Method, device and system for cleaning sweeper base station

Abstract

The embodiment of the invention provides a method, device and system for cleaning a sweeper base station, and belongs to the technical field of cleaning equipment. The method comprises the following steps: identifying whether a base station needs to be cleaned; under the condition that cleaning is needed, the position of the accessory bin is determined; under the condition that the accessory bin is located in the base station, the control host drives the mechanical arm to move to the accessory bin to take needed accessories; adjusting the posture of the mechanical arm, and enabling the accessory to be in contact with an extension plate of the base station; and after the accessories are in contact in place, a mechanical arm is controlled to clean the base station. According to the sweeper, the mechanical arm can be controlled through the host to clean the base station, a user does not need to disassemble and clean the base station, the intelligent degree of the sweeper is improved, the housework burden of the user is relieved, and the use experience of the user is improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and more specifically to a method, apparatus, and system for cleaning a sweeper base station. Background Technology

[0002] As a very practical household cleaning tool, robot vacuums can not only reduce our housework burden, save time and energy, and clean the room more thoroughly, but also bring a more intelligent and convenient cleaning experience.

[0003] In existing technologies, after cleaning, the robot vacuum can return to the base station to perform self-cleaning of the main unit. During the self-cleaning process, dust and other stains will inevitably be left on the base station. By setting the base station as a detachable chassis or cleaning tray, users can remove it for cleaning. However, cleaning the base station actually increases the user's housework. Summary of the Invention

[0004] The purpose of this invention is to provide a method, apparatus, and system for cleaning a robot vacuum cleaner base station, so as to enable the robot vacuum cleaner to self-clean the base station, thereby improving the intelligence level of the robot vacuum cleaner and reducing the burden of housework for users.

[0005] To achieve the above objectives, this application adopts the following technical solution: This application provides a method for cleaning a sweeping robot base station, the method comprising: Identify whether the base station needs cleaning; If cleaning is required, determine the location of the parts compartment; When the parts compartment is located at the base station, the control host drives the robotic arm to the parts compartment to retrieve the required parts; Adjust the posture of the robotic arm to bring the accessory into contact with the extension plate of the base station; After the accessory is in place, the robotic arm is controlled to clean the base station.

[0006] Optionally, identifying whether the base station needs cleaning includes: Identify the degree of dust accumulation on the extension board of the base station; Determine whether the degree of dust accumulation on the extension board exceeds the recognition threshold; If the dust accumulation on the extension board exceeds the identification threshold, it is determined that the base station needs cleaning.

[0007] Optionally, if the parts compartment is located at the base station, the control host drives the robotic arm to the parts compartment to retrieve the required parts, including: The robotic arm is controlled to identify the parts compartment containing the required accessories. Insert the robotic arm into the identified accessory compartment; Control the robotic arm to engage with the parts in the parts compartment.

[0008] Optionally, if the parts compartment is located at the base station, the control host drives the robotic arm to the parts compartment to retrieve the required parts, including: Send a command indicating that the robotic arm and the accessory have successfully engaged; According to the instructions, control the accessory compartment to release the accessory; Determine whether the parts compartment can recognize the parts; If the accessory cannot be identified, it is determined that the release was successful. Once it is confirmed that the accessory has been successfully released, the robotic arm is controlled to exit the accessory compartment.

[0009] Optionally, if the parts compartment is located at the base station, the control host drives the robotic arm to the parts compartment to retrieve the required parts, including: Determine whether the robotic arm can acquire the detection current; If the detected current is obtained, it is determined that the robotic arm has successfully picked up the accessory.

[0010] Optionally, the method includes: When the parts compartment is located in the main unit, it is determined whether the parts compartment is in place; Once the parts compartment is in place, secure it. Determine whether the parts in the parts compartment are in place; Once the accessory is confirmed to be in place, a command is sent to the host to retrieve the accessory.

[0011] Optionally, adjusting the posture of the robotic arm to bring the accessory into contact with the extension plate of the base station includes: Determine whether the pressure between the accessory and the base station's extension board exceeds a preset threshold; If a preset threshold is exceeded, it is determined that the accessory is in contact with the extension plate of the base station, wherein the accessory includes a vacuum cleaner.

[0012] Optionally, adjusting the posture of the robotic arm to bring the accessory into contact with the extension plate of the base station includes: Obtain the height difference between the brush of the vacuum cleaner and the surface of the extension plate; Based on the height difference, the angle at which the robotic arm needs to rotate to make the brush fit against the ground is obtained; Depending on the angle, control the robotic arm to rotate its joints and adjust the brush to fit the ground. Check if the vacuum cleaner is placed in the correct position; If the vacuum cleaner is not positioned correctly, return to the step of obtaining the height difference between the vacuum cleaner's brush and the surface of the extension plate.

[0013] Optionally, after the accessory has made contact with the designated position, the robotic arm is controlled to clean the base station, including: Identify the location and extent of dust accumulation, assuming the vacuum cleaner is positioned correctly. The vacuum cleaner is controlled to clean the dust on the extension board of the base station according to the degree of dust accumulation; Determine whether the degree of dust accumulation on the extension board exceeds the recognition threshold; If the dust accumulation level on the extension plate exceeds the recognition threshold, return to the steps of recognizing the location and degree of dust accumulation when the vacuum cleaner is in place; If the dust accumulation on the extension board is below the identification threshold, the base station cleaning is considered complete.

[0014] This application also provides an apparatus for cleaning a sweeper base station, the apparatus including a controller connected to the sweeper for performing any of the methods described above.

[0015] This application also provides a system for a cleaning robot base station, the system comprising a base station, a host, a robotic arm, and an accessory compartment, wherein: The host is used to: identify whether the base station needs cleaning, determine the location of the parts compartment, drive the robotic arm to the parts compartment to retrieve the required parts, adjust the posture of the robotic arm, and control the robotic arm to clean the base station. The robotic arm is used to: contact the accessory with the extension plate of the base station and clean the base station.

[0016] Optionally, the host is also used to identify the degree of dust accumulation on the extension board of the base station; Determine whether the degree of dust accumulation on the extension board exceeds the recognition threshold; If the dust accumulation on the extension board exceeds the identification threshold, it is determined that the base station needs cleaning.

[0017] Optionally, the robotic arm is also used to identify the accessory compartment of the required accessory and insert it into the identified accessory compartment; The host computer is also used to control the robotic arm to engage with the accessories in the accessory compartment.

[0018] Optionally, the host computer is also used to send a command indicating that the robotic arm has successfully engaged with the accessory, and to control the robotic arm to exit the accessory compartment; The accessory compartment is used to release the accessory and determine whether the accessory can be recognized. If the accessory cannot be recognized, the accessory is determined to have been released successfully, and a command confirming the successful release of the accessory is sent to the host.

[0019] Optionally, the robotic arm is used to determine whether a detection current can be obtained, and if a detection current is obtained, it is determined that the accessory has been successfully retrieved.

[0020] Optionally, the host is further configured to identify whether the accessory compartment is in place and fix the accessory compartment in place when the accessory compartment is located in the host; The parts compartment is also used to determine whether the parts are in place. If the parts are confirmed to be in place, a command is sent to the host to retrieve the parts.

[0021] Optionally, the base station is used to determine whether the pressure between the accessory and the base station's extension board exceeds a preset threshold; If a preset threshold is exceeded, it is determined that the accessory is in contact with the extension plate of the base station, wherein the accessory includes a vacuum cleaner.

[0022] Optionally, the host is also used to obtain the height difference between the brush of the vacuum cleaner and the surface of the extension plate, obtain the angle that the robotic arm needs to rotate to make the brush fit on the ground, send a command to the robotic arm according to the angle, identify whether the vacuum cleaner is placed in place, and if the vacuum cleaner is not placed in place, re-obtain the height difference between the brush of the vacuum cleaner and the surface of the extension plate. The robotic arm is also used to rotate joints and adjust the brush's contact with the ground.

[0023] Optionally, the host is further configured to identify the location and degree of dust accumulation when the vacuum cleaner is positioned correctly; control the vacuum cleaner to clean the dust on the extension board of the base station according to the degree of accumulation; determine whether the degree of dust accumulation on the extension board is higher than the identification threshold; if the degree of dust accumulation on the extension board is higher than the identification threshold, identify the location and degree of dust accumulation again; if the degree of dust accumulation on the extension board is lower than the identification threshold, determine that the base station cleaning is finished. The robotic arm is also used to drive the vacuum cleaner to clean dust from the extension board of the base station.

[0024] Through the above technical solution, this application provides a method, apparatus, and system for cleaning a robot vacuum cleaner's base station. The host computer identifies whether the base station needs cleaning. If cleaning is required, the host computer controls the robotic arm to retrieve the necessary accessories from the accessory compartment. The robotic arm's posture is adjusted to bring the accessories into contact with the base station's extension plate. Once the accessories are in place, the host computer controls the robotic arm to clean the base station. This application enables the host computer to control the robotic arm to clean the base station, eliminating the need for user disassembly and cleaning. This improves the robot vacuum cleaner's intelligence, reduces household chores, and enhances the user experience.

[0025] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a method for cleaning a sweeper base station provided in an embodiment of this application; Figure 2 This is a flowchart of the process for identifying whether a base station needs cleaning, provided in an embodiment of this application. Figure 3 This is a flowchart illustrating the process of a robotic arm retrieving required accessories, as provided in an embodiment of this application. Figure 4 This is a flowchart illustrating the process of retrieving accessories from the host machine, provided in an embodiment of this application. Figure 5 This is a flowchart illustrating the contact between the accessory provided in this application and the extension board of the base station; Figure 6 This is a flowchart illustrating the process of controlling a robotic arm to clean a base station, as provided in an embodiment of this application. Detailed Implementation

[0027] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0028] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0029] The accompanying drawings show some block diagrams and / or flowcharts. It should be understood that some blocks or combinations thereof in the block diagrams and / or flowcharts can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when executed by the processor, these instructions can create means for implementing the functions / operations described in these block diagrams and / or flowcharts. The technology of this disclosure can be implemented in the form of hardware and / or software (including firmware, microcode, etc.). Additionally, the technology of this disclosure can take the form of a computer program product on a computer-readable storage medium storing instructions, which can be used by or in conjunction with an instruction execution system. To achieve the above objectives, the technical solution adopted by the present invention is as follows: As a very practical household cleaning tool, robot vacuums can not only reduce our housework burden, save time and energy, and clean the room more thoroughly, but also bring a more intelligent and convenient cleaning experience.

[0030] In existing technologies, after cleaning, the robot vacuum can return to the base station to perform self-cleaning of the main unit. During the self-cleaning process, dust and other stains will inevitably be left on the base station. By setting the base station as a detachable chassis or cleaning tray, users can remove it for cleaning. However, cleaning the base station actually increases the user's housework.

[0031] In order to overcome the shortcomings of the existing technology, after repeated thinking and verification, the inventors discovered that if the host is set to identify whether the base station needs to be cleaned, and the robotic arm is controlled to retrieve the required parts from the parts compartment, and then the robotic arm is controlled to clean the base station, the existing technology of cleaning by having the user disassemble the base chassis or cleaning tray can be broken, thus reducing the user's housework.

[0032] In view of this, this application provides a method for cleaning a robot vacuum cleaner base station, the method comprising: identifying whether the base station needs cleaning; if cleaning is required, determining the location of the accessory compartment; if the accessory compartment is located at the base station, controlling the host to drive a robotic arm to the accessory compartment to retrieve the required accessory; adjusting the posture of the robotic arm to make contact between the accessory and the extension plate of the base station; and after the accessory is in contact, controlling the robotic arm to clean the base station.

[0033] By configuring the host computer to identify whether the base station needs cleaning, and determining if cleaning is required, the host computer controls the robotic arm to retrieve the necessary accessories from the accessory compartment. The robotic arm's posture is adjusted, and the accessories are brought into contact with the base station's extension plate. Once the accessories are in place, the robotic arm cleans the base station. This application enables the host computer to control the robotic arm to clean the base station, eliminating the need for user disassembly and cleaning. This improves the intelligence of the robot vacuum cleaner, reduces household chores, and enhances the user experience.

[0034] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0035] like Figure 1 The diagram shown is a flowchart of a method for cleaning a sweeper base station provided in an embodiment of this application. Figure 1 In this context, the method may include: In step S1, it is determined whether the base station needs cleaning; In step S2, if cleaning is required, the location of the parts compartment is determined; In step S3, if the parts warehouse is located at the base station, the control host drives the robotic arm to the parts warehouse to retrieve the required parts; In step S4, the posture of the robotic arm is adjusted to bring the accessory into contact with the extension board of the base station; In step S5, after the accessory is in place, the robotic arm is controlled to clean the base station.

[0036] In this embodiment, step S1 can be used to identify whether the base station needs cleaning. The specific method for identifying whether the base station needs cleaning can be of various forms known to those skilled in the art. In one example of the present invention, step S1 may include, for example... Figure 2 The method shown. In this Figure 2 In this context, step S1 may further include the following steps: In step S11, the degree of dust accumulation on the extension board of the base station is identified; In step S12, it is determined whether the degree of dust accumulation on the extension board is higher than the identification threshold; In step S13, if the dust accumulation on the extension board exceeds the identification threshold, it is determined that the base station needs to be cleaned.

[0037] For most ordinary robotic vacuum cleaners, especially in standard mode, they don't specifically target dust. Instead, they employ a "carpet-like search" strategy, using efficient path planning (such as a "bow" pattern) to ensure the machine covers every area of ​​the floor. Dust is picked up by the suction port or roller brush whenever the machine passes over it. This is a reliable method of "better to catch a thousand innocent than let one guilty go free," ensuring overall cleanliness, but it's not the most efficient. Step S11 can be used to identify the degree of dust accumulation on the extension board of the base station. This identification can be done by the main unit recognizing the base station as it leaves. Methods for base station identification include using ultrasonic sensors, optical dust sensors, or main unit current monitoring on the main unit. However, considering that most existing robotic vacuum cleaners are likely equipped with cameras, it's preferable to use a camera to identify dust on the extension board. Given the weak depth perception of a monocular camera, it cannot directly acquire depth information and can only be used for visual distance calculation and object recognition during operation, leading to inaccurate estimations of dust accumulation. Therefore, in one example of the present invention, when the host leaves the base station, it can identify the degree of dust accumulation on the base station extension board through a binocular camera in front or behind the host. The binocular camera can accurately perceive the distance, size and shape of obstacles and directly construct the 3D outline of the obstacles in front, which can more accurately reflect the degree of dust accumulation. After obtaining the degree of dust accumulation on the base station extension board, the degree of dust accumulation on the extension board is judged in step S12 to determine whether it is higher than the identification threshold. If it is higher than the identification threshold, it means that the dust has reached the level that needs to be cleaned. According to step S13, the host determines that the base station needs to be cleaned.

[0038] If it is determined that the base station needs cleaning, the host computer needs to be configured with cleaning accessories for the base station. Considering that the accessory compartment may be located on the base station or on the host computer, step S2 can be used to determine the location of the accessory compartment when cleaning is required. Step S3 can be used to control the host computer to drive a robotic arm to the accessory compartment to retrieve the required accessories if the accessory compartment is located on the base station. The specific method for controlling the robotic arm to retrieve the required accessories can be of various forms known to those skilled in the art. In one example of the present invention, step S3 may include, for example... Figure 3 The method shown. In this Figure 3 In this context, step S3 may further include the following steps: In step S21, the robotic arm is controlled to identify the parts compartment of the required parts; In step S22, the robotic arm is inserted into the identified parts compartment; In step S23, the robotic arm is controlled to engage with the parts in the parts compartment; In step S24, a command is sent indicating that the robotic arm has successfully connected with the accessory card; In step S25, according to the instruction, the parts compartment is controlled to release parts; In step S26, it is determined whether the parts compartment can identify the parts; In step S27, if the accessory is not recognized, it is determined that the accessory was successfully released; In step S28, if the part release is confirmed to be successful, the robotic arm is controlled to exit the part compartment; In step S29, it is determined whether the robotic arm can obtain the detection current; In step S30, if the detection current is obtained, it is determined that the robotic arm has successfully picked up the part.

[0039] When cleaning is required, the host needs to obtain the accessories for cleaning the base station. Therefore, step S21 can be used to control the robotic arm to identify the accessory compartment of the required accessory. The method for the robotic arm to identify the accessory compartment can be of various forms known to those skilled in the art. In one example of the present invention, a camera can be installed on the robotic arm to identify the accessory compartment. After the required accessory compartment is identified, step S22 inserts the robotic arm into the identified accessory compartment, and the camera on the robotic arm is used again to identify the accessory. After the required accessory is identified, step S23 sends a command to the robotic arm to control the robotic arm to move forward and engage with the accessory in the accessory compartment. Before the accessory engagement is completed, the robotic arm will transmit a signal to the accessory compartment to determine whether the engagement between the robotic arm and the accessory is successful. In one example of the present invention, the engagement between the robotic arm and the accessory compartment can be determined by methods such as power-on signals, Hall effect detection, and grating detection. After the host computer receives a signal indicating successful engagement between the robotic arm and the accessory, it sends a command to the accessory compartment in step S24, indicating successful engagement. In step S25, the accessory compartment releases the accessory based on the received engagement success command. To determine if the accessory compartment has successfully released the accessory, step S26 determines whether the compartment can recognize the accessory. In one example of this invention, the accessory compartment can recognize the accessory via a switch. If the switch cannot recognize the accessory, step S27 confirms successful release. In this case, the accessory compartment sends a release command to the host computer, which then executes step S28 to control the robotic arm to exit the accessory compartment. After the host computer controls the robotic arm to exit the accessory compartment, step S29 is required to determine if the robotic arm can obtain a detection current to determine if the accessory was successfully retrieved. Therefore, step S30 can be used to confirm successful accessory retrieval by the robotic arm if a detection current is obtained, and to provide feedback to the host computer.

[0040] Step S2 can be used to determine the location of the accessory compartment if cleaning is required. If the accessory compartment is located on the main unit, it may include, for example... Figure 4 The method shown. In this Figure 4The process may further include the following steps: In step S41, if the parts compartment is located in the main unit, it is determined whether the parts compartment is in place; In step S42, the parts compartment is secured once it is in place. In step S43, it is determined whether the parts in the parts compartment are in place; In step S44, if it is determined that the accessory is in place, a command is sent to the host to retrieve the accessory.

[0041] In this embodiment, step S41 can be used to identify whether the parts compartment is in place when it is located in the host unit. The method for identifying whether the parts compartment is in place can take various forms as described by those skilled in the art. In one example of the present invention, the host unit can identify whether the parts compartment is in place via a switch. Step S42 can be used to fix the parts compartment in place. After fixing the parts compartment, it is necessary to detect whether the parts in the parts compartment are in place. Step S43 can be used to determine whether the parts in the parts compartment are in place. The method for determining whether the parts are in place can take various forms as described by those skilled in the art. In one example of the present invention, the parts compartment can determine whether the parts are in place via a switch; if the switch is triggered, the parts are in place. Step S44 can be used to, when it is determined that the parts are in place, send a command to the host unit to retrieve the parts.

[0042] In this embodiment, step S4 can be used to adjust the posture of the robotic arm to bring the accessory into contact with the extension plate of the base station. The specific method for bringing the accessory into contact with the extension plate of the base station can be of various forms known to those skilled in the art. In one example of the invention, step S4 may include, for example... Figure 5 The method shown. In this Figure 5 In this context, step S4 may further include the following steps: In step S51, it is determined whether the pressure between the accessory and the extension board of the base station exceeds a preset threshold. In step S52, if a preset threshold is exceeded, it is determined that the accessory is in contact with the extension board of the base station, wherein the accessory includes a vacuum cleaner; In step S53, the height difference between the vacuum cleaner brush and the surface of the extension plate is obtained; In step S54, the angle at which the robotic arm needs to rotate to make the brush fit the ground is obtained based on the height difference; In step S55, the robotic arm joints are rotated according to the angle to adjust the brush to fit the ground. In step S56, it is determined whether the vacuum cleaner is placed in the correct position; In step S57, if it is identified that the vacuum cleaner is not positioned correctly, the process returns to the step of obtaining the height difference between the vacuum cleaner's brush and the surface of the extension plate.

[0043] In this embodiment, after the robotic arm picks up the accessory, the position of the base station can be identified by a binocular camera mounted on the robotic arm. Based on the feedback from the binocular camera, the robotic arm is controlled to adjust its posture so that the vacuum cleaner's brush contacts the extension plate. Step S51 can be used to determine whether the pressure between the accessory and the base station's extension plate exceeds a preset threshold. The specific method for determining the pressure between the accessory and the base station's extension plate can be of various forms known to those skilled in the art. In one example of the present invention, a force sensor can be mounted on the base station's extension plate to provide feedback on the pressure between the vacuum cleaner gripped by the mechanical disc and the extension plate, thereby determining whether the vacuum cleaner is in pressure contact with the extension plate. Step S52 can be used to determine that the accessory is in contact with the base station's extension plate if the preset threshold is exceeded, wherein the accessory includes a vacuum cleaner. An angle sensor is mounted on each joint of the robotic arm. After the host computer locates the cleaning area, the host computer uses the binocular camera to execute step S53 to obtain the height difference between the vacuum cleaner's brush and the surface of the area to be cleaned on the extension plate. Step S54 can be used to determine the angle that the robotic arm needs to rotate to align the brush with the ground based on the height difference. After obtaining the angle, in step S55, the host sends a command to the robotic arm based on the angle. The robotic arm then rotates its joints via an angle sensor to adjust the brush's alignment with the ground. Step S56 can be used to identify whether the vacuum cleaner is positioned correctly. Step S57 can be used to, if the vacuum cleaner is not positioned correctly, return to the step of obtaining the height difference between the vacuum cleaner's brush and the extension plate surface, measure the height difference again, and make adjustments.

[0044] In this embodiment, step S5 can be used to control the robotic arm to clean the base station after the accessory has made contact with the designated position. The specific method for controlling the robotic arm to clean the base station can be of various forms known to those skilled in the art. In one example of the present invention, step S5 may include, for example... Figure 6 The method shown. In this Figure 6 In this context, step S5 may further include the following steps: In step S61, if the vacuum cleaner is found to be in place, the location and extent of dust accumulation are identified; In step S62, the vacuum cleaner is controlled to clean the dust on the extension board of the base station according to the degree of aggregation; In step S63, it is determined whether the degree of dust accumulation on the extension board is higher than the identification threshold; In step S64, if the degree of dust accumulation on the extension plate is higher than the recognition threshold, the process returns to the step of recognizing the location and degree of dust accumulation when the vacuum cleaner is in place. In step S65, if the dust accumulation level on the extension board is lower than the identification threshold, the base station cleaning is determined to be completed.

[0045] Once the vacuum cleaner is correctly positioned, the host computer uses a binocular camera to execute step S61 to identify the location and degree of dust accumulation and sort the accumulation levels. Step S62 can be used to control the vacuum cleaner to clean the dust on the base station's extension board based on the accumulation level. In one example of the invention, cleaning can be performed from high to low dust accumulation levels. After cleaning the base station's extension board, step S63 is needed to determine whether the dust accumulation level on the extension board is higher than the identification threshold. If the dust accumulation level on the extension board is higher than the identification threshold, step S64 returns to the step of identifying the location and degree of dust accumulation when the vacuum cleaner is correctly positioned. If the dust accumulation level on the extension board is lower than the identification threshold, step S65 determines that the base station cleaning is complete.

[0046] This application also provides an apparatus for cleaning a sweeper base station, the apparatus including a controller connected to the sweeper for performing any of the methods described above. The method may be as follows: Figures 1 to 6 The steps are shown. In this Figure 1 In this context, the method may include: In step S1, it is determined whether the base station needs cleaning; In step S2, if cleaning is required, the location of the parts compartment is determined; In step S3, if the parts warehouse is located at the base station, the control host drives the robotic arm to the parts warehouse to retrieve the required parts; In step S4, the posture of the robotic arm is adjusted to bring the accessory into contact with the extension board of the base station; In step S5, after the accessory is in place, the robotic arm is controlled to clean the base station.

[0047] In this embodiment, step S1 can be used to identify whether the base station needs cleaning. The specific method for identifying whether the base station needs cleaning can be of various forms known to those skilled in the art. In one example of the present invention, step S1 may include, for example... Figure 2 The method shown. In this Figure 2 In this context, step S1 may further include the following steps: In step S11, the degree of dust accumulation on the extension board of the base station is identified; In step S12, it is determined whether the degree of dust accumulation on the extension board is higher than the identification threshold; In step S13, if the dust accumulation on the extension board exceeds the identification threshold, it is determined that the base station needs to be cleaned.

[0048] For most ordinary robotic vacuum cleaners, especially in standard mode, they don't specifically target dust. Instead, they employ a "carpet-like search" strategy, using efficient path planning (such as a "bow" pattern) to ensure the machine covers every area of ​​the floor. Dust is picked up by the suction port or roller brush whenever the machine passes over it. This is a reliable method of "better to catch a thousand innocent than let one guilty go free," ensuring overall cleanliness, but it's not the most efficient. Step S11 can be used to identify the degree of dust accumulation on the extension board of the base station. This identification can be done by the main unit recognizing the base station as it leaves. Methods for base station identification include using ultrasonic sensors, optical dust sensors, or main unit current monitoring on the main unit. However, considering that most existing robotic vacuum cleaners are likely equipped with cameras, it's preferable to use a camera to identify dust on the extension board. Given the weak depth perception of a monocular camera, it cannot directly acquire depth information and can only be used for visual distance calculation and object recognition during operation, leading to inaccurate estimations of dust accumulation. Therefore, in one example of the present invention, when the host leaves the base station, it can identify the degree of dust accumulation on the base station extension board through a binocular camera in front or behind the host. The binocular camera can accurately perceive the distance, size and shape of obstacles and directly construct the 3D outline of the obstacles in front, which can more accurately reflect the degree of dust accumulation. After obtaining the degree of dust accumulation on the base station extension board, the degree of dust accumulation on the extension board is judged in step S12 to determine whether it is higher than the identification threshold. If it is higher than the identification threshold, it means that the dust has reached the level that needs to be cleaned. According to step S13, the host determines that the base station needs to be cleaned.

[0049] If it is determined that the base station needs cleaning, the host computer needs to be configured with cleaning accessories for the base station. Considering that the accessory compartment may be located on the base station or on the host computer, step S2 can be used to determine the location of the accessory compartment when cleaning is required. Step S3 can be used to control the host computer to drive a robotic arm to the accessory compartment to retrieve the required accessories if the accessory compartment is located on the base station. The specific method for controlling the robotic arm to retrieve the required accessories can be of various forms known to those skilled in the art. In one example of the present invention, step S3 may include, for example... Figure 3 The method shown. In this Figure 3 In this context, step S3 may further include the following steps: In step S21, the robotic arm is controlled to identify the parts compartment of the required parts; In step S22, the robotic arm is inserted into the identified parts compartment; In step S23, the robotic arm is controlled to engage with the parts in the parts compartment; In step S24, a command is sent indicating that the robotic arm has successfully connected with the accessory card; In step S25, according to the instruction, the parts compartment is controlled to release parts; In step S26, it is determined whether the parts compartment can identify the parts; In step S27, if the accessory is not recognized, it is determined that the accessory was successfully released; In step S28, if the part release is confirmed to be successful, the robotic arm is controlled to exit the part compartment; In step S29, it is determined whether the robotic arm can obtain the detection current; In step S30, if the detection current is obtained, it is determined that the robotic arm has successfully picked up the part.

[0050] When cleaning is required, the host needs to obtain the accessories for cleaning the base station. Therefore, step S21 can be used to control the robotic arm to identify the accessory compartment of the required accessory. The method for the robotic arm to identify the accessory compartment can be of various forms known to those skilled in the art. In one example of the present invention, a camera can be installed on the robotic arm to identify the accessory compartment. After the required accessory compartment is identified, step S22 inserts the robotic arm into the identified accessory compartment, and the camera on the robotic arm is used again to identify the accessory. After the required accessory is identified, step S23 sends a command to the robotic arm to control the robotic arm to move forward and engage with the accessory in the accessory compartment. Before the accessory engagement is completed, the robotic arm will transmit a signal to the accessory compartment to determine whether the engagement between the robotic arm and the accessory is successful. In one example of the present invention, the engagement between the robotic arm and the accessory compartment can be determined by methods such as power-on signals, Hall effect detection, and grating detection. After the host computer receives a signal indicating successful engagement between the robotic arm and the accessory, it sends a command to the accessory compartment in step S24, indicating successful engagement. In step S25, the accessory compartment releases the accessory based on the received engagement success command. To determine if the accessory compartment has successfully released the accessory, step S26 determines whether the compartment can recognize the accessory. In one example of this invention, the accessory compartment can recognize the accessory via a switch. If the switch cannot recognize the accessory, step S27 confirms successful release. In this case, the accessory compartment sends a release command to the host computer, which then executes step S28 to control the robotic arm to exit the accessory compartment. After the host computer controls the robotic arm to exit the accessory compartment, step S29 is required to determine if the robotic arm can obtain a detection current to determine if the accessory was successfully retrieved. Therefore, step S30 can be used to confirm successful accessory retrieval by the robotic arm if a detection current is obtained, and to provide feedback to the host computer.

[0051] Step S2 can be used to determine the location of the accessory compartment if cleaning is required. If the accessory compartment is located on the main unit, it may include, for example... Figure 4 The method shown. In this Figure 4The process may further include the following steps: In step S41, if the parts compartment is located in the main unit, it is determined whether the parts compartment is in place; In step S42, the parts compartment is secured once it is in place. In step S43, it is determined whether the parts in the parts compartment are in place; In step S44, if it is determined that the accessory is in place, a command is sent to the host to retrieve the accessory.

[0052] In this embodiment, step S41 can be used to identify whether the parts compartment is in place when it is located in the host unit. The method for identifying whether the parts compartment is in place can take various forms as described by those skilled in the art. In one example of the present invention, the host unit can identify whether the parts compartment is in place via a switch. Step S42 can be used to fix the parts compartment in place. After fixing the parts compartment, it is necessary to detect whether the parts in the parts compartment are in place. Step S43 can be used to determine whether the parts in the parts compartment are in place. The method for determining whether the parts are in place can take various forms as described by those skilled in the art. In one example of the present invention, the parts compartment can determine whether the parts are in place via a switch; if the switch is triggered, the parts are in place. Step S44 can be used to, when it is determined that the parts are in place, send a command to the host unit to retrieve the parts.

[0053] In this embodiment, step S4 can be used to adjust the posture of the robotic arm to bring the accessory into contact with the extension plate of the base station. The specific method for bringing the accessory into contact with the extension plate of the base station can be of various forms known to those skilled in the art. In one example of the invention, step S4 may include, for example... Figure 5 The method shown. In this Figure 5 In this context, step S4 may further include the following steps: In step S51, it is determined whether the pressure between the accessory and the extension board of the base station exceeds a preset threshold. In step S52, if a preset threshold is exceeded, it is determined that the accessory is in contact with the extension board of the base station, wherein the accessory includes a vacuum cleaner; In step S53, the height difference between the vacuum cleaner brush and the surface of the extension plate is obtained; In step S54, the angle at which the robotic arm needs to rotate to make the brush fit the ground is obtained based on the height difference; In step S55, the robotic arm joints are rotated according to the angle to adjust the brush to fit the ground. In step S56, it is determined whether the vacuum cleaner is placed in the correct position; In step S57, if it is identified that the vacuum cleaner is not positioned correctly, the process returns to the step of obtaining the height difference between the vacuum cleaner's brush and the surface of the extension plate.

[0054] In this embodiment, after the robotic arm picks up the accessory, the position of the base station can be identified by a binocular camera mounted on the robotic arm. Based on the feedback from the binocular camera, the robotic arm is controlled to adjust its posture so that the vacuum cleaner's brush contacts the extension plate. Step S51 can be used to determine whether the pressure between the accessory and the base station's extension plate exceeds a preset threshold. The specific method for determining the pressure between the accessory and the base station's extension plate can be of various forms known to those skilled in the art. In one example of the present invention, a force sensor can be mounted on the base station's extension plate to provide feedback on the pressure between the vacuum cleaner gripped by the mechanical disc and the extension plate, thereby determining whether the vacuum cleaner is in pressure contact with the extension plate. Step S52 can be used to determine that the accessory is in contact with the base station's extension plate if the preset threshold is exceeded, wherein the accessory includes a vacuum cleaner. An angle sensor is mounted on each joint of the robotic arm. After the host computer locates the cleaning area, the host computer uses the binocular camera to execute step S53 to obtain the height difference between the vacuum cleaner's brush and the surface of the area to be cleaned on the extension plate. Step S54 can be used to determine the angle that the robotic arm needs to rotate to align the brush with the ground based on the height difference. After obtaining the angle, in step S55, the host sends a command to the robotic arm based on the angle. The robotic arm then rotates its joints via an angle sensor to adjust the brush's alignment with the ground. Step S56 can be used to identify whether the vacuum cleaner is positioned correctly. Step S57 can be used to, if the vacuum cleaner is not positioned correctly, return to the step of obtaining the height difference between the vacuum cleaner's brush and the extension plate surface, measure the height difference again, and make adjustments.

[0055] In this embodiment, step S5 can be used to control the robotic arm to clean the base station after the accessory has made contact with the designated position. The specific method for controlling the robotic arm to clean the base station can be of various forms known to those skilled in the art. In one example of the present invention, step S5 may include, for example... Figure 6 The method shown. In this Figure 6 In this context, step S5 may further include the following steps: In step S61, if the vacuum cleaner is found to be in place, the location and extent of dust accumulation are identified; In step S62, the vacuum cleaner is controlled to clean the dust on the extension board of the base station according to the degree of aggregation; In step S63, it is determined whether the degree of dust accumulation on the extension board is higher than the identification threshold; In step S64, if the degree of dust accumulation on the extension plate is higher than the recognition threshold, the process returns to the step of recognizing the location and degree of dust accumulation when the vacuum cleaner is in place. In step S65, if the dust accumulation level on the extension board is lower than the identification threshold, the base station cleaning is determined to be completed.

[0056] Once the vacuum cleaner is correctly positioned, the host computer uses a binocular camera to execute step S61 to identify the location and degree of dust accumulation and sort the accumulation levels. Step S62 can be used to control the vacuum cleaner to clean the dust on the base station's extension board based on the accumulation level. In one example of the invention, cleaning can be performed from high to low dust accumulation levels. After cleaning the base station's extension board, step S63 is needed to determine whether the dust accumulation level on the extension board is higher than the identification threshold. If the dust accumulation level on the extension board is higher than the identification threshold, step S64 returns to the step of identifying the location and degree of dust accumulation when the vacuum cleaner is correctly positioned. If the dust accumulation level on the extension board is lower than the identification threshold, step S65 determines that the base station cleaning is complete.

[0057] This application also provides a system for cleaning a robot vacuum cleaner base station. The system includes a base station, a host, a robotic arm, and an accessory compartment. In the system for cleaning a robot vacuum cleaner base station, the host can identify whether the base station needs cleaning, determine the location of the accessory compartment, drive the robotic arm to the accessory compartment to retrieve the required accessories, adjust the posture of the robotic arm, and control the robotic arm to clean the base station. The robotic arm is used to contact the accessories with the extension plate of the base station to clean the base station.

[0058] The host is also used to identify the degree of dust accumulation on the extension board of the base station, determine whether the degree of dust accumulation on the extension board is higher than the identification threshold, and determine that the base station needs to be cleaned if the degree of dust accumulation on the extension board is higher than the identification threshold.

[0059] The robotic arm is also used to identify the accessory compartment of the required accessory and insert it into the identified accessory compartment. The host computer is also used to control the robotic arm to engage with the accessory in the accessory compartment.

[0060] The host computer is also used to send a command indicating that the robotic arm has successfully engaged with the accessory, control the robotic arm to exit the accessory compartment, release the accessory, and determine whether the accessory can be identified. If the accessory cannot be identified, the host computer determines that the accessory has been successfully released and sends a command to the host computer confirming that the accessory has been successfully released.

[0061] The robotic arm is used to determine whether a detection current can be obtained. If a detection current is obtained, it is determined that the part has been successfully retrieved.

[0062] The host is also used to identify whether the parts compartment is in place when it is located in the host, and to fix the parts compartment in place; the parts compartment is also used to determine whether the parts are in place, and if the parts are in place, to send a command to the host to retrieve the parts.

[0063] The base station is used to determine whether the pressure between the accessory and the base station's extension plate exceeds a preset threshold. If the pressure exceeds the preset threshold, it is determined that the accessory is in contact with the base station's extension plate. The accessory includes a vacuum cleaner.

[0064] The main unit is also used to obtain the height difference between the vacuum cleaner's brush and the extension plate surface. Based on the height difference, it determines the angle that the robotic arm needs to rotate to align the brush with the ground. Based on the angle, it sends a command to the robotic arm to identify whether the vacuum cleaner is positioned correctly. If the vacuum cleaner is not positioned correctly, it re-obtains the height difference between the vacuum cleaner's brush and the extension plate surface. The robotic arm is also used to rotate its joints to adjust the brush's contact with the ground.

[0065] The host is also used to identify the location and degree of dust accumulation when the vacuum cleaner is in place; control the vacuum cleaner to clean the dust on the extension board of the base station according to the degree of accumulation; determine whether the degree of dust accumulation on the extension board is higher than the identification threshold; if the degree of dust accumulation on the extension board is higher than the identification threshold, identify the location and degree of dust accumulation again; if the degree of dust accumulation on the extension board is lower than the identification threshold, determine that the base station cleaning is completed; the robotic arm is also used to drive the vacuum cleaner to clean the dust on the extension board of the base station.

[0066] Through the above technical solution, this application provides a method, apparatus, and system for cleaning a robot vacuum cleaner's base station. The host computer identifies whether the base station needs cleaning. If cleaning is required, the host computer controls the robotic arm to retrieve the necessary accessories from the accessory compartment. The robotic arm's posture is adjusted to bring the accessories into contact with the base station's extension plate. Once the accessories are in place, the host computer controls the robotic arm to clean the base station. This application enables the host computer to control the robotic arm to clean the base station, eliminating the need for user disassembly and cleaning. This improves the robot vacuum cleaner's intelligence, reduces household chores, and enhances the user experience.

[0067] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0069] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0070] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0071] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0072] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0073] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0074] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0075] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for cleaning a sweeper base station, characterized in that, The method includes: Identify whether the base station needs cleaning; If cleaning is required, determine the location of the parts compartment; When the parts compartment is located at the base station, the control host drives the robotic arm to the parts compartment to retrieve the required parts; Adjust the posture of the robotic arm to bring the accessory into contact with the extension plate of the base station; After the accessory is in place, the robotic arm is controlled to clean the base station.

2. The method according to claim 1, characterized in that, Identifying whether a base station needs cleaning includes: Identify the degree of dust accumulation on the extension board of the base station; Determine whether the degree of dust accumulation on the extension board exceeds the recognition threshold; If the dust accumulation on the extension board exceeds the identification threshold, it is determined that the base station needs cleaning.

3. The method according to claim 1, characterized in that, When the parts compartment is located at the base station, the control host drives the robotic arm to the parts compartment to retrieve the required parts, including: The robotic arm is controlled to identify the parts compartment containing the required accessories. Insert the robotic arm into the identified accessory compartment; Control the robotic arm to engage with the parts in the parts compartment.

4. The method according to claim 3, characterized in that, When the parts compartment is located at the base station, the control host drives the robotic arm to the parts compartment to retrieve the required parts, including: Send a command indicating that the robotic arm and the accessory have successfully engaged; According to the instructions, control the accessory compartment to release the accessory; Determine whether the parts compartment can recognize the parts; If the accessory cannot be identified, it is determined that the release was successful. Once it is confirmed that the accessory has been successfully released, the robotic arm is controlled to exit the accessory compartment.

5. The method according to claim 3, characterized in that, When the parts compartment is located at the base station, the control host drives the robotic arm to the parts compartment to retrieve the required parts, including: Determine whether the robotic arm can acquire the detection current; If the detected current is obtained, it is determined that the robotic arm has successfully picked up the accessory.

6. The method according to claim 1, characterized in that, The method includes: When the parts compartment is located in the main unit, it is determined whether the parts compartment is in place; Once the parts compartment is in place, secure it. Determine whether the parts in the parts compartment are in place; Once the accessory is confirmed to be in place, a command is sent to the host to retrieve the accessory.

7. The method according to claim 1, characterized in that, Adjusting the posture of the robotic arm to bring the accessory into contact with the extension plate of the base station includes: Determine whether the pressure between the accessory and the base station's extension board exceeds a preset threshold; If a preset threshold is exceeded, it is determined that the accessory is in contact with the extension plate of the base station, wherein the accessory includes a vacuum cleaner.

8. The method according to claim 7, characterized in that, Adjusting the posture of the robotic arm to bring the accessory into contact with the extension plate of the base station includes: Obtain the height difference between the brush of the vacuum cleaner and the surface of the extension plate; Based on the height difference, the angle at which the robotic arm needs to rotate to make the brush fit against the ground is obtained; Depending on the angle, control the robotic arm to rotate its joints and adjust the brush to fit the ground. Check if the vacuum cleaner is placed in the correct position; If the vacuum cleaner is not positioned correctly, return to the step of obtaining the height difference between the vacuum cleaner's brush and the surface of the extension plate.

9. The method according to claim 8, characterized in that, After the accessory is in place, the robotic arm is controlled to clean the base station, including: Identify the location and extent of dust accumulation, assuming the vacuum cleaner is positioned correctly. The vacuum cleaner is controlled to clean the dust on the extension board of the base station according to the degree of dust accumulation; Determine whether the degree of dust accumulation on the extension board exceeds the recognition threshold; If the dust accumulation level on the extension plate exceeds the recognition threshold, return to the steps of recognizing the location and degree of dust accumulation when the vacuum cleaner is in place; If the dust accumulation level on the extension board is below the identification threshold, the base station cleaning is considered complete.

10. A device for cleaning a sweeper base station, characterized in that, The device includes a controller connected to the sweeper for performing the method as described in any one of claims 1 to 9.

11. A system for cleaning sweeper base stations, characterized in that, The system includes a base station, a host computer, a robotic arm, and a parts warehouse, wherein: The host is used to: identify whether the base station needs cleaning, determine the location of the parts compartment, drive the robotic arm to the parts compartment to retrieve the required parts, adjust the posture of the robotic arm, and control the robotic arm to clean the base station. The robotic arm is used to: contact the accessory with the extension plate of the base station and clean the base station.

12. The system according to claim 11, characterized in that, The host computer is also used to identify the degree of dust accumulation on the extension board of the base station; Determine whether the degree of dust accumulation on the extension board exceeds the recognition threshold; If the dust accumulation on the extension board exceeds the identification threshold, it is determined that the base station needs cleaning.

13. The system according to claim 11, characterized in that, The robotic arm is also used to identify the accessory compartment of the required accessory and insert it into the identified accessory compartment; The host computer is also used to control the robotic arm to engage with the accessories in the accessory compartment.

14. The system according to claim 13, characterized in that, The host computer is also used to send a command that the robotic arm has successfully engaged with the accessory, and to control the robotic arm to exit the accessory compartment; The accessory compartment is used to release the accessory and determine whether the accessory can be recognized. If the accessory cannot be recognized, the accessory is determined to have been released successfully, and a command confirming the successful release of the accessory is sent to the host.

15. The system according to claim 13, characterized in that, The robotic arm is used to determine whether a detection current can be obtained. If a detection current is obtained, it is determined that the accessory has been successfully retrieved.

16. The system according to claim 11, characterized in that, The host computer is also used to identify whether the accessory compartment is in place and to fix the accessory compartment in place when the accessory compartment is located in the host computer. The parts compartment is also used to determine whether the parts are in place. If the parts are confirmed to be in place, a command is sent to the host to retrieve the parts.

17. The system according to claim 11, characterized in that, The base station is used to determine whether the pressure between the accessory and the base station's extension board exceeds a preset threshold. If a preset threshold is exceeded, it is determined that the accessory is in contact with the extension plate of the base station, wherein the accessory includes a vacuum cleaner.

18. The system according to claim 17, characterized in that, The host is also used to obtain the height difference between the brush of the vacuum cleaner and the surface of the extension plate, obtain the angle that the robotic arm needs to rotate to make the brush fit on the ground, send a command to the robotic arm according to the angle, identify whether the vacuum cleaner is placed in place, and if the vacuum cleaner is not placed in place, re-obtain the height difference between the brush of the vacuum cleaner and the surface of the extension plate. The robotic arm is also used to rotate joints and adjust the brush's contact with the ground.

19. The system according to claim 18, characterized in that, The host computer is also used to identify the location and degree of dust accumulation when the vacuum cleaner is in place; control the vacuum cleaner to clean the dust on the extension board of the base station according to the degree of accumulation; and determine whether the degree of dust accumulation on the extension board is higher than the identification threshold. If the dust accumulation level on the extension board is higher than the recognition threshold, the location and degree of dust accumulation are identified again; if the dust accumulation level on the extension board is lower than the recognition threshold, the base station cleaning is considered complete. The robotic arm is also used to drive the vacuum cleaner to clean dust from the extension board of the base station.

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