Control method of cleaning system

Abstract

The embodiment of the invention provides a control method of a cleaning system. The method comprises the steps that under the condition that the cleaning equipment executes a recharging task, a base station is controlled to project light so as to project an indication area in front of the base station, and the base station is controlled to send out a transmitting signal so as to communicate with the cleaning equipment. The method is used for providing visual position guidance for a user, realizing simple operation of returning the cleaning equipment to a station by the user, and greatly reducing the operation difficulty of the cleaning equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of smart home control, and in particular to a control method of a cleaning system. BACKGROUND

[0002] With the gradual popularization of cleaning equipment, more and more users have begun to use handheld cleaning equipment such as wireless scrubber to perform indoor or outdoor cleaning work.

[0003] During the execution of the cleaning work, the scrubber may need to clean the brush or return to the charging station. In order to improve the intelligence and user interaction experience, the inventor tries to explore a scheme for controlling the scrubber to automatically return to the base station in the upright state. However, in actual use, the number of sensors on the scrubber and the communication capability with the base station are limited, and an effective area range needs to be set so that the scrubber can start the return action within the area to accurately and quickly return to the base station autonomously. Therefore, a new guiding interaction scheme for the scrubber to return to the charging base station autonomously needs to be designed. Before the scrubber starts the return action by detaching from the user's handheld force, it has been placed in a reasonable effective area by the user, improving the return efficiency and safety, and enhancing the user's perception experience and the transparency of human-computer interaction during the return process. SUMMARY

[0004] The embodiments of the present application provide a control method of a cleaning system, which can provide visual position guidance for users, realize simple operation of the cleaning equipment by the users, and greatly reduce the operation difficulty of the cleaning equipment.

[0005] In a first aspect, the embodiments of the present application provide a control method of a cleaning system, which is applied to a cleaning system including a handheld cleaning equipment and a base station, and the base station is used for charging and / or self-cleaning of the cleaning equipment.

[0006] The cleaning equipment includes a main body and a floor brush assembly rotationally connected with the main body.

[0007] The floor brush assembly includes a floor brush shell and a booster wheel assembly for driving the floor brush shell to move on a surface to be cleaned.

[0008] The method includes:

[0009] In the case that the cleaning equipment performs a return charging task, the base station is controlled to project light to project an indication area in front of the base station, and the base station is controlled to emit a transmission signal to communicate with the cleaning equipment.

[0010] The indication area is used to guide the user to move the cleaning equipment to a target range, and the target range is located in the indication area.

[0011] The cleaning device controls the power wheel assembly to operate according to the received transmission signal, so as to drive the cleaning device to automatically return to the base station.

[0012] In a possible implementation, the control of the base station to project light to project an indication area in front of the base station comprises:

[0013] The base station projects light based on an initial strategy to project an indication area in front of the base station; the initial strategy includes initial light brightness and / or initial light color.

[0014] In a possible implementation, after the control of the base station to project light to project an indication area in front of the base station, the method further comprises:

[0015] In a case where the cleaning device is in the indication area, the base station is controlled to adjust the projected light to project an indication area in front of the base station based on a reception condition of the cleaning device for the transmission signal and / or an operation condition of the power wheel assembly.

[0016] In a possible implementation, the control of the base station to adjust the projected light to project an indication area in front of the base station based on the reception condition of the cleaning device for the transmission signal in a case where the cleaning device is in the indication area comprises:

[0017] In a case where the cleaning device does not receive the transmission signal, the base station is controlled to adjust the projected light to project an indication area in front of the base station.

[0018] In a possible implementation, the control of the base station to adjust the projected light to project an indication area in front of the base station based on the reception condition of the cleaning device for the transmission signal and the operation condition of the power wheel assembly in a case where the cleaning device is in the indication area comprises:

[0019] In a case where the cleaning device is in the indication area and the power wheel assembly is performing a rotating action, the base station is controlled to adjust the projected light to project an indication area in front of the base station.

[0020] In a case where the cleaning device is in the indication area and does not receive the transmission signal, the rotating action is performed by the power wheel assembly.

[0021] In a possible implementation, the adjusting the light projected by the base station to project the indication area in front of the base station, based on the receiving condition of the cleaning device for the emitted signal and the running condition of the power wheel assembly, when the cleaning device is in the indication area, comprises:

[0022] adjusting the light projected by the base station to project the indication area in front of the base station, when the cleaning device is in the indication area and the power wheel assembly is returning to the base station.

[0023] wherein the cleaning device returns to the base station through the power wheel assembly, when the cleaning device is in the indication area and the received emitted signal indicates that the cleaning device is heading to the accommodation area of the base station.

[0024] In a possible implementation, the adjusting the light projected by the base station to project the indication area in front of the base station, based on the receiving condition of the cleaning device for the emitted signal and the running condition of the power wheel assembly, when the cleaning device is in the indication area, comprises:

[0025] adjusting the light projected by the base station to project the indication area in front of the base station, when the cleaning device is in the indication area and the power wheel assembly is adjusting the pose of the cleaning device.

[0026] wherein the cleaning device adjusts the pose through the power wheel assembly, when the cleaning device is in the indication area and the received emitted signal indicates that the cleaning device is not heading to the accommodation area of the base station.

[0027] In a possible implementation, the base station is provided with a plurality of projection devices.

[0028] The adjusting the light projected by the base station to project the indication area in front of the base station, based on the receiving condition of the cleaning device for the emitted signal and / or the running condition of the power wheel assembly, when the cleaning device is in the indication area, comprises:

[0029] adjusting the light projected by the base station to project the indication area in front of the base station, based on the receiving condition of the cleaning device for the emitted signal and / or the running condition of the power wheel assembly, when the cleaning device is in the indication area, comprises:

[0030] In one possible implementation, when the cleaning equipment is within the indicated area, based on the receiving status of the transmitted signal by the cleaning equipment and / or the operation of the assist wheel assembly, each of the projection devices is controlled to project light to project multiple sub-areas in front of the base station, which are then stitched together to obtain the indicated area, including:

[0031] When the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, the projection devices are controlled to adjust the projected light to project multiple sub-areas in front of the base station, which are then stitched together to obtain the indicated area.

[0032] When the cleaning device is within the indicated area and the received transmission signal indicates that the cleaning device is not facing the accommodating area of ​​the base station, the device adjusts its position using the assist wheel assembly.

[0033] In one possible implementation, when the cleaning equipment is within the indicated area and the assist wheel assembly is adjusting the position of the cleaning equipment, controlling each of the projection devices to adjust the projected light to project multiple sub-areas in front of the base station, which are then stitched together to obtain the indicated area, includes:

[0034] When the cleaning device is within the indicated area and the power wheel assembly is adjusting the position of the cleaning device, the rotation direction of the cleaning device is determined.

[0035] Adjust the light projected by the projection device of at least one sub-region corresponding to the rotation direction to project multiple sub-regions in front of the base station, and stitch them together to obtain the indication area.

[0036] Secondly, embodiments of this application provide a control device for a cleaning system, which is applied to the cleaning system, the cleaning system including a handheld cleaning device and a base station, the base station being used for charging and / or self-cleaning of the cleaning device;

[0037] The cleaning equipment includes: a main body and a floor brush assembly rotatably connected to the main body;

[0038] The floor brush assembly includes: a floor brush housing and a booster wheel assembly for driving the floor brush housing to move on the surface to be cleaned;

[0039] The device includes:

[0040] The control module is used to control the base station to project light to project an indicator area in front of the base station when the cleaning equipment is performing a recharging task, and to control the base station to emit a transmission signal to communicate with the cleaning equipment.

[0041] The indicator area is used to guide the user to move the cleaning equipment to a target area, which is located within the indicator area;

[0042] The cleaning device controls the power wheel assembly to operate according to the received transmission signal, so as to drive the cleaning device to automatically return to the base station.

[0043] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0044] The memory stores computer-executed instructions;

[0045] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0046] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0047] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0048] The cleaning system control provided in this application embodiment can automatically project an indicator area in front of the base station when the cleaning equipment needs to be recharged, providing users with visual location guidance. After the user finishes cleaning with the cleaning equipment, they only need to place the cleaning equipment in the indicator area projected by the base station, without having to manually align the cleaning equipment with the entrance of the base station to manually return the equipment to its original position. This realizes the user's simple operation of returning the cleaning equipment to the station. Through this intuitive and clear human-computer interaction method of projecting the indicator area, the operation difficulty in the daily use of the cleaning equipment is greatly reduced. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0050] Figure 1 A schematic diagram of a cleaning system provided in this application;

[0051] Figure 2 A flowchart illustrating a control method for a cleaning system provided in this application;

[0052] Figure 3A flowchart illustrating another control method for a cleaning system provided in this application;

[0053] Figure 4 A schematic diagram showing the locations of signal coverage areas ①, ②, and ③ formed by signal transmitting devices A and B of a base station in a cleaning system provided in this application;

[0054] Figure 5 A schematic diagram of the structure of a control device for a cleaning system provided in this application;

[0055] Figure 6 A schematic diagram of the structure of the electronic device provided in this application.

[0056] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0057] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0058] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0059] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a series of components is not necessarily limited to those that are explicitly listed, but may include other components that are not explicitly listed or that are inherent to such product or device.

[0060] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0061] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0062] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0063] like Figure 1 As shown, this application embodiment provides a cleaning system 100, which includes a handheld cleaning device 110 and a base station 120. The base station 120 is used for charging and / or self-cleaning of the cleaning device 110.

[0064] The cleaning equipment 110 can be a floor scrubber. In this embodiment, the cleaning equipment 110 is mainly used as an example for explanation.

[0065] Specifically, the cleaning device 110 may include a main body 111 and a floor brush assembly 112.

[0066] The main body 111 is the main support structure of the cleaning equipment. The main body 111 is connected above the floor brush assembly 112, or in other words, the floor brush assembly 112 is connected to the bottom of the main body 111. The main body 111 may include a housing and some components disposed within the housing. The components within the housing and the components within the floor brush assembly 112 together form a cleaning fluid supply module and a dirt recovery module to realize the cleaning function of the cleaning equipment 110.

[0067] The main unit 111 is also equipped with a main motor, which generates vacuum suction to remove dirt from the surface to be cleaned. The surface to be cleaned can be a floor, tabletop, carpet, sofa, mattress, etc.

[0068] The floor brush assembly 112 is the part of the cleaning device 110 that comes into contact with the surface to be cleaned. The cleaning device 110 cleans the surface to be cleaned through the floor brush assembly 112.

[0069] The cleaning device 110 may also include a handle. The handle is attached to the upper end of the main body 111, and the handle is, for example, integrally formed into the housing of the main body 111. The handle is for a user to hold so that the user can control the forward direction of the cleaning device 110.

[0070] In some embodiments, the floor brush assembly 112 includes a floor brush housing 1121. The floor brush housing 1121 is generally rectangular in shape.

[0071] The floor brush assembly 112 includes a roller brush assembly 1122. The floor brush housing 1121 serves as the basic support structure for the floor brush assembly 112 and can also be used as the mounting base for other components of the floor brush assembly 112. The roller brush assembly 1122 includes a roller brush holder and a roller brush. The roller brush holder is connected to the floor brush housing 1121, and the roller brush is mounted on the roller brush holder. When the cleaning device 110 performs cleaning work, the roller brush rolls along the surface to be cleaned to clean the surface.

[0072] Specifically, the roller brush assembly 1122 is disposed at one end of the floor brush housing 1121 along a first direction, and the axial direction of the roller brush assembly 1122 is perpendicular to the first direction. The first direction can be the direction shown by the Y-axis in the figure.

[0073] The floor brush assembly 112 includes a booster wheel assembly, which may include two booster wheels. The booster wheel assembly is used to reduce the resistance of user operation and improve the flexibility and stability of movement. The two booster wheels in the booster wheel assembly can be located at one end of the floor brush housing 1121 opposite to the roller brush assembly 1122 along a first direction.

[0074] It should be noted that the roller brush assembly 1122 can provide power for the movement of the cleaning device 110, and the booster wheel assembly can also provide power for the movement of the cleaning device. Alternatively, either the roller brush assembly 1122 or the booster wheel assembly can be used to provide power.

[0075] like Figure 1 As shown, in some embodiments, base station 120 includes base station body 121 and self-cleaning component 122. Self-cleaning component 122 is connected to base station body 121 and includes cleaning tank 1221. The cavity of cleaning tank 1221 is used to accommodate roller brush assembly 1122 and cleaning liquid (e.g., water or detergent).

[0076] For example, the self-cleaning component 122 may also include a clean water tank, a wastewater tank, and a water pump, etc.

[0077] The base station 120 also includes a support assembly 123, which is located on one side of the cleaning trough 1221. The support assembly 123 can be used to support the booster wheel assembly. When the cleaning equipment 110 enters the station, the cleaning equipment 110 moves toward the base station 120, the roller brush assembly 1122 passes through the support assembly 123 and enters the cleaning trough 1221, and the booster wheel assembly is located on the support assembly 123.

[0078] Base station 120 includes a self-cleaning mode and an off-site mode. The self-cleaning mode is used to clean the roller brush assembly 1122. The off-site mode is used when the cleaning device 110 needs to leave base station 120 for further work after cleaning or charging is complete. The off-site mode is used when the cleaning device 110 needs to return to base station 120.

[0079] When the base station 120 is in self-cleaning mode, the height of the side of the cleaning groove 1221 near the support component 123 is less than the height of the side of the support component 123 near the self-cleaning component 122. The roller brush assembly 1122 cleans within the cleaning groove 1221, and the cleaning groove 1221 and the support component 123 effectively prevent liquid from splashing out.

[0080] When the base station 120 is in the off-site mode, the height of the side of the cleaning trough 1221 near the support component 123 is the same as the height of the side of the support component 123 near the self-cleaning component 122. Since there is no height difference between the cleaning trough 1221 and the support component 123, the roller brush component 1122 can move smoothly onto the support component 123 and thus leave the base station 120.

[0081] It is understood that the base station 120 provided in this embodiment includes a self-cleaning mode and an off-site mode. In the self-cleaning mode, the roller brush assembly 1122 cleans within the cleaning trough 1221, and the cleaning trough 1221 and the support assembly 123 effectively prevent liquid splashing. In the off-site mode, there is no height difference between the cleaning trough 1221 and the support assembly 123, allowing the roller brush assembly 1122 to move smoothly onto the support assembly 123 and thus leave the base station.

[0082] It should be noted that base station 120 is equipped with two or more signal transmitting devices.

[0083] The signal transmitting device is a hardware combination on the base station 120 that is responsible for actively transmitting signals, such as an infrared emitting light, a radio frequency transmitting antenna, etc.

[0084] In one embodiment, the cleaning device 110 may include a rotatable component.

[0085] Rotatable components can be installed on the main body 111 or the floor brush assembly 112 of the cleaning equipment. Rotatable components refer to functional components that can rotate independently 360°. For example, they can be signal receiving pan-tilt units on the top of the main body or steering probes at the front of the floor brush assembly. Their function is to carry signal receiving devices and change the signal receiving angle and direction of the signal receiving devices by rotating themselves, thereby achieving omnidirectional scanning of signals and avoiding energy consumption and posture deviation caused by frequent rotation of the main body.

[0086] The signal receiving device is a hardware combination on the cleaning equipment 110 responsible for receiving transmitted signals, such as an infrared receiving lamp, a radio frequency receiving antenna, etc.

[0087] The rotatable component can rotate to change the orientation of at least two signal receiving devices, thereby enabling the signal receiving devices to receive the transmitted signals emitted by the signal transmitting device on the base station 120 from different angles and directions.

[0088] In one embodiment, the cleaning device 110 may include a hidden component concealed in the main body 111 or the floor brush assembly 112, and the hidden component is provided with at least two signal receiving devices.

[0089] The hidden component can protrude from the main body 111 or the floor brush assembly 112 only when the cleaning device 110 is performing a recharging task, and uses at least two signal receiving devices to receive the transmission signal emitted by the signal transmitting device on the base station 120. When the cleaning device 110 is not performing a recharging task, the hidden component can be hidden in the main body 111 or the floor brush assembly 112, so that the signal receiving device is also hidden in the main body 111 or the floor brush assembly 112, thereby improving the appearance of the cleaning device 110.

[0090] In one embodiment, the cleaning device 110 may be provided with multiple signal receiving devices around the main body 111 or the floor brush assembly 112, so as to receive the transmitted signals emitted by the signal transmitting device on the base station 120 from various angles and directions.

[0091] It should be noted that a projection device may also be installed on the base station 120. This projection device is used to project light onto the ground in front of the base station 120 when the cleaning device 110 is performing a recharging task, thereby forming an indication area on the ground to instruct the user to move the cleaning device 110 into the indicated area. As an example, the projection device may be an LED projection module, a laser projector, or other device capable of emitting visible light.

[0092] The indicated area refers to an area where the distance from the base station 120 is less than a preset distance threshold. The indicated area may also include a target range, which is used to indicate the area covered by the transmission signal actively emitted by the signal transmitting device on the base station 120.

[0093] When the cleaning device 110 is within the target area, the cleaning device 110 can receive the transmission signal emitted by the signal transmitting device of the base station 120 from a specific angle.

[0094] In summary, before using the cleaning device 110, users can wake it up via voice or an app. Upon receiving the wake-up command, the cleaning device 110 will automatically draw power from the base station 120 through the power-assisted wheel assembly and roller brush assembly 1122, travel to the designated area on the ground, and simultaneously complete preparatory work such as steam and hot water preparation and roller brush wetting. Once ready, the cleaning device 110 will issue a voice prompt or send a notification to the mobile app. Users can then simply pick up the handle of the cleaning device 110 to begin cleaning.

[0095] After cleaning, the user can activate the cleaning device 110 via voice or button to automatically recharge. Simultaneously, the base station 120 projects an indicator area onto the ground directly in front of it, guiding the user to push the cleaning device 110 into the designated area. Once in the indicated area, the user simply places the cleaning device 110 upright and leaves. The cleaning device 110 then automatically returns to its original position. During this process, the cleaning device 110 utilizes the assist wheels of its floor brush assembly 112 for displacement and steering via the speed difference between the two assist wheels. This, combined with the guidance components on the base station 120, allows the cleaning device 110 to smoothly enter the base station. Once inside, the cleaning device 110 automatically begins charging, self-cleaning, and drying. Finally, the base station 120 turns off the return indicator light, and the cleaning device 110 completes its recharge process.

[0096] In one embodiment, a control method for a cleaning system is provided. This embodiment illustrates the application of this control method to the cleaning system 100 described above. Figure 2 As shown, the control method includes:

[0097] Step 202: When the cleaning equipment is performing a recharging task, control the base station to project light to project an indication area in front of the base station, and control the base station to send a transmission signal to communicate with the cleaning equipment.

[0098] The indicator area is used to guide the user to move the cleaning equipment to the target area, which is located within the indicator area;

[0099] The cleaning equipment controls the power wheel assembly to operate according to the received transmission signal, so as to drive the cleaning equipment to automatically return to the base station.

[0100] It should be noted that, in addition to automatically recharging after the user finishes cleaning by responding to the user's voice or pressed button, the cleaning device can also automatically trigger a recharging task when there is a need for charging and / or self-cleaning. For example, the cleaning device can trigger a recharging task when the cleaning task is completed and the battery level is below a preset threshold.

[0101] When the cleaning equipment is performing a recharging task, it can send a synchronization signal to the base station with the communication connection. After receiving the synchronization signal, the base station can activate the signal transmitting device and the projection device, control the signal transmitting device to continuously transmit signals in front of the base station, and control the projection device to project an indication area in front of the base station.

[0102] The transmitted signal will form a signal gradient field from strong to weak, centered on the base station. The closer to the base station, the higher the signal strength, providing a basis for adjusting the position of the cleaning equipment.

[0103] Correspondingly, when performing a recharging task, the cleaning equipment can activate the signal receiving device to continuously search for and capture surrounding signals.

[0104] The control wheel assembly is used to adjust the position and orientation of the cleaning equipment relative to the base station.

[0105] When the signal receiving device receives the transmission signal from the signal transmitting device, the cleaning equipment can control the motors of the two assist wheels in the assist wheel assembly to start, so as to drive the assist wheels to rotate.

[0106] Furthermore, the cleaning equipment can, for example, adjust its distance and orientation relative to the base station by adjusting the rotation speed of the motors on the two assist wheels, based on the type and quantity of the received transmitted signals.

[0107] In one embodiment, when the cleaning equipment meets the recharge requirements, the assist wheel assembly can operate to enable the cleaning equipment to automatically return to the base station. Specifically, the recharge requirements may be, for example, that the cleaning equipment is facing the base station and its direction of travel coincides with the central axis of the base station.

[0108] It should be noted that if the position of the cleaning equipment already meets the recharge requirements when the signal receiving device receives the transmitted signal, the cleaning equipment can simply activate the power wheel assembly without further adjusting the position of the cleaning equipment.

[0109] By adopting the above-mentioned cleaning system and control method, the base station can automatically project an indicator area in front of the base station when the cleaning equipment needs to be recharged, providing users with visual location guidance. After the user finishes cleaning with the cleaning equipment, they only need to place the cleaning equipment in the indicator area projected by the base station, without having to manually align the cleaning equipment with the entrance of the base station to manually return the equipment to its position. This realizes the user's simple operation of returning the cleaning equipment to the station. Through this intuitive and clear human-computer interaction method of projecting the indicator area, the operation difficulty in the daily use of the cleaning equipment is greatly reduced.

[0110] In some alternative embodiments, step 202 includes:

[0111] The control base station projects light based on an initial strategy to project an indication area in front of the base station; the initial strategy includes initial light brightness and / or initial light color.

[0112] The initial strategy refers to the initial parameters followed by the projection device on the base station when projecting light.

[0113] The initial strategy can be pre-set during the manufacturing process of the projection device, or it can be customized by the user through a terminal connected to the base station in the settings interface of the projection device. The initial strategy can include initial light brightness parameters, initial light color parameters, or both initial light brightness and initial light color parameters. As an example, the base station can use a projection device to project light with initial light brightness and initial light color onto the ground in front of the base station to form an indication area.

[0114] The control method of the above-mentioned cleaning system, by following the initial light brightness and / or initial light color parameters in the initial strategy, can project a visible indicator area on the ground in different home environments, allowing users to quickly identify the boundary of the indicator area without repeatedly confirming the location where the cleaning equipment should be placed, further reducing the threshold for recharging operations; and, since the coverage area of ​​the transmission signal emitted by the signal transmitter is within the indicator area, if the user places the cleaning equipment in the indicator area based on the ground-projected indicator area, it can ensure to a certain extent that the cleaning equipment can receive the transmission signal, thereby speeding up the automatic return of the cleaning equipment to the station.

[0115] like Figure 3 As shown, in some optional embodiments, after step 202, the method further includes:

[0116] Step 203: When the cleaning equipment is in the indicated area, based on the receiving status of the transmitted signal by the cleaning equipment and / or the operation status of the assist wheel assembly, control the base station to adjust the projected light to project the indicated area in front of the base station.

[0117] The cleaning equipment can determine its distance from the base station based on the positioning signal it receives. When this distance is less than a preset distance threshold, it can be determined that the cleaning equipment is within the indicated area projected on the ground in front of the base station. This positioning signal can be emitted by a sensor installed on the base station, such as an infrared sensor.

[0118] As an example, the cleaning equipment can indicate the type and quantity of transmitted signals received by each signal receiving device on the cleaning equipment regarding the reception of transmitted signals.

[0119] The operation of the assist wheel assembly can indicate the adjustment strategy for the cleaning equipment. Specifically, the adjustment strategy includes the rotation direction and amplitude of the two assist wheels on the cleaning equipment.

[0120] Specifically, the rotation direction refers to the direction of rotation of the assist wheel, which can include two basic directions: clockwise and counterclockwise. By combining the rotation directions of the two assist wheels, different actions such as forward, backward, left turn, right turn, and rotation in place can be achieved for the cleaning equipment.

[0121] Rotation amplitude refers to the angle or number of revolutions of the assist wheel. It indicates the intensity of the assist wheel's action, i.e., the magnitude of the position adjustment. For example, a rotation amplitude of 45 degrees corresponds to a small-angle turn of the cleaning equipment, while a rotation amplitude of 180 degrees corresponds to the cleaning equipment turning around.

[0122] In one embodiment, the adjustment strategy includes a pose adjustment strategy and a steering adjustment strategy.

[0123] The pose adjustment strategy refers to a strategy where the cleaning equipment only makes a slight deviation in orientation when all signal receiving devices on the cleaning equipment have received the transmitted signal. When all signal receiving devices on the cleaning equipment successfully receive the transmitted signal from the signal transmitting device, it indicates that the cleaning equipment is within the target range and its orientation generally conforms to the orientation required for recharging, i.e., facing the base station. At this time, the orientation deviation of the cleaning equipment is small, and only minor adjustments through the pose adjustment strategy are needed to achieve precise alignment between the cleaning equipment and the base station. It should be noted that a slight orientation adjustment will also result in a slight adjustment in the position of the cleaning equipment.

[0124] The steering adjustment strategy refers to a strategy employed when a signal receiver on a cleaning device fails to receive a transmitted signal, requiring a significant adjustment to the device's orientation. When one or more signal receivers on a cleaning device fail to receive a transmitted signal, it indicates that the device has deviated from its target range, or that its tilted posture has caused some signal receivers to be blocked by the device itself. In this case, a steering adjustment strategy is needed to correct the device's orientation and regain signal reception. It should be noted that a significant orientation adjustment will also result in a significant change in the device's position.

[0125] The cleaning equipment can match a corresponding pose adjustment strategy based on the type and quantity of the transmitted signals received by each signal receiving device when all signal receiving devices receive the transmitted signals; and match a corresponding steering adjustment strategy based on the type and quantity of the transmitted signals received by the remaining signal receiving devices when no signal receiving device receives the transmitted signals.

[0126] It should be noted that, when the distance between the cleaning equipment and the base station is less than a preset distance threshold, the base station can control the base station to adjust the projected light to project an indication area in front of the base station based on the type and quantity of transmitted signals received by each signal receiving device on the cleaning equipment, and / or the rotation direction and amplitude of the two assist wheels on the cleaning equipment.

[0127] In this way, the base station can transform the recharging process of the cleaning equipment into a visual light change process by adjusting the brightness and / or color of the projected light. Through dynamic light feedback, users can clearly grasp the recharging progress of the cleaning equipment, avoiding anxiety caused by the silent operation and unknown status of the cleaning equipment, thereby improving the user experience.

[0128] In some alternative embodiments, step 203 includes:

[0129] If the cleaning equipment does not receive a transmission signal, the control base station adjusts the projected light to project an indication area in front of the base station.

[0130] It should be noted that, for example, the base station can project light according to a first adjustment strategy when the cleaning equipment does not receive a transmission signal. The first adjustment strategy includes a first light brightness and / or a first light color.

[0131] As an example, when the signal receiving devices on the cleaning equipment do not receive the transmitted signal, it may be because the cleaning equipment is in an area without signal coverage, or it may be because the cleaning equipment is in a signal coverage area, but due to the orientation deviation, the signal receiving devices are blocked by the main body, and the angle and direction of the signal receiving devices are away from the base station.

[0132] The base station can project light according to a first light brightness and / or first light color that is different from the initial light brightness and / or initial light color. This visual light projection expresses the state that the cleaning equipment cannot receive the transmitted signal. Through perceptible and intuitive light feedback, users can clearly understand the reception status of the cleaning equipment's transmitted signal, thereby improving the user experience.

[0133] In some alternative embodiments, step 203 includes:

[0134] When the cleaning equipment is within the indicated area and the assist wheel assembly is rotating, the base station is controlled to adjust the projected light to project the indicated area in front of the base station.

[0135] When the cleaning equipment is within the designated area and has not received a transmission signal, it performs a rotational motion via the power-assisted wheel assembly.

[0136] It should be noted that, for example, the base station can project light according to a second adjustment strategy while the assist wheel assembly of the cleaning equipment is performing a rotational action. The second adjustment strategy includes a second light brightness and / or a second light color.

[0137] As an example, when the signal receiving devices on the cleaning equipment do not receive the transmitted signal, it may be because the cleaning equipment is in an area without signal coverage, or it may be because the cleaning equipment is in a signal coverage area, but due to the orientation deviation, the signal receiving devices are blocked by the main body, and the angle and direction of the signal receiving devices are away from the base station.

[0138] At this point, the cleaning equipment can be controlled to rotate, allowing the signal receiving device to receive the transmitted signals from the signal transmitting device from different angles and directions, thus actively searching for the transmitted signals.

[0139] In one embodiment, when the cleaning device is equipped with two assist wheels, the cleaning device can be rotated in place by controlling one assist wheel to rotate forward and the other assist wheel to rotate in reverse.

[0140] While the cleaning equipment is rotating, the base station can project light according to a second light brightness and / or second light color that is different from the initial light brightness and / or initial light color. This visual light projection expresses the state of the cleaning equipment rotating. Through perceptible and intuitive light feedback, users can clearly understand the positioning and adjustment process of the cleaning equipment, thereby improving the user experience.

[0141] In some alternative embodiments, step 203 includes:

[0142] When the cleaning equipment is within the indicated area and the assist wheel assembly is returning to the base station, control the base station to adjust the projected light to project the indicated area in front of the base station;

[0143] When the cleaning equipment is within the designated area and the received transmission signal indicates that the cleaning equipment is to be oriented toward the base station's containment area, it returns to the base station via the assist wheel assembly.

[0144] like Figure 4As shown in the diagram, as an example, the base station can be equipped with signal transmitting device A and signal transmitting device B, and the cleaning equipment can be equipped with signal receiving device C and signal receiving device D (not shown in the diagram), as well as two auxiliary wheels Q1 and Q2 (not shown in the diagram). Signal transmitting device A is located on the left side of the base station and is used to transmit signals into area ①. Signal transmitting device B is located on the right side of the base station and is used to transmit signals into area ②. Areas ① and ② partially overlap, forming area ③, where signals from both signal transmitting device A and signal transmitting device B can be received simultaneously. When the cleaning equipment faces the base station, signal receiving device C is located on the left side of the cleaning equipment, and signal receiving device D is located on the right side of the cleaning equipment.

[0145] In this embodiment, if the cleaning device is located in area ③, and the signal receiving device C and signal receiving device D of the cleaning device may simultaneously receive the transmission signals emitted by the signal transmitting device A and signal transmitting device B, it means that the overall position of the cleaning device is in the center and the cleaning device is facing the containment area of ​​the base station. At this time, the cleaning device can directly return to the base station without colliding with the base station.

[0146] Alternatively, if half of the cleaning equipment is located in area ① and half in area ②, the signal receiving device C of the cleaning equipment will receive the transmission signal emitted by the signal transmitting device A, and the signal receiving device D will receive the transmission signal emitted by the signal transmitting device B. This means that the overall position of the cleaning equipment is in the center and the cleaning equipment is facing the base station's accommodation area. In this case, the cleaning equipment can return to the base station without colliding with it.

[0147] It should be noted that, for example, the base station may project light according to a third adjustment strategy while the assist wheel assembly of the cleaning equipment is returning to the base station. The third adjustment strategy includes third light brightness and / or third light color.

[0148] When the cleaning equipment is returning to the base station, the base station can project light according to a third light brightness and / or third light color that is different from the initial light brightness and / or the initial light color. This visual light projection expresses the status of the cleaning equipment returning to the base station. Through perceptible and intuitive light feedback, users can clearly understand the process of the cleaning equipment returning to the base station, thereby improving the user experience.

[0149] In some alternative embodiments, step 203 includes:

[0150] When the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, the base station is controlled to adjust the projected light to project the indicated area in front of the base station.

[0151] When the cleaning equipment is within the designated area and the received transmission signal indicates that the cleaning equipment is not facing the base station's containment area, the cleaning equipment adjusts its posture using the assist wheel assembly.

[0152] As an example, assuming that each signal receiver on the cleaning equipment can receive the transmitted signal, the types and number of transmitted signals received by the cleaning equipment may vary as follows:

[0153] When the cleaning equipment is located in area ①, signal receivers C and D of the cleaning equipment may simultaneously receive the transmitted signal from signal transmitter A. This means that the overall position of the cleaning equipment is to the left, and the cleaning equipment needs to be moved significantly to the right.

[0154] When the cleaning equipment is located in area ②, signal receivers C and D of the cleaning equipment may simultaneously receive the transmitted signal from signal transmitter B. This means that the overall position of the cleaning equipment is to the right, and the cleaning equipment needs to be moved significantly to the left.

[0155] When the cleaning equipment is located at position P4, meaning half of the cleaning equipment is in area ① and half is in area ③, the signal receiver C of the cleaning equipment will receive the transmitted signal from the signal transmitter A, and the signal receiver D will simultaneously receive the transmitted signals from both the signal transmitter A and the signal transmitter B (C: 1A; D: 1A+1B). This means that the overall position of the cleaning equipment is slightly to the left, and the cleaning equipment needs to be moved slightly to the right.

[0156] When half of the cleaning equipment is located in area ③ and half in area ②, the signal receiving device C of the cleaning equipment will simultaneously receive the transmission signals from signal transmitting devices A and B, while the signal receiving device D will receive the transmission signal from signal transmitting device B. This means that the overall position of the cleaning equipment is slightly to the right, and the cleaning equipment needs to be moved slightly to the left.

[0157] Furthermore, regarding the situation where at least one signal receiving device on the cleaning equipment fails to receive the transmitted signal, the types and quantities of transmitted signals received by the cleaning equipment may fall into the following categories:

[0158] When half of the cleaning equipment is located in the area with no signal coverage on the left side of area ① and the other half is located in area ①, the signal receiving device C may not receive the transmitted signal, while the signal receiving device D may receive the transmitted signal from the signal transmitting device A. This may mean that the cleaning equipment is facing to the left and needs to be rotated significantly clockwise.

[0159] When the cleaning equipment is located in area ①, signal receiver C may not receive the transmitted signal, while signal receiver D may receive the transmitted signal from signal transmitter A. This may mean that the cleaning equipment is facing to the left and needs to be rotated significantly clockwise. Alternatively, signal receiver C may receive the transmitted signal from signal transmitter A, while signal receiver D may not receive the transmitted signal. This may mean that the cleaning equipment is facing to the right and positioned to the left, and needs to be rotated slightly counterclockwise.

[0160] When the cleaning equipment is located in area ②, signal receiver C may not receive the transmitted signal, while signal receiver D may receive the transmitted signal from signal transmitter B. This may mean that the cleaning equipment is facing to the left or to the right, and the cleaning equipment needs to be rotated slightly clockwise. Alternatively, signal receiver C may receive the transmitted signal from signal transmitter B, while signal receiver D may not receive the transmitted signal. This may mean that the cleaning equipment is facing to the right, and the cleaning equipment needs to be rotated significantly counterclockwise.

[0161] When the cleaning equipment is located in area ③, signal receiver C may not receive the transmitted signal, while signal receiver D may receive the transmitted signals from both signal transmitters A and B. This means that the cleaning equipment is facing slightly to the left and needs to be rotated slightly clockwise. Alternatively, signal receiver C may receive the transmitted signals from both signal transmitters A and B, while signal receiver D may not receive the transmitted signal. This means that the cleaning equipment is facing slightly to the right and needs to be rotated slightly counterclockwise.

[0162] When half of the cleaning equipment is located in area ① and half in area ③, signal receiver C may not receive the transmitted signal, while signal receiver D may simultaneously receive the transmitted signals from signal transmitters A and B. This means that the cleaning equipment is facing slightly to the left and needs to be rotated slightly clockwise. Alternatively, signal receiver C may receive the transmitted signal from signal transmitter A, while signal receiver D may not receive the transmitted signal. This means that the cleaning equipment is facing slightly to the right and needs to be rotated significantly counterclockwise.

[0163] When half of the cleaning equipment is located in area ③ and half in area ②, signal receiver C may not receive the transmitted signal, while signal receiver D may receive the transmitted signal from signal transmitter B. This may mean that the cleaning equipment is facing to the left and needs to be rotated significantly clockwise. Alternatively, signal receiver C may receive the transmitted signals from both signal transmitter A and signal transmitter B, while signal receiver D may not receive the transmitted signal. This may mean that the cleaning equipment is facing slightly to the right and needs to be rotated slightly counterclockwise.

[0164] When half of the cleaning equipment is in area ② and the other half is in the area with no signal coverage to the right of area ②, there may be a transmission signal from signal receiving device C to signal transmitting device B, but signal receiving device D cannot receive the transmission signal. This means that the cleaning equipment is facing to the right and needs to be rotated significantly counterclockwise.

[0165] In these situations, the type and quantity of transmitted signals received by the signal receiving device indicate that the cleaning equipment is not facing the base station's coverage area. In this case, the cleaning equipment needs to adjust its posture using the assist wheel assembly.

[0166] It should be noted that, for example, the base station may project light according to a fourth adjustment strategy while the assist wheel assembly of the cleaning equipment is returning to the base station. The fourth adjustment strategy includes a fourth light brightness and / or a fourth light color.

[0167] While the cleaning equipment is adjusting its posture, the base station can project light according to a fourth light brightness and / or a fourth light color that is different from the initial light brightness and / or the initial light color. This visual light projection expresses the state of the cleaning equipment adjusting its posture. Through perceptible and intuitive light feedback, users can clearly understand the posture adjustment process of the cleaning equipment, thereby improving the user experience.

[0168] Furthermore, the base station can determine the current location of the cleaning equipment based on the type and quantity of transmitted signals received by the signal receiving device, and adjust the light projected by the projection device based on different locations.

[0169] For example, when the type and quantity of the transmitted signals received by the signal receiving device indicate that the cleaning equipment is located to the left of the centerline of the base station, the projection device can project light through a fifth light brightness and / or a fifth light color that is different from the initial light brightness and / or the initial light color. When the type and quantity of the transmitted signals received by the signal receiving device indicate that the cleaning equipment is located to the right of the centerline of the base station, the projection device can project light through a sixth light brightness and / or a sixth light color that is different from the initial light brightness and / or the initial light color. This allows users to clearly understand the actual positional deviation of the cleaning equipment through perceptible and intuitive light feedback, thereby improving the user experience and directly instructing users to adjust the position of the cleaning equipment, thus accelerating the return of the cleaning equipment to the station.

[0170] Alternatively, when the type and quantity of transmitted signals received by the signal receiving device indicate that half of the cleaning equipment is in an area without signal coverage, the projection device can project light with a seventh light brightness and / or a seventh light color that is different from the initial light brightness and / or the initial light color to prompt the user that the cleaning equipment is not currently fully within the target range. This can intuitively remind the user to adjust the position of the cleaning equipment to move it into the target range, thereby speeding up the return of the cleaning equipment to the station.

[0171] In some optional embodiments, the base station is provided with multiple projection devices;

[0172] Step 203 includes:

[0173] When the cleaning equipment is in the indicated area, based on the receiving status of the transmitted signal and / or the operation status of the assist wheel assembly, the projection devices are controlled to project light to project multiple sub-areas in front of the base station, which are then stitched together to obtain the indicated area.

[0174] In this embodiment, the installation positions of multiple projection devices on the base station can be distributed on different sides of the base station or at different points on the same side, so as to realize regional light projection.

[0175] It should be noted that when the cleaning equipment is performing the recharging task, multiple projection devices can all project light according to the initial light brightness and / or the initial light color, thereby projecting a complete indicator area on the ground in front of the base station.

[0176] Furthermore, step 203 includes:

[0177] When the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, control each projection device to adjust the projected light so as to project multiple sub-areas in front of the base station and stitch them together to obtain the indicated area.

[0178] When the cleaning equipment is within the designated area and the received transmission signal indicates that the cleaning equipment is not facing the base station's containment area, the cleaning equipment adjusts its posture using the assist wheel assembly.

[0179] Specifically, when the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, the rotation direction of the cleaning equipment is determined;

[0180] Adjust the light projected by the projection device of at least one sub-region corresponding to the rotation direction to project multiple sub-regions in front of the base station, and stitch them together to obtain the indication area.

[0181] Specifically, during the posture adjustment process, the power wheel will rotate counterclockwise or clockwise, thereby driving the cleaning equipment to move to the left or right.

[0182] For example, when the type and quantity of the transmitted signal received by the signal receiving device indicate that the cleaning equipment is located slightly to the left of the centerline of the base station, the projection device that splices together to form the left half of the indicator area can be controlled to project light according to the brightness and / or color of the eighth light, which is different from the initial light brightness and / or the initial light color, thereby changing the brightness and / or color of the left half of the indicator area; when the type and quantity of the transmitted signal received by the signal receiving device indicate that the cleaning equipment is located slightly to the right of the centerline of the base station, the projection device that splices together to form the right half of the indicator area can be controlled to project light according to the brightness and / or color of the eighth light, which is different from the initial light brightness and / or the initial light color, thereby changing the brightness and / or color of the right half of the indicator area.

[0183] Alternatively, when the type and quantity of transmitted signals received by the signal receiving device indicate that the cleaning equipment is located slightly to the left of the centerline of the base station, the projection device that splices together to form the left half of the indication area can be controlled to project light according to different brightness and / or color of the ninth light, following the order of splicing the sub-areas from left to right to form the left half of the indication area. This ensures that the leftmost sub-area is the brightest and / or the darkest, and the rightmost sub-area (referring to the rightmost one of the sub-areas that form the left half of the indication area) has the brightness and / or color closest to the initial light brightness and / or color closest to the initial light color. This allows users to clearly understand the actual positional deviation of the cleaning equipment through perceptible and intuitive light feedback, thereby improving the user experience and directly instructing users to adjust the position of the cleaning equipment, thus accelerating the return of the cleaning equipment to the base station.

[0184] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0185] Based on the same inventive concept, this application also provides a control device for a cleaning system to implement the control method for the cleaning system described above. The solution provided by this control device is similar to the solution described in the control method for the cleaning system. Therefore, the specific limitations in one or more device embodiments provided below can be found in the limitations of the control method for the cleaning system described above, and will not be repeated here.

[0186] In one embodiment, such as Figure 5 As shown, a control device 500 for a cleaning system is provided, which is applied to the cleaning system. The cleaning system includes a handheld cleaning device and a base station, the base station being used for charging and / or self-cleaning of the cleaning device.

[0187] The cleaning equipment includes: the main body and a floor brush assembly that is rotatably connected to the main body;

[0188] The floor brush assembly includes: a floor brush housing and a booster wheel assembly for driving the floor brush housing to move on the surface to be cleaned;

[0189] The control device 500 includes:

[0190] The control module 502 is used to control the base station to project light to project an indication area in front of the base station when the cleaning equipment is performing a recharging task, and to control the base station to emit a transmission signal to communicate with the cleaning equipment.

[0191] The indicator area is used to guide the user to move the cleaning equipment to the target area, which is located within the indicator area;

[0192] The cleaning equipment controls the power wheel assembly to operate according to the received transmission signal, so as to drive the cleaning equipment to automatically return to the base station.

[0193] In some alternative embodiments, the control module 502 is further configured to:

[0194] The control base station projects light based on an initial strategy to project an indication area in front of the base station; the initial strategy includes initial light brightness and / or initial light color.

[0195] In some alternative embodiments, the control module 502 is further configured to:

[0196] When the cleaning equipment is in the indicated area, based on the cleaning equipment's reception of the transmitted signal and / or the operation of the assist wheel assembly, the base station is controlled to adjust the projected light to project the indicated area in front of the base station.

[0197] In some alternative embodiments, the control module 502 is further configured to:

[0198] If the cleaning equipment does not receive a transmission signal, the control base station adjusts the projected light to project an indication area in front of the base station.

[0199] In some alternative embodiments, the control module 502 is further configured to:

[0200] When the cleaning equipment is within the indicated area and the assist wheel assembly is rotating, the base station is controlled to adjust the projected light to project the indicated area in front of the base station.

[0201] When the cleaning equipment is within the designated area and has not received a transmission signal, it performs a rotational motion via the power-assisted wheel assembly.

[0202] In some alternative embodiments, the control module 502 is further configured to:

[0203] When the cleaning equipment is within the indicated area and the assist wheel assembly is returning to the base station, control the base station to adjust the projected light to project the indicated area in front of the base station;

[0204] When the cleaning equipment is within the designated area and the received transmission signal indicates that the cleaning equipment is to be oriented toward the base station's containment area, it returns to the base station via the assist wheel assembly.

[0205] In some alternative embodiments, the control module 502 is further configured to:

[0206] When the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, the base station is controlled to adjust the projected light to project the indicated area in front of the base station.

[0207] When the cleaning equipment is within the designated area and the received transmission signal indicates that the cleaning equipment is not facing the base station's containment area, the cleaning equipment adjusts its posture using the assist wheel assembly.

[0208] In some alternative embodiments, the control module 502 is further configured to:

[0209] When the cleaning equipment is within the designated area, based on the cleaning equipment's reception of the transmitted signal and / or the operation of the assist wheel assembly, the base station is controlled to adjust the projected light to project the designated area in front of the base station, including:

[0210] When the cleaning equipment is in the indicated area, based on the receiving status of the transmitted signal and / or the operation status of the assist wheel assembly, the projection devices are controlled to project light to project multiple sub-areas in front of the base station, which are then stitched together to obtain the indicated area.

[0211] In some alternative embodiments, the control module 502 is further configured to:

[0212] When the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, control each projection device to adjust the projected light so as to project multiple sub-areas in front of the base station and stitch them together to obtain the indicated area.

[0213] When the cleaning equipment is within the designated area and the received transmission signal indicates that the cleaning equipment is not facing the base station's containment area, the cleaning equipment adjusts its posture using the assist wheel assembly.

[0214] In some alternative embodiments, the control module 502 is further configured to:

[0215] When the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, determine the rotation direction of the cleaning equipment;

[0216] Adjust the light projected by the projection device of at least one sub-region corresponding to the rotation direction to project multiple sub-regions in front of the base station, and stitch them together to obtain the indication area.

[0217] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0218] Figure 6 A schematic diagram of the structure of the electronic device provided in this application. Figure 6 As shown, the electronic device 600 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the device 600 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604.

[0219] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0220] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0221] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0222] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0223] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0224] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0225] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0226] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0227] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0228] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0229] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0230] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0231] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0232] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0233] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method of a cleaning system, characterized by, The application is applied to a cleaning system, which comprises a handheld cleaning device and a base station for charging and / or self-cleaning of the cleaning device; The cleaning device comprises a main body and a floor brush assembly rotatably connected to the main body; The floor brush assembly comprises a floor brush housing and a booster wheel assembly for driving the floor brush housing to move on a surface to be cleaned; The method comprises: In the case that the cleaning device performs a charging task, the base station is controlled to project light to project an indication area in front of the base station, and the base station is controlled to emit a transmission signal to communicate with the cleaning device; The indication area is used to guide a user to move the cleaning device to a target range, which is located in the indication area; The cleaning device controls the booster wheel assembly to operate according to the received transmission signal to automatically return to the base station.

2. The method of claim 1, wherein, The control of the base station to project light to project an indication area in front of the base station comprises: The base station is controlled to project light to project an indication area in front of the base station based on an initial strategy; the initial strategy comprises an initial light brightness and / or an initial light color.

3. The method of claim 1, wherein, After the control of the base station to project light to project an indication area in front of the base station, the method further comprises: In the case that the cleaning device is in the indication area, the base station is controlled to adjust the projected light to project an indication area in front of the base station based on a reception condition of the cleaning device for the transmission signal and / or an operation condition of the booster wheel assembly.

4. The method of claim 3, wherein, The control of the base station to adjust the projected light to project an indication area in front of the base station in the case that the cleaning device is in the indication area based on the reception condition of the cleaning device for the transmission signal comprises: In the case that the cleaning device does not receive the transmission signal, the base station is controlled to adjust the projected light to project an indication area in front of the base station.

5. The method of claim 3, wherein, The control of the base station to adjust the projected light to project an indication area in front of the base station in the case that the cleaning device is in the indication area based on the reception condition of the cleaning device for the transmission signal and the operation condition of the booster wheel assembly comprises: In the case that the cleaning device is in the indication area and the booster wheel assembly is performing a rotating action, the base station is controlled to adjust the projected light to project an indication area in front of the base station; In the case that the cleaning device is in the indication area and does not receive the transmission signal, the booster wheel assembly performs the rotating action.

6. The method of claim 3, wherein, The control of the base station to adjust the projected light to project an indication area in front of the base station in the case that the cleaning device is in the indication area based on the reception condition of the cleaning device for the transmission signal and the operation condition of the booster wheel assembly comprises: In the case that the cleaning device is in the indication area and the booster wheel assembly is returning to the base station, the base station is controlled to adjust the projected light to project an indication area in front of the base station; When the cleaning device is within the indicated area and the received transmission signal indicates that the cleaning device is heading towards the receiving area of ​​the base station, it returns to the base station via the assist wheel assembly.

7. The method of claim 3, wherein, When the cleaning equipment is within the indicated area, based on the receiving status of the transmitted signal by the cleaning equipment and the operation of the assist wheel assembly, the base station is controlled to adjust the projected light to project the indicated area in front of the base station, including: When the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, the base station is controlled to adjust the projected light to project the indicated area in front of the base station. When the cleaning device is within the indicated area and the received transmission signal indicates that the cleaning device is not facing the accommodating area of ​​the base station, the device adjusts its position using the assist wheel assembly.

8. The method of claim 3, wherein, The base station is equipped with multiple projection devices; When the cleaning device is within the indicated area, based on the receiving status of the transmitted signal by the cleaning device and / or the operating status of the assist wheel assembly, the base station is controlled to adjust the projected light to project the indicated area in front of the base station, including: When the cleaning equipment is in the indicated area, based on the receiving status of the transmitted signal by the cleaning equipment and / or the operation status of the assist wheel assembly, each of the projection devices is controlled to project light to project multiple sub-areas in front of the base station, which are then stitched together to obtain the indicated area.

9. The method of claim 8, wherein, When the cleaning equipment is within the indicated area, based on the receiving status of the transmitted signal by the cleaning equipment and / or the operating status of the assist wheel assembly, each of the projection devices is controlled to project light to project multiple sub-areas in front of the base station, which are then stitched together to obtain the indicated area, including: When the cleaning equipment is within the indicated area and the power wheel assembly is adjusting the position of the cleaning equipment, the projection devices are controlled to adjust the projected light to project multiple sub-areas in front of the base station, which are then stitched together to obtain the indicated area. When the cleaning device is within the indicated area and the received transmission signal indicates that the cleaning device is not facing the accommodating area of ​​the base station, the device adjusts its position using the assist wheel assembly.

10. The method of claim 9, wherein, When the cleaning equipment is within the indicated area and the assist wheel assembly is adjusting the position of the cleaning equipment, each of the projection devices is controlled to adjust the projected light to project multiple sub-areas in front of the base station, which are then stitched together to form the indicated area, including: When the cleaning device is within the indicated area and the power wheel assembly is adjusting the position of the cleaning device, the rotation direction of the cleaning device is determined. Adjust the light projected by the projection device of at least one sub-region corresponding to the rotation direction to project multiple sub-regions in front of the base station, and stitch them together to obtain the indication area.

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