Base station self-cleaning method, intelligent device and computer readable storage medium

Abstract

The invention discloses a base station self-cleaning method, intelligent equipment and a computer readable storage medium. The base station self-cleaning method comprises the following steps: acquiring a cleaning parameter detection value of a cleaning tank and / or a cleaning robot; judging whether the cleaning parameter detection value is greater than or equal to a preset cleaning parameter threshold value; if the cleaning parameter detection value is larger than or equal to the preset cleaning parameter threshold value, the liquid spraying part is controlled to move relative to the base station body and spray cleaning liquid into the cleaning groove, and the cleaning groove is flushed. In this way, according to the comparison result between the cleaning parameter detection value and the preset cleaning parameter threshold value, whether the liquid spraying piece is controlled to move relative to the base station body and spray the cleaning liquid into the cleaning groove to flush the cleaning groove or not is determined, and intelligent cleaning of the cleaning groove is achieved; and the problem that the user experience is poor due to the fact that the user needs to manually clean the cleaning tank can be solved.

Description

[0001] This application is a divisional application of the invention patent application No. 202211722586.3, with the application date of December 30, 2022, and the invention name of "base station self-cleaning method, intelligent device and computer readable storage medium". TECHNICAL FIELD

[0002] The application belongs to the technical field of base stations, and particularly relates to a base station self-cleaning method, an intelligent device and a computer readable storage medium. BACKGROUND

[0003] The base station is used in cooperation with the cleaning device. When the cleaning part of the cleaning device is cleaned, the sewage first falls into the cleaning tank of the base station, and then is discharged through the liquid discharge port of the cleaning tank. After the cleaning part of the cleaning device is cleaned, the cleaning tank is easy to have stains remaining, and the user needs to manually clean the cleaning tank, which leads to poor user experience. Therefore, it is urgent to improve. SUMMARY

[0004] Therefore, the technical problem to be solved by the application is the poor user experience caused by the user manually cleaning the cleaning tank.

[0005] To solve the above technical problems, the application provides a base station self-cleaning method. The base station includes a base station body, the base station body is provided with a cleaning tank, the base station further includes a liquid spraying part, the liquid spraying part is configured to be capable of moving relative to the base station body and spraying cleaning liquid into the cleaning tank; the base station self-cleaning method includes: acquiring a cleaning parameter detection value of the cleaning tank and / or a cleaning robot; judging whether the cleaning parameter detection value is greater than or equal to a preset cleaning parameter threshold; if the cleaning parameter detection value is greater than or equal to the preset cleaning parameter threshold, when the current position of the cleaning robot is not in the base station, the liquid spraying part is controlled to move relative to the base station body and spray cleaning liquid into the cleaning tank to flush the cleaning tank.

[0006] Optionally, the cleaning parameter includes at least one of the following: a cleaning area of the cleaning robot, a cleaning time of the cleaning robot, a cleaning time of the cleaning tank, a cleaning frequency of the cleaning robot, a cleaning frequency of the cleaning tank and dirt of the cleaning tank.

[0007] Optionally, the method further includes: when the current position of the cleaning robot is in the base station, cleaning the cleaning part of the cleaning robot through the cleaning tank; after the cleaning part is cleaned, the cleaning robot is controlled to drive away from the base station, and then the liquid spraying part is controlled to move relative to the base station body and spray cleaning liquid into the cleaning tank to flush the cleaning tank.

[0008] Optionally, the controlling the movement of the liquid spraying member relative to the base station body includes at least one of controlling the movement of the liquid spraying member relative to the base station body and controlling the rotation of the liquid spraying member relative to the base station body.

[0009] Optionally, the base station comprises a first detection member configured to detect a cleaning parameter of the cleaning tank and send the detection value of the cleaning parameter of the cleaning tank to the first controller; when the cleaning parameter is the cleaning frequency of the cleaning tank, the first detection member is configured as a counter, which records once when the cleaning component of the cleaning robot passes through the cleaning tank for cleaning once, and accumulates the count to obtain the detection value of the cleaning frequency of the cleaning tank; when the cleaning parameter is the dirtiness of the cleaning tank, the first detection member is at least one of a turbidity sensor, a camera, a target ion density detector of the cleaning liquid remaining in the cleaning tank, a conductivity value detector, or an odor detector; when the cleaning parameter is the cleaning time of the cleaning tank, the first detection member is configured as a timer, which starts timing when the cleaning component of the cleaning robot starts cleaning in the cleaning tank, stops timing when the cleaning component of the cleaning robot stops cleaning in the cleaning tank, and accumulates the timing to obtain the detection value of the cleaning time of the cleaning tank.

[0010] Optionally, the cleaning robot comprises a second detection member configured to detect a cleaning parameter of the cleaning robot and send the cleaning parameter of the cleaning robot to the first controller; when the cleaning parameter is the cleaning area of the cleaning robot, the second detection member detects the running speed of the cleaning robot, the running time of the cleaning robot, and calculates the product of the running speed of the cleaning robot, the running time of the cleaning robot, and the area of the cleaning component to obtain the detection value of the cleaning area of the cleaning robot each time the cleaning component of the cleaning robot cleans the surface to be cleaned; when the cleaning parameter is the cleaning time of the cleaning robot, the second detection member is configured as a timer, which starts timing when the cleaning component of the cleaning robot starts cleaning the surface to be cleaned each time, stops timing when the cleaning component of the cleaning robot finishes cleaning the surface to be cleaned each time, and accumulates the timing to obtain the detection value of the cleaning time of the cleaning robot; when the cleaning parameter is the cleaning frequency of the cleaning robot, the second detection member is configured as a counter, which records once when the cleaning component of the cleaning robot cleans the surface to be cleaned once each time, and accumulates the count to obtain the detection value of the cleaning frequency of the cleaning robot.

[0011] Optionally, when the cleaning parameter is the cleaning area of the cleaning robot, the preset cleaning area threshold is set according to the dirtiness of the surface to be cleaned, and the more serious the dirtiness of the surface to be cleaned, the smaller the preset cleaning area threshold. When the cleaning parameter is the cleaning time of the cleaning robot or the cleaning time of the cleaning tank, the cleaning time threshold is any cleaning time value in 0.2h-10h, and the preset cleaning time threshold is set according to the dirtiness of the surface to be cleaned. When the cleaning parameter is the cleaning frequency of the cleaning robot or the cleaning frequency of the cleaning tank, the cleaning frequency threshold is any cleaning frequency value in 2-50 times, and the preset cleaning frequency threshold is set according to the dirtiness of the surface to be cleaned.

[0012] Optionally, the cleaning parameter is obtained by a weighted average of at least two of the cleaning area detection value of the cleaning robot, the cleaning time detection value of the cleaning robot, the cleaning time detection value of the cleaning tank, the cleaning time detection value of the cleaning tank, the cleaning frequency detection value of the cleaning robot, the cleaning frequency detection value of the cleaning tank, and the dirt detection value of the cleaning tank.

[0013] The application further provides an intelligent device, which comprises a memory and at least one processor, the memory storing a computer program, and the at least one processor calling the computer program in the memory to enable the intelligent device to perform the base station self-cleaning method.

[0014] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the base station self-cleaning method.

[0015] The application has the following advantages: The application obtains the cleaning parameter detection value of the cleaning tank and / or the cleaning robot, determines whether to control the liquid spraying member to move relative to the base station body and spray cleaning liquid into the cleaning tank to flush the cleaning tank according to the comparison result between the cleaning parameter detection value and the preset cleaning parameter threshold. In this way, the intelligent cleaning of the cleaning tank is realized, and the problem of poor user experience caused by manual cleaning of the cleaning tank by the user is solved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0017] Figure 1 An embodiment of the base station self-cleaning method in the application is shown in the figure; Figure 2Structure schematic view of an embodiment of the cleaning system in the present application; Figure 3 Structure schematic view of an embodiment of the base station and the cleaning robot in the present application; Figure 4 Structure schematic view of an embodiment of the base station in the present application; Figure 5 Structure schematic view of another view of the base station in the present application; Figure 4 Figure 6 Structure schematic view of a part A in the present application; Figure 5 Figure 7 Structure schematic view of a part of the base station in the present application; Figure 4 Figure 8 Structure schematic view of a section B-B in the present application; Figure 7 Figure 9 Structure schematic view of a part C in the present application; Figure 8 Figure 10 Structure schematic view of another embodiment of the base station in the present application; Figure 11 Structure schematic view of still another embodiment of the base station in the present application; Figure 12 Structure schematic view of yet another embodiment of the base station in the present application; Figure 13 Structure schematic view of still another embodiment of the base station in the present application; Figure 14 Structure schematic view of the spraying member, the switching member, the mounting bracket and the driving structure in the present application; Figure 13 Structure schematic view of a section in one direction in the present application; Figure 15 Figure 14 Structure schematic view of a section in another direction in the present application; Figure 16 Structure schematic view of the mounting bracket in the present application; Figure 14 Structure schematic view of the spraying member in the present application; Figure 17 Figure 15 Structure schematic view of the intelligent device in the present application. Figure 18 Explanation of reference signs: Figure 15 Figure 19

[0018] Explanation of reference signs: ​​​​​​​​​1000-cleaning system; 100-base station; 110-base station body; 110a-cleaning tank; 110b-receiving cavity; 110c-positioning opening; 110d, chute; 110e-receiving cavity; 111e-top wall; 112e-bottom wall; 113e-side wall; 110f-accommodating space; 111-limiting part; 112-guide rod; 120-liquid spraying piece; 121-liquid spraying connector; 122, clamping block; 123-liquid inlet connector; 124-liquid passing cavity; 125-liquid inlet pipe; 126-internal cavity; 127-via hole; 130-driving mechanism; 131-first driving piece; 131a-first driving part; 131b-first fixed shaft; 132-second driving piece; 132a-second driving part; 132b-second fixed shaft; 140-first detection piece; 150-first controller; 160-moving support; 170-mounting frame; 170a-fitting hole; 170b-clamping groove; 180-adaptor; 190-mounting support; 190a-mounting cavity; 190b-through hole; 190c-accommodating cavity; 190d-avoiding notch; 190e-rotation hole; 195-driving structure; 200-cleaning robot; 210-robot body; 220-second detection piece; 230-second controller; 240-cleaning component; 250-driving module; 260-navigation module; 2000-smart device; 2100-processor; 2200-memory; 2300-storage medium; 2310-application program; 2320-data; 2330-operating system; 2400-power supply; 2500-wired or wireless network interface; 2600-input and output connector. DETAILED DESCRIPTION

[0019] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The present application will be described in detail below with reference to the drawings and in combination with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0020] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0021] In the present application, the orientation words such as "up, down, top, bottom" are generally directed to the directions shown in the drawings, or are directed to the vertical, perpendicular or gravity direction of the components themselves. Similarly, for the convenience of understanding and description, "inner, outer" refers to the inner and outer relative to the contour of the components themselves, but the above-mentioned orientation words are not used to limit the present application.

[0022] For ease of understanding, the specific process of the embodiments of the present application is described below. Please refer to Figure 1 , Figure 1 is an embodiment of the base station self-cleaning method in the present application. The base station self-cleaning method in the embodiment of the present application is applied to a base station in a cleaning system. The base station includes a base station body, and the base station body is provided with a cleaning tank. The base station further includes a liquid spraying member configured to be capable of moving relative to the base station body and spraying cleaning liquid into the cleaning tank. The cleaning system further includes a cleaning robot used in conjunction with the base station. One embodiment of the base station self-cleaning method in the embodiment of the present application includes: S100, obtaining a cleaning parameter detection value of the cleaning tank and / or the cleaning robot.

[0023] When the cleaning parameter is the cleaning parameter of the cleaning tank, the base station is provided with a device or component for detecting the cleaning parameter. The base station detects the cleaning parameter of the cleaning tank in real time through the device or component to obtain the cleaning parameter detection value of the cleaning tank. The cleaning parameter detection value can be a real-time detection value of the cleaning parameter, or the cleaning parameter detection value can be a detection value of the cleaning parameter within a preset time period, which can be 10s, 20s, or other time values, without limitation. Similarly, when the cleaning parameter is the cleaning parameter of the cleaning robot, the setting is the same as that of the cleaning parameter of the cleaning tank described above, which will not be repeated here.

[0024] S200, determining whether the cleaning parameter detection value is greater than or equal to a preset cleaning parameter threshold.

[0025] After the base station and / or the cleaning robot obtain the cleaning parameter detection value, the cleaning parameter detection value is compared with the preset cleaning parameter threshold to determine whether the cleaning parameter detection value is greater than or equal to the preset cleaning parameter threshold.

[0026] S300, if the cleaning parameter detection value is greater than or equal to the preset cleaning parameter threshold, controlling the liquid spraying member to move relative to the base station body and spray cleaning liquid into the cleaning tank to flush the cleaning tank.

[0027] Obviously, when the liquid spraying member moves relative to the base station body, the liquid spraying member can be controlled to continuously spray cleaning liquid into the cleaning tank; or the liquid spraying member can be controlled to intermittently spray cleaning liquid into the cleaning tank. The liquid spraying member has a plurality of spraying sections arranged at intervals, and the spraying ranges corresponding to adjacent two spraying sections are partially overlapped to enable the spraying range of the liquid spraying member to cover the cleaning tank, thereby saving the amount of cleaning liquid. The cleaning liquid can be water, alcohol, a liquid formed by mixing a cleaning agent with water, etc. Therefore, the liquid spraying member can be controlled to spray alcohol or a liquid formed by mixing a cleaning agent with water into the cleaning tank to flush the cleaning tank, and then the liquid spraying member can be controlled to spray water into the cleaning tank to flush the cleaning tank.

[0028] It should be noted that the cleaning parameter detection value greater than or equal to the preset cleaning parameter threshold value can be used as the only one determining factor for controlling the movement of the liquid spraying member and flushing the cleaning tank, or the cleaning parameter detection value greater than or equal to the preset cleaning parameter threshold value can be used as one of the determining factors for controlling the movement of the liquid spraying member and flushing the cleaning tank, for example, based on the cleaning parameter detection value and the current position of the cleaning robot to determine whether to control the movement of the liquid spraying member and flush the cleaning tank, for example, specifically, if the cleaning parameter detection value is greater than or equal to the preset cleaning parameter threshold value, and the current position of the cleaning robot is not in the base station, the liquid spraying member can be directly controlled to move and flush the cleaning tank. If the cleaning parameter detection value is greater than or equal to the preset cleaning parameter threshold value, and the current position of the cleaning robot is in the base station, the cleaning component of the cleaning robot is cleaned through the cleaning tank, then the cleaning component of the cleaning robot is continuously cleaned through the cleaning tank, and after the cleaning component is cleaned, the cleaning robot is controlled to leave the base station, and then the liquid spraying member is controlled to move and flush the cleaning tank.

[0029] Therefore, in the embodiment of the present application, the cleaning parameter detection value of the cleaning tank and / or the cleaning robot is obtained, and according to the comparison result between the cleaning parameter detection value and the preset cleaning parameter threshold value, it is determined whether to control the liquid spraying member to move relative to the base station body and spray cleaning liquid into the cleaning tank to flush the cleaning tank. In this way, the intelligent cleaning of the cleaning tank is realized, and the problem of poor user experience caused by manual cleaning of the cleaning tank by the user is solved.

[0030] Please refer to Figures 2 to 4 , Figure 2 is a structural schematic view of an embodiment of the cleaning system in the present application, Figure 3 is a schematic view of an embodiment of the base station and the cleaning robot in the present application, Figure 4 is a structural schematic view of an embodiment of the base station in the present application. The cleaning system 1000 includes a base station 100 and a cleaning robot 200, the base station 100 includes a base station body 110, a liquid spraying member 120, a driving mechanism 130, a first detection member 140 and a first controller 150, the liquid spraying member 120, the driving mechanism 130 and the first detection member 140 are in communication connection with the first controller 150. Among them, the communication connection between the liquid spraying member 120 and the first controller 150 means that the power source member (such as a water pump) corresponding to the liquid spraying member 120 for driving the cleaning liquid to spray is in communication connection with the first controller 150.

[0031] The base station body 110 is provided with a cleaning tank 110a, the liquid spraying member 120 is used to spray cleaning liquid into the cleaning tank 110a, the driving mechanism 130 is used to drive the liquid spraying member 120 to move relative to the base station body 110, the first detection member 140 is used to detect the cleaning parameter of the cleaning tank 110a and send the cleaning parameter detection value of the cleaning tank 110a to the first controller 150, the first controller 150 is used to judge whether the cleaning parameter detection value of the cleaning tank 110a is greater than or equal to the preset cleaning parameter threshold value, if the cleaning parameter detection value of the cleaning tank 110a is greater than or equal to the preset cleaning parameter threshold value, the driving mechanism 130 is controlled to drive the liquid spraying member 120 to move relative to the base station body 110, and the liquid spraying member 120 is controlled to spray cleaning liquid into the cleaning tank 110a.

[0032] The cleaning robot 200 comprises a robot body 210, a second detection member 220 and a second controller 230, the second detection member 220 is installed on the robot body 210 and is in communication connection with the first controller 150, the second detection member 220 is used to detect the cleaning parameter of the cleaning robot 200 and send the cleaning parameter of the cleaning robot 200 to the first controller 150, the first controller 150 is also used to judge whether the cleaning parameter detection value of the cleaning robot 200 is greater than or equal to the preset cleaning parameter threshold value, if the cleaning parameter detection value of the cleaning robot 200 is greater than or equal to the preset cleaning parameter threshold value, the driving mechanism 130 is controlled to drive the liquid spraying member 120 to move relative to the base station body 110, and the liquid spraying member 120 is controlled to spray cleaning liquid into the cleaning tank 110a. The second detection member 220 is also in communication connection with the second controller 230, so as to facilitate the second controller 230 to obtain the cleaning parameter of the cleaning robot 200.

[0033] The cleaning robot 200 further comprises a cleaning component 240, a driving module 250 and a navigation module 260, the cleaning component 240, the driving module 250 and the navigation module 260 are all installed on the robot body 210 and are all in communication connection with the second controller 230, the cleaning component 240 is used to clean the surface to be cleaned, the second controller 230 is used to control the start or shutdown of the cleaning component 240, and the second controller 230 is also used to control the driving module 250 and the navigation module 260 to drive the cleaning robot 200 to leave or return to the base station 100. The above-mentioned communication connection mode can be electrical connection, Bluetooth connection, wireless local area network connection or other modes, which are not limited here.

[0034] In other embodiments, the liquid spraying member 120, the driving mechanism 130 and the second detection member 220 can also be in communication connection with the second controller 230. The second detection member 220 is used to detect the cleaning parameter of the cleaning robot 200 and send the cleaning parameter of the cleaning robot 200 to the second controller 230. The second controller 230 is used to determine whether the cleaning parameter detection value of the cleaning robot 200 is greater than or equal to the preset cleaning parameter threshold value. If the cleaning parameter detection value of the cleaning robot 200 is greater than or equal to the preset cleaning parameter threshold value, the driving mechanism 130 is controlled to drive the liquid spraying member 120 to move relative to the base body 110, and the liquid spraying member 120 is controlled to spray cleaning liquid into the cleaning tank 110a.

[0035] The cleaning parameter described above includes at least one of the following: the cleaning area of the cleaning robot 200, the cleaning time of the cleaning robot 200, the cleaning time of the cleaning tank 110a, the cleaning frequency of the cleaning robot 200, the cleaning frequency of the cleaning tank 110a, and the dirtiness of the cleaning tank 110a. The cleaning time of the cleaning robot 200 refers to the time during which the cleaning component 240 of the cleaning robot 200 cleans the surface to be cleaned. The cleaning time of the cleaning tank 110a refers to the time during which the cleaning tank 110a washes the cleaning component 240 of the cleaning robot 200.

[0036] It should be noted that the detection value of the cleaning parameter can be obtained by the weighted average of at least two of the cleaning area detection value of the cleaning robot 200, the cleaning time detection value of the cleaning robot 200, the cleaning time detection value of the cleaning tank 110a, the cleaning frequency detection value of the cleaning robot 200, the cleaning frequency detection value of the cleaning tank 110a, and the dirtiness detection value of the cleaning tank 110a. The implementation means of the detection value of the cleaning parameter is not limited herein.

[0037] In the case that the cleaning parameter is the cleaning area of the cleaning robot 200, the second detection member 220 can detect the running speed of the cleaning robot 200 each time the cleaning member 240 of the cleaning robot 200 cleans the surface to be cleaned, detect the running time of the cleaning robot 200, and then calculate the product of the running speed of the cleaning robot 200, the running time of the cleaning robot 200, and the area of the cleaning member 240 to obtain the cleaning area detection value of the cleaning robot 200. The second detection member 220 can also be in communication connection with the second controller 230, and obtain the cleaning area detection value of the cleaning robot 200 from the second controller 230. The preset cleaning area threshold value can be any cleaning area value in the range from 10 m 2 to 1500 m 2. In this way, the preset cleaning area threshold value can be set according to the dirt level of the surface to be cleaned in actual use. The more serious the dirt of the surface to be cleaned, the smaller the preset cleaning area threshold value. When the cleaning area detection value of the cleaning robot 200 reaches the preset cleaning area threshold value, the first controller 150 can directly control the driving mechanism 130 to drive the liquid spraying member 120 to move relative to the base body 110, and control the liquid spraying member 120 to spray cleaning liquid into the cleaning groove 110a. Alternatively, the second controller 230 can first control the driving module 250 and the navigation module 260 to drive the cleaning robot 200 to return to the base station, clean the cleaning member 240 of the cleaning robot 200 through the cleaning groove 110a, then control the driving module 250 and the navigation module 260 to drive the cleaning robot 200 to leave the base station 100, and finally control the driving mechanism 130 to drive the liquid spraying member 120 to move relative to the base body 110, and control the liquid spraying member 120 to spray cleaning liquid into the cleaning groove 110a.

[0038] In the case that the cleaning parameter is the cleaning time of the cleaning robot 200, the second detecting member 220 is set as a timer, which starts counting when the cleaning component 240 of the cleaning robot 200 starts cleaning the surface to be cleaned each time, stops counting when the cleaning component 240 of the cleaning robot 200 finishes cleaning the surface to be cleaned each time, and repeats the above process, so as to accumulate the counting time, and thus the detection value of the cleaning time of the cleaning robot 200 can be obtained. Similarly, in the case that the cleaning parameter is the cleaning time of the cleaning tank 110a, the first detecting member 140 is also set as a timer, which starts counting when the cleaning component 240 of the cleaning robot 200 starts cleaning in the cleaning tank 110a, stops counting when the cleaning component 240 of the cleaning robot 200 stops cleaning in the cleaning tank 110a, and repeats the above process, so as to accumulate the counting time, and thus the detection value of the cleaning time of the cleaning tank 110a can be obtained. In this embodiment, the preset cleaning time threshold of the cleaning robot 200 and the preset cleaning time threshold of the cleaning tank 110a can be any cleaning time value in the range of 0.2h-10h. In this way, in actual use, the preset cleaning time threshold can be set according to the dirtiness of the surface to be cleaned. The more serious the dirtiness of the surface to be cleaned, the smaller the preset cleaning time threshold.

[0039] In the case that the cleaning parameter is the cleaning frequency of the cleaning robot 200, the second detecting member 220 is set as a counter, which records once when the cleaning component 240 of the cleaning robot 200 cleans the surface to be cleaned each time, and repeats the above process, so as to accumulate the counting, and thus the detection value of the cleaning frequency of the cleaning robot 200 can be obtained. Similarly, in the case that the cleaning parameter is the cleaning frequency of the cleaning tank 110a, the first detecting member 140 is set as a counter, which records once when the cleaning component 240 of the cleaning robot 200 cleans in the cleaning tank 110a each time, and repeats the above process, so as to accumulate the counting, and thus the detection value of the cleaning frequency of the cleaning tank 110a can be obtained. In this embodiment, the preset cleaning frequency threshold of the cleaning robot 200 and the preset cleaning frequency threshold of the cleaning tank 110a can be any cleaning frequency value in the range of 2-50 times. In this way, in actual use, the preset cleaning frequency threshold can be set according to the dirtiness of the surface to be cleaned. The more serious the dirtiness of the surface to be cleaned, the smaller the preset cleaning frequency threshold.

[0040] When the cleaning parameter is the dirtiness of the cleaning tank 110a, the first detection member 140 can be a turbidity sensor, which works as follows: inside the sensor is an infrared pair of tubes. When light passes through a certain amount of water, the amount of light that passes through depends on the degree of dirtiness of the water. The more dirty the water is, the less light will pass through. The light receiving end converts the intensity of the light that passes through into a corresponding current size. The more light that passes through, the larger the current. Conversely, the less light that passes through, the smaller the current. By measuring the size of the current at the receiving end, the degree of dirtiness of the water can be calculated. In this way, the turbidity sensor can obtain the dirtiness detection value of the cleaning tank 110a. The first detection member 140 can also be a camera that takes pictures to obtain the dirtiness detection value of the cleaning tank 110a. In addition, the degree of dirtiness of the cleaning tank 110a can also be detected in real time by detecting the density, conductivity value or odor of the target ions of the cleaning liquid remaining in the cleaning tank 110a, to obtain the real-time dirtiness detection value of the cleaning tank 110a.

[0041] The above-mentioned control of the movement of the liquid spraying member 120 relative to the base station body 110 includes at least one of the following: control of the movement of the liquid spraying member 120 relative to the base station body 110 and control of the rotation of the liquid spraying member 120 relative to the base station body 110. When the liquid spraying member 120 moves relative to the base station body 110, the liquid spraying range of the liquid spraying member 120 covers the cleaning tank 110a, so as to realize omnidirectional flushing of the cleaning tank 110a.

[0042] When the liquid spraying member 120 is controlled to move relative to the base station body 110, the driving mechanism 130 is provided as an electric push rod linear transmission module, a motor lead screw linear transmission module, a cylinder linear transmission module or other linear transmission structures. When the liquid spraying member 120 is controlled to rotate relative to the base station body 110, the driving mechanism 130 is provided as a motor, a rotary cylinder or other rotation transmission structures. When the liquid spraying member 120 is controlled to rotate reciprocally within a certain angle range, the driving mechanism 130 is provided as a motor swing arm transmission module, an arc-shaped slide rail swing module or other swing transmission structures. In addition, when the liquid spraying member 120 moves or swings relative to the base station body 110, the driving mechanism 130 can drive the liquid spraying member 120 to move or swing in at least one of the horizontal direction, the vertical direction and the vertical direction. For example, the driving mechanism 130 is provided as three linear transmission structures, which are arranged in the horizontal direction, the vertical direction and the vertical direction, respectively, and are fixed to the liquid spraying member 120 after being connected one by one, so as to realize the movement of the liquid spraying member 120 in the horizontal direction, the vertical direction and the vertical direction.

[0043] The base station body 110 has a laterally open accommodating cavity 110e, which has a top wall 111e, a bottom wall 112e opposite to the top wall 111e, and a side wall 113e connecting the top wall 111e and the bottom wall 112e, and the cleaning tank 110a is arranged on the bottom wall 112e. The relative movement of the liquid spraying member 120 to the base station body 110 includes movement along a track arranged in the base station body 110, and the track includes at least one of a track arranged along the side wall of the cleaning tank 110a, a track arranged along the side wall 113e of the accommodating cavity 110e, and a track arranged along the top wall 111e of the accommodating cavity 110e.

[0044] In an embodiment of the base station 100 in the present application, referring to Figures 3 to 9 , Figures 3 to 9 The driving mechanism 130 drives the liquid spraying member 120 to move along the track arranged along the side wall of the cleaning tank 110a. The bottom of the base station body 110 is provided with an accommodating cavity 110b, and the base station body 110 is further provided with a displacement opening 110c communicating the accommodating cavity 110b and the side wall of the cleaning tank 110a, the displacement opening 110c is arranged in a lateral direction, and the liquid spraying member 120 and the driving mechanism 130 are accommodated in the accommodating cavity 110b, the liquid spraying member 120 is movably arranged on the base station body 110 and can slide in the lateral direction, the driving mechanism 130 is arranged on the base station body 110 and is used to drive the liquid spraying member 120 to slide in the lateral direction, and the liquid outlet of the liquid spraying member 120 faces the displacement opening 110c. In this way, on the one hand, the liquid spraying member 120 is hidden in the base station body 110 by being accommodated in the accommodating cavity 110b, so that the addition of the liquid spraying member 120 does not increase the size of the base station 100. On the other hand, when the driving mechanism 130 drives the liquid spraying member 120 to move in the lateral direction, the liquid spraying member 120 can spray cleaning liquid from the displacement opening 110c into the cleaning tank 110a to flush the cleaning tank 110a.

[0045] Further, referring to Figures 7 to 9The liquid spraying member 120 is provided with a liquid spraying connector 121 which is in sliding fit with the position allowing opening 110c, so as to facilitate the liquid spraying member 120 to spray cleaning liquid into the cleaning groove 110a through the position allowing opening 110c. The accommodating cavity 110b is provided with a limiting portion 111 which extends along the transverse direction. The limiting portion 111 and the cavity wall of the accommodating cavity 110b which is adjacent to the position allowing opening 110c form a sliding groove 110d, and the liquid spraying member 120 is at least partially in sliding fit with the sliding groove 110d. In this way, the liquid spraying member 120 can be conveniently slid along the transverse direction, and the liquid spraying member 120 can be effectively limited, so as to reduce the shaking of the liquid spraying member 120. In addition, the accommodating cavity 110b is provided with two guide rods 112 which are arranged in parallel and extend along the transverse direction. The base station 100 further comprises a mounting frame 170 which is accommodated in the accommodating cavity 110b. The mounting frame 170 is provided with two guide holes 170a which are in fit with the corresponding guide rods 112. The mounting frame 170 is further provided with a clamping groove 170b, and the liquid spraying member 120 is provided with a clamping block 122 which is in fit with the clamping groove 170b. The driving mechanism 130 is in transmission connection with the mounting frame 170, so as to drive the liquid spraying member 120 and the mounting frame 170 to move together.

[0046] In another embodiment of the base station 100 in the present application, please refer to Figure 3 and Figure 10 , Figure 10 which shows the case that the driving mechanism 130 drives the liquid spraying member 120 to move along the track arranged on the top wall 111e of the accommodating cavity 110e. The base station 100 further comprises a movable support 160 which extends along the transverse direction and is movably installed on the top wall 111e. The liquid spraying member 120 is sleeved on the movable support 160. The driving mechanism 130 is used to drive the movable support 160 to move along at least one of the longitudinal direction and the vertical direction. The driving mechanism 130 is also used to drive the liquid spraying member 120 to move along the extension direction of the movable support 160. When the movable support 160 moves along one of the longitudinal direction and the vertical direction, the driving mechanism 130 comprises one of the above-mentioned linear transmission structures to drive the movable support 160 to move along the corresponding direction. When the movable support 160 moves along the longitudinal direction and the vertical direction, the driving mechanism 130 comprises two of the above-mentioned linear transmission structures which are combined to drive the movable support 160 to move along the longitudinal direction and the vertical direction. Similarly, the driving mechanism 130 also comprises one of the above-mentioned linear transmission structures to drive the liquid spraying member 120 to move along the extension direction of the movable support 160.

[0047] In another embodiment of the base station 100 in the present application, please refer to Figure 3 and Figure 11 , Figure 11 which shows the case that the driving mechanism 130 drives the liquid spraying member 120 to move along the track arranged on the side wall 113e of the accommodating cavity 110e. The track can be located on the left side, the right side or the back side of the side wall 113e. Please refer toFigure 11 The liquid spraying member 120 is arranged on the left side of the side wall 113e. In this case, the movable bracket 160 is arranged along the longitudinal direction, and the movable bracket 160 is movably arranged on the side wall 113e and can move in at least one of the horizontal direction and the vertical direction. The driving mode of the movable bracket 160 and the driving mode of the liquid spraying member 120 are arranged by referring to the case that the liquid spraying member 120 is arranged on the top wall 111e.

[0048] In another embodiment of the base station 100 in the present application, referring to Figures 12 to 15 , Figures 12 to 15 The driving mechanism 130 drives the liquid spraying member 120 to rotate relative to the base station body 110. The base station 100 further comprises a connecting member 180 and a mounting bracket 190. The connecting member 180 is arranged on the base station body 110. The mounting bracket 190 is rotatably arranged on the connecting member 180. The liquid spraying member 120 is rotatably arranged on the mounting bracket 190. The rotation axis of the mounting bracket 190 extends along the vertical direction. The rotation axis of the liquid spraying member 120 is arranged at an angle with the rotation axis of the mounting bracket 190. The driving mechanism 130 comprises a first driving member 131 and a second driving member 132. The first driving member 131 drives the mounting bracket 190 to rotate relative to the base station 100. The second driving member 132 drives the liquid spraying member 120 to rotate relative to the mounting bracket 190.

[0049] Therefore, in the technical scheme of the present application, the first driving member 131 drives the mounting bracket 190 to rotate in the horizontal plane relative to the base station 100, which can drive the liquid spraying member 120 to rotate in the horizontal direction with the rotation axis of the mounting bracket 190 as the center. The second driving member 132 drives the liquid spraying member 120 to rotate in the vertical plane relative to the mounting bracket 190, thereby realizing the bidirectional rotation of the liquid spraying member 120 in the horizontal direction and the vertical direction.

[0050] In other embodiments, the first driving member 131 can drive the mounting bracket 190 to rotate in the vertical plane, and the second driving member 132 can drive the liquid spraying member to rotate in the vertical plane. In another embodiment, the first driving member 131 can drive the mounting bracket 190 to rotate in the horizontal plane, and the second driving member 132 can drive the liquid spraying member 120 to rotate in the horizontal plane. In another embodiment, the first driving member 131 can drive the mounting bracket 190 to rotate in the vertical plane, and the second driving member 132 can drive the liquid spraying member 120 to rotate in the horizontal plane.

[0051] Specifically, referring to Figure 14 and Figure 16The liquid spraying member 120 has a liquid spraying connector 121, a liquid inlet connector 123, and a liquid passing cavity 124. The liquid spraying connector 121 and the liquid inlet connector 123 are both in communication with the liquid passing cavity 124. The liquid inlet connector 123 is in communication with the cleaning liquid storage tank through a liquid inlet pipe 125. The cleaning liquid is delivered to the liquid spraying member 120 from the cleaning liquid storage tank through a water pump. The liquid inlet pipe 125 can be a corrugated pipe, a rubber hose, or other hose structure with a certain length to ensure that the liquid inlet pipe 125 does not interfere with the rotation of the liquid spraying member 120 and can continuously deliver cleaning liquid to the liquid spraying member 120. The liquid spraying connector 121 faces the cleaning tank 110a and is used to spray cleaning liquid. The cleaning liquid storage tank is provided as a water tank of the base station 100, so that the cleaning device is used in combination with the base station 100 and makes full use of the existing structure of the base station 100. In other embodiments, the liquid spraying member 120 can also be a high-pressure fan-shaped nozzle, a straight-line nozzle, a duckbill-shaped nozzle, a liquid spraying pipe, a water pump, or other liquid spraying structure. The liquid spraying member 120 can also be provided as a liquid spraying structure member with a liquid storage space and a water pump. The cleaning liquid storage tank can also be provided as a separate structure.

[0052] Please refer to Figure 14 , Figure 15 , Figure 17 and Figure 18 Further, the mounting bracket 190 and the adapter 180 are connected through the first driving member 131, and the liquid spraying member 120 and the mounting bracket 190 are connected through the second driving member 132. In this way, the mounting bracket 190 can be driven to rotate relative to the base station 100 through the first driving member 131, and the liquid spraying member 120 can be driven to rotate relative to the mounting bracket 190 through the second driving member 132. The mounting bracket 190 can be mounted on the adapter 180 through the first driving member 131, and the liquid spraying member 120 can be mounted on the mounting bracket 190 through the second driving member 132. The first driving member 131 and the second driving member 132 are fully utilized, so that the first driving member 131 and the second driving member 132 both play a dual role, thereby simplifying the connection structure. In other embodiments, the first driving member 131 can be mounted on the above-mentioned adapter 180 or base station 100, and the second driving member 132 can be mounted on the base station 100 or the mounting bracket 190.

[0053] Please refer to Figure 14 , Figure 15 , Figure 17 and Figure 18Specifically, the mounting bracket 190 has a mounting cavity 190a and a through hole 190b communicating the mounting cavity 190a with the external environment; the first driving member 131 comprises a first driving portion 131a and a first fixed shaft 131b, the first driving portion 131a is fixedly installed in the mounting cavity 190a, one end of the first fixed shaft 131b is in transmission connection with the first driving portion 131a, the other end of the first fixed shaft 131b extends out of the through hole 190b and is connected with the adapter 180, and the first driving portion 131a is capable of rotating relative to the first fixed shaft 131b. The liquid spraying member 120 has an inner cavity 126 and a via hole 127 communicating the inner cavity 126 with the external environment; the second driving member 132 comprises a second driving portion 132a and a second fixed shaft 132b, the second driving portion 132a is fixedly installed in the inner cavity 126, one end of the second fixed shaft 132b is in transmission connection with the second driving portion 132a, the other end of the second fixed shaft 132b extends out of the via hole 127 and is fixedly installed in the mounting bracket 190, and the second driving portion 132a is capable of rotating relative to the second fixed shaft 132b.

[0054] Thus, by installing the first driving portion 131a in the mounting cavity 190a, the first driving member 131 and the mounting bracket 190 can be highly integrated. When the mounting bracket 190 is driven to rotate relative to the base station 100, the first driving portion 131a rotates relative to the first fixed shaft 131b, thereby driving the mounting bracket 190 to rotate relative to the base station 100. Similarly, by installing the second driving portion 132a in the inner cavity 126, the second driving member 132 and the liquid spraying member 120 can be highly integrated. When the liquid spraying member 120 is driven to rotate relative to the mounting bracket 190, the second driving portion 132a rotates relative to the second fixed shaft 132b, thereby driving the liquid spraying member 120 to rotate relative to the mounting bracket 190. The types of the first driving member 131 and the second driving member 132 are various, which can be a motor, a motor gear rotation module, a motor belt wheel rotation module, a rotary cylinder or other rotation structures, which are not limited here.

[0055] Please refer to Figure 14 , Figure 15 , Figure 17 and Figure 18, further, the first fixed shaft 131b is connected with the adapter 180 through key groove cooperation at one end away from the first driving part 131a, and the second fixed shaft 132b is connected with the mounting bracket 190 through key groove cooperation, so that the connection of the first fixed shaft 131b with the adapter 180 is facilitated and the connection of the second fixed shaft 132b with the mounting bracket 190 is facilitated. Moreover, the side of the liquid spraying piece 120 away from the through hole 127 is provided with a rotating shaft 128 coaxially arranged with the second fixed shaft 132b, and the mounting bracket 190 is provided with a rotating hole 190e rotationally cooperating with the rotating shaft 128. In this way, the side of the liquid spraying piece 120 away from the through hole 127 can be rotationally limited by the rotating shaft 128, and the stability of the liquid spraying piece 120 when rotating relative to the mounting bracket 190 can be enhanced.

[0056] Please refer to Figure 14 and Figure 15 , further, the bottom of the mounting bracket 190 is provided with a containing cavity 190c, and the liquid spraying piece 120 is at least partially accommodated in the containing cavity 190c. In this way, the size of the liquid spraying piece 120 and the mounting bracket 190 after assembly can be effectively reduced, and the size of the cleaning device can be further reduced. The liquid spraying piece 120 can be partially located in the containing cavity 190c, and the liquid spraying piece 120 can also be entirely located in the containing cavity 190c. Figure 1 The case where the liquid spraying piece 120 is partially located in the containing cavity 190c is shown in FIG. 8. The mounting cavity 190a for mounting the first driving part 131 in the above-mentioned embodiment is also located in the containing cavity 190c, so that the size of the mounting bracket 190 can be further reduced. Moreover, the cavity wall of the containing cavity 190c is partially formed with two avoiding notches 190d, one avoiding notch 190d is used to avoid the liquid spraying port of the liquid spraying piece 120, so that the liquid spraying piece 120 accommodated in the containing cavity 190c will not interfere with the spraying of the cleaning liquid by the liquid spraying piece 120, and the other avoiding notch 190d is used to avoid the liquid inlet connector 123 and the liquid inlet pipe 125, so as to facilitate the liquid supply to the liquid spraying piece 120 when the liquid spraying piece 120 rotates relative to the mounting bracket 190.

[0057] Please refer to Figure 12Further, the base station 100 further comprises a driving structure 195, which is installed between the adapter 180 and the base station body 110 and is used to drive the mounting bracket 190 to move towards or away from the cleaning tank 110a. In this way, when the cleaning tank 110a needs to be cleaned, the driving structure 195 drives the adapter 180 to move towards the cleaning tank 110a, and the adapter 180 drives the mounting bracket 190 and the liquid spraying member 120 to move towards the cleaning tank 110a together until the liquid spraying member 120 moves to the spraying position, and then the driving mechanism 130 is used to drive the liquid spraying member 120 to rotate and spray cleaning liquid, so as to flush the cleaning tank 110a. After the cleaning of the cleaning tank 110a is completed, the driving structure 195 drives the adapter 180 to move away from the cleaning tank 110a, and the adapter 180 drives the mounting bracket 190 and the liquid spraying member 120 to move away from the cleaning tank 110a together until the liquid spraying member 120 moves to the idle position. In addition, through the above setting, the mounting bracket 190 and the liquid spraying member 120 can not always be located close to the cleaning tank 110a, which can avoid the inconvenience of the cleaning robot 200 parking above the cleaning tank 110a.

[0058] In the embodiment, the driving structure 195 extends vertically, and then drives the mounting bracket 190 and the liquid spraying member 120 to vertically ascend and descend, so as to move the mounting bracket 190 and the liquid spraying member 120 towards or away from the cleaning tank 110a. In other embodiments, the driving structure 195 can extend horizontally or vertically, and then drives the mounting bracket 190 and the liquid spraying member 120 to horizontally or vertically move, so as to move the mounting bracket 190 and the liquid spraying member 120 towards the cleaning tank 110a to above the cleaning tank 110a or move away from the cleaning tank 110a to be separated from above the cleaning tank 110a. In addition, the specific type of the driving structure 195 is set according to the specific type of the linear transmission structure, which will not be described here.

[0059] Specifically, referring to Figure 12 The top wall 111e of the accommodating cavity 110e of the base station body 110 is provided with a containing space 110f, which is higher than the cleaning tank 110a; the driving structure 195 is connected with the mounting bracket 190 and is accommodated in the containing space 110f, and the driving structure 195 is used to drive the mounting bracket 190 to move towards or away from the cleaning tank 110a, so as to extend or retract the mounting bracket 190 from the containing space 110f.

[0060] With the above technical solution, when the spraying component 120 is in use, the driving structure 195 drives the mounting bracket 190 and the spraying component 120 together to move towards the cleaning tank 110a until the mounting bracket 190 and the spraying component 120 extend out of the receiving space 110f and move to the spraying station, where the spraying component 120 can be used. When the spraying component 120 is not in use, the driving structure 195 drives the mounting bracket 190 and the spraying component 120 together to move away from the cleaning tank 110a until the mounting bracket 190 and the spraying component 120 retract into the receiving space 110f and move to the idle station. This configuration allows the spraying component 120 to be hidden inside the base station body 110 when not in use, without increasing the size of the base station body 110.

[0061] To enhance the rinsing effect on the cleaning tank 110a, in one embodiment of the base station self-cleaning method of the present invention, the track provided along the top wall 111e of the receiving cavity 110e includes an annular track. With this configuration, the spraying element 120 can move along the annular track and spray cleaning liquid into the cleaning tank 110a, facilitating the coverage of the cleaning tank 110a by the spraying element 120, thereby enhancing the rinsing effect on the cleaning tank 110a.

[0062] The circular track can be one or more loops. When the circular track has multiple loops, the loops are arranged with inner and outer intervals, and each loop can be arranged in a circular shape, making the multiple loop tracks concentric circles. Alternatively, each loop can be arranged in a rectangular shape, making the multiple loop tracks a square shape.

[0063] Furthermore, by controlling the rotation of the spraying component 120 relative to the base station body 110, the spraying component 120 moves along a circular track. When the circular track has multiple turns, first, the spraying component 120 is controlled to rotate once around a preset rotation center, so that the spraying component 120 moves along one turn of the circular track. Then, the spraying component 120 is first controlled to rotate vertically to a preset position, and then the spraying component 120 is controlled to rotate once around the preset rotation center, so that the spraying component 120 moves along another turn of the circular track. This process is repeated, so that the spraying component 120 can move along multiple turns of the circular track. Obviously, the spraying component 120 can pass through multiple turns of the circular track sequentially from the inside to the outside, or it can pass through multiple turns of the circular track sequentially from the outside to the inside; no specific limitation is made here.

[0064] The specific implementation of the above-mentioned spray nozzle 120 rotating around a preset rotation center is as follows: the first driving member 131 drives the mounting bracket 190 to rotate, causing the spray nozzle of the spray nozzle 120 to rotate around the rotation axis of the mounting bracket 190. The specific implementation of the above-mentioned spray nozzle 120 rotating vertically to a preset position is as follows: the second driving member 132 drives the spray nozzle 120 to rotate in the vertical plane to the preset position.

[0065] In other embodiments, the spray member 120 can also be controlled to move along a compound motion in the lateral direction and the longitudinal direction so as to move along a multi-turn annular track, and the driving mechanism 130 in the above embodiments can be used to drive the spray member 120 to move along the compound motion in the lateral direction and the longitudinal direction.

[0066] In order to enhance the flushing effect on the cleaning groove 110a, in another embodiment of the base station self-cleaning method in the present application, the track arranged along the top wall 111e of the accommodating cavity 110e comprises a spiral track, and the spiral track has a gap between any two adjacent turns, the center position of the spiral track is located in the central region of the cleaning groove 110a, and the edge position of the spiral track is located in the edge region of the cleaning groove 110a. In this way, the same effect as the track arranged along the top wall 111e of the accommodating cavity 110e comprising an annular track can be achieved. The movement of the spray member 120 along the spiral track is arranged in the same way as the movement of the spray member 120 along the multi-turn annular track, and will not be repeated here.

[0067] It can be understood that the included angle between the spray direction of the spray member 120 and the groove bottom of the cleaning groove 110a is the spray angle, and when the spray member 120 is controlled to move along the multi-turn annular track or the spiral track arranged along the top wall 111e of the accommodating cavity 110e by rotating the spray member 120 relative to the base station body 110, the spray angle is arranged to decrease from the inside of the track to the outside of the track.

[0068] Further, the difference between the spray angle of the spray member 120 when it is in the inner periphery of the two adjacent turns of the track and the spray angle of the spray member 120 when it is in the outer periphery of the two adjacent turns of the track is between 2 degrees and 10 degrees. For example, the difference between the spray angles is 2 degrees, 3 degrees, or other angle differences. In this way, the spray member 120 can be controlled to move along the multi-turn annular track or the spiral track by rotating the spray member 120, and the flushing effect on the cleaning groove 110a can be enhanced.

[0069] After the cleaning tank 110a is flushed, water remains in the cleaning tank 110a. In order to remove the water remaining in the cleaning tank 110a, in an embodiment of the base station self-cleaning method of the present application, after the cleaning tank 110a is flushed, the cleaning robot 200 is controlled to return to the base station and the cleaning tank 110a is wiped by the cleaning component 240 of the cleaning robot 200. In this way, the water remaining in the cleaning tank 110a can be wiped by the cleaning component 240 of the cleaning robot 200, thereby removing the water remaining in the cleaning tank 110a. Moreover, the cleaning component 240 can be used to clean the surface to be cleaned and to wipe the cleaning tank 110a, thereby fully utilizing the cleaning component 240 of the cleaning robot 200. The cleaning component 240 can be a mop and a cleaning accessory (such as a sponge) having the same function as the mop, which is not limited herein.

[0070] Specifically, the first controller 150 of the base station 100 is in communication connection with the second controller 230 of the cleaning robot 200. After the first controller 150 controls the driving mechanism 130 to drive the liquid spraying member 120 to move relative to the base station body 110 and controls the liquid spraying member 120 to stop spraying the cleaning liquid into the cleaning tank 110a, the first controller 150 sends a flushing end signal to the second controller 230. After the second controller 230 receives the flushing end signal, the second controller 230 controls the driving module 250 and the navigation module 260 to drive the cleaning robot 200 to return to the base station and controls the cleaning component 240 to move to wipe the cleaning tank 110a. The movement of the cleaning component 240 can be rotation, vertical reciprocating movement, or other movement, which is not limited herein.

[0071] In order to further remove the water remaining in the cleaning tank 110a, in an embodiment of the base station self-cleaning method of the present application, after the cleaning component 240 of the cleaning robot 200 wipes the cleaning tank 110a, the cleaning tank 110a is dried. In this way, the water remaining in the cleaning tank 110a can be further removed by drying the cleaning tank 110a.

[0072] Specifically, the base station 100 further comprises a drying member (not shown). The first controller 150 is in communication connection with the drying member. After the cleaning component 240 wipes the cleaning tank 110a, the second controller 230 sends a wiping end signal to the first controller 150. After the first controller 150 receives the wiping end signal, the first controller 150 controls the drying member to start to dry the cleaning tank 110a.

[0073] The method for drying the cleaning tank 110a can be drying the cleaning tank 110a by baking, and the drying member can be a hot air baking structure, a far infrared baking structure or other baking structures. The method for drying the cleaning tank 110a can also be drying the cleaning tank 110a by blowing, and the drying member can be a blower or other blowing structures capable of driving air flow.

[0074] In an embodiment of the base station self-cleaning method, the base station self-cleaning method further comprises: after the cleaning component 240 of the cleaning robot 200 is cleaned in the cleaning tank 110a, the cleaning tank 110a is flushed. In this way, the cleaning tank 110a can be cleaned daily, which facilitates deep cleaning of the cleaning tank 110a when the cleaning parameter detection value is greater than or equal to the preset cleaning parameter threshold. Obviously, the flushing of the cleaning tank 110a after the cleaning component 240 of the cleaning robot 200 is cleaned in the cleaning tank 110a can be before or after the deep cleaning.

[0075] Specifically, when the cleaning tank 110a is flushed after the cleaning component 240 of the cleaning robot 200 is cleaned in the cleaning tank 110a, the cleaning tank 110a is flushed by the liquid spraying member 120, so that the liquid spraying member 120 can be used for daily cleaning of the cleaning tank 110a and deep cleaning of the cleaning tank 110a. Of course, when the cleaning tank 110a is flushed after the cleaning component 240 of the cleaning robot 200 is cleaned in the cleaning tank 110a, an additional liquid spraying structure can be additionally provided to flush the cleaning tank 110a.

[0076] Further, the amount of cleaning liquid used in flushing the cleaning tank 110a is between 10ml and 500ml. In this way, the amount of cleaning liquid used can be saved to ensure effective flushing of the cleaning tank 110a and avoid waste of cleaning liquid.

[0077] In an embodiment of the base station self-cleaning method, the angle between the liquid spraying direction of the liquid spraying member 120 and the bottom of the cleaning tank 110a is less than 30 degrees. In this way, the flushing effect of the bottom of the cleaning tank 110a can be ensured, and the cleaning liquid sprayed by the liquid spraying member 120 can be prevented from splashing into the external environment.

[0078] In an embodiment of the base station self-cleaning method of the present application, the liquid spraying member 120 has a direct spraying mode and a pulse mode, and the pulse mode has a pulse frequency of 600-2000 times / min. In this way, the direct spraying mode and the pulse mode can be selected according to the dirt level of the cleaning tank 110a. For example, when the dirt level of the cleaning tank 110a is low, the direct spraying mode is selected, and when the dirt level of the cleaning tank 110a is high, the pulse mode is selected. In this way, the liquid spraying member 120 can use the direct spraying mode in the daily cleaning of the cleaning tank 110a to ensure the cleaning efficiency of the daily cleaning of the cleaning tank 110a, and the liquid spraying member 120 can use the pulse mode in the deep cleaning of the cleaning tank 110a to ensure the cleaning effect of the deep cleaning of the cleaning tank 110a, and the combination of the two can optimize the cleaning scheme of the cleaning tank 110a.

[0079] Specifically, the liquid spraying member 120 is connected with a pulse generator, the pulse generator is in communication connection with the first controller 150, the first controller 150 controls the opening and closing of the pulse generator, the first controller 150 controls the pulse generator to start, the liquid spraying member 120 is in the pulse mode, the first controller 150 controls the pulse generator to stop, and the liquid spraying member 120 is in the direct spraying mode.

[0080] In an embodiment of the base station self-cleaning method of the present application, the hydraulic pressure of the liquid spraying member 120 is between 20 and 150 pounds per square inch. In this way, it can be ensured that the pressure of the cleaning liquid sprayed by the liquid spraying member 120 is large enough to ensure that the dirt on the inner wall of the cleaning tank 110a can be washed off.

[0081] The following describes the intelligent device 2000 based on unit decomposition in an embodiment of the present application from the perspective of hardware processing. Figure 19 Fig. 1 is a schematic diagram of an embodiment of the intelligent device 2000 in the present application. The intelligent device 2000 can have great differences due to different configurations or performances, and can include one or more processors 2100 (central processing units, CPUs) (for example, one or more processors 2100) and a memory 2200, and one or more storage media 2300 (for example, one or more mass storage devices) storing application programs 2310 or data 2320. The memory 2200 and the storage media 2300 can be temporary storage or persistent storage. The programs stored in the storage media 2300 can include one or more modules (not shown in the figure), and each module can include a series of instruction operations in the intelligent device 2000. Furthermore, the processor 2100 can be configured to communicate with the storage media 2300 and execute a series of instruction operations in the storage media 2300 on the intelligent device 2000.

[0082] The smart device 2000 can also include one or more power supplies 2400, one or more wired or wireless network interfaces 2500, one or more input / output interfaces, and / or one or more operating systems 2330, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, and the like. Those skilled in the art will appreciate that Figure 7 The illustrated smart device 2000 architecture is not meant to imply limitations on smart devices 2000, which can include more or fewer components than shown, or combine some components, or have a different arrangement of components.

[0083] By way of example, and not limitation, the smart device 2000 can be a base station 100.

[0084] The present application also provides a computer readable storage medium, which can be a non-volatile computer readable storage medium, or a volatile computer readable storage medium, and the computer readable storage medium stores a computer program, and when the computer program is run on a computer, the computer is caused to execute the steps of the base station self-cleaning method.

[0085] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0086] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several computer programs used to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0087] Obviously, the above-described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, those skilled in the art can make other different forms of changes or modifications without creative labor, which should all belong to the protection scope of the present application.

Claims

1. A method for self-cleaning of a base station, the base station comprising a base station body provided with a cleaning slot, characterized in that, The base station further comprises a liquid spraying member configured to move relative to the base station body and spray cleaning liquid into the cleaning tank; The base station self-cleaning method comprises: obtaining a detection value of a cleaning parameter of the cleaning tank and / or the cleaning robot; determining whether the detection value of the cleaning parameter is greater than or equal to a preset cleaning parameter threshold value; if the detection value of the cleaning parameter is greater than or equal to the preset cleaning parameter threshold value, and the current position of the cleaning robot is not in the base station, moving the liquid spraying member relative to the base station body and spraying cleaning liquid into the cleaning tank to flush the cleaning tank.

2. The method of claim 1, wherein the method further comprises: The cleaning parameter comprises at least one of the following: a cleaning area of the cleaning robot, a cleaning time of the cleaning robot, a cleaning time of the cleaning tank, a cleaning frequency of the cleaning robot, a cleaning frequency of the cleaning tank, and dirtiness of the cleaning tank.

3. The method of claim 1, wherein the base station is a base station of a 5G network. The method further comprises: if the detection value of the cleaning parameter is greater than or equal to the preset cleaning parameter threshold value, and the current position of the cleaning robot is in the base station, cleaning the cleaning component of the cleaning robot through the cleaning tank; after the cleaning component is cleaned, controlling the cleaning robot to leave the base station, and then moving the liquid spraying member relative to the base station body and spraying cleaning liquid into the cleaning tank to flush the cleaning tank.

4. The method of claim 1, wherein the base station is a base station of a 5G network. The control of the movement of the liquid spraying member relative to the base station body comprises at least one of the following: moving the liquid spraying member relative to the base station body and rotating the liquid spraying member relative to the base station body.

5. The method of claim 2, wherein the base station self-cleaning method is characterized by, The base station comprises a first detection member configured to detect a cleaning parameter of the cleaning tank and send a detection value of the cleaning parameter of the cleaning tank to the first controller; when the cleaning parameter is the cleaning frequency of the cleaning tank, the first detection member is a counter configured to record once each time the cleaning component of the cleaning robot passes through the cleaning tank for cleaning, and repeatedly record and accumulate the count to obtain the detection value of the cleaning frequency of the cleaning tank; when the cleaning parameter is the dirtiness of the cleaning tank, the first detection member is at least one of the following: a turbidity sensor, a camera, a target ion density detector of residual cleaning liquid in the cleaning tank, a conductivity value detector, or an odor detector; when the cleaning parameter is the cleaning frequency of the cleaning tank, the first detection member is a timer configured to start timing when the cleaning component of the cleaning robot starts cleaning in the cleaning tank, and stop timing when the cleaning component of the cleaning robot stops cleaning in the cleaning tank, and repeatedly time and accumulate the timing to obtain the detection value of the cleaning time of the cleaning tank.

6. The method of claim 2, wherein the base station self-cleaning method is characterized by, The cleaning robot comprises a second detection member configured to detect a cleaning parameter of the cleaning robot and send the cleaning parameter of the cleaning robot to the first controller; when the cleaning parameter is the cleaning area of the cleaning robot, the second detection member is configured to detect the running speed of the cleaning robot and the running time of the cleaning robot each time the cleaning component of the cleaning robot cleans the surface to be cleaned, and then calculate the product of the running speed of the cleaning robot, the running time of the cleaning robot, and the area of the cleaning component to obtain the detection value of the cleaning area of the cleaning robot. In the case of the cleaning parameter being the cleaning time of the cleaning robot, the second detection member is configured as a timer, which starts timing when the cleaning component of the cleaning robot starts cleaning the surface to be cleaned each time, stops timing when the cleaning component of the cleaning robot ends cleaning the surface to be cleaned each time, and repeats the above operations, accumulates the timing, and obtains the detection value of the cleaning time of the cleaning robot; In the case of the cleaning parameter being the cleaning frequency of the cleaning robot, the second detection member is configured as a counter, which records once when the cleaning component of the cleaning robot cleans the surface to be cleaned each time, repeats the above operations, accumulates the counting, and obtains the detection value of the cleaning frequency of the cleaning robot.

7. The base station self-cleaning method of claim 2, wherein, In the case of the cleaning parameter being the cleaning area of the cleaning robot, the preset cleaning area threshold is set according to the dirt degree of the surface to be cleaned, and the more serious the dirt degree of the surface to be cleaned, the smaller the preset cleaning area threshold; In the case of the cleaning parameter being the cleaning time of the cleaning robot or the cleaning time of the cleaning tank, the cleaning time threshold is any cleaning time value in 0.2h-10h, and the preset cleaning time threshold is set according to the dirt degree of the surface to be cleaned; In the case of the cleaning parameter being the cleaning frequency of the cleaning robot or the cleaning frequency of the cleaning tank, the cleaning frequency threshold is any cleaning frequency value in 2-50 times, and the preset cleaning frequency threshold is set according to the dirt degree of the surface to be cleaned.

8. The method for self-cleaning of base station according to claim 2, characterized in that, The cleaning parameter is obtained by a weighted average of at least two of the cleaning area detection value of the cleaning robot, the cleaning time detection value of the cleaning robot, the cleaning time detection value of the cleaning tank, the cleaning time detection value of the cleaning tank, the cleaning frequency detection value of the cleaning robot, the cleaning frequency detection value of the cleaning tank, and the dirt detection value of the cleaning tank.

9. A smart device, comprising: The smart device includes a memory and at least one processor, the memory stores a computer program, and the at least one processor invokes the computer program in the memory to enable the smart device to perform the base station self-cleaning method of any one of claims 1-9.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the base station self-cleaning method of any one of claims 1-9.

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