Control method of cleaning system and cleaning system

Abstract

The invention discloses a control method of a cleaning system and the cleaning system.The control method of the cleaning system comprises the steps that S1, when a cleaning host receives a station returning signal, the cleaning host is controlled to move to a preset position in the direction close to a cleaning base station; and S2, according to the relative position of the cleaning assembly of the cleaning main machine and the cleaning base station, the cleaning main machine is controlled to adjust the posture at the preset position, so that the cleaning assembly of the cleaning main machine is adjusted to the direction aligned with the containing cavity of the cleaning base station. And S3, the cleaning main machine is controlled to move in the direction close to the containing cavity along the passing ramp of the cleaning base station, and before the cleaning main machine moves to the containing cavity, the cleaning assembly is controlled to descend, so that the cleaning assembly makes contact with the surface of the passing ramp, and the cleaning main machine is assisted to move to the containing cavity along the passing ramp. According to the control method of the cleaning system and the cleaning system, the problem that in the prior art, it is difficult for the cleaning host to return to the cleaning base station from the passing ramp is solved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology. Specifically, it relates to a control method for a cleaning system and a cleaning system. Background Art

[0002] The cleaning system includes a cleaning base station and a cleaning host. The cleaning base station is mainly used for charging, backwashing, sewage collection, drying, and water injection of the cleaning host.

[0003] A cleaning component is provided on the cleaning host, and the cleaning component can reciprocate in the height direction of the cleaning host. In the prior art, the cleaning base station includes a receiving cavity for receiving the cleaning host, and the cleaning base station also has a passing ramp. The cleaning host returns to the receiving cavity through the cleaning ramp. However, it is difficult for the existing cleaning host to return to the cleaning base station from the passing ramp. Summary of the Invention

[0004] The main purpose of this application is to provide a control method for a cleaning system and a cleaning system, so as to at least solve the problem that it is difficult for the cleaning host to return to the cleaning base station from the passing ramp in the prior art.

[0005] According to one aspect of this application, a control method for a cleaning system is provided. The control method for the cleaning system includes:

[0006] Step S1: When the cleaning host receives a signal to return to the station, control the cleaning host to move in the direction close to the cleaning base station to a predetermined position;

[0007] Step S2: According to the relative position between the cleaning component of the cleaning host and the cleaning base station, control the cleaning host to adjust its posture at the predetermined position, so that the cleaning component on the cleaning host is adjusted to the direction aligning with the receiving cavity of the cleaning base station;

[0008] Step S3: Control the cleaning host to move in the direction close to the receiving cavity along the passing ramp of the cleaning base station. Before the cleaning host moves to the receiving cavity, control the cleaning component to descend, so that the cleaning component contacts the surface of the passing ramp and assists the cleaning host to move along the passing ramp to the receiving cavity.

[0009] Further, the step of controlling the cleaning host to adjust its posture at the predetermined position according to the relative position between the cleaning component of the cleaning host and the cleaning base station includes:

[0010] When the cleaning component is located on the side of the cleaning host close to the cleaning base station, control the cleaning host to translate or stop moving at the predetermined position;

[0011] When the cleaning component is located on the side of the cleaning main body away from the cleaning base station, control the cleaning main body to rotate at the predetermined position.

[0012] Further, in the step S3, before the cleaning main body moves to the accommodating cavity, the step of controlling the cleaning component to descend so that the cleaning component contacts the surface of the passing ramp includes:

[0013] During the process of the cleaning main body moving from the predetermined position to the passing ramp, control the cleaning component to descend so that when the cleaning main body runs on the passing ramp, the cleaning component can contact the surface of the passing ramp and assist the cleaning main body to move along the passing ramp to the accommodating cavity; or,

[0014] During the process of the cleaning main body moving from the passing ramp to the accommodating cavity, control the cleaning component to descend so that the cleaning component can contact the surface of the passing ramp and assist the cleaning main body to move along the passing ramp to the accommodating cavity.

[0015] Further, the cleaning main body further includes traveling wheels, which are arranged at the bottom of the cleaning main body. When the cleaning component is adjusted to align with the direction of the accommodating cavity, the traveling wheels are located on the side of the cleaning component away from the accommodating cavity;

[0016] During the process of the cleaning main body moving from the passing ramp to the accommodating cavity, the step of controlling the cleaning component to descend so that the cleaning component can contact the surface of the passing ramp includes: within the projection in the height direction of the cleaning main body, when the projection of the cleaning component and the projection of the passing ramp at least partially overlap, control the cleaning component to descend so that the cleaning component can contact the surface of the passing ramp and assist the cleaning main body to move along the passing ramp to the accommodating cavity.

[0017] Further, the cleaning main body further includes traveling wheels, which are arranged at the bottom of the cleaning main body. When the cleaning component is adjusted to align with the direction of the accommodating cavity, the traveling wheels are located on the side of the cleaning component away from the accommodating cavity;

[0018] During the process of the cleaning main body moving from the passing ramp to the accommodating cavity, the step of controlling the cleaning component to descend and assisting the cleaning main body to move along the passing ramp to the accommodating cavity includes: when the traveling wheels move to the edge of the passing ramp on the side away from the accommodating cavity, control the cleaning component to descend so that the cleaning component can contact the surface of the passing ramp and assist the cleaning main body to move along the passing ramp to the accommodating cavity.

[0019] Further, the control method of the cleaning system further includes:

[0020] During the process of controlling the cleaning component to descend until it contacts the surface of the access ramp or after controlling the cleaning component to descend until it contacts the surface of the access ramp, control the cleaning component to rotate so as to generate a frictional force between the cleaning component and the access ramp to assist the cleaning host to move along the access ramp.

[0021] Further, the cleaning host further includes traveling wheels, and the cleaning component includes a roller mop. The roller mop can rotate around its own axis. The step of controlling the cleaning component to rotate includes:

[0022] Control the rotation direction of the roller mop to be the same as the rotation direction of the traveling wheels so as to generate a frictional force between the roller mop and the access ramp to assist the cleaning host to move along the access ramp.

[0023] Further, the cleaning host has a return-to-station mode and a edge-cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop when the cleaning host is in the return-to-station mode is less than the rotation speed of the roller mop when the cleaning host is in the edge-cleaning mode; and / or,

[0024] The cleaning host has an edge-cleaning mode and a normal-cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop when the cleaning host is in the edge-cleaning mode is less than or equal to the rotation speed of the roller mop when the cleaning host is in the normal-cleaning mode; and / or,

[0025] The cleaning host has a normal-cleaning mode and a cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop when the cleaning host is in the normal-cleaning mode is less than or equal to the rotation speed of the roller mop when the cleaning host is in the cleaning mode.

[0026] Further, the cleaning component further includes a disc mop. The disc mop can rotate around its own axis. The axial direction of the disc mop is parallel to the height direction of the cleaning host. The step of controlling the cleaning component to rotate includes:

[0027] Control the disc mop to rotate in a predetermined direction so as to generate a frictional force between the disc mop and the access ramp to assist the cleaning host to move along the access ramp.

[0028] Further, the cleaning assembly includes a first disc mop and a second disc mop. The first disc mop and the second disc mop are arranged at intervals in a first direction. The first disc mop is controlled to rotate in a first rotation direction, and the second disc mop is controlled to rotate in a second rotation direction opposite to the first rotation direction, so as to make the first disc mop and the second disc mop generate a frictional force to assist the cleaning main body to move along the access ramp.

[0029] Further, the cleaning main body has a home return mode and an edge cleaning mode. The control method of the cleaning system further includes: the rotation speed of the disc mop when the cleaning main body is in the home return mode is less than the rotation speed of the disc mop when the cleaning main body is in the edge cleaning mode; and / or,

[0030] The cleaning main body has an edge cleaning mode and a cleaning mode. The control method of the cleaning system further includes: the rotation speed of the disc mop when the cleaning main body is in the edge cleaning mode is less than the rotation speed of the disc mop when the cleaning main body is in the cleaning mode; and / or,

[0031] The cleaning main body has a conventional cleaning mode and a cleaning mode. The control method of the cleaning system further includes: the rotation speed of the disc mop when the cleaning main body is in the conventional cleaning mode is greater than or equal to the rotation speed of the disc mop when the cleaning main body is in the cleaning mode.

[0032] On the other hand, the present application also provides a cleaning system, which includes:

[0033] A cleaning base station, on which an accommodation cavity and an access ramp are provided, and the access ramp is communicated with the accommodation cavity;

[0034] A cleaning main body, the cleaning main body includes a cleaning assembly, and the cleaning assembly is rotatably and vertically liftable along the height direction of the cleaning main body and is arranged at the bottom of the cleaning main body;

[0035] A detection assembly, the detection assembly is at least used to detect whether the cleaning main body reaches a predetermined position, and at least used to detect the position of the cleaning main body when the cleaning main body moves to the accommodation cavity from the predetermined position;

[0036] A controller, the controller is electrically connected to the cleaning main body, and the controller is at least used to control the cleaning assembly to descend, so as to at least make the cleaning assembly contact the surface of the access ramp, and control the cleaning main body to move in a direction close to the cleaning base station according to the received home return signal;

[0037] The detection component is electrically connected to the controller, and the controller controls the cleaning host to adjust its posture at the predetermined position according to the detection signal of the detection component, so that the cleaning component is adjusted to face the direction of the accommodation cavity. Moreover, the controller also controls the cleaning component to descend according to the detection signal of the detection component, so that the cleaning component contacts the surface of the access ramp.

[0038] In this application, after the cleaning host reaches the predetermined position, the cleaning host is controlled to adjust its posture at the predetermined position so that the cleaning component of the cleaning host is adjusted to face the direction of the accommodation cavity of the cleaning base station. Then, the cleaning host is controlled to move along the access ramp of the cleaning base station in the direction close to the accommodation cavity. Before the cleaning host moves to the accommodation cavity, the cleaning component is controlled to descend so that the cleaning component contacts the surface of the access ramp until the cleaning host moves to the accommodation cavity. That is to say, after the cleaning host adjusts its posture, the cleaning component always faces the direction of the accommodation cavity. When the cleaning host enters the access ramp and the cleaning component descends, the cleaning component can contact the surface of the access ramp, thereby increasing the friction between the cleaning host and the access ramp and making it easier for the cleaning host to move along the access ramp into the accommodation cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0040] Figure 1 is a logical schematic diagram of the control method of the cleaning system disclosed in the present application;

[0041] Figure 2 In (a), it is a schematic diagram of the cleaning host adjusting its posture at the predetermined position, Figure 2 in (b), it is a schematic diagram of the cleaning host adjusting to the position where the cleaning component is aligned with the accommodation cavity at the predetermined position (the cleaning component is a disc mop);

[0042] Figure 3 In (a), it is a schematic diagram of the cleaning host adjusting its posture at the predetermined position, and in (b), it is a schematic diagram of the cleaning host adjusting to the position where the cleaning component is aligned with the accommodation cavity at the predetermined position (the cleaning component is a roller mop);

[0043] Figure 4 is a schematic diagram of the state of the cleaning host adjusting its posture at the predetermined position, where (a) is the process of the cleaning host translating and (b) is the process of the cleaning host stopping moving;

[0044] Figure 5 is the logical control diagram of the cleaning system disclosed in the present application;

[0045] Figure 6Schematic structural diagram of the cleaning system disclosed in this application;

[0046] Figure 7 Schematic structural diagram of the cleaning base station disclosed in this application;

[0047] Figure 8 Simplified bottom view of the cleaning main body in an embodiment disclosed in this application;

[0048] Figure 9 Simplified bottom view of the cleaning main body in another embodiment disclosed in this application;

[0049] Figure 10 Schematic diagram of the direction change of the roller mop rotation of the cleaning main body disclosed in this application, where a represents the schematic diagram of the movement state when the cleaning main body moves forward, and b represents the schematic diagram of the movement state when the cleaning main body moves backward;

[0050] Figure 11 Schematic structural diagram of the existing cleaning main body.

[0051] Among them, the above-mentioned drawings include the following reference numerals:

[0052] 10. Cleaning base station; 20. Cleaning main body; 21. Traveling wheels; 22. Cleaning assembly; 23. Disc mop; 24. Roller mop; 30. Controller; 40. Detection assembly; 101. Accommodation cavity; 102. Passage ramp; 103. Predetermined position; 231. First disc mop; 232. Second disc mop. Detailed implementation manners

[0053] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine the embodiments to detail this application.

[0054] It should be noted that the terms used here are only for describing the specific implementation manners and are not intended to limit the exemplary implementation manners according to this application. As used here, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or their combinations.

[0055] Unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0056] In the prior art, a cleaning host 20 (such as a floor sweeping robot) needs to return to the accommodation cavity 101 through a passage ramp 102 with a certain inclination angle. However, when the surface of the passage ramp 102 or the traveling wheels 21 of the cleaning host 20 have insufficient friction due to reasons such as wetness, wear, etc., the cleaning host 20 may not be able to move along the ramp to the accommodation cavity 101, thereby causing abnormal operation of the cleaning host 20. In a specific embodiment, for example, as shown in the attached Figure 11 figure, a pressurizing device is provided on the cleaning host 20, and the pressurizing device can be a suspension. When the cleaning host 20 is cleaning normally, the pressurizing device applies pressure to the traveling wheels 21 of the cleaning host 20, so that the friction between the cleaning host 20 and the ground is relatively large. When the cleaning host 20 returns to the cleaning base station 10, the pressurizing device cancels the pressure applied to the traveling wheels 21, resulting in a relatively low friction between the cleaning host 20 and the surface of the passage ramp 102, causing the problem that the cleaning host 20 cannot move along the passage ramp 102 to the accommodation cavity 101.

[0057] To solve the above problems, according to an embodiment of the present application, a cleaning system is provided. The cleaning system includes a cleaning host 20 and a cleaning base station 10. The cleaning base station 10 includes an accommodation cavity 101 and a passage ramp 102. The passage ramp 102 is communicated with the accommodation cavity 101. The cleaning host 20 includes a cleaning component 22. The cleaning component 22 is rotatable and is arranged at the bottom of the cleaning host 20 so as to be able to move up and down along the height direction of the cleaning host 20. The cleaning system is used to execute the control method of the cleaning system. Refer to Figure 1 to the attached Figure 3 figure, the control method of the cleaning system includes the following steps:

[0058] Step S1: When the cleaning host 20 receives a return signal, control the cleaning host 20 to move in the direction close to the cleaning base station 10 to a predetermined position 103.

[0059] Specifically, the return signal can be sent from the terminal to the cleaning host 20. For example, when the user needs the cleaning host 20 to return to the cleaning base station 10, the return signal can be sent to the cleaning host 20 through a mobile phone or other electronic devices. Of course, the return signal can also be sent by the cleaning host 20 itself. For example, when the power of the cleaning host 20 is lower than the predetermined power, the cleaning host 20 needs to return to the cleaning base station 10 for charging, and at this time, the cleaning host 20 sends out the return signal by itself. In addition, when the cleaning host 20 runs for a certain period, or when the cleaning host 20 needs to be cleaned by the cleaning base station 10, the cleaning host 20 can also send out the return signal, so that the cleaning host 20 moves in the direction close to the cleaning base station 10. In this embodiment, the predetermined position 103 refers to a position at a predetermined distance from the entrance end of the access ramp 102 and within the projection in the height direction (such as the Z direction in the attachment) of the cleaning host 20, and the predetermined position 103 is in the extending direction of the access ramp 102; that is, after the cleaning host 20 reaches the predetermined position 103, it enters the access ramp 102 in a straight line. Figure 5 In the projection in the height direction (such as the Z direction in the attachment) of the cleaning host 20, the predetermined position 103 is in the extending direction of the access ramp 102; that is, after the cleaning host 20 reaches the predetermined position 103, it enters the access ramp 102 in a straight line.

[0060] Step S2: According to the relative position between the cleaning component 22 of the cleaning host 20 and the cleaning base station 10, control the cleaning host 20 to adjust its posture at the predetermined position 103, so that the cleaning component 22 of the cleaning host 20 is adjusted to the direction of aligning with the receiving cavity 101 of the cleaning base station 10.

[0061] Step S3: Control the cleaning host 20 to move along the access ramp 102 of the cleaning base station 10 in the direction close to the receiving cavity 101. Before the cleaning host 20 moves to the receiving cavity 101, control the cleaning component 22 to descend, so that the cleaning component 22 contacts the surface of the access ramp 102, and assist the cleaning host 20 to move along the access ramp 102 to the receiving cavity 101.

[0062] Specifically, the reason for adjusting the cleaning component 22 to the direction of aligning with the receiving cavity 101 of the cleaning base station 10 in step S2 is to ensure that after the cleaning component 22 descends, the cleaning component 22 can contact the access ramp 102, so as to avoid that when the cleaning host 20 enters the access ramp 102, the cleaning component 22 is located on the side away from the receiving cavity 101, resulting in the cleaning component 22 being unable to contact the access ramp 102 after descending. After the cleaning component 22 descends and contacts the surface of the access ramp 102, the cleaning component 22 can exert a force on the cleaning host 20, thereby increasing the force between the cleaning host 20 and the access ramp, and avoiding the situation that the friction force between the cleaning host 20 and the access ramp 102 is too low, resulting in the cleaning host 20 being unable to move along the access ramp 102 to the receiving cavity 101. In this embodiment, the direction of aligning with the receiving cavity 101 can be the direction directly facing the receiving cavity 101, or a direction with a small angle (such as -5° to 5°) offset from the direction directly facing the receiving cavity 101.

[0063] That is to say, when the cleaning host 20 reaches the predetermined position 103, the cleaning host 20 is controlled to adjust its attitude at the predetermined position 103 so that the cleaning assembly 22 of the cleaning host 20 is adjusted to align with the accommodating cavity 101 of the cleaning base station 10. Then, the cleaning host 20 is controlled to move along the access ramp 102 of the cleaning base station 10 in the direction approaching the accommodating cavity 101. Before the cleaning host 20 moves to the accommodating cavity 101, the cleaning assembly 22 is controlled to descend so that the cleaning assembly 22 contacts the surface of the access ramp 102 and assists the cleaning host 20 to move until the cleaning host 20 moves to the accommodating cavity 101. That is to say, after the cleaning host 20 rotates, the cleaning assembly 22 always aligns with the direction of the accommodating cavity 101. When the cleaning host 20 enters the access ramp 102 and the cleaning assembly 22 descends, the cleaning assembly 22 can contact the surface of the access ramp 102. After the cleaning assembly 22 contacts the access ramp 102, friction may be generated between the cleaning assembly 22 and the access ramp 102. Or when the cleaning assembly descends, the center of gravity of the cleaning host 20 changes, so that the frictional force between the cleaning host 20 and the access ramp 102 is enhanced. Furthermore, the frictional force between the cleaning host 20 and the access ramp 102 is increased, making it easier for the cleaning host 20 to move along the access ramp 102 into the accommodating cavity 101.

[0064] Further, for example, attached Figure 2 to attached Figure 4 , according to the relative position between the cleaning assembly 22 of the cleaning host 20 and the cleaning base station 10, the step of controlling the cleaning host 20 to adjust its attitude at the predetermined position 103 includes: when the cleaning assembly 22 is located on the side of the cleaning host 20 close to the cleaning base station 10, controlling the cleaning host 20 to translate or stop moving at the predetermined position 103; when the cleaning assembly 22 is located on the side of the cleaning host 20 away from the cleaning base station 10, controlling the cleaning host 20 to rotate at the predetermined position 103.

[0065] In some embodiments, in step S2, when the cleaning host 20 reaches the predetermined position 103 and the cleaning assembly 22 is located on the side of the cleaning host 20 away from the accommodation cavity 101, the cleaning host 20 is controlled to rotate at this time so that the cleaning host 20 is adjusted to the direction in which the cleaning assembly 22 is aligned with the accommodation cavity 101, and the cleaning host 20 is controlled to move in the direction close to the accommodation cavity in a backward posture. When the cleaning assembly 22 is located at one end of the cleaning host 20 close to the accommodation cavity 101, the cleaning host 20 is controlled to translate or stop moving at this time. For example, when the cleaning host 20 moves to the predetermined position 103 and the cleaning assembly 22 is aligned with the accommodation cavity 101, the cleaning host 20 is controlled to stop moving; when the cleaning host 20 moves to the predetermined position 103 and the cleaning assembly 22 is not aligned with the accommodation cavity 101, the cleaning host 20 is controlled to translate so that the cleaning assembly 22 is aligned with the accommodation cavity 101, and then the cleaning host 20 is controlled to move in the direction close to the accommodation cavity 101 in a forward posture.

[0066] Further, in step S3, before the cleaning host 20 moves to the accommodation cavity 101, the step of controlling the cleaning assembly 22 to descend so that the cleaning assembly 22 contacts the surface of the access ramp 102 includes: during the process of the cleaning host 20 moving from the predetermined position 103 to the access ramp 102, the cleaning assembly 22 is controlled to descend so that when the cleaning host 20 runs on the access ramp 102, the cleaning assembly 22 can contact the surface of the access ramp 102 and assist the cleaning host 20 to move along the access ramp 102 to the accommodation cavity 101.

[0067] It can be understood that if the cleaning assembly 22 descends to the lowest position before reaching the access ramp 102, this may cause a blockage between the cleaning assembly 22 and the edge of the access ramp 102 on the side away from the accommodation cavity 101, and ultimately the cleaning host 20 cannot move onto the access ramp 102. In some embodiments of the present application, during the process of the cleaning host 20 moving from the predetermined position 103 to the access ramp 102, the cleaning assembly 22 is controlled to descend so that when the cleaning host 20 runs on the access ramp 102, the cleaning assembly 22 can contact the surface of the access ramp 102. Since the distance between the predetermined position 103 and the entrance end of the access ramp 102 is known, the cleaning assembly 22 can be controlled to descend slowly during the process of the cleaning host 20 moving from the predetermined position 103 to the access ramp 102. When the cleaning host 20 moves to the entrance end of the access ramp 102, the cleaning assembly 22 can contact the surface of the access ramp 102. On the one hand, it saves the time for the cleaning host 20 to move to the accommodation cavity 101. On the other hand, it avoids the cleaning assembly 22 being stuck by the access ramp 102, resulting in the cleaning host 20 being unable to move along the access ramp 102.

[0068] In some other embodiments, in step S3, the step of controlling the cleaning assembly 22 to descend so that the cleaning assembly 22 contacts the surface of the access ramp 102 includes: during the process of the cleaning main body 20 moving from the access ramp 102 to the accommodation cavity 101, controlling the cleaning assembly 22 to descend so that the cleaning assembly 22 can contact the surface of the access ramp 102 and assist the cleaning main body 20 to move along the access ramp 102 to the accommodation cavity 101.

[0069] Specifically, during the process of the cleaning main body 20 moving from the access ramp 102 to the accommodation cavity 101, there may be a situation where the cleaning main body 20 can move onto the access ramp 102 but cannot move from the access ramp 102 to the accommodation cavity 101, that is, the frictional force between the cleaning main body 20 and the access ramp 102 can keep the cleaning main body 20 staying on the access ramp 102 but cannot make the cleaning main body 20 move from the access ramp 102 to the accommodation cavity 101. At this time, the cleaning assembly 22 is lowered, and the cleaning assembly 22 contacts the surface of the access ramp 102, thereby increasing the frictional force between the cleaning main body 20 and the access ramp 102, enabling the cleaning main body 20 to move from the access ramp 102 to the accommodation cavity 101.

[0070] In some embodiments, the cleaning main body 20 further includes traveling wheels 21 disposed at the bottom of the cleaning main body 20. When the cleaning assembly 22 is adjusted to be aligned with the direction of the accommodation cavity 101, the traveling wheels 21 are located on the side of the cleaning assembly 22 away from the accommodation cavity 101. During the process of the cleaning main body 20 moving from the access ramp 102 to the accommodation cavity 101, the step of controlling the cleaning assembly 22 to descend so that the cleaning assembly 22 can contact the surface of the access ramp 102 includes: within the projection of the cleaning main body 20 in the height direction, when the projection of the cleaning assembly 22 at least partially overlaps with the projection of the access ramp 102, controlling the cleaning assembly 22 to descend so that the cleaning assembly 22 can contact the surface of the access ramp 102 and assist the cleaning main body 20 to move along the access ramp 102 to the accommodation cavity 101.

[0071] It can be understood that when the cleaning component 22 is adjusted to be aligned with the accommodation cavity 101, the traveling wheels 21 are located on the side of the cleaning component 22 away from the accommodation cavity 101; that is to say, when the cleaning main body 20 moves to the access ramp 102, the cleaning component 22 is always located on the side closer to the accommodation cavity 101 relative to the traveling wheels 21, so as to prevent the traveling wheels 21 from slipping between the traveling wheels 21 and the access ramp 102 when the traveling wheels 21 are located on the side closer to the accommodation cavity 101 relative to the cleaning component 22, resulting in the cleaning component 22 being unable to contact the access ramp 102 after descending. In addition, in this embodiment, within the projection in the height direction of the cleaning main body 20, when the projection of the cleaning component 22 at least partially overlaps with the projection of the access ramp 102, the cleaning component 22 is controlled to descend so that the cleaning component 22 can contact the surface of the access ramp 102. Obviously, when the projection of the cleaning component 22 at least partially overlaps with the projection of the access ramp 102, it can be ensured that the cleaning component 22 contacts the surface of the access ramp 102 after descending, thereby avoiding jamming at the edge of the side of the cleaning component 22 and the access ramp 102 away from the accommodation cavity 101, resulting in the cleaning main body 20 being unable to move on the access ramp 102.

[0072] In some other embodiments, when the traveling wheels 21 move to the edge of the access ramp 102 on the side away from the accommodation cavity 101, the cleaning component 22 is controlled to descend so that the cleaning component 22 can contact the surface of the access ramp 102 and assist the cleaning main body 20 to move along the access ramp 102 to the accommodation cavity 101.

[0073] In this embodiment, since the cleaning component 22 is closer to the accommodation cavity 101 relative to the traveling wheels 21, when the traveling wheels 21 contact the edge of the access ramp 102 on the side away from the accommodation cavity 101 and then the cleaning component 22 descends, it can also be ensured that the cleaning component 22 can contact the surface of the access ramp 102 after descending.

[0074] Furthermore, the control method of the cleaning system further includes: during the process of controlling the cleaning component 22 to descend to contact the surface of the access ramp 102 or after controlling the cleaning component 22 to descend to contact the surface of the access ramp 102, controlling the cleaning component 22 to rotate so as to generate a frictional force between the cleaning component 22 and the access ramp 102 to assist the cleaning main body 20 to move along the access ramp 102.

[0075] It can be understood that although the frictional force between the cleaning main body 20 and the access ramp 102 can be increased after the cleaning assembly 22 descends to contact the access ramp 102, when the cleaning main body 20 moves on the access ramp 102, a frictional force opposite to the traveling direction of the cleaning main body 20 may be generated between the cleaning assembly 22 and the access ramp 102, thereby slowing down the moving speed of the cleaning main body 20 and resulting in a low efficiency during the process of the cleaning main body 20 returning to the station. In this embodiment, by controlling the rotation of the cleaning assembly 22, a frictional force that assists the cleaning main body 20 to move along the access ramp 102 is generated between the cleaning assembly 22 and the access ramp 102. On the one hand, the efficiency of the cleaning main body 20 returning to the station is improved, and on the other hand, it makes it easier for the cleaning main body 20 to move along the access ramp 102 to the accommodation cavity 101. In addition, during the process of controlling the cleaning assembly 22 to descend until it contacts the surface of the access ramp 102, by controlling the rotation of the cleaning assembly 22, it can be avoided that after the cleaning assembly 22 contacts the surface of the access ramp 102 and then the rotation of the cleaning assembly 22 is controlled, which may cause damage to the cleaning assembly 22 when the frictional force between the cleaning assembly 22 and the access ramp 1 is large. When the cleaning main body 20 controls the cleaning assembly 22 to rotate after descending until it contacts the surface of the access ramp 102, it can reduce the idling of the cleaning assembly 22 to a certain extent when the cleaning assembly 22 has not yet contacted the access ramp 102, and save the energy consumption of the cleaning main body 20 to a certain extent.

[0076] In some embodiments, as shown in the attached Figure 10 figure, the cleaning assembly 22 includes a roller mop 24, and the roller mop 24 can rotate around its own axis. The steps of controlling the rotation of the cleaning assembly 22 include: controlling the rotation direction of the roller mop 24 to be the same as the rotation direction of the traveling wheels 21, so as to generate a frictional force between the roller mop 24 and the access ramp 102 that assists the cleaning main body 20 to move along the access ramp 102.

[0077] It can be understood that when the rotation directions of the roller mop 24 and the traveling wheels 21 are the same, a frictional force in the direction from the access ramp 102 to the accommodation cavity 101, that is, a frictional force in the same direction as the traveling direction of the cleaning main body 20, will be generated between the roller mop 24 and the cleaning ramp, thereby assisting the cleaning main body 20 to move along the access ramp 102 to the accommodation cavity 101. It is worth mentioning that the axial direction of the cleaning assembly 22 can be perpendicular to both the traveling direction and the height direction of the cleaning main body 20, or the axial direction of the cleaning assembly 22 can be perpendicular to the height direction of the cleaning main body 20 and have a certain angle with the traveling direction of the cleaning main body 20.

[0078] It can be known that, as shown in the attached Figure 10As shown, when the cleaning main body 20 moves forward, the rotation direction X3 of the drum mop 24 is opposite to the rotation direction X4 of the traveling wheels. When the cleaning main body 20 moves backward and enters the access ramp 102, in order to generate a frictional force between the drum mop 24 and the access ramp to assist the cleaning main body 20 to pass through the access ramp 102, it is necessary to make the rotation direction X3 of the drum mop 24 the same as the rotation direction X4 of the traveling wheels 21.

[0079] In some other embodiments, the cleaning assembly 22 further includes a disc mop 23. The disc mop 23 can rotate around its own axis. The axis direction of the disc mop 23 is parallel to the height direction of the cleaning main body 20. The steps of controlling the rotation of the cleaning assembly 22 include: controlling the disc mop 23 to rotate in a predetermined direction so that the disc mop 23 generates a frictional force to assist the cleaning main body 20 to move along the access ramp 102. Similarly, when the disc mop 23 rotates in a predetermined direction, a frictional force will be generated between the disc mop 23 and the access ramp 102 to assist the cleaning main body 20 to move along the access ramp 102, so that the cleaning main body 20 can enter the accommodating cavity 101.

[0080] In a specific embodiment, the cleaning assembly 22 includes a first disc mop 231 and a second disc mop 232. The first disc mop 231 and the second disc mop 232 are arranged at intervals along a first direction (such as the Figure 8 X0 direction in the attachment). Control the first disc mop 231 to rotate in a first rotation direction, and control the second disc mop 232 to rotate in a second rotation direction opposite to the first rotation direction, so that the first disc mop 231 and the second disc mop 232 generate a frictional force to assist the cleaning main body 20 to move along the access ramp 102.

[0081] As shown in the Figure 8 attachment, the first rotation direction is the Figure 8 X1 direction in the attachment, and the second rotation direction is the Figure 8 X2 direction in the attachment. When the first disc mop 231 rotates in the first rotation direction and the second disc mop 232 rotates in the second rotation direction, a frictional force will be generated between the first disc mop 231 and the second disc mop 232 to assist the cleaning main body 20 to move along the access ramp 102. The arrangement of the first disc mop 231 and the second disc mop 232 can balance the frictional component forces between the first disc mop 231, the second disc mop 232 and the access ramp 102, and prevent the cleaning main body 20 from shifting on the access ramp 102, resulting in the cleaning main body 20 ultimately being unable to enter the accommodating cavity 101.

[0082] Optionally, the cleaning component 22 can also be a flat mop. After the flat mop descends to contact the access ramp 102, the flat mop is controlled to swing, so as to generate a frictional force that assists the cleaning host 20 to move along the access ramp 102 to the accommodation cavity 101.

[0083] In some embodiments, when the cleaning host 20 reaches the accommodation cavity 101, the cleaning host 20 receives a charging signal and controls the cleaning component 22 to stop rotating.

[0084] After the cleaning host 20 returns to the accommodation cavity 101, the cleaning base station 10 generally needs to collect the garbage in the dust collection box of the cleaning host 20, clean the cleaning component 22 of the cleaning host 20, fill water into the water tank of the cleaning host 20, dry the cleaning component 22, and charge the cleaning host 20. Generally, the working sequence of the cleaning base station 10 is dust collection, cleaning, water injection, drying, and charging. Therefore, when the cleaning host 20 receives a charging signal, that is, the process of cleaning the cleaning component 22 has ended, it is necessary to control the cleaning component 22 to stop rotating to avoid the idling of the cleaning component 22, which consumes the energy of the cleaning host 20 and causes the charging time of the cleaning base station 10 for the cleaning host 20 to be too long.

[0085] Furthermore, the cleaning host 20 has a return-to-station mode and a edge cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop 24 when the cleaning host 20 is in the return-to-station mode is less than the rotation speed of the roller mop 24 when the cleaning host 20 is in the edge cleaning mode.

[0086] In this embodiment, the return-to-station mode refers to the mode in which the cleaning host 20 moves to the accommodation cavity 101 after receiving a return-to-station signal, and the edge cleaning mode refers to the mode in which the cleaning component 22 protrudes from the outer side of the cleaning host 20 to clean corners such as the wall corners. It can be understood that when the cleaning host 20 is in the return-to-station mode, if the rotation speed of the roller mop 24 is too fast and the moving speed of the cleaning host 20 along the access ramp 102 is too fast, it may cause the cleaning host 20 to easily collide with the wall surface of the accommodation cavity 101, resulting in damage to the cleaning host 20. When the cleaning host 20 is in the edge cleaning mode, a faster rotation speed of the roller mop 24 is required to better clean the garbage in the corner.

[0087] Optionally, the cleaning host 20 has an edge cleaning mode and a normal cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop 24 when the cleaning host 20 is in the edge cleaning mode is less than or equal to the rotation speed of the roller mop 24 when the cleaning host 20 is in the cleaning mode.

[0088] In this embodiment, the conventional cleaning mode refers to the mode in which the roller mop 24 is retracted inside the cleaning host 20 and the ground to be cleaned is washed. In the conventional cleaning mode, the roller mop 24 needs to increase the friction frequency with the ground to be cleaned per unit time, so as to improve the cleaning strength of the cleaning host 20 on the ground to be cleaned. However, when the cleaning host 20 is in the cleaning mode, since the fibers on the roller mop 24 are prone to accumulate sewage, in order to improve the cleaning effect on the roller mop 24, it is necessary to increase the rotation speed of the roller mop 24 in the cleaning mode, so as to improve the effect of cleaning the roller mop 24. It can be known that the rotation speed of the roller mop 24 in the conventional cleaning mode is higher than or equal to the rotation speed of the roller in the edge cleaning mode. This is because too high a rotation speed will cause the garbage to be bounced off by the roller mop 24 when cleaning the garbage in the corner. Therefore, in this embodiment, in order to improve the adsorption effect of the roller mop 24 on the garbage in the corner, the rotation speed of the roller mop 24 in the edge cleaning mode needs to be less than or equal to the rotation speed of the roller mop 24 in the conventional cleaning mode.

[0089] Optionally, the cleaning host 20 has a conventional cleaning mode and a cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop 24 when the cleaning host 20 is in the conventional cleaning mode is less than or equal to the rotation speed of the roller mop 24 when the cleaning host 20 is in the cleaning mode.

[0090] In this embodiment, the cleaning mode refers to the mode in which the cleaning base station 10 cleans the roller mop 24 after the cleaning host 20 returns to the accommodating cavity 101. It can be understood that the process of the cleaning base station 10 cleaning the roller mop 24 is as follows: the roller mop 24 rolls and brushes repeatedly in the cleaning tank of the cleaning base station 10. Since the fibers in the roller mop 24 are prone to residual sewage, it is necessary to increase the rotation speed of the roller mop 24, so as to improve the cleaning effect on the roller mop 24, that is, the rotation speed of the roller mop 24 when the cleaning host 20 is in the conventional cleaning mode is less than or equal to the rotation speed of the roller mop 24 when the cleaning host 20 is in the cleaning mode.

[0091] Optionally, similar to the roller mop 24, when the cleaning component 22 is the disc mop 23, the control method of the cleaning system further includes: the rotation speed of the disc mop 23 when the cleaning host 20 is in the return-to-station mode is less than the rotation speed of the disc mop 23 when the cleaning host 20 is in the edge cleaning mode.

[0092] Similarly, in the return-to-station mode, the rotation speed of the disc mop 23 should be reduced to avoid the cleaning host 20 being affected by the rotation speed of the disc mop 23, resulting in too fast a movement speed of the cleaning host 20 on the access ramp 102, and finally causing the problem that the cleaning host 20 collides with the wall surface of the accommodating cavity 101.

[0093] Similar to the roller mopping cloth 24, when the cleaning component 22 is a disc mopping cloth 23, the control method of the cleaning system further includes: the rotation speed of the disc mopping cloth 23 when the cleaning host 20 is in the edge cleaning mode is less than the rotation speed of the disc mopping cloth 23 when the cleaning host 20 is in the cleaning mode. Different from the roller mopping cloth 24, the process of cleaning the disc mopping cloth 23 by the cleaning base station 10 includes: spraying with a high-pressure water gun and rotating and scraping. Since sewage is also likely to remain in the fibers of the disc mopping cloth 23, it is necessary to increase the rotation speed of the disc mopping cloth 23 in the cleaning mode, that is, the rotation speed of the disc mopping cloth 23 when the cleaning host 20 is in the edge cleaning mode is less than the rotation speed of the disc mopping cloth 23 when the cleaning host 20 is in the cleaning mode.

[0094] Optionally, the control method of the cleaning system further includes: the rotation speed of the disc mopping cloth 23 when the cleaning host 20 is in the normal cleaning mode is greater than or equal to the rotation speed of the disc mopping cloth 23 when the cleaning host 20 is in the cleaning mode.

[0095] Similar to the roller mopping cloth 24, when cleaning the disc mopping cloth 23, the rotation speed of the disc mopping cloth 23 should be increased so that the disc mopping cloth 23 can be cleaned more efficiently and evenly. However, it can be understood that when the cleaning base station 10 cleans the disc mopping cloth 23, through high-pressure spraying and rotating scraping, the disc mopping cloth 23 can be cleaned without dead angles of 360°. Therefore, when the disc mopping cloth 23 is cleaned by the cleaning base station 10, there is no need to increase the rotation speed of the disc mopping cloth 23 too much. Considering the energy consumption of the cleaning host 20, the rotation speed of the disc mopping cloth 23 in the cleaning mode can be less than or equal to the rotation speed of the disc mopping cloth 23 in the normal cleaning mode.

[0096] Further, the cleaning host 20 has a zoning cleaning mode and an edge cleaning mode, and the control method of the cleaning system further includes: the rotation speed of the cleaning component 22 when the cleaning host 20 is in the zoning cleaning mode is greater than the rotation speed of the cleaning component 22 when the cleaning host 20 is in the edge cleaning mode.

[0097] Specifically, the zoning cleaning mode means that after the cleaning host 20 receives the zoning cleaning signal, it divides the surface to be cleaned into multiple areas and cleans one or more of the areas. Similar to the normal cleaning mode, the rotation speed of the cleaning component 22 in the zoning cleaning mode should be higher than the rotation speed of the cleaning component 22 in the edge cleaning mode, that is, the rotation speed of the cleaning component 22 needs to be increased when cleaning the surface to be cleaned, so as to improve the cleaning efficiency of the surface to be cleaned. When cleaning along the edge, in order to avoid the garbage at the corner being bounced off by the cleaning component 22, the rotation speed of the cleaning component 22 needs to be reduced.

[0098] Further, the control method of the cleaning system further includes: keeping the rotation speed of the cleaning component 22 unchanged when the cleaning host 20 moves from the predetermined position 103 to the accommodating cavity 101.

[0099] It is understandable that when the rotational speed of the cleaning assembly 22 remains constant, the frictional force generated between the cleaning assembly 22 and the access ramp 102 to assist the cleaning main body 20 to move along the access ramp 102 remains almost constant. This enables the cleaning main body 20 to move at a uniform speed on the access ramp 102, thereby preventing the cleaning main body 20 from accelerating on the access ramp 102, which may ultimately lead to a collision between the cleaning main body 20 and the inner wall of the accommodation cavity 101, or the cleaning main body 20 decelerating on the access ramp 102, which may cause the cleaning main body 20 to be unable to move into the accommodation cavity 101.

[0100] On the other hand, as shown in the Figure 5 to the Figure 10 accompanying drawings, the cleaning system of the present application further includes a detection component 40 and a controller 30.

[0101] Among them, the detection component 40 is used to detect whether the cleaning main body 20 reaches the predetermined position 103. The detection component 40 is also at least used to detect the position of the cleaning main body 20 when the cleaning main body 20 moves from the predetermined position 103 to the accommodation cavity 101. The controller 30 is electrically connected to the cleaning main body 20. The controller 30 is at least used to control the cleaning assembly 22 to descend so that at least the cleaning assembly 22 contacts the surface of the access ramp 102, and to control the cleaning main body 20 to move in the direction close to the cleaning base station 10 according to the received return signal. The detection component 40 is electrically connected to the controller 30. The controller 30 controls the cleaning main body 20 to adjust its attitude at the predetermined position 103 according to the detection signal of the detection component 40 so that the cleaning assembly 22 is adjusted to be aligned with the direction of the accommodation cavity 101, and the controller 30 controls the cleaning assembly 22 to descend according to the detection signal of the detection component 40 so that the cleaning assembly 22 contacts the surface of the access ramp 102.

[0102] Specifically, when the user sends a return-to-station signal from the electronic device to the cleaning host 20, or after a return-to-station signal is generated within the cleaning host 20, the controller 30 receives the return-to-station signal and controls the cleaning host 20 to move in the direction close to the cleaning base station 10. Subsequently, when the detection component 40 detects that the cleaning host 20 has moved to the predetermined position 103, the detection component 40 sends a signal to the controller 30, and the controller 30 controls the cleaning host 20 to adjust its posture at the predetermined position 103 and makes the cleaning host 20 adjust to the direction where the cleaning component 22 is aligned with the receiving cavity 101. After that, the controller 30 controls the cleaning host 20 to move in the direction close to the receiving cavity 101. When the detection component 40 detects that the cleaning host 20 has reached the position where the cleaning component 22 needs to be lowered, the detection component 40 sends a signal to the controller 30. At this time, the controller 30 controls the cleaning component 22 to descend until it contacts the surface of the passage ramp 102, thereby increasing the friction between the cleaning host 20 and the passage ramp 102 and avoiding the situation where the friction between the cleaning host 20 and the passage ramp 102 is too low, resulting in the cleaning host 20 being unable to enter the receiving cavity 101 through the passage ramp 102. In a specific embodiment, the cleaning host 20 further includes a linear motor. The linear motor is electrically connected to the controller 30 and is connected to the cleaning component 22. The linear motor is used to control the cleaning component 22 to ascend or descend along the height direction of the cleaning host 20. In some embodiments, the linear motor can be replaced by a hydraulic cylinder or a pneumatic cylinder. In addition, the structure for driving the cleaning component 22 can also be the setting of the first transmission component in the published patent application CN119523345A. In some embodiments, the detection component 40 can be a lidar, a camera, an infrared sensor, a dual-line laser, a laser rangefinder, a rangefinder, a position sensor, a border sensor, and an ultrasonic sensor or a combination of the above devices.

[0103] In some embodiments, the cleaning system further includes a navigation component. The navigation component is used to enable the cleaning host 20 to accurately move to the predetermined position 103 after receiving the return-to-station signal. In a specific embodiment, the navigation component includes a lidar and a positioning sensor, etc. The lidar scans the surrounding environment to avoid the cleaning host 20 from colliding with obstacles in the surrounding environment, and the positioning sensor enables the cleaning host 20 to move in the direction of the predetermined position 103. In another specific embodiment, a simultaneous localization and mapping module is provided on the cleaning host 20, that is, the simultaneous localization and mapping module can construct a digital map of the environment where the cleaning host 20 is located in real time and determine its own coordinates and the coordinates of the predetermined position 103, so that the controller 30 can accurately control the cleaning host 20 to move to the predetermined position 103.

[0104] In addition, in order to enable the cleaning host 20 to reach the predetermined position 103, and after adjusting its attitude so that the cleaning component 22 is aligned with the direction of the accommodating cavity 101, the cleaning host 20 can enter the access ramp 102 in a straight line. In this embodiment, a regional division component is further provided on the cleaning base station 10. The regional division component divides the space where the cleaning host 20 moves into multiple independent regions. The region between the access ramp 102 and the predetermined position 103 is one of the independent regions. When the cleaning host 20 moves closer to the access ramp 102, if the cleaning host 20 deviates from the region between the access ramp 102 and the predetermined position 103, the controller 30 controls the cleaning host 20 to move to this region, so that the cleaning host 20 can enter the access ramp 102 in a manner of moving towards the center of the base station, thereby preventing the cleaning host 20 from being unable to return to the accommodating cavity 101. In this embodiment, the regional division component includes at least one of an infrared emitter and a millimeter-wave emitter.

[0105] On the other hand, the timing when the controller 30 controls the cleaning component 22 to descend according to the detection signal of the detection component 40 can be: during the process of the cleaning host 20 moving from the moving position to the access ramp 102, or during the process of the cleaning host 20 moving from the access ramp 102 to the accommodating cavity 101.

[0106] Furthermore, the cleaning host 20 further includes traveling wheels 21. The traveling wheels 21 are arranged at the bottom of the cleaning host 20. When the cleaning component 22 is adjusted to be aligned with the direction of the accommodating cavity 101, the traveling wheels 21 are located on the side of the cleaning component 22 away from the accommodating cavity 101; the detection component 40 is arranged on at least one of the cleaning base station 10 and the cleaning host 20, within the projection in the height direction of the cleaning host 20. When the projection of the cleaning component 22 and the projection of the access ramp 102 at least partially overlap, the controller 30 controls the cleaning component 22 to descend according to the detection signal of the detection component 40, so that the cleaning component 22 contacts the surface of the access ramp 102.

[0107] That is to say, when the cleaning host 20 reaches the entrance end of the access ramp 102, and the projection of the cleaning component 22 and the projection of the access ramp 102 at least partially overlap, the detection component 40 sends a signal to the controller 30. At this time, the controller 30 controls the cleaning component 22 to descend, which can ensure that the cleaning component 22 contacts the surface of the access ramp 102, thereby preventing the cleaning component 22 from descending in advance, resulting in the cleaning component 22 contacting the edge of the access ramp 102 away from the accommodating cavity 101, causing the traveling wheels 21 to be unable to move onto the access ramp 102. In this embodiment, the detection component 40 can be arranged on the access ramp 102, or at the entrance end of the access ramp 102, or at one end of the cleaning host 20 close to the access ramp 102 or at the top of the cleaning host 20, or a combination of the above positions, that is, jointly detected by different components.

[0108] Optionally, when the traveling wheel 21 moves to the edge of the passage ramp 102 on the side away from the accommodation cavity 101, the controller 30 controls the cleaning assembly 22 to descend according to the detection signal of the detection assembly 40, so that the cleaning assembly 22 can contact the surface of the passage ramp 102.

[0109] In this embodiment, after the traveling wheel 21 contacts the edge of the passage ramp 102 on the side away from the accommodation cavity 101, the detection assembly 40 sends a signal to the controller 30, and the controller 30 controls the cleaning assembly 22 to descend. Since the cleaning assembly 22 has been adjusted to align with one side of the accommodation cavity 101 at the predetermined position 103, and the traveling wheel 21 is located on the side of the cleaning assembly 22 away from the accommodation cavity 101, this means that the projection of the cleaning assembly 22 in the height direction is within the projection of the passage ramp 102 in the height direction. After the cleaning assembly 22 descends, it can contact the passage ramp 102, thus preventing the cleaning assembly 22 from being blocked by the edge of the passage ramp 102 on the side away from the accommodation cavity 101, which may cause the traveling wheel 21 to be unable to move onto the passage ramp 102.

[0110] For example, in a specific embodiment, the detection assembly 40 can be a position sensor. The transmitting end of the position sensor is arranged on the cleaning main body 20, and the reflecting end of the position sensor is arranged at the entrance end of the passage ramp 102. When the cleaning main body 20 reaches the entrance end of the passage ramp 102, after the signal sent by the transmitting end of the position sensor is reflected by the reflecting end of the position sensor, the position sensor sends a signal to the controller 30. Or the detection assembly 40 can be an infrared sensor. The transmitting end of the infrared sensor is arranged on the cleaning base station 10 and emits infrared light to the entrance end of the passage ramp 102. The receiving end of the infrared sensor is arranged on the top of the cleaning main body 20. When the cleaning main body 20 enters the entrance end of the passage ramp 102, after the receiving end of the infrared sensor receives the signal, it sends a signal to the controller.

[0111] Furthermore, the detection assembly 40 is at least used to detect whether the cleaning assembly 22 descends after the cleaning main body 20 receives the signal to return to the station. The controller 30 controls the cleaning assembly 22 to rotate according to the detection signal of the detection assembly 40, so as to generate a frictional force between the cleaning assembly 22 and the passage ramp 102 to assist the cleaning main body 20 to move along the passage ramp 102.

[0112] In this embodiment, after the cleaning assembly 22 descends, the detection assembly 40 sends a signal to the controller 30. At this time, the controller 30 can control the cleaning assembly 22 to rotate during the process of descending to contact the access ramp 102, or control the cleaning assembly 22 to rotate after descending to contact the access ramp 102, so as to generate a frictional force between the cleaning assembly 22 and the access ramp 102 to assist the cleaning host 20 to move along the access ramp 102. In this embodiment, the detection assembly 40 can be a position sensor and a vision sensor, or a multi-axis inertial measurement element, and of course, it can also be a lidar.

[0113] Further, the traveling wheels 21 are electrically connected to the controller 30, and the cleaning assembly 22 includes a roller mop 24; wherein, after receiving the signal transmitted by the detection assembly 40, the controller 30 is further configured to control the rotation direction of the roller mop 24 to be the same as the rotation direction of the traveling wheels 21, so as to generate a frictional force between the roller mop 24 and the access ramp 102 to assist the cleaning host 20 to move along the access ramp 102.

[0114] That is to say, after the controller 30 receives the signal transmitted by the detection assembly 40, the controller 30 not only needs to control the roller mop 24 to descend, but also needs to control the roller mop 24 to rotate, and the controller 30 needs to control the rotation direction of the roller mop 24 to be the same as the rotation direction of the traveling wheels 21, so that when the roller mop 24 rolls, the direction of the frictional force generated between the roller mop 24 and the access ramp 102 is the same as the direction from the access ramp 102 to the accommodation cavity 101, thereby improving the ability of the cleaning host 20 to move from the access ramp 102 to the accommodation cavity 101.

[0115] Optionally, the cleaning assembly 22 further includes a disc mop 23. The disc mop 23 is electrically connected to the controller 30 and can rotate around its own axis. The axis direction of the disc mop 23 is parallel to the height direction of the cleaning host 20; wherein, after receiving the signal transmitted by the detection assembly 40, the controller 30 is further configured to control the disc mop 23 to rotate in a predetermined direction, so as to generate a frictional force between the disc mop 23 and the access ramp 102 to assist the cleaning host 20 to move along the access ramp 102.

[0116] Similarly, after the controller 30 receives the signal transmitted by the detection assembly 40, it not only needs to control the disc mop 23 to descend, but also needs to control the disc mop 23 to rotate in a predetermined direction, so that after the disc mop 23 rotates, a frictional force can be generated between the disc mop 23 and the access ramp 102 to assist the cleaning host 20 to move along the access ramp 102. In some embodiments, the cleaning assembly 22 includes both a roller mop 24 and a disc mop 23, and the controller 30 can control the descent and rotation of the roller mop 24 and the disc mop 23 simultaneously.

[0117] Further, the disc mop 23 includes a first disc mop 231 and a second disc mop 232. The first disc mop 231 and the second disc mop 232 are arranged at intervals in the first direction. After receiving the signal transmitted by the detection component 40, the controller 30 is further configured to control the first disc mop 231 to rotate in the first rotation direction and control the second disc mop 232 to rotate in a second rotation direction opposite to the first rotation direction, so as to make the first disc mop 231 and the second disc mop 232 generate a frictional force to assist the cleaning host 20 to move along the passage ramp 102.

[0118] When the first disc mop 231 rotates in the first direction and the second disc mop 232 rotates in the second direction, the resultant frictional force generated between the first disc mop 231 and the second disc mop 232 is consistent with the traveling direction of the cleaning host 20, thereby assisting the cleaning host 20 to move along the passage ramp 102 to the accommodation cavity 101. At the same time, the first disc mop 231 and the second disc mop 232 are arranged at intervals in the first direction, ensuring that the frictional force between the first disc mop 231, the second disc mop 232 and the passage ramp 102 is uniform, thereby preventing the cleaning host 20 from shifting when moving on the passage ramp 102.

[0119] Further, the cleaning host 20 further includes a driving component. The driving component is connected to the cleaning component 22 and drives the cleaning component 22 to rotate. The driving component is electrically connected to the controller 30; the rotation speed of the driving component when the cleaning host 20 is in the return station mode is less than the rotation speed of the driving component when the cleaning host 20 is in the edge cleaning mode. It can be understood that when the cleaning host 20 is in the return station mode, if the rotation speed of the driving component is too fast, the rotation speed of the roller mop 24 or the disc mop 23 will be too fast, which may cause the moving speed of the cleaning host 20 along the passage ramp 102 to be too fast, resulting in the cleaning host 20 being prone to collide with the wall surface of the accommodation cavity 101 after entering the accommodation cavity, causing damage to the cleaning host 20. When the cleaning host 20 is in the edge cleaning mode, a faster rotation speed of the roller mop 24 or the disc mop 23 is required to better clean the garbage in the corner and prevent the rotation speed of the roller mop 24 or the disc mop 23 from being too slow, resulting in too low cleaning power for the garbage in the corner.

[0120] Optionally, the rotation speed of the driving component when the cleaning host 20 is in the edge cleaning mode is less than or equal to the rotation speed of the driving component when the cleaning host 20 is in the cleaning mode.

[0121] It can be understood that when the roller mop 24 or the disc mop 23 is being cleaned by the cleaning base station 10, due to stains and garbage accumulating on the roller mop 24 or the disc mop 23, when it is necessary to clean the roller mop 24 or the disc mop 23 efficiently and evenly, the rotation speed of the roller mop 24 or the disc mop 23 should be increased. It is worth mentioning that when the cleaning component 22 is usually the roller mop 24, the edge cleaning ability of the roller mop 24 is weaker than that of the disc mop 23. This is because when the disc mop 23 is cleaning, it not only wets and dissolves the garbage in the cleaning area, but also exerts a downward pressure on the garbage in the cleaning area. Therefore, the rotation speed of the roller mop 24 in the edge cleaning mode can be equal to the rotation speed of the roller mop 24 in the cleaning mode.

[0122] In some embodiments, the rotation speed of the drive component when the cleaning host 20 is in the normal cleaning mode is greater than or equal to the rotation speed of the drive component when the cleaning host 20 is in the cleaning mode. In this embodiment, the cleaning component 22 is the disc mop 23. Since it is relatively easy to clean the disc mop 23 and the cleaning effect is good, when cleaning the disc mop 23, the rotation speed of the disc mop 23 does not need to be too fast, that is, the rotation speed of the drive component when the cleaning host 20 is in the normal cleaning mode is greater than or equal to the rotation speed of the drive component when the cleaning host 20 is in the cleaning mode.

[0123] In some other embodiments, the rotation speed of the drive component when the cleaning host 20 is in the normal cleaning mode is less than or equal to the rotation speed of the drive component when the cleaning host 20 is in the cleaning mode. In this embodiment, the cleaning component 22 is the roller mop 24. Compared with the disc mop 23, the cleaning effect of the cleaning base station 10 on the roller mop 24 is poor. Therefore, in order to improve the cleaning effect of the cleaning base station 10 on the roller mop 24, in this embodiment, the rotation speed of the drive component when the cleaning host 20 is in the normal cleaning mode is less than or equal to the rotation speed of the drive component when the cleaning host 20 is in the cleaning mode.

[0124] Optionally, the rotation speed of the drive component when the cleaning host 20 is in the edge cleaning mode is less than or equal to the rotation speed of the drive component when the cleaning host 20 is in the normal cleaning mode.

[0125] It can be known that when the drive component is performing edge cleaning, if the rotation speed of the cleaning component 22 is too fast, the cleaning component 22 is likely to bounce the garbage in the corner, resulting in the garbage in the corner being difficult to be adsorbed by the cleaning component 22, causing the cleaning efficiency of the cleaning component 22 to be too low. Therefore, in this embodiment, the rotation speed of the cleaning component 22 in the edge cleaning mode can be appropriately reduced, that is, the rotation speed of the drive component when the cleaning host 20 is in the edge cleaning mode is less than or equal to the rotation speed of the drive component when the cleaning host 20 is in the normal cleaning mode.

[0126] Optionally, the cleaning main body 20 has a zoning cleaning mode and an edge cleaning mode, and the rotation speed of the driving assembly when the cleaning main body 20 is in the zoning cleaning mode is greater than the rotation speed of the driving assembly when the cleaning main body 20 is in the edge cleaning mode.

[0127] Specifically, similar to the conventional cleaning mode, the rotation speed of the cleaning assembly 22 in the zoning cleaning mode should be higher than the rotation speed of the cleaning assembly 22 in the edge cleaning mode. That is, when cleaning the surface to be cleaned, it is necessary to increase the rotation speed of the cleaning assembly 22 to improve the cleaning efficiency of the surface to be cleaned. When cleaning along the edge, in order to prevent the cleaning assembly 22 from bouncing the garbage at the corner due to too high a rotation speed, it is necessary to reduce the rotation speed of the cleaning assembly 22.

[0128] In addition, in some embodiments, when the cleaning main body 20 is located in the accommodation cavity 101, the cleaning base station 10 can send a cleaning signal to the controller 30, and then the controller 30 enters the cleaning mode after receiving the cleaning signal. In some embodiments, an external electronic device can send at least one of signals such as a return-to-station signal, a conventional cleaning signal, an edge cleaning signal, and a zoning cleaning signal to the controller 30. When the controller 30 receives the above signals, it controls the cleaning main body 20 to enter the working mode corresponding to the signal. Of course, in some embodiments, when the cleaning main body 20 is cleaning the surface to be cleaned, the navigation assembly can send an edge cleaning signal or a conventional cleaning signal to the controller 30 according to the monitored external environment. For example, when the cleaning main body 20 moves to a position such as a corner, the navigation assembly sends an edge cleaning signal to the controller 30, and the controller 30 controls the cleaning main body 20 to enter the edge cleaning mode. When the cleaning main body 20 is away from positions such as corners, the navigation assembly sends a conventional cleaning signal to the controller 30, and the controller 30 controls the cleaning main body 20 to enter the conventional cleaning mode.

[0129] When the cleaning main body 20 receives a signal to execute a cleaning task on the cleaning base station 10, the controller 30 controls the cleaning assembly 22 to lift and controls the cleaning main body 20 to move along the access ramp 102 to the outside of the cleaning base station 10.

[0130] That is to say, after the cleaning main body 20 receives a signal to execute a cleaning task, the controller 30 first controls the cleaning assembly 22 to lift to prevent the cleaning assembly 22 from interfering with the inner wall surface of the accommodation cavity 101 or the cleaning assembly 22 from interfering with the outer periphery of the access ramp 102, resulting in the cleaning main body 20 being unable to move smoothly to the outside of the cleaning base station 10.

[0131] Optionally, when the cleaning main body 20 moves from the predetermined position 103 to the accommodation cavity 101, the rotation speed of the driving assembly remains unchanged.

[0132] Specifically, when the rotational speed of the cleaning assembly 22 remains unchanged, the frictional force generated between the cleaning assembly 22 and the access ramp 102 to assist the cleaning host 20 to move along the access ramp 102 remains almost unchanged. This makes the movement speed of the cleaning host 20 on the access ramp 102 a uniform motion, thereby preventing the cleaning host 20 from accelerating on the access ramp 102, which may ultimately cause the cleaning host 20 to collide with the inner wall of the accommodating cavity 101, or the cleaning host 20 decelerates on the access ramp 102, which may cause the cleaning host 20 to be unable to move into the accommodating cavity 101.

[0133] In some embodiments, the disk mop 23 has an expanded position protruding from the outer peripheral side of the cleaning host 20 and a retracted position retracted to the inner side of the cleaning host 20. In fact, in some embodiments, when the disk mop 23 is in the retracted position, a part of the disk mop 23 may also protrude from the outer peripheral side of the cleaning host 20. In this embodiment, the volume of the disk mop 23 protruding from the outer peripheral side of the cleaning host 20 in the expanded position is larger than the volume of the disk mop 23 protruding from the outer peripheral side of the cleaning host 20 in the retracted position. When the disk mop 23 is in the expanded position, the disk mop 23 is in an edge cleaning mode for cleaning corners and wall corners.

[0134] In a specific embodiment, the working process of the cleaning system includes: after the controller 30 receives the signal to return to the station, the controller 30 controls the cleaning host 20 to move in the direction close to the cleaning base station 10; under the action of the navigation component, the cleaning host 20 moves to the predetermined position 103. After the detection component 40 detects that the cleaning host 20 reaches the predetermined position 103, the detection component 40 sends a signal to the controller 30, and the controller 30 controls the cleaning host 20 to adjust its posture so that the cleaning component 22 is adjusted to the direction facing the accommodating cavity 101. Subsequently, the controller 30 controls the cleaning host 20 to move in the direction close to the access ramp 102. When the cleaning host 20 moves in the direction close to the access ramp 102, under the action of the area division component and the controller 30, the cleaning host 20 moves in a straight line to the entrance end of the access ramp 102; subsequently, the detection component 40 detects and sends a signal to the controller 30, and the controller 30 controls the cleaning component 22 to descend to contact the access ramp 102 according to the signal, thereby increasing the friction between the cleaning host 20 and the access ramp 102 and preventing the cleaning host 20 from having difficulty passing through the access ramp 102 into the accommodating cavity 101 due to the low friction between the cleaning host 20 and the access ramp 102. After that, when the detection component 40 detects that the cleaning component 22 has descended, the detection component 40 sends a signal to the controller 30, and the controller 30 controls the cleaning component 22 to rotate according to the signal, so that a friction force for assisting the cleaning host 20 to move along the access ramp 102 is generated between the cleaning component 22 and the access ramp 102, and finally the cleaning host 20 can enter the accommodating cavity 101 from the access ramp 102 after receiving the signal to return to the station.

[0135] In summary, for the control method of the cleaning system and the cleaning system of the present application, after the cleaning host 20 receives the signal to return to the station and before the cleaning host 20 moves from the predetermined position 103 to the accommodating cavity 101, the cleaning component 22 is controlled to descend to contact the access ramp 102, so that the friction between the cleaning host 20 and the access ramp 102 increases, and thus the cleaning host 20 can enter the accommodating cavity 101 through the access ramp 102. On the other hand, the present application also controls the cleaning component 22 to rotate during the process of the cleaning component 22 descending to contact the access ramp 102 or after the cleaning component 22 descends to contact the access ramp 102, so that a friction force for assisting the cleaning host 20 to move along the access ramp 102 is generated between the cleaning component 22 and the access ramp 102, further improving the efficiency of the cleaning host 20 returning to the accommodating cavity 101. In the present application, the rotation speed of the cleaning component 22 of the cleaning host 20 is also restricted in different working modes, so as to prevent the cleaning host 20 from being easily damaged, or to improve the cleaning effect of the cleaning host 20, or to improve the cleaning effect of the cleaning base station 10 on the cleaning component 22.

[0136] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding interpretations of the spatial relative descriptions used herein will be made accordingly.

[0137] In addition, it should be noted that the use of terms such as "first", "second" etc. to define components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of the present application.

[0138] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A control method for a cleaning system, characterized in that, The control method of the cleaning system includes: Step S1: When the cleaning host (20) receives a signal to return to the station, control the cleaning host (20) to move in the direction close to the cleaning base station (10) to a predetermined position (103); Step S2: According to the relative position between the cleaning component (22) of the cleaning host (20) and the cleaning base station (10), control the cleaning host (20) to adjust its posture at the predetermined position (103) so that the cleaning component (22) is adjusted to face the direction of the accommodation cavity (101) of the cleaning base station (10); Step S3: Control the cleaning host (20) to move in the direction close to the accommodation cavity (101) along the access ramp (102) of the cleaning base station (10). Before the cleaning host (20) moves into the accommodation cavity (101), control the cleaning component (22) to descend so that the cleaning component (22) contacts the surface of the access ramp (102) and assists the cleaning host (20) to move along the access ramp (102) to the accommodation cavity (101).

2. The control method of the cleaning system according to claim 1, wherein The step of controlling the cleaning host (20) to adjust its posture at the predetermined position (103) according to the relative position between the cleaning component (22) of the cleaning host (20) and the cleaning base station (10) includes: When the cleaning component (22) is located on the side of the cleaning host (20) close to the cleaning base station (10), control the cleaning host (20) to translate or stop moving at the predetermined position (103); When the cleaning component (22) is located on the side of the cleaning host (20) away from the cleaning base station (10), control the cleaning host (20) to rotate at the predetermined position (103).

3. The control method of the cleaning system according to claim 1, characterized in that In step S3, before the cleaning host (20) moves into the accommodation cavity (101), the step of controlling the cleaning component (22) to descend so that the cleaning component (22) contacts the surface of the access ramp (102) includes: During the process of the cleaning host (20) moving from the predetermined position (103) to the access ramp (102), control the cleaning component (22) to descend so that when the cleaning host (20) runs on the access ramp (102), the cleaning component (22) can contact the surface of the access ramp (102) and assist the cleaning host (20) to move along the access ramp (102) to the accommodation cavity (101); or, During the process of the cleaning host (20) moving from the access ramp (102) to the accommodation cavity (101), control the cleaning component (22) to descend so that the cleaning component (22) can contact the surface of the access ramp (102) and assist the cleaning host (20) to move along the access ramp (102) to the accommodation cavity (101).

4. The control method of the cleaning system according to claim 3, characterized in that, The cleaning main body (20) further includes traveling wheels (21) disposed at the bottom of the cleaning main body (20). When the cleaning assembly (22) is adjusted to face the accommodating cavity (101), the traveling wheels (21) are located on the side of the cleaning assembly (22) away from the accommodating cavity (101). During the process of moving the cleaning main body (20) from the access ramp (102) to the accommodating cavity (101), the steps of controlling the cleaning assembly (22) to descend so that the cleaning assembly (22) can contact the surface of the access ramp (102) include: within the projection in the height direction of the cleaning main body (20), when the projection of the cleaning assembly (22) and the projection of the access ramp (102) at least partially overlap, controlling the cleaning assembly (22) to descend so that the cleaning assembly (22) can contact the surface of the access ramp (102) and assisting the cleaning main body (20) to move along the access ramp (102) to the accommodating cavity (101).

5. The control method of the cleaning system according to claim 3, characterized in that, The cleaning main body (20) further includes traveling wheels (21) disposed at the bottom of the cleaning main body (20). When the cleaning assembly (22) is adjusted to face the accommodating cavity (101), the traveling wheels (21) are located on the side of the cleaning assembly (22) away from the accommodating cavity (101). During the process of moving the cleaning main body (20) from the access ramp (102) to the accommodating cavity (101), the steps of controlling the cleaning assembly (22) to descend and assisting the cleaning main body (20) to move along the access ramp (102) to the accommodating cavity (101) include: when the traveling wheels (21) move to the edge of the access ramp (102) on the side facing away from the accommodating cavity (101), controlling the cleaning assembly (22) to descend so that the cleaning assembly (22) can contact the surface of the access ramp (102) and assisting the cleaning main body (20) to move along the access ramp (102) to the accommodating cavity (101).

6. The control method of the cleaning system according to claim 1, characterized in that, The control method of the cleaning system further includes: During the process of controlling the cleaning assembly (22) to descend to contact the surface of the access ramp (102) or after controlling the cleaning assembly (22) to descend to contact the surface of the access ramp (102), controlling the cleaning assembly (22) to rotate so that a frictional force is generated between the cleaning assembly (22) and the access ramp (102) to assist the cleaning main body (20) to move along the access ramp (102).

7. The control method of the cleaning system according to claim 6, wherein The cleaning main body (20) further includes traveling wheels (21), and the cleaning assembly (22) includes a roller mop (24) that can rotate about its own axis. The steps of controlling the cleaning assembly (22) to rotate include: Control the rotation direction of the roller mop (24) to be the same as that of the traveling wheels (21), so as to generate a frictional force between the roller mop (24) and the access ramp (102) to assist the cleaning main body (20) to move along the access ramp (102).

8. The control method of the cleaning system according to claim 7, characterized in that, The cleaning main body (20) has a return-to-station mode and a side cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop (24) when the cleaning main body (20) is in the return-to-station mode is less than the rotation speed of the roller mop (24) when the cleaning main body (20) is in the side cleaning mode; and / or, The cleaning main body (20) has a side cleaning mode and a normal cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop (24) when the cleaning main body (20) is in the side cleaning mode is less than or equal to the rotation speed of the roller mop (24) when the cleaning main body (20) is in the normal cleaning mode; and / or, The cleaning main body (20) has a normal cleaning mode and a cleaning mode. The control method of the cleaning system further includes: the rotation speed of the roller mop (24) when the cleaning main body (20) is in the normal cleaning mode is less than or equal to the rotation speed of the roller mop (24) when the cleaning main body (20) is in the cleaning mode.

9. The control method of the cleaning system according to claim 6, characterized in that, The cleaning assembly (22) further includes a disc mop (23). The disc mop (23) can rotate around its own axis. The axis direction of the disc mop (23) is parallel to the height direction of the cleaning main body (20). The step of controlling the rotation of the cleaning assembly (22) includes: Control the disc mop (23) to rotate in a predetermined direction, so as to generate a frictional force between the disc mop (23) and the access ramp (102) to assist the cleaning main body (20) to move along the access ramp (102).

10. The control method of the cleaning system according to claim 9, characterized in that, The cleaning assembly (22) includes a first disc mop (231) and a second disc mop (232). The first disc mop (231) and the second disc mop (232) are arranged at intervals in a first direction. Control the first disc mop (231) to rotate in a first rotation direction, and control the second disc mop (232) to rotate in a second rotation direction opposite to the first rotation direction, so as to generate a frictional force between the first disc mop (231) and the second disc mop (232) to assist the cleaning main body (20) to move along the access ramp (102).

11. The control method of the cleaning system according to claim 9, characterized in that, The cleaning main body (20) has a return-to-station mode and a side cleaning mode. The control method of the cleaning system further includes: the rotation speed of the disc mop (23) when the cleaning main body (20) is in the return-to-station mode is less than the rotation speed of the disc mop (23) when the cleaning main body (20) is in the side cleaning mode; and / or, The cleaning host (20) has an edge cleaning mode and a washing mode. The control method of the cleaning system further includes: the rotation speed of the disk mop (23) when the cleaning host (20) is in the edge cleaning mode is less than the rotation speed of the disk mop (23) when the cleaning host (20) is in the washing mode; and / or, The cleaning host (20) has a conventional cleaning mode and a washing mode. The control method of the cleaning system further includes: the rotation speed of the disk mop (23) when the cleaning host (20) is in the conventional cleaning mode is greater than or equal to the rotation speed of the disk mop (23) when the cleaning host (20) is in the washing mode.

12. A cleaning system, characterized in that, The cleaning system includes: A cleaning base station (10) provided with a receiving cavity (101) and a passing ramp (102) on the cleaning base station (10), and the passing ramp (102) is communicated with the receiving cavity (101); A cleaning host (20), the cleaning host (20) includes a cleaning assembly (22), and the cleaning assembly (22) is rotatably and vertically movable along the height direction of the cleaning host (20) and is arranged at the bottom of the cleaning host (20); A detection assembly (40) at least for detecting whether the cleaning host (20) reaches a predetermined position (103), and at least for detecting the position of the cleaning host (20) when the cleaning host (20) moves to the receiving cavity (101) from the predetermined position (103); A controller (30), the controller (30) is electrically connected to the cleaning host (20), and the controller (30) is at least for controlling the cleaning assembly (22) to descend so that at least the cleaning assembly (22) contacts the surface of the passing ramp (102), and for controlling the cleaning host (20) to move in a direction close to the cleaning base station (10) according to the received return signal to station; The detection assembly (40) is electrically connected to the controller (30), and the controller (30) controls the cleaning host (20) to adjust its posture at the predetermined position (103) according to the detection signal of the detection assembly (40) so that the cleaning assembly (22) is adjusted to be aligned with the direction of the receiving cavity (101), and the controller (30) also controls the cleaning assembly (22) to descend according to the detection signal of the detection assembly (40) so that the cleaning assembly (22) contacts the surface of the passing ramp (102).

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