Recharging control method of cleaning system and cleaning system

Abstract

The embodiment of the invention discloses a recharging control method of a cleaning system and the cleaning system, and relates to the technical field of cleaning equipment. According to the specific implementation scheme, under the condition that the recharging condition is met, the cleaning equipment is controlled to move towards the base station; in response to the detection that the foreign matter exists on the stopping part and the orthographic projection of the foreign matter on the inner wall of the stopping cavity is not overlapped with the orthographic projection of a first charging interface arranged in the stopping cavity on the inner wall of the stopping cavity, the cleaning equipment is controlled to move to the stopping part and is charged. According to the scheme, the condition that the cleaning equipment encounters foreign matters in the process of returning to the base station can be effectively handled.

Description

[0001] The present application is a divisional application of the Chinese Patent Application No. 202511323674X, titled "Charging Control Method of Cleaning System and Cleaning System", filed on September 17, 2025. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning equipment, in particular to a charging control method of a cleaning system and the cleaning system. BACKGROUND

[0003] With the development of artificial intelligence technology, intelligent cleaning equipment gradually enters people's daily life. The cleaning equipment can realize automatic cleaning of the home environment in combination with its base station. After the cleaning equipment completes the cleaning task, it can return to the base station for charging, cleaning the cloth, etc.

[0004] The cleaning equipment may encounter foreign matter blocking during the process of returning to the base station. How to effectively handle the situation of encountering foreign matter during the process of the cleaning equipment returning to the base station becomes an important technical problem. SUMMARY

[0005] The present application provides a charging control method of a cleaning system and the cleaning system, which can effectively handle the situation of encountering foreign matter during the process of the cleaning equipment returning to the base station.

[0006] The present application provides the following solutions: According to a first aspect, a charging control method of a cleaning system is provided, the cleaning system comprising a cleaning equipment and a base station, the base station comprising a parking cavity, the bottom of the parking cavity comprising a parking part, the front end of the parking part being connected to a ramp part, the ramp part being located in the parking cavity or extending out of the parking cavity. The charging control method comprises: controlling the cleaning equipment to move towards the base station under the condition that a charging condition is met; in response to detecting that a foreign matter exists on a charging path and the size of the foreign matter meets a preset size condition, controlling the cleaning equipment to move along the charging path until the cleaning equipment enters the parking cavity, the charging path being a path for entering the parking part through the ramp part.

[0007] As an optional way, in response to detecting that a foreign matter exists on a charging path and the size of the foreign matter meets a preset size condition, controlling the cleaning equipment to move along the charging path until the cleaning equipment enters the parking cavity, comprises: in response to detecting that a foreign matter exists on a charging path and the height of the foreign matter is less than a preset height threshold, controlling the cleaning equipment to move along the charging path until the cleaning equipment enters the parking cavity.

[0008] As an optional mode, the docking cavity is provided with a first charging interface; in response to detecting that the foreign matter exists on the return charging path and the height of the foreign matter is less than a preset height threshold, the cleaning equipment is controlled to move along the return charging path until it enters the docking cavity, including at least one of: in response to detecting that the foreign matter exists on the docking part and the height of the foreign matter is less than a first height threshold, the cleaning equipment is controlled to move to the docking part and charge, the first height threshold is determined based on the bottom height of the first charging interface; in response to detecting that the foreign matter exists on the docking part and the height of the foreign matter is greater than or equal to the first height threshold and less than a second height threshold, the cleaning equipment is controlled to move to the docking part but not to charge, the first height threshold is determined based on the bottom height of the first charging interface, and the second height threshold is determined based on the top height of the first charging interface; in response to detecting that the foreign matter exists on the ramp part and the height of the foreign matter is less than a third height threshold, the cleaning equipment is controlled to move to the docking part along the return charging path and charge, the third height threshold is determined based on the ground clearance of the chassis of the cleaning equipment; in response to detecting that the foreign matter exists on the ramp part and the height of the foreign matter is greater than or equal to the third height threshold, the cleaning equipment is controlled to perform a first foreign matter removal operation, the third height threshold is determined based on the ground clearance of the chassis of the cleaning equipment; in response to detecting that there is no foreign matter on the ramp part after the cleaning equipment performs the first foreign matter removal operation or that the foreign matter exists on the ramp part and the height of the foreign matter is less than the third height threshold, the cleaning equipment is controlled to move to the docking part along the return charging path and charge.

[0009] As an optional mode, the first foreign matter removal operation includes at least one of: the cleaning equipment moving in a first preset direction, the cleaning equipment swinging in a second preset direction, the cleaning equipment turning towards a third preset direction, the cleaning equipment lifting the side brush, the cleaning equipment expanding the cleaning assembly, and the cleaning equipment controlling the mechanical arm to grab the foreign matter.

[0010] As an optional mode, it further includes at least one of: in response to detecting that the foreign matter exists on the return charging path and the size of the foreign matter does not meet a preset size condition, the cleaning equipment is controlled not to move to the docking part and an alarm information is output; in response to detecting that the foreign matter exists on the return charging path and the material of the foreign matter is hard, the cleaning equipment is controlled not to move to the docking part and an alarm information is output.

[0011] As an optional mode, the size of the foreign matter does not meet the preset size condition, including at least one of the following: the height of the foreign matter is greater than or equal to a second height threshold, the second height threshold is determined based on the height of the top of the first charging interface arranged in the parking cavity, and the height of the foreign matter is the height of the orthographic projection of the foreign matter on the inner wall of the parking cavity; the width of the foreign matter is greater than or equal to a width threshold, the width threshold is determined based on the width of the cleaning device, and the width of the foreign matter is the width of the orthographic projection of the foreign matter on the inner wall of the parking cavity; the length of the foreign matter is greater than or equal to a length threshold, the length threshold is determined based on the depth of the parking cavity, and the length of the foreign matter is the extension length of the foreign matter along the recharging path of the cleaning device.

[0012] As an optional mode, further comprising: in response to detecting that the foreign matter exists on the parking portion and the orthographic projection of the foreign matter on the inner wall of the parking cavity does not overlap with the orthographic projection of the first charging interface arranged in the parking cavity on the inner wall of the parking cavity, controlling the cleaning device to move to the parking portion and charge.

[0013] As an optional mode, further comprising: in response to detecting that the foreign matter exists in the cleaning groove of the parking cavity and the material of the foreign matter meets the preset material condition, controlling the cleaning device to move to the parking portion along the recharging path.

[0014] As an optional mode, in response to detecting that the foreign matter exists in the cleaning groove of the parking cavity and the material of the foreign matter meets the preset material condition, controlling the cleaning device to move to the parking portion along the recharging path, including at least one of the following: in response to detecting that the foreign matter exists in the cleaning groove of the parking cavity and the material of the foreign matter is water-soluble material and / or dispersible material, controlling the cleaning device to move to the parking portion and charge, and controlling the base station to clean the cleaning assembly of the cleaning device; in response to detecting that the foreign matter exists in the cleaning groove of the parking cavity and the material of the foreign matter is water-insoluble material and / or non-dispersible material, controlling the cleaning device to move to the parking portion and charge, and controlling the base station not to clean the cleaning assembly of the cleaning device.

[0015] As an optional mode, a second charging interface is arranged on the cleaning device; the recharging control method further comprises: in response to the docking operation of the second charging interface and the first charging interface failing when controlling the cleaning device to charge, controlling the cleaning device to perform a second foreign matter removal operation; after performing the second foreign matter removal operation, performing the docking operation of the second charging interface and the first charging interface again.

[0016] As an optional mode, the second foreign matter removing operation comprises at least one of the following: controlling the cleaning device to move out of the parking part and then move to the parking part again, wherein the cleaning device is controlled to move in the first preset mode during the movement to the parking part; controlling the cleaning device to move in the second preset mode within a preset range in the parking cavity; controlling the cleaning device to contact and remove the foreign matter; and controlling the cleaning device to vibrate at least a part of the base station.

[0017] As an optional mode, the first preset mode comprises at least one of the following: the cleaning device moves in a first preset direction, the cleaning device swings in a second preset direction, the cleaning device shakes in a third preset direction, the cleaning device turns towards a fourth preset direction, the cleaning device lifts a single side of the body or the brush, the cleaning device expands the cleaning assembly, and the cleaning device controls the mechanical arm to grab the foreign matter; and / or, the second preset mode comprises at least one of the following: the cleaning device swings in a fifth preset direction, the cleaning device shakes in a sixth preset direction, and the cleaning device lifts a single side of the body.

[0018] As an optional mode, the method further comprises: in response to a duration of the docking operation of the second charging interface and the first charging interface being greater than a preset duration value, or a number of times of the movement of the cleaning device to the parking part being greater than a preset number of times, and the docking of the second charging interface and the first charging interface failing, controlling the cleaning device to stop performing the back charging operation and outputting alarm information.

[0019] As an optional mode, the method further comprises: during the movement of the cleaning device to the parking part, in response to detecting that the cleaning device is stuck, performing a preset unstuck operation and controlling the cleaning device to move out of the parking cavity.

[0020] As an optional mode, the method further comprises: detecting or recognizing the foreign matter by using a binocular vision sensor.

[0021] As an optional mode, the parking cavity is provided with at least one light strip, and a height of the light strip corresponds to a preset height threshold; the back charging control method further comprises: determining the height of the foreign matter based on an occlusion of the light strip by the foreign matter in the parking cavity.

[0022] As an optional mode, the back charging path is generated based on docking information of the base station.

[0023] According to a second aspect, a cleaning system is provided, comprising: a base station, and a cleaning device in communication with the base station, the base station comprising a docking cavity, the bottom of the docking cavity comprising a docking portion, the front end of the docking portion being connected to a ramp portion, the ramp portion being located in the docking cavity or extending out of the docking cavity; the cleaning device comprising a control module and a sensor, the sensor being configured to detect or identify a foreign object on a return charging path, the return charging path being a path entering the docking portion via the ramp portion, the control module being configured to control the cleaning device to move towards the base station when the cleaning device meets a return charging condition, and being configured to control the cleaning device to move along the return charging path until entering the docking cavity when the sensor detects that there is a foreign object on the return charging path and the size of the foreign object meets a preset size condition.

[0024] As an optional mode, the sensor comprises at least one of a binocular vision sensor, a monocular depth sensor, a monocular sensor combined with a line laser, a single time-of-flight sensor, and a double time-of-flight sensor.

[0025] As an optional mode, at least one light strip is further arranged in the docking cavity, and / or a light supplementing device is arranged on the cleaning device, the light strip and / or the light supplementing device being configured to supplement light for the docking cavity.

[0026] As an optional mode, the height of the light strip corresponds to a preset height threshold, the preset height threshold being determined based on any one of the bottom height of a first charging interface arranged in the docking cavity, the top height of the first charging interface, and the ground clearance of the chassis of the cleaning device.

[0027] According to the specific embodiments provided in the present application, the following technical effects are disclosed: The cleaning system of the present application comprises a cleaning device and a base station, the base station comprising a docking cavity, the bottom of the docking cavity comprising a docking portion, the front end of the docking portion being connected to a ramp portion, the ramp portion being located in the docking cavity or extending out of the docking cavity. According to the present application, the cleaning device can be controlled to move towards the base station when the cleaning device meets a return charging condition, and foreign object detection can be performed on a return charging path entering the docking portion via the ramp portion when the cleaning device approaches the base station, the size of the foreign object on the return charging path being detected, the foreign object on the return charging path being considered not to affect the entry of the cleaning device into the base station when the size of the foreign object meets a preset size condition, so that the cleaning device can be controlled to move along the return charging path until entering the docking cavity. Therefore, the present application can effectively handle the situation of encountering a foreign object during the return of the cleaning device to the base station.

[0028] Of course, implementing any product of the present application does not necessarily require all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below only illustrate some of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 A structural schematic diagram of a cleaning system provided by an embodiment of the present application.

[0031] Figure 2 A structural schematic diagram of a cleaning device provided by an embodiment of the present application.

[0032] Figure 3 A flowchart of a back charging control method of a cleaning system provided by an embodiment of the present application.

[0033] Figure 4 A structural schematic diagram of a back charging control device of a cleaning system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0035] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms “a”, “an” and “the” used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0036] It should be understood that the term “and / or” used herein only describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which can represent three cases of A alone, A and B together, and B alone. In addition, the character “ / ” herein generally represents an “or” relationship between the front and rear associated objects.

[0037] Depending on the context, the word “if” as used herein can be interpreted as “when” or “upon” or “in response to determining” or “in response to detecting”. Similarly, depending on the context, the phrase “if it is determined” or “if (a stated condition or event) is detected” can be interpreted as “when it is determined” or “in response to determining” or “when (a stated condition or event) is detected” or “in response to detecting (a stated condition or event)”.

[0038] The intelligent cleaning device can realize automatic cleaning of the home environment. However, the inventors of the present application found in research that when the related technology encounters foreign matter in the process of the cleaning device returning to the base station after completing the cleaning task, the cleaning device is generally controlled to directly stop entering the base station, which can cause the cleaning device to stop outside the base station, resulting in problems such as occupation of space, safety hazards, and damage to the cleaning device. In addition, there is also a problem of low charging efficiency caused by the cleaning device being unable to enter the base station. Therefore, how to effectively handle the situation of the cleaning device encountering foreign matter in the process of returning to the base station has become an important technical problem.

[0039] The inventors of the present application found that when the cleaning device encounters foreign matter in the process of returning to the base station, the foreign matter can affect the return of the cleaning device, or can not affect the return of the cleaning device. If the influence of foreign matter on the return of the cleaning device can be accurately judged, and the cleaning device is controlled to return to the base station when the foreign matter does not affect the return of the cleaning device, the situation of the cleaning device stopping outside the base station can be reduced, thereby improving the working efficiency of the cleaning device returning to the base station. In addition, if the cleaning device can be controlled to actively eliminate the influence of foreign matter on the return of the cleaning device when the foreign matter is detected, the working efficiency of the cleaning device can also be improved.

[0040] Therefore, the present application provides a brand-new idea. In order to facilitate the understanding of the embodiments of the present application, first refer to Figure 1 and Figure 2 The cleaning system of the present application is introduced. Figure 1 The structural schematic diagram of the cleaning system provided for the embodiments of the present application. Figure 2 The structural schematic diagram of the cleaning device provided for the embodiments of the present application.

[0041] It should be noted that Figure 1 the structure of the cleaning system shown in Figure 2 the structure of the cleaning device shown in can only be a schematic example, and the structure of the cleaning system and the structure of the cleaning device can also have other implementation manners.

[0042] As shown in Figure 1 , the cleaning system 10 includes a base station 11 and a cleaning device 12, and the base station 11 and the cleaning device 12 can communicate.

[0043] The base station 11 includes a parking cavity 111, and the bottom of the parking cavity 111 includes a parking part 1111. The front end of the parking part 1111 is connected with a ramp part 112, and the ramp part 112 can be located in the parking cavity 111 or can extend out of the parking cavity 111. In Figure 1The ramp portion 112 extends out of the parking cavity 111 as shown in FIG. 1. The ramp portion 112 and the parking cavity 111 can constitute a return charging path of the cleaning device 12, and the cleaning device 12 can enter the parking cavity 111 through the ramp portion 112.

[0044] The cleaning device 12 comprises a sensor 121 and a control module (not shown), and the sensor 121 and the control module can communicate with each other. The sensor 121 can detect whether there is a foreign object on the return charging path, and detect the size of the foreign object when the foreign object is detected, or the sensor 121 can identify whether there is a foreign object on the return charging path and identify the size of the foreign object when the foreign object is identified. The control module can control the cleaning device 12 to move towards the base station 11 when the cleaning device 12 meets the return charging condition, and control the cleaning device 12 to move along the return charging path until the cleaning device 12 enters the parking cavity 111 when the sensor 121 detects that there is a foreign object on the return charging path and the size of the foreign object meets the preset size condition.

[0045] Since the cleaning device 12 in the present application can continue to detect the size of the foreign object when it is detected that there is a foreign object on the return charging path, if the size of the foreign object does not affect the cleaning device 12 to enter the parking cavity 111, the cleaning device 12 can continue to move along the return charging path, so as to enter the parking cavity 111. Therefore, the present application can solve the problem that the cleaning device in the related art directly stops entering the base station when it is detected that there is a foreign object in the base station, thereby effectively processing the situation that the cleaning device encounters a foreign object during the process of returning to the base station.

[0046] In a preferred embodiment, the sensor 121 can be a binocular vision sensor. As shown in FIG. 1, the binocular vision sensor can detect or identify the foreign object on the return charging path and the size of the foreign object, and can also simultaneously use the light supplement device 123 on the cleaning device 12 to supplement light for the parking cavity 111, so as to improve the accuracy of detecting or identifying the foreign object and the size of the foreign object in the parking cavity 111 under poor light conditions. Figure 2

[0047] ​In an optional embodiment, the sensor 121 can also be at least one of a monocular depth sensor, a monocular and line laser combined sensor, a single time-of-flight sensor, and a dual time-of-flight sensor to meet the detection or recognition of the foreign object and the size of the foreign object in different scenarios. For example, the monocular depth sensor can be suitable for the detection or recognition of the foreign object and the size of the foreign object in a dynamic scenario (e.g., during the movement of the cleaning device); the monocular and line laser combined sensor can be suitable for the detection or recognition of the foreign object and the size of the foreign object in a low-texture scenario (e.g., an object with a smooth surface); the single time-of-flight sensor can improve the accuracy of the detection or recognition of the foreign object and the size of the foreign object in a complex light scenario; the dual time-of-flight sensor can improve the accuracy of the detection or recognition of the foreign object and the size of the foreign object in a complex scenario (e.g., the foreign object blocks part of the field of view, multiple foreign objects are interlaced, etc.), and the like.

[0048] The inner wall of the docking cavity 111 of the base station 11 is further provided with a first charging interface 1112. The cleaning device 12 is further provided with a second charging interface 122. The cleaning device 12 can use the second charging interface 122 to dock with the first charging interface 1112 to realize the charging of the cleaning device 12 by the base station 11.

[0049] Optionally, the sensor 121, the second charging interface 122, and the light supplementing device 123 shown in Figure 1 and Figure 2 , wherein the sensor 121 and the light supplementing device 123 are located on the same side of the cleaning device 12, the second charging interface 122 and the sensor 121 are located on opposite sides of the cleaning device 12, the sensor 121 and the light supplementing device 123 are located at the front end of the moving direction of the cleaning device 12 when the cleaning device 12 detects or recognizes the foreign object and the size of the foreign object on the return charging path, and the cleaning device 12 is turned to make the second charging interface 122 dock with the first charging interface 1112 when the cleaning device 12 moves to the docking portion 1111 for charging, as shown in Figure 2 (a) and (b). Through this arrangement, the sensor 121 can be suitable not only for the cleaning work scenario of the cleaning device 12 but also for the return charging scenario of the cleaning device 12.

[0050] It should be noted that the positions of the sensor 121, the second charging interface 122, and the light supplementing device 123 in Figure 1 and Figure 2 are only exemplary, and in actual applications, as long as the sensor 121, the second charging interface 122, and the light supplementing device 123 can be suitable for the cleaning work scenario and the return charging scenario of the cleaning device 12, the sensor 121, the second charging interface 122, and the light supplementing device 123 can be arranged at any position on the cleaning device 12, and the present application does not limit the positions of the sensor 121, the second charging interface 122, and the light supplementing device 123.

[0051] Optionally, at least one lamp strip is further arranged on the inner wall of the parking cavity 111 of the base station 11. The at least one lamp strip can be used for supplementing light to the parking cavity 111, thereby improving the accuracy of detecting or identifying the foreign matter and the size of the foreign matter in the parking cavity 111 in poor light conditions. The at least one lamp strip can also be used for judging the height of the foreign matter by the blocking condition of the foreign matter to the at least one lamp strip.

[0052] Further, when the height of the foreign matter is judged by the blocking condition of the foreign matter to the at least one lamp strip, the height of the at least one lamp strip can correspond to a preset height threshold. The preset height threshold is determined based on any one of the bottom height of the first charging interface 1112, the top height of the first charging interface 1112, and the ground clearance of the chassis of the cleaning device 12 arranged in the parking cavity 111.

[0053] The parking part 1111 of the parking cavity 111 is further provided with a cleaning groove 1113. The cleaning device 12 can clean the cleaning assembly, such as the side brush assembly, the roller brush assembly, and the mop assembly, in the cleaning groove 1113 after moving to the parking part 1111.

[0054] In an optional embodiment, a dust collection assembly (not shown) is further arranged in the parking cavity 111, and the cleaning device 12 is further provided with a dust removal assembly (not shown). The dust collection assembly is used for collecting dust of the dust removal assembly.

[0055] In an optional embodiment, the cleaning device 12 further includes a computing module (not shown), which can communicate with the sensor 121 and the control module respectively. The computing module is used for analyzing the data collected by the sensor 121 and forming a control instruction, and sending the control instruction to the control module, so that the control module controls the cleaning device 12 to perform corresponding actions according to the control instruction.

[0056] The cleaning device in the embodiments of the present application can be a cleaning robot, specifically a self-walking robot, which autonomously moves in a working area and autonomously completes a cleaning task. The working area can include an indoor area. The indoor area can include a family room, an office, a shopping mall, a factory workshop, etc. The above-mentioned cleaning device can include but is not limited to a sweeping robot, a washing robot, a sweeping and mopping integrated robot, etc.

[0057] Next, the charging control method of the cleaning system of the present application will be described. Figure 3 The charging control method of the cleaning system of the present application will be described. Figure 3 The flowchart of the charging control method of the cleaning system provided in the embodiments of the present application is shown in the figure. The method can be executed by the control module of the cleaning device 12. As shown in the figure, the method can include the following steps: Figure 3 ​Step 310: In the case that the return charging condition is met, the cleaning device is controlled to move towards the base station.

[0058] Step 320: In response to detecting that the foreign matter existing on the return charging path meets the preset size condition, the cleaning device is controlled to move along the return charging path until entering the parking cavity.

[0059] As can be seen from the above process, in the case that the return charging condition is met, the cleaning device is controlled to move towards the base station, and when the cleaning device approaches the base station, the foreign matter detection is performed on the return charging path passing through the slope section into the parking section. If the foreign matter exists on the return charging path, the size of the foreign matter is detected. If the size of the foreign matter meets the preset size condition, it is considered that the foreign matter on the return charging path does not affect the cleaning device to enter the base station. Therefore, the cleaning device can be controlled to move along the return charging path until entering the parking cavity. Thus, the present application can solve the problem that the cleaning device directly stops entering the base station due to the detection of the foreign matter in the base station in the related art, effectively handle the situation that the cleaning device encounters the foreign matter during the process of returning to the base station, reduce the occupied space of the cleaning device, reduce the security risks, reduce the situation that the cleaning device is easily damaged, and improve the return charging efficiency of the cleaning device.

[0060] The steps in the above process will be described in detail in combination with embodiments. It should be noted that the "first", "second", "third", etc. in the present disclosure do not have the limitation of size, order and quantity, and are only used to distinguish in name. For example, "first height threshold", "second height threshold" and "third height threshold" are used to distinguish three height thresholds in name. For example, "first charging interface" and "second charging interface" are used to distinguish two charging interfaces in name, and so on.

[0061] First, the above step 310, i.e., "in the case that the return charging condition is met, the cleaning device is controlled to move towards the base station", will be described in detail in combination with embodiments.

[0062] In the embodiments of the present application, the return charging condition can include but is not limited to that the cleaning device receives a return charging instruction, the current power of the cleaning device is lower than a preset power threshold, the cleaning device completes a cleaning task, etc.

[0063] The return charging instruction can be generated by a user's active operation, for example, the user operates a remote controller, an application (APP), a control button on the cleaning device, or the user generates the return charging instruction for the cleaning device through voice (for example, the user directly issues a voice instruction to the cleaning device, or the user sends the return charging instruction to the cleaning device through a voice assistant device, etc.). The return charging instruction can also be automatically generated according to a preset period, for example, a fixed time point is set for the cleaning device to perform the return charging operation every day. The application does not limit the generation mode of the return charging instruction.

[0064] By controlling the cleaning device to move towards the base station when the cleaning device meets the return charging condition, the cleaning device can efficiently and stably perform the return charging operation.

[0065] The above step 320, that is, "in response to detecting that the foreign matter on the return charging path meets the preset size condition, controlling the cleaning device to move along the return charging path until entering the parking cavity, and the return charging path is the path through the ramp portion to enter the parking portion", is described in detail below in combination with embodiments.

[0066] The size of the foreign matter can include the height, width and length of the foreign matter. The height of the foreign matter is the height of the orthographic projection of the foreign matter on the inner wall of the parking cavity, the width of the foreign matter is the width of the orthographic projection of the foreign matter on the inner wall of the parking cavity, and the length of the foreign matter is the extension length of the foreign matter along the return charging path of the cleaning device.

[0067] When detecting whether there is foreign matter on the return charging path, a sensor on the cleaning device can be used, for example, a binocular vision sensor. The binocular vision sensor can detect or identify the foreign matter on the return charging path and the size of the foreign matter, and a light supplement device provided on the cleaning device can also be used to supplement light for the parking cavity, so as to improve the accuracy of identifying the foreign matter in the parking cavity and the size of the foreign matter in poor light conditions.

[0068] The return charging path can be generated based on the docking information of the base station collected by the cleaning device. The docking information can include interface information of the first charging interface, an infrared signal or an electromagnetic signal emitted by the base station, image identification information of the base station, etc. It should be noted that the return charging path can also be generated based on other ways, and the application does not limit the generation mode of the return charging path.

[0069] In order to solve the problem that the cleaning device directly stops entering the base station when detecting that there is a foreign matter in the base station in the related art, when detecting that there is a foreign matter on the return charging path, the application continues to detect whether the size of the foreign matter meets the preset size condition. If the size of the foreign matter meets the preset size condition, it is considered that the foreign matter will not affect the cleaning device to enter the parking cavity in the base station, so the cleaning device can be controlled to move along the return charging path until the cleaning device enters the parking cavity; if the size of the foreign matter does not meet the preset size condition, it is considered that the foreign matter will affect the cleaning device to enter the parking cavity in the base station, so the cleaning device can be controlled not to move to the parking cavity. That is, even if there is a foreign matter on the return charging path, the cleaning device can still enter the base station when the size of the foreign matter meets the preset size condition, instead of directly stopping entering the base station. Therefore, by the scheme of the application, the situation of encountering a foreign matter during the return of the cleaning device to the base station can be effectively handled, which can not only reduce the occupied space of the cleaning device, reduce the security risks, reduce the situation that the cleaning device is easily damaged, but also improve the return charging efficiency of the cleaning device.

[0070] First, introduce the case where the size of the foreign matter meets the preset size condition: In an embodiment, in response to detecting that there is a foreign matter on the return charging path and the size of the foreign matter meets the preset size condition, the cleaning device is controlled to move along the return charging path until it enters the parking cavity, including: in response to detecting that there is a foreign matter on the return charging path and the height of the foreign matter is less than the preset height threshold, the cleaning device is controlled to move along the return charging path until it enters the parking cavity.

[0071] When detecting that there is a foreign matter on the return charging path, the height of the foreign matter can be detected again. If the height of the foreign matter is less than the preset height threshold, it is considered that the foreign matter does not affect the cleaning device to enter the parking cavity in the base station, so the cleaning device can be controlled to move along the return charging path until the cleaning device enters the parking cavity. Therefore, the problem that the cleaning device directly stops entering the base station when detecting that there is a foreign matter in the base station in the related art can be solved, and the situation of encountering a foreign matter during the return of the cleaning device to the base station can be effectively handled. Not only can the occupied space of the cleaning device be reduced, the security risks can be reduced, the situation that the cleaning device is easily damaged can be reduced, but also the return charging efficiency of the cleaning device can be improved.

[0072] Since the return charging path includes the parking part and the slope part, the existence of the foreign matter on the return charging path includes two cases of the existence of the foreign matter on the parking part and the existence of the foreign matter on the slope part. Correspondingly, the preset height threshold also includes multiple cases.

[0073] The preset height threshold can include but is not limited to the following cases: (1) In the case of foreign objects on the docking part, the preset height threshold can be determined based on the height of the first charging interface set in the docking cavity. The first charging interface has a bottom height and a top height, so it can be further subdivided into: 1) In response to the detection of a foreign object on the docking section and the height of the foreign object being less than a first height threshold, the cleaning device is controlled to move to the docking section and begin charging. The first height threshold is determined based on the bottom height of the first charging interface. The bottom height of the first charging interface is the height of the bottom of the first charging interface relative to the bottom of the docking cavity.

[0074] By determining a first height threshold using the bottom height of the first charging port, it is possible to detect situations where the height of a foreign object is less than the bottom height of the first charging port. When the height of the foreign object is less than the first height threshold, it is determined that the height of the foreign object is less than the bottom height of the first charging port. Therefore, it can be considered that the foreign object does not obstruct the first charging port, meaning that the foreign object neither affects the movement of the cleaning equipment to the docking station nor affects the charging of the cleaning equipment. Thus, the cleaning equipment can be controlled to move along the recharge path to the docking station and begin charging. In other words, the solution of this application can still allow the cleaning equipment to enter the base station and dock and charge when a foreign object is detected at the docking station, but the height of the foreign object is less than the first height threshold, instead of directly stopping to enter the base station. Therefore, the solution of this application can effectively handle situations where the cleaning equipment encounters foreign objects during its return to the base station, which not only reduces the space occupied by the cleaning equipment, reduces potential safety hazards, and reduces the likelihood of damage to the cleaning equipment, but also improves the recharge efficiency of the cleaning equipment.

[0075] 2) In response to the detection of a foreign object on the docking section, wherein the height of the foreign object is greater than or equal to a first height threshold and less than a second height threshold, the cleaning device is controlled to move to the docking section but not to charge. The first height threshold is determined based on the bottom height of the first charging interface, and the second height threshold is determined based on the top height of the first charging interface. The top height of the first charging interface is the height of the top of the first charging interface relative to the bottom of the docking cavity.

[0076] The bottom height of the first charging interface is used to determine the first height threshold, and the top height of the first charging interface is used to determine the second height threshold, so that the height of the foreign matter greater than or equal to the bottom height of the first charging interface and less than the top height of the second charging interface can be detected. When the height of the foreign matter is greater than or equal to the first height threshold and less than the second height threshold, it can be considered that the foreign matter partially blocks the first charging interface, and therefore, the foreign matter does not affect the movement of the cleaning device to the parking portion, but affects the charging of the cleaning device, so that the cleaning device can be controlled to move to the parking portion along the return charging path and be parked but not charged. That is, even if there is a foreign matter on the parking portion, when the height of the foreign matter is greater than or equal to the first height threshold and less than the second height threshold, the cleaning device can still enter the base station, instead of directly stopping entering the base station, and therefore, the scheme of the present application can effectively handle the situation that the cleaning device encounters a foreign matter during the process of returning to the base station, and can reduce the occupied space of the cleaning device, reduce the existing safety hazards, and reduce the situation that the cleaning device is easily damaged.

[0077] (2) For the case that there is a foreign matter on the slope portion, since the ground clearance of the chassis of the cleaning device on the ground can determine the height of the foreign matter that can be crossed, and when the cleaning device is located on the slope portion, the chassis is parallel to the surface of the slope portion. Therefore, the preset height threshold can be determined according to the ground clearance of the chassis of the cleaning device on the ground, that is, the third height threshold is determined by the ground clearance of the chassis of the cleaning device. The ground clearance of the chassis of the cleaning device is the height of the chassis of the cleaning device relative to the ground when the cleaning device is on the ground. 1) In response to detecting that there is a foreign matter on the slope portion and the height of the foreign matter is less than the third height threshold, the cleaning device is controlled to move to the parking portion along the return charging path and be charged, and the third height threshold is determined based on the ground clearance of the chassis of the cleaning device. The ground clearance of the chassis of the cleaning device is the height of the chassis of the cleaning device relative to the ground when the cleaning device is on the ground.

[0078] When the height of the foreign matter on the slope portion is less than the third height threshold, it can be considered that the cleaning device can cross the foreign matter and move to the parking portion, and therefore, the foreign matter does not affect the movement of the cleaning device to the parking portion, nor affects the charging of the cleaning device, so that the cleaning device can be controlled to move to the parking portion along the return charging path and be parked and charged. That is, even if there is a foreign matter on the slope portion, when the height of the foreign matter is less than the third height threshold, the cleaning device can still enter the base station and be parked and charged, instead of directly stopping entering the base station, and therefore, the scheme of the present application can effectively handle the situation that the cleaning device encounters a foreign matter during the process of returning to the base station, not only can reduce the occupied space of the cleaning device, reduce the existing safety hazards, and reduce the situation that the cleaning device is easily damaged, but also can improve the return charging efficiency of the cleaning device.

[0079] 2) in response to detecting that the foreign matter exists on the ramp section and the height of the foreign matter is greater than or equal to a third height threshold, controlling the cleaning device to perform a first foreign matter removal operation, the third height threshold being determined based on the ride height of the chassis of the cleaning device; in response to detecting that there is no foreign matter on the ramp section or that the foreign matter exists on the ramp section and the height of the foreign matter is less than the third height threshold after the cleaning device performs the first foreign matter removal operation, controlling the cleaning device to move to the parking section along the return charging path and charge.

[0080] When the height of the foreign matter on the ramp section is greater than or equal to the third height threshold, it can be considered that the cleaning device is more difficult to cross the foreign matter, and therefore the foreign matter will affect the movement of the cleaning device to the parking section in this case. In order to effectively handle the situation where the cleaning device encounters foreign matter during the return process to the base station, the cleaning device can be controlled to perform a first foreign matter removal operation to remove the foreign matter on the ramp section when it is detected that the foreign matter exists on the ramp section and the height of the foreign matter is greater than or equal to the third height threshold, so that the cleaning device moves to the parking section along the return charging path and charges; or the cleaning device is controlled to perform a first foreign matter removal operation to change the height of the foreign matter on the ramp section so that the height of the foreign matter is less than the third height threshold, so that the cleaning device moves to the parking section along the return charging path and charges. That is, even if there is foreign matter on the ramp section, the foreign matter can be removed or the height of the foreign matter can be changed by controlling the cleaning device to perform a first foreign matter removal operation, so that the cleaning device can still enter the base station for parking and charging, rather than directly stopping entering the base station. Therefore, the scheme of the present application can effectively handle the situation where the cleaning device encounters foreign matter during the return process to the base station, which can not only reduce the occupied space of the cleaning device, reduce the safety hazards, reduce the situation that the cleaning device is easily damaged, but also improve the return charging efficiency of the cleaning device.

[0081] In an optional embodiment, the first foreign matter removal operation includes at least one of the following: the cleaning device moves in a first preset direction, the cleaning device swings in a second preset direction, the cleaning device turns towards a third preset direction, the cleaning device lifts the side brush, the cleaning device expands the cleaning assembly, and the cleaning device controls the mechanical arm to grab the foreign matter. For example, the cleaning device moves forward and backward, the cleaning device turns, the cleaning device swings back and forth, and the like.

[0082] Optionally, after controlling the cleaning device to perform the first foreign matter removal operation, the cleaning device can output prompt information to prompt the user that the foreign matter removal operation has been performed on the foreign matter on the ramp section, so as to facilitate the user to check whether the foreign matter on the ramp section is removed completely, thereby avoiding the accumulation of unprocessed foreign matter on the ramp section to affect the operation of the cleaning device.

[0083] The following describes the case where the size of the foreign matter does not meet the preset size condition: In an embodiment, in response to detecting that the foreign matter exists on the recharging path and the size of the foreign matter does not satisfy the preset size condition, the cleaning device is controlled not to move to the parking portion and an alarm information is output.

[0084] For the case that the foreign matter exists on the ramp portion and the size of the foreign matter does not satisfy the preset size condition, the foreign matter can be removed or the size of the foreign matter can be changed by controlling the cleaning device to perform the first foreign matter removal operation as described above, so that the cleaning device can still enter the base station to park and charge. Alternatively, when detecting that the foreign matter exists on the ramp portion and the size of the foreign matter does not satisfy the preset size condition, the cleaning device can also be controlled not to move to the parking portion, and the cleaning device can be controlled to output an alarm information to remind the user to timely remove the foreign matter on the ramp portion, so as to avoid the foreign matter not being completely removed and accumulated on the ramp portion, thereby affecting the operation of the cleaning device.

[0085] For the case that the foreign matter exists on the parking portion and the size of the foreign matter does not satisfy the preset size condition, it can be considered that the foreign matter will affect the cleaning device to enter the base station. Therefore, the cleaning device can be controlled not to move to the parking portion, and the cleaning device can be controlled to output an alarm information to remind the user to remove the foreign matter on the parking portion, so as to avoid the foreign matter not being completely removed and accumulated in the base station, thereby affecting the operation of the cleaning device.

[0086] Of course, in an alternative embodiment, in order to further effectively handle the case that the cleaning device encounters foreign matter during the process of returning to the base station, when the foreign matter exists on the parking portion and the size of the foreign matter does not satisfy the preset size condition, the cleaning device can also be controlled to change the position of the foreign matter on the parking portion or change the size of the foreign matter by movement, so that the foreign matter does not affect the cleaning device to enter the base station to charge. Therefore, the cleaning device can be controlled to enter the base station to park and charge, and the cleaning device can be controlled to output a prompt information to prompt the user to timely handle the foreign matter on the parking portion, so as to avoid the foreign matter not being completely removed and accumulated in the base station, thereby affecting the operation of the cleaning device. In addition, when the foreign matter exists on the parking portion and the size of the foreign matter does not satisfy the preset size condition, the cleaning device can also be controlled not to move to the parking portion, and the cleaning device can be controlled to output an alarm information to remind the user to remove the foreign matter on the parking portion.

[0087] The size of the foreign matter not satisfying the preset size condition can include, but is not limited to, at least one of the following: (1) The height of the foreign matter is greater than or equal to a second height threshold value, and the second height threshold value is determined based on the top height of the first charging interface arranged in the parking cavity.

[0088] The second height threshold is determined based on the top height of the first charging interface, so that the height of the foreign matter greater than or equal to the top height of the second charging interface can be detected. When the height of the foreign matter is greater than or equal to the second height threshold, it can be considered that the foreign matter completely blocks the first charging interface, and thus the foreign matter will affect the cleaning device to enter the parking part, so that the cleaning device can be controlled not to move to the parking part, and the cleaning device can be controlled to output alarm information.

[0089] (2) The width of the foreign matter is greater than or equal to a width threshold, and the width threshold is determined based on the width of the cleaning device. The width of the cleaning device is the width of the orthogonal projection of the cleaning device on the inner wall of the parking cavity.

[0090] The width threshold is determined based on the width of the cleaning device, so that the width of the foreign matter greater than or equal to the width of the cleaning device can be detected. When the width of the foreign matter is greater than or equal to the width threshold, it can be considered that the foreign matter affects the cleaning device to enter the parking part, so that the cleaning device can be controlled not to move to the parking part, and the cleaning device can be controlled to output alarm information.

[0091] (3) The length of the foreign matter is greater than or equal to a length threshold, and the length threshold is determined based on the depth of the parking cavity. The depth of the parking cavity is the extension length of the parking cavity along the recharging path of the cleaning device.

[0092] The length threshold is determined based on the depth of the parking cavity, so that the length of the foreign matter greater than or equal to the depth of the parking cavity can be detected. In this case, the foreign matter can be partially located outside the parking cavity. Therefore, when the length of the foreign matter is greater than or equal to the length threshold, it can be considered that the foreign matter affects the cleaning device to enter the parking cavity, so that the cleaning device can be controlled not to move to the parking part, and the cleaning device can be controlled to output alarm information.

[0093] In another embodiment, in response to detecting that the foreign matter exists on the parking part and that the orthogonal projection of the foreign matter on the inner wall of the parking cavity does not overlap with the orthogonal projection of the first charging interface arranged in the parking cavity on the inner wall of the parking cavity, the cleaning device is controlled to move to the parking part and be charged.

[0094] If the foreign matter on the parking portion does not overlap the first charging interface in the inner wall of the parking cavity, it can be considered that the foreign matter on the parking portion does not block the first charging interface. For example, when the foreign matter is located on the left side or the right side (the left side and the right side in the front-rear direction relative to the moving direction of the cleaning device) of the parking portion 1111, it will not block the first charging interface 1112. Therefore, the foreign matter neither affects the movement of the cleaning device to the parking portion nor affects the charging of the cleaning device, so that the cleaning device can be controlled to move to the parking portion along the return charging path and be charged. That is, when the scheme of the present application detects that there is foreign matter on the parking portion, but the foreign matter does not block the first charging interface, the cleaning device can still enter the base station to park and charge, instead of directly stopping entering the base station. Therefore, the scheme of the present application can effectively handle the situation of encountering foreign matter during the return of the cleaning device to the base station, which can not only reduce the occupied space of the cleaning device, reduce the safety hidden danger, reduce the situation that the cleaning device is easily damaged, but also improve the return charging efficiency of the cleaning device.

[0095] Optionally, whether the size of the foreign matter meets the preset size condition, as long as the foreign matter does not block the first charging interface, the cleaning device can be controlled to move to the parking portion along the return charging path and be charged.

[0096] In addition, in the present application, in addition to detecting the size of the foreign matter, the material of the foreign matter can also be detected. The scheme for detecting the material of the foreign matter is introduced as follows: In an embodiment, in response to detecting that there is foreign matter on the return charging path and the material of the foreign matter is hard, the cleaning device is controlled not to move to the parking portion and an alarm information is output.

[0097] The material of the foreign matter being hard can refer to the foreign matter with hard material, which is not easy to deform or be crushed. For example, metal products: coins, keys, nails, paper clips, metal bottle caps, small scissors, etc. Such foreign matters have high hardness and sharp edges, which may damage the cleaning device or cause the cleaning device to be stuck (for example, stuck in the rollers of the cleaning device); plastic products: hard plastic toys (such as Lego blocks, plastic jigsaw puzzle pieces), plastic bottle caps, pen caps, hard plastic packaging corners, etc. Such foreign matters have hard texture and irregular shape, which are easy to cause the cleaning device to be stuck (for example, stuck in the tracks or brushes of the cleaning device); glass or ceramic products: broken glass slag, ceramic fragments, etc. Such foreign matters have extremely high hardness and may have sharp edges, which may damage the cleaning device; fruit pits: such as peach pits, apricot pits, jujube pits, etc. Such foreign matters have hard texture and irregular shape, which are easy to cause the cleaning device to be stuck (for example, stuck in the roller brushes or suction ports of the cleaning device); and the like.

[0098] Therefore, when it is detected that there is a foreign matter on the return path and the material of the foreign matter is hard, the cleaning device is controlled not to move to the parking part and alarm information is output, so that damage to the cleaning device can be avoided and the service life of the cleaning device can be prolonged.

[0099] In another embodiment, in response to detecting that there is a foreign matter in the cleaning tank of the parking cavity and the material of the foreign matter meets the preset material condition, the cleaning device is controlled to move to the parking part along the return path.

[0100] If the foreign matter is in the cleaning tank of the parking cavity, it can be considered whether the foreign matter in the cleaning tank can be dissolved or crushed by washing the cleaning assembly of the cleaning device, so as to reduce the influence of the foreign matter in the cleaning tank on the return of the cleaning device, so that the cleaning device can move to the parking part along the return path and be charged, and therefore, the situation of the cleaning device encountering a foreign matter during the process of returning to the base station can be effectively handled, and the return efficiency of the cleaning device can be improved.

[0101] In an optional embodiment, in response to detecting that there is a foreign matter in the cleaning tank of the parking cavity and the material of the foreign matter meets the preset material condition, the cleaning device is controlled to move to the parking part along the return path, including: in response to detecting that there is a foreign matter in the cleaning tank of the parking cavity and the material of the foreign matter is water-soluble material and / or dispersible material, the cleaning device is controlled to move to the parking part and be charged, and the base station is controlled to wash the cleaning assembly of the cleaning device.

[0102] The water-soluble material of the foreign matter can refer to the foreign matter that can be dissolved in water to form a solution or a paste; the dispersible material of the foreign matter can refer to the foreign matter that can be dispersed and crushed into small pieces and does not block the pipeline. For example, part of food: sugar (white sugar, brown sugar, rock sugar, marshmallow, etc.), instant beverage powder (instant coffee, milk powder, soybean milk powder, etc.), vegetable leaves; part of daily necessities: soap scraps, laundry detergent, water-soluble or dispersible facial mask paper, compressed towel, paper towel, etc.

[0103] If it is detected that there is a foreign matter in the cleaning tank and the material of the foreign matter is water-soluble material and / or dispersible material, it is determined that the foreign matter in the cleaning tank can be dissolved or crushed by washing the cleaning assembly of the cleaning device, so that the cleaning device can be controlled to move to the parking part and be charged, and the base station can be controlled to wash the cleaning assembly of the cleaning device, so that the foreign matter can be dissolved, dispersed or crushed during the washing of the cleaning assembly, and the foreign matter can be discharged with the sewage after the cleaning assembly is washed, thereby reducing the influence of the foreign matter in the cleaning tank on the return of the cleaning device, effectively handling the situation of the cleaning device encountering a foreign matter during the process of returning to the base station, and improving the return efficiency of the cleaning device.

[0104] Optionally, if the base station is controlled to clean the cleaning assembly of the cleaning device to achieve dissolving, dispersing or crushing of the foreign matter, after the cleaning of the cleaning assembly is completed, prompt information can be output to the user to facilitate the user to check whether the foreign matter in the cleaning tank is completely treated, so as to avoid the accumulation of the foreign matter in the base station which causes an impact on the operation of the cleaning device.

[0105] In another optional embodiment, in response to detecting that the foreign matter exists in the cleaning tank of the docking cavity and the material of the foreign matter meets the preset material condition, the cleaning device is controlled to move to the docking part along the charging path, including: in response to detecting that the foreign matter exists in the cleaning tank of the docking cavity and the material of the foreign matter is water-insoluble material and / or non-dispersible material, the cleaning device is controlled to move to the docking part and charge, and the base station is not controlled to clean the cleaning assembly of the cleaning device.

[0106] The water-insoluble material of the foreign matter can mean that the foreign matter cannot be dissolved in water; the non-dispersible material of the foreign matter can mean that the foreign matter cannot be dispersed or crushed into small pieces. For example, plastic: plastic bags, plastic bottle fragments, plastic toys, etc.; metal; glass or ceramic; clothing fragments, towels, rags, yarns, ropes, shoelaces, etc.

[0107] If it is detected that the foreign matter exists in the cleaning tank and the material of the foreign matter is water-insoluble material and / or non-dispersible material, it is determined that the foreign matter in the cleaning tank cannot be dissolved or crushed by cleaning the cleaning assembly of the cleaning device, because in the process of cleaning the cleaning assembly, the foreign matter may block the pipeline, jam the cleaning device or damage the cleaning device. Therefore, in order to avoid damage to the cleaning device and prolong the service life of the cleaning device, the cleaning device can be controlled to move to the docking part and charge, but the base station is not controlled to clean the cleaning assembly of the cleaning device.

[0108] In addition, during the process of controlling the cleaning device to charge, the cleaning device may fail to charge due to the influence of the foreign matter, so the cleaning device can be controlled to perform a second foreign matter removal operation to reduce the influence of the foreign matter on the charging of the cleaning device. The following describes a scheme of controlling the cleaning device to perform the second foreign matter removal operation: In one embodiment, when the cleaning device is controlled to charge, in response to the docking operation of the second charging interface and the first charging interface failing, the cleaning device is controlled to perform a second foreign matter removal operation; after performing the second foreign matter removal operation, the docking operation of the second charging interface and the first charging interface is performed again.

[0109] If there is foreign matter on the parking portion and the cleaning device drives into the parking portion, the foreign matter may affect the docking of the second charging interface and the first charging interface if the cleaning device is controlled to charge. Therefore, in order to further effectively deal with the situation that the cleaning device encounters foreign matter during the process of returning to the base station, when it is detected that the docking operation of the second charging interface and the first charging interface fails, the cleaning device can be controlled to perform a second foreign matter removal operation to change the position or size of the foreign matter on the parking portion, or to change the position and size of the foreign matter on the parking portion at the same time, so as to reduce the charging influence of the foreign matter on the cleaning device, and then control the cleaning device to perform the docking operation of the second charging interface and the first charging interface again after the cleaning device performs the second foreign matter removal operation.

[0110] The second foreign matter removal operation can include but is not limited to at least one of the following ways: (1) Control the cleaning device to drive out of the parking portion and then move to the parking portion again, wherein the cleaning device is controlled to move in a first preset manner during the movement to the parking portion.

[0111] If the foreign matter existing on the parking portion has an influence on the charging of the cleaning device, it may be that the position of the cleaning device in the parking portion deviates due to the foreign matter during the process of driving into the parking portion, thereby causing the docking failure of the second charging interface and the first charging interface. Therefore, the cleaning device can be controlled to cyclically perform the operation of driving out of the parking portion and then moving to the parking portion again, so as to reduce the charging influence of the foreign matter on the cleaning device by using the first preset manner of movement of the cleaning device during the movement to the parking portion, thereby effectively dealing with the situation that the cleaning device encounters foreign matter during the process of returning to the base station, and improving the charging efficiency of the cleaning device.

[0112] The first preset manner can include but is not limited to the following ways: the cleaning device moves in a fourth preset direction, the cleaning device swings in a fifth preset direction, the cleaning device shakes in a sixth preset direction, the cleaning device turns towards a seventh preset direction, the cleaning device lifts a single side of the body or the brush, the cleaning device expands the cleaning assembly, and the cleaning device controls the mechanical arm to grab the foreign matter. For example, the cleaning device moves forward and backward, the cleaning device turns, the cleaning device shakes left and right and up and down, and the cleaning device swings back and forth.

[0113] (2) Control the cleaning device to move in a second preset manner within a preset range in the parking cavity.

[0114] If the foreign matter existing on the parking portion has an influence on the charging of the cleaning device, the foreign matter can also be located near the second charging interface, thereby causing the second charging interface to fail to dock with the first charging interface. Therefore, the cleaning device can be controlled to move in the second preset manner within the preset range of the parking cavity, thereby reducing the influence of the foreign matter on the charging of the cleaning device, effectively handling the situation of encountering the foreign matter during the return of the cleaning device to the base station, and improving the return charging efficiency of the cleaning device.

[0115] The second preset manner includes at least one of the following: the cleaning device swings in an eighth preset direction, the cleaning device shakes in a ninth preset direction, and the cleaning device lifts a single side of the body. For example, the cleaning device shakes left and right and up and down, and the cleaning device swings back and forth.

[0116] (3) Control the cleaning device to contact and remove the foreign matter.

[0117] When the foreign matter existing on the parking portion has an influence on the charging of the cleaning device, the cleaning device can be controlled to remove the foreign matter by directly contacting the foreign matter, for example, the cleaning device pushes the foreign matter by lifting the brush, changes the position of the foreign matter, or the cleaning device changes the size of the foreign matter by rolling the foreign matter, etc. This direct contact with the foreign matter can more effectively remove the foreign matter, thereby improving the removal efficiency of the foreign matter, and further effectively handling the situation of encountering the foreign matter during the return of the cleaning device to the base station, and improving the return charging efficiency of the cleaning device.

[0118] (4) Control the cleaning device to vibrate at least a part of the base station.

[0119] When the foreign matter existing on the parking portion has an influence on the charging of the cleaning device, the cleaning device can also be controlled to remove the foreign matter by an indirect method, including controlling the cleaning device to vibrate at least a part of the base station, changing the position or size of the foreign matter during the vibration of at least a part of the base station, or changing the position and size of the foreign matter at the same time, etc. For example, the cleaning device moves in the parking cavity to vibrate the base station. This indirect method can effectively reduce the damage of the foreign matter to the cleaning device while removing the foreign matter, thereby effectively handling the situation of encountering the foreign matter during the return of the cleaning device to the base station, improving the return charging efficiency of the cleaning device, and prolonging the service life of the cleaning device.

[0120] Of course, when there is a foreign matter at any position on the parking portion, any one or more of the above methods can be used to remove the foreign matter, for example, after the cleaning device is controlled to drive out of the parking portion, the cleaning device is moved to the parking portion again, wherein the cleaning device is controlled to move in the first preset manner during the movement to the parking portion, and after the movement to the parking portion, the cleaning device is controlled to move in the second preset manner within the preset range in the parking cavity; for another example, during the movement of the cleaning device in the second preset manner within the preset range in the parking cavity, the cleaning device is controlled to vibrate at least a part of the base station, and the like.

[0121] The first foreign matter removal operation is used to process the foreign matter on the ramp portion, and the second foreign matter removal operation is used to process the foreign matter in the parking cavity.

[0122] The first foreign matter removal operation can use the same operation as the first preset manner. Since the foreign matter not on the parking portion can be processed, the activity range of the cleaning device corresponding to the first foreign matter removal operation and the first preset manner can be larger, and a mechanical arm can also be used. The second preset manner is used to process the foreign matter in the parking cavity, and thus the activity range of the corresponding cleaning device is relatively small, and the mechanical arm can not be used.

[0123] In the embodiments of the present application, the cleaning device can be controlled to execute the second foreign matter removal operation multiple times, and during the execution of the second foreign matter removal operation by the cleaning device, it is detected in real time whether the second charging interface can be successfully docked with the first charging interface.

[0124] In an optional embodiment, if the time length of the docking operation between the second charging interface and the first charging interface is greater than the time length preset value, and the docking between the second charging interface and the first charging interface fails, the cleaning device is controlled to stop executing the back charging operation and output an alarm information.

[0125] If the time length of the docking operation between the second charging interface and the first charging interface is greater than the time length preset value during the execution of the second foreign matter removal operation by the cleaning device, but the docking still fails, it is considered that the docking between the second charging interface and the first charging interface is difficult. Therefore, the cleaning device can be controlled to stop executing the back charging operation, for example, the cleaning device is controlled to stop at the current position, and an alarm information can be output to inform the user that the cleaning device cannot be charged, so that the user can timely process the problem that the cleaning device cannot be charged.

[0126] In another optional embodiment, if the number of times of moving the cleaning device to the parking portion again is greater than the number preset value, and the docking between the second charging interface and the first charging interface fails, the cleaning device is controlled to stop executing the back charging operation and output an alarm information.

[0127] If the number of times that the cleaning device moves to the docking portion again during the execution of the second foreign matter removal operation is greater than the preset number of times, but the docking still fails, it is considered that the docking difficulty of the second charging interface and the first charging interface is high. Therefore, the cleaning device can be controlled to stop executing the back charging operation, and alarm information can be output to inform the user that the cleaning device cannot be charged, so that the user can timely handle the problem that the cleaning device cannot be charged.

[0128] In the embodiments of the present application, when it is detected that there is foreign matter on the back charging path, whether the cleaning device moves to the docking portion for the first time and successfully charges, or the cleaning device removes foreign matter and / or changes the size of foreign matter after executing the first foreign matter removal operation, the second foreign matter removal operation, etc., the cleaning device moves to the docking portion and successfully charges, prompt information can be output to the user to prompt the user that there is foreign matter at the corresponding position, so that the user can timely handle the foreign matter, thereby avoiding the accumulation of foreign matter that is not handled cleanly affecting the operation of the cleaning device.

[0129] In an embodiment, if the cleaning device is stuck during the movement of the cleaning device to the docking portion, a preset escape operation is executed, and the cleaning device is controlled to drive out of the docking cavity.

[0130] If the cleaning device is not stuck in time after being stuck, it may cause damage to the cleaning device. For example, due to the stuck, the motor load of the cleaning device is too large, if not stuck in time, it may cause the motor of the cleaning device to run for a long time, thereby causing the motor to burn out, the circuit to short circuit, etc.; for another example, the stuck may cause the body of the cleaning device to continuously rub against the edge of the base station, if not stuck in time, it may cause the shell of the cleaning device, the wheel set to wear (such as plastic parts scratching, tire deformation), etc.

[0131] In order to avoid damage to the cleaning device and prolong the service life of the cleaning device, if the cleaning device is stuck during the movement of the cleaning device to the docking portion, the cleaning device can be controlled to execute a preset escape operation, for example, the current operation mode of the cleaning device is adjusted to an escape mode, and the cleaning device is controlled to drive out of the docking cavity. Controlling the cleaning device to drive out of the docking cavity can realize that the cleaning device is separated from the position where it is stuck by reverse driving, thereby reducing the influence of motor overload, component friction, etc. on the cleaning device, and further improving the service life of the cleaning device.

[0132] Optionally, when it is detected that the cleaning device is stuck, the cleaning device can be controlled to output alarm information to facilitate the user to handle the problem that the cleaning device is stuck in time; or after the cleaning device executes the preset escape operation and controls the cleaning device to drive out of the docking cavity, the cleaning device can be controlled to output alarm information to facilitate the user to check whether the cleaning device has completed the escape.

[0133] In the embodiment of the present application, at least one lamp strip parallel to the bottom surface of the base station can be arranged on the inner wall of the parking cavity of the base station. Through the at least one lamp strip, not only can the parking cavity of the base station be lighted to improve the accuracy of detecting the size of the foreign matter in the parking cavity under poor light conditions, but also the height of the foreign matter can be determined through the height of the at least one lamp strip, wherein the height of the lamp strip is the height of the lamp strip relative to the bottom of the parking cavity. That is, the present application can not only directly detect the height of the foreign matter, but also determine the height of the foreign matter through the lamp strip arranged in the parking cavity. The scheme for determining the height of the foreign matter by using the lamp strip arranged in the parking cavity is introduced as follows: In an embodiment, at least one lamp strip is arranged in the parking cavity, and the height of the lamp strip corresponds to a preset height threshold; the method further comprises: determining the height of the foreign matter based on the blocking of the lamp strip by the foreign matter in the parking cavity.

[0134] The preset height threshold is determined based on any one of the bottom height of the first charging interface arranged in the parking cavity, the top height of the first charging interface, and the ground clearance of the chassis of the cleaning device. The preset height threshold includes: a first height threshold determined by using the bottom height of the first charging interface, a second height threshold determined by using the top height of the first charging interface, and a third height threshold determined by using the ground clearance of the chassis of the cleaning device, wherein the third height threshold is less than the first height threshold, and the first height threshold is less than the second height threshold.

[0135] When the number of lamp strips arranged in the parking cavity is one, the height of the lamp strip can be any one of the first height threshold, the second height threshold, and the third height threshold. When the number of lamp strips arranged in the parking cavity is two, the heights of the two lamp strips can be any two of the first height threshold, the second height threshold, and the third height threshold. When the number of lamp strips arranged in the parking cavity is three, the heights of the three lamp strips can correspond to the first height threshold, the second height threshold, and the third height threshold, respectively.

[0136] It should be noted that the preset height threshold can also be determined based on other heights, such as the top height of the cleaning device, the height of the parking cavity, etc., wherein the top height of the cleaning device is the height of the top of the cleaning device relative to the ground when the cleaning device is on the ground, and the height of the parking cavity is the height between the top of the parking cavity and the bottom of the parking cavity. If the number of lamp strips arranged in the parking cavity is greater than three, the height of the lamp strip can be set according to actual needs.

[0137] When determining the height of a foreign object using LED strips installed within a parking cavity, the height of the object can be determined based on how much it obstructs the LED strips. For example, consider a parking cavity with three LED strips (a first, second, and third strip), where the heights of the first, second, and third strips correspond to a first height threshold, a second height threshold, and a third height threshold, respectively. If the foreign object does not block the third light strip, it is determined that the height of the foreign object is less than the third height threshold. At this time, it is considered that the cleaning equipment can cross the foreign object and move to the docking station. Therefore, the foreign object does not affect the cleaning equipment's movement to the docking station, nor does it affect the cleaning equipment's charging. Thus, the cleaning equipment can be controlled to move along the recharge path to the docking station for charging. This effectively handles the situation where the cleaning equipment encounters foreign objects during its return to the base station. This not only reduces the space occupied by the cleaning equipment, reduces potential safety hazards, and reduces the likelihood of damage to the cleaning equipment, but also improves the recharge efficiency of the cleaning equipment.

[0138] If a foreign object blocks the third light strip but not the first light strip, the height of the foreign object is determined to be greater than or less than the third height threshold and less than the first height threshold. In this case, it is considered that the foreign object does not block the first charging interface. That is, the foreign object neither affects the cleaning equipment's movement to the docking station nor its charging. Thus, the cleaning equipment can be controlled to move along the recharge path to the docking station and charge. This effectively handles the situation where the cleaning equipment encounters foreign objects during its return to the base station. This not only reduces the space occupied by the cleaning equipment, reduces potential safety hazards, and reduces the likelihood of damage to the cleaning equipment, but also improves the recharge efficiency of the cleaning equipment.

[0139] If a foreign object blocks the first light strip but not the second light strip, the height of the foreign object is determined to be greater than or equal to the first height threshold and less than the second height threshold. In this case, it is considered that the foreign object partially blocks the first charging interface. Therefore, the foreign object does not affect the cleaning equipment from moving to the docking station, but it does affect the charging of the cleaning equipment. Thus, the cleaning equipment can be controlled to move along the return charging path to the docking station but not to charge.

[0140] If a foreign object blocks the second light strip, it is determined that the height of the foreign object is greater than or equal to the second height threshold. At this time, it is considered that the foreign object completely blocks the first charging interface. Therefore, the foreign object will affect the movement of the cleaning equipment to the docking part, thereby controlling the cleaning equipment not to move to the docking part and controlling the cleaning equipment to output alarm information.

[0141] Next reference Figure 4 The recharge control device of the cleaning system of this application is described. Figure 4 This is a schematic diagram of the recharge control device for a cleaning system provided in an embodiment of this application. This device can be installed on the control module of the cleaning equipment 12. Figure 4 As shown, the recharge control device 400 of the cleaning system includes: The first control unit 410 is configured to control the cleaning device to move towards the base station if the back charging condition is met.

[0142] The second control unit 420 is configured to control the cleaning device to move along the back charging path until entering the parking cavity if it is detected that there is a foreign object on the back charging path and the size of the foreign object meets the preset size condition.

[0143] As an optional implementation, the second control unit 420 is specifically configured to control the cleaning device to move along the back charging path until entering the parking cavity if it is detected that there is a foreign object on the back charging path and the height of the foreign object is less than the preset height threshold.

[0144] As an optional implementation, the parking cavity is provided with a first charging interface; the second control unit 420 is specifically configured to at least one of the following when it is detected that there is a foreign object on the back charging path and the height of the foreign object is less than the preset height threshold: control the cleaning device to move to the parking cavity and charge if it is detected that the height of the foreign object on the parking cavity is less than the first height threshold, the first height threshold being determined based on the bottom height of the first charging interface; control the cleaning device to move to the parking cavity without charging if it is detected that the height of the foreign object on the parking cavity is greater than or equal to the first height threshold and less than the second height threshold, the first height threshold being determined based on the bottom height of the first charging interface, and the second height threshold being determined based on the top height of the first charging interface; control the cleaning device to move to the parking cavity along the back charging path and charge if it is detected that the height of the foreign object on the ramp is less than the third height threshold, the third height threshold being determined based on the ground clearance of the chassis of the cleaning device; control the cleaning device to perform a first foreign object removal operation if it is detected that the height of the foreign object on the ramp is greater than or equal to the third height threshold, the third height threshold being determined based on the ground clearance of the chassis of the cleaning device; control the cleaning device to move to the parking cavity along the back charging path and charge if it is detected that there is no foreign object on the ramp or the height of the foreign object on the ramp is less than the third height threshold after the cleaning device performs the first foreign object removal operation.

[0145] As an optional implementation, the first foreign object removal operation includes at least one of the following: the cleaning device moves in a first preset direction, the cleaning device swings in a second preset direction, the cleaning device turns towards a third preset direction, the cleaning device lifts the side brush, the cleaning device expands the cleaning assembly, and the cleaning device controls the mechanical arm to grab the foreign object.

[0146] Further, the second control unit 420 is further configured to: in response to detecting that the foreign matter exists on the return charging path and the size of the foreign matter does not satisfy the preset size condition, control the cleaning device not to move to the parking part and output an alarm information; and in response to detecting that the foreign matter exists on the return charging path and the material of the foreign matter is hard, control the cleaning device not to move to the parking part and output an alarm information.

[0147] As an optional implementation, the size of the foreign matter not satisfying the preset size condition includes at least one of: a height of the foreign matter being greater than or equal to a second height threshold, the second height threshold being determined based on a top height of the first charging interface arranged in the parking cavity, the height of the foreign matter being a height of a normal projection of the foreign matter on an inner wall of the parking cavity; a width of the foreign matter being greater than or equal to a width threshold, the width threshold being determined based on a width of the cleaning device, the width of the foreign matter being a width of a normal projection of the foreign matter on the inner wall of the parking cavity; and a length of the foreign matter being greater than or equal to a length threshold, the length threshold being determined based on a depth of the parking cavity, the length of the foreign matter being an extension length of the foreign matter along the return charging path of the cleaning device.

[0148] Further, the second control unit 420 is further configured to: in response to detecting that the foreign matter exists on the parking part and a normal projection of the foreign matter on an inner wall of the parking cavity does not overlap with a normal projection of the first charging interface arranged in the parking cavity on the inner wall of the parking cavity, control the cleaning device to move to the parking part and perform charging.

[0149] Further, the second control unit 420 is further configured to: in response to detecting that the foreign matter exists in the cleaning groove of the parking cavity and the material of the foreign matter meets a preset material condition, control the cleaning device to move to the parking part along the return charging path.

[0150] As an optional implementation, the second control unit 420, in response to detecting that the foreign matter exists in the cleaning groove of the parking cavity and the material of the foreign matter meets the preset material condition, controls the cleaning device to move to the parking part along the return charging path, is specifically configured to at least one of: in response to detecting that the foreign matter exists in the cleaning groove of the parking cavity and the material of the foreign matter is a water-soluble material and / or a dispersible material, control the cleaning device to move to the parking part and perform charging, and control the base station to clean the cleaning assembly of the cleaning device; and in response to detecting that the foreign matter exists in the cleaning groove of the parking cavity and the material of the foreign matter is a water-insoluble material and / or a non-dispersible material, control the cleaning device to move to the parking part and perform charging, and control the base station not to clean the cleaning assembly of the cleaning device.

[0151] Further, the cleaning device is provided with a second charging interface; the second control unit 420 is further configured to: in response to a docking operation of the second charging interface and the first charging interface failing when controlling the cleaning device to charge, control the cleaning device to perform a second foreign matter removal operation; and after performing the second foreign matter removal operation, perform the docking operation of the second charging interface and the first charging interface again.

[0152] As an optional implementation, the second foreign matter removal operation includes at least one of the following: controlling the cleaning device to move out of the parking part and then move to the parking part again, wherein the cleaning device moves in the first preset manner during the movement to the parking part; controlling the cleaning device to move in the second preset manner within a preset range in the parking cavity; controlling the cleaning device to contact and remove the foreign matter; and controlling the cleaning device to vibrate at least a part of the base station.

[0153] As an optional implementation, the first preset manner includes at least one of the following: the cleaning device moves in a first preset direction, the cleaning device swings in a second preset direction, the cleaning device shakes in a third preset direction, the cleaning device turns towards a fourth preset direction, the cleaning device lifts a single side of the body or the brush, the cleaning device expands the cleaning assembly outward, and the cleaning device controls the mechanical arm to grab the foreign matter; and / or, the second preset manner includes at least one of the following: the cleaning device swings in a fifth preset direction, the cleaning device shakes in a sixth preset direction, and the cleaning device lifts a single side of the body.

[0154] Further, the second control unit 420 is further configured to: in response to a time length of the docking operation of the second charging interface and the first charging interface being greater than a preset time length, or a movement frequency of the cleaning device moving to the parking part being greater than a preset frequency, and the second charging interface and the first charging interface failing to dock, control the cleaning device to stop performing the charging operation and output an alarm information.

[0155] Further, the second control unit 420 is further configured to: in response to detecting that the cleaning device is stuck during the movement of the cleaning device to the parking part, perform a preset escape operation and control the cleaning device to move out of the parking part.

[0156] Further, the charging control device 400 of the cleaning system further includes a detection unit (not shown) configured to detect or identify the foreign matter by using a binocular vision sensor.

[0157] Further, at least one light strip is arranged in the parking cavity, and a height of the light strip corresponds to a preset height threshold; the charging control device 400 of the cleaning system further includes a determination unit (not shown) configured to determine the height of the foreign matter based on an occlusion of the light strip by the foreign matter in the parking cavity.

[0158] As an optional implementation, the backfill path is generated based on docking information of the base station.

[0159] The technical solutions provided by the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples. The above example descriptions are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method of recharging control of a cleaning system, characterized in that, The cleaning system comprises a cleaning device and a base station, the base station comprises a parking cavity, the bottom of the parking cavity comprises a parking part, the front end of the parking part is connected with a ramp part, the ramp part is located in the parking cavity or extends out of the parking cavity, and the charging control method comprises the following steps: In the case that the charging condition is met, the cleaning device is controlled to move towards the base station; In response to detecting that there is a foreign matter on the parking part and the orthogonal projection of the foreign matter on the inner wall of the parking cavity does not overlap with the orthogonal projection of the first charging interface arranged in the parking cavity on the inner wall of the parking cavity, the cleaning device is controlled to move to the parking part and charge.

2. The method of claim 1, wherein, Further comprising at least one of the following: In response to detecting that there is a foreign matter on the charging path and the size of the foreign matter does not meet the preset size condition, the cleaning device is controlled not to move to the parking part and output alarm information, and the charging path is the path entering the parking part through the ramp part; In response to detecting that there is a foreign matter on the charging path and the material of the foreign matter is hard, the cleaning device is controlled not to move to the parking part and output alarm information; In response to detecting that there is a foreign matter on the parking part and the height of the foreign matter is less than a first height threshold, the cleaning device is controlled to move to the parking part and charge, and the first height threshold is determined based on the bottom height of the first charging interface; In response to detecting that there is a foreign matter on the parking part and the height of the foreign matter is greater than or equal to the first height threshold and less than a second height threshold, the cleaning device is controlled to move to the parking part but not to charge, the first height threshold is determined based on the bottom height of the first charging interface, and the second height threshold is determined based on the top height of the first charging interface; In response to detecting that there is a foreign matter on the ramp part and the height of the foreign matter is less than a third height threshold, the cleaning device is controlled to move to the parking part along the charging path and charge, and the third height threshold is determined based on the ground clearance of the chassis of the cleaning device; In response to detecting that there is a foreign matter on the ramp part and the height of the foreign matter is greater than or equal to the third height threshold, the cleaning device is controlled to perform a first foreign matter removal operation, and the third height threshold is determined based on the ground clearance of the chassis of the cleaning device; in response to detecting that there is no foreign matter on the ramp part or there is a foreign matter on the ramp part and the height of the foreign matter is less than the third height threshold after the cleaning device performs the first foreign matter removal operation, the cleaning device is controlled to move to the parking part along the charging path and charge.

3. The method of claim 2, wherein, The size of the foreign matter does not meet the preset size condition, which comprises at least one of the following: The height of the foreign matter is greater than or equal to a second height threshold, the second height threshold is determined based on the top height of the first charging interface arranged in the parking cavity, and the height of the foreign matter is the height of the orthogonal projection of the foreign matter on the inner wall of the parking cavity; The width of the foreign matter is greater than or equal to a width threshold, the width threshold being determined based on a width of the cleaning device, the width of the foreign matter being a width of a normal projection of the foreign matter on an inner wall of the parking cavity; The length of the foreign matter is greater than or equal to a length threshold, the length threshold being determined based on a depth of the parking cavity, the length of the foreign matter being an extension length of the foreign matter along a recharging path of the cleaning device.

4. The method of claim 1, wherein, Further comprising: In response to detecting that there is a foreign matter in the cleaning tank of the parking cavity and that the material of the foreign matter meets a preset material condition, the cleaning device is controlled to move to the parking portion along the recharging path.

5. The method of claim 4, wherein, In response to detecting that there is a foreign matter in the cleaning tank of the parking cavity and that the material of the foreign matter meets a preset material condition, the cleaning device is controlled to move to the parking portion along the recharging path, including at least one of: In response to detecting that there is a foreign matter in the cleaning tank of the parking cavity and that the material of the foreign matter is water-soluble material and / or dispersible material, the cleaning device is controlled to move to the parking portion and be charged, and the base station is controlled to clean the cleaning components of the cleaning device; In response to detecting that there is a foreign matter in the cleaning tank of the parking cavity and that the material of the foreign matter is water-insoluble material and / or non-dispersible material, the cleaning device is controlled to move to the parking portion and be charged, and the base station is controlled not to clean the cleaning components of the cleaning device.

6. The method of claim 1 or 2, wherein, The cleaning device is provided with a second charging interface; the recharging control method further comprises: When controlling the cleaning device to be charged, in response to a failure of the second charging interface to dock with the first charging interface, the cleaning device is controlled to perform a second foreign matter removal operation; After performing the second foreign matter removal operation, the docking operation of the second charging interface and the first charging interface is performed again.

7. The recharging control method according to claim 6, wherein The second foreign matter removal operation includes at least one of: After the cleaning device is controlled to drive out of the parking portion, the cleaning device is controlled to move to the parking portion again, wherein the cleaning device is controlled to move in a first preset manner during the movement to the parking portion; The cleaning device is controlled to move in a second preset manner within a preset range in the parking cavity; The cleaning device is controlled to contact and remove the foreign matter; The cleaning device is controlled to vibrate at least a part of the base station.

8. The recharging control method of claim 7, wherein, The first preset manner includes at least one of: the cleaning device moves in a fourth preset direction, the cleaning device swings in a fifth preset direction, the cleaning device shakes in a sixth preset direction, the cleaning device turns towards a seventh preset direction, the cleaning device lifts a single side of the body or a side brush, the cleaning device expands the cleaning components, and the cleaning device controls a mechanical arm to grab the foreign matter; and / or The second preset manner includes at least one of: the cleaning device swings in an eighth preset direction, the cleaning device shakes in a ninth preset direction, and the cleaning device lifts a single side of the body.

9. The method of claim 6, wherein, Further comprising: In response to a duration of the second charging interface and the first charging interface performing the docking operation being greater than a preset duration value, or a number of times that the cleaning device moves to the parking portion again being greater than a preset number of times, and the second charging interface and the first charging interface failing to dock, the cleaning device is controlled to stop performing the back charging operation and output alarm information.

10. A cleaning system characterized by, Comprise: A base station and a cleaning device in communication with the base station, the base station comprising a parking cavity, a parking portion at the bottom of the parking cavity, and a ramp portion connected to the front end of the parking portion, the ramp portion being located in the parking cavity or extending out of the parking cavity; The cleaning device comprises a control module and a sensor for detecting or identifying foreign matter on a back charging path, the back charging path being a path entering the parking portion through the ramp portion, the control module being configured to control the cleaning device to move towards the base station when the cleaning device meets back charging conditions, and to control the cleaning device to move to the parking portion and charge when the sensor detects that foreign matter exists on the parking portion and a projection of the foreign matter on an inner wall of the parking cavity does not overlap with a projection of a first charging interface provided in the parking cavity on the inner wall of the parking cavity.

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