is very chaotic.

[0061] Moreover, in existing smart home appliance interconnection solutions, a mobile phone is generally used as the main control device, and each home appliance is communicatively connected to the mobile phone to realize the control of smart home appliances, but there is a lack of linkage ability between home appliances.

[0062] In order to enhance the linkage ability and integration degree between smart home appliances, a double-washing device integrating a washing machine and a floor sweeper has emerged. Usually, the floor sweeper base is integrated on the washing machine, so that the floor sweeper is arranged under the washing machine, and the two share a common space, greatly releasing the user's balcony space. Moreover, the washing machine and the floor sweeper base can share the same waterway, simplifying the pipeline layout.

[0063] For example Figure 1 The double - cleaning device in the related art is shown. Refer to Figure 1 As shown, the double - cleaning device includes a washing machine and a floor sweeper. A cavity for placing the floor sweeper is provided below the washing machine, so that the floor sweeper can be integrated inside the washing machine. Since the washing machine and the floor sweeper share the same space, the space occupation is reduced. Moreover, the washing machine and the floor sweeper share the same water and electrical circuits, simplifying the pipeline layout.

[0064] However, for the double - cleaning device in the related art, the linkage ability between the washing machine and the floor sweeper is insufficient. Generally, it is only limited to the sharing and interconnection of water and electrical pipelines, or some simple control linkages are realized, such as automatically starting the floor - sweeping program when the laundry program is started. It cannot effectively solve the scenarios with user pain points, resulting in a poor user experience.

[0065] Based on this, the embodiments of the present disclosure provide a cleaning system, its control method, device, and storage medium, aiming to improve the linkage ability between the washing machine and the floor sweeper. On the basis of meeting the hardware integration, the moving ability of the floor sweeper is fully utilized to realize intelligent clothes transportation, drying, and laundry - end reminder, etc., improving the user experience.

[0066] In the embodiments of the present disclosure, the cleaning system includes a clothes - cleaning device and a floor sweeper. The clothes - cleaning device refers to related devices for cleaning clothes, including but not limited to washing machines, dryers, washing - drying integrated machines, etc., and the present disclosure does not limit this. The floor sweeper refers to related devices with autonomous moving ability for cleaning the ground, including but not limited to floor - sweeping robots, mopping robots, sweeping - mopping integrated robots, etc., and the present disclosure does not limit this.

[0067] For the convenience of description, in the following embodiments of the present disclosure, the clothes - cleaning device will take a washing machine as an example, and the floor sweeper will take a floor - sweeping robot as an example to illustrate the cleaning system and control method of the embodiments of the present disclosure.

[0068] Refer to Figure 2 As shown, in the exemplary embodiments of the present disclosure, the clothes - cleaning device 100 includes a floor - sweeper base station, that is, the floor - sweeper base station is integrated in the clothes - cleaning device 100. In some embodiments, the floor - sweeper base station can share the same water and electrical pipelines with the clothes - cleaning device 100, which can be understood and fully realized by those skilled in the art with reference to the related art, and the present disclosure will not elaborate further.

[0069] The floor - sweeper base station has a first accommodation cavity 110 opened on the side of the clothes - cleaning device 100. For example Figure 2In the example, the first receiving cavity 110 is opened on one side of the bottom of the front of the laundry cleaning device 100. The function of the first receiving cavity 110 is to accommodate the sweeper 200. Thus, when the sweeper 200 moves to the first receiving cavity 110, the sweeper 200 can return to the base station to implement related functions such as charging and water injection, which will not be elaborated in this disclosure.

[0070] It should be noted that the structure and position of the first receiving cavity 110 are not limited to Figure 2 that shown in the figure. For example, the opening of the first receiving cavity 110 can be opened on the left or right side of the washing machine, and related structures for carrying the sweeper 200 can also be provided inside the first receiving cavity 110. This disclosure does not limit this.

[0071] In the embodiments of this disclosure, the cleaning system further includes a robotic arm 300, and the robotic arm 300 is detachably provided on the laundry cleaning device 100. For example Figure 2 in the example, a second receiving cavity 120 is provided on the side of the laundry cleaning device 100, and the robotic arm 300 is detachably provided in the second receiving cavity 120.

[0072] The robotic arm 300 can be detachably connected to the sweeper 200. For example, a first connecting portion is provided on the sweeper 200, and a second connecting portion is provided at the end of the robotic arm 300. Thus, the sweeper 200 and the robotic arm 300 are detachably connected through the first connecting portion and the second connecting portion.

[0073] In some embodiments, the first connecting portion and the second connecting portion can be realized through an electromagnetic connection structure, which will be described below in this disclosure.

[0074] It can be understood that in the initial state, the robotic arm 300 is provided in the second receiving cavity 120 of the laundry cleaning device 100, that is, the robotic arm 300 is assembled on the laundry cleaning device 100. When the sweeper 200 needs to use the robotic arm 300, the sweeper 200 and the robotic arm 300 can be fixedly connected through the first connecting portion and the second connecting portion. Thus, the sweeper 200 removes the robotic arm 300 from the laundry cleaning device 100 to realize the assembly of the robotic arm 300 and the sweeper 200.

[0075] In the embodiments of this disclosure, after assembling the robotic arm 300 and the sweeper 200, the moving ability of the sweeper 200 and the control ability of the robotic arm 300 can be fully combined, and intelligent clothes transportation and drying functions can be realized by combining corresponding control methods.

[0076] It can be understood that for traditional clothing cleaning devices, after the clothing cleaning is completed, it is often necessary for users to manually take the clothes out of the device to achieve drying or collecting. Taking a washing machine as an example, after the washing program is completed, the washing machine can notify the user that the washing program is over through sound, light or near-field communication to remind the user to dry the clothes. However, the user may not be available to dry the clothes at that time and forget to dry them later, resulting in the clothes not being dried in time and affecting the user experience.

[0077] In the embodiments of the present disclosure, a detachable robotic arm 300 is provided on the clothing cleaning device 100. Thus, through the combination of the sweeper 200 and the robotic arm 300, after the clothing cleaning is completed, the clothes can be automatically transported or dried without the need for the user to manually dry them. For the control method for realizing the automatic drying process, the following embodiments of the present disclosure will be described and will not be elaborated here for the time being.

[0078] Figure 3 FIG. shows the structural schematic diagrams of the sweeper 200 and the robotic arm 300 in some embodiments of the present disclosure. The following will be described in conjunction with Figure 3 this.

[0079] As Figure 3 shown, in some embodiments, the robotic arm 300 is a multi-link structure, which includes a first link 310, a second link 320 and a third link 330. One end of the first link 310 is hinged to one end of the second link 320, and the other end of the second link 320 is hinged to one end of the third link 330. The other end of the first link 310 is a second connection portion 350, and a clamping mechanism 340 is provided at the other end of the third link.

[0080] In the embodiments of the present disclosure, each link can be hinged through a rotating motor or a hydraulic mechanism, so that each link can be rotated controllably. The clamping mechanism 340 can be controlled to clamp and release the clothes. In the embodiments of the present disclosure, the structure of the robotic arm 300 is not limited to Figure 3 the example, and the present disclosure will not elaborate on this anymore.

[0081] The top of the sweeper 200 is provided with a first connection portion 210, and the first connection portion 210 can be detachably connected to the second connection portion 350 on the robotic arm 300.

[0082] In some embodiments, to enable the sweeper 200 to control the robotic arm 300, in addition to the mechanical structure connection between the two, an electrical connection needs to be established. Thus, in the embodiments of the present disclosure, the first connection portion 210 and the second connection portion 350 can be connected by an electromagnetic connector. When the first connection portion 210 and the second connection portion 350 are magnetically attracted and connected, the sweeper 200 and the robotic arm 300 establish connections of both the mechanical structure and the electrical system at the same time.

[0083] For exampleFigure 4 As shown, both the first connection part 210 and the second connection part 350 include an electromagnetic connection member 211 and one or more electrical connection contacts 212. By controlling the energization and de-energization of the electromagnetic connection member 211, the suction connection between the first connection part 210 and the second connection part 350 can be realized. At the same time, when the first connection part 210 and the second connection part 350 are suction-connected, each electrical connection contact 212 on the first connection part 210 contacts the electrical connection contact 212 on the second connection part 350 respectively to realize electrical connection, so that the floor sweeper 200 can be electrically connected to the robotic arm 300 to conduct control signals and power supply.

[0084] Combined with Figure 3 As shown, after the floor sweeper 200 and the robotic arm 300 are assembled and connected, the floor sweeper 200 can control the robotic arm 300 to realize various function controls related to the robotic arm, such as folding, telescoping, clamping, releasing, etc.

[0085] In some embodiments, a third connection part is further provided on the robotic arm 300, and a fourth connection part is provided in the second accommodation cavity 120 of the clothing cleaning device 100. The third connection part and the fourth connection part can also adopt electromagnetic connection members, so that when the floor sweeper 200 does not need to use the robotic arm 300, the robotic arm 300 can be magnetically connected to the fourth connection member through the third connection member and stored in the second accommodation cavity 120.

[0086] Of course, those skilled in the art can understand that all the above hardware structures of the present disclosure are only exemplary descriptions of the embodiments of the present disclosure and do not limit the present disclosure. On the basis of the above embodiments, those skilled in the art can undoubtedly adopt other alternative solutions to implement, and the present disclosure will not elaborate on this.

[0087] In some embodiments, the cleaning system exemplified in the present disclosure can further include a clothes drying basket or a clothes drying rack, for example Figure 5 The structural schematic diagrams of the clothes drying basket and the clothes drying rack are shown, and those skilled in the art can understand this, and the present disclosure will not elaborate on this.

[0088] On the basis of the cleaning system described in the above embodiments, the cleaning system control method in the embodiments of the present disclosure will be described below.

[0089] As Figure 6 shown, in some embodiments, the control method of the cleaning system exemplified in the present disclosure includes:

[0090] S610. In response to the end of the clothing processing program of the clothing cleaning device, send a clothes drying instruction to the user.

[0091] In the embodiments of the present disclosure, the laundry treatment program refers to the relevant programs for laundry cleaning included in the laundry cleaning device 100, such as a laundry program, a drying program, a drying program, etc., and the present disclosure does not limit this.

[0092] Combined with Figure 2 As shown, in the initial state of the cleaning system, the floor sweeper 200 is placed in the first accommodation cavity 110 of the laundry cleaning device 100, and the robotic arm 300 is placed in the second accommodation cavity 120 of the laundry cleaning device 100.

[0093] When the laundry treatment program of the laundry cleaning device 100 ends, it means that the laundry inside the laundry cleaning device 100 has been cleaned, and it is necessary to perform laundry drying treatment, so a laundry drying instruction can be sent to the user to notify the user to dry the laundry.

[0094] In the embodiments of the present disclosure, there are many ways to send a laundry drying instruction to the user, which will be described separately below:

[0095] 1) The laundry cleaning device 100 or the floor sweeper 200 issues an audible and visual instruction.

[0096] That is, the laundry drying instruction may include an audible and visual instruction issued by the laundry cleaning device 100 or the floor sweeper 200. For example, when the laundry treatment program of the laundry cleaning device 100 ends, the laundry cleaning device 100 can issue an audible and visual alarm; for another example, when the laundry treatment program of the laundry cleaning device 100 ends, the floor sweeper 200 can issue an audible and visual alarm to remind the user to dry the laundry.

[0097] 2) The laundry cleaning device 100 or the floor sweeper 200 sends a laundry drying instruction to the user terminal through a near-field communication network.

[0098] For example, the cleaning system exemplified in the present disclosure can be connected to the same near-field communication network as the user terminal (such as a mobile phone), and the near-field communication network can be, for example, Bluetooth, WiFi, etc. Thus, when the laundry treatment program of the laundry cleaning device 100 ends, the laundry cleaning device 100 or the floor sweeper 200 can send a laundry drying instruction to the user terminal to remind the user to dry the laundry.

[0099] 3) Utilize the moving ability of the floor sweeper 200 to notify the user to dry the laundry.

[0100] It can be understood that in a home scenario, generally, the cleaning system is placed on the balcony, and when the user is in the bedroom, it is difficult to effectively notify the user that the laundry program has ended only through audible and visual instructions. Therefore, in some embodiments of the present disclosure, the moving ability of the floor sweeper 200 is fully utilized to notify the user face to face to dry the laundry. The following will be described in combination with Figure 7 for illustration.

[0101] AsFigure 7 As shown, in some embodiments, in the process of the cleaning system control method of the present disclosure sending a clothes drying instruction to the user, it includes:

[0102] S611. In response to the end of the clothes processing program of the clothes cleaning device, the clothes cleaning device sends a clothes drying instruction to the floor sweeper.

[0103] S612. In response to receiving the clothes drying instruction, the floor sweeper obtains the user terminal location and controls the floor sweeper to move to the user terminal location.

[0104] S613. The floor sweeper generates a notification instruction based on the clothes drying instruction.

[0105] Combined with Figure 2 As shown, when the clothes processing program of the clothes cleaning device 100 ends, the clothes cleaning device 100 can send a clothes drying instruction to the floor sweeper 200 through near-field communication (such as Bluetooth, WiFi, etc.).

[0106] When the floor sweeper 200 receives this clothes drying instruction, it obtains the user terminal location in real time. The user terminal location represents the current location of the user, and this location can be determined through the location of the user terminal.

[0107] For example, in some embodiments, the floor sweeper 200 can use indoor positioning technology to search for the location of the user terminal in real time and determine the user terminal location based on the location of the user terminal. Indoor positioning technology can be implemented using, for example, UWB (Ultra WideBand), ultrasonic, infrared and other technologies, and the present disclosure will not elaborate on this.

[0108] After obtaining the user terminal location, the floor sweeper 200 can generate a corresponding movement trajectory based on the pre-constructed indoor map, and then control the floor sweeper 200 to move to the user terminal location. For the process of map construction and trajectory planning of the floor sweeper 200, those skilled in the art can understand and fully implement it with reference to related technologies, and the present disclosure will not elaborate on this.

[0109] After the floor sweeper 200 moves to the user terminal location, the floor sweeper 200 can generate a corresponding notification instruction based on the clothes drying instruction. The notification instruction can include, for example, a sound instruction. The floor sweeper 200 can send a voice notification such as "Master, the laundry has ended, please dry the clothes in time" through the speaker. When the user receives this voice notification, they can dry the clothes in time, effectively reminding the user to dry the clothes.

[0110] In the embodiments of the present disclosure, the manner of sending the clothes drying instruction to the user is not limited to the 3 shown above, and can also include other manners. Moreover, for the 3 manners shown above, they can also be combined and implemented with each other. Those skilled in the art can understand this, and the present disclosure will not elaborate on this.

[0111] S620. In response to the start of the automatic clothes drying program, control the sweeper to connect to the robotic arm.

[0112] In the embodiments of the present disclosure, the cleaning system can provide two modes: automatic clothes drying and manual clothes drying. Users can independently select from the two modes. At the same time, the system can also automatically start a certain mode by setting judgment conditions. The following will be described in conjunction with Figure 8 for illustration.

[0113] As Figure 8 shown, in some embodiments, in the method for controlling the cleaning system exemplified in the present disclosure, the process of controlling the sweeper to connect to the machine includes:

[0114] S621. In response to not receiving a response instruction for the clothes drying instruction within a preset time, or receiving an automatic clothes drying instruction returned for the clothes drying instruction, determine that the automatic clothes drying program is started.

[0115] S622. Control the first connecting part of the sweeper to be magnetically connected to the second connecting part of the robotic arm, and control the magnetic connection between the third connecting part of the robotic arm and the fourth connecting part of the clothes cleaning device to be disconnected.

[0116] Combined with the foregoing, after the clothes processing program of the clothes cleaning device 100 ends, the cleaning system will send a clothes drying instruction to the user.

[0117] In some embodiments, the cleaning system can preset a preset time. For example, in one example, the preset time h = 5 min. If the user manually opens the door of the clothes cleaning device 100 within the preset time of 5 min, it is determined that a response instruction for the clothes drying instruction is received within the preset time. The corresponding scenario is that the user has manually completed clothes drying, and there is no need to start the automatic clothes drying program.

[0118] On the contrary, if the user still does not manually open the door of the clothes cleaning device 100 after more than the preset time of 5 min, it is determined that a response instruction for the clothes drying instruction is not received within the preset time, indicating that the user may not have time to dry the clothes or does not want to dry the clothes manually at this time, and it is determined that the automatic clothes drying program is started.

[0119] In some other embodiments, the cleaning system can send a clothes drying instruction to the user terminal. After receiving the clothes drying instruction, the user terminal can display an interface as shown in Figure 9 In the display interface, a prompt message indicating the end of the laundry program is displayed, and options of "Automatic Clothes Drying" and "Cancel" are provided.

[0120] If the user selects "Automatic Laundry", the user terminal returns a corresponding automatic laundry instruction to the cleaning system, so that the cleaning system can determine to start the automatic laundry program. Conversely, if the user selects "Cancel", it means that the user hopes to do the laundry manually. At this time, the user terminal returns an instruction not to start the automatic laundry program to the cleaning system, so that the cleaning system does not need to start the automatic laundry program.

[0121] Of course, those skilled in the art can understand that the ways to start the automatic laundry program are not limited to the above two examples. Those skilled in the art can also select any other suitable implementation methods, and the present disclosure does not limit this.

[0122] Combined with Figure 2 As shown, when the automatic laundry program is started, it means that it is necessary to use the combination of the sweeper 200 and the robotic arm 300 to achieve automatic laundry. First, the laundry cleaning device 100 can control its own door to pop open, and then the laundry cleaning device 100 sends an instruction to the sweeper 200. The sweeper 200 controls the first connection part 210 to establish a connection with the second connection part 350 on the robotic arm 300 according to the received instruction.

[0123] Combined with Figure 4 In an implementation manner, the sweeper 200 can be magnetically connected to the second connection part 350 on the robotic arm 300 through the first connection part 210, so that the sweeper 200 and the robotic arm 300 realize the connection of the mechanical structure and the electrical system. Then, in order to make the robotic arm 300 detach from the second accommodation cavity 120 of the laundry cleaning device 100, the laundry cleaning device 100 simultaneously controls the magnetic connection between the third connection part and the fourth connection part to be disconnected, thus completing the assembly of the sweeper 200 and the robotic arm 300.

[0124] S630. The sweeper controls the robotic arm to place the clothes in the laundry cleaning device at the target position.

[0125] In the embodiments of the present disclosure, the assembly connection between the sweeper 200 and the robotic arm 300 is realized through the foregoing process, so that the sweeper 200 can control the robotic arm 300 and realize the automatic laundry process. The following is combined with Figure 10 for illustration.

[0126] As Figure 10 shown, in some embodiments, the cleaning system control method exemplified by the present disclosure includes:

[0127] S631. The sweeper controls the robotic arm to pick up the clothes from the laundry cleaning device.

[0128] When picking up the clothes, the laundry cleaning device 100 can automatically pop open the door, so that the sweeper 200 can control the robotic arm 300 to grab the clothes from the inner cylinder of the laundry cleaning device 100.

[0129] S632. The floor cleaning robot obtains the first position of the target storage device and controls the floor cleaning robot to move to the first position.

[0130] It can be understood that in order to achieve automatic clothes drying, the floor cleaning robot 200 first needs to determine the destination during path planning.

[0131] In the embodiments of the present disclosure, the location information of the destination includes the location information of the target storage device, and the target storage device may include, for example Figure 5 Exemplary clothes drying basket or clothes drying rack.

[0132] In some embodiments, the first position of the target storage device can be preset by the user. For example, the user can preset the location information of the target storage device on the map constructed by the floor cleaning robot 200 through the user terminal. Thus, when the floor cleaning robot 200 performs automatic clothes drying, it can directly obtain the location information of the target storage device, and this location information is the first position.

[0133] In other embodiments, considering that the position of the target storage device may change, if the user does not update the preset location information in time, the problem of being unable to dry clothes will occur. Therefore, a positioning device can be preset in the target storage device, so that based on indoor positioning technology, the floor cleaning robot 200 can obtain the first position of the target storage device.

[0134] After obtaining the first position of the target storage device by any of the above methods, the floor cleaning robot 200 can set the first position as the movement end point, thereby realizing the movement path planning in combination with the pre-established map, and then moving to the first position. For the process of path planning of the floor cleaning robot 200, those skilled in the art can understand and fully implement it in combination with related technologies, and the present disclosure will not elaborate.

[0135] S633. Collect an image of the target storage device at the first position and perform image detection on the image to determine the target position.

[0136] S634. Control the robotic arm to place the clothes at the target position.

[0137] When the floor cleaning robot 200 moves near the target storage device, in order to accurately place the clothes, the floor cleaning robot 200 can collect images including the target storage device through lidar, camera, depth sensor, etc., and then based on image detection technology, determine the position on the target storage device where the clothes can be placed, and this position is the target position. For the image detection algorithm, those skilled in the art can understand and fully implement it with reference to related technologies, and the present disclosure will not elaborate on this.

[0138] After determining the target position on the target storage device, the floor sweeper 200 can control the robotic arm 300 to place the taken clothes at the target position, thus completing the automatic drying of the clothes.

[0139] The above only describes one automatic clothes drying process. For scenarios with a large number of clothes, the floor sweeper 200 can repeat the above method process multiple times until all the clothes in the inner cylinder of the clothes cleaning device 100 are completely dried, that is, it is determined that the automatic clothes drying program ends.

[0140] In the case where the automatic clothes drying program ends, as shown in Figure 2 The floor sweeper 200 can drive the robotic arm 300 to move into the second accommodating cavity 120 of the clothes cleaning device 100. The clothes cleaning device 100 controls the electromagnetic device in the second accommodating cavity 120 to attract and connect to the robotic arm 300, and then the floor sweeper 200 controls the disconnection of its electromagnetic connection with the robotic arm. After that, the floor sweeper 200 moves to the first accommodating cavity 110 to complete the return to the station.

[0141] As can be seen from the above, in the embodiments of the present disclosure, the cleaning system integrates the floor sweeper and the washing machine, reducing space occupancy and simplifying the pipeline structure, and making full use of the moving ability of the floor sweeper. Combining with the robotic arm to realize functions such as intelligent clothes transportation and drying, improving the linkage ability between the washing machine and the floor sweeper, liberating the user's hands, and improving the use experience.

[0142] In some embodiments, the present disclosure provides a cleaning system control device, and the cleaning system is the cleaning system described in any of the foregoing embodiments. As shown in Figure 11 In some embodiments, the control device includes:

[0143] An instruction sending module 10, configured to send a clothes drying instruction to the user in response to the end of the clothes processing program of the clothes cleaning device;

[0144] A connection control module 20, configured to control the connection between the floor sweeper and the robotic arm in response to the start of the automatic clothes drying program;

[0145] A clothes drying control module 30, configured to control the robotic arm by the floor sweeper to place the clothes in the clothes cleaning device at the target position.

[0146] In some embodiments, the instruction sending module 10 is configured to:

[0147] In response to the end of the clothes processing program of the clothes cleaning device, the clothes cleaning device sends the clothes drying instruction to the floor sweeper;

[0148] The floor sweeper, in response to receiving the clothes drying instruction, acquires the user terminal position and controls the floor sweeper to move to the user terminal position;

[0149] The floor cleaning machine generates a notification instruction based on the clothes drying instruction.

[0150] In some embodiments, the connection control module 20 is configured to:

[0151] In response to not receiving a response instruction for the clothes drying instruction within a preset time, or receiving an automatic clothes drying instruction returned for the clothes drying instruction, determine that the automatic clothes drying program is started;

[0152] Control the magnetic connection between the first connection part of the floor cleaning machine and the second connection part of the robotic arm, and control the disconnection of the magnetic connection between the third connection part of the robotic arm and the fourth connection part of the clothing cleaning device.

[0153] In some embodiments, the clothes drying control module 30 is configured to:

[0154] The floor cleaning machine controls the robotic arm to pick up clothes from the clothing cleaning device;

[0155] The floor cleaning machine obtains the first position of the target storage device and controls the floor cleaning machine to move to the first position;

[0156] Collect an image of the target storage device at the first position, and perform image detection on the image to determine the target position;

[0157] Control the robotic arm to place the clothes at the target position.

[0158] In some embodiments, the present disclosure provides a storage medium storing computer instructions for causing a computer to execute the method according to any of the above embodiments.

[0159] Specifically, Figure 12 shows a schematic structural diagram of a cleaning system 600 suitable for implementing the method of the present disclosure. Through Figure 12 the system shown, the corresponding functions of the above control method and storage medium can be realized.

[0160] As Figure 12 shown, the cleaning system 600 includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a memory 602 or a program loaded from a storage section 608 into the memory 602. In the memory 602, various programs and data required for the operation of the cleaning system 600 are also stored. The processor 601 and the memory 602 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0161] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as required. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as required so that a computer program read therefrom can be installed into the storage section 608 as required.

[0162] Specifically, according to an embodiment of the present disclosure, the above method process can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product that includes a computer program tangibly embodied on a machine-readable medium, the computer program including program code for performing the above method. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 609, and / or installed from the removable medium 611.

[0163] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0164] Obviously, the above embodiments are merely examples for clear illustration and are not limitations on the embodiments. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the embodiments here. The obvious changes or variations derived therefrom are still within the protection scope of the present disclosure.

Claims

1. A cleaning system, characterized in that, Including: A clothing cleaning device, the clothing cleaning device includes a sweeping robot base station, and the sweeping robot base station has a first accommodation cavity opened on the side of the clothing cleaning device; A sweeping robot, disposed in the first accommodation cavity, the sweeping robot includes a first connection part disposed on the top; and A robotic arm, detachably disposed on the clothing cleaning device, the robotic arm is provided with a second connection part, and the first connection part is detachably connected to the second connection part.

2. The cleaning system according to claim 1, wherein The clothing cleaning device is provided with a second accommodation cavity, the robotic arm is provided with a third connection part, the second accommodation cavity is provided with a fourth connection part, and the robotic arm is detachably disposed in the second accommodation cavity through the third connection part and the fourth connection part.

3. The cleaning system according to claim 1, wherein The robotic arm is a foldable multi-link structure, the second connection part is disposed at one end of the multi-link structure, and a clamping mechanism is disposed at the other end of the multi-link structure.

4. The cleaning system according to claim 1, wherein The first connection part and the second connection part include electromagnetic connection parts and electrical connection contacts, and when the electromagnetic connection parts are magnetically attracted and connected, the electrical connection contacts are in contact and conduct.

5. A method for controlling a cleaning system, characterized in that, The cleaning system includes a clothing cleaning device and a sweeping robot, and the method includes: In response to the end of the clothing processing program of the clothing cleaning device, sending a clothes drying instruction to the user; In response to the start of the automatic clothes drying program, controlling the connection between the sweeping robot and the robotic arm; The sweeping robot controls the robotic arm to place the clothes in the clothing cleaning device at a target position.

6. The method according to claim 5, wherein The step of, in response to the end of the clothing processing program of the clothing cleaning device, sending a clothes drying instruction to the user, includes: In response to the end of the clothing processing program of the clothing cleaning device, the clothing cleaning device sends the clothes drying instruction to the sweeping robot; The sweeping robot, in response to receiving the clothes drying instruction, obtains the position of the user terminal and controls the sweeping robot to move to the position of the user terminal; The sweeping robot generates a notification instruction based on the clothes drying instruction.

7. The method according to claim 5, characterized in that, The step of, in response to the start of the automatic clothes drying program, controlling the connection between the sweeping robot and the robotic arm, includes: In response to not receiving a response instruction for the clothes drying instruction within a preset time, or receiving an automatic clothes drying instruction returned for the clothes drying instruction, determining that the automatic clothes drying program is started; Controlling the magnetic attraction connection between the first connection part of the sweeping robot and the second connection part of the robotic arm, and controlling the disconnection of the magnetic attraction connection between the third connection part of the robotic arm and the fourth connection part of the clothing cleaning device.

8. The method according to claim 5, wherein The step of the sweeping robot controlling the robotic arm to place the clothes in the clothing cleaning device at a target position, includes: The sweeping robot controls the robotic arm to pick up the clothes from the clothing cleaning device; The sweeping robot obtains the first position of the target storage device and controls the sweeping robot to move to the first position; Collecting an image of the target storage device at the first position and performing image detection on the image to determine the target position; Controlling the robotic arm to place the clothes at the target position.

9. A cleaning system control device, characterized in that, The cleaning system includes a clothing cleaning device and a floor sweeper, and the device includes: An instruction sending module, configured to send a clothes drying instruction to the user in response to the end of the clothes processing program of the clothing cleaning device; A connection control module, configured to control the connection between the floor sweeper and the robotic arm in response to the start of the automatic clothes drying program; A clothes drying control module, configured to control the robotic arm by the floor sweeper to place the clothes in the clothing cleaning device at a target position.

10. A storage medium, characterized in that, Stores computer instructions, which are used to cause a computer to execute the method according to any one of claims 5 to 8.

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