Control method of cleaning base station, cleaning base station and cleaning system

Abstract

The invention discloses a control method of a cleaning base station, the cleaning base station and a cleaning system, and belongs to the technical field of electrical equipment. The control method of the cleaning base station is applied to the cleaning base station, the cleaning base station comprises a base station main body and a cloth changing mechanism, the cloth changing mechanism is movably connected with the base station main body, the cloth changing mechanism is used for placing a plurality of cleaning assemblies, and at least two cleaning assemblies in the plurality of cleaning assemblies are different in type. The control method of the cleaning base station comprises the following steps: acquiring a target cleaning area of cleaning equipment; a target cleaning assembly is determined based on a target cleaning area of the cleaning equipment and the types of the multiple cleaning assemblies placed on the current cloth changing mechanism, and a target cleaning mode is determined based on the type of the cleaning assembly to be cleaned; and the cleaning base station is controlled to clean the to-be-cleaned cleaning assembly in the target cleaning mode, so that the cleaning effect of the cleaning equipment can be improved.

Description

Technical Field

[0001] This application belongs to the field of electrical equipment technology, and in particular relates to a control method for a cleaning base station, a cleaning base station, and a cleaning system. Background Technology

[0002] With the development of technology and the fast pace of life, using cleaning robots and other cleaning equipment for environmental cleaning not only improves cleaning efficiency but also frees up people's hands. Therefore, cleaning equipment on the market is currently very popular.

[0003] Current cleaning robots and other cleaning equipment can automatically perform functions such as mopping, sweeping, and wiping. These devices are typically equipped with a cleaning base station, which can wash and dry the mop during the cleaning process, or return to the base station for charging and self-cleaning after completing the cleaning work, such as washing and drying the mop. However, the cleaning effect of these devices is generally poor. Summary of the Invention

[0004] This application aims to at least partially solve the technical problem of poor cleaning effect. To this end, this application provides a control method for cleaning a base station, a cleaning base station, and a cleaning system.

[0005] In a first aspect, the present application provides a control method for a clean base station, which is applied to a clean base station. The clean base station includes a base station body and a cloth changing mechanism. The cloth changing mechanism is movably connected to the base station body and is used to place multiple cleaning components, wherein at least two of the multiple cleaning components are of different types. The control method for the clean base station includes: Obtain the target cleaning area of ​​the cleaning equipment; The target cleaning component is determined based on the target cleaning area of ​​the cleaning equipment and the types of the multiple cleaning components currently placed by the cloth changing mechanism, so that the cleaning equipment carries the target cleaning component to clean the target cleaning area; The target cleaning mode is determined based on the type of cleaning component to be cleaned; The cleaning base station is controlled to clean the cleaning components to be cleaned in the target cleaning mode.

[0006] The types of cleaning areas and the types of cleaning components capable of cleaning those areas are fixed. Once the type of the target cleaning area is determined, the type of the target cleaning component is also determined. Therefore, the target cleaning component can be selected from among multiple cleaning components based on their types. Cleaning the corresponding cleaning component using the target cleaning mode can improve the cleaning effect of the cleaning component. During the cleaning process, the cleaning equipment can carry the target cleaning component to clean the target cleaning area, thereby improving the cleaning effect of the cleaning equipment.

[0007] In an optional embodiment of this application, determining the target cleaning component based on the target cleaning area of ​​the cleaning device and the types of the plurality of cleaning components includes: Obtain the types of the multiple cleaning components currently placed in the fabric changing mechanism; Based on the multiple cleaning components currently placed by the cloth changing mechanism, if it is determined that there is a cleaning component of the target type, then the cleaning component of the target type is determined as a candidate cleaning component, wherein the cleaning component of the target type satisfies the condition of cleaning the target cleaning area. The target cleaning component is determined based on the location information of the candidate cleaning components.

[0008] In an optional embodiment of this application, determining the target cleaning component based on the target cleaning area of ​​the cleaning device and the types of the plurality of cleaning components further includes: If none of the cleaning components currently placed by the cloth changing mechanism are of the target type, and the cleaning components currently carried by the cleaning equipment are of the target type, then the cleaning base station is controlled to clean the cleaning components currently carried by the cleaning equipment.

[0009] In an optional embodiment of this application, determining the target cleaning component based on the target cleaning area of ​​the cleaning device and the type of the cleaning component includes: If none of the cleaning components placed by the current fabric changing mechanism are of the target type, then the target cleaning area is updated.

[0010] In an optional embodiment of this application, obtaining the target cleaning area of ​​the cleaning device includes: The target cleaning area of ​​the cleaning equipment is obtained when the cleaning equipment receives a cleaning instruction or when the cleaning equipment meets the conditions for replacing the cleaning components.

[0011] In an optional embodiment of this application, the base station body has a replacement area. After determining the target cleaning component based on the target cleaning area of ​​the cleaning equipment and the types of the multiple cleaning components currently placed by the cloth-changing mechanism, the control method of the cleaning base station further includes: Obtain the current location information of the target cleaning component; If it is determined based on the current location information of the cleaning component that the target cleaning component is not in the replacement area, the cloth changing mechanism is controlled to transfer the target cleaning component to the replacement area, so that the cleaning equipment can carry the target cleaning component out of the cleaning base station to clean the target cleaning area.

[0012] In an optional embodiment of this application, the fabric changing mechanism has multiple fixed areas for placing cleaning components; The current location information of the target cleaning component is determined based on the location information of the fixed area where the target cleaning component is placed.

[0013] In an optional embodiment of this application, the fabric changing mechanism includes a driving part and a fixing part, the driving part being pulsatorically connected to the fixing part, and the fixing part having multiple fixing areas for placing cleaning components. Controlling the fabric changing mechanism to transfer the target cleaning component to the changing area includes: Based on the current position information of the target cleaning component and the position information of the replacement area, the target rotation direction and target rotation angle of the drive unit are determined, so that the drive unit drives the fixed part to rotate, thereby moving the target cleaning component to the replacement area; The drive unit is controlled to rotate in accordance with the target rotation direction and the target rotation angle, thereby moving the target cleaning component to the replacement area.

[0014] In an optional embodiment of this application, the control method for the clean base station further includes: If the target cleaning component is determined to be located in the replacement area based on the current location information of the cleaning component, a removal instruction is sent to the cleaning device, enabling the cleaning device to carry the target cleaning component out of the cleaning base station after receiving the removal instruction, so as to clean the target cleaning area.

[0015] In an optional embodiment of this application, the fabric changing mechanism has multiple fixed areas for placing cleaning components. Before controlling the fabric changing mechanism to transfer the target cleaning component to the changing area, the control method for the cleaning base station further includes: When the cleaning meets the conditions for replacing the cleaning component, the cloth changing mechanism is controlled to move the fixed area where no cleaning component is placed to the cleaning area, so that the cleaning equipment can return to the cleaning base station and place the dirty cleaning component in the fixed area where no cleaning component is placed.

[0016] In an optional embodiment of this application, the base station body further includes a cleaning area, and before controlling the cleaning base station to clean the cleaning components to be cleaned in the target cleaning mode, the control method of the cleaning base station further includes: The fabric changing mechanism is controlled to transfer the cleaning components to be cleaned to the cleaning area.

[0017] In an optional embodiment of this application, the clean base station further includes a ramp plate, which is connected to the base station body. The ramp plate includes a baffle and a main board, with the baffle disposed above the main board. Before controlling the cleaning base station to clean the dirty cleaning components, the control method for the cleaning base station further includes: The baffle is controlled to move relative to the base station body so that the baffle blocks the cleaning area.

[0018] In an optional embodiment of this application, the control method for the clean base station further includes: After the cleaning equipment completes cleaning, the cleaning path of the cleaning equipment is obtained, and the starting area in the cleaning path is recorded; Based on the starting area, the initial cleaning component corresponding to the next cleaning is determined, so that the cleaning device carries the initial cleaning component.

[0019] In an optional embodiment of this application, determining the initial cleaning component corresponding to the next cleaning based on the starting area includes: Record the number of times the starting region is entered; If the number of times the starting area is greater than or equal to the set number, then the starting area is determined to be the initial cleaning area; The initial cleaning component is determined based on the initial cleaning area.

[0020] Secondly, this application provides a control device for a cleaning base station, which is applied to a cleaning base station. The cleaning base station includes a base station body and a cloth changing mechanism. The cloth changing mechanism is movably connected to the base station body and is used to place multiple cleaning components. Among the multiple cleaning components, at least two of the cleaning components are of different types. The control device for the clean base station includes: A region acquirer is used to acquire the target cleaning area of ​​the cleaning equipment. A target determiner is used to determine a target cleaning component based on the target cleaning area of ​​the cleaning equipment and the types of the multiple cleaning components currently placed by the fabric changing mechanism, so that the cleaning equipment carries the target cleaning component to clean the target cleaning area; A pattern determiner is used to determine a target cleaning pattern based on the type of the cleaning component to be cleaned; A cleaner is used to control the cleaning base station to clean the cleaning components to be cleaned in the target cleaning mode.

[0021] The beneficial effects of the control device for the clean base station provided in the second aspect are the same as those of the control method for the clean base station provided in the first aspect, and will not be repeated here.

[0022] In an optional embodiment of this application, when the target determiner is used to determine the target cleaning component based on the target cleaning area of ​​the cleaning equipment and the types of the plurality of cleaning components, it is specifically used for: Obtain the types of the multiple cleaning components currently placed in the fabric changing mechanism; Based on the multiple cleaning components currently placed by the cloth changing mechanism, if it is determined that there is a cleaning component of the target type, then the cleaning component of the target type is determined as a candidate cleaning component, wherein the cleaning component of the target type satisfies the condition of cleaning the target cleaning area. The target cleaning component is determined based on the location information of the candidate cleaning components.

[0023] In an optional embodiment of this application, when the target determiner is used to determine the target cleaning component based on the target cleaning area of ​​the cleaning equipment and the types of the plurality of cleaning components, it is further used to: If none of the cleaning components currently placed by the cloth-changing mechanism are of the target type, and the cleaning component currently carried by the cleaning equipment is of the target type, then the cleaning base station is controlled to clean the cleaning component currently carried by the cleaning equipment when the cleaning equipment meets the conditions for replacing the cleaning component.

[0024] In an optional embodiment of this application, when the target determiner is used to determine the target cleaning component based on the target cleaning area of ​​the cleaning equipment and the types of the plurality of cleaning components, it is further used to: If none of the cleaning components placed by the current fabric changing mechanism are of the target type, then the target cleaning area is updated.

[0025] In an optional embodiment of this application, the acquirer is used to acquire the target cleaning area of ​​the cleaning device when the cleaning device receives a cleaning instruction or when the cleaning device meets the condition of replacing the cleaning component.

[0026] In an optional embodiment of this application, the base station body has a replacement area. After determining the target cleaning component based on the target cleaning area of ​​the cleaning equipment and the types of the multiple cleaning components currently placed by the cloth-changing mechanism, the control device of the cleaning base station further includes: Location acquirer, used to obtain the current location information of the target cleaning component; A first transferor is configured to control the cloth-changing mechanism to transfer the target cleaning component to the replacement area if it is determined based on the current location information of the cleaning component that the target cleaning component is not in the replacement area, so that the cleaning equipment can carry the target cleaning component out of the cleaning base station to clean the target cleaning area.

[0027] In an optional embodiment of this application, the fabric changing mechanism has multiple fixed areas for placing cleaning components; The current location information of the target cleaning component is determined based on the location information of the fixed area where the target cleaning component is placed.

[0028] In an optional embodiment of this application, the fabric changing mechanism includes a driving part and a fixing part, the driving part being pulsatorically connected to the fixing part, and the fixing part having multiple fixing areas for placing cleaning components. The first transferor, used to control the fabric changing mechanism to transfer the target cleaning component to the changing area, is specifically used for: Based on the current position information of the target cleaning component and the position information of the replacement area, the target rotation direction and target rotation angle of the drive unit are determined, so that the drive unit drives the fixed part to rotate, thereby moving the target cleaning component to the replacement area; The drive unit is controlled to rotate in accordance with the target rotation direction and the target rotation angle, thereby moving the target cleaning component to the replacement area.

[0029] In an optional embodiment of this application, the control device for the clean base station further includes: A transmitter is configured to send a removal instruction to the cleaning device if it is determined based on the current location information of the cleaning component that the target cleaning component is located in the replacement area, so that the cleaning device can carry the target cleaning component out of the cleaning base station after receiving the removal instruction, so as to clean the target cleaning area.

[0030] In an optional embodiment of this application, the fabric changing mechanism has multiple fixed areas for placing cleaning components. Before controlling the fabric changing mechanism to transfer the target cleaning component to the changing area, the control device of the cleaning base station further includes: The second transfer device is used to control the cloth changing mechanism to move the fixed area where no cleaning component is placed to the clean area when the cleaning meets the conditions for replacing the cleaning component, so that the cleaning equipment can return to the cleaning base station and place the dirty cleaning component to the fixed area where no cleaning component is placed.

[0031] In an optional embodiment of this application, the base station body further includes a cleaning area, and the control device for cleaning the base station further includes: The third transfer device is used to control the fabric changing mechanism to transfer the cleaning components to be cleaned to the cleaning area.

[0032] In an optional embodiment of this application, the clean base station further includes a ramp plate, which is connected to the base station body. The ramp plate includes a baffle and a main board, with the baffle disposed above the main board. Before the cleaning base station is controlled to clean the dirty cleaning components, the control device of the cleaning base station further includes: A shield is used to control the movement of the baffle relative to the base station body so that the baffle blocks the cleaning area.

[0033] In an optional embodiment of this application, the control device for the clean base station further includes: An area recorder is used to acquire the cleaning path of the cleaning equipment after cleaning is completed, and to record the starting area in the cleaning path; An initial determiner is used to determine the initial cleaning component corresponding to the next cleaning based on the starting area, so that the cleaning device carries the initial cleaning component.

[0034] In an optional embodiment of this application, when the initial determiner is used to determine the initial cleaning component corresponding to the next cleaning based on the starting area, it is specifically used for: Record the number of times the starting region is entered; If the number of times the starting area is greater than or equal to the set number, then the starting area is determined to be the initial cleaning area; The initial cleaning component is determined based on the initial cleaning area.

[0035] Thirdly, embodiments of this application provide a control method for a cleaning device, applied to a cleaning device, the control method for the cleaning device comprising: Receive cleaning instructions and obtain the cleaning path; Perform at least one first cleaning operation based on the cleaning path, the first cleaning operation including: acquiring a target cleaning area; controlling the cleaning equipment to clean the target cleaning area with a target cleaning component, wherein the target cleaning component is determined based on the target cleaning area and the types of multiple cleaning components currently placed on the cloth replacement mechanism of the cleaning base station.

[0036] The beneficial effects of the control method for the cleaning equipment provided in the third aspect are the same as those of the cleaning base station provided in the first aspect, and will not be repeated here.

[0037] In an optional embodiment of this application, the first cleaning operation further includes: If none of the cleaning components currently placed in the fabric changing mechanism are of the target type, the target cleaning area is updated, wherein the cleaning components of the target type meet the conditions for cleaning the target cleaning area.

[0038] In an optional embodiment of this application, obtaining the cleaning path includes: Obtain the types of all the cleaning components and the quantity of each type of cleaning component; The cleaning path of the cleaning equipment is planned based on the type of cleaning components and the quantity of the same type of cleaning components.

[0039] Fourthly, embodiments of this application provide a control device for a cleaning device, applied to a cleaning device, the control device for the cleaning device comprising: The first path acquirer is used to receive cleaning instructions and acquire cleaning paths; A first operator is configured to perform at least one first cleaning operation based on the cleaning path. The first cleaning operation includes: acquiring a target cleaning area; and controlling the cleaning equipment to clean the target cleaning area with a target cleaning component. The target cleaning component is determined based on the target cleaning area and the types of multiple cleaning components currently placed on the cloth-changing mechanism of the cleaning base station.

[0040] The beneficial effects of the control device for the cleaning equipment provided in the fourth aspect are the same as those of the control method for the cleaning equipment provided in the third aspect, and will not be repeated here.

[0041] In an optional embodiment of this application, when the first operator is used to perform at least one first cleaning operation based on the cleaning path, it is specifically used for: If none of the cleaning components currently placed in the fabric changing mechanism are of the target type, the target cleaning area is updated, wherein the cleaning components of the target type meet the conditions for cleaning the target cleaning area.

[0042] In an optional embodiment of this application, when the first path acquirer is used to acquire the cleaning path, it is specifically used for: Obtain the types of all the cleaning components and the quantity of each type of cleaning component; The cleaning path of the cleaning equipment is planned based on the type of cleaning components and the quantity of the same type of cleaning components.

[0043] Fifthly, this application provides a control method for a cleaning system, applied to a cleaning system, the cleaning system including a cleaning base station and cleaning equipment, the cleaning base station including a base station body and a cloth changing mechanism, the cloth changing mechanism being movably connected to the base station body, the cloth changing mechanism being used to place multiple cleaning components, wherein at least two of the multiple cleaning components are of different types; The cleaning system receives cleaning instructions and obtains the cleaning path; Based on the cleaning instruction, at least one second cleaning operation is performed, the second cleaning operation including: obtaining the target cleaning area of ​​the cleaning device; the cleaning base station determining a target cleaning component based on the target cleaning area of ​​the cleaning device and the types of multiple cleaning components; and the cleaning device cleaning the target cleaning area with the target cleaning component.

[0044] Sixthly, embodiments of this application provide a control device for a cleaning system, applied to a cleaning system, the cleaning system including a cleaning base station and cleaning equipment, the cleaning base station including a base station body and a cloth changing mechanism, the cloth changing mechanism being movably connected to the base station body, the cloth changing mechanism being used to place multiple cleaning components, wherein at least two of the multiple cleaning components are of different types; The control device for the cleaning system includes: The second path acquirer is used by the cleaning system to receive cleaning instructions and acquire the cleaning path. A second operator is configured to perform at least one second cleaning operation based on the cleaning instruction. The second cleaning operation includes: acquiring a target cleaning area of ​​the cleaning device; the cleaning base station determining a target cleaning component based on the target cleaning area of ​​the cleaning device and the types of multiple cleaning components; and the cleaning device cleaning the target cleaning area with the target cleaning component.

[0045] The beneficial effects of the control device for the cleaning system provided in the sixth aspect are the same as those of the control method for the cleaning system provided in the fifth aspect, and will not be repeated here.

[0046] In a seventh aspect, embodiments of this application provide a computer storage medium storing program code, which is loaded and executed by a processor to implement at least one of the control methods for cleaning equipment described in the first aspect, the control methods for cleaning equipment described in the third aspect, and the control methods for cleaning systems described in the fifth aspect.

[0047] The beneficial effects of the computer storage medium provided in the seventh aspect are the same as those of the control method for the clean base station provided in the first aspect, the control method for the clean equipment provided in the third aspect, and the clean system provided in the fifth aspect, and will not be repeated here.

[0048] Eighthly, embodiments of this application provide a computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform at least one of the control methods for cleaning equipment described in the first aspect, the control methods for cleaning equipment described in the third aspect, and the control methods for cleaning systems described in the fifth aspect.

[0049] The beneficial effects of the computer program product provided in the eighth aspect are the same as those of the control method for the clean base station provided in the first aspect, the control method for the clean equipment provided in the third aspect, and the clean system provided in the fifth aspect, and will not be repeated here.

[0050] Ninthly, embodiments of this application provide an electronic device, including: Memory, used to store computer programs; A processor is configured to execute a computer program stored in the memory to implement at least one of the control methods for cleaning equipment described in the first aspect, the control methods for cleaning equipment described in the third aspect, and the control methods for cleaning systems described in the fifth aspect.

[0051] The beneficial effects of the electronic equipment provided in the ninth aspect are the same as those of the control method for the clean base station provided in the first aspect, the control method for the clean equipment provided in the third aspect, and the clean system provided in the fifth aspect, and will not be repeated here.

[0052] In a tenth aspect, embodiments of this application provide a clean base station, comprising: The main body of the base station has a replacement area; A cloth-changing mechanism is used to fix at least two different types of cleaning components. The cloth-changing mechanism is movably connected to the base station body and can transfer the cleaning components to the replacement area.

[0053] In an optional embodiment of this application, the fabric changing mechanism includes a driving part and a fixing part, the fixing part having multiple fixing areas, and the driving part being used to drive the fixing part to rotate so as to move the cleaning component to the changing area.

[0054] In an optional embodiment of this application, the base station body has a cavity for accommodating cleaning equipment. The cavity has a first sidewall, a second sidewall, and a top wall. The replacement area is located at the bottom of the cavity. At least one of the fixed areas is provided on the first sidewall, the second sidewall, the top wall, and the replacement area.

[0055] In an optional embodiment of this application, the cleaning base station further includes a cleaning tray, which is installed on the base station body, and the cloth changing mechanism is disposed above the cleaning tray. The internal space of the cleaning tray is a cleaning area.

[0056] In an optional embodiment of this application, the fabric changing mechanism has a plurality of fixing slots, the fixing slots fixing the cleaning component, and the fixing slots communicating with the cleaning area.

[0057] In an optional embodiment of this application, the cleaning base station further includes a ramp plate connected to the base station body. The ramp plate includes a baffle and a main board. The baffle is disposed above the main board. The base station body has a receiving cavity, and the cleaning tray is disposed in the receiving cavity. The baffle is used to cover the opening of the receiving cavity.

[0058] In the eleventh aspect, embodiments of this application provide a cleaning system, including cleaning equipment and the cleaning base station provided in the tenth aspect, wherein the cleaning base station can interface with the cleaning equipment.

[0059] The beneficial effects of the cleaning system provided in the eleventh aspect are the same as those of the cleaning base station provided in the tenth aspect, and will not be repeated here. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 The diagram shows a first-view structural schematic of the clean base station provided in an embodiment of this application.

[0062] Figure 2 A schematic diagram of the cleaning equipment is shown.

[0063] Figure 3 The diagram shows a first-view structural schematic of the cloth-changing mechanism of the clean base station provided in an embodiment of this application.

[0064] Figure 4 This is a schematic diagram of the fabric replacement mechanism of the clean base station provided in an embodiment of this application from a second perspective.

[0065] Figure 5 A second-view structural schematic diagram of the clean base station provided in an embodiment of this application is shown.

[0066] Figure 6 A schematic diagram showing a baffle blocking the opening of the receiving cavity is shown.

[0067] Figure 7 A schematic diagram of the cleaning system provided in an embodiment of this application is shown.

[0068] Figure 8 A flowchart illustrating the control method for cleaning base stations is shown.

[0069] Figure 9 A flowchart of one sub-step of step S120 is shown.

[0070] Figure 10 A flowchart of another sub-step of step S120 is shown.

[0071] Figure 11 A flowchart of steps S130-S150 is shown.

[0072] Figure 12 A flowchart of a sub-step of step S150 of the control method for cleaning a base station is shown.

[0073] Figure 13 A flowchart of steps S172-S176 of the clean base station provided in the embodiments of this application is shown.

[0074] Figure 14 A flowchart of a sub-step of step S176 of cleaning the base station provided in an embodiment of this application is shown.

[0075] Figure 15 A flowchart of steps S182-S184 of the clean base station provided in the embodiments of this application is shown.

[0076] Figure 16 A flowchart of a sub-step of step S184 of cleaning the base station provided in an embodiment of this application is shown.

[0077] Figure 17 A flowchart of a control method for a cleaning device provided in an embodiment of this application is shown.

[0078] Figure 18 A flowchart of a sub-step of step S210 of the control method for cleaning equipment provided in an embodiment of this application is shown.

[0079] Figure 19 A flowchart of a sub-step of step S220 of the control method for cleaning equipment provided in an embodiment of this application is shown.

[0080] Figure 20 A flowchart of a control method for a cleaning system provided in an embodiment of this application is shown.

[0081] Figure 21A flowchart of a sub-step of step S310 of the control method for a cleaning system provided in an embodiment of this application is shown.

[0082] Figure 22 A flowchart of a sub-step of step S320 of the control method for the cleaning system provided in an embodiment of this application is shown.

[0083] Figure 23 A flowchart of a sub-step of step S322 of the control method for a cleaning system provided in an embodiment of this application is shown.

[0084] Figure 24 A flowchart of a sub-step of step S322 of the control method for the cleaning system provided in an embodiment of this application is shown.

[0085] Figure 25 A flowchart of steps S323-S327 of the control method for the cleaning system provided in the embodiments of this application is shown.

[0086] Figure 26 A flowchart of a sub-step of step S325 of the control method for the cleaning system provided in an embodiment of this application is shown.

[0087] Figure 27 A flowchart of steps S3282-S3286 of the control method for the cleaning system provided in an embodiment of this application is shown.

[0088] Figure 28 A flowchart illustrating a sub-step of step S3286 of the cleaning system provided in an embodiment of this application is shown. Figure 28 As shown.

[0089] Figure 29 A flowchart of steps S330 and S340 of the cleaning system provided in an embodiment of this application is shown.

[0090] Figure 30 A flowchart of a sub-step of step S340 of the cleaning system provided in an embodiment of this application is shown.

[0091] Figure 31 This application illustrates a control device for a clean base station according to an embodiment of the present application.

[0092] Figure 32 Block diagrams of the control apparatus for a clean base station provided in other embodiments are shown.

[0093] Figure 33 A block diagram of the control device for a clean base station provided in some embodiments is shown.

[0094] Figure 34A block diagram of the control device for a clean base station provided in some other embodiments is shown.

[0095] Figure 35 A block diagram of the control device for the cleaning equipment provided in an embodiment of this application is shown.

[0096] Figure 36 A block diagram of the control device for the cleaning system provided in an embodiment of this application is shown.

[0097] Figure 37 Block diagrams of the control devices for cleaning systems provided in other embodiments are shown.

[0098] Figure 38 A block diagram of the electronic device is shown.

[0099] Reference numerals: 100-Clean base station, 110-Base station body, 112-Replacement area, 114-Accommodation cavity, 1142-First side wall, 1144-Second side wall, 1146-Top wall, 1148-Opening, 116-Cleaning tray, 118-Cleaning area, 120-Cloth changing mechanism, 122-Fixing area, 124-Driver, 126-Transmission belt, 128-Fixing part, 130-Ramp plate, 132-Baffle, 134-Main board; 200 - Cleaning equipment; 210 - Cleaning components; 220 - Main unit; 10 - Cleaning system; 300 - Control device for cleaning base station, 310 - Area acquirer, 320 - Target determiner, 330 - Location acquirer, 340 - First transferor, 350 - Transmitter, 360 - Second transferor, 372 - Third transferor, 374 - Blocker, 375 - Pattern determiner, 376 - Cleaner, 382 - Area recorder, 384 - Initial determiner; 400 - Control device for cleaning equipment; 410 - First path acquirer; 420 - First operator; 500 - Control device for cleaning system; 510 - Second path acquirer; 520 - Second operator; 530 - System recorder; 540 - System determiner; 800 - Electronic device; 810 - Processor; 820 - Memory; 821 - Random access memory; 822 - Cache memory; 832 - Read-only memory; 824 - Program / utility; 825 - Program module; 830 - Bus; 840 - Display unit; 850 - Interface; 860 - Network adapter. Detailed Implementation

[0100] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0101] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0102] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0103] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0104] With the development of technology and the fast pace of life, using cleaning robots and other cleaning equipment for environmental cleaning not only improves cleaning efficiency but also frees up people's hands. Therefore, cleaning equipment on the market is currently very popular.

[0105] Current cleaning robots and other cleaning equipment can automatically perform functions such as mopping, sweeping, and wiping. Moreover, cleaning equipment is usually equipped with a cleaning base station. During the cleaning process, the cleaning equipment can wash and dry the mop, or after the cleaning work is completed, the cleaning equipment needs to return to the cleaning base station for charging and self-cleaning, such as washing and drying the mop.

[0106] If the cleaning equipment needs to clean the mop during the cleaning process, the cleaning equipment needs to return to the cleaning base station and then execute the cleaning program to clean the mop. After cleaning is completed, it can start cleaning the environment again. However, cleaning the mop will take up the cleaning time of the cleaning equipment, which will increase the overall cleaning time.

[0107] During the cleaning process, cleaning equipment may need to clean various types of areas, each with different materials and requirements for the materials of the cleaning components. In related technologies, using the same type of cleaning component to clean different areas leads to poor cleaning results and increases the risk of cross-contamination. The cleaning base station and its control method provided in this application address these issues. The cleaning base station and its control method can use different cleaning components to clean different areas, thereby improving the cleaning effect of the cleaning equipment.

[0108] This application is described below with reference to the accompanying drawings and specific embodiments: Figure 1 This paper shows a schematic diagram of the structure of a clean base station 100 provided in an embodiment of this application. Figure 2 A schematic diagram of the cleaning device 200 is shown, as follows: Figure 1 and Figure 2 As shown in the figure, this application embodiment provides a cleaning base station 100. The cleaning base station 100 provided in this application embodiment enables the cleaning device 200 to use different cleaning components 210 to clean different cleaning areas, thereby improving the cleaning effect of different cleaning areas.

[0109] In this embodiment, the cleaning base station 100 includes a base station body 110 and a cloth replacement mechanism 120. The base station body 110 has a replacement area 112. The cloth replacement mechanism 120 is used to place at least two different types of cleaning components 210. The cloth replacement mechanism 120 is movably connected to the base station body 110 and is capable of transferring the cleaning components 210 to the replacement area 112.

[0110] The base station body 110 is the basic component of the entire cleaning base station 100, providing a foundation for the installation of structures such as the cloth changing mechanism 120. The cleaning base station 100 may also include structures such as dust bins, which are also installed on the base station body 110. The cleaning base station 100 can be integrated as a whole, making it convenient to move and use the cleaning base station 100.

[0111] The cleaning component 210 is a part of the cleaning device 200 used to clean the area to be cleaned. The cleaning component 210 can be a component that needs to be cleaned. Specifically, the cleaning component 210 can be a disc mop or a roller mop. The type of the cleaning component 210 is not limited. If the cleaning component 210 is a disc mop, the cleaning component 210 can include two cleaning cloths.

[0112] The cloth changing mechanism 120 is used to fix at least two different types of cleaning components 210. All cleaning components 210 placed in the cloth changing mechanism 120 are of the same type, either disc mops or roller mops; that is, the multiple cleaning components 210 have the same shape and size. The different types refer to the different materials of the cleaning components 210, and different types of cleaning components 210 can clean different types of areas.

[0113] For example, cleaning areas can be broadly categorized into three types: heavily soiled areas such as kitchens and dining rooms; ordinary areas such as bedrooms and living rooms; and areas with many water stains such as bathrooms. Since the types of dirt on the floors differ in these three areas, using the same cleaning component 210 to clean all areas will result in cross-contamination between the different types of areas. For instance, cleaning the living room immediately after cleaning the kitchen will contaminate the living room because the cleaning component 210 has not yet been rinsed, leading to a poorer cleaning effect.

[0114] The cleaning components 210 can be categorized into three types: Type 1, Type 2, and Type 3. Type 1 cleaning components 210 are characterized by strong water absorption and cleaning power. Specifically, the fabric of the cleaning component 210 can be chenille. For ease of description, this type is defined as a chenille cleaning component. Chenille cleaning components have a rich, soft, and fluffy surface, are highly absorbent, and have strong cleaning power, making them suitable for cleaning ordinary areas such as living rooms, bedrooms, and balconies. Type 2 cleaning components 210 are particularly effective at cleaning heavily soiled floors. Specifically, the fabric of the cleaning component 210 can be either twisted cloth or woven fabric. For ease of description, this type of cleaning component 210 is defined as a twisted cloth cleaning component. Twisted cloth cleaning components have a finer surface, are less prone to hair tangling, dry faster, and produce less water stains on the floor, making them more effective at cleaning heavily soiled floors and suitable for cleaning kitchens and dining rooms. Type 3 cleaning components 210 are characterized by extremely high water absorption. Specifically, the fabric of the cleaning component 210 can be PVC foam. For ease of description, the cleaning component 210, made of PVC foam, is referred to as a PVC foam cleaning component. PVC foam cleaning components are highly absorbent and can quickly dry water stains in the bathroom, making them suitable for cleaning damp bathrooms, especially areas immediately after showering. In other words, PVC foam cleaning components are primarily used for cleaning bathrooms and other areas prone to water stains.

[0115] In this scenario, if the target cleaning area is a typical area such as the living room, balcony, or bedroom, the corresponding target cleaning component 210 is a chenille cleaning component. If the target cleaning area is a heavily soiled area such as the kitchen or dining room, the target cleaning component 210 is a twisted cloth cleaning component. If the target cleaning area is a water-saturated area such as the bathroom, the corresponding target cleaning component 210 is a sponge cleaning component.

[0116] When there are three types of cleaning components 210, two of each type of cleaning component 210 can be set. If the conditions for replacing the cleaning component 210 are met during the cleaning process of the target cleaning area, the corresponding type of target cleaning component 210 can be replaced. This can reduce the time spent by the cleaning equipment 200 waiting for the cleaning component 210 to clean during the cleaning process, thereby reducing the invalid time of the cleaning equipment 200 when performing the cleaning task, reducing the total cleaning time of the cleaning equipment 200, and thus improving the cleaning efficiency of the cleaning equipment 200.

[0117] In some other embodiments, when there are three types of cleaning components 210, the areas of ordinary areas such as living rooms, bedrooms, and balconies are usually larger, so there may be two chenille cloth cleaning components for ordinary areas. The areas of heavily oiled areas such as kitchens and dining rooms and areas with many water stains such as bathrooms are relatively smaller, so there may be one PVC foam cleaning component and one twisted cloth cleaning component.

[0118] In some other embodiments, the cleaning component 210 may include only two types. If the cleaning component 210 includes only the first type and the second type mentioned above, the room, living room, balcony and bathroom can be considered as one type, and the room and living room can be regarded as the same area. In this case, the cleaning component 210 of the first type mentioned above can be used for cleaning.

[0119] In this case, if the target cleaning area is a general area such as a living room, balcony, or bedroom, or a water-staining area such as a bathroom, then the corresponding target cleaning component 210 is a chenille cleaning component (the first type of cleaning component 210). If the target cleaning area is a heavily oiled area such as a kitchen or dining room, then the target cleaning component 210 is a twisted cloth cleaning component (the second type of cleaning component 210).

[0120] In this case, each cleaning component 210 can be at least two, that is, when cleaning the same type of cleaning area, two cleaning components 210 of the same type can be replaced, which can also reduce the cleaning time of the cleaning equipment 200 waiting for the cleaning components 210 to be cleaned during the cleaning process, thereby reducing the ineffective time of the cleaning equipment 200 when performing the cleaning task, reducing the total cleaning time of the cleaning equipment 200, and thus improving the cleaning efficiency of the cleaning equipment 200.

[0121] The invalid time refers to the time during which the cleaning equipment 200 does not clean the cleaning area while performing the cleaning task. The total cleaning time includes the effective time for cleaning the cleaning area and the invalid time for cleaning the cleaning components 210, walking to the cleaning area, etc.

[0122] In the same cleaning task, the area that the cleaning equipment 200 needs to clean may include multiple different types of cleaning areas. When the cleaning equipment 200 receives a cleaning instruction or when the conditions for replacing the cleaning component 210 are met during the cleaning task, the cloth replacement component can transfer the target cleaning component 210 corresponding to the target cleaning area to the replacement area 112, so that the cleaning equipment 200 can carry the target cleaning component 210 to clean the target cleaning area, thereby improving the cleaning effect of the cleaning equipment 200.

[0123] Figure 3 This is a first-view structural schematic diagram of the fabric replacement mechanism 120 of the clean base station 100 provided in an embodiment of this application. Figure 4 This illustration shows a second-view structural diagram of the fabric changing mechanism 120 of the clean base station 100 provided in an embodiment of this application, as shown below. Figure 3 and Figure 4 As shown, in some embodiments, the fabric changing mechanism 120 includes a driving part, a transmission belt 126 and a fixing part 128. The fixing part 128 has a plurality of fixing areas 122. The fixing part 128 is connected to the transmission belt 126. The driving part is connected to the transmission belt 126. The driving part drives the fixing part 128 to rotate through the transmission belt 126 to move the cleaning component 210 to the changing area 112.

[0124] The fixing part 128 has multiple fixing areas 122, each fixing area 122 can hold a set of cleaning components 210. The driving part is connected to the fixing part 128, and can drive the fixing part 128 to rotate relative to the replacement area 112, so that each fixing area 122 can move to the replacement area 112, thereby moving the cleaning components 210 to the replacement area 112.

[0125] In some embodiments, the placement position of the cleaning component 210 on the fixing part 128 is fixed, that is, only the same type of cleaning component 210 is placed in the same fixing area 122. For example, if the cleaning component 210 includes three types, there are two cleaning components 210 of the first type, and one cleaning component 210 of the second and third types, and there are four fixing areas 122, for ease of description, the four fixing areas 122 are defined as the first fixing area 122, the second fixing area 122, the third fixing area 122, and the fourth fixing area 122.

[0126] The first fixed area 122 and the second fixed area 122 always contain two first-type cleaning components 210, that is, the first fixed area 122 contains one first-type cleaning component 210 and the second fixed area 122 contains one first-type cleaning component 210. The two first-type cleaning components 210 can be interchanged in the first fixed area 122 and the second fixed area 122. The third fixed area 122 always contains a second-type cleaning component 210 and the fourth fixed area 122 always contains a third-type cleaning component 210.

[0127] In other words, the fixed area 122 corresponds to the type of cleaning component 210, and the position of the cleaning component 210 can be determined based on the position of the fixed area 122. After the target cleaning component 210 is determined based on the target cleaning area, the drive unit can drive the fixed unit 128 to rotate, thereby rotating the fixed area 122 corresponding to the target cleaning component 210 to the replacement area 112, so that the cleaning device 200 can carry the target cleaning component 210 to clean the target cleaning area.

[0128] As for how to determine the positions of the multiple fixed areas 122, a position detection device can be set at the position corresponding to each fixed area 122, and a trigger device can be set at the position corresponding to the replacement area 112. The trigger device can trigger multiple position detection devices, and the current fixed area 122 located in the replacement area 112 can be determined based on the trigger signal received by the cleaning base station 100.

[0129] For example: the first fixed area 122 corresponds to the first position detection element, the second fixed area 122 corresponds to the second position detection element, the third fixed area 122 corresponds to the third position detection element, and the fourth fixed area 122 corresponds to the fourth position detection element. When the trigger activates the first position detection element, the cleaning base station 100 receives the first detection signal, indicating that the first fixed area 122 is already located in the replacement area 112, that is, the first type of cleaning component 210 is currently located in the replacement area 112. When the trigger activates the second position detection element, the cleaning base station 100 receives the second detection signal, indicating that the second fixed area 122 is already located in the replacement area 112, that is, the first type of cleaning component 210 is currently located in the replacement area 112. When the trigger activates the third position detection element, the cleaning base station 100 receives the third detection signal, indicating that the third fixed area 122 is already located in the replacement area 112, that is, the second type of cleaning component 210 is currently located in the replacement area 112. When the trigger activates the fourth position detection element, the cleaning base station 100 receives the fourth detection signal, indicating that the fourth fixed area 122 is now located in the replacement area 112, meaning that the third type of cleaning component 210 is currently located in the replacement area 112. The specific fixed area 122 located in the replacement area 112 can be determined based on the received detection signal.

[0130] Among them, multiple position detection components can be light-blocking switches.

[0131] In some embodiments, each fixed area 122 may be provided with a sensor. When the cleaning component 210 is placed in the replacement area 112, the cleaning component 210 can trigger the sensor, and the cleaning base station 100 can receive the sensing signal, thereby determining that the fixed area 122 is where the cleaning component 210 is placed.

[0132] For example, a first sensor is installed in the first fixed area 122, a second sensor is installed in the second fixed area 122, a third sensor is installed in the third fixed area 122, and a fourth sensor can be installed in the fourth fixed area 122. Whether the corresponding cleaning component 210 is placed in the fixed area 122 can be determined by whether the cleaning base station 100 receives the corresponding sensing signal. The sensor can be a micro switch.

[0133] Regarding the location of the multiple fixed areas 122, in some embodiments, the base station body 110 has a receiving cavity 114 for accommodating the cleaning equipment 200. The receiving cavity 114 has a first side wall 1142, a second side wall 1144, and a top wall 1146. The replacement area 112 is located at the bottom of the receiving cavity 114. The first side wall 1142, the second side wall 1144, the top wall 1146, and the replacement area 112 are each provided with at least one fixed area 122.

[0134] The receiving cavity 114 can accommodate the cleaning component 210 of the cleaning device 200, allowing the cleaning component 210 to be placed inside the cleaning base station 100. The receiving cavity 114 is approximately cuboid in shape and has an opening 1148 for the cleaning device 200 to enter and exit. The top wall 1146, the first side wall 1142, and the second side wall 1144 all extend to the opening 1148. The first side wall 1142 and the second side wall 1144 are arranged opposite to each other, and the top wall 1146 is arranged opposite to the replacement area 112 (the bottom of the receiving cavity 114). At least one fixed area 122 is provided in the first side wall 1142, the second side wall 1144, the top wall 1146, and the replacement area 112. The fixed area 122 of the cloth changing mechanism 120 can be arranged in the receiving cavity 114 accommodating the cleaning device 200 without the need to set up other positions to arrange the cloth changing mechanism 120. This arrangement makes the structure of the cleaning base station 100 more compact.

[0135] The fabric changing mechanism 120 has multiple fixed areas 122. For the same fixed area 122, it can be set on the first side wall 1142, the second side wall 1144, the top wall 1146, or the changing area 112. The positions of the multiple fixed areas 122 can be set according to the cleaning needs of the cleaning equipment 200.

[0136] The above describes how to determine which fixed area 122 is located in the replacement area 112. Since the structure of the fabric changing mechanism 120 is fixed, after determining the fixed area 122 located in the replacement area 112, the fixed areas 122 located in the first side wall 1142, the second side wall 1144, and the top wall 1146 can also be determined.

[0137] The fixing part 128 can be a ring-shaped fixing part 128. Then, the first fixing area 122, the second fixing area 122, the third fixing area 122, and the fourth fixing area 122 are arranged in sequence. The fourth fixing area 122 is adjacent to the first fixing area 122. If it is determined that the first fixing area 122 is located in the replacement area 112, it can be determined that the second fixing area 122 is located in the first side wall 1142, the third fixing area 122 is located in the top wall 1146, and the fourth fixing area 122 is located in the second side wall 1144. Then, the positions of the multiple cleaning components 210 relative to the replacement area 112 can be determined.

[0138] In some embodiments, the transmission belt 126 can drive the fixing part 128 to move relative to the receiving cavity 114. The fixing part 128 can be made of a material with a certain elasticity, so that the fixing part 128 can have a certain deformation during the process of moving from the replacement area 112 to the first side wall 1142, the first side wall 1142 to the top wall 1146, the top wall 1146 to the second side wall 1144, or the second side wall 1144 to the replacement area 112, so that the fixing part 128 can bend adaptively.

[0139] In some embodiments, the main unit 220 and the cleaning component 210 of the cleaning device 200 can be magnetically connected. Specifically, a portion of the cleaning component 210 can be made of metal, and an electromagnet can be installed on the main unit 220 of the cleaning device 200. The electromagnet attracts the metal parts of the cleaning component 210, thus securing the cleaning component 210 and enabling the cleaning device 200 to carry the cleaning component 210 for cleaning. During disassembly, the electromagnet can be de-energized, allowing the cleaning component 210 to separate from the main unit 220 of the cleaning device 200.

[0140] Similarly, an electromagnet can be installed on the fixing part 128 to attract the metal parts of the cleaning component 210, thereby reducing the risk of the cleaning component 210 falling when it is located on the top wall 1146, the first side wall 1142 or the second side wall 1144.

[0141] Figure 5 This paper shows a structural schematic diagram of a clean base station 100 provided in an embodiment of this application from a second perspective. Figure 5As shown, in some embodiments, the cleaning base station 100 further includes a cleaning tray 116, which is installed on the base station body 110. The cloth changing mechanism 120 is disposed above the cleaning tray 116, and the internal space of the cleaning tray 116 is a cleaning area 118.

[0142] The cleaning tray 116 is located at the bottom of the receiving cavity 114, and the cloth changing mechanism 120 is located above the cleaning tray 116, so that the cloth changing mechanism 120 can minimize interference with the cleaning tray 116 during rotation relative to the base station body 110. Furthermore, utilizing the space above the cleaning tray 116 to house the cloth changing mechanism 120 allows for a more compact structure of the cleaning base station 100.

[0143] In some embodiments, the fixing region 122 is connected to the cleaning region 118. This allows the cleaning component 210 to pass through the fixing region 122 and be disposed within the cleaning region 118, thereby enabling the cleaning component 210 to be cleaned. When the cleaning base station 100 cleans the cleaning component 210, the fixing region 122 fixes the cleaning component 210, which can reduce the shaking of the cleaning component 210 during the cleaning process and can also improve the cleaning effect to a certain extent.

[0144] The fixed area 122 can both transport the cleaning component 210 and fix the cleaning component 210 while the cleaning base station 100 is cleaning it. The same structure can perform at least multiple different functions, and it can also make the structure of the cleaning base station 100 more concentrated, reduce the number of cleaning components, and make the cleaning base station 100 miniaturized.

[0145] Figure 6 A schematic diagram is shown showing the baffle 132 blocking the opening 1148 of the receiving cavity 114, as follows. Figure 5 and Figure 6 As shown, in some embodiments, the cleaning base station 100 further includes a ramp 130, which is connected to the base station body 110. The ramp 130 includes a baffle 132 and a main board 134. The baffle 132 is disposed above the main board 134. The base station body 110 has a receiving cavity 114, and a cleaning tray 116 is disposed in the receiving cavity 114. The baffle 132 is used to block the opening 1148 of the receiving cavity 114.

[0146] During the cleaning process of cleaning the cleaning component 210 in the cleaning base station 100, the baffle 132 can block the opening 1148 of the receiving cavity 114, thereby reducing the overflow of sewage from the cleaning component 210 and improving the cleaning effect of the cleaning component 210 to a certain extent.

[0147] If the cleaning component 210 is not cleaned in the cleaning base station 100, the baffle 132 opens the opening 1148, allowing the cleaning equipment 200 to enter the receiving cavity 114.

[0148] In summary, the cleaning base station 100 and cleaning equipment 200 provided in this application embodiment may include multiple different types of cleaning areas. When the cleaning equipment 200 receives a cleaning instruction or when the conditions for replacing the cleaning component 210 are met during the cleaning task, the cloth replacement component can transfer the target cleaning component 210 corresponding to the target cleaning area to the replacement area 112, so that the cleaning equipment 200 can carry the target cleaning component 210 to clean the target cleaning area, thereby improving the cleaning effect of the cleaning equipment 200.

[0149] Figure 7 A schematic diagram of the structure of the cleaning system 10 provided in an embodiment of this application is shown, as follows: Figure 7 As shown, based on the same inventive concept, this application provides a cleaning system 10, which can improve the cleaning effect of the cleaning equipment 200.

[0150] The cleaning system 10 includes a cleaning device 200 and the aforementioned cleaning base station 100, which can interface with the cleaning device 200. After the cleaning device 200 is interfaced with the cleaning system 10, the cleaning base station 100 can charge the cleaning device 200, collect dust from the cleaning device 200, replace the cleaning components 210 of the cleaning device 200, and clean and dry the cleaning components 210 of the cleaning device 200.

[0151] Based on the same inventive concept, this application also provides a control method for a cleaning base station 100. The control method for the cleaning base station 100 provided in this application is applied to the cleaning base station 100 described above. The control method for the cleaning base station 100 provided in this application can improve the cleaning effect of the cleaning equipment 200.

[0152] Figure 8 A flowchart illustrating the control method for the clean base station 100 is shown, such as... Figure 8 As shown, the control method for the clean base station 100 includes: Step S110: Obtain the target cleaning area of ​​the cleaning equipment 200.

[0153] During the mapping or cleaning process, the cleaning equipment 200 can identify the types of obstacles in different areas, thereby determining the category of each area. For example, if the cleaning equipment 200 identifies a sofa in an area, it can label that area as a living room, i.e., a normal area. If it identifies a bed, it can label that area as a bedroom, i.e., a normal area. If it identifies a table, it can label that area as a dining room, i.e., a heavily soiled area. If it identifies a toilet, it can label that area as a bathroom, i.e., a water-stained area. If the cleaning equipment 200 encounters areas whose categories it cannot identify during mapping, it can send a reminder message to the terminal, prompting the user to mark the corresponding area category on the map.

[0154] After the cleaning equipment 200 completes its mapping, it obtains a working map, which may include one or more cleaning areas. During a cleaning task, it may clean one or more areas on the working map, or it may clean all areas on the cleaning area map. The cleaning equipment 200 can obtain the areas that need to be cleaned in this cleaning task upon receiving a cleaning instruction.

[0155] The target cleaning area can be obtained when the cleaning device 200 receives a cleaning instruction. That is, after receiving the cleaning instruction, the cleaning device 200 can obtain the area to be cleaned and the cleaning path for this cleaning task, and take the first area to be cleaned in the cleaning path (also the initial cleaning area) as the target cleaning area.

[0156] During the cleaning process of the cleaning equipment 200, if the conditions for replacing the cleaning component 210 are met, it is also necessary to obtain the target cleaning area. In this case, the target cleaning area can be the area currently being cleaned or the area that will be cleaned next. In either case, the target cleaning area is the area that the cleaning equipment 200 will clean after replacing the cleaning component 210.

[0157] The condition for replacing the cleaning component 210 can be determined if any of the following conditions are met.

[0158] Replacement instruction received; The cleaning device 200 uses the currently carried cleaning component 210 to clean an area greater than or equal to the set area; The current cleaning time of cleaning equipment 200 is greater than or equal to the set time; The current cleaning area has been completed. The area to be cleaned is of a different type than the current cleaning area.

[0159] Step S120: Based on the target cleaning area of ​​the cleaning device 200 and the types of multiple cleaning components 210, a target cleaning component 210 is determined so that the cleaning device 200 carries the target cleaning component 210 to clean the target cleaning area.

[0160] Once the target cleaning area is determined, the type of target cleaning area is also determined. The target cleaning component 210 can be determined from the multiple cleaning components 210 based on the target cleaning area and the type of multiple cleaning components 210.

[0161] The multiple cleaning components 210 include a plurality of those currently placed on the fabric changing mechanism 120 and one carried by the cleaning device 200. For example, if there are a total of four cleaning components 210, and the cleaning device 200 carries one cleaning component 210 while performing a cleaning task or when the cleaning device 200 is parked at the cleaning base station 100, then the multiple cleaning components 210 include three cleaning components 210 placed on the fabric changing mechanism 120 and one cleaning component 210 carried by the cleaning device 200.

[0162] The types of target cleaning components 210 are matched with the types of target cleaning areas. For example, multiple cleaning components 210 can include three types: Type 1, Type 2, and Type 3. Type 1 can be a cleaning component 210 with strong water absorption and cleaning ability, suitable for cleaning ordinary areas such as living rooms, bedrooms, and balconies. Type 2 can be a cleaning component 210 that excels at cleaning heavily soiled floors, suitable for cleaning floors in kitchens and dining rooms. Type 3 is a cleaning component 210 with extremely strong water absorption, suitable for cleaning damp areas such as bathrooms with many water stains.

[0163] In this scenario, if the target cleaning area is a typical area such as a living room, balcony, or bedroom, then the corresponding target cleaning component 210 is a first-type cleaning component 210. If the target cleaning area is a heavily soiled area such as a kitchen or dining room, then the target cleaning component 210 is a second-type cleaning component 210. If the target cleaning area is a water-staining area such as a bathroom, then the corresponding target cleaning component 210 is a third-type cleaning component 210.

[0164] In some other embodiments, the cleaning component 210 may include only two types. When the cleaning component 210 includes only the first and second types described above, rooms, living rooms, balconies, and bathrooms can be considered as one type, and rooms and living rooms can be regarded as the same area. In this case, if the target cleaning area is a normal area such as a living room, balcony, or room, or a water-staining area such as a bathroom, then the corresponding target cleaning component 210 is the first type of cleaning component 210. If the target cleaning area is a heavily oiled area such as a kitchen or dining room, then the target cleaning component 210 is the second type of cleaning component 210.

[0165] In other words, the type of cleaning area and the type of cleaning component 210 capable of cleaning that area are determined. Once the type of the target cleaning area is determined, the type of target cleaning component 210 is also determined. Therefore, the target cleaning component 210 can be identified from among the multiple cleaning components 210 based on their types. During the cleaning process, the cleaning device 200 can carry the target cleaning component 210 to clean the target cleaning area, thereby improving the cleaning effect of the cleaning device 200.

[0166] Figure 9 A flowchart of one sub-step of step S120 is shown, such as Figure 9 As shown, the method for determining the target cleaning component 210 can be described in detail in conjunction with steps S122-S127. Step S120 may include steps S122, S123, S124, S125, S126 and S127.

[0167] Step S122: Obtain the types of the multiple cleaning components 210 currently placed in the cloth changing mechanism 120.

[0168] Among the multiple cleaning components 210, one cleaning component 210 may be carried by the cleaning device 200, or all of them may be placed in the cloth changing mechanism 120. First, the types of the multiple cleaning components 210 currently placed in the cloth changing mechanism 120 are obtained. There may be one or two cleaning components of the same type. During the cleaning task, the types of cleaning components 210 carried by the cleaning device 200 are also uncertain, which makes the types of multiple cleaning components 210 placed on the cloth changing mechanism 120 and the number of each type of cleaning component 210 uncertain. That is, the types of multiple cleaning components 210 currently placed in the cloth changing mechanism 120 can be obtained before the target cleaning component 210 is determined.

[0169] Step S123: Determine whether there is a cleaning component 210 of the multiple cleaning components 210 placed in the current cloth changing mechanism 120 that is the target type.

[0170] The system determines whether the target type of cleaning component 210 exists among the multiple cleaning components 210 currently placed in the fabric changing mechanism 120. This allows the system to determine whether the cleaning component 210 can be directly replaced.

[0171] Step S124: Based on the multiple cleaning components 210 currently placed in the cloth changing mechanism 120, it is determined that there is a type of cleaning component 210 that is the target type. Then, the cleaning component 210 that is the target type is determined as a candidate cleaning component 210, wherein the cleaning component 210 of the target type meets the condition of cleaning the target cleaning area.

[0172] If among the multiple cleaning components 210 placed in the current fabric changing mechanism 120, there is a cleaning component 210 of the target type, then the cleaning component 210 of the target type can be identified as a candidate cleaning component 210.

[0173] The target type refers to the type of cleaning component 210 that can clean the target cleaning area. For example, when the target cleaning area is the living room, the target type is the first type, and when the target cleaning area is the kitchen, the target type is the second type.

[0174] If there is only one alternative cleaning component 210, then that alternative cleaning component 210 is the target cleaning component 210. If there are multiple alternative cleaning components 210, the target cleaning component can be selected from the alternative cleaning components 210, as shown in step S125.

[0175] Step S125: Determine the target cleaning component 210 based on the location information of the alternative cleaning component 210.

[0176] The position information of the alternative cleaning component 210 refers to the current position of the alternative cleaning component 210 in the receiving cavity 114. The position information of the alternative cleaning component 210 can be determined by the position information of the fixed area 122 where the alternative cleaning component 210 is placed. As described above, a fixed area 122 is used to place a type of cleaning component 210. The type of cleaning component 210 matches the fixed area 122. Therefore, the position of the cleaning component 210 in the receiving cavity 114 can be determined based on the position of the fixed area 122, thus determining the position information of the alternative cleaning component 210.

[0177] If there are multiple candidate cleaning components 210, the candidate cleaning component 210 that is closest to the replacement area 112 can be selected as the target cleaning component 210. For example, if there are two candidate cleaning components 210, one of which is located on the first side wall 1142 and the other is located on the top wall 1146, and the first side wall 1142 is closer to the replacement area 112, then the candidate cleaning component 210 corresponding to the first side wall 1142 is determined as the target cleaning component 210.

[0178] Step S126: If the types of all cleaning components 210 placed in the current cloth changing mechanism 120 are not the target type and the type of cleaning component 210 currently carried by the cleaning equipment 200 is the target type, then control the cleaning base station 100 to clean the cleaning component 210 currently carried by the cleaning equipment 200.

[0179] If none of the cleaning components 210 placed in the current cloth changing mechanism 120 are of the target type and the cleaning equipment 200 is determined to be the target type, then the cleaning base station 100 can be controlled to clean the currently carried cleaning components 210 if the cleaning equipment 200 meets the conditions for replacing the cleaning components 210.

[0180] If the cleaning device 200 has not yet returned to the cleaning base station 100, it can be controlled to return first. Once the cleaning device 200 has returned, the cleaning component 210 carried by the cleaning device 200 can be removed, and the cleaning device 200 can be moved outside the cleaning base station 100. The cleaning base station 100 then begins cleaning the target cleaning component 210. Alternatively, the cleaning device 200 can remain within the cleaning base station 100, and the cleaning base station 100 can directly clean the cleaning component 210. Specific cleaning methods can be found in steps S172-S176 and their sub-steps below, which will not be elaborated here. After cleaning is complete, the cleaning device 200 can be controlled to continue cleaning with the target cleaning component 210.

[0181] For example, in some embodiments, there is only one second type of cleaning component 210. When the cleaning device 200 is cleaning a heavily oiled area, if the cleaning area has reached a set area or the cleaning time has reached a set time, and the conditions for replacing the cleaning component 210 are met, the target cleaning area is still a heavily oiled area. There is no second type of cleaning component 210 available for replacement in the cleaning base station 100. Therefore, the cleaning device 200 is first controlled to return to the cleaning base station 100 to clean the second type of cleaning component 210. After cleaning is completed, the cleaning base station 100 carries the second type of cleaning component 210 to continue cleaning the heavily oiled area.

[0182] Figure 10 A flowchart of another sub-step of step S120 is shown, such as... Figure 10 As shown, in step S127, if none of the cleaning components 210 placed in the current cloth changing mechanism 120 are of the target type, then the target cleaning area is updated.

[0183] If none of the cleaning components 210 currently placed in the fabric changing mechanism 120 are of the target type, the target cleaning area is updated. After the target cleaning area is updated, the target cleaning components 210 are determined according to steps S110-S120 and their sub-steps.

[0184] As for the method of updating the target cleaning area, the area closest to the current cleaning area of ​​the cleaning device 200 can be used as the target cleaning area, or the cleaning area corresponding to the cleaning component 210 closest to the replacement area 112 within the current cleaning base station 100 can be used as the target cleaning area. The method of updating the target cleaning area of ​​the cleaning device 200 is not limited.

[0185] Alternatively, the cleaning base station 100 may update the target cleaning area and send the updated target cleaning area to the cleaning device 200, or the cleaning device 200 may update the target cleaning area and send the updated target cleaning area to the cleaning base station 100.

[0186] Figure 11 The flowchart of steps S130-S150 is shown, as follows: Figure 11 As shown, in step S130, the current position information of the target cleaning component 210 is obtained.

[0187] After the target cleaning component 210 is determined, its current position information can be obtained. The fabric changing mechanism 120 has multiple fixed areas 122 for placing the cleaning component 210. The current position information of the target cleaning component 210 is determined based on the position information of the fixed area 122 where the target cleaning component 210 is placed.

[0188] The method for determining the current location information of the target cleaning component 210 is the same as the method for determining the location information of the alternative cleaning component 210 described above. The method for determining the location information of the alternative cleaning component 210 described above can be referred to, and will not be repeated here.

[0189] Step S140: Determine whether the target cleaning component 210 is in the replacement area 112 based on the current location information of the target cleaning component 210.

[0190] After determining the current location information of the target cleaning component 210, it can be determined whether the target cleaning component 210 is in the replacement area 112. If the target cleaning component 210 is already in the replacement area 112, it can be determined whether the cleaning device 200 can carry the cleaning component 210.

[0191] In step S150, if it is determined that the target cleaning component 210 is not in the replacement area 112 based on the current location information of the target cleaning component 210, the cloth changing mechanism 120 is controlled to transfer the target cleaning component 210 to the replacement area 112, so that the cleaning equipment 200 can carry the target cleaning component 210 out of the cleaning base station 100 to clean the target cleaning area.

[0192] If the target cleaning component 210 is not in the replacement area 112, the cloth changing mechanism 120 can be rotated to transfer the target cleaning component 210 to the replacement area 112.

[0193] If the cleaning device 200 receives a cleaning command and needs to replace the target cleaning component 210, the electromagnet of the cleaning device 200 is first de-energized, and the currently carried cleaning component 210 is disassembled and transferred to the cloth-changing mechanism 120. The cleaning device 200 is then moved outside the cleaning base station 100. After the cleaning device 200 is moved out, the cloth-changing mechanism 120 is then controlled to transfer the target cleaning component 210 to the replacement area 112.

[0194] In some embodiments, when the conditions for replacing the cleaning component 210 are met, the cloth changing mechanism 120 is controlled to move the fixed area 122 where the cleaning component 210 is not placed to the clean area, so that the cleaning equipment 200 can return to the cleaning base station 100 and place the dirty cleaning component 210 to the fixed area 122 where the cleaning component 210 is not placed.

[0195] If the conditions for replacing the cleaning component 210 are met during the cleaning task performed by the cleaning equipment 200, the cleaning equipment 200 will first rotate to the replacement area 112 from the fixed area 122 where the cleaning component 210 is not placed before returning to the base station. After returning to the base station, the electromagnet of the cleaning equipment 200 will be de-energized, and the soiled cleaning component 210 will be disassembled and attached to the cloth changing mechanism 120. The cleaning equipment 200 will then be moved outside the cleaning base station 100, and the cloth changing mechanism 120 will be controlled to transfer the target cleaning component 210 to the replacement area 112.

[0196] Figure 12 A flowchart illustrating the sub-steps of step S150 of the control method for cleaning base station 100 is shown, as follows: Figure 12 As shown, step S150 may include steps S152 and S154.

[0197] Step S152: Based on the current position information of the target cleaning component 210 and the position information of the replacement area 112, determine the target rotation direction and target rotation angle of the drive unit, so that the drive unit drives the fixing part 128 to rotate, thereby moving the target cleaning component 210 to the replacement area 112.

[0198] In this design, the drive unit drives the fixed part 128 to rotate via the transmission belt 126. The fixed part 128 is connected to the transmission belt 126, and its position relative to the transmission belt 126 is fixed. Therefore, the stroke of the fixed part 128 can be controlled by controlling the rotation angle of the drive unit. Since the structure of the fixed part 128 and the size of the fixed area 122 are determined, the rotation angle required for the cloth changing mechanism 120 to move the cleaning component 210 from one position to an adjacent position is also determined. A set rotation angle can be set for the drive unit 124 to move the cleaning component 210 from one position to an adjacent position. For example, the cloth changing mechanism 120 needs to rotate a set angle to move the cleaning component 210 from the first side wall 1142 to the replacement area 112 via the shortest path. The rotation angle of the drive unit from the top wall 1146 to the replacement area 112 is twice the set angle. This method simplifies the determination of the target rotation angle and reduces the difficulty of determination.

[0199] Because the cloth changing mechanism 120 is a ring structure, the rotation of the driver 124 can be adjusted so that the target cleaning component 210 can move to the replacement component via the shortest path. For example, the direction in which the driver 124 drives the cleaning component 210 from the first sidewall 1142 to the replacement area 112 is the first direction, and the direction in which the driver 124 drives the cleaning component 210 from the replacement area 112 to the first sidewall 1142 is the second direction, with the first and second directions being opposite. If the current target cleaning component 210 is located on the first sidewall 1142, the target rotation direction is the first direction, and the target rotation angle is a set angle. If the current target cleaning component 210 is located on the second sidewall 1144, the target rotation direction is the second direction, and the target rotation angle is a set angle. If the current target cleaning component 210 is located on the top wall 1146, the target rotation direction is either the first or the second direction, and the target rotation angle is either a set angle.

[0200] In step S154, the drive unit is controlled to rotate in the target rotation direction and target rotation angle to move the target cleaning component 210 to the replacement area 112.

[0201] The control drive unit rotates according to the target rotation direction and target rotation angle. After the detection element corresponding to the target cleaning component 210 is triggered by the trigger element, it indicates that the target cleaning component 210 has moved to the replacement area 112, and the drive unit can stop rotating.

[0202] like Figure 11 As shown, in step S160, if it is determined that the target cleaning component 210 is located in the replacement area 112 based on the current location information of the target cleaning component 210, a removal command is sent so that the cleaning device 200 can carry the target cleaning component 210 out of the cleaning base station 100 after receiving the removal command, so as to clean the target cleaning area.

[0203] If it is determined that the target cleaning component 210 is already located in the replacement area 112 based on the current location information of the target cleaning component 210, then it is not necessary to control the movement of the cloth changing mechanism 120. Instead, a removal command can be sent, so that after receiving the removal command, the cleaning device 200 can control the electromagnet connected to the cleaning component 210 on the host 220 of the cleaning device 200 to be energized. After being energized, the electromagnet can generate a suction force, thereby fixing the target cleaning component 210, so that the cleaning device 200 can carry the target cleaning component 210 out of the cleaning base station 100 to clean the target cleaning area.

[0204] Specifically, after cleaning equipment 200 completes its previous cleaning task, it docks at cleaning base station 100 carrying a clean cleaning component 210. If the cleaning component 210 carried by cleaning equipment 200 is the target cleaning component 210, meaning the target cleaning component 210 is located in replacement area 112, then cleaning equipment 200 can directly move the target cleaning component 210 out of cleaning base station 100 to clean the target cleaning area.

[0205] If the cleaning equipment 200 meets the replacement conditions of the cleaning component 210, and the target cleaning component 210 is already in the replacement area 112, the cleaning equipment 200 first returns to the cleaning base station 100, and then controls the electromagnet of the cleaning equipment 200 to be energized, thereby fixing the cleaning component 210.

[0206] Figure 13 A flowchart illustrating steps S172-S176 of the clean base station 100 provided in this application embodiment is shown, as follows: Figure 13 As shown, in step S172, the fabric changing mechanism 120 is controlled to transfer the cleaning component 210 to be cleaned to the cleaning area 118.

[0207] The base station body 110 also has a cleaning area 118, the internal space of which is the cleaning tray 116. The cleaning tray 116 is located at the bottom of the receiving cavity 114, and the cloth changing mechanism 120 is located above the cleaning tray 116, so that the cloth changing mechanism 120 can minimize interference with the cleaning tray 116 during rotation relative to the base station body 110. Furthermore, utilizing the space above the cleaning tray 116 to house the cloth changing mechanism 120 allows for a more compact structure of the clean base station 100.

[0208] In some embodiments, the fixing region 122 is connected to the cleaning region 118. This allows the cleaning component 210 to pass through the fixing region 122 and be disposed within the cleaning region 118, thereby enabling the cleaning component 210 to be cleaned. When the cleaning base station 100 cleans the cleaning component 210, the fixing region 122 fixes the cleaning component 210, which can reduce the shaking of the cleaning component 210 during the cleaning process and can also improve the cleaning effect to a certain extent.

[0209] The fixed area 122 can both transport the cleaning component 210 and fix the cleaning component 210 while the cleaning base station 100 is cleaning it. The same structure can perform at least multiple different functions, and it can also make the structure of the cleaning base station 100 more concentrated, reduce the number of cleaning components, and make the cleaning base station 100 miniaturized.

[0210] The cleaning component 210 to be cleaned can be a dirty cleaning component 210 removed from the cleaning equipment 200, or a cleaning component 210 placed on the cloth changing mechanism 120 that needs to be cleaned. During the cleaning process, after the cleaning equipment 200 removes the dirty cleaning component 210, it can replace it with a new cleaning component 210 and continue to perform the cleaning task. During the cleaning process, the cleaning base station 100 can remove the dirty cleaning component 210, which can reduce the time spent waiting for the cleaning component 210 to be cleaned during the cleaning process. This can reduce the ineffective time of the cleaning equipment 200 in performing the cleaning task, reduce the total cleaning time of the cleaning equipment 200, and thus improve the cleaning efficiency of the cleaning equipment 200.

[0211] Step S174: Control the baffle 132 to move relative to the base station body 110 so that the baffle 132 blocks the cleaning area 118.

[0212] During the cleaning process of cleaning the cleaning component 210 in the cleaning base station 100, the baffle 132 can block the opening 1148 of the receiving cavity 114, thereby reducing the overflow of sewage from the cleaning component 210 and improving the cleaning effect of the cleaning component 210 to a certain extent.

[0213] If the cleaning component 210 is not cleaned in the cleaning base station 100, the baffle 132 opens the opening 1148, allowing the cleaning equipment 200 to enter the receiving cavity 114.

[0214] Step S176: Control the cleaning base station 100 to clean the cleaning component 210 to be cleaned.

[0215] When the cleaning component 210 to be cleaned is moved to the cleaning area 118 (which is also the replacement area 112), the cleaning base station 100 is controlled to clean the cleaning component 210 to be cleaned, in preparation for the next cleaning of the cleaning component 210. The specific cleaning method is shown in steps S1762 and S1764.

[0216] Figure 14 A flowchart of a sub-step of step S176 of the clean base station 100 provided in this application embodiment is shown, as follows: Figure 14 As shown, step S176 may include steps S1762 and S1764.

[0217] Step S1762: Determine the target cleaning mode based on the type of cleaning component 210 to be cleaned.

[0218] The different types of cleaning components 210 result in different types of areas being cleaned, and consequently, different levels of dirtiness after cleaning. For example, a type 210 cleaning component used for cleaning heavily soiled areas such as kitchens and restaurants is more likely to retain grease after cleaning. If the cleaning component 210 is type 2, it can be cleaned with a degreasing cleaning solution and at a first water temperature, which can be hot water.

[0219] If the cleaning component 210 to be cleaned is of type 1 or type 3, it can be cleaned with ordinary cleaning solution and at a second water temperature. The first water temperature is higher than the second water temperature. The second water temperature can be room temperature water or hot water.

[0220] Step S1764: Control the cleaning base station 100 to clean the cleaning component 210 to be cleaned in the target cleaning mode.

[0221] The cleaning component 210 is cleaned using the target cleaning mode determined above until cleaning is complete. If the cleaning equipment 200 has completed the cleaning task, the cleaning component 210 can be dried after cleaning. If the cleaning equipment 200 has not completed the cleaning task, after cleaning, the cloth changing mechanism 120 can be controlled to rotate, so that the fixed area 122 where the cleaning component 210 is not placed can rotate to the replacement area 112. This allows the cleaning equipment 200 to directly return to the cleaning base station 100 to remove the dirty cleaning component 210 if the conditions for replacing the cleaning component 210 are met, which can also reduce the waiting time to a certain extent.

[0222] Figure 15 The flowchart illustrating steps S182-S184 of the clean base station 100 provided in this embodiment is shown below. Figure 15As shown, in step S182, after the cleaning device 200 has finished cleaning, the cleaning path of the cleaning device 200 is obtained, and the starting area in the cleaning path is recorded.

[0223] The starting area refers to the first area that the cleaning device 200 begins cleaning after receiving a cleaning instruction. After the cleaning device 200 completes the current cleaning task, the cleaning path of the cleaning device 200 can be obtained, and the starting area in the cleaning path can be recorded.

[0224] Step S184: Determine the initial cleaning component 210 corresponding to the next cleaning based on the starting area, so that the cleaning device 200 carries the initial cleaning component 210.

[0225] The initial cleaning component 210 for the next cleaning can be determined based on the starting area. After the cleaning device 200 completes the current cleaning task, it can carry the initial cleaning component 210, thereby reducing the time required for the cleaning device 200 to replace the cleaning component 210 when it receives the next cleaning instruction and improving the cleaning effect of the cleaning device 200.

[0226] Figure 16 The flowchart illustrates a sub-step of step S184 in the clean base station 100 provided in this application embodiment, as shown below. Figure 16 As shown, step S184 may include steps S1842, S1844 and S1846.

[0227] Step S1842: Record the number of times the starting region is entered.

[0228] After each cleaning task is completed, the starting area is recorded once, and the number of times each different area is used as the starting area is recorded.

[0229] Step S1843: Determine whether the number of times in the starting region is greater than or equal to the set number of times.

[0230] After the cleaning equipment 200 creates a map, it can use the default cleaning path each time. Users can also set their own cleaning path according to their habits. Different cleaning paths result in different starting areas, and users can determine their cleaning habits based on the frequency of the starting area.

[0231] Step S1844: If the number of times in the starting area is greater than or equal to the set number of times, then the starting area is determined as the initial cleaning area.

[0232] If the number of times a certain starting area is greater than or equal to the set number of times, then the cleaning path can be considered the most frequently used path, and the starting area can be determined as the initial cleaning area.

[0233] Step S1846: Determine the initial cleaning component 210 based on the initial cleaning area.

[0234] The method for determining the initial cleaning component 210 based on the basic initial cleaning area is the same as the method for determining the target cleaning component 210 based on the target cleaning area. For details, please refer to steps S122-S127, which will not be repeated here.

[0235] After the cleaning device 200 completes the current cleaning task, it can carry the initial cleaning component 210, which can reduce the time required for the cleaning device 200 to replace the cleaning component 210 when it receives the next cleaning instruction, and also improve the cleaning effect of the cleaning device 200.

[0236] The specific working process of the control method for the clean base station 100 provided in this application embodiment is as follows: After receiving a cleaning instruction, the cleaning device 200 obtains the starting area of ​​the current cleaning task based on the instruction. The starting area is the current target cleaning area. Based on the current target cleaning area, the current target cleaning component 210 is determined. If the target cleaning component 210 is in the replacement area 112, a removal instruction is sent to the cleaning device 200, and the cleaning device 200 begins cleaning with the target cleaning component 210. If the target cleaning component 210 is not in the replacement area 112, the cleaning device 200 is first controlled to disassemble the currently carried cleaning component 210 to the cloth changing mechanism 120, and then the cleaning device 200 is controlled to move out of the cleaning base station 100. The cloth changing mechanism 120 moves the target cleaning component 210 to the replacement area 112, and the cleaning device 200 returns to the cleaning base station 100. After the target cleaning component 210 is fixed on the host 220 of the cleaning device 200, the cleaning device 200 moves out of the cleaning base station 100 to begin cleaning. After the cleaning equipment 200 is removed from the cleaning base station 100, the cloth changing mechanism 120 moves the fixed area 122 where the cleaning component 210 is not placed to the changing area 112.

[0237] During the cleaning process of the cleaning equipment 200, if the conditions for replacing the cleaning component 210 are met, the cleaning equipment 200 returns to the cleaning base station 100 to remove the soiled cleaning component 210 to the cloth changing mechanism 120. The cleaning equipment 200 then leaves the cleaning base station 100, and the cloth changing mechanism 120 moves the target cleaning component 210 corresponding to the current target cleaning area to the replacement area 112. The cleaning equipment 200 returns to the cleaning base station 100 carrying the current target cleaning component 210 and leaves the cleaning base station 100 to continue cleaning. During the cleaning process of the cleaning equipment 200, the cloth changing mechanism 120 transfers the removed soiled cleaning component 210 to the cleaning area 118. The cleaning base station 100 cleans the soiled cleaning component 210 during the cleaning process of the cleaning equipment 200, ready for the next use. After cleaning, the cloth changing mechanism 120 transfers the fixed area 122 without the cleaning component 210 to the replacement area 112. This process is repeated until the cleaning equipment 200 completes the cleaning task.

[0238] After the cleaning equipment 200 finishes cleaning, it returns to the cleaning base station 100 to remove the dirty cleaning component 210 and place it in the fixed area 122 where no cleaning component 210 is placed. The cleaning equipment 200 then leaves the cleaning base station 100. The cloth changing mechanism 120 transfers the removed dirty cleaning component 210 to the cleaning area 118. The cleaning base station 100 cleans the dirty cleaning component 210 during the cleaning process of the cleaning equipment 200. After cleaning, the cloth changing mechanism 120 transfers the initial cleaning component 210, determined based on the starting area, to the replacement area 112. The cleaning equipment 200 returns to the cleaning base station 100 carrying the initial cleaning component 210 to await the next cleaning.

[0239] In summary, the control method for the cleaning base station 100 provided in this application embodiment determines the type of cleaning area and the type of cleaning component 210 capable of cleaning that area. After determining the type of the target cleaning area, the type of the target cleaning component 210 is also determined. Therefore, the target cleaning component 210 can be selected from multiple cleaning components 210 based on their types. During the cleaning process of the cleaning device 200 performing the cleaning task, the cleaning device 200 can carry the target cleaning component 210 to clean the target cleaning area, thereby improving the cleaning effect of the cleaning device 200.

[0240] Based on the same inventive concept, this application also provides a control method for a cleaning device 200, applied to the cleaning device 200, the control method for the cleaning device 200 including: Figure 17 A flowchart illustrating the control method of the cleaning equipment 200 provided in an embodiment of this application is shown, as follows: Figure 17 As shown, in step S210, a cleaning instruction is received and a cleaning path is obtained.

[0241] The cleaning command can be triggered by the user on the terminal, by the user pressing the start button on the cleaning device 200, or by pressing the start button on the cleaning base station 100. The cleaning command can also be triggered automatically; for example, if the user sets a specified start time for cleaning on the terminal in advance, the cleaning command will be automatically triggered at the specified time.

[0242] The cleaning instructions also include the area to be cleaned, which can be any area on the map or a specific area on the map.

[0243] The cleaning path can be determined according to the default path and the distance to the cleaning base station 100, cleaning all areas from near to far. Alternatively, it can be planned according to the type and quantity of the cleaning components 210, as shown in steps S212 and S214.

[0244] Figure 18 A flowchart illustrating the sub-steps of step S210 of the control method for the cleaning equipment 200 provided in this application embodiment is shown, as follows: Figure 18 As shown, step S210 includes steps S212 and S214.

[0245] Step S212: Obtain the types of all cleaning components 210 and the quantity of the same type of cleaning component 210.

[0246] All cleaning components 210, including those placed on the cloth changing mechanism 120 and those carried by the cleaning equipment 200, can be categorized into different types. For example, there are a total of four cleaning components 210: two of the first type, one of the second type, and one of the third type.

[0247] Step S214: Plan the cleaning path of the cleaning equipment 200 based on the type of cleaning component 210 and the quantity of the same type of cleaning component 210.

[0248] After receiving a cleaning instruction, the cleaning device 200 can determine the area of ​​each type of area based on the cleaning task corresponding to the instruction, which includes three types of areas. In some embodiments, only the area of ​​an area where a specific cleaning component 210 exists can be obtained. For ease of description, an area where a specific cleaning component 210 exists can be defined as a marked area. If the area of ​​a marked area is greater than or equal to a set area, it indicates that a single cleaning component 210 cannot clean the area in one go. In this case, the area surrounding the heavily soiled area can be obtained, and the area closest to the heavily soiled area can be used as a backup area, allowing the cleaning device 200 to alternately clean the marked area and the backup area. The area corresponding to two cleaning components 210 of the same type can be designated as the last area to be cleaned.

[0249] This method can reduce the need to wait for the cleaning component 210 to be cleaned when cleaning an area with only one cleaning component 210. It can also reduce the ineffective time of the cleaning device 200 when performing cleaning tasks, thereby reducing the total cleaning time of the cleaning device 200 and improving the cleaning efficiency of the cleaning device 200.

[0250] After receiving a cleaning instruction, the cleaning device 200 can determine the area of ​​all areas in the corresponding cleaning task. These areas include three types: areas with heavy oil stains and areas with many water stains. The following example uses areas with heavy oil stains; areas with many water stains can be used as a reference. If the area of ​​a heavily oiled area is greater than or equal to a set area, it means that one cleaning component 210 cannot clean the heavily oiled area completely. In this case, a second type of cleaning component 210 needs to be cleaned during the cleaning process.

[0251] In this scenario, the area surrounding the heavily oiled area can be identified, with the area closest to the heavily oiled area serving as a backup area. This allows the cleaning device 200 to alternately clean the two areas. For example, if the area closest to the heavily oiled area is a normal area, then the normal area becomes the backup area. That is, the heavily oiled area can be cleaned first. Once the conditions for replacing the cleaning component 210 are met, the corresponding normal cleaning component 210 is used to clean the normal area. While cleaning the backup area, the cleaning base station 100 is cleaning the second type of cleaning component 210. This alternating cycle continues until the heavily oiled area is completely cleaned.

[0252] like Figure 17 As shown, in step S220, at least one first cleaning operation is performed based on the cleaning path.

[0253] The cleaning path refers to the order in which the cleaning equipment 200 cleans all areas. During the cleaning process, the cleaning equipment 200 may perform at least a first cleaning operation. The first cleaning operation is performed after receiving the cleaning instruction, and the second and subsequent first cleaning operations are performed under the condition that the cleaning component 210 needs to be replaced.

[0254] Figure 19 A flowchart illustrating the sub-steps of step S220 of the control method for the cleaning equipment 200 provided in this application embodiment is shown, as follows: Figure 19 As shown, the first cleaning operation will be described in detail below in conjunction with steps S222, S224 and S226.

[0255] Step S220 includes steps S222, S224, and S226.

[0256] Step S221: Obtain the target cleaning area.

[0257] The method for obtaining the target cleaning area is the same as that in step S110, and can be referred to the description in step S110, which will not be repeated here.

[0258] Step S223: Control the cleaning device 200 to carry the target cleaning component 210 to clean the target cleaning area, wherein the target cleaning component 210 is determined by the cleaning base station 100 based on the target cleaning area and the types of multiple cleaning components 210.

[0259] The method for determining the target cleaning component 210 can be found in the detailed description of step S120 and its sub-steps, which will not be repeated here.

[0260] The type of cleaning area and the type of cleaning component 210 capable of cleaning that area are determined. Once the type of the target cleaning area is determined, the type of target cleaning component 210 is also determined. Therefore, the target cleaning component 210 can be identified from among the multiple cleaning components 210 based on their types. During the cleaning process, the cleaning device 200 can carry the target cleaning component 210 to clean the target cleaning area, thereby improving the cleaning effect of the cleaning device 200.

[0261] Step S225: If none of the cleaning components 210 placed in the current cloth changing mechanism 120 are of the type that are in contact with the target type, update the target cleaning area.

[0262] If the cleaning base station 100 determines that the type of all the cleaning components 210 placed in the current cloth changing mechanism 120 is not the target type, it can send a non-compliance instruction to the cleaning device 200. Upon receiving the non-compliance instruction, the cleaning device 200 updates the target cleaning area and sends the updated target cleaning area to the cleaning base station 100.

[0263] If the conditions for replacing the cleaning component 210 are met during the cleaning process, and all the cleaning components 210 currently placed in the cloth-changing mechanism 120 are not of the target type, the area to be cleaned closest to the target cleaning area can be selected as a candidate area. This candidate area becomes the updated target cleaning area, and the cleaning component 210 corresponding to the candidate area can be replaced to clean the candidate area (the updated target cleaning area). This method can also reduce the ineffective time of the cleaning equipment 200 when performing cleaning tasks, reduce the total cleaning time of the cleaning equipment 200, and thus improve the cleaning efficiency of the cleaning equipment 200.

[0264] For example, if there is only one cleaning component 210 for a heavily oiled area, and the conditions for replacing the cleaning component 210 are met during the cleaning of the heavily oiled area, the nearest area to be cleaned can be selected as a backup area. If the backup area is a normal area, the normal area can be used as the updated target cleaning area, and the cleaning component 210 corresponding to the normal area can be replaced to clean the normal area (the updated target cleaning area). This method can also reduce the ineffective time of the cleaning equipment 200 when performing cleaning tasks, reduce the total cleaning time of the cleaning equipment 200, and thus improve the cleaning efficiency of the cleaning equipment 200.

[0265] In summary, the control method for the cleaning device 200 provided in this application embodiment determines the type of cleaning area and the type of cleaning component 210 capable of cleaning that area. After determining the type of the target cleaning area, the type of the target cleaning component 210 is also determined. Therefore, the target cleaning component 210 can be selected from among the multiple cleaning components 210 based on their types. During the cleaning process, the cleaning device 200 can carry the target cleaning component 210 to clean the target cleaning area, thereby improving the cleaning effect of the cleaning device 200.

[0266] Figure 20 A flowchart of the control method for the cleaning system 10 provided in an embodiment of this application is shown, as follows: Figure 20As shown, based on the same inventive concept, this application embodiment also provides a control method for a cleaning system 10. The control method for a cleaning system 10 provided in this application embodiment is applied to the above-mentioned cleaning system 10, and the control method for a cleaning system 10 provided in this application embodiment can improve the cleaning effect of the cleaning equipment 200.

[0267] The control methods for the cleaning system 10 specifically include: like Figure 20 As shown, in step S310, the cleaning system 10 receives the cleaning instruction and obtains the cleaning path.

[0268] The specific process of step S310 is the same as that of step S210 in the control method of cleaning equipment 200. For details, please refer to the detailed description of step S210, which will not be repeated here.

[0269] Figure 21 A flowchart illustrating the sub-steps of step S310 of the control method for the cleaning system 10 provided in this application embodiment is shown, as follows: Figure 21 As shown, step S310 includes steps S312 and S314.

[0270] In step S312, the cleaning equipment 200 obtains the types of all cleaning components 210 and the quantity of the same type of cleaning component 210.

[0271] The specific process of step S312 is the same as that of step S212 in the control method of cleaning equipment 200. For details, please refer to the detailed description of step S212, which will not be repeated here.

[0272] In step S314, the cleaning equipment 200 plans the cleaning path based on the type of cleaning component 210 and the number of the same type of cleaning component 210.

[0273] The specific process of step S314 is the same as that of step S214 in the control method of cleaning equipment 200. For details, please refer to the detailed description of step S214, which will not be repeated here.

[0274] like Figure 20 As shown, in step S320, the cleaning system 10 performs at least one second cleaning operation based on the cleaning path.

[0275] The specific process of step S320 is the same as that of step S220 in the control method of cleaning equipment 200. For details, please refer to the detailed description of step S220, which will not be repeated here.

[0276] Figure 22 A flowchart illustrating the sub-steps of step S320 of the control method for the cleaning system 10 provided in this application embodiment is shown, as follows:Figure 22 As shown, step S320 includes steps S321 and S322.

[0277] Step S321: The cleaning system 10 acquires the target cleaning area of ​​the cleaning equipment 200.

[0278] The specific process of step S310 is the same as that of step S110 in the control method of the clean base station 100. For details, please refer to the detailed description of step S110, which will not be repeated here.

[0279] In step S322, the cleaning base station 100 determines the target cleaning component 210 based on the target cleaning area of ​​the cleaning equipment 200 and the types of multiple cleaning components 210.

[0280] Figure 23 A flowchart of a sub-step of step S322 of the control method for the cleaning system 10 provided in an embodiment of this application is shown, as follows: Figure 23 As shown, the specific process of step S322 is the same as that of step S120 in the control method of the clean base station 100. For details, please refer to the detailed description of step S120, which will not be repeated here.

[0281] Step S322 may include steps S3222, S3223, S3224, S3225, S3226 and S3272.

[0282] In step S32222, the cleaning base station 100 obtains the types of the multiple cleaning components 210 placed in the current cloth changing mechanism 120.

[0283] The specific process of step S3222 is the same as that of step S122 in the control method of the clean base station 100. For details, please refer to the detailed description of step S122, which will not be repeated here.

[0284] In step S3223, the cleaning base station 100 determines whether there is a cleaning component 210 of the target type among the multiple cleaning components 210 placed in the current cloth changing mechanism 120.

[0285] The specific process of step S3223 is the same as that of step S123 in the control method of the clean base station 100. For details, please refer to the detailed description of step S123, which will not be repeated here.

[0286] In step S3224, the cleaning base station 100 determines, based on the multiple cleaning components 210 placed by the current cloth replacement mechanism 120, that there are cleaning components 210 of the target type. Then, the cleaning component 210 of the target type is determined as a candidate cleaning component 210, wherein the cleaning component 210 of the target type meets the condition of cleaning the target cleaning area.

[0287] The specific process of step S3224 is the same as that of step S124 in the control method of the clean base station 100. For details, please refer to the detailed description of step S124, which will not be repeated here.

[0288] In step S3225, the cleaning base station 100 determines the target cleaning component 210 based on the location information of the alternative cleaning component 210.

[0289] The specific process of step S3225 is the same as that of step S125 in the control method of the clean base station 100. For details, please refer to the detailed description of step S125, which will not be repeated here.

[0290] Step S3226: If the types of all cleaning components 210 placed in the current cloth changing mechanism 120 are not the target type and the type of cleaning component 210 currently carried by the cleaning equipment 200 is the target type, the cleaning base station 100 cleans the cleaning component 210 currently carried by the cleaning equipment 200.

[0291] The specific process of step S3226 is the same as that of step S126 in the control method of the clean base station 100. For details, please refer to the detailed description of step S126, which will not be repeated here.

[0292] Figure 24 A flowchart illustrating a sub-step of step S322 of the control method for the cleaning system 10 provided in this application embodiment is shown, as follows: Figure 24 As shown in step S3227, if none of the cleaning components 210 placed in the current cloth changing mechanism 120 are of the target type, the cleaning system 10 updates the target cleaning area.

[0293] The specific process of step S3227 is the same as that of step S127 in the control method of cleaning base station 100 and step S225 in the control method of cleaning equipment 200. For details, please refer to the detailed description of step S127 and step S225, which will not be repeated here.

[0294] Figure 25 A flowchart illustrating steps S323-S327 of the control method for the cleaning system 10 provided in this application embodiment is shown, as follows: Figure 25As shown, in step S323, the cleaning base station 100 obtains the current location information of the target cleaning component 210.

[0295] The specific process of step S323 is the same as that of step S130 in the control method of the clean base station 100. For details, please refer to the detailed description of step S130, which will not be repeated here.

[0296] In step S324, the cleaning base station 100 determines whether the target cleaning component 210 is in the replacement area 112 based on the current location information of the target cleaning component 210.

[0297] The specific process of step S324 is the same as that of step S140 in the control method of the clean base station 100. For details, please refer to the detailed description of step S140, which will not be repeated here.

[0298] In step S325, if it is determined based on the current location information of the cleaning component 210 that the target cleaning component 210 is not in the replacement area 112, the cloth replacement mechanism 120 of the cleaning base station 100 will transfer the target cleaning component 210 to the replacement area 112.

[0299] The specific process of step S325 is the same as that of step S150 in the control method of the clean base station 100. For details, please refer to the detailed description of step S150, which will not be repeated here.

[0300] Figure 26 A flowchart illustrating a sub-step of step S325 of the control method for the cleaning system 10 provided in an embodiment of this application is shown, as follows: Figure 26 As shown, step S325 may include steps S3252 and S3254.

[0301] In step S3252, the cleaning base station 100 determines the target rotation direction and target rotation angle of the drive unit based on the current position information of the target cleaning component 210 and the position information of the replacement area 112, so that the drive unit of the cleaning base station 100 drives the fixing unit 128 to rotate, thereby moving the target cleaning component 210 to the replacement area 112.

[0302] The specific process of step S3252 is the same as that of step S152 in the control method of the clean base station 100. For details, please refer to the detailed description of step S3252, which will not be repeated here.

[0303] In step S3254, the drive unit of the cleaning base station 100 rotates according to the target rotation direction and the target rotation angle, moving the target cleaning component 210 to the replacement area 112.

[0304] The specific process of step S3254 is the same as that of step S154 in the control method of the clean base station 100. For details, please refer to the detailed description of step S3254, which will not be repeated here.

[0305] like Figure 25 As shown, in step S326, if it is determined that the target cleaning component 210 is located in the replacement area 112 based on the current location information of the target cleaning component 210, the cleaning base station 100 sends a move-out command.

[0306] The specific process of step S326 is the same as that of step S160 in the control method of the clean base station 100. For details, please refer to the detailed description of step S160, which will not be repeated here.

[0307] In step S327, the cleaning device 200 carries the target cleaning component 210 out of the cleaning base station 100 to clean the target cleaning area.

[0308] The specific process of step S327 is the same as that of step S220 in the control method of cleaning equipment 200. For details, please refer to the detailed description of step S223, which will not be repeated here.

[0309] Figure 27 A flowchart illustrating steps S3282-S3286 of the control method for the cleaning system 10 provided in this application embodiment is shown, as follows: Figure 27 As shown, in step S3282, the cloth changing mechanism 120 of the cleaning base station 100 transfers the cleaning component 210 to be cleaned to the cleaning area 118.

[0310] The specific process of step S3282 is the same as that of step S172 in the control method of the clean base station 100. For details, please refer to the detailed description of step S172, which will not be repeated here.

[0311] In step S3284, the baffle 132 of the cleaning base station 100 moves relative to the base station body 110 so that the baffle 132 blocks the cleaning area 118.

[0312] The specific process of step S3284 is the same as that of step S174 in the control method of the clean base station 100. For details, please refer to the detailed description of step S174, which will not be repeated here.

[0313] Step S3286: Clean base station 100 cleans the cleaning component 210 to be cleaned.

[0314] The specific process of step S3286 is the same as that of step S176 in the control method of the clean base station 100. For details, please refer to the detailed description of step S176, which will not be repeated here.

[0315] Figure 28 A flowchart illustrating a sub-step of step S3286 in the cleaning system 10 provided in an embodiment of this application is shown. Figure 28 As shown, step S3286 includes steps S32862 and S32864.

[0316] In step S32862, the cleaning base station 100 determines the target cleaning mode based on the type of the cleaning component 210 to be cleaned.

[0317] The specific process of step S32862 is the same as that of step S1762 in the control method of the clean base station 100. For details, please refer to the detailed description of step S1762, which will not be repeated here.

[0318] Step S32864: The cleaning base station 100 cleans the cleaning component 210 to be cleaned in the target cleaning mode.

[0319] The specific process of step S32864 is the same as that of step S1764 in the control method of the clean base station 100. For details, please refer to the detailed description of step S1764, which will not be repeated here.

[0320] Figure 29 The flowcharts of steps S330 and S340 of the cleaning system 10 provided in this application embodiment are shown, as follows: Figure 29 As shown, in step S330, after the cleaning device 200 has finished cleaning, the cleaning path of the cleaning device 200 is obtained, and the cleaning base station 100 records the starting area in the cleaning path.

[0321] The specific process of step S330 is the same as that of step S182 in the control method of the clean base station 100. For details, please refer to the detailed description of step S182, which will not be repeated here.

[0322] In step S340, the cleaning base station 100 determines the initial cleaning component 210 corresponding to the next cleaning based on the starting area, so that the cleaning device 200 carries the initial cleaning component 210.

[0323] The specific process of step S340 is the same as that of step S184 in the control method of the clean base station 100. For details, please refer to the detailed description of step S184, which will not be repeated here.

[0324] Figure 30 A flowchart of a sub-step of step S340 of the cleaning system 10 provided in this application embodiment is shown, as follows: Figure 30 As shown, step S340 may include steps S342, S343, S344 and S346.

[0325] Step S342: Clean base station 100 records the number of times the starting area is recorded.

[0326] The specific process of step S342 is the same as that of step S1842 in the control method of the clean base station 100. For details, please refer to the detailed description of step S1842, which will not be repeated here.

[0327] Step S343: The cleaning base station 100 determines whether the number of times the starting area is greater than or equal to the set number.

[0328] The specific process of step S343 is the same as that of step S183 in the control method of the clean base station 100. For details, please refer to the detailed description of step S183, which will not be repeated here.

[0329] Step S344: If the number of times the starting area is greater than or equal to the set number of times, the cleaning base station 100 determines the starting area as the initial cleaning area.

[0330] The specific process of step S344 is the same as that of step S1844 in the control method of the clean base station 100. For details, please refer to the detailed description of step S1844, which will not be repeated here.

[0331] In step S346, the cleaning base station 100 determines the initial cleaning component 210 based on the initial cleaning area.

[0332] The specific process of step S346 is the same as that of step S1846 in the control method of the clean base station 100. For details, please refer to the detailed description of step S1846, which will not be repeated here.

[0333] Figure 31 This application illustrates a control device 300 for a clean base station, as shown in an embodiment of the present application. Figure 31 As shown, based on the same inventive concept, this application embodiment also provides a control device 300 for a cleaning base station, which is applied to a cleaning base station 100. The cleaning base station 100 includes a base station body 110 and a cloth changing mechanism 120. The cloth changing mechanism 120 is movably connected to the base station body 110. The cloth changing mechanism 120 is used to place a plurality of cleaning components 210, wherein at least two of the plurality of cleaning components 210 are of different types. The control device 300 for cleaning base stations includes: Area acquirer 310 is used to acquire the target cleaning area of ​​cleaning equipment 200; The target determiner 320 is used to determine the target cleaning component 210 based on the target cleaning area of ​​the cleaning device 200 and the types of multiple cleaning components 210, so that the cleaning device 200 carries the target cleaning component 210 to clean the target cleaning area.

[0334] In some embodiments, when the target determiner 320 is used to determine the target cleaning component 210 based on the target cleaning area of ​​the cleaning device 200 and the types of the plurality of cleaning components 210, it is specifically used for: Obtain the types of the multiple cleaning components 210 currently placed in the fabric changing mechanism 120; Based on the multiple cleaning components 210 placed in the current fabric changing mechanism 120, it is determined that there is a type of cleaning component 210 that is the target type. Then, the cleaning component 210 that is the target type is determined as the candidate cleaning component 210, wherein the cleaning component 210 of the target type meets the condition of cleaning the target cleaning area. The target cleaning component 210 is determined based on the location information of the alternative cleaning components 210.

[0335] In some embodiments, when the target determiner 320 is used to determine the target cleaning component 210 based on the target cleaning area of ​​the cleaning device 200 and the types of the plurality of cleaning components 210, it is further used to: If none of the cleaning components 210 placed in the current cloth changing mechanism 120 are of the target type and the cleaning component 210 currently carried by the cleaning equipment 200 is of the target type, then the cleaning base station 100 is controlled to clean the cleaning component 210 currently carried by the cleaning equipment 200 if the cleaning equipment 200 meets the conditions for replacing the cleaning component 210.

[0336] In some embodiments, when the target determiner 320 is used to determine the target cleaning component 210 based on the target cleaning area of ​​the cleaning device 200 and the types of the plurality of cleaning components 210, it is further used to: If none of the cleaning components 210 placed in the current cloth changing mechanism 120 are of the target type, then update the target cleaning area.

[0337] In some embodiments, the area acquirer 310 is used to acquire the target cleaning area of ​​the cleaning device 200 when the cleaning device 200 receives a cleaning instruction or when the cleaning device 200 meets the conditions for replacing the cleaning component 210.

[0338] Figure 32 Block diagrams of the control device 300 for a clean base station provided in other embodiments are shown, such as... Figure 32 As shown, in some embodiments, the base station body 110 has a replacement area 112. After determining the target cleaning component 210 based on the target cleaning area of ​​the cleaning equipment 200 and the types of multiple cleaning components 210 currently placed by the cloth changing mechanism 120, the control device 300 for cleaning the base station further includes: Location acquirer 330 is used to acquire the current location information of the target cleaning component 210; The first transferor 340 is used to control the cloth changing mechanism 120 to transfer the target cleaning component 210 to the replacement area 112 if it is determined based on the current location information of the cleaning component 210 that the target cleaning component 210 is not in the replacement area 112, so that the cleaning equipment 200 can carry the target cleaning component 210 out of the cleaning base station 100 to clean the target cleaning area.

[0339] In some embodiments, the cloth changing mechanism 120 has a plurality of fixed areas 122, which are used to place the cleaning component 210; The current position information of the target cleaning component 210 is determined based on the position information of the fixed area 122 where the target cleaning component 210 is placed.

[0340] In some embodiments, the fabric changing mechanism 120 includes a driving part and a fixing part 128, the driving part and the fixing part 128 being drively connected, and the fixing part 128 having a plurality of fixing areas 122 for placing cleaning components 210. The first transferor 340 is used to control the fabric changing mechanism 120 to transfer the target cleaning component 210 to the changing area 112, specifically for: Based on the current position information of the target cleaning component 210 and the position information of the replacement area 112, the target rotation direction and target rotation angle of the drive unit are determined, so that the drive unit drives the fixing part 128 to rotate, thereby moving the target cleaning component 210 to the replacement area 112. The control drive unit rotates according to the target rotation direction and target rotation angle, moving the target cleaning component 210 to the replacement area 112.

[0341] In some embodiments, the control device 300 for cleaning base stations further includes: The transmitter 350 is configured to send a removal instruction to the cleaning device 200 if it is determined based on the current location information of the cleaning component 210 that the target cleaning component 210 is located in the replacement area 112, so that the cleaning device 200 can carry the target cleaning component 210 out of the cleaning base station 100 after receiving the removal instruction, so as to clean the target cleaning area.

[0342] In some embodiments, the cloth changing mechanism 120 has a plurality of fixed areas 122 for placing the cleaning component 210. Before controlling the cloth changing mechanism 120 to transfer the target cleaning component 210 to the changing area 112, the control device 300 of the cleaning base station further includes: The second transferor 360 is used to control the cloth changing mechanism 120 to move the fixed area 122 where the cleaning component 210 is not placed to the clean area when the cleaning condition meets the requirements for replacing the cleaning component 210, so that the cleaning equipment 200 can return to the cleaning base station 100 and place the dirty cleaning component 210 to the fixed area 122 where the cleaning component 210 is not placed.

[0343] Figure 33 A block diagram of the control device 300 for a clean base station provided in some embodiments is shown, such as Figure 33 As shown, in some embodiments, the base station body 110 also has a cleaning area 118, and the control device 300 for cleaning the base station further includes: The third transfer device 372 is used to control the fabric changing mechanism 120 to transfer the cleaning component 210 to be cleaned to the cleaning area 118. Cleaner 376 is used to control the cleaning base station 100 to clean the cleaning component 210 to be cleaned.

[0344] Pattern determiner 375 is used to determine a target cleaning pattern based on the type of cleaning component 210 to be cleaned; Cleaner 376 is used to control cleaning base station 100 to clean cleaning component 210 to be cleaned in a target cleaning mode.

[0345] In some embodiments, the clean base station 100 further includes a ramp 130, which is connected to the base station body 110. The ramp 130 includes a baffle 132 and a main board 134, with the baffle 132 disposed above the main board 134. Before the cleaning base station 100 cleans the dirty cleaning component 210, the control device 300 for the cleaning base station also includes: The obstruction device 374 is used to control the movement of the baffle 132 relative to the base station body 110 so that the baffle 132 obstructs the cleaning area 118.

[0346] Figure 34 A block diagram of the control device 300 for a clean base station provided in some other embodiments is shown, such as Figure 34 As shown, in some embodiments, the control device 300 for cleaning base stations further includes: The area recorder 382 is used to acquire the cleaning path of the cleaning device 200 after cleaning is completed, and to record the starting area in the cleaning path. The initial determiner 384 is used to determine the initial cleaning component 210 corresponding to the next cleaning based on the starting area, so that the cleaning device 200 carries the initial cleaning component 210.

[0347] In some embodiments, when the initial determiner 384 is used to determine the initial cleaning component 210 corresponding to the next cleaning based on the starting area, it is specifically used for: Record the number of times the starting region is entered; If the number of times in the starting area is greater than or equal to the set number of times, then the starting area is determined as the initial cleaning area; The initial cleaning component 210 is determined based on the initial cleaning area.

[0348] Figure 35 This paper shows a block diagram of the control device 400 for a cleaning equipment provided in an embodiment of this application. Figure 35 As shown, based on the same inventive concept, this application also provides a control device 400 for a cleaning device, applied to a cleaning device 200, the control device 400 for the cleaning device comprising: The first path acquirer 410 is used to receive cleaning instructions and acquire cleaning paths; A first operator 420 is configured to perform at least one first cleaning operation based on the cleaning path. The first cleaning operation includes: acquiring a target cleaning area; and controlling the cleaning device 200 to carry a target cleaning component 210 to clean the target cleaning area. The target cleaning component 210 is determined based on the target cleaning area and the types of multiple cleaning components 210 currently placed on the cloth changing mechanism 120 of the cleaning base station 100.

[0349] In some embodiments, when the first operator 420 is configured to perform at least one first cleaning operation based on the cleaning path, it is specifically configured to: If none of the cleaning components 210 placed in the current fabric changing mechanism 120 are of the target type, the target cleaning area is updated, wherein the cleaning component 210 of the target type satisfies the condition for cleaning the target cleaning area.

[0350] In some embodiments, when the first path acquirer 410 is used to acquire a cleaning path, it is specifically used for: Obtain the types of all the cleaning components 210 and the quantity of the same type of cleaning component 210; The cleaning path of the cleaning device 200 is planned based on the type of cleaning component 210 and the quantity of the same type of cleaning component 210.

[0351] Figure 36 This paper shows a block diagram of the control device 500 of the cleaning system provided in an embodiment of this application. Figure 36 As shown, based on the same inventive concept, this application embodiment also provides a control device 500 for a cleaning system, applied to a cleaning system 10. The cleaning system 10 includes a cleaning base station 100 and a cleaning device 200. The cleaning base station 100 includes a base station body 110 and a cloth changing mechanism 120. The cloth changing mechanism 120 is movably connected to the base station body 110. The cloth changing mechanism 120 is used to place a plurality of cleaning components 210, wherein at least two of the plurality of cleaning components 210 are of different types. The control device 500 of the cleaning system includes: The second path acquirer 510 is used by the cleaning system 10 to receive cleaning instructions and acquire cleaning paths. The second operator 520 is configured to perform at least one second cleaning operation based on the cleaning instruction. The second cleaning operation includes: acquiring the target cleaning area of ​​the cleaning device 200; the cleaning base station 100 determining a target cleaning component 210 based on the target cleaning area of ​​the cleaning device 200 and the types of the plurality of cleaning components 210; and the cleaning device 200 cleaning the target cleaning area with the target cleaning component 210.

[0352] In some embodiments, the second path acquirer 510 is specifically used when the cleaning system 10 receives a cleaning instruction and acquires a cleaning path, for the following purposes: Obtain the types of all the cleaning components 210 and the quantity of the same type of cleaning component 210; The cleaning path of the cleaning device 200 is planned based on the type of cleaning component 210 and the quantity of the same type of cleaning component 210.

[0353] In some embodiments, when the cleaning base station 100 determines the target cleaning component 210 based on the target cleaning area of ​​the cleaning device 200 and the types of multiple cleaning components 210 currently placed by the fabric changing mechanism 120, the second operator 520 is specifically used for: Obtain the types of the multiple cleaning components 210 currently placed in the fabric changing mechanism 120; Based on the multiple cleaning components 210 placed in the current fabric changing mechanism 120, it is determined that there is a type of cleaning component 210 that is the target type. Then, the cleaning component 210 that is the target type is determined as the candidate cleaning component 210, wherein the cleaning component 210 of the target type meets the condition of cleaning the target cleaning area. The target cleaning component 210 is determined based on the location information of the alternative cleaning components 210.

[0354] In some embodiments, when the second operator 520 is used to determine the target cleaning component 210 based on the target cleaning area of ​​the cleaning device 200 and the types of the plurality of cleaning components 210, it is further used to: If none of the cleaning components 210 placed in the current cloth changing mechanism 120 are of the target type and the cleaning component 210 currently carried by the cleaning equipment 200 is of the target type, then the cleaning base station 100 is controlled to clean the cleaning component 210 currently carried by the cleaning equipment 200 if the cleaning equipment 200 meets the conditions for replacing the cleaning component 210.

[0355] In some embodiments, when the second operator 520 is used to determine the target cleaning component 210 based on the target cleaning area of ​​the cleaning device 200 and the types of the plurality of cleaning components 210, it is further used to: If none of the cleaning components 210 placed in the current cloth changing mechanism 120 are of the target type, then update the target cleaning area.

[0356] In some embodiments, the second operator 520 is further configured to allow the cleaning base station 100 to obtain the current location information of the target cleaning component 210; if it is determined based on the current location information of the cleaning component 210 that the target cleaning component 210 is not in the replacement area 112, then the cloth changing mechanism 120 of the cleaning base station 100 will transfer the target cleaning component 210 to the replacement area 112, so that the cleaning equipment 200 can carry the target cleaning component 210 out of the cleaning base station 100 to clean the target cleaning area.

[0357] In some embodiments, the second operator 520 is used to transfer the target cleaning component 210 to the replacement area 112 by the cloth changing mechanism 120 of the cleaning base station 100, specifically for: The cleaning base station 100 determines the target rotation direction and target rotation angle of the drive unit based on the current location information of the target cleaning component 210 and the location information of the replacement area 112, so that the drive unit drives the fixing unit 128 to rotate, thereby moving the target cleaning component 210 to the replacement area 112. The control drive unit rotates according to the target rotation direction and target rotation angle, moving the target cleaning component 210 to the replacement area 112.

[0358] In some embodiments, the second operator 520 is further configured to control the cleaning base station 100 to send a removal instruction to the cleaning device 200 if it is determined based on the current location information of the cleaning component 210 that the target cleaning component 210 is located in the replacement area 112, so that the cleaning device 200 can carry the target cleaning component 210 out of the cleaning base station 100 after receiving the removal instruction, so as to clean the target cleaning area.

[0359] In some embodiments, the second operator 520 is further configured to control the cloth changing mechanism 120 to move the fixed area 122 where the cleaning component 210 is not placed to the clean area when the cleaning condition meets the requirements for replacing the cleaning component 210, so that the cleaning equipment 200 can return to the cleaning base station 100 and place the dirty cleaning component 210 to the fixed area 122 where the cleaning component 210 is not placed.

[0360] In some embodiments, the second operator 520 is also used to control the cloth changing mechanism 120 to transfer the cleaning component 210 to be cleaned to the cleaning area 118 and to control the cleaning base station 100 to clean the cleaning component 210 to be cleaned.

[0361] In some embodiments, when the second operator 520 is used to control the cleaning base station 100 to clean the cleaning component 210 to be cleaned, it is specifically used for: The target cleaning mode is determined based on the type of cleaning component 210 to be cleaned; The cleaning base station 100 is controlled to clean the cleaning component 210 to be cleaned in the target cleaning mode.

[0362] In some embodiments, the second operator 520 is used to control the movement of the baffle 132 relative to the base station body 110 so that the baffle 132 blocks the cleaning area 118.

[0363] Figure 37 Block diagrams of the control device 500 of a cleaning system provided in other embodiments are shown, such as Figure 37 As shown, in some embodiments, the control device 500 of the cleaning system further includes: The system recorder 530 is used to acquire the cleaning path of the cleaning device 200 after the cleaning device 200 has finished cleaning, and to record the starting area in the cleaning path; The system determiner 540 is used to determine the initial cleaning component 210 corresponding to the next cleaning based on the starting area, so that the cleaning device 200 carries the initial cleaning component 210.

[0364] It should be noted that although several modules or units of the device for execution have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0365] Based on the same inventive concept, in the exemplary embodiments of this disclosure, an electronic device capable of implementing the above-described method is also provided. For example, the electronic device may be an intelligent robot capable of implementing the above-described method.

[0366] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0367] The following reference Figure 38This description pertains to an electronic device 800 according to an exemplary embodiment of this disclosure. The electronic device 800 can be applied to the aforementioned cleaning base station 100, cleaning device 200, or cleaning system 10. That is, the cleaning base station 100 includes the electronic device 800, the cleaning device 200 includes the electronic device 800, or the cleaning system 10 includes the electronic device 800. Figure 38 The electronic device 800 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0368] like Figure 38 As shown, the electronic device 800 is presented in the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to: at least one processor 810, at least one memory 820, a bus 830 connecting different system components (including memory 820 and processor 810), and a display unit 840.

[0369] The memory stores program code that can be executed by the processor 810, causing the processor 810 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processor 810 can perform... Figures 8-30 The steps shown.

[0370] The memory 820 may include a readable medium in the form of volatile memory, such as random access memory (RAM) 821 and / or cache memory 822, and may further include read-only memory (ROM) 823.

[0371] The memory 820 may also include a program / utility 824 having a set (at least one) of program modules 825, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0372] Bus 830 can represent one or more of several types of bus structures, including a memory bus or memory controller, peripheral bus, graphics acceleration port, processor, or a local bus using any of the various bus structures.

[0373] Electronic device 800 can also communicate with one or more external devices 900 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 800, and / or with any device that enables electronic device 800 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 850. Furthermore, electronic device 800 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 860. As shown, network adapter 860 communicates with other modules of electronic device 800 via bus 830. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 800, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0374] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0375] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible implementations, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of this disclosure described in the "Exemplary Methods" section above.

[0376] The program product for implementing the above-described method according to embodiments of the present disclosure may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0377] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0378] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0379] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0380] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0381] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0382] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0383] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method for a clean base station, characterized in that, The cleaning base station (100) is applied to a cleaning base station (100), which includes a base station body (110) and a cloth changing mechanism (120). The cloth changing mechanism (120) is movably connected to the base station body (110) and is used to place a plurality of cleaning components (210). Among the plurality of cleaning components (210), at least two of the cleaning components (210) are of different types. The control method for the clean base station includes: Obtain the target cleaning area of ​​the cleaning equipment (200); Based on the target cleaning area of ​​the cleaning device (200) and the types of the multiple cleaning components (210), a target cleaning component (210) is determined so that the cleaning device (200) carries the target cleaning component (210) to clean the target cleaning area; The target cleaning mode is determined based on the type of the cleaning component (210) to be cleaned; The cleaning base station (100) is controlled to clean the cleaning component (210) to be cleaned in the target cleaning mode.

2. The control method for a clean base station according to claim 1, characterized in that, The target cleaning component (210) is determined based on the target cleaning area of ​​the cleaning equipment (200) and the types of the multiple cleaning components (210), including: Obtain the types of the multiple cleaning components (210) currently placed in the cloth changing mechanism (120); Based on the multiple cleaning components (210) placed in the current cloth changing mechanism (120), if it is determined that there is a cleaning component (210) of the target type, then the cleaning component (210) of the target type is determined as a candidate cleaning component (210), wherein the cleaning component (210) of the target type satisfies the condition of cleaning the target cleaning area. The target cleaning component (210) is determined based on the location information of the alternative cleaning components (210).

3. The control method for a clean base station according to claim 2, characterized in that, The method further includes determining the target cleaning component (210) based on the target cleaning area of ​​the cleaning equipment (200) and the types of the multiple cleaning components (210), and also includes: If the type of all cleaning components (210) placed in the current cloth changing mechanism (120) is not the target type and the type of the cleaning component (210) currently carried by the cleaning device (200) is the target type, then the cleaning base station (100) is controlled to clean the cleaning component (210) currently carried by the cleaning device (200).

4. The control method for a clean base station according to claim 2, characterized in that, Determining the target cleaning component (210) based on the target cleaning area of ​​the cleaning equipment (200) and the type of the cleaning component (210) includes: If none of the cleaning components (210) placed in the current cloth changing mechanism (120) are of the target type, then the target cleaning area is updated.

5. The control method for a clean base station according to claim 1, characterized in that, Obtaining the target cleaning area of ​​the cleaning device (200) includes: The target cleaning area of ​​the cleaning device (200) is obtained when the cleaning device (200) receives a cleaning instruction or when the cleaning device (200) meets the conditions for replacing the cleaning component (210).

6. The control method for a clean base station according to claim 1, characterized in that, The base station body (110) has a replacement area (112). After determining the target cleaning component (210) based on the target cleaning area of ​​the cleaning equipment (200) and the types of the multiple cleaning components (210) currently placed in the cloth changing mechanism (120), the control method of the cleaning base station further includes: Obtain the current location information of the target cleaning component (210); If it is determined based on the current location information of the cleaning component (210) that the target cleaning component (210) is not in the replacement area (112), then the cloth changing mechanism (120) is controlled to transfer the target cleaning component (210) to the replacement area (112), so that the cleaning equipment (200) can carry the target cleaning component (210) out of the cleaning base station (100) to clean the target cleaning area.

7. The control method for a clean base station according to claim 6, characterized in that, The fabric changing mechanism (120) has multiple fixed areas (122) for placing cleaning components (210). The current position information of the target cleaning component (210) is determined based on the position information of the fixed area (122) where the target cleaning component (210) is placed.

8. The control method for a clean base station according to claim 6, characterized in that, The fabric changing mechanism (120) includes a driving part and a fixing part (128). The driving part is connected to the fixing part (128) in a transmission manner. The fixing part (128) has multiple fixing areas (122) for placing cleaning components (210). Controlling the fabric changing mechanism (120) to transfer the target cleaning component (210) to the changing area (112) includes: Based on the current position information of the target cleaning component (210) and the position information of the replacement area (112), the target rotation direction and target rotation angle of the drive unit are determined, so that the drive unit drives the fixing part (128) to rotate, so as to move the target cleaning component (210) to the replacement area (112). The drive unit is controlled to rotate in the target rotation direction and the target rotation angle to move the target cleaning component (210) to the replacement area (112).

9. The control method for a clean base station according to claim 6, characterized in that, The control method for the clean base station also includes: If the target cleaning component (210) is located in the replacement area (112) based on the current location information of the cleaning component (210), a removal instruction is sent to the cleaning device (200), so that the cleaning device (200) can carry the target cleaning component (210) out of the cleaning base station (100) after receiving the removal instruction, so as to clean the target cleaning area.

10. The control method for a clean base station according to claim 6, characterized in that, The fabric changing mechanism (120) has multiple fixed areas (122) for placing cleaning components (210). Before controlling the fabric changing mechanism (120) to transfer the target cleaning component (210) to the changing area (112), the control method of the cleaning base station further includes: When the cleaning meets the condition of replacing the cleaning component (210), the cloth changing mechanism (120) is controlled to move the fixed area (122) where the cleaning component (210) is not placed to the cleaning area, so that the cleaning equipment (200) can return to the cleaning base station (100) and place the dirty cleaning component (210) to the fixed area (122) where the cleaning component (210) is not placed.

11. The control method for a clean base station according to any one of claims 1-10, characterized in that, The base station body (110) also has a cleaning area (118). Before controlling the cleaning base station (100) to clean the cleaning component (210) to be cleaned in the target cleaning mode, the control method of the cleaning base station further includes: The fabric changing mechanism (120) is controlled to transfer the cleaning component (210) to be cleaned to the cleaning area (118).

12. The control method for a clean base station according to any one of claims 1-11, characterized in that, The clean base station (100) also includes a ramp (130), which is connected to the base station body (110). The ramp (130) includes a baffle (132) and a main board (134), with the baffle (132) positioned above the main board (134). Before controlling the cleaning base station (100) to clean the dirty cleaning component (210), the control method of the cleaning base station further includes: The baffle (132) is controlled to move relative to the base station body (110) so that the baffle (132) blocks the cleaning area (118).

13. The control method for a clean base station according to any one of claims 1-11, characterized in that, The control method for the clean base station also includes: After the cleaning device (200) has finished cleaning, the cleaning path of the cleaning device (200) is obtained, and the starting area in the cleaning path is recorded; Based on the starting area, an initial cleaning component (210) is determined for the next cleaning, so that the cleaning device (200) carries the initial cleaning component (210).

14. The control method for a clean base station according to claim 13, characterized in that, Based on the starting area, the initial cleaning component (210) corresponding to the next cleaning is determined, including: Record the number of times the starting region is entered; If the number of times the starting area is greater than or equal to the set number, then the starting area is determined to be the initial cleaning area; The initial cleaning component (210) is determined based on the initial cleaning area.

15. A control device for a clean base station, characterized in that, The cleaning base station (100) is applied to a cleaning base station (100), which includes a base station body (110) and a cloth changing mechanism (120). The cloth changing mechanism (120) is movably connected to the base station body (110) and is used to place a plurality of cleaning components (210). Among the plurality of cleaning components (210), at least two of the cleaning components (210) are of different types. The control device (300) for the clean base station includes: A region acquirer (310) is used to acquire the target cleaning area of ​​the cleaning device (200); A target determiner (320) is configured to determine a target cleaning component (210) based on the target cleaning area of ​​the cleaning device (200) and the types of the plurality of cleaning components (210), so that the cleaning device (200) carries the target cleaning component (210) to clean the target cleaning area; A pattern determiner (375) is used to determine a target cleaning pattern based on the type of the cleaning component (210) to be cleaned; A cleaner (376) is used to control the cleaning base station (100) to clean the cleaning component (210) to be cleaned in the target cleaning mode.

16. The control device for a clean base station according to claim 15, characterized in that, The target determiner (320) is used to determine the target cleaning component (210) based on the target cleaning area of ​​the cleaning equipment (200) and the types of the multiple cleaning components (210), specifically for: Obtain the types of the multiple cleaning components (210) currently placed in the cloth changing mechanism (120); Based on the multiple cleaning components (210) placed in the current cloth changing mechanism (120), if it is determined that there is a cleaning component (210) of the target type, then the cleaning component (210) of the target type is determined as a candidate cleaning component (210), wherein the cleaning component (210) of the target type satisfies the condition of cleaning the target cleaning area. The target cleaning component (210) is determined based on the location information of the alternative cleaning components (210).

17. The control device for a clean base station according to claim 16, characterized in that, When the target determiner (320) is used to determine the target cleaning component (210) based on the target cleaning area of ​​the cleaning equipment (200) and the types of the multiple cleaning components (210), it is further used to: If none of the cleaning components (210) placed in the current cloth changing mechanism (120) are of the target type and the cleaning component (210) currently carried by the cleaning device (200) is of the target type, then the cleaning base station (100) is controlled to clean the cleaning component (210) currently carried by the cleaning device (200) when the cleaning device (200) meets the conditions for replacing the cleaning component (210).

18. The control device for a clean base station according to claim 16, characterized in that, When the target determiner (320) is used to determine the target cleaning component (210) based on the target cleaning area of ​​the cleaning equipment (200) and the types of the multiple cleaning components (210), it is further used to: If none of the cleaning components (210) placed in the current cloth changing mechanism (120) are of the target type, then the target cleaning area is updated.

19. The control device for a clean base station according to claim 15, characterized in that, The area acquisition device (310) is used to acquire the target cleaning area of ​​the cleaning device (200) when the cleaning device (200) receives a cleaning instruction or when the cleaning device (200) meets the condition of replacing the cleaning component (210).

20. The control device for a clean base station according to claim 15, characterized in that, The base station body (110) has a replacement area (112). After determining the target cleaning component (210) based on the target cleaning area of ​​the cleaning equipment (200) and the types of the multiple cleaning components (210) currently placed by the cloth changing mechanism (120), the control device (300) of the cleaning base station further includes: A location acquirer (330) is used to acquire the current location information of the target cleaning component (210); The first transferor (340) is configured to control the cloth changing mechanism (120) to transfer the target cleaning component (210) to the replacement area (112) if it is determined based on the current location information of the cleaning component (210) that the target cleaning component (210) is not in the replacement area (112), so that the cleaning equipment (200) can carry the target cleaning component (210) out of the cleaning base station (100) to clean the target cleaning area.

21. The control device for a clean base station according to claim 20, characterized in that, The fabric changing mechanism (120) has multiple fixed areas (122) for placing cleaning components (210). The current position information of the target cleaning component (210) is determined based on the position information of the fixed area (122) where the target cleaning component (210) is placed.

22. The control device for a clean base station according to claim 20, characterized in that, The fabric changing mechanism (120) includes a driving part and a fixing part (128). The driving part is connected to the fixing part (128) in a transmission manner. The fixing part (128) has multiple fixing areas (122) for placing cleaning components (210). The first transferor (340) is used to control the fabric changing mechanism (120) to transfer the target cleaning component (210) to the changing area (112), specifically for: Based on the current position information of the target cleaning component (210) and the position information of the replacement area (112), the target rotation direction and target rotation angle of the drive unit are determined, so that the drive unit drives the fixing part (128) to rotate, so as to move the target cleaning component (210) to the replacement area (112). The drive unit is controlled to rotate in the target rotation direction and the target rotation angle to move the target cleaning component (210) to the replacement area (112).

23. The control device for a clean base station according to claim 20, characterized in that, The control device (300) for the clean base station also includes: The transmitter (350) is configured to send a removal instruction to the cleaning device (200) if it is determined based on the current location information of the cleaning component (210) that the target cleaning component (210) is located in the replacement area (112), so that the cleaning device (200) can carry the target cleaning component (210) out of the cleaning base station (100) after receiving the removal instruction, so as to clean the target cleaning area.

24. The control device for a clean base station according to claim 20, characterized in that, The fabric changing mechanism (120) has multiple fixed areas (122) for placing cleaning components (210). Before controlling the fabric changing mechanism (120) to transfer the target cleaning component (210) to the changing area (112), the control device (300) of the cleaning base station further includes: The second transfer device (360) is used to control the cloth changing mechanism (120) to move the fixed area (122) where the cleaning component (210) is not placed to the cleaning area when the cleaning meets the condition of replacing the cleaning component (210), so that the cleaning equipment (200) can return to the cleaning base station (100) and place the dirty cleaning component (210) to the fixed area (122) where the cleaning component (210) is not placed.

25. The control device for a clean base station according to any one of claims 15-24, characterized in that, The base station body (110) also has a cleaning area (118), and the control device (300) for cleaning the base station further includes: The third transferor (372) is used to control the fabric changing mechanism (120) to transfer the cleaning component (210) to be cleaned to the cleaning area (118).

26. The control device for a clean base station according to claim 25, characterized in that, The clean base station (100) also includes a ramp (130), which is connected to the base station body (110). The ramp (130) includes a baffle (132) and a main board (134), with the baffle (132) positioned above the main board (134). Before the cleaning base station (100) controls the cleaning component (210) to clean the soiled cleaning unit, the control device (300) of the cleaning base station further includes: A shield (374) is used to control the movement of the baffle (132) relative to the base station body (110) so that the baffle (132) shields the cleaning area (118).

27. The control device for a clean base station according to any one of claims 15-24, characterized in that, The control device (300) for the clean base station also includes: A zone recorder (382) is used to acquire the cleaning path of the cleaning device (200) after the cleaning is completed, and to record the starting area in the cleaning path; An initial determiner (384) is used to determine the initial cleaning component (210) corresponding to the next cleaning based on the starting area, so that the cleaning device (200) carries the initial cleaning component (210).

28. The control device for a clean base station according to claim 27, characterized in that, When the initial determiner (384) is used to determine the initial cleaning component (210) corresponding to the next cleaning based on the starting area, it is specifically used for: Record the number of times the starting region is entered; If the number of times the starting area is greater than or equal to the set number, then the starting area is determined to be the initial cleaning area; The initial cleaning component (210) is determined based on the initial cleaning area.

29. A control method for a cleaning device, characterized in that, The method for controlling a cleaning device (200) includes: Receive cleaning instructions and obtain the cleaning path; Perform at least one first cleaning operation based on the cleaning path, the first cleaning operation including: acquiring a target cleaning area; controlling the cleaning device (200) to carry a target cleaning component (210) to clean the target cleaning area, wherein the target cleaning component (210) is determined based on the target cleaning area and the types of multiple cleaning components (210) currently placed on the cloth changing mechanism (120) of the cleaning base station (100).

30. The control method for the cleaning equipment according to claim 29, characterized in that, The first cleaning operation further includes: If none of the cleaning components (210) placed in the current fabric changing mechanism (120) are of the target type, the target cleaning area is updated, wherein the cleaning component (210) of the target type satisfies the condition of cleaning the target cleaning area.

31. The control method for the cleaning equipment according to claim 29 or 30, characterized in that, Obtain the cleaning path, including: Obtain the types of all the cleaning components (210) and the quantity of the same type of cleaning component (210); The cleaning path of the cleaning device (200) is planned based on the type of the cleaning component (210) and the number of the same type of cleaning component (210).

32. A control device for a cleaning equipment, characterized in that, Applied to cleaning equipment (200), the control device (400) of the cleaning equipment includes: The first path acquirer (410) is used to receive cleaning instructions and acquire cleaning paths; A first operator (420) is configured to perform at least one first cleaning operation based on the cleaning path, the first cleaning operation including: acquiring a target cleaning area; controlling the cleaning device (200) to carry a target cleaning component (210) to clean the target cleaning area, wherein the target cleaning component (210) is determined based on the target cleaning area and the types of multiple cleaning components (210) currently placed on the cloth changing mechanism (120) of the cleaning base station (100).

33. The control device for the cleaning equipment according to claim 32, characterized in that, The first operator (420) is used to perform at least one first cleaning operation based on the cleaning path, specifically for: If none of the cleaning components (210) placed in the current fabric changing mechanism (120) are of the target type, the target cleaning area is updated, wherein the cleaning component (210) of the target type satisfies the condition of cleaning the target cleaning area.

34. The control device for the cleaning equipment according to claim 31 or 32, characterized in that, When the first path acquirer (410) is used to acquire the cleaning path, it is specifically used for: Obtain the types of all the cleaning components (210) and the quantity of the same type of cleaning component (210); The cleaning path of the cleaning device (200) is planned based on the type of the cleaning component (210) and the number of the same type of cleaning component (210).

35. A control method for a cleaning system, characterized in that, The cleaning system (10) includes a cleaning base station (100) and a cleaning device (200). The cleaning base station (100) includes a base station body (110) and a cloth changing mechanism (120). The cloth changing mechanism (120) is movably connected to the base station body (110) and is used to place multiple cleaning components (210), wherein at least two of the multiple cleaning components (210) are of different types. The control method of the cleaning system (10) includes: The cleaning system (10) receives cleaning instructions and obtains the cleaning path; Based on the cleaning instruction, at least one second cleaning operation is performed, the second cleaning operation including: obtaining the target cleaning area of ​​the cleaning device (200); the cleaning base station (100) determines the target cleaning component (210) based on the target cleaning area of ​​the cleaning device (200) and the types of the plurality of cleaning components (210); the cleaning device (200) cleans the target cleaning area with the target cleaning component (210).

36. A control device for a cleaning system, characterized in that, The cleaning system (10) includes a cleaning base station (100) and a cleaning device (200). The cleaning base station (100) includes a base station body (110) and a cloth changing mechanism (120). The cloth changing mechanism (120) is movably connected to the base station body (110). The cloth changing mechanism (120) is used to place a plurality of cleaning components (210), wherein at least two of the plurality of cleaning components (210) are of different types. The control device (500) of the cleaning system includes: The second path acquirer (510) is used by the cleaning system (10) to receive cleaning instructions and acquire cleaning paths; A second operator (520) is configured to perform at least one second cleaning operation based on the cleaning instruction, the second cleaning operation including: obtaining a target cleaning area of ​​the cleaning device (200); the cleaning base station (100) determining a target cleaning component (210) based on the target cleaning area of ​​the cleaning device (200) and the types of a plurality of cleaning components (210); and the cleaning device (200) cleaning the target cleaning area with the target cleaning component (210).

37. A computer storage medium, characterized in that, The computer-readable storage medium stores program code that is loaded and executed by a processor (810) to implement at least one of the control methods for the cleaning equipment as claimed in any one of claims 1-14, the control methods for the cleaning equipment as claimed in any one of claims 29-31, and the control methods for the cleaning system (10) as claimed in claim 35.

38. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor (810) to cause a computer device having the processor (810) to perform at least one of the control methods for cleaning equipment as claimed in any one of claims 1-14, the control methods for cleaning equipment as claimed in any one of claims 29-31, and the control methods for cleaning system (10) as claimed in claim 35.

39. An electronic device, characterized in that, include: Memory (820) is used to store computer programs; A processor (810) is configured to execute a computer program stored in the memory (820) to implement at least one of the control methods for cleaning equipment as claimed in any one of claims 1-14, the control methods for cleaning equipment as claimed in any one of claims 29-31, and the control methods for cleaning system (10) as claimed in claim 35.

40. A clean base station, characterized in that, include: The base station body (110) has a replacement area (112). A cloth-changing mechanism (120) is used to fix at least two different types of cleaning components (210). The cloth-changing mechanism (120) is movably connected to the base station body (110) and can transfer the cleaning components (210) to the replacement area (112).

41. The clean base station according to claim 40, characterized in that, The fabric changing mechanism (120) includes a driving part and a fixing part (128). The fixing part (128) has multiple fixing areas (122). The driving part is used to drive the fixing part (128) to rotate so as to move the cleaning component (210) to the changing area (112).

42. The clean base station according to claim 41, characterized in that, The base station body (110) has a cavity (114) for accommodating a cleaning device (200). The cavity (114) has a first sidewall (1142), a second sidewall (1144), and a top wall (1146). The replacement area (112) is located at the bottom of the cavity (114). The first sidewall (1142), the second sidewall (1144), the top wall (1146), and the replacement area (112) are each provided with at least one fixed area (122).

43. The clean base station according to claim 40, characterized in that, The clean base station (100) also includes a cleaning tray (116), which is installed on the base station body (110). The cloth changing mechanism (120) is located above the cleaning tray (116), and the internal space of the cleaning tray (116) is a cleaning area (118).

44. The clean base station according to claim 43, characterized in that, The fixed area (122) is connected to the cleaning area (118).

45. The clean base station according to claim 43, characterized in that, The cleaning base station (100) also includes a ramp (130), which is connected to the base station body (110). The ramp (130) includes a baffle (132) and a main board (134). The baffle (132) is disposed above the main board (134). The base station body (110) has a receiving cavity (114), and the cleaning tray (116) is disposed in the receiving cavity (114). The baffle (132) is used to cover the opening (1148) of the receiving cavity (114).

46. ​​A cleaning system, characterized in that, Includes a cleaning device (200) and a cleaning base station (100) as described in any one of claims 40-45, wherein the cleaning base station (100) is capable of docking with the cleaning device (200).

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