Control method, device and system of cleaning system

Abstract

The invention provides a control method, device and system of a cleaning system, and relates to the technical field of cleaning equipment. The method is applied to the cleaning system, the cleaning system comprises cleaning equipment and a cleaning base station, and the cleaning base station is used for charging and / or self-cleaning of the cleaning equipment; the cleaning apparatus includes: a main body; the floor brush assembly is rotationally connected with the main machine body; the floor brush assembly comprises a floor brush shell; the rolling brush is rotationally connected to the floor brush shell, and the rolling brush is located on the front side of the advancing direction of the cleaning equipment; the power assisting device is located on the side, away from the rolling brush, of the floor brush shell; the method comprises the steps that in response to a cleaning starting instruction, a power assisting device is controlled to rotate, so that cleaning equipment moves in the direction away from a cleaning base station; when the cleaning equipment arrives at the target position, the power assisting device is controlled to stop rotating, self-service moving-out of the cleaning equipment from the cleaning base station is achieved, manual intervention of a user is not needed, and the use smoothness and experience are improved.

Description

TECHNICAL FIELD

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

[0002] With the increasing intelligence of household cleaning needs, the function integration of the scrubber as a deep cleaning tool is continuously improved. In order to cope with the complex cleaning surface environment, the scrubber is generally equipped with a large-capacity water tank, a high-performance motor, an intelligent sensing module and a heating device, which leads to a significant increase in the overall weight of the machine body.

[0003] In the related art, the user mainly manually takes out the scrubber from the cleaning base station to start the cleaning task, that is, in the actual use link of the user, the user still needs to actively bend down or use force to lift the scrubber from the fixed clamping groove or charging seat of the cleaning base station to enter the handheld cleaning state.

[0004] However, the above-mentioned user use method brings a large use burden and potential safety risk, which seriously affects the use experience and use fluency. SUMMARY

[0005] The present application provides a control method, device and system of a cleaning system, by setting a power assisting device located at the rear side of the roller brush, the cleaning equipment can autonomously and stably drive away from the cleaning base station, and automatically stop after reaching the target position. The automatic outbound process of the cleaning equipment from the cleaning base station to the working area is realized, without the need for the user to manually push or carry, which improves the use convenience and automation degree.

[0006] In a first aspect, the present application provides a control method of a cleaning system, applied to a cleaning system, the cleaning system comprising a cleaning equipment and a cleaning base station, the cleaning base station being used for charging and / or self-cleaning of the cleaning equipment; the cleaning equipment comprising: a main body;

[0007] a floor brush assembly, the floor brush assembly being rotationally connected with the main body;

[0008] the floor brush assembly comprising: a floor brush housing;

[0009] a roller brush, the roller brush being rotationally connected to the floor brush housing, and the roller brush being located at the front side of the cleaning equipment in the running direction;

[0010] a power assisting device, the power assisting device being located at the side of the floor brush housing away from the roller brush; the method comprising:

[0011] in response to a start cleaning instruction, controlling the power assisting device to rotate, so that the cleaning equipment moves in a direction away from the cleaning base station;

[0012] when the cleaning equipment reaches the target position, controlling the power assisting device to stop rotating.

[0013] In this way, compared with the existing way of taking the floor cleaning machine by the user, the cleaning device is automatically moved out of the cleaning base station by the power assisting device, so that the user does not need to bend over or manually extract the cleaning device, which significantly reduces the physical burden, especially for the elderly or the disabled. Moreover, it can also avoid the risk of device falling or knocking when the user manually takes it, and simplify the taking steps, improve the safety and convenience of use. In addition, the cleaning device is automatically stopped at the appropriate target position after being controlled to move out, avoiding excessive movement or leaving the effective working area, and the power assisting device stops in time to reduce the invalid energy consumption, and prevent the risk of collision or loss of control due to continuous movement of the cleaning device. After the cleaning device reaches the target position, it automatically enters the standby state, and the user can immediately start cleaning operation without additional adjustment, realizing the coherent process of "instruction triggering-device automatic positioning", reducing the operation steps, improving the smoothness of use, and optimizing the overall user experience.

[0014] Optionally, the target position is determined by at least one of the following ways:

[0015] based on the distance between the cleaning device and the cleaning base station;

[0016] based on the time length of the cleaning device moving away from the cleaning base station;

[0017] based on the fixed position point scanned by the sensor;

[0018] in response to the user's stop instruction.

[0019] In this way, the target position can be determined by the distance between the cleaning device and the cleaning base station, which improves the positioning accuracy of the target position, and this method can adapt to different cleaning base station layouts, ensuring the consistency of the cleaning device moving distance. The target position is determined by the time length of the cleaning device moving away from the cleaning base station, which does not require additional sensors, thereby reducing costs and simplifying the algorithm. The target position is determined by the fixed position point scanned by the sensor, which makes the target position flexible to define, especially suitable for complex environments and supports multi-scenario adaptation. The target position is determined in response to the user's stop instruction, which gives the user real-time control and meets different individual needs. The above-mentioned ways can meet the needs of different application scenarios, and improve the flexibility of application.

[0020] Optionally, the cleaning system further comprises a position detection device, and the cleaning device reaches the target position, comprising:

[0021] based on the condition that the target signal detected by the position detection device meets the preset condition, it is determined that the cleaning device reaches the target position.

[0022] In this way, the position of the cleaning device can be sensed by the detection device to reach the target position, so as to reduce the position misjudgment, improve the positioning accuracy, and reduce the deviation of the stop position caused by the estimation error or sensor drift. In addition, the cleaning device is determined to reach the target position by the target signal meeting the preset condition, so that the detection condition can be flexibly set according to different environments or user needs, and the adaptability is greatly improved.

[0023] Optionally, the in-place detection device includes a Hall sensor and a magnet arranged at a corresponding area of the cleaning device, and the cleaning device is determined to reach the target position based on the target signal meeting the preset condition, including:

[0024] When the Hall sensor detects that the magnetic field signal strength of the magnetic field generated by the magnet reaches or exceeds the preset threshold value in the process of driving away the cleaning device.

[0025] Since the magnetic field signal is not easily affected by dust, water stains or daily sundries, it has strong robustness in a cleaning environment, so that whether the target position is reached is determined by the Hall sensor detecting the magnetic field signal strength of the magnetic field generated by the magnet, thereby improving the stability and reliability of the detection. And the Hall sensor and the magnet are low-cost components, easy to integrate and install, which simplifies the system structure and saves costs. In addition, by the detection mode of the Hall sensor and the magnet, the position can be determined without physical contact, avoiding mechanical wear or false triggering, protecting the cleaning device, thereby prolonging the service life of the cleaning device.

[0026] Optionally, the cleaning system further includes a posture sensor, and the posture sensor is configured to detect the posture of the main body of the cleaning device, and the method further includes:

[0027] When the posture sensor detects that the current inclination angle of the main body exceeds the preset safe angle range, and / or the duration that the current inclination angle exceeds the preset safe angle range exceeds the preset time threshold, at least one of the following operations is performed:

[0028] controlling the assisting device to stop rotating;

[0029] controlling the cleaning device to stop moving or retreat to the cleaning base station;

[0030] generating and issuing an alarm prompt information.

[0031] In this way, whether the cleaning device has an abnormal posture is detected in real time through the posture sensor, and when it is determined that there is an abnormal angle or the duration of the abnormal angle exceeds the preset time threshold, timely intervention is performed to prevent the cleaning device from being overturned, components from being damaged, or the user from being collided due to excessive tilting, and to improve the safety protection capability. Since the application can also be combined with the duration of the abnormal angle to distinguish between transient interference and a real abnormal state, false triggering can also be reduced, and the accuracy of the judgment can be improved. And it can be determined that there is a potential danger to actively stop the movement of the power assisting device or the cleaning device, to avoid mechanical wear, jamming or overload of the driving components caused by forced movement in the tilting out-of-limit state, to avoid further damage, and to reduce the risk of mechanical structure failure. In addition, the user can be prompted to intervene in processing through the alarm information, the use safety is enhanced, and human-machine cooperative abnormal processing is realized. Therefore, by introducing a dynamic safety detection mechanism in the automatic moving-out of the cleaning device from the cleaning base station, it can be ensured that the process is executed within a safe range, and the overall system stability is improved.

[0032] Optionally, the method further comprises:

[0033] During the outbound process of the cleaning device, when it is detected that the cleaning device has an unexpected stop or movement obstruction, the cleaning device is controlled to perform at least one of the following operations:

[0034] The power assisting device is controlled to stop rotating, and the cleaning device is completely stopped;

[0035] After the cleaning device is stopped for a first preset duration, if it is detected that the cleaning device does not have an unexpected stop or movement obstruction, the power assisting device is restarted, and the outbound process is continued;

[0036] After the cleaning device is stopped for a second preset duration, if it is still detected that the cleaning device has an unexpected stop or movement obstruction, the cleaning device is controlled to perform a back-off operation or generate an alarm information.

[0037] In this way, by detecting the unexpected stop or obstruction state and immediately stopping the cleaning device, sudden safety hazards caused by forced movement, component damage or human intervention can be prevented, and the safety and reliability of the outbound process are improved. Among them, after a short stop, the state can be automatically detected and the running can be attempted to reduce the process interruption caused by transient interference, improve the continuity of the automatic process, and enhance the system self-adaptation and recovery capability. If the obstruction state is persistent, it can be automatically backed off or alarmed to reduce safety hazards. Therefore, this strategy of taking a hierarchical response according to the duration of the obstruction, i.e., selecting to continue running, backing off, alarming, etc., realizes intelligent judgment and classification disposal of abnormal states, reduces the risk of misoperation, and avoids equipment damage. In addition, through the closed-loop control of automatic detection, suspension, recovery or back-off, autonomous processing can be realized in most abnormal situations, the dependence on user operation is reduced, and the demand for manual intervention is reduced.

[0038] Optionally, before the cleaning device performs the outbound action after receiving the start cleaning instruction, the method further comprises:

[0039] outputting current state information of the cleaning device or executed outbound task information, and / or receiving a confirmation instruction or a modification instruction of the user.

[0040] In this way, the current state information or the outbound task information is provided to the user before the cleaning device performs the outbound action, so that the user is aware of the operation to be performed by the cleaning device, the predictability and trust of the operation are enhanced, and the transparency and controllability of human-computer interaction are improved. In addition, the user can adjust or cancel the task according to actual conditions before the outbound action by receiving the confirmation instruction or the modification instruction, so as to avoid unreasonable device behavior caused by environmental changes or user misoperation, reduce abnormal start of the device caused by incorrect instruction or unsuitable environment, and reduce the problem of incorrect triggering. In addition, the user can modify the outbound parameters such as the target position and the cleaning mode according to real-time needs, so as to enhance the flexibility of the cleaning system.

[0041] Optionally, the method further comprises:

[0042] controlling the rotation of the roller brush to assist the cleaning device to move away from the cleaning base station in response to the start cleaning instruction.

[0043] Therefore, the present application can also utilize the additional thrust or traction generated by the rotation of the roller brush to assist the cleaning device to overcome the initial static friction or track resistance between the cleaning device and the cleaning base station, so that the outbound action is easier to start and more stable, and the driving force and smoothness of the outbound action are enhanced. Moreover, by the cooperative action of the rotation of the roller brush and the assisting device, the speed of the cleaning device moving out of the cleaning base station can be accelerated, the preparation time of the outbound action can be shortened, and the efficiency of the outbound action can be improved. In addition, the rotation of the roller brush can provide additional cleaning surface adhesion or direction guidance, which helps the cleaning device to maintain stable movement or expected trajectory during the outbound action, and reduces the risk of deviation or jamming.

[0044] It should be noted that the original roller brush assembly of the cleaning device is utilized to participate in the outbound assistance, which realizes the functional reuse of components, is conducive to simplifying the structural design and reducing the hardware cost.

[0045] Optionally, the start cleaning instruction is determined in any of the following ways:

[0046] in response to a voice instruction of the user;

[0047] in response to a touch operation of the user on the cleaning device or the cleaning base station;

[0048] in response to an operation of the user on a terminal device, the terminal device being in communication connection with the cleaning system.

[0049] In this way, by providing multiple instruction triggering modes of voice, touch and remote terminal, different use scenarios and user habits can be adapted, the operation threshold of the user is reduced, and the user operation convenience and flexibility are improved. In addition, since multiple modes are supported to determine the start of the cleaning instruction, the control needs of the user under different distances, environments or condition restrictions can be met, the human-computer interaction friendliness is improved, the diversity of the cleaning system interaction is enhanced, and in particular, the user can start the cleaning task in a non-site situation.

[0050] Optionally, the cleaning system further comprises a water spraying device configured to provide hot water to the roller brush, and the method further comprises:

[0051] During the outbound process of the cleaning device, the water spraying device is controlled to be in an open state to spray hot water to the roller brush.

[0052] In this way, the cleaning device starts to spray hot water in the outbound phase, so that the roller brush is in a wet and preheated state before contacting the cleaning area, can immediately play a cleaning role, reduces invalid wiping in the initial stage, and makes the roller brush quickly heated during the execution of the cleaning task, thereby improving the dissolution efficiency of oil stains and sticky stains, and enabling the roller brush to more quickly and effectively remove stubborn dirt after outbound. Moreover, advancing the water spraying start time to the outbound phase can also make the temperature and humidity of the roller brush reach the working set value when reaching the cleaning area, avoiding the effect fluctuation in the initial cleaning stage. In addition, preheating the roller brush during the outbound process can reduce the user's waiting time for the device to be "ready", making the cleaning start more rapid and smooth, thereby optimizing the user experience.

[0053] Optionally, the cleaning system further comprises a steam preparation device configured to provide hot steam to the roller brush, and the method further comprises:

[0054] During the outbound process of the cleaning device, the steam preparation device is controlled to be in an open state to provide hot steam to the roller brush.

[0055] In this way, providing hot steam in the outbound phase can preheat and deeply disinfect the roller brush at a high temperature, ensuring that the roller brush reaches a suitable temperature state when contacting the cleaning surface, and strengthening the cleaning effect of the roller brush. Moreover, advancing the steam start link to the outbound phase can make the roller brush reach a steam ready state when the cleaning device reaches the cleaning area, avoiding the effect delay in the initial cleaning stage, and optimizing the response speed of the cleaning system and the continuity of the cleaning process. In addition, hot steam can effectively soften oil stains and dissolve sticky residues, so that the roller brush is in a high-temperature wet state when reaching the target position, thereby immediately performing deep cleaning on the cleaning surface, and greatly improving the cleaning efficiency.

[0056] Optionally, the roller brush further comprises a heating assembly, and the method further comprises:

[0057] During the outbound process of the cleaning device, the heating assembly is controlled to be in an open state to heat the surface of the roller brush.

[0058] Therefore, by preheating the roller brush through the heating assembly, the roller brush can be quickly heated during the outbound process, avoiding waiting for heating after reaching the cleaning position, and shortening the overall cleaning preparation time. Moreover, directly heating the roller brush can also improve the activity of the cleaning liquid or hot water, so that it can quickly play a dissolving and emulsifying role when contacting stains, improve the stain removal ability, and enhance the cleaning effect. In addition, by heating the surface of the roller brush, the roller brush can also reduce the bacterial breeding environment during the outbound process and maintain the hygiene of the roller brush.

[0059] Optionally, the cleaning base station further comprises a hot air generator, and the method further comprises:

[0060] Before the cleaning device goes outbound, the hot air generator is controlled to be in an open state to provide hot air flow for the roller brush.

[0061] In this way, the roller brush is actively treated by hot air before going outbound, so that it can quickly reach the appropriate working temperature and improve the initial cleaning efficiency. Moreover, the hot air can quickly remove the moisture that may be left on the roller brush after cleaning or charging in the cleaning base station, avoiding wet roller brushes going outbound to leave water stains on the cleaning surface, and reducing the phenomenon of reduced cleaning force or slipping caused by moisture. In addition, hot air helps to maintain the fluffiness and elasticity of the fibers of the roller brush, avoiding the hardening caused by moisture, optimizing the physical properties of the roller brush, and improving its service life.

[0062] It should be noted that integrating the roller brush pre-treatment heating link into the cleaning base station before going outbound can also make full use of the power supply and space resources of the cleaning base station, avoiding additional consumption of the battery of the cleaning device during the cleaning process.

[0063] Optionally, the cleaning base station comprises a cleaning tank for carrying the roller brush, and the heating member is arranged on the surface of the cleaning tank, and the method further comprises:

[0064] Before the cleaning device goes outbound, the heating member is controlled to be in an open state to provide heat for the roller brush.

[0065] When the heating member is in an open state, the roller brush is controlled to rotate to make the roller brush evenly heated.

[0066] In this way, through the cooperation of the heating member and the rotation of the roller brush, heat is evenly transferred to the whole roller brush, avoiding local overheating or insufficient heating, ensuring that the roller brush quickly reaches the appropriate working temperature, and improving the uniformity and efficiency of the preheating of the roller brush. Moreover, uniform heating can prevent the roller brush from damaging the fiber structure due to local high temperature, and rotation helps to maintain the shape and elasticity of the roller brush, prolonging its service life. In addition, preheating by the heating member in the cleaning base station before going outbound, combined with the rotation of the roller brush to achieve efficient heat conduction, can also reduce the energy consumption of the cleaning device itself, improve energy utilization and pre-treatment effect.

[0067] Optionally, the cleaning system further comprises a liquid storage and a liquid supply pipeline, the liquid storage and the liquid supply pipeline being in communication, and the method further comprises:

[0068] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to be in an open state to wet the roller brush.

[0069] In this way, before the cleaning device reaches the target position, the roller brush is wetted in advance so that it has an appropriate humidity when it contacts the cleaning surface, ensuring that the roller brush is in a suitable working state when it reaches, and thus immediately starts effective cleaning, avoiding dry wiping or delayed effect in the initial stage. Moreover, the wetting process is moved to the moving process in advance, so that the cleaning device does not need to wait for the roller brush to be wet when it reaches the target position, thereby optimizing the continuity and response speed of the cleaning process. In addition, by wetting the roller brush uniformly in advance, the cleaning liquid or water can be fully infiltrated and distributed in the fibers of the roller brush, thereby improving the utilization efficiency of the cleaning agent or water.

[0070] Optionally, the cleaning base station comprises a cleaning tank for carrying the roller brush, and the liquid storage is arranged in the cleaning base station, and before the cleaning device reaches the target position, the liquid supply pipeline is controlled to be in an open state to wet the roller brush, comprising:

[0071] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to be in an open state to provide the cleaning tank with liquid for wetting the roller brush.

[0072] In this way, by supplying liquid to the cleaning tank, the liquid indirectly contacts the roller brush through the cleaning tank, which helps the roller brush to absorb the liquid more uniformly in rotation, avoids local over-wetting, liquid splashing or uneven spraying caused by direct spraying, and improves the uniformity of liquid utilization and distribution. Moreover, using the cleaning tank as a liquid transfer medium can also reduce the complex pipeline and sealing design for directly supplying liquid to the moving roller brush, simplify the liquid supply path and the structure of the cleaning system. In addition, wetting the roller brush while moving out of the cleaning base station can also make the roller brush in a cleaning-ready state when it leaves the cleaning base station, further improving the work efficiency.

[0073] It can be understood that by controlling the liquid level or liquid distribution in the cleaning tank, the wetting degree of the roller brush can be indirectly and stably controlled, the wetting effect fluctuation caused by the movement or posture change of the cleaning device can be reduced, and the controllability and consistency of the roller brush wetting process can be enhanced.

[0074] Optionally, the liquid storage is arranged on the cleaning device, and the liquid supply pipeline comprises a liquid distribution assembly arranged towards the surface of the roller brush, and the method further comprises:

[0075] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to wet the roller brush through the liquid distribution assembly.

[0076] Therefore, the application can directly and accurately supply liquid to the roller brush during movement through the liquid storage part and the liquid distribution assembly of the cleaning device, ensuring the timeliness and controllability of wetting. Moreover, since the liquid directly acts on the surface of the roller brush through the liquid distribution assembly, the loss or splashing of the liquid during transmission can be reduced, and the utilization rate of the liquid can be improved. In addition, the integration of the liquid storage part on the cleaning device enables the cleaning device to independently complete the wetting of the roller brush during movement without relying on the cleaning base station, thereby enhancing the independent operation capability and mobility. Further, since the roller brush is in a wet state when it reaches the target position, efficient cleaning can be started immediately when performing the cleaning task, which is particularly suitable for scenarios that require quick response.

[0077] Optionally, the method further comprises:

[0078] detecting a stay duration of the cleaning device at the target position;

[0079] in a case where the stay duration is greater than a first duration threshold, controlling the cleaning device to return to the cleaning base station from the target position.

[0080] Therefore, the cleaning system can avoid the wet roller brush staying for too long, causing the floor surface to be penetrated or damaged, especially for water-fearing materials such as wood floors and composite floors, and can also reduce the risk of accidental water accumulation or liquid leakage due to user forgetfulness or interrupted operation, thereby improving the safety of the cleaning process. In addition, the cleaning device automatically returns to the cleaning base station when no operation is detected for a long time, which can avoid energy waste caused by the cleaning device staying at the target position, and facilitate timely charging or maintenance, thereby optimizing the working efficiency and resource utilization of the cleaning device. It can also avoid the risk of collision, tipping or overheating caused by the cleaning device staying in a complex environment for a long time without supervision, thereby ensuring the safe operation of the cleaning device.

[0081] It can be understood that the behavior of the cleaning device is dynamically adjusted according to the actual stay duration, so that the cleaning system can adapt to various scenarios such as temporary interruption, task change or accidental stay, thereby enhancing the flexibility and adaptability of the cleaning task management.

[0082] Optionally, the method further comprises:

[0083] detecting a motion state of the cleaning device at the target position;

[0084] in a case where the motion state represents that the duration of no motion of the assisting device is greater than a second duration threshold, controlling the cleaning device to return to the cleaning base station from the target position.

[0085] In this way, by detecting the motion state of the assisting device, it can be more accurately determined whether the cleaning device is in an effective working or idle state, and a return instruction is triggered accordingly. When the cleaning device is detected to be actually stationary for a long time, the cleaning device can be automatically returned to the cleaning base station, which can avoid invalid standby power consumption and improve overall energy efficiency. In addition, it can also avoid the penetration or material damage caused by the wet rolling brush continuously contacting the floor. In addition, when the cleaning device is stationary for a long time due to jamming, obstruction or user forgetfulness, the cleaning system can automatically start the return program, reduce the need for human intervention, reduce the risk of the cleaning device being stranded, enhance the autonomous processing capability for abnormal stoppage or failure, and improve the use convenience and automation degree.

[0086] In a second aspect, the application provides a control device of a cleaning system, which is applied to a cleaning system, the cleaning system comprising a cleaning device and a cleaning base station, the cleaning base station being used for charging and / or self-cleaning of the cleaning device; the cleaning device comprising: a main body;

[0087] a floor brush assembly, the floor brush assembly being rotationally connected to the main body;

[0088] the floor brush assembly comprising: a floor brush housing;

[0089] a rolling brush, the rolling brush being rotationally connected to the floor brush housing, and the rolling brush being located at a front side of the cleaning device in a traveling direction of the cleaning device;

[0090] an assisting device, the assisting device being located at a side of the floor brush housing away from the rolling brush; the device comprising:

[0091] a first control module, configured to control the assisting device to rotate to move the cleaning device in a direction away from the cleaning base station in response to a start cleaning instruction;

[0092] a second control module, configured to control the assisting device to stop rotating when the cleaning device reaches a target position.

[0093] In a third aspect, the application provides a cleaning system, the cleaning system comprising a cleaning device and a cleaning base station, the cleaning base station being used for charging and / or self-cleaning of the cleaning device; the cleaning device comprising: a main body;

[0094] a floor brush assembly, the floor brush assembly being rotationally connected to the main body;

[0095] the floor brush assembly comprising: a floor brush housing;

[0096] a rolling brush, the rolling brush being rotationally connected to the floor brush housing, and the rolling brush being located at a front side of the cleaning device in a traveling direction of the cleaning device;

[0097] an assisting device, the assisting device being located at a side of the floor brush housing away from the rolling brush;

[0098] the cleaning system being configured to perform the method of any one of the first aspect.

[0099] It should be noted that the second aspect and the third aspect of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation manner are similar, which will not be repeated here.

[0100] The control method, device and system of the cleaning system provided by the present application are provided by setting a power assisting device on the brush assembly of the cleaning device, and automatically controlling the power assisting device to rotate based on the starting cleaning instruction, so that the cleaning device is autonomously moved out from the cleaning base station to the target position, thereby eliminating the manual extraction operation of the user. Specifically, when the cleaning system receives the starting cleaning instruction, the power assisting device can be controlled to start rotating, the power assisting device generates a pushing force or a traction force to drive the cleaning device to move in the direction away from the cleaning base station, and when the cleaning device moves to the preset target position, such as completely separating from the cleaning base station and being in a region where cleaning can be started, the power assisting device is controlled to stop rotating, and the automatic taking process is completed. In this way, through the above-mentioned automatic taking process, the cleaning device is automatically moved out from the cleaning base station, without the need for manual intervention of the user, and the use fluency and experience are improved. BRIEF DESCRIPTION OF DRAWINGS

[0101] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0102] Figure 1 A partial structure schematic diagram of a cleaning system provided by an embodiment of the present application;

[0103] Figure 2 A whole structure schematic diagram of a cleaning device provided by an embodiment of the present application;

[0104] Figure 3 A whole structure schematic diagram of a brush assembly provided by an embodiment of the present application;

[0105] Figure 4 A schematic diagram of an application scenario provided by an embodiment of the present application;

[0106] Figure 5 A flowchart of a control method of a cleaning system provided by an embodiment of the present application;

[0107] Figure 6 A structure schematic diagram of a control device of a cleaning system provided by an embodiment of the present application;

[0108] Figure 7 A structure schematic diagram of an electronic device provided by an embodiment of the present application.

[0109] The specific embodiments of the application will be described in detail below with reference to the drawings. These drawings and the associated description are not intended to limit the scope of the application in any way, but merely to describe certain embodiments of the application in sufficient detail to enable one skilled in the art to make and use the application. DETAILED DESCRIPTION

[0110] The exemplary embodiments will be described in detail below with reference to the drawings. The following description is not intended to limit the scope of the application in any way, but merely to describe certain embodiments of the application in sufficient detail to enable one skilled in the art to make and use the application.

[0111] In order to clearly describe the technical solutions of the embodiments of the application, in the embodiments of the application, the terms "first", "second", and the like are used to distinguish items having substantially the same function and effect. For example, the first preset time length and the second preset time length are merely used to distinguish different preset time lengths, and do not limit the sequence. Those skilled in the art can understand that the terms "first", "second", and the like do not limit the quantity and execution sequence, and the terms "first", "second", and the like do not necessarily mean different.

[0112] It should be noted that in the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described as "exemplary" or "for example" in the present application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of the words "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0113] In the present application, "at least one" means one or more, and "multiple" means two or more. The association relationship between the associated objects is described by "and / or", which means that there can be three relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or the like means any combination of these items, including single item or any combination of multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0114] In the prior art, the user mainly manually takes out the scrubber from the cleaning base station to start the cleaning task, that is, in the actual taking link of the user, the user still needs to actively bend down or use force to lift the scrubber from the fixed clamping groove or charging seat of the cleaning base station to enter the handheld cleaning state.

[0115] However, the above-mentioned user taking mode brings a large taking burden and potential safety risk, seriously affecting the use experience and use fluency.

[0116] To solve the above-mentioned problems, the present application provides a control method of a cleaning system, which sets a power assisting device on the brush assembly of the cleaning device, and automatically controls the power assisting device to rotate based on a starting cleaning instruction, so that the cleaning device is autonomously moved out from the cleaning base station to a target position, thereby eliminating the manual lifting operation of the user. Specifically, when the cleaning system receives the starting cleaning instruction, the power assisting device can be controlled to start rotating, the power assisting device generates a pushing force or a pulling force to drive the cleaning device to move away from the cleaning base station, and when the cleaning device moves to a preset target position, such as completely leaving the cleaning base station and being in a region where cleaning can be started, the power assisting device is controlled to stop rotating, and the automatic taking process is completed. In this way, through the above-mentioned automatic taking process, the present application realizes the self-moving out of the cleaning device from the cleaning base station without manual intervention of the user, thereby improving the use fluency and experience.

[0117] It should be noted that the control method of the cleaning system provided by the present application is applied to a cleaning system, and an example is Figure 1 A partial structure schematic diagram of a cleaning system provided by an embodiment of the present application is shown in Figure 1 As shown in the drawing, the cleaning system 300 includes a cleaning device 100 and a cleaning base station 200, and 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;

[0118] a brush assembly 102, the brush assembly 102 is rotationally connected with the main body;

[0119] the brush assembly 102 includes a brush housing 11;

[0120] a roller brush 12, the roller brush 12 is rotationally connected to the brush housing 11, and the roller brush 12 is located at the front side of the cleaning device 100 in the direction of travel;

[0121] a power assisting device 13, the power assisting device 13 is located on the side of the brush housing 11 away from the roller brush 12.

[0122] An example is Figure 2 A whole structure schematic diagram of a cleaning device provided by an embodiment of the present application is shown in Figure 3 A whole structure schematic diagram of a brush assembly provided by an embodiment of the present application is shown in Figure 2 andFigure 3 As shown, the cleaning device 100 mainly comprises a main body 101 and a floor brush assembly 102, the floor brush assembly 102 comprising a floor brush housing 11, a roller brush 12 and a power assisting device 13.

[0123] The roller brush 12 is installed at the front of the floor brush housing 11 and mainly undertakes the cleaning function, and its rotating movement is used for scrubbing the cleaning surface. Optionally, the cleaning device 100 can also be provided with appropriate power.

[0124] The power assisting device 13 is installed at the rear of the floor brush housing 11 (opposite to the roller brush 12) and mainly undertakes the driving function, and its rotating movement provides the cleaning device 100 with the traveling power.

[0125] Optionally, the cleaning system 300 further comprises a position detection device (not shown in the figure), which is used for judging whether the cleaning device 100 has accurately arrived at the preset target position by detecting a specific physical signal or environmental feature related to the target position during the movement of the cleaning device 100.

[0126] The specific physical signal or environmental feature can be an infrared beacon, a magnetic marker, a radio frequency identification, a specific image feature, an ultrasonic reflection feature or a map-based coordinate matching signal, and the embodiments of the present application do not make specific limitations thereon.

[0127] Optionally, the position detection device comprises a Hall sensor and a magnet arranged at the corresponding area of the cleaning device.

[0128] For example, the position detection can be realized by using the detection of the magnetic field by the Hall sensor. When the cleaning device 100 moves to the target position area, the magnetic field generated by the magnet arranged at the corresponding area of the cleaning device is detected by the Hall sensor on the cleaning base station 200.

[0129] The Hall sensor converts the magnetic field signal into an electric signal (such as a voltage change or a switching signal). The cleaning system 300 determines whether the cleaning device 100 has accurately arrived at the target position by judging whether the characteristics of the electric signal meet the preset conditions.

[0130] Optionally, the cleaning system 300 further comprises a posture sensor (not shown in the figure), which is used for detecting the posture of the main body 101 of the cleaning device 100.

[0131] The posture of the main body 101 of the cleaning device 100 refers to the spatial orientation state of the main body 101 of the cleaning device 100 relative to the horizontal cleaning surface or the preset reference coordinate system, which can be represented by the current inclination angle, and the current inclination angle can include the front-back inclination angle, i.e. the inclination degree of the main body 101 relative to the front-back direction of the horizontal surface, which can reflect whether the cleaning device is in the horizontal, forward-leaning or backward-leaning state.

[0132] The left-right tilt angle, i.e. the tilt degree of the main body relative to the left-right direction of the horizontal plane, can reflect whether the cleaning device 100 is in a horizontal or side-tilting state.

[0133] The heading angle, i.e. the rotation angle of the main body 101 around the vertical axis, can reflect the heading direction of the cleaning device 100.

[0134] Exemplarily, the attitude sensor includes a gyroscope, an accelerometer, an inertial measurement unit (IMU) or other equivalent sensors capable of realizing attitude sensing.

[0135] Optionally, the cleaning system 300 further comprises a water spraying device (not shown in the figure) for providing hot water to the roller brush 12. For example, the water spraying device is a nozzle or a shower pipe for directing hot water to the surface of the roller brush 12.

[0136] Optionally, the cleaning system 300 further comprises a steam preparation device (not shown in the figure) for providing hot steam to the roller brush 12. For example, the steam preparation device is a boiler.

[0137] Optionally, the roller brush 12 further comprises a heating assembly (not shown in the figure) for heating the surface of the roller brush 12. For example, the heating assembly is a positive temperature coefficient (PTC) heating element, an electric heating wire, a carbon fiber heating film, etc.

[0138] Optionally, the cleaning base station 200 further comprises a hot air generator (not shown in the figure) for providing hot air flow to the roller brush 12.

[0139] Optionally, the cleaning base station 200 further comprises a cleaning tank (not shown in the figure) for carrying the roller brush 12, and a heating element is arranged on the surface of the cleaning tank for providing heat to the roller brush 12. For example, the heating element can be an electric heating film, a heating plate, etc.

[0140] Optionally, the cleaning system 300 further comprises a liquid storage part and a liquid supply pipeline (not shown in the figure) in communication. In this way, the liquid storage part (such as a clean water tank) is used to store cleaning liquid. The liquid supply pipeline (such as a hose or a conduit) connects the liquid storage part and the roller brush area to form a liquid delivery channel. The liquid is pumped or gravity-fed through the liquid supply pipeline to the surface of the roller brush 12.

[0141] In one possible implementation, the liquid storage part is arranged in the cleaning base station 200.

[0142] In another possible implementation, the liquid storage part is arranged on the cleaning device 100, and the liquid supply pipeline comprises a liquid distribution assembly arranged towards the surface of the roller brush 12. In this way, the cleaning device 100 has a self-contained liquid storage function, and the movement is not limited by the location of the cleaning base station 200, and the flexibility is high.

[0143] The liquid distribution assembly can be a nozzle, a liquid drop hole, or the like. Optionally, the liquid distribution assembly can be designed in a porous or linear distribution structure, so that the liquid can more uniformly cover the surface of the roller brush, avoid local over-wetting or insufficient wetting, and ensure the stable working state of the roller brush, thereby optimizing the uniformity and consistency of wetting.

[0144] It should be noted that the specific types of the above-mentioned various components or assemblies are not limited in the embodiments of the present application, and the above are only illustrative.

[0145] For example, Figure 4 An application scenario diagram provided by the embodiments of the present application is shown in FIG. 1. Figure 4 As shown in FIG. 1, taking a home scenario as an example, the cleaning device 100 can be a scrubber, and therefore the cleaning system comprises a smart scrubber with automatic recharging and self-cleaning functions and a cleaning base station 200 thereof.

[0146] The scrubber is parked on the cleaning base station 200 in the living room, and has completed charging and roller brush self-cleaning, and is in a standby state. The user can issue a “start cleaning instruction” instruction through an application (APP) on a terminal device, a voice assistant, or a button on the cleaning base station 200.

[0147] After the cleaning system receives the “start cleaning instruction”, a rotating instruction can be issued to the power-assisted device (usually a driving wheel and a motor thereof) located at the rear of the brush assembly, so that the power-assisted device starts to rotate to generate a forward driving force.

[0148] Under the continuous driving of the power-assisted device, the scrubber as a whole (the main body and the brush assembly) starts to move towards the direction away from the cleaning base station 200, that is, to drive out of the cleaning base station and enter the living room area. Further, when the scrubber confirms through a sensor that it has arrived at a preset target position, for example, a starting point of cleaning in the living room, the power-assisted device is controlled to stop rotating, so that the driving force disappears, and the scrubber is stably parked at the target position to wait for the user to use the scrubber for cleaning or the scrubber to automatically perform a cleaning task.

[0149] Optionally, after the scrubber is parked at the target position, the user can be notified through voice prompting or APP push message, so that the user can start cleaning by picking up the handle of the scrubber.

[0150] The terminal device can also be referred to as a user equipment (UE), a mobile station (MS), a mobile terminal, a terminal, etc. In actual applications, the terminal device is, for example, a desktop computer, a notebook computer, a personal digital assistant (PDA), a smart phone, a tablet computer, a vehicle-mounted device, a wearable device (for example, a smart watch or a smart bracelet), a smart home device (for example, a smart display device), or the like.

[0151] It should be noted that the present application can also be applied to a shopping mall scene, a school scene, and an office scene. The embodiments of the present application do not limit the specific application scene, and the above is only an example description.

[0152] It should be noted that the cleaning device 100 can be a scrubber or any intelligent handheld mobile device with a cleaning function. The embodiments of the present application do not limit the type of the cleaning device 100.

[0153] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0154] For example, Figure 5 A flowchart of a control method of a cleaning system according to an embodiment of the present application is shown in FIG. 6. The control method of the cleaning system is applied to Figures 1-3 As shown in FIG. 1, the cleaning system includes a cleaning device 100 and a cleaning base station 200. Figure 5 As shown in FIG. 6, the control method of the cleaning system includes the following steps:

[0155] S501, in response to a start cleaning instruction, the power assisting device is controlled to rotate, so that the cleaning device moves in a direction away from the cleaning base station.

[0156] In the embodiments of the present application, the start cleaning instruction can include an outbound instruction of the cleaning device. Optionally, the start cleaning instruction can be triggered by a remote control, an APP, a voice, or a cleaning base station button. The embodiments of the present application do not limit the triggering method of the start cleaning instruction.

[0157] It should be noted that any control instruction related to the cleaning device driving out of the cleaning base station can apply the method of the present application.

[0158] In this step, when the cleaning system receives the start cleaning instruction, the power-assisted device on the brush assembly of the cleaning device can be immediately controlled to start rotating. The power-assisted device is located on the side of the brush housing away from the roller brush, and the rotation of the power-assisted device generates a pushing force or a pulling force, thereby driving the cleaning device as a whole to automatically move away from the cleaning base station, realizing autonomous moving out without manual intervention of the user.

[0159] S502, when the cleaning device reaches the target position, the power-assisted device is controlled to stop rotating.

[0160] In the embodiments of the present application, the target position can refer to a preset parking position of the cleaning device after the cleaning device automatically moves out from the cleaning base station. The target position needs to meet the following conditions: ensuring that the cleaning device has no physical contact with the cleaning base station, avoiding interference with the function of the cleaning base station or the movement of the cleaning device; being located in a reasonable space that is easy for the user to operate and start a cleaning task. Optionally, the target position can be pre-marked in the cleaning system through sensor detection, distance setting, or movement time threshold, and the determination method of the target position is not limited in the embodiments of the present application.

[0161] For example, when the cleaning device moves to the preset target position under the driving of the power-assisted device, the cleaning system recognizes that the cleaning device has reached the target position through a position detection mechanism, such as a distance sensor, a position sensor, or a method based on the movement time, and then controls the power-assisted device to stop rotating, thereby ending the automatic moving out process and making the cleaning device stably park at the target position.

[0162] In this way, compared with the existing way of the user taking the scrubber, the cleaning device is automatically moved out of the cleaning base station by the power-assisted device, so that the user does not need to bend over or manually lift the cleaning device, significantly reducing the physical burden, especially for the elderly or the disabled. Moreover, it can also avoid the risk of device falling or bumping that may occur when the user manually takes it, simplify the taking steps, and improve the safety and convenience of use. In addition, by controlling the cleaning device to automatically move out and park at a suitable target position, it can avoid excessive movement or moving out of the effective working area, and the timely stop of the power-assisted device can also reduce the invalid energy consumption and prevent the risk of collision or loss of control of the cleaning device due to continuous movement. After the cleaning device reaches the target position, it automatically enters the standby state, and the user can immediately start cleaning operation without additional adjustment, realizing the coherent process of "instruction triggering-device automatic positioning", reducing the operation steps, improving the smoothness of use, and optimizing the overall user experience.

[0163] Optionally, the target position is determined by at least one of the following ways:

[0164] determined based on the distance between the cleaning device and the cleaning base station;

[0165] determine the target position based on a distance between the cleaning device and the cleaning base station;

[0166] determine the target position based on a fixed position point scanned by a sensor;

[0167] determine the target position in response to a stop instruction of a user.

[0168] In the embodiments of the present application, the distance between the cleaning device and the cleaning base station can refer to the straight-line physical interval distance between the cleaning device, such as the main body or the brush assembly, and the cleaning base station, which can be directly measured or indirectly calculated by the sensor. The distance can be preset in advance or modified by the user, and the size of the distance is not specifically limited in the embodiments of the present application.

[0169] The time length for the cleaning device to drive away from the cleaning base station can refer to the time length for the cleaning device to continuously move from the moment when the assisting device starts and the cleaning device starts to move to the moment when the cleaning device drives away from the cleaning base station. The time length can also be preset in advance or modified by the user, and the size of the time length is not specifically limited in the embodiments of the present application.

[0170] The fixed position point can refer to a static reference or a marker in the environment that is pre-set or naturally exists and can be recognized by the sensor, and is used as a positioning reference for the motion end point of the cleaning device. For example, the fixed position point can be a ground label, a corner of a wall, or an edge of furniture. The fixed position point is not specifically limited in the embodiments of the present application. Optionally, the sensor can be a visual sensor, a laser radar, a camera, or the like. The type of the sensor is not specifically limited in the embodiments of the present application.

[0171] The stop instruction can refer to a control signal that is actively triggered by the user through a remote controller, an APP, a voice, or a key, and requires the cleaning device to immediately stop moving. The triggering manner of the stop instruction is not specifically limited in the embodiments of the present application, and the above is only an example.

[0172] In this way, the present application can determine the target position based on the distance between the cleaning device and the cleaning base station, thereby improving the positioning accuracy of the target position. This method can adapt to different layouts of the cleaning base station and ensure the consistency of the moving distance of the cleaning device. The target position is determined based on the time length for the cleaning device to drive away from the cleaning base station, without the need for additional sensors, thereby reducing the cost and making the algorithm simple and reliable. The target position is determined based on the fixed position point scanned by the sensor, so that the target position can be flexibly defined, especially for complex environments, and supports multi-scene adaptation. The target position is determined in response to the stop instruction of the user, thereby giving the user real-time control right and meeting different personalized needs. The above methods can meet the needs of different application scenarios and improve the flexibility of application.

[0173] Optionally, the cleaning device reaching the target position comprises:

[0174] The cleaning device is determined to reach the target position based on the target signal satisfying a preset condition detected by the position detection device.

[0175] In the embodiments of the present application, the target signal can refer to a physical quantity or information collected by the position detection device for judging the position state of the device, for example, the target signal can be infrared reflection intensity (corresponding to an identifier), magnetic signal intensity (corresponding to a magnetic stripe), image features (corresponding to a visual marker), pressure signals (corresponding to a contact trigger signal), etc. The embodiments of the present application do not limit the specific content corresponding to the target signal.

[0176] The preset condition can refer to a threshold or rule preset for determining whether the target signal is valid, for example, the preset condition can be that the signal intensity is greater than a certain value, the signal duration meets the requirement, and a specific signal pattern is successfully matched. The embodiments of the present application do not limit the specific content corresponding to the preset condition, and the specific content can be determined based on the type of the target signal.

[0177] For example, when the cleaning device moves under the driving of the power-assisted device, the position detection device continuously detects the surrounding environment or the state of the device. Once the detected target signal meets the preset condition, the cleaning system determines that the cleaning device has reached the target position, and then controls the power-assisted device to stop moving.

[0178] In this way, the position detection device can perceive that the cleaning device has reached the target position, which can reduce position misjudgment, improve positioning accuracy, and reduce the deviation of the stopping position caused by estimation error or sensor drift. In addition, the determination that the cleaning device has reached the target position based on the target signal meeting the preset condition can flexibly set the detection condition according to different environments or user needs, greatly improving the adaptability.

[0179] Optionally, based on the target signal satisfying the preset condition detected by the position detection device, the method comprises:

[0180] When the Hall sensor detects that the magnetic field signal strength of the magnetic field generated by the magnet reaches or exceeds a preset threshold during the driving away of the cleaning device.

[0181] In the embodiments of the present application, the preset threshold can refer to a critical value of the magnetic field signal strength set for the Hall sensor, which is a magnetic field strength standard for determining whether the cleaning device has reached the target position. The preset threshold can be determined by experiment, for example, the magnetic field strength generated by the distance between the magnet and the Hall sensor of the cleaning device at the target position. The embodiments of the present application do not limit the size or determination method of the preset threshold.

[0182] Exemplarily, during the process that the cleaning device drives away from the cleaning base station, the Hall sensor installed on the cleaning base station continuously detects the magnetic field signal strength generated by the corresponding area magnet of the cleaning device. When the cleaning device moves to the vicinity of the target position, the change of the relative distance between the magnet and the Hall sensor causes the magnetic field signal to be enhanced. Once the magnetic field signal strength detected by the Hall sensor reaches or exceeds the preset threshold, it is determined that the cleaning device has reached the target position, and then the control of the power-assisted device is stopped.

[0183] Since the magnetic field signal is not easily disturbed by dust, water stains or daily sundries, it is robust in a cleaning environment, therefore, the detection of the magnetic field signal strength of the magnetic field generated by the magnet through the Hall sensor determines whether the target position is reached, which improves the stability and reliability of the detection. And the Hall sensor and the magnet are both low-cost components, easy to integrate and install, which simplifies the system structure and saves costs. In addition, through the detection mode of the Hall sensor and the magnet, the position can be determined without physical contact, avoiding mechanical wear or false triggering, protecting the cleaning device, thereby improving the service life of the cleaning device.

[0184] Optionally, the method further comprises:

[0185] When the attitude sensor detects that the current inclination angle of the main body exceeds the preset safe angle range, and / or the duration that the current inclination angle exceeds the preset safe angle range exceeds the preset time threshold, at least one of the following operations is performed:

[0186] controlling the power-assisted device to stop rotating;

[0187] controlling the cleaning device to stop moving or retreat to the cleaning base station;

[0188] generating and issuing an alarm prompt information.

[0189] In the embodiments of the present application, the current inclination angle can refer to the angle between the main body of the cleaning device and the parking reference plane measured in real time by the attitude sensor, or the angle between the plane where the main body of the cleaning device is located and the parking reference plane of the cleaning base station. The definition of the current inclination angle in the embodiments of the present application is not limited.

[0190] The preset safe angle range can refer to the preset safe inclination angle range of the main body of the cleaning device. For example, the preset safe angle range can be ±15°.

[0191] The duration can refer to the time length that the current inclination angle continuously exceeds the preset safe angle range, which is used to distinguish between transient interference and continuous abnormal state.

[0192] The alarm prompt information can refer to a warning signal sent to the user through sound, light, vibration or communication, etc. for prompting that the cleaning device is in an abnormal tilt state and needs to be handled. For example, the alarm prompt information can be a buzzer ringing, an indicator light flashing or an APP push alarm information, etc.

[0193] It should be noted that the present application does not limit the size of the numerical value corresponding to the preset safe angle range and the specific way of the alarm prompt information. The above is only an example for illustration.

[0194] For example, before the cleaning device automatically moves out of the cleaning base station through the power-assisted device or during the movement, the current tilt angle of the machine body can be detected by the gyroscope on the machine body to determine whether it can smoothly exit the station and whether there is a risk of falling. When the gyroscope determines that the angle between the machine body and the parking reference plane exceeds the safe angle range, the cleaning system determines that the cleaning device is in an unstable or dangerous state, and automatically triggers a protection operation, for example, the cleaning system stops the power-assisted device and the roller brush from moving, issues a voice broadcast and pushes a reminder to the APP.

[0195] In this way, the posture sensor is used to detect in real time whether the cleaning device has an abnormal posture, and timely intervention is made when it is determined that there is an abnormal angle or the duration of the abnormal angle exceeds the preset time threshold, so as to prevent the cleaning device from falling over, components from being damaged or users from being hit due to excessive tilting, and to improve the safety protection capability. Since the application can also be combined with the duration of the abnormal angle to distinguish between transient interference and a real abnormal state, false triggering can be reduced and the accuracy of the judgment can be improved. In addition, the power-assisted device or the cleaning device can be actively stopped when it is determined that there is a potential danger, so as to avoid mechanical wear, jamming or overload of the driving components caused by forced movement in the tilt overrun state, avoid further damage, and reduce the risk of mechanical structure failure. In addition, the user can be prompted to intervene through the alarm information, so as to enhance the use safety and realize human-machine cooperative abnormal handling. Therefore, by introducing a dynamic safety detection mechanism in the automatic movement of the cleaning device out of the cleaning base station, it can be ensured that the process is executed within a safe range, and the overall system stability is improved.

[0196] Optionally, the method further comprises:

[0197] During the exit process of the cleaning device, if it is detected that the cleaning device has an unexpected stop or movement obstruction, the cleaning device is controlled to perform at least one of the following operations:

[0198] The power-assisted device is controlled to stop rotating, and the cleaning device is completely stopped;

[0199] After the cleaning device is stopped for a first preset time, if it is detected that the cleaning device does not have an unexpected stop or movement obstruction, the power-assisted device is restarted and the exit process is continued;

[0200] If the cleaning device is still detected to have unexpected stop or motion blockage after the cleaning device stops for the second preset time length, the cleaning device is controlled to perform a return operation or generate an alarm information.

[0201] In the embodiments of the present application, the unexpected stop or motion blockage can refer to a situation that the cleaning device does not move according to the preset trajectory or encounters unexpected intervention during the outbound process. Alternatively, the unexpected stop or motion blockage can include stop caused by obstacles, sudden change of cleaning surface friction, user intervention or mechanical failure, etc. The embodiments of the present application do not limit the specific situation corresponding to the unexpected stop or motion blockage.

[0202] The first preset time length can refer to a time window for waiting and detecting whether the state is automatically restored after the cleaning device is stopped due to blockage. The first preset time length is used to distinguish between transient blockage and persistent failure. For example, the first preset time length can be 2-5 seconds.

[0203] The second preset time length can refer to the waiting time required for determining that the blocked state is a persistent failure after the cleaning device is stopped. Alternatively, the second preset time length is greater than the first preset time length, for example, the second preset time length can be 10-15 seconds.

[0204] It should be noted that the embodiments of the present application do not limit the specific size of the first preset time length and the second preset time length, and the above is only an example for illustration.

[0205] The return operation can refer to an operation of controlling the cleaning device to automatically move in reverse, return to the inside of the cleaning base station or a safe position.

[0206] For example, during the process that the cleaning device automatically moves out of the cleaning base station through the power-assisted device, the cleaning system continuously detects the motion state of the cleaning device. If it is detected that the cleaning device has unexpected stop or motion blockage, such as encountering obstacles, uneven cleaning surface or mechanical jamming, etc., the cleaning system immediately controls the power-assisted device to stop rotating, so that the cleaning device completely stops. Then, different strategies are taken according to the duration of the blocked state.

[0207] In one possible implementation, if the cleaning device is stopped for the first preset time length and it is detected that the blocked state has been removed, the power-assisted device can be automatically restarted to continue the outbound process.

[0208] In another possible implementation, if the cleaning device is stopped for the second preset time length and the blocked state has not been removed, the cleaning device can be controlled to perform a return operation, such as automatically returning to the cleaning base station or generating an alarm information to request manual intervention.

[0209] It should be noted that the manner of generating the alarm information is similar to the manner of generating the alarm prompt information, which will not be described here again. For details, please refer to the description of the above embodiment for generating the alarm prompt information. The two manners are different in the performance manner, so that the user can distinguish them.

[0210] In this way, by detecting the unexpected stop or blocked state and immediately stopping the cleaning device, mechanical jamming, component damage or human intervention caused by forced movement can be prevented, and the safety and reliability of the outbound process can be improved. Among them, the state can be automatically detected after a short stop and the operation is attempted to be resumed, the process interruption caused by instantaneous interference is reduced, the continuity of the automatic process is improved, and the system self-adaptation and recovery capability is enhanced. If the blocked state continues, it can be automatically rolled back or alarmed to reduce safety hazards. Therefore, this strategy of taking hierarchical response according to the duration of the blocked state, i.e., selecting the continue operation, rollback, alarm and other strategies, realizes the intelligent judgment and classification disposal of the abnormal state, reduces the risk of misoperation, and avoids damage to the device. In addition, through the closed-loop control of automatic detection, pause, recovery or rollback, autonomous processing can be realized in most abnormal situations, the dependence on user operation is reduced, and the need for manual intervention is reduced.

[0211] Optionally, before the cleaning device receives the start cleaning instruction and executes the outbound action, the method further comprises:

[0212] Outputting the current state information of the cleaning device or the executed outbound task information, and / or receiving the confirmation instruction or the modification instruction of the user.

[0213] In the embodiment of the application, the current state information can refer to the real-time self-state parameters of the cleaning device before executing the outbound action, including but not limited to the power level (such as the percentage of remaining power); the fault state (such as the winding of the roller brush, the lack of water in the water tank); the base station connection state (such as whether it is in place for charging) and the like. The specific content corresponding to the current state information is not limited in the embodiment of the application.

[0214] The outbound task information can refer to the outbound action related parameters planned to be executed by the cleaning device, including but not limited to: target position description (such as "move to 1 meter in front of the cleaning base station"); outbound path planning (such as straight-line moving out; estimated time required for outbound; associated cleaning task setting (such as regional cleaning, global cleaning) and the like. The specific content corresponding to the outbound task information is not limited in the embodiment of the application.

[0215] The confirmation instruction can refer to an instruction issued by the user through an interactive manner, agreeing that the cleaning system performs the outbound action as scheduled. The modification instruction can refer to an instruction issued by the user through an interactive manner, requiring adjustment of the outbound task parameter or cancellation of the outbound, and the adjustment of the outbound task parameter can be resetting the target position, switching the cleaning mode, and the like. Embodiments of the present application do not limit the specific instruction content corresponding to the confirmation instruction and the determination instruction.

[0216] The interactive manner can include a key, voice, terminal device APP control, and the like, and embodiments of the present application do not limit the specific manner corresponding to the interactive manner.

[0217] Optionally, after the cleaning device performs the outbound action, the current state information of the cleaning device or the executed outbound task information can also be output, and / or the confirmation cleaning instruction or the modification cleaning instruction of the user can be received.

[0218] For example, after the cleaning device receives the start cleaning instruction, the cleaning system can feed back the current state information of the device or the outbound task information planned to be executed to the user through an interactive interface such as a display screen, light display, APP notification. Correspondingly, the cleaning system can receive the confirmation instruction or the modification instruction issued by the user through the interactive manner, so that the cleaning device can perform the outbound action under the confirmation of the user.

[0219] In this way, the current state information or the outbound task information is provided to the user before the cleaning device performs the outbound action, so that the user is clear about the operation to be performed by the cleaning device, the predictability and trust of the operation are enhanced, and the transparency and controllability of human-computer interaction are improved. Moreover, the confirmation instruction or the modification instruction can be received, the user can adjust or cancel the task according to the actual situation before the outbound, unreasonable device behavior caused by environmental changes or user misoperation is avoided, abnormal start of the device caused by instruction misissuance or environmental inadaptation is reduced, and the problem of mistriggering is reduced. In addition, the user can modify the outbound parameter such as the target position and the cleaning mode according to the real-time demand, and the flexibility of the cleaning system is enhanced.

[0220] Optionally, the method further comprises:

[0221] In response to the start cleaning instruction, the rotating of the brush is controlled to assist the cleaning device to move in a direction away from the cleaning base station.

[0222] It can be understood that, in addition to the rotating of the power-assisted device, the rotating of the brush in the brush assembly can also be controlled synchronously after the cleaning system receives the start cleaning instruction. The rotating direction of the brush can be set to be consistent with the moving direction of the cleaning device away from the cleaning base station, so that additional propulsion force is generated between the brush and the cleaning surface, assisting the power-assisted device to drive the cleaning device to move in a direction away from the cleaning base station.

[0223] Optionally, in response to the start cleaning instruction, the brush roll rotation can also be controlled to move the cleaning device away from the cleaning base station.

[0224] Therefore, the application can also use the additional thrust or traction generated by the brush roll rotation to assist the cleaning device in overcoming the initial static friction or track resistance between the cleaning base station, making the moving-out action easier to start and more stable, enhancing the driving force and smoothness of the moving-out process. Moreover, through the cooperative action of the brush roll rotation and the auxiliary power device, the speed of the cleaning device moving out of the cleaning base station can be accelerated, the preparation time for moving out can be shortened, and the efficiency of the moving-out process can be improved. In addition, the brush roll rotation can provide additional cleaning surface adhesion or direction guidance, which helps the cleaning device maintain stable movement or expected trajectory during the moving-out process, reducing the risk of deviation or jamming.

[0225] It should be noted that using the original brush roll assembly of the cleaning device to assist in moving out achieves component function reuse, which is beneficial to simplify the structure design and reduce the hardware cost.

[0226] Optionally, the start cleaning instruction is determined by any of the following methods:

[0227] in response to a voice instruction of a user;

[0228] in response to a touch operation of a user on the cleaning device or the cleaning base station;

[0229] in response to an operation of a user on a terminal device, the terminal device being in communication connection with the cleaning system.

[0230] In some embodiments, a voice recognition module built-in the cleaning device or the cleaning base station or a connected smart voice assistant continuously detects environmental sound. When a specific voice instruction issued by a user, such as "start cleaning" or "move out", is recognized, the cleaning system parses the voice signal as a start cleaning instruction and triggers the subsequent moving-out process.

[0231] In other embodiments, a user can also trigger an electric signal by pressing a key, touch panel or other interactive components on the cleaning device or the cleaning base station. The cleaning system converts the touch operation into a start cleaning instruction after detecting it.

[0232] In still other embodiments, a user clicks a virtual button or sends a control command through an APP or control interface installed on a terminal device such as a smart phone, tablet computer or remote controller. The terminal device sends the instruction to the cleaning system through wireless communication, and the cleaning system parses it as a start cleaning instruction after receiving it.

[0233] In this way, by providing multiple instruction triggering modes of voice, touch and remote terminal, different use scenarios and user habits can be adapted, the operation threshold of the user is reduced, and the user operation convenience and flexibility are improved. In addition, since multiple modes are supported to determine the start of the cleaning instruction, the control needs of the user under different distances, environments or condition restrictions can be met, the human-computer interaction friendliness is improved, the diversity of the cleaning system interaction is enhanced, and in particular, the user can start the cleaning task in a non-site situation.

[0234] Optionally, the water spraying device is configured to provide hot water to the roller brush, and the method further comprises:

[0235] During the outbound process of the cleaning device, the water spraying device is controlled to be in an open state to spray hot water to the roller brush.

[0236] For example, during the process in which the cleaning device responds to the start of the cleaning instruction and performs the outbound action, the cleaning system can synchronously control the water spraying device to be opened to spray the stored hot water to the surface of the roller brush. Optionally, the hot water spraying can be continuous throughout the outbound process, or intermittent according to a preset program, until the cleaning device reaches the target position.

[0237] In this way, the cleaning device starts to spray hot water in the outbound phase, so that the roller brush is in a wet and preheated state before contacting the cleaning area, can immediately play a cleaning role, reduces invalid wiping in the initial stage, and makes the roller brush quickly heated when performing the cleaning task, thereby improving the dissolution efficiency of oil stains and sticky stains, and enabling the roller brush to more quickly and effectively remove stubborn dirt after outbound. Moreover, advancing the water spraying start time to the outbound phase can also make the temperature and humidity of the roller brush reach the working set value when reaching the cleaning area, avoiding the effect fluctuation in the initial cleaning stage. In addition, preheating the roller brush in the outbound process can reduce the time for the user to wait for the cleaning device to be "ready", so that the cleaning start is more rapid and smooth, thereby optimizing the user experience.

[0238] Optionally, the method further comprises:

[0239] During the outbound process of the cleaning device, the steam preparation device is controlled to be in an open state to provide hot steam to the roller brush.

[0240] For example, while the cleaning device responds to the start of the cleaning instruction and performs the outbound action, the cleaning system can control the steam preparation device to be started to heat the stored water into hot steam and deliver to the surface of the roller brush. Optionally, the steam supply can cover the entire outbound process, or be adjusted according to a preset program, until the cleaning device reaches the target position.

[0241] In this way, hot steam is provided in the outbound stage, the roller brush can be preheated and disinfected at high temperature, and the roller brush can reach a suitable temperature state when contacting the cleaning surface, so that the cleaning effect of the roller brush is enhanced. In addition, the steam starting link is moved to the outbound stage, so that the roller brush is in a steam ready state when the cleaning equipment reaches the cleaning area, the effect delay in the initial cleaning stage is avoided, and the response speed of the cleaning system and the continuity of the cleaning process are optimized. In addition, hot steam can effectively soften oil stains and dissolve sticky residues, so that the roller brush is in a high-temperature and wet state when reaching the target position, and the cleaning surface can be immediately cleaned in depth, so that the cleaning efficiency is greatly improved.

[0242] Optionally, the method further comprises:

[0243] In the outbound process of the cleaning equipment, the heating assembly is controlled to be in an open state to heat the surface of the roller brush.

[0244] Optionally, the heating process can last throughout the outbound stage, so that the roller brush reaches the first preset temperature before reaching the target position.

[0245] It should be noted that the heating duration and the first preset temperature are not limited in the embodiments of the present application, and can be set based on application scene requirements.

[0246] Therefore, by preheating the roller brush through the heating assembly, the roller brush can be rapidly heated in the outbound process, and waiting for heating after reaching the cleaning position is avoided, so that the overall cleaning preparation time is shortened. In addition, directly heating the roller brush can also improve the activity of the cleaning liquid or hot water, so that the cleaning liquid or hot water can quickly play a dissolving and emulsifying role when contacting the stains, the stain removal capacity is improved, and the cleaning effect is enhanced. In addition, by heating the surface of the roller brush, the bacteria breeding environment of the roller brush can be reduced in the outbound process, and the hygiene of the roller brush is maintained.

[0247] Optionally, the method further comprises:

[0248] Before the cleaning equipment leaves, the hot air generator is controlled to be in an open state to provide hot air flow for the roller brush.

[0249] Optionally, the hot air effect can last until the outbound starts or for a third preset time, so that the roller brush is preheated before leaving the cleaning base station.

[0250] It should be noted that the third preset time is not limited in the embodiments of the present application, and can be set based on application scene requirements.

[0251] In this way, the roller brush is actively treated by hot air before outbound, so that it can quickly reach a suitable working temperature and improve the initial cleaning efficiency. The hot air can quickly remove the moisture that may remain on the roller brush after cleaning or charging in the cleaning base station, so as to avoid that the wet roller brush causes water stains on the cleaning surface and reduces the cleaning force or the sliding phenomenon caused by moisture. In addition, the hot air helps to maintain the fluffiness and elasticity of the fibers of the roller brush, avoids the hardening caused by moisture, optimizes the physical properties of the roller brush, and improves the service life of the roller brush.

[0252] It should be noted that the pre-treatment heating link of the roller brush is integrated into the cleaning base station before outbound, so that the power supply and space resources of the cleaning base station can be fully utilized, and the battery of the cleaning device is prevented from being additionally consumed during the cleaning process.

[0253] Optionally, the method further comprises:

[0254] Before the cleaning device goes outbound, the heating member is controlled to be in an open state to provide heat for the roller brush.

[0255] When the heating member is in the open state, the roller brush is controlled to rotate so that the roller brush is uniformly heated.

[0256] For example, during the preparation stage before the cleaning device receives a start cleaning instruction and performs an outbound action, the cleaning system can control the heating member on the surface of the cleaning tank in the cleaning base station to be started to heat the cleaning tank and the roller brush in the tank. At the same time, the roller brush can be controlled to rotate at a low speed, so that each part of the surface of the roller brush uniformly contacts the heating area, and local overheating or uneven heating is avoided. Optionally, the heating and rotating process can continue until the roller brush reaches a second preset temperature or stops after a fourth preset time length.

[0257] It should be noted that the specific values corresponding to the second preset temperature or the fourth preset time length are not limited in the embodiments of the present application.

[0258] In this way, through the cooperation of the heating member and the rotation of the roller brush, heat is uniformly transmitted to the whole roller brush, local overheating or insufficient heating is avoided, the roller brush quickly reaches a suitable working temperature, and the preheating uniformity and efficiency of the roller brush are improved. In addition, uniform heating can prevent the roller brush from damaging the fiber structure due to local high temperature, and rotation helps to maintain the shape and elasticity of the roller brush, thereby prolonging the service life of the roller brush. In addition, the use of the heating member in the cleaning base station for preheating before outbound, combined with the rotation of the roller brush to achieve efficient heat conduction, can also reduce the energy consumption of the cleaning device, improve energy utilization and pre-treatment effect.

[0259] Optionally, the method further comprises:

[0260] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to be in an open state to wet the roller brush.

[0261] For example, during the moving process of the cleaning device from the outbound action to the target cleaning position, the cleaning system can control the liquid supply pipeline to be opened, and the cleaning liquid or water in the liquid storage part is transported to the surface of the roller brush through the pipeline, so that the roller brush is uniformly wet before reaching the target position. Optionally, the liquid supply can be continuous or intermittent according to a preset program until the cleaning device reaches the target position or the roller brush reaches the expected wetness.

[0262] It should be noted that the specific value corresponding to the expected wetness is not limited in the embodiments of the present application.

[0263] In this way, by wetting the roller brush in advance before the cleaning device reaches the target position, the roller brush has appropriate humidity when it contacts the cleaning surface, ensuring that the roller brush is in the appropriate working state when it reaches, and then immediately starts effective cleaning, avoiding dry wiping or delayed effect in the initial stage. Moreover, the wetting link is placed in the moving process, so that the cleaning device does not need to wait for the roller brush to be wet when it reaches the target position, thereby optimizing the continuity and response speed of the cleaning process. In addition, by wetting the roller brush uniformly in advance, the cleaning liquid or water can be fully penetrated and distributed in the fibers of the roller brush, thereby improving the utilization efficiency of the cleaning agent or water.

[0264] Optionally, before the cleaning device reaches the target position, the liquid supply pipeline is controlled to be in an open state to wet the roller brush, including:

[0265] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to be in an open state to provide liquid for wetting the roller brush to the cleaning tank.

[0266] For example, during the moving process of the cleaning device from the outbound action to the target cleaning position, the cleaning system can control the liquid supply pipeline to be opened, and the cleaning liquid or water in the liquid storage part is transported to the surface of the roller brush through the pipeline, so that the roller brush is uniformly wet before reaching the target position. Optionally, the liquid supply can be continuous or intermittent according to a preset program until the cleaning device reaches the target position or the roller brush reaches the expected wetness.

[0267] In this way, by supplying liquid to the cleaning tank, the liquid indirectly contacts the roller brush through the cleaning tank, which helps the roller brush to absorb liquid more uniformly in rotation, avoids local over-wetting, liquid splashing or uneven spraying caused by direct spraying, and improves the uniformity of liquid utilization and distribution. Moreover, using the cleaning tank as a liquid transfer medium can also reduce the complex pipeline and sealing design of directly supplying liquid to the moving roller brush, simplify the liquid supply path and the structure of the cleaning system. In addition, the wetting of the roller brush is completed at the same time as the outbound movement, so that the roller brush is in a cleaning-ready state when it leaves the cleaning base station, further improving the work efficiency.

[0268] It can be understood that by controlling the liquid level or liquid distribution in the cleaning tank, the wetting degree of the rolling brush can be indirectly and stably controlled, the fluctuation of the wetting effect caused by the movement or posture change of the cleaning device can be reduced, and the controllability and consistency of the rolling brush wetting process can be enhanced.

[0269] Optionally, the method further comprises:

[0270] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to wet the rolling brush through the liquid distribution assembly.

[0271] For example, during the movement of the cleaning device after performing the outbound action and before reaching the target cleaning position, the cleaning system can also control the liquid supply pipeline to be opened, so that the cleaning liquid or clean water in the liquid storage part on the cleaning device is transported to the liquid distribution assembly arranged towards the surface of the rolling brush through the pipeline. In this way, the liquid distribution assembly can uniformly apply the liquid to the surface of the rolling brush, so that the rolling brush completes wetting before reaching the target position.

[0272] Therefore, by means of the liquid storage part on the cleaning device and the liquid distribution assembly arranged towards the rolling brush, the present application can directly and accurately supply liquid to the rolling brush during movement, ensuring the timeliness and controllability of wetting. Moreover, since the liquid directly acts on the surface of the rolling brush through the liquid distribution assembly, the loss or splashing of the liquid during transmission can be reduced, and the utilization rate of the liquid can be improved. In addition, the integration of the liquid storage part on the cleaning device enables the cleaning device to independently complete the wetting of the rolling brush during movement without relying on the cleaning base station, thereby enhancing the independent operation capability and movement flexibility. Furthermore, since the rolling brush is in a wet state when reaching the target position, efficient cleaning can be immediately started when performing the cleaning task, which is particularly suitable for scenarios requiring rapid response.

[0273] Optionally, the method further comprises:

[0274] detecting the length of stay of the cleaning device at the target position;

[0275] In a case where it is determined that the length of stay is greater than a first length threshold, the cleaning device is controlled to return to the cleaning base station from the target position.

[0276] In the embodiments of the present application, the length of stay can refer to the length of time during which the cleaning device remains in a stationary state or does not perform any task after reaching the target position. The length of stay can be calculated from when the cleaning device stops moving and stably locates at the target position to when the cleaning device moves again or the cleaning system is reset. The determination method of the length of stay is not specifically limited in the embodiments of the present application. For example, the timer can be used to record the length of stay from reaching the target position to the present.

[0277] The first duration threshold can refer to a time threshold preset by the cleaning system for determining whether the cleaning device is in an abnormal stay state. The first duration threshold can be dynamically set according to factors such as floor material sensitivity (for example, a wood floor threshold is shorter), environmental temperature, and brush wetness, or can be customized by the user. The specific value corresponding to the first duration threshold is not limited in the embodiments of the present application. For example, the first duration threshold can be 1-10 minutes.

[0278] For example, after the cleaning device reaches the target position, the cleaning system can continuously detect the stay duration of the cleaning device at the current target position. When the cleaning system determines that the stay duration exceeds the preset first duration threshold, the cleaning system can determine that there is a soaking risk, and can automatically trigger a protective operation of returning to the cleaning base station, that is, control the cleaning device to return to the cleaning base station from the target position.

[0279] Therefore, the cleaning system can avoid the cleaning device staying for too long in a wet state, causing the floor surface to be penetrated or damaged, especially for water-resistant materials such as wood floors and composite floors, and can also reduce the risk of accidental water accumulation or liquid leakage due to user forgetfulness or interrupted operation, thereby improving the safety of the cleaning process. In addition, the cleaning device automatically returns to the cleaning base station when no work is detected for a long time, which can avoid energy waste caused by the cleaning device staying at the target position, and facilitate timely charging or maintenance, thereby optimizing the working efficiency and resource utilization of the cleaning device. It can also avoid the risk of collision, tipping or overheating caused by the cleaning device staying in a complex environment for a long time without supervision, thereby ensuring the safe operation of the cleaning device.

[0280] It can be understood that dynamically adjusting the behavior of the cleaning device according to the actual stay duration enables the cleaning system to adapt to various scenarios such as temporary interruption, task change or accidental stay, thereby enhancing the flexibility and adaptability of cleaning task management.

[0281] Optionally, the method further comprises:

[0282] detecting a motion state of the cleaning device at the target position;

[0283] In a case where the motion state indicates that the power-assisted device has not moved for a duration greater than a second duration threshold, the cleaning device is controlled to return to the cleaning base station from the target position.

[0284] In the embodiments of the present application, the duration in which the power-assisted device has not moved can refer to the length of time during which the power-assisted device has not detected displacement or power output continuously. The duration can be calculated from the last time the motion state changes (for example, stops moving) to the time when the motion is detected again or the cleaning system is reset.

[0285] The second duration threshold can refer to a time threshold preset by the cleaning system for determining the motion stagnation anomaly. Optionally, the second duration threshold can be set according to the cleaning surface material, the wetness of the roller brush, the cleaning mode, and the like. The specific value corresponding to the second duration threshold is not limited in the embodiments of the present application. For example, the second duration threshold can be 30 seconds to 5 minutes.

[0286] For example, after the cleaning device reaches the target position, the cleaning system can continuously detect the motion state of the power-assisted device, such as determining whether displacement occurs by using an encoder, a current sensor, or a displacement sensor. When the cleaning system detects that the duration of the power-assisted device not moving exceeds the preset second duration threshold, the cleaning system determines that the cleaning device is in an abnormal stagnation state, and then automatically triggers the protective return, that is, controls the cleaning device to return to the cleaning base station from the target position.

[0287] Optionally, it is also detected whether the cleaning device is in a suspended state at the target position to further determine whether it is lifted by the user for cleaning.

[0288] In this way, by detecting the motion state of the power-assisted device, it can be more accurately determined whether the cleaning device is in an effective working state or an idle state, and a return instruction is triggered accordingly. When the cleaning device is detected to be actually stationary for a long time, the cleaning device is automatically returned to the cleaning base station, which can avoid invalid standby energy consumption, improve overall energy efficiency, avoid wet roller brushes continuously contacting the floor to cause penetration or material damage, and the like. In addition, when the cleaning device is stationary for a long time due to jamming, obstruction, or being forgotten by the user, the cleaning system can automatically start the return program, reduce the need for human intervention, reduce the risk of the cleaning device being left, enhance the autonomous processing capability for abnormal stagnation or failure, and improve the use convenience and the degree of automation.

[0289] In the foregoing embodiments, the control method of the cleaning system provided by the embodiments of the present application is introduced. In order to implement each function in the method provided by the embodiments of the present application, the cleaning system as an execution subject can include a hardware structure and / or a software module to implement each function in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a certain function in each function is implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application of the technical solution and the design constraint conditions.

[0290] For example, Figure 6 The structural schematic diagram of the control device of the cleaning system provided by the embodiments of the present application is shown in FIG. 6. Figure 6 As shown in FIG. 6, the control device 600 of the cleaning system 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;

[0291] The ground brush assembly is rotationally connected with the main body;

[0292] The ground brush assembly comprises a ground brush housing;

[0293] The ground brush assembly comprises a ground brush housing;

[0294] The ground brush assembly comprises a ground brush housing;

[0295] The first control module 601 is configured to control the power assisting device to rotate so as to drive the cleaning device to move away from the cleaning base station in response to a start cleaning instruction;

[0296] The second control module 602 is configured to control the power assisting device to stop rotating when the cleaning device reaches the target position.

[0297] Optionally, the target position is determined in at least one of the following manners:

[0298] Based on the distance between the cleaning device and the cleaning base station;

[0299] Based on the time length for the cleaning device to move away from the cleaning base station;

[0300] Based on a fixed position point scanned by a sensor;

[0301] In response to a stop instruction of a user.

[0302] Optionally, the cleaning system further comprises a position reaching detection device, and the second control module 602 comprises a determination unit configured to:

[0303] Determine that the cleaning device reaches the target position based on the target signal detected by the position reaching detection device satisfying a preset condition.

[0304] Optionally, the position reaching detection device comprises a Hall sensor and a magnet arranged at a corresponding region of the cleaning device, and the determination unit is specifically configured to:

[0305] When the Hall sensor detects that the magnetic field signal strength of the magnetic field generated by the magnet reaches or exceeds a preset threshold value during the movement of the cleaning device.

[0306] Optionally, the cleaning system further comprises a posture sensor configured to detect the posture of the main body of the cleaning device, and the control device 600 of the cleaning system further comprises a third control module configured to:

[0307] When the attitude sensor detects that the current inclination angle of the main body exceeds the preset safe angle range, and / or the duration that the current inclination angle exceeds the preset safe angle range exceeds the preset time threshold, at least one of the following operations is performed:

[0308] controlling the power-assisted device to stop rotating;

[0309] controlling the cleaning device to stop moving or retreat to the cleaning base station;

[0310] generating and issuing an alarm prompt information.

[0311] Optionally, the control device 600 of the cleaning system further comprises a fourth control module, which is configured to:

[0312] In the outbound process of the cleaning device, when it is detected that the cleaning device has an unexpected stop or movement obstruction, the cleaning device is controlled to perform at least one of the following operations:

[0313] controlling the power-assisted device to stop rotating and completely stop the cleaning device;

[0314] After the cleaning device stops for a first preset duration, if it is detected that the cleaning device does not have an unexpected stop or movement obstruction, the power-assisted device is restarted to continue the outbound process;

[0315] After the cleaning device stops for a second preset duration, if it is still detected that the cleaning device has an unexpected stop or movement obstruction, the cleaning device is controlled to perform a retreat operation or generate an alarm information.

[0316] Optionally, before the cleaning device receives a start cleaning instruction and performs an outbound action, the control device 600 of the cleaning system further comprises a fifth control module, which is configured to:

[0317] output the current state information of the cleaning device or the executed outbound task information, and / or receive a confirmation instruction or a modification instruction of the user.

[0318] Optionally, the control device 600 of the cleaning system further comprises a sixth control module, which is configured to:

[0319] after responding to the start cleaning instruction, control the roller brush to rotate to assist the cleaning device to move away from the cleaning base station.

[0320] Optionally, the start cleaning instruction is determined in any of the following ways:

[0321] in response to a voice instruction of the user;

[0322] in response to a touch operation of the user on the cleaning device or the cleaning base station;

[0323] In response to a user operation on the terminal device, the terminal device establishes a communication connection with the cleaning system.

[0324] Optionally, the cleaning system further comprises a water spraying device for providing hot water to the roller brush, and the control device 600 of the cleaning system further comprises a seventh control module, which is configured to:

[0325] During the outbound process of the cleaning device, the water spraying device is controlled to be in an open state to spray hot water to the roller brush.

[0326] Optionally, the cleaning system further comprises a steam preparation device for providing hot steam to the roller brush, and the control device 600 of the cleaning system further comprises an eighth control module, which is configured to:

[0327] During the outbound process of the cleaning device, the steam preparation device is controlled to be in an open state to provide hot steam to the roller brush.

[0328] Optionally, the roller brush further comprises a heating assembly, and the control device 600 of the cleaning system further comprises a ninth control module, which is configured to:

[0329] During the outbound process of the cleaning device, the heating assembly is controlled to be in an open state to heat the surface of the roller brush.

[0330] Optionally, the cleaning base station further comprises a hot air generator, and the control device 600 of the cleaning system further comprises a tenth control module, which is configured to:

[0331] Before the cleaning device goes outbound, the hot air generator is controlled to be in an open state to provide a hot air flow to the roller brush.

[0332] Optionally, the cleaning base station comprises a cleaning tank for carrying the roller brush, and a heating member is arranged on the surface of the cleaning tank, and the control device 600 of the cleaning system further comprises an eleventh control module, which is configured to:

[0333] Before the cleaning device goes outbound, the heating member is controlled to be in an open state to provide heat to the roller brush.

[0334] When the heating member is in the open state, the roller brush is controlled to rotate to make the roller brush evenly heated.

[0335] Optionally, the cleaning system further comprises a liquid storage part and a liquid supply pipeline, and the liquid storage part and the liquid supply pipeline are in communication, and the control device 600 of the cleaning system further comprises a twelfth control module, which is configured to:

[0336] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to be in an open state to wet the roller brush.

[0337] Optionally, the cleaning base station comprises a cleaning tank for carrying the rolling brush, and the liquid storage part is arranged in the cleaning base station, and the twelfth control module is specifically used for:

[0338] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to be in an open state to provide liquid for wetting the rolling brush to the cleaning tank.

[0339] Optionally, the liquid storage part is arranged on the cleaning device, the liquid supply pipeline comprises a liquid distribution assembly arranged towards the surface of the rolling brush, and the control device 600 of the cleaning system further comprises a thirteenth control module, which is used for:

[0340] Before the cleaning device reaches the target position, the liquid supply pipeline is controlled to wet the rolling brush through the liquid distribution assembly.

[0341] Optionally, the control device 600 of the cleaning system further comprises a fourteenth control module, which is used for:

[0342] detecting the length of stay of the cleaning device at the target position;

[0343] In a case where it is determined that the length of stay is greater than a first length threshold, the cleaning device is controlled to return to the cleaning base station from the target position.

[0344] Optionally, the control device 600 of the cleaning system further comprises a fifteenth control module, which is used for:

[0345] detecting the motion state of the cleaning device at the target position;

[0346] In a case where the length of time during which the motion state represents that the assisting device does not move is greater than a second length threshold, the cleaning device is controlled to return to the cleaning base station from the target position.

[0347] It should be noted that the specific implementation principles and effects of the control device 600 of the cleaning system described above can be referred to the related descriptions and effects of the corresponding embodiments described above, and will not be described in detail here.

[0348] The embodiments of the present application also provide an electronic device, Figure 7 A structural schematic diagram of an electronic device provided by the embodiments of the present application is shown in Figure 7 The electronic device can include a processor 701 and a memory 702 in communication with the processor 701; the memory 702 stores a computer program; the processor 701 executes the computer program stored in the memory 702, so that the processor 701 executes the method described in any of the above embodiments.

[0349] The memory 702 and the processor 701 can be connected through a bus 703.

[0350] The embodiment of the present application further provides a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are used for realizing the method described in any one of the preceding embodiments of the present application when executed by a processor.

[0351] The embodiment of the present application further provides a chip running instructions, which is used for executing the method described in any one of the preceding embodiments of the present application executed by an electronic device.

[0352] The embodiment of the present application further provides a computer program product, which comprises a computer program, and the computer program can realize the method described in any one of the preceding embodiments of the present application executed by an electronic device when executed by a processor.

[0353] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiment described above is only schematic, for example, the division of the module is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interfaces, apparatuses or modules, and can be electrical, mechanical or other forms.

[0354] The module described as a separate component can be or can not be physically separated, and the component displayed as a module can be or can not be a physical unit, that is, can be located in one place, or can be distributed to a plurality of network units. Part or all of the modules can be selected according to actual needs to realize the embodiment scheme.

[0355] In addition, each function module in each embodiment of the present application can be integrated in one processing unit, or each module can be physically present alone, or two or more modules can be integrated in one unit. The unit composed of the above modules can be realized in the form of hardware, or in the form of hardware plus software function unit.

[0356] The integrated module realized in the form of software function module can be stored in a computer readable storage medium. The software function module stored in a storage medium comprises a plurality of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor execute part of the steps of the method described in each embodiment of the present application.

[0357] It should be appreciated that the above processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the application can be directly embodied by hardware processor execution, or by hardware and software module combination in the processor.

[0358] The memory can include a high-speed random access memory (RAM), and can also include a non-volatile memory (NVM), such as at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0359] 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. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0360] The aforementioned storage medium can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as a Static Random-Access Memory (SRAM), an Electrically Erasable Programmable Read Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic storage, a flash memory, a magnetic disk, or an optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0361] An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can be a part of the processor. Consistent with the teachings provided herein, the processor and the storage medium can be located in an ASIC. Alternatively, the processor and the storage medium can be located in a circuit.

[0362] It is noted that, for the aforementioned method embodiments, the sequences of the actions are described for simple description, but those skilled in the art should know that the present application is not limited to the described action sequences, because according to the present application, some steps can be performed in other sequences or simultaneously. In addition, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0363] It is further noted that, although the steps in the flowcharts are shown in a sequence following the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not necessarily limited to the order indicated by the arrows, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the sub-steps or stages is not necessarily sequential, but can be performed in rotation or alternation with other steps or sub-steps or stages of other steps.

[0364] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments. Each technical feature of the above embodiments can be combined arbitrarily, and in order to make the description concise, each technical feature in the above embodiments is not described in all possible combinations, however, as long as the combination of these technical features does not exist contradictory, it should be considered as the scope disclosed in the specification.

[0365] Other embodiments of this application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0366] The above is only a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited to this, any change or replacement within the technical scope disclosed by the embodiments of the present application should be covered in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the protection 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 equipment includes: a main body; A floor brush assembly, which is rotatably connected to the main body; 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 is located on the side of the floor brush housing away from the roller brush; the method includes: In response to a cleaning start command, the assist device is controlled to rotate so that the cleaning equipment moves in a direction away from the cleaning base station; When the cleaning equipment reaches the target location, the assist device is controlled to stop rotating.

2. The method according to claim 1, characterized in that, The target location is determined by at least one of the following methods: Determined based on the distance between the cleaning equipment and the cleaning base station; Determined based on the time it takes for the cleaning equipment to leave the cleaning base station; Based on fixed location points scanned by sensors; Responding to the user's stop command.

3. The method according to claim 1, characterized in that, The cleaning system also includes a positioning detection device, which detects when the cleaning equipment reaches the target position. Based on the fact that the positioning detection device detects that the target signal meets the preset conditions, it is determined that the cleaning equipment has reached the target position.

4. The method according to claim 3, characterized in that, The positioning detection device includes a Hall sensor and a magnet disposed in the corresponding area of ​​the cleaning equipment. The step of detecting a target signal based on the positioning detection device meeting preset conditions includes: When the Hall sensor detects that the magnetic field signal strength generated by the magnet reaches or exceeds a preset threshold during the departure of the cleaning equipment.

5. The method according to any one of claims 1-4, 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 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, at least one of the following operations shall be performed: Control the assist device to stop rotating; Control the cleaning equipment to stop moving or return to the cleaning base station; Generate and issue alarm notification messages.

6. The method according to claim 1, characterized in that, The method further includes: If, during the departure process of the cleaning equipment, an unexpected stop or obstruction of movement is detected, the cleaning equipment is controlled to perform at least one of the following operations: Control the assist device to stop rotating and bring the cleaning equipment to a complete stop; If, after the cleaning equipment has stopped for a first preset period of time, it is detected that the cleaning equipment has not stopped unexpectedly or its movement is obstructed, the assist device is restarted and the exit process continues. If, after the cleaning equipment has stopped for a second preset period of time, an unexpected stop or obstruction to movement is still detected, the cleaning equipment is controlled to perform a reversal operation or generate an alarm message.

7. The method according to claim 1, characterized in that, After the cleaning equipment receives the start cleaning command but before it performs the outbound action, the method further includes: Output the current status information of the cleaning equipment or the outbound task information being executed, and / or receive confirmation or modification instructions from the user.

8. The method according to claim 1, characterized in that, The method further includes: Upon receiving a cleaning command, the roller brush is controlled to rotate to assist the cleaning device in moving away from the cleaning base station.

9. The method according to claim 1, characterized in that, The cleaning initiation command is determined in any of the following ways: Responding to the user's voice commands; Responding to a user's touch operation on the cleaning device or the cleaning base station; In response to a user's operation on a terminal device, the terminal device establishes a communication connection with the cleaning system.

10. The method according to claim 1, characterized in that, The cleaning system further includes a water spray device for providing hot water to the roller brush, and the method further includes: During the cleaning equipment's exit process, the water spray device is controlled to be turned on to spray hot water onto the roller brush.

11. The method according to claim 1, characterized in that, The cleaning system further includes a steam generating device for providing hot steam to the roller brush, and the method further includes: During the cleaning equipment's exit process, the steam preparation device is kept in the on state to provide hot steam to the roller brush.

12. The method according to claim 1, characterized in that, The roller brush further includes a heating component, and the method further includes: During the cleaning equipment's exit process, the heating component is controlled to be turned on to heat the surface of the roller brush.

13. The method according to claim 1, characterized in that, The clean base station also includes a hot air generator, and the method further includes: Before the cleaning equipment leaves the station, the hot air generator is turned on to provide hot airflow for the roller brush.

14. The method according to claim 1, characterized in that, The cleaning base station further includes a cleaning tank for supporting the roller brush, and a heating element is disposed on the surface of the cleaning tank. The method further includes: Before the cleaning equipment leaves the station, the heating element is controlled to be turned on to provide heat to the roller brush; When the heating element is in the on state, the roller brush is controlled to rotate so that the roller brush is heated evenly.

15. The method according to claim 1, characterized in that, The cleaning system further includes a liquid storage unit and a liquid supply line, the liquid storage unit and the liquid supply line being connected; the method further includes: Before the cleaning equipment reaches the target position, the liquid supply line is controlled to be in the open state to wet the roller brush.

16. The method according to claim 15, characterized in that, The cleaning base station includes a cleaning tank for supporting the roller brush, and the liquid storage unit is disposed within the cleaning base station. The step of controlling the liquid supply pipeline to be open before the cleaning equipment reaches the target position to wet the roller brush includes: Before the cleaning equipment reaches the target position, the liquid supply line is controlled to be in the open state to provide liquid for wetting the roller brush to the cleaning tank.

17. The method according to claim 15, characterized in that, The liquid storage unit is disposed on the cleaning equipment, the liquid supply pipeline includes a liquid dispensing component disposed toward the surface of the roller brush, and the method further includes: Before the cleaning equipment reaches the target position, the liquid supply line is controlled to wet the roller brush through the liquid distribution assembly.

18. The method according to claim 1 or 15, characterized in that, The method further includes: The duration of the cleaning equipment's stay at the target location is detected; If the dwell time is determined to be greater than a first duration threshold, the cleaning equipment is controlled to return from the target location to the cleaning base station.

19. The method according to claim 1 or 15, characterized in that, The method further includes: Detect the movement state of the cleaning equipment at the target location; If the duration during which the assist device remains stationary exceeds a second duration threshold, the cleaning equipment is controlled to return from the target location to the cleaning base station.

20. 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 equipment includes: a main body; A floor brush assembly, which is rotatably connected to the main body; 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 is located on the side of the floor brush housing away from the roller brush; the device includes: The first control module is used to control the rotation of the assist device in response to the start cleaning command, so that the cleaning equipment moves in a direction away from the cleaning base station; The second control module is used to control the assist device to stop rotating when the cleaning equipment reaches the target position.

21. 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 equipment includes: a main body; A floor brush assembly, which is rotatably connected to the main body; 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 is located on the side of the floor brush housing away from the roller brush; The cleaning system is used to perform the method as described in any one of claims 1-19.

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