Cleaning system control method and device and cleaning system

Abstract

The invention provides a control method and device of a cleaning system and the cleaning system, and relates to the technical field of cleaning equipment, the control method and device are applied to the cleaning system, the cleaning system comprises the cleaning equipment and a cleaning base station, and the cleaning base station comprises a base station body and two guide assemblies; one side of the base station body is provided with an accommodating cavity for accommodating the floor brush assembly; the two guiding assemblies are arranged on the two opposite sides of the base station body and used for guiding the ground brush assembly to enter the containing cavity. The two guide assemblies have a first position and a second position, and when the guide assemblies are located at the first position, the length of at least part of the guide assemblies exceeding the base station body is greater than the length of the guide assemblies located at the second position; the method comprises the steps that in response to a base station returning instruction, the two guiding assemblies are controlled to be located at the first position, and the floor brush assembly is controlled to be guided by the two guiding assemblies to enter the containing cavity. Through cooperation of extension guiding of the guiding assembly and automatic control, auxiliary guiding of returning of the equipment to the base station is realized, and the operation convenience is improved.

Description

Technical Field

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

[0002] As household cleaning needs become increasingly sophisticated and intelligent, smart cleaning equipment, such as floor scrubbers, is becoming more feature-rich, integrating modules such as large-capacity water tanks, high-efficiency motors, complex sensors, and self-cleaning systems. This has directly led to a significant increase in the overall weight of the equipment, creating a new burden for users in their daily use.

[0003] In related technologies, users typically need to manually move the floor scrubber back to the dedicated base station for maintenance operations such as charging, water replenishment, and wastewater recycling.

[0004] However, this operation, which relies on the user to directly push back or lift the device to align it with the base station base, is not only laborious but also inconvenient, especially for elderly users or users with weaker strength, thus affecting the user experience. Summary of the Invention

[0005] This application provides a control method, device, and cleaning system for a cleaning system. By coordinating the extension and guidance of the guide component with automatic control, it achieves auxiliary guidance for the cleaning equipment to return to the cleaning base station, thereby improving the ease of operation.

[0006] In a first aspect, this application provides a control method for a cleaning system, which is applied to the cleaning system, including a cleaning device and a cleaning base station. The cleaning base station is used for charging and / or self-cleaning of the cleaning device. The cleaning device includes a main body and a floor brush assembly, with the floor brush assembly rotatably connected to the main body.

[0007] The cleaning base station includes a base station body and two guiding components; a receiving cavity for accommodating a ground brush assembly is provided on one side of the base station body; the two guiding components are disposed on opposite sides of the base station body, and are used to guide the ground brush assembly into the receiving cavity; the two guiding components have a first position and a second position, wherein when the guiding component is in the first position, the guiding component extends at least partially beyond the length of the base station body, and when the guiding component is in the second position, the guiding component extends beyond the length of the base station body; the method includes:

[0008] In response to the return to base station command, the two guiding components are controlled to be in the first position, and the ground brush component is controlled to enter the receiving cavity under the guidance of the two guiding components.

[0009] In this way, by extending the guide component to form a guide channel, the floor brush component is assisted in automatically driving into the receiving cavity, reducing the force and operational precision required for the user to align and push back the cleaning equipment. This lowers the difficulty of operation and physical exertion, especially reducing the operational burden on elderly or weaker users. Furthermore, the guide component provides a physical guidance path, allowing the floor brush component to accurately drive into the receiving cavity in a predetermined direction. This eliminates the need for users to laboriously adjust the position of the cleaning equipment or precisely align it with the base station, simplifying the repositioning process and improving operational convenience and user experience.

[0010] In addition, the extended structure of the guide component provides spatial constraints and path guidance for the ground brush component, which can reduce the failure or misalignment of the return to the cleaning base station caused by human misalignment, improve the success rate of the cleaning equipment returning to the cleaning base station, avoid repeated operations caused by misalignment, and enhance the accuracy and reliability of the return to the base station.

[0011] Optionally, control the two boot components to be in the first position, including:

[0012] Control the two guide components to switch from the second position to the first position.

[0013] In this way, through the position switching mechanism, the guide component can remain in the second position when not in use, saving space and maintaining an aesthetically pleasing appearance; when needed, it extends to the first position, providing instant guidance and achieving dynamic guidance. Since the guide component can automatically switch states according to instructions, without manual intervention to unfold or retract, the automation level of the cleaning system is enhanced, and the flexibility of the cleaning system is improved.

[0014] Optionally, the method also includes:

[0015] After the brush assembly enters the receiving cavity, the two guide components are controlled to switch from the first position to the second position.

[0016] In this way, the retracted guide component reduces the overall space occupied by the cleaning base station, avoiding structural protrusions when not in use, saving space, and facilitating the cleaning and tidying of the surrounding environment. Furthermore, the guide component's secondary position minimizes its exposure when not needed, reducing the risk of accidental collisions or contamination, protecting it, extending its lifespan, and improving component durability. In addition, this automatic retraction mechanism results in a cleaner, more uniform appearance for the cleaning base station, enhancing the overall product design and user experience.

[0017] Optionally, the two guiding components move forward or backward relative to the base station body to achieve a switch between the first and second positions; the method further includes:

[0018] As the brush assembly enters the receiving cavity, the two guide components are controlled to gradually switch from the first position to the second position.

[0019] In this way, the guide component gradually retracts as the floor brush component moves, providing a continuously changing guide path that more accurately adapts to the floor brush component's trajectory, preventing jamming or detachment from the guide and achieving dynamic, coordinated guidance. Furthermore, as the floor brush component enters the cleaning base station, the guide component retracts synchronously, avoiding structural interference within the limited space and reducing the potential collision risk of the guide component remaining extended for an extended period after the cleaning equipment has returned to its position. In addition, this gradual switching action allows the guide movement to seamlessly connect with the movement of the floor brush component, reducing abrupt mechanical movements, enhancing the continuity and stability of the cleaning system's operation, and improving the smoothness of the return process.

[0020] Optionally, the cleaning base station also includes a light source projection device, and the method further includes:

[0021] Upon receiving a command to return to the base station, the control light source projection device projects an optical indication signal toward the target location to guide the user to move the cleaning equipment to the target location.

[0022] In this way, the visible optical signals provide users with clear location indications, enhancing the intuitiveness of guidance. This allows users to quickly align the cleaning equipment with the target location based on the optical indication signals, reducing repeated adjustments, shortening the return time, and improving the return accuracy and efficiency of the floor brush components.

[0023] Optionally, the cleaning base station also includes a light source projection device, and the method further includes:

[0024] Upon receiving a command to return to the base station, the control light source projection device projects an optical indication signal toward the target location;

[0025] When the cleaning equipment detects an optical indicator signal, it controls the floor brush assembly to travel to the target position.

[0026] In this way, the cleaning equipment can automatically trigger its movement to the target location by actively detecting optical indicator signals, reducing the need for manual operation by the user and improving automation. Furthermore, using optical indicator signals as a trigger allows the cleaning equipment to autonomously respond and move after sensing the guidance intent of the cleaning base station, improving the continuity of the cleaning equipment's return-to-position process. In addition, the cleaning equipment automatically detects optical indicator signals and controls the ground brush assembly to move to the target location, eliminating the need for the user to accurately determine the target location or actively push the cleaning equipment back. The user only needs to place the cleaning equipment within the signal detection range, and the cleaning system can automatically complete the initial positioning, reducing the user's operational burden.

[0027] Optionally, the cleaning system also includes an attitude sensor for detecting the attitude of the cleaning equipment, and the method further includes:

[0028] When the brush assembly is in the target position, if the attitude sensor detects that the current tilt angle of the main body exceeds the preset safe angle range, and / or the duration of the current tilt angle exceeding the preset safe angle range exceeds the preset time threshold, a first prompt message is generated.

[0029] In this way, by using attitude sensors to detect abnormal postures of the cleaning equipment in real time, timely intervention can be implemented when an abnormal angle is detected or the duration of the abnormal angle exceeds a preset time threshold. This prevents the cleaning equipment from tipping over, damaging components, or posing a risk of collision to the user due to excessive tilting, thus improving safety protection capabilities. Furthermore, this application can also combine the judgment with the duration of the abnormal angle to distinguish between momentary interference and genuine abnormal states, improving the accuracy of attitude detection, avoiding unnecessary prompts triggered by brief shaking, and optimizing the user experience.

[0030] Optionally, the cleaning system also includes an attitude sensor for detecting the attitude of the cleaning equipment and controlling two guiding components to be in a first position, including:

[0031] When the brush assembly is in the target position, if the attitude sensor detects that the current tilt angle of the main body meets the preset safety angle range, and / or the duration for which the current tilt angle meets the preset safety angle range is greater than a preset time threshold, then the two guide components are controlled to be in the first position.

[0032] In this way, by dually determining whether the current tilt angle meets the preset safety angle range and the duration for which the current tilt angle meets the preset safety angle range, movement can be avoided due to instantaneous attitude fluctuations or sensor noise that may falsely trigger motion. This ensures that the cleaning equipment only activates the guiding component when in a stable attitude, preventing collisions, jamming, or positioning deviations during the guiding process due to tilting or instability of the cleaning equipment. Therefore, by judging attitude conditions, it is ensured that the floor brush assembly is in a stable state before entering the guiding path, creating a reliable foundation for subsequent accurate entry into the receiving cavity and improving the success rate of positioning.

[0033] Optionally, the floor brush assembly includes: a floor brush housing; a roller brush rotatably connected to the floor brush housing and positioned in front of the cleaning device in the direction of travel; an assist device located on the side of the floor brush housing away from the roller brush; and controlling the floor brush assembly to enter the receiving cavity under the guidance of two guide components, including:

[0034] The control assist device rotates so that the floor brush assembly moves toward the cleaning base station and, guided by two guide components, enters the receiving cavity.

[0035] In this way, powered by the assist device, the floor brush assembly can move autonomously towards the cleaning station without relying on user pushing or the main body pulling, thus improving the level of automation. Since the assist device is located on the opposite side of the roller brush, its thrust direction is coordinated with the roller brush's rotation direction, ensuring that the floor brush assembly moves stably in a straight line towards the cleaning station, reducing deviation. Furthermore, with the assistance device, the user does not need to exert physical force to push the cleaning equipment; they only need to initiate a return command or confirm the cleaning equipment's position, and the cleaning system can automatically complete the return movement process, reducing the user's operational burden.

[0036] Optionally, the method also includes:

[0037] In response to a return-to-base-station command, the roller brush is controlled to rotate to assist the brush assembly in moving toward the cleaning base station.

[0038] In this way, controlling the rotation of the roller brush can provide additional driving force to the surface to be cleaned, assisting the assist device in pushing the floor brush assembly, especially on complex surfaces (such as carpets and uneven surfaces), improving movement efficiency and stability, and enhancing movement power and stability. Moreover, the combined action of the roller brush rotation and the assist device can speed up the cleaning equipment's entry into the cleaning station, shorten the entry time, and improve the efficiency of the entry process.

[0039] It should be noted that by utilizing the existing roller brush components of the cleaning equipment for in-station assistance, the function of the components can be reused, which helps to simplify the structural design and reduce hardware costs.

[0040] Optionally, the method also includes:

[0041] If the floor brush assembly is detected to be located in the receiving cavity, the cleaning base station is controlled to charge the cleaning equipment and / or generate a second prompt message.

[0042] In this way, by detecting when the cleaning equipment is in place, it automatically starts charging after confirming that it has returned to its correct position, eliminating the need for manual activation by the user. This ensures timely charging of the cleaning equipment, achieves automated charging management, and improves ease of use. Furthermore, it can generate a secondary notification message to inform the user that the floor brush component has successfully returned to its correct position, enhancing the perceptibility and reliability of the operation. This allows users to be aware of the cleaning equipment's status, improving the user experience.

[0043] Secondly, this application provides a control device for a cleaning system, which is applied to the cleaning system. The cleaning system includes a cleaning device and a cleaning base station. The cleaning base station is used for charging and / or self-cleaning of the cleaning device. The cleaning device includes a main body and a floor brush assembly, which is rotatably connected to the main body.

[0044] The cleaning base station includes a base station body and two guiding components; a receiving cavity for accommodating a ground brush assembly is provided on one side of the base station body; the two guiding components are disposed on opposite sides of the base station body, and are used to guide the ground brush assembly into the receiving cavity; the two guiding components have a first position and a second position, wherein when the guiding component is in the first position, the guiding component extends at least partially beyond the length of the base station body, and when the guiding component is in the second position, the guiding component extends beyond the length of the base station body; the control device includes:

[0045] The control module is used to respond to the return base station command, control the two guiding components to be in the first position, and control the ground brush component to enter the receiving cavity under the guidance of the two guiding components.

[0046] Thirdly, this application provides a cleaning system, which includes a cleaning device and a cleaning base station. The cleaning base station is used for charging and / or self-cleaning of the cleaning device. The cleaning device includes a main body and a floor brush assembly, which is rotatably connected to the main body.

[0047] The cleaning base station includes a base station body and two guide components; a receiving cavity for accommodating a ground brush assembly is provided on one side of the base station body; the two guide components are arranged on opposite sides of the base station body and are used to guide the ground brush assembly into the receiving cavity; the two guide components have a first position and a second position, when the guide component is in the first position, the guide component extends at least partially beyond the length of the base station body, which is greater than when the guide component is in the second position, the guide component extends beyond the length of the base station body.

[0048] The cleaning system is used to perform the methods described in any of the first aspects.

[0049] It should be noted that the second and third aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, so they will not be repeated here.

[0050] The control method, apparatus, and cleaning system provided in this application utilize movable guide components on both sides of the cleaning base station. By controlling the guide components to extend to a first position, a guide channel is formed, allowing the floor brush assembly of the cleaning equipment to automatically enter the receiving cavity of the cleaning base station along the guide components, eliminating the need for manual alignment or strenuous pushing of the cleaning equipment by the user. Specifically, when the cleaning system receives a return-to-base station command, it can control the two guide components to be in the first position, increasing the guidance range. Subsequently, under the physical guidance of the guide components, the floor brush assembly moves autonomously or with the assistance of the cleaning equipment into the receiving cavity, completing its return to its original position. This process reduces the user's reliance on direct operation of the cleaning equipment, lowers the difficulty and physical exertion of operation, and improves operational convenience. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0052] Figure 1 A structural block diagram of a cleaning system provided in an embodiment of this application;

[0053] Figure 2 This is a partial structural diagram of a cleaning system provided in an embodiment of this application;

[0054] Figure 3 A schematic diagram of the structure of a guide component for location switching of a clean base station provided in an embodiment of this application;

[0055] Figure 4 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0056] Figure 5 A flowchart illustrating a control method for a cleaning system provided in an embodiment of this application;

[0057] Figure 6 This is a schematic diagram of the structure of a control device for a cleaning system provided in an embodiment of this application;

[0058] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0059] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0061] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first position and the second position are merely to distinguish different positions and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0062] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0063] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0064] In related technologies, users typically need to manually move the floor scrubber back to the dedicated base station for maintenance operations such as charging, water replenishment, and wastewater recycling.

[0065] However, this operation, which relies on the user to directly push back or lift the device to align it with the base station base, is not only laborious but also inconvenient, especially for elderly users or users with weaker strength, thus affecting the user experience.

[0066] To address the aforementioned issues, this application provides a control method for a cleaning system. By installing movable guide components on both sides of the cleaning base station, and controlling these guide components to extend to a first position to form a guide channel, the floor brush assembly of the cleaning equipment can automatically drive into the receiving cavity of the cleaning base station along the guide components, eliminating the need for manual alignment or strenuous pushing of the cleaning equipment by the user. Specifically, when the cleaning system receives a return-to-base station command, it can control the two guide components to the first position, increasing the guidance range. Subsequently, under the physical guidance of the guide components, the floor brush assembly moves autonomously or with the assistance of the cleaning equipment into the receiving cavity, completing its return to its original position. This process reduces the user's reliance on direct operation of the cleaning equipment, lowers the difficulty and physical exertion of operation, and improves operational convenience.

[0067] It should be noted that the control method for the cleaning system provided in this application is applied to a cleaning system, for example, Figure 1 This is a structural block diagram of a cleaning system provided in an embodiment of this application. Figure 2 This is a partial structural diagram of a cleaning system provided in an embodiment of this application, wherein, Figure 2 It is a top view, such as Figure 1 and Figure 2 As shown, the cleaning system 300 includes a cleaning device 100 and a cleaning base station 200. The cleaning base station 200 is used for charging and / or self-cleaning of the cleaning device 100. The cleaning device 100 includes a main body 101 and a floor brush assembly 102, which is rotatably connected to the main body 101.

[0068] The cleaning base station 200 includes a base station body 201 and two guide components 202. A receiving cavity 21 for accommodating a ground brush assembly 102 is provided on one side of the base station body 201. The two guide components 202 are disposed on opposite sides of the base station body 201 and are used to guide the ground brush assembly 102 into the receiving cavity. The two guide components 202 have a first position and a second position. When the guide component 202 is in the first position, the guide component 202 extends at least partially beyond the length of the base station body 201. When the guide component 202 is in the second position, the guide component 202 extends beyond the length of the base station body 201.

[0069] When the guiding component 202 is in the first position, the guiding component 202 extends at least partially beyond the first length of the base station body 201 to form a clear guiding channel; when the guiding component 202 is in the second position, the length of the guiding component 202 extending beyond the base station body 201 is less than the first length to reduce space occupation.

[0070] It should be noted that the direction away from the receiving cavity 21 of the base station body 201 can be defined as the forward direction. The first direction is perpendicular to the forward direction and parallel to the horizontal plane. The guide component 202 is movably disposed on the front side of the base station body 201 to move between a first position and a second position. Along the forward direction, the cleaning system 300 controls the guide component 202 to switch between the first position and the second position, thereby achieving guidance when the floor brush component 102 is returned to its original position and a compact structure after storage. The two guide components 202 are disposed on opposite sides of the base station body 201 along the first direction.

[0071] Optional, Figure 3 This is a schematic diagram of the structure of a guide component for location switching in a clean base station according to an embodiment of this application, as shown below. Figure 3 As shown in Figures A and B, the two guiding components 202 move forward or backward relative to the base station body 201 to achieve the switching between the first position and the second position; wherein, as... Figure 3 As shown in Figure A, the two guide components 202 are in the first position, as follows: Figure 3 As shown in Figure B, the two guiding components 202 are in the second position. When the guiding component 202 moves away from the base station body 201, its length exceeding the base station body 201 increases, and it switches to the first position. When the guiding component 202 moves backward towards the base station body 201, its length exceeding the base station body 201 decreases, and it switches to the second position.

[0072] This straight-extending guide component 202 can form a straight and stable guide channel, ensuring that the floor brush component 102 smoothly enters the receiving cavity 21 along a straight trajectory, reducing the risk of deviation.

[0073] Optionally, when the guide component 202 is in the second position, the guide component 202 does not extend beyond the base station body 201.

[0074] Optionally, when the guide component 202 is in the first position, the spacing between the two guide components 202 along the first direction is increased along the forward direction.

[0075] Optionally, the spacing between the two guide components 202 gradually increases along the first direction of travel.

[0076] Optionally, the inner walls of the two guide components 202 are inclined, and the inner walls of the two guide components 202 are far apart from each other along the forward direction.

[0077] Optionally, the guide component 202 can be detachably connected to the base station body 201. The guide component 202 can be connected to or disconnected from the base station body 201 to achieve switching between the first position and the second position.

[0078] Optionally, the guide component 202 can also rotate relative to the base station body 201 to switch between the first position and the second position.

[0079] It should be noted that the specific structural settings for the switching between the first and second positions of the guide component 202 are not limited in the embodiments of this application; the above are merely illustrative examples.

[0080] In one possible implementation, the guiding component 202 may include: a driving module (not shown in the figure), which is connected to the base station body 201 and does not protrude from the front side of the base station body 201; and a guiding arm (not shown in the figure), which is connected to the driving module and drives the guiding arm to rotate about a first direction as an axis.

[0081] In another possible implementation, the guiding component 202 may include: a driving module connected to the base station body 201, the driving module not protruding from the front side of the base station body 201; and a guiding arm connected to the driving module, the driving module driving the guiding arm to rotate about the height direction as an axis; the height direction is perpendicular to the horizontal plane.

[0082] In another possible implementation, the guiding component 202 may include: a driving module connected to the base station body 201, the driving module not protruding from the front side of the base station body 201; and a guiding arm connected to the driving module, the driving module driving the guiding arm to move in the forward direction or the opposite direction of the forward direction.

[0083] Optionally, the cleaning base station 200 also includes a light source projection device (not shown in the figure), which can actively project visible or invisible light (such as infrared light) onto the target location (such as the intended parking area of ​​the floor brush assembly) to form an optical indication signal to assist the cleaning equipment 100 in positioning.

[0084] In this way, the optical indication signal (such as light spot, pattern or light path) projected by the light source projection device can provide the user or cleaning equipment 100 with an intuitive return target indication, or the cleaning equipment 100 can automatically start the return process (such as controlling the floor brush assembly 102 to drive to the target position) after detecting the optical indication signal through the sensor, so as to complete the status perception and response without physical contact.

[0085] Optionally, the cleaning system also includes an attitude sensor (not shown) for detecting the body attitude of the cleaning device 100.

[0086] The attitude of the machine body refers to the spatial orientation of the main body 101 of the cleaning equipment 100 relative to the horizontal cleaning surface or the preset reference coordinate system. It can be characterized by the current tilt angle, which can include the front and rear tilt angle, that is, the degree of tilt of the main body 101 relative to the horizontal front and rear direction, which can reflect whether the cleaning equipment is in a horizontal, forward tilt or backward tilt state.

[0087] The left and right tilt angle, that is, the degree of tilt of the main body relative to the horizontal plane in the left and right direction, can reflect whether the cleaning equipment 100 is in a horizontal or tilted state.

[0088] The heading angle, which is the rotation angle of the main body 101 around the vertical axis, can reflect the direction of travel of the cleaning equipment 100.

[0089] For example, attitude sensors include gyroscopes, accelerometers, inertial measurement units (IMUs), or other equivalent sensors that enable attitude sensing.

[0090] Optionally, the floor brush assembly 102 includes: a floor brush housing (not shown); a roller brush (not shown), which is rotatably connected to the floor brush housing and is located on the front side of the cleaning device 100 in the direction of travel; and an assist device (not shown), which is located on the side of the floor brush housing away from the roller brush.

[0091] The roller brush primarily performs the cleaning function; its rotational motion is used to scrub the surface to be cleaned. Optionally, the cleaning device 100 can also be provided with appropriate power.

[0092] The power assist device is installed at the rear of the floor brush housing (opposite to the roller brush) and mainly undertakes the driving function. Its rotational motion provides the driving power for the cleaning equipment 100.

[0093] It should be noted that the embodiments of this application do not limit the specific types of the above-mentioned components or parts; the above are merely illustrative examples.

[0094] For example, Figure 4 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 4 As shown, taking a home setting as an example, the cleaning device 100 can be a floor scrubber, so the cleaning system includes an intelligent floor scrubber with automatic recharging and self-cleaning functions and its cleaning base station 200.

[0095] After the floor scrubber completes its cleaning task in the living room, the user can send a return command to the floor scrubber or cleaning system via an application (APP), voice assistant, or device button on the terminal device. The floor scrubber and the cleaning base station 200 can communicate with each other; if the floor scrubber receives a return command, it can also synchronize the command to the cleaning base station 200.

[0096] After the cleaning system receives the return base station instruction, it can control the two guide components 202 on opposite sides of the cleaning base station 200 to switch from the second position (retracted state) to the first position (extended state), so that the guide components 202 at least partially exceed the length of the base station body to increase, forming a guide channel.

[0097] With the guide component 202 in the first position, the floor brush component of the floor scrubber is controlled to move autonomously or with assistance along the guide path formed by the two guide components 202 until it is completely driven into the receiving cavity of the base station body.

[0098] Optionally, after the floor brush assembly enters the receiving cavity, the guide assembly 202 can be controlled to switch back to the second position (retracted state), thereby activating the charging and / or self-cleaning functions.

[0099] In this way, by guiding the dynamic extension and orientation of the guide component 202, the floor brush component can be accurately and stably positioned in the receiving cavity of the cleaning base station 200, improving the reliability of the automatic recharging / self-cleaning of the floor scrubber and reducing the user's manual adjustment burden.

[0100] Terminal equipment can also be called user equipment (UE), mobile station (MS), mobile terminal, terminal, etc. In practical applications, terminal equipment includes desktop computers, laptops, personal digital assistants (PDAs), smartphones, tablets, in-vehicle devices, wearable devices (such as smartwatches and smart bracelets), and smart home devices (such as smart display devices).

[0101] It should be noted that this application can also be applied to shopping malls, schools, and offices. The embodiments of this application do not limit the specific application scenarios; the above are merely illustrative examples.

[0102] It should be noted that the cleaning device 100 can be a floor scrubber or any smart handheld mobile device with cleaning function. This application embodiment does not specifically limit the type of cleaning device 100.

[0103] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0104] For example, Figure 5 This is a flowchart illustrating a control method for a cleaning system provided in an embodiment of this application. The control method for this cleaning system is applied to... Figures 1-2 The cleaning system shown, such as Figure 5 As shown, the control method of this cleaning system includes the following steps:

[0105] S501, in response to the return to base station command, controls the two guiding components to be in the first position.

[0106] In this embodiment, the first position can refer to the state where the guide component extends at least partially out of the base station body, and the length of its extension beyond the base station body is greater than the length in the second position (such as the retracted state). In this first position, the guide component can extend outward from both sides of the cleaning base station to form a guide structure to guide the ground brush component to align and enter the receiving cavity.

[0107] For example, when the cleaning system receives a return-to-base station command, it can control the two guide components to switch from the second position (i.e., the retracted state) to the first position (i.e., the extended state), increasing the length of the guide components extending beyond the base station body to form a wider guide entrance. Alternatively, if the two guide components are already in the first position when the cleaning system receives the return-to-base station command, it can simply continue to control the two guide components to remain in the first position.

[0108] It should be noted that the embodiments of this application do not specifically limit the position of the two guiding components before the cleaning system receives the return base station instruction. For example, the two guiding components can also be in a semi-extended state, that is, part of the structure extends out of the base station body and part of the structure retracts into the base station body.

[0109] S502, the control brush assembly, guided by two guide components, enters the receiving cavity.

[0110] For example, after the guide component extends to the first position, the brush component can be controlled to move autonomously along the guide channel formed by the guide components on both sides, and accurately enter the receiving cavity of the base station body under the physical limitation and guidance of the guide structure.

[0111] In this way, by extending the guide component to form a guide channel, the floor brush assembly automatically enters the receiving cavity, reducing the force and operational precision required for the user to align and push back the cleaning equipment. This lowers the difficulty of operation and physical exertion, especially reducing the operational burden on elderly or weaker users. Furthermore, the guide component provides a physical guidance path, allowing the floor brush assembly to accurately enter the receiving cavity in a predetermined direction. This eliminates the need for users to laboriously adjust the cleaning equipment position or precisely align it with the cleaning base station, simplifying the repositioning process and improving operational convenience and user experience.

[0112] In addition, the extended structure of the guide component provides spatial constraints and path guidance for the ground brush component, which can reduce the failure or misalignment of the return to the cleaning base station caused by human misalignment, improve the success rate of the cleaning equipment returning to the cleaning base station, avoid repeated operations caused by misalignment, and enhance the accuracy and reliability of the return to the base station.

[0113] Optionally, the return base station instruction can be determined in any of the following ways:

[0114] Responding to the user's voice commands;

[0115] Responds to user touch operations on cleaning equipment or cleaning base stations;

[0116] In response to user actions on the terminal device, the terminal device establishes a communication connection with the cleaning system.

[0117] In some embodiments, the voice recognition module built into the cleaning device or cleaning base station, or a connected smart voice assistant, continuously detects ambient sounds. When a specific voice command issued by the user, such as "return to base station" or "charge," is recognized, the cleaning system interprets the voice signal as a return to base station command and triggers the subsequent departure process.

[0118] In other embodiments, users can also trigger electrical signals by pressing interactive components such as buttons or touch panels on the cleaning device or cleaning base station. After detecting the touch operation, the cleaning system converts it into a command to return to the base station.

[0119] In other embodiments, users click virtual buttons or send control commands via an app or control interface installed on a terminal device such as a smartphone, tablet, or remote control. The terminal device sends the instructions to the cleaning system via wireless communication, and the cleaning system receives and parses them into instructions to return to the base station.

[0120] In this way, by providing multiple command triggering methods such as voice, touch, and remote terminal, it can adapt to different usage scenarios and user habits, reducing the user's operating threshold and improving the convenience and flexibility of operation. In addition, since it supports multiple methods to determine the return command to the base station, it can meet the user's control needs under different distance, environmental, or conditional constraints, improve the user-friendliness of human-computer interaction, and enhance the diversity of cleaning system interaction.

[0121] Optionally, control the two boot components to be in the first position, including:

[0122] Control the two guide components to switch from the second position to the first position.

[0123] In this embodiment, the second position can refer to the guide component being in a retracted or folded-back state relative to the base station body, where the length of the guide component extending beyond the base station body is less than the length in the first position. In this second position, the guide component does not perform active guidance functions, typically used for storing the cleaning base station or saving space when the cleaning equipment is not in its original position.

[0124] For example, such as Figure 3 As shown, after the cleaning system receives the return-to-base station instruction, it can control the two guiding components to move from... Figure 3 The second position shown in B is actively moved to, as... Figure 3 Position A is shown in the middle, in preparation for guiding the brush assembly back into the receiving cavity.

[0125] It should be noted that the specific positions corresponding to the first position and the second position are not limited in the embodiments of this application. The above is only an example. In this application, it is only necessary to ensure that the brush assembly can be guided into the receiving cavity when the guide component is in the first position.

[0126] In this way, through the position switching mechanism, the guide component can remain in the second position when not in use, saving space and maintaining an aesthetically pleasing appearance; when needed, it extends to the first position, providing instant guidance and achieving dynamic guidance. Since the guide component can automatically switch states according to instructions, without manual intervention to unfold or retract, the automation level of the cleaning system is enhanced, and the flexibility of the cleaning system is improved.

[0127] Optionally, the method also includes:

[0128] After the brush assembly enters the receiving cavity, the two guide components are controlled to switch from the first position to the second position.

[0129] For example, such as Figure 3 As shown, after the floor brush assembly completes its return to its position and enters the receiving cavity, the cleaning system can control the two guide components to move from the receiving cavity. Figure 3 The first position shown in A will automatically switch back to as shown in the image. Figure 3The second position, indicated by B, restores the boot component to its initial, non-booting position.

[0130] In this way, the retracted guide component reduces the overall space occupied by the cleaning base station, avoiding structural protrusions when not in use, saving space, and facilitating the cleaning and tidying of the surrounding environment. Furthermore, the guide component's secondary position minimizes its exposure when not needed, reducing the risk of accidental collisions or contamination, protecting it, extending its lifespan, and improving component durability. In addition, this automatic retraction mechanism results in a cleaner, more uniform appearance for the cleaning base station, enhancing the overall product design and user experience.

[0131] Optionally, the method also includes:

[0132] As the brush assembly enters the receiving cavity, the two guide components are controlled to gradually switch from the first position to the second position.

[0133] Optionally, control the two boot components to gradually switch from the first position to the second position, including:

[0134] The guide component moves inward step by step according to the depth into which the floor brush component enters. For example, every time the floor brush component moves forward a certain distance, the guide component retracts by a corresponding length, or every time the floor brush component moves forward a certain period of time, the guide component retracts by a corresponding length.

[0135] The guide component retracts continuously inward at a constant or variable speed as the floor brush component moves forward, maintaining its relative position to the floor brush component.

[0136] As the brush assembly is about to fully enter the receiving cavity, the guide assembly accelerates its retraction to a fully retracted state, ensuring a tight and compact return to its original position.

[0137] If the position of the floor brush component is detected in real time to be in front of the guide component along its length, the guide component located behind it will be retracted.

[0138] It should be noted that the embodiments of this application do not limit the specific process of the two guiding components gradually switching from the first position to the second position; the above is merely an example.

[0139] For example, since the guide component can switch positions by moving forward or backward relative to the base station body, it can be controlled to gradually switch from the first position (extended state) to the second position (retracted state) as the ground brush component enters the receiving cavity. Specifically, as the ground brush component enters the receiving cavity along the guide path, the guide component can synchronously or in stages retract inward until the ground brush component is fully returned to its original position and the guide component returns to the retracted state.

[0140] In this way, the guide component gradually retracts as the floor brush component moves, providing a continuously changing guide path that more accurately adapts to the floor brush component's trajectory, preventing jamming or detachment from the guide and achieving dynamic, coordinated guidance. Furthermore, as the floor brush component enters the cleaning base station, the guide component retracts synchronously, avoiding structural interference within the limited space and reducing the potential collision risk of the guide component remaining extended for an extended period after the cleaning equipment has returned to its position. In addition, this gradual switching action allows the guide movement to seamlessly connect with the movement of the floor brush component, reducing abrupt mechanical movements, enhancing the continuity and stability of the cleaning system's operation, and improving the smoothness of the return process.

[0141] Optionally, the method also includes:

[0142] Upon receiving a command to return to the base station, the control light source projection device projects an optical indication signal toward the target location to guide the user to move the cleaning equipment to the target location.

[0143] In this embodiment of the application, the target location may refer to the predetermined area or position to which the cleaning equipment needs to move during the process of returning to the cleaning base station. It is usually located in front of the entrance of the receiving cavity or at the beginning of the guide path, in order to ensure that the floor brush assembly can smoothly enter the guide channel formed by the guide assembly.

[0144] Optical indication signals can refer to visual signals such as visible light patterns, lines, light areas, or light spots emitted by a light source projection device, used to form marks on the target location or path to indicate the direction in which the cleaning equipment should move or the specific location it should reach.

[0145] It should be noted that the embodiments of this application do not limit the specific location corresponding to the target location or the specific signal type corresponding to the optical indication signal.

[0146] For example, after the cleaning system responds to the return base station command, it can control the light source projection device to project an optical indication signal to the target location, providing visual guidance to the user and assisting the user in moving the cleaning equipment to the target location.

[0147] In this way, the visible optical signals provide users with clear location indications, enhancing the intuitiveness of guidance. This allows users to quickly align the cleaning equipment with the target location based on the optical indication signals, reducing repeated adjustments, shortening the return time, and improving the return accuracy and efficiency of the floor brush components.

[0148] Optionally, the method also includes:

[0149] Upon receiving a command to return to the base station, the control light source projection device projects an optical indication signal toward the target location;

[0150] When the cleaning equipment detects an optical indicator signal, it controls the floor brush assembly to travel to the target position.

[0151] Optionally, the cleaning device detects an optical indication signal, which may be in at least one of the following forms:

[0152] The specific wavelength, intensity, or pattern of the optical indication signal is identified by photosensitive elements (such as photoelectric sensors or cameras) installed on the cleaning equipment.

[0153] The visual sensors (such as cameras) of cleaning equipment are used to capture images of optical indicator signals, and image processing algorithms are used to identify the location or features of the signals.

[0154] If the optical indication signal is a modulated or coded optical signal (such as infrared encoding), the cleaning equipment can use the corresponding decoding module to analyze the signal content to confirm the target location.

[0155] It should be noted that the embodiments of this application do not specifically limit the way in which the cleaning equipment detects the optical indicator signal; the above are merely illustrative examples.

[0156] For example, after responding to the return base station command, the cleaning system can control the light source projection device to project an optical indication signal to the target location; subsequently, when the cleaning equipment detects the optical indication signal through its sensor, it can automatically control the floor brush assembly to drive to the target location, thereby initiating the subsequent return guidance process, that is, controlling the two guide components to be in the first position, and controlling the floor brush assembly to drive into the receiving cavity under the guidance of the two guide components.

[0157] In this way, the cleaning equipment can automatically trigger its movement to the target location by actively detecting optical indicator signals, reducing the need for manual operation by the user and improving automation. Furthermore, using optical indicator signals as a trigger allows the cleaning equipment to autonomously respond and move after sensing the guidance intent of the cleaning base station, improving the continuity of the cleaning equipment's return-to-position process. In addition, the cleaning equipment automatically detects optical indicator signals and controls the ground brush assembly to move to the target location, eliminating the need for the user to accurately determine the target location or actively push the cleaning equipment back. The user only needs to place the cleaning equipment within the signal detection range, and the cleaning system can automatically complete the initial positioning, reducing the user's operational burden.

[0158] Optionally, the method also includes:

[0159] When the brush assembly is in the target position, if the attitude sensor detects that the current tilt angle of the main body exceeds the preset safe angle range, and / or the duration of the current tilt angle exceeding the preset safe angle range exceeds the preset time threshold, a first prompt message is generated.

[0160] In this embodiment, the current tilt angle may refer to the angle between the main body of the cleaning device and the parking reference plane, which is measured in real time by the attitude sensor, or it may refer to the angle between the plane where the main body of the cleaning device is located and the parking reference plane of the surface to be cleaned. This embodiment does not specifically limit the definition of the current tilt angle.

[0161] The preset safety angle range refers to a pre-defined range of tilt angles that allow the main body of the cleaning equipment to operate normally. Exceeding this preset safety angle range is considered to pose a safety risk. For example, the preset safety angle range can be ±15°.

[0162] Duration can refer to the length of time that the current tilt angle continuously exceeds the preset safe angle range, which is used to distinguish between instantaneous interference and continuous abnormal state.

[0163] The preset time threshold can refer to the critical duration set in advance by the cleaning system, which is used to determine whether the tilted state has constituted a stable risk.

[0164] It should be noted that the embodiments of this application do not specifically limit the numerical value corresponding to the preset safety angle range; the above is merely an example.

[0165] The first warning message can refer to the warning signal generated by the cleaning system after detecting an abnormal posture risk. The first warning message can refer to the warning signal issued to the user through sound, light, vibration or communication, etc., to indicate that the cleaning equipment is in an abnormal tilt state and needs to be dealt with. For example, the warning message can be a buzzer sounding, an indicator light flashing, or an alarm message pushed by the APP.

[0166] For example, after the floor brush assembly has reached the target position, the tilt angle of the main body of the cleaning device can be detected in real time by the gyroscope on the device. If the current tilt angle exceeds the preset safe angle range, and / or the duration of exceeding the range exceeds the preset time threshold, the cleaning system will generate a first prompt message to warn the user that the cleaning device is in an abnormal posture risk.

[0167] In this way, by using attitude sensors to detect abnormal postures of the cleaning equipment in real time, timely intervention can be implemented when an abnormal angle is detected or the duration of the abnormal angle exceeds a preset time threshold. This prevents the cleaning equipment from tipping over, damaging components, or posing a risk of collision to the user due to excessive tilting, thus improving safety protection capabilities. Furthermore, this application can also combine the judgment with the duration of the abnormal angle to distinguish between momentary interference and genuine abnormal states, improving the accuracy of attitude detection, avoiding unnecessary prompts triggered by brief shaking, and optimizing the user experience.

[0168] Optionally, control the two boot components to be in the first position, including:

[0169] When the brush assembly is in the target position, if the attitude sensor detects that the current tilt angle of the main body meets the preset safety angle range, and / or the duration for which the current tilt angle meets the preset safety angle range is greater than a preset time threshold, then the two guide components are controlled to be in the first position.

[0170] For example, after the floor brush assembly has reached the target position, the tilt angle of the main body can be monitored in real time using a gyroscope on the assembly. The cleaning system only controls the two guide components to switch to the first position to execute the subsequent guide process when the current tilt angle is detected to be within a preset safe angle range, and / or the duration of being within that safe range exceeds a preset time threshold.

[0171] In this way, by dually determining whether the current tilt angle meets the preset safety angle range and the duration for which the current tilt angle meets the preset safety angle range, movement can be avoided due to instantaneous attitude fluctuations or sensor noise that may falsely trigger motion. This ensures that the cleaning equipment only activates the guiding component when in a stable attitude, preventing collisions, jamming, or positioning deviations during the guiding process due to tilting or instability of the cleaning equipment. Therefore, by judging attitude conditions, it is ensured that the floor brush assembly is in a stable state before entering the guiding path, creating a reliable foundation for subsequent accurate entry into the receiving cavity and improving the success rate of positioning.

[0172] Optionally, the control brush assembly, guided by two guide components, enters the receiving cavity, including:

[0173] The control assist device rotates so that the floor brush assembly moves toward the cleaning base station and, guided by two guide components, enters the receiving cavity.

[0174] For example, after the guide component extends to the first position, the assist device on the floor brush assembly of the cleaning equipment can be controlled to start rotating. The assist device is located on the side of the floor brush housing away from the roller brush, and its rotation generates thrust or traction, thereby driving the entire cleaning equipment to move automatically toward the cleaning base station, so that the floor brush assembly autonomously enters the receiving cavity under the guidance of the guide component, realizing autonomous movement without manual intervention from the user.

[0175] In this way, powered by the assist device, the floor brush assembly can move autonomously towards the cleaning station without relying on user pushing or the main body pulling, thus improving the level of automation. Since the assist device is located on the opposite side of the roller brush, its thrust direction is coordinated with the roller brush's rotation direction, ensuring that the floor brush assembly moves stably in a straight line towards the cleaning station, reducing deviation. Furthermore, with the assistance device, the user does not need to exert physical force to push the cleaning equipment; they only need to initiate a return command or confirm the cleaning equipment's position, and the cleaning system can automatically complete the return movement process, reducing the user's operational burden.

[0176] Optionally, the method also includes:

[0177] In response to a return-to-base-station command, the roller brush is controlled to rotate to assist the brush assembly in moving toward the cleaning base station.

[0178] For example, upon responding to a return-to-base station command, the cleaning system can also control the roller brush in the floor brush assembly to begin rotating. The friction between the roller brush and the surface to be cleaned generates an auxiliary propulsion force, helping the floor brush assembly move towards the cleaning base station, either in conjunction with the assist device or independently.

[0179] Optionally, in response to a return-to-base station command, only the roller brush rotation can be controlled to move the cleaning equipment toward the base station. This reduces the power consumption of the assist device and extends its lifespan by prioritizing or relying solely on roller brush rotation for short-distance movement. Furthermore, if the cleaning equipment has low battery power and the assist device's power is limited, roller brush rotation can serve as an auxiliary power source, ensuring the cleaning equipment can still complete its return-to-base maneuver.

[0180] In this way, controlling the rotation of the roller brush can provide additional driving force to the surface to be cleaned, assisting the assist device in pushing the floor brush assembly, especially on complex surfaces (such as carpets and uneven surfaces), improving movement efficiency and stability, and enhancing movement power and stability. Moreover, the combined action of the roller brush rotation and the assist device can speed up the cleaning equipment's entry into the cleaning station, shorten the entry time, and improve the efficiency of the entry process.

[0181] It should be noted that by utilizing the existing roller brush components of the cleaning equipment for in-station assistance, the function of the components can be reused, which helps to simplify the structural design and reduce hardware costs.

[0182] Optionally, the method also includes:

[0183] If the floor brush assembly is detected to be located in the receiving cavity, the cleaning base station is controlled to charge the cleaning equipment and / or generate a second prompt message.

[0184] In this embodiment, the second notification message may refer to a confirmation signal generated by the cleaning system after the floor brush assembly has successfully returned to its position and entered the receiving cavity, used to indicate to the user that the cleaning device is in a rechargeable or standby state. Its form is similar to the first notification message, and will not be repeated here; for details, please refer to the description of the first notification message.

[0185] Optionally, the method of detecting that the floor brush assembly is located in the receiving cavity may include any of the following:

[0186] Contact or non-contact sensors (such as infrared sensors, Hall sensors, microswitches) are installed inside the cavity or at the entrance to trigger a signal when the brush assembly reaches the predetermined position.

[0187] The mechanical structural displacement (such as baffles or latches) triggered when the floor brush assembly enters generates electrical signals or position change information.

[0188] The cleaning equipment and the cleaning base station establish a connection within the effective distance through communication, confirming that the floor brush assembly has entered the receiving cavity.

[0189] It should be noted that the embodiments of this application do not specifically limit the way the detection brush assembly is located in the receiving cavity; the above is merely an explanation.

[0190] For example, after the cleaning system detects that the floor brush assembly has fully entered the receiving cavity, it can automatically trigger the cleaning base station to charge the cleaning equipment and / or generate a second prompt message to confirm that the return to its original position is complete and to start subsequent services.

[0191] In this way, by detecting when the cleaning equipment is in place, it automatically starts charging after confirming that it has returned to its correct position, eliminating the need for manual activation by the user. This ensures timely charging of the cleaning equipment, achieves automated charging management, and improves ease of use. Furthermore, it can generate a secondary notification message to inform the user that the floor brush component has successfully returned to its correct position, enhancing the perceptibility and reliability of the operation. This allows users to be aware of the cleaning equipment's status, improving the user experience.

[0192] In the foregoing embodiments, the control method of the cleaning system provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the cleaning system, as the executing entity, may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0193] For example, Figure 6 This is a schematic diagram of the structure of a control device for a cleaning system provided in an embodiment of this application, as shown below. Figure 6 As shown, the control device 600 of the cleaning system is applied to the cleaning system, which includes cleaning equipment and a cleaning base station. The cleaning base station is used for charging and / or self-cleaning of the cleaning equipment. The cleaning equipment includes a main body and a floor brush assembly, which is rotatably connected to the main body.

[0194] The cleaning base station includes a base station body and two guide components; a receiving cavity for accommodating a ground brush assembly is provided on one side of the base station body; the two guide components are disposed on opposite sides of the base station body, and are used to guide the ground brush assembly into the receiving cavity; the two guide components have a first position and a second position, wherein when the guide component is in the first position, the guide component extends at least partially beyond the length of the base station body, and when the guide component is in the second position, the guide component extends beyond the length of the base station body; the control device 600 of the cleaning system includes:

[0195] The control module 601 is used to respond to the return base station command, control the two guide components to be in the first position, and control the ground brush component to enter the receiving cavity under the guidance of the two guide components.

[0196] Optionally, the control module 601 includes a first control unit, which is used for:

[0197] Control the two guide components to switch from the second position to the first position.

[0198] Optionally, the control device 600 of the cleaning system further includes a first control module, which is used for:

[0199] After the brush assembly enters the receiving cavity, the two guide components are controlled to switch from the first position to the second position.

[0200] Optionally, the two guiding components can move forward or backward relative to the base station body to switch between the first and second positions; the control device 600 of the cleaning system further includes a second control module, which is used for:

[0201] As the brush assembly enters the receiving cavity, the two guide components are controlled to gradually switch from the first position to the second position.

[0202] Optionally, the cleaning base station also includes a light source projection device, and the control device 600 of the cleaning system further includes a third control module, which is used for:

[0203] Upon receiving a command to return to the base station, the control light source projection device projects an optical indication signal toward the target location to guide the user to move the cleaning equipment to the target location.

[0204] Optionally, the cleaning base station also includes a light source projection device, and the control device 600 of the cleaning system further includes a fourth control module, which is used for:

[0205] Upon receiving a command to return to the base station, the control light source projection device projects an optical indication signal toward the target location;

[0206] When the cleaning equipment detects an optical indicator signal, it controls the floor brush assembly to travel to the target position.

[0207] Optionally, the cleaning system also includes an attitude sensor for detecting the attitude of the cleaning equipment. The control unit 600 of the cleaning system also includes a generation module for:

[0208] When the brush assembly is in the target position, if the attitude sensor detects that the current tilt angle of the main body exceeds the preset safe angle range, and / or the duration of the current tilt angle exceeding the preset safe angle range exceeds the preset time threshold, a first prompt message is generated.

[0209] Optionally, the cleaning system also includes an attitude sensor for detecting the attitude of the cleaning equipment. The first control unit is used to:

[0210] When the brush assembly is in the target position, if the attitude sensor detects that the current tilt angle of the main body meets the preset safety angle range, and / or the duration for which the current tilt angle meets the preset safety angle range is greater than a preset time threshold, then the two guide components are controlled to be in the first position.

[0211] Optionally, the floor brush assembly includes: a floor brush housing; a roller brush rotatably connected to the floor brush housing and located at the front of the cleaning device in the direction of travel; an assist device located on the side of the floor brush housing away from the roller brush; the control module 601 includes a second control unit, which is used for:

[0212] The control assist device rotates so that the floor brush assembly moves toward the cleaning base station and, guided by two guide components, enters the receiving cavity.

[0213] Optionally, the control device 600 of the cleaning system further includes a fifth control module, which is used for:

[0214] In response to a return-to-base-station command, the roller brush is controlled to rotate to assist the brush assembly in moving toward the cleaning base station.

[0215] Optionally, the control device 600 of the cleaning system further includes a sixth control module, which is used for:

[0216] If the floor brush assembly is detected to be located in the receiving cavity, the cleaning base station is controlled to charge the cleaning equipment and / or generate a second prompt message.

[0217] It should be noted that the specific implementation principle and effect of the control device 600 of the above-mentioned cleaning system can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0218] This application also provides an electronic device. Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 7 As shown, the electronic device may include: a processor 701 and a memory 702 communicatively connected to the processor 701; the memory 702 stores a computer program; the processor 701 executes the computer program stored in the memory 702, causing the processor 701 to perform the method described in any of the above embodiments.

[0219] The memory 702 and the processor 701 can be connected via bus 703.

[0220] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0221] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0222] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0223] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0224] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0225] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0226] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0227] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0228] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0229] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0230] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0231] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0232] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0233] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0234] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0235] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0236] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A control method for a cleaning system, characterized in that, The cleaning system is used in a cleaning system, which includes cleaning equipment and a cleaning base station, wherein the cleaning base station is used for charging and / or self-cleaning of the cleaning equipment. The cleaning device includes: a main body and a floor brush assembly, wherein the floor brush assembly is rotatably connected to the main body; The cleaning base station includes a base station body and two guiding components; one side of the base station body is provided with a receiving cavity for accommodating the floor brush assembly; the two guiding components are disposed on opposite sides of the base station body, and the two guiding components are used to guide the floor brush assembly into the receiving cavity; the two guiding components have a first position and a second position, wherein when the guiding component is in the first position, the guiding component at least partially extends beyond the length of the base station body, and when the guiding component is in the second position, the guiding component extends beyond the length of the base station body; the method includes: In response to a return to base station command, the two guiding components are controlled to be in the first position, and the ground brush component is controlled to enter the receiving cavity under the guidance of the two guiding components.

2. The method according to claim 1, characterized in that, Controlling the two guiding components to be in the first position includes: The two guiding components are controlled to switch from the second position to the first position.

3. The method according to claim 2, characterized in that, The method further includes: After the floor brush assembly enters the receiving cavity, the two guide components are controlled to switch from the first position to the second position.

4. The method according to claim 2, characterized in that, The two guiding components move forward or backward relative to the base station body to switch between the first position and the second position; the method further includes: As the brush assembly enters the receiving cavity, the two guide components are controlled to gradually switch from the first position to the second position.

5. The method according to claim 1, characterized in that, The clean base station also includes a light source projection device, and the method further includes: Upon receiving a command to return to the base station, the light source projection device is controlled to project an optical indication signal toward the target location to guide the user to move the cleaning equipment to the target location.

6. The method according to claim 1, characterized in that, The clean base station also includes a light source projection device, and the method further includes: Upon receiving a command to return to the base station, the light source projection device is controlled to project an optical indication signal toward the target location; When the cleaning device detects the optical indication signal, it controls the floor brush assembly to travel to the target position.

7. The method according to claim 5 or 6, characterized in that, The cleaning system further includes an attitude sensor for detecting the body attitude of the cleaning equipment, and the method further includes: When the brush assembly is located at the target position, if the attitude sensor detects that the current tilt angle of the main body exceeds a preset safe angle range, and / or the duration for which the current tilt angle exceeds the preset safe angle range exceeds a preset time threshold, a first prompt message is generated.

8. The method according to claim 5 or 6, characterized in that, The cleaning system also includes an attitude sensor for detecting the body attitude of the cleaning equipment. Controlling the two guiding components to the first position includes: When the brush assembly is located at the target position, if the attitude sensor detects that the current tilt angle of the main body meets a preset safe angle range, and / or the duration for which the current tilt angle meets the preset safe angle range is greater than a preset time threshold, then the two guide components are controlled to be in the first position.

9. The method according to claim 1, characterized in that, The floor brush assembly includes: a floor brush housing; a roller brush rotatably connected to the floor brush housing and located at the front of the cleaning device in the direction of travel; and an assist device located on the side of the floor brush housing away from the roller brush. Controlling the floor brush assembly to enter the receiving cavity under the guidance of the two guide components includes: The assist device is controlled to rotate so that the floor brush assembly moves toward the cleaning base station and, guided by the two guide components, enters the receiving cavity.

10. The method according to claim 9, characterized in that, The method further includes: In response to the return to base station command, the roller brush is controlled to rotate to assist the floor brush assembly in moving toward the cleaning base station.

11. The method according to claim 1, characterized in that, The method further includes: If the floor brush assembly is detected to be located in the receiving cavity, the cleaning base station is controlled to charge the cleaning device and / or generate a second prompt message.

12. A control device for a cleaning system, characterized in that, The cleaning system is used in a cleaning system, which includes cleaning equipment and a cleaning base station, wherein the cleaning base station is used for charging and / or self-cleaning of the cleaning equipment. The cleaning device includes: a main body and a floor brush assembly, wherein the floor brush assembly is rotatably connected to the main body; The cleaning base station includes a base station body and two guiding components; one side of the base station body is provided with a receiving cavity for accommodating the floor brush assembly; the two guiding components are disposed on opposite sides of the base station body, and the two guiding components are used to guide the floor brush assembly into the receiving cavity; the two guiding components have a first position and a second position, wherein when the guiding component is in the first position, the guiding component at least partially extends beyond the length of the base station body, and when the guiding component is in the second position, the guiding component extends beyond the length of the base station body; the control device includes: The control module is configured to, in response to a return to base station command, control the two guiding components to be in the first position, and control the ground brush assembly to enter the receiving cavity under the guidance of the two guiding components.

13. A cleaning system, characterized in that, The cleaning system includes cleaning equipment and a cleaning base station, wherein the cleaning base station is used for charging and / or self-cleaning of the cleaning equipment; The cleaning device includes: a main body and a floor brush assembly, wherein the floor brush assembly is rotatably connected to the main body; The cleaning base station includes a base station body and two guide components; one side of the base station body is provided with a receiving cavity for accommodating the floor brush component; the two guide components are disposed on opposite sides of the base station body, and the two guide components are used to guide the floor brush component into the receiving cavity; the two guide components have a first position and a second position, wherein when the guide component is in the first position, the guide component extends at least partially beyond the length of the base station body, which is greater than when the guide component is in the second position, the guide component extends beyond the length of the base station body; The cleaning system is used to perform the method as described in any one of claims 1-11.

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