Related methods, devices, apparatus and cleaning systems for wipe assemblies

Abstract

The embodiment of the invention discloses a related method, device and equipment of a rag assembly and a cleaning system, and relates to the technical field of cleaning equipment. According to the specific implementation scheme, cleaning cloth in-place information of a cleaning base station is obtained, wherein the cleaning cloth in-place information is used for indicating whether a cleaning disc has a cleaning cloth assembly or not and whether each predefined cleaning cloth storage position is occupied by the cleaning cloth assembly or not; and based on the cleaning cloth in-place information, the cleaning cloth type of a target cleaning cloth assembly located on the cleaning disc or the cleaning equipment is verified by analyzing the occupancy state of at least one predefined cleaning cloth storage position. According to the embodiment of the invention, the type of the cleaning cloth assembly located on the cleaning disc or the cleaning equipment can be simply and quickly checked only according to the occupation condition of each predefined cleaning cloth storage position under the condition that a complicated cleaning cloth assembly type identification device does not need to be configured. Therefore, the cleaning equipment can replace the cleaning cloth assembly more accurately as required according to the verification result, and the effect of replacing the cleaning cloth assembly of the cleaning equipment is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to methods, apparatus, equipment and cleaning systems related to wiping cloth components. Background Technology

[0002] With the increasing popularity of smart home devices, cleaning equipment (such as cleaning robots) has become a common cleaning tool in many households. Modern cleaning equipment is usually equipped with a variety of cleaning components, such as side brush components, roller brush components, and mop components, to achieve thorough cleaning of surfaces.

[0003] In related technologies, most cleaning robots, while possessing basic cleaning capabilities, are typically equipped with only one mop for cleaning all areas. Alternatively, cleaning robot systems consisting of a cleaning robot and a base station may have multiple mops, allowing the robot to travel to the base station for mop replacement. However, since only one type of mop is used, this approach cannot differentiate between different floor types and usage scenarios, easily leading to the risk of cross-contamination and reduced efficiency in cleaning stubborn stains. These issues result in a suboptimal user experience and fail to fully meet the modern smart home's demands for convenience and efficiency. Summary of the Invention

[0004] This application provides methods, apparatus, equipment, and cleaning systems related to wiping cloth components.

[0005] This application provides the following solution: According to the first aspect, a method for verifying the type of a cleaning device's cloth component is provided, applied to a system including a cleaning base station and a cleaning device. The cleaning base station is equipped with a washing tray and multiple predefined cloth storage slots, each predefined cloth storage slot predefined with a corresponding cloth type. The method includes: Obtain the cloth presence information of the cleaning base station. The cloth presence information is used to indicate whether there is a cloth assembly in the cleaning tray and whether each predefined cloth storage position is occupied by the cloth assembly. Based on the cloth presence information, the cloth type of the target cloth component located on the cleaning tray or cleaning equipment is verified by analyzing the occupancy status of at least one predefined cloth storage location.

[0006] As an optional approach, the type of the wipes in the target wipe assembly located on the washing tray or cleaning equipment is verified by analyzing the occupancy status of at least one predefined wipe storage location, including: By analyzing the occupancy status of at least one predefined cloth storage location, the type of cloth in the target cloth assembly located on the cleaning tray or cleaning equipment can be identified.

[0007] As an alternative approach, the type of cloth used in a target cloth assembly located on a cleaning tray or cleaning device is identified by analyzing the occupancy status of at least one predefined cloth storage location, including: Identify the cloth type of the target cloth component based on the predefined cloth type in the unoccupied predefined cloth storage slot.

[0008] As an optional approach, the cloth type of the target cloth component is identified based on the predefined cloth type of the unoccupied predefined cloth storage location, including: When only one predefined cloth storage slot is unoccupied, the cloth type of the target cloth component is identified as the cloth type predefined in the unoccupied predefined cloth storage slot.

[0009] As an optional approach, the cloth type of the target cloth component is identified based on the predefined cloth type of the unoccupied predefined cloth storage location, including: When two or more predefined cloth storage slots are unoccupied, the cloth type is identified according to the following rules: First, determine whether the target cloth type required for the cleaning task is a known type, and whether the type belongs to the cloth type predefined in the unoccupied predefined cloth storage slot; If so, then the cloth type of the target cloth component is identified as the target cloth type; If not, the target cloth component's cloth type is identified from the predefined cloth types in the unoccupied predefined cloth storage slots, based on the preset cloth type priority.

[0010] As an optional approach, based on the cloth presence information, the cloth type of the target cloth assembly located on the washing tray or cleaning equipment is verified by analyzing the occupancy status of at least one predefined cloth storage location, including: Select the first or second verification path depending on whether a cloth assembly is present in the cleaning tray. The first verification path is used to verify the type of the cloth used in the target cloth assembly located on the cleaning tray. The second verification path is used to verify the type of cloth used in the target cloth assembly installed on the cleaning equipment.

[0011] As an optional method, if all predefined cloth storage positions are occupied when performing verification along the first verification path, the verification is deemed abnormal.

[0012] As an optional method, when performing verification along the second verification path, the type of cleaning cloth is first identified based on the historical installation record of the cleaning equipment; if the type of cleaning cloth cannot be identified based on the historical installation record, the type of cleaning cloth of the target cleaning cloth component is then identified based on the occupancy status of the predefined cleaning cloth storage position; if the type of cleaning cloth cannot be identified based on both the historical installation record and the occupancy status, the verification is deemed abnormal.

[0013] According to a second aspect, a method for controlling the replacement of a cleaning cloth assembly is provided, applied to a system including a cleaning base station and a cleaning device, the method comprising: Perform the type verification method for the cloth component as described in the first aspect to obtain the type information of the target cloth component; Based on the obtained type information, control the cleaning equipment to perform the corresponding wiping component operation.

[0014] As an optional method, the cleaning equipment is controlled to perform corresponding wipe component operations, including: If the verification fails, the cleaning equipment will be controlled to execute a preset exception handling procedure.

[0015] As an optional method, the cleaning equipment is controlled to perform corresponding wipe component operations, including: If the verification is successful and the type information of the target cleaning cloth component is obtained, the type information is compared with the target cleaning cloth type required for the current cleaning task, and the cleaning equipment is controlled to perform installation, replacement or ignore operations based on the comparison result.

[0016] As an alternative, the target cloth type is determined based on the area type of the area to be cleaned that the cleaning equipment will soon enter.

[0017] As an optional approach, there is a predefined matching relationship between the area type and the target cloth type. The cloth type on which the predefined matching relationship is based is at least two of the following: strong stain-removing cloth, sponge water-locking cloth, and phase change energy storage cloth.

[0018] As an alternative approach, the method also includes: When the cleaning equipment detects that the dirt level of the currently used cloth component exceeds the first preset threshold or the usage time exceeds the second preset threshold, it determines that the cleaning equipment needs to replace the cloth component and determines that the target cloth type required for the current cleaning task is an unknown type. Control the cleaning equipment to perform a cloth replacement operation to replace cloth components of any type.

[0019] According to a third aspect, a method for verifying and interacting with the type of a cleaning base station's cleaning cloth component is provided. The cleaning base station is equipped with a cleaning tray and multiple predefined cleaning cloth storage slots, each predefined cleaning cloth storage slot predefined with a corresponding cleaning cloth type. The method includes: Obtain the cloth presence information, which is used to indicate whether there is a cloth assembly in the cleaning tray and whether each of the predefined cloth storage slots is occupied by the cloth assembly. Based on the cloth presence information, by analyzing the occupancy status of at least one of the predefined cloth storage slots, the cloth type of the target cloth assembly located on the washing tray or cleaning device is verified to obtain the type information of the target cloth assembly. Based on the type information, control information is generated to control the cleaning equipment to perform the operation of the wiping component and sent to the cleaning equipment.

[0020] As an optional approach, based on type information, control information is generated for controlling the cleaning equipment to perform operations on the wiping assembly and sent to the cleaning equipment, including: If the verification is successful and the type information of the target cleaning cloth component is obtained, the type information is sent to the cleaning equipment as control information, so that the cleaning equipment can perform cleaning cloth component operation based on the comparison result between the type information and the target cleaning cloth type required for the current cleaning task.

[0021] As an alternative approach, the method also includes: Receive target cloth type information from the cleaning equipment; Based on the type information, control information for controlling the cleaning equipment to perform the operation of the wiping assembly is generated and sent to the cleaning equipment, including: comparing the type information with the target wiping type information, generating control instructions for the cleaning equipment to install, replace or ignore the wiping assembly based on the comparison result and sending them to the cleaning equipment.

[0022] According to a fourth aspect, a control device for a cleaning equipment is provided, including a processing module configured to perform the method described in the first or second aspect above.

[0023] As an alternative, the processing module includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the corresponding method.

[0024] According to the fifth aspect, a cleaning device is provided, including the control device described in the fourth aspect above.

[0025] According to the sixth aspect, a control device for a clean base station is provided, including a processing module and a communication module; The processing module is configured to execute the method described in the third aspect above; The communication module is used to communicate with the cleaning equipment to send control information.

[0026] As an alternative, the processing module includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the corresponding method.

[0027] According to the seventh aspect, a cleaning base station is provided, including the control device of the sixth aspect above; a cleaning tray; a storage compartment having multiple predefined cloth storage positions, each predefined cloth storage position having a corresponding cloth type; and a sensing unit for detecting and generating cloth presence information.

[0028] According to the eighth aspect, a cleaning system is provided, including the cleaning equipment as described in the fifth aspect above and the cleaning base station as described in the seventh aspect above.

[0029] According to a ninth aspect, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the methods of the first, second, or third aspects described above.

[0030] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application allows for the predefinition of corresponding cloth types for multiple predefined cloth storage slots in the storage compartment of a cleaning base station. Then, based on the occupancy status of each predefined cloth storage slot, the type of the cloth assembly located on the cleaning tray or cleaning equipment is verified. This enables simple and quick verification of the cloth assembly type on the cleaning tray or cleaning equipment based solely on the occupancy status of each predefined cloth storage slot, without requiring a complex cloth assembly type identification device. Consequently, the cleaning equipment can more accurately replace cloth assemblies as needed based on the verification results, improving the efficiency of cloth assembly replacement. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the composition of a cleaning system provided in an embodiment of this application.

[0033] Figure 2 This is a schematic diagram of a clean base station provided in an embodiment of this application.

[0034] Figure 3 This is one of the flowcharts illustrating a method for verifying the type of a cleaning device's cloth component, as provided in an embodiment of this application.

[0035] Figure 4This is a second flowchart illustrating a method for verifying the type of a cleaning device's cloth component, as provided in an embodiment of this application.

[0036] Figure 5 This is a flowchart illustrating a method for verifying and interacting with the type of a cleaning base station's cleaning cloth component, as provided in an embodiment of this application.

[0037] Figure 6 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application.

[0038] Figure 7 This is a schematic diagram of the structure of a control device for a clean base station provided in an embodiment of this application. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0040] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0041] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0042] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0043] With the increasing popularity of smart home devices, cleaning equipment (such as cleaning robots) has become a common cleaning tool in many households. Modern cleaning equipment is usually equipped with a variety of cleaning components, such as side brush components, roller brush components, and mop components, to achieve thorough cleaning of surfaces.

[0044] In related technologies, most cleaning robots, while possessing basic cleaning capabilities, are typically equipped with only one mop for cleaning all areas. Alternatively, cleaning robot systems consisting of a cleaning robot and a base station may have multiple mops, allowing the robot to travel to the base station for mop replacement. However, since only one type of mop is used, this approach cannot differentiate between different floor types and usage scenarios, easily leading to the risk of cross-contamination and reduced efficiency in cleaning stubborn stains. These issues result in a suboptimal user experience and fail to fully meet the modern smart home's demands for convenience and efficiency.

[0045] To address the aforementioned technical problems, this application provides a method for verifying the type of a cleaning device's cloth assembly, applicable to systems including a cleaning base station and cleaning equipment. Specifically, multiple predefined cloth storage slots in the cleaning base station can be predefined with corresponding cloth types. Then, based on the occupancy status of each predefined cloth storage slot, the type of the cloth assembly located on the cleaning tray or cleaning equipment is verified. This allows for simple and quick verification of the cloth assembly type on the cleaning tray or cleaning equipment based solely on the occupancy status of each predefined cloth storage slot, without requiring a complex cloth assembly type identification device. Consequently, the cleaning equipment can more accurately replace cloth assemblies as needed based on the verification results, improving the effectiveness of cloth assembly replacement.

[0046] The cleaning device in this embodiment can be a cleaning robot, specifically a self-propelled robot capable of autonomously moving within a work area based on navigation algorithms and completing cleaning tasks and returning to a cleaning base station to replace the mop assembly without external human input or control. The work area can include indoor areas, such as family rooms, offices, shopping malls, and factory workshops. The cleaning robot can include, but is not limited to, sweeping robots, floor scrubbing robots, and robot vacuum and mop combos. Of course, in some other possible embodiments of this application, the cleaning device can also be other devices with autonomous mobility for performing other cleaning tasks; no specific limitations are made here.

[0047] A system (i.e., a cleaning system) that can apply the type verification method for the cleaning equipment's cloth assembly provided in the embodiments of this application, combined with Figure 1 and Figure 2As shown, the system may include a cleaning device 100 and a cleaning base station 200. The cleaning base station 200 is equipped with a washing tray 201 and multiple (three are shown as an example in the figure) predefined cloth storage slots 202. Each predefined cloth storage slot 202 is predefined with a corresponding cloth type. Therefore, by determining the occupancy status of each predefined cloth storage slot 202, it can be determined whether a cloth component of the corresponding cloth type is located in the storage compartment. For example, a corresponding storage compartment can be set in the cleaning base station 200, and a corresponding predefined cloth storage slot 202 can be set in the storage compartment.

[0048] Of course, it should be noted that in practical applications, the cleaning system may also include other necessary or required components or modules besides those listed above, which will not be limited or elaborated here.

[0049] Based on the aforementioned cleaning system, Figure 3 A flowchart illustrating the method for verifying the type of the cleaning equipment's cloth assembly provided in this application embodiment is shown below. Figure 3 As shown, the method may include the following S301-S302.

[0050] S301. Obtain the location information of the cleaning cloth at the cleaning base station.

[0051] The cloth presence information is used to indicate whether a cloth assembly is present in the cleaning tray and whether each predefined cloth storage location is occupied by a cloth assembly.

[0052] For example, appropriate sensors can be used to detect whether the cleaning tray and each predefined cloth storage location are occupied by cloth assemblies. For instance, Hall effect sensors can be configured on the cleaning tray and each predefined cloth storage location of the cleaning base station, and corresponding magnetic components (such as magnets) can be configured for each cloth assembly. The presence of cloth assemblies (i.e., whether they are occupied) in the cleaning tray and each predefined cloth storage location can be determined by the detection signals of the Hall effect sensors, thereby generating cloth presence information. Alternatively, photoelectric sensors can be configured on the cleaning tray and each predefined cloth storage location of the cleaning base station. The presence of cloth assemblies in the cleaning tray and each predefined cloth storage location can be determined by the photoelectric sensors detecting whether the detection beam is blocked, thereby generating cloth presence information. Furthermore, cameras can be configured in the cleaning tray and storage compartment of the cleaning base station to capture images of the cleaning tray and storage compartment. Image recognition can then be used to determine whether cloth assemblies are present in each predefined cloth storage location within the cleaning tray and storage compartment, thereby generating cloth presence information.

[0053] In this embodiment, the rag presence information can be generated by the cleaning base station and then sent to the cleaning device. For example, when the cleaning device needs to obtain rag presence information, it sends a rag presence information acquisition request to the cleaning base station. Upon receiving the acquisition request, the cleaning base station generates the rag presence information and sends it to the cleaning device. Alternatively, the cleaning base station can generate the rag presence information based on the sampling frequency or when the rag presence status changes, and then proactively send the rag presence information to the cleaning device in a timely manner. Of course, the above are merely illustrative descriptions of when the cleaning base station generates rag presence information and how the cleaning device acquires it. In practical applications, corresponding equipment can be used according to actual conditions and needs. No restrictions are imposed here, as long as the rag presence information from the cleaning base station can be obtained when verifying the type of the rag component of the cleaning device.

[0054] In this embodiment of the application, by predefining the corresponding cloth types for each of the multiple predefined cloth storage positions of the cleaning base station, the cloth type is bound to the physical location. This provides a unique and reliable logical basis for subsequent cloth type verification without directly identifying the cloth type of the cloth component itself, but only based on the presence of the cloth component.

[0055] S302. Based on the cloth presence information, by analyzing the occupancy status of at least one predefined cloth storage location, the cloth type of the target cloth component located on the cleaning tray or cleaning equipment is verified.

[0056] In this embodiment, the type of the target cloth assembly located on the cleaning tray or cleaning device is verified, specifically by identifying the type of the target cloth assembly. This facilitates subsequent control of the cleaning device to perform corresponding cloth assembly operations based on the verified type of the target cloth assembly on the cleaning tray or cleaning device.

[0057] Since the total number of wipe components and the composition of wipe types are pre-configured and known, the wipe type corresponding to the vacant predefined wipe storage slot in the storage compartment is likely the wipe type of the target wipe component on the cleaning tray or cleaning device. Therefore, as an example, the wipe type of the target wipe component can be identified based on the predefined wipe types of the unoccupied predefined wipe storage slots.

[0058] For example, such as Figure 4As shown, when only one predefined cloth storage slot is unoccupied, the cloth type of the target cloth component can be identified as the cloth type predefined in that unoccupied predefined cloth storage slot. When two or more predefined cloth storage slots are unoccupied, it can be first determined whether the target cloth type required for the cleaning task is a known type, and whether this type belongs to the cloth type predefined in the unoccupied predefined cloth storage slot (i.e., this type is not in the storage compartment). Based on the determination result, if yes, the cloth type of the target cloth component is identified as the target cloth type. If not, the cloth type of the target cloth component is identified from the cloth types predefined in the unoccupied predefined cloth storage slots according to the preset cloth type priority. For example, the cloth type with the highest priority among the cloth types predefined in the unoccupied predefined cloth storage slots can be identified as the cloth type of the target cloth component. This method eliminates the need to install expensive Radio Frequency Identification (RFID) systems or complex vision systems on each cloth assembly. It achieves accurate inference of the cloth type of the target cloth assembly simply by detecting the "occupied / unoccupied" status of the predefined cloth storage location, significantly reducing system cost and complexity.

[0059] Among them, whether the target rag type required for the cleaning task is a known type refers to whether the target rag type required for the cleaning task is a specific rag type.

[0060] For example, different types of cleaning cloths can be pre-configured for different areas of the cleaning zone. When the cleaning equipment needs to clean an area of ​​a specific type, the type of cloth corresponding to that area can be determined as the target cloth type required for the cleaning task. In this case, the target cloth type is a definite cloth type (i.e., the cloth type corresponding to the area to be cleaned). For instance, the type of cloth for the kitchen can be pre-configured as a strong-duty cleaning cloth. Therefore, when the cleaning equipment needs to clean the kitchen, the target cloth type required for the cleaning task is a strong-duty cleaning cloth. This target cloth type is a definite cloth type, meaning it is a known type.

[0061] For example, the cleaning equipment can also determine that the cleaning cloth component needs to be replaced when it detects that the dirt level of the currently used cloth component exceeds a first preset threshold or the usage time exceeds a second preset threshold. At this time, the target cloth type required for the cleaning task is an unclear cloth type, that is, an unknown type. The cleaning equipment can replace the cloth component with any type of cloth to continue to perform the cleaning task.

[0062] Optionally, the preset cloth type priority can be set based on the number of area types that different cloth types can cover, or the number of cleaning scenarios that different cloth types can cover. For example, taking the cloth types as including strong cleaning cloths, sponge water-locking cloths, and phase change energy storage cloths, the cloth type priority can be set to strong cleaning cloths > sponge water-locking cloths, and sponge water-locking cloths > phase change energy storage cloths. Of course, the above is only a specific example of the priority between different cloth types. In this embodiment, the setting of cloth type priority is not limited and can be configured according to specific circumstances.

[0063] In this way, when there are two or more unoccupied predefined cloth storage slots, the system can prioritize matching the target cloth type requirements of the cleaning task, making cloth component replacement decisions highly forward-looking and practical, and improving cleaning efficiency. Furthermore, by configuring priorities for cloth types to identify the target cloth type based on priority, the system has preset rules to ensure continued operation under any uncertain circumstances, avoiding "freezing" and enhancing the system's adaptability and reliability.

[0064] In some possible embodiments of this application, a first verification path and a second verification path can be configured according to whether a wiping assembly is present in the cleaning tray. Thus, when verifying the wiping type of a target wiping assembly located on the cleaning tray or the cleaning device, the first verification path or the second verification path can be selected according to whether a wiping assembly is present in the cleaning tray. This enables the verification of the wiping type of the target wiping assembly located on the cleaning tray according to the first verification path when a wiping assembly is present in the cleaning tray, and the verification of the wiping type of the target wiping assembly installed on the cleaning device according to the second verification path when a wiping assembly is not present in the cleaning tray.

[0065] For example, when verifying the type of the target cleaning cloth component, it's possible to first determine whether a cleaning cloth component exists in the cleaning tray. Therefore, if a cleaning cloth component exists in the cleaning tray, the first verification path is selected, and based on the occupancy status of the predefined cleaning cloth storage slots, the type of the target cleaning cloth component in the cleaning tray is identified, as described above. Figure 4 The illustrated process identifies the cloth type of the target cloth assembly in the cleaning tray. If no cloth assembly is present in the cleaning tray, the second verification path is selected. Based on the occupancy status of the predefined cloth storage slots, the cloth type of the target cloth assembly installed on the cleaning equipment is identified, as described above. Figure 4 The process shown identifies the type of cloth used in the target cloth assembly installed on the cleaning equipment.

[0066] As an example, when performing verification along the first verification path, if all predefined cloth storage slots are occupied, that is, if cloth components are present in all predefined cloth storage slots, the verification can be determined to be abnormal. This provides the system with error detection capabilities, enabling timely detection of abnormal system states (such as an extra cloth component, no available predefined cloth storage slots, and inability to perform the cloth component replacement operation normally). This avoids performing erroneous operations based on abnormal states, thereby improving the system's security and fault tolerance.

[0067] As another example, when performing verification along the second verification path, the type of the target cleaning cloth component can first be identified based on the historical installation records of the cleaning equipment. If the cleaning cloth type cannot be identified based on the historical installation records, then the cleaning cloth type of the target cleaning cloth component can be identified based on the occupancy status of the predefined cleaning cloth storage slots. If the cleaning cloth type cannot be identified based on either the historical installation records or the occupancy status of the predefined cleaning cloth storage slots, then the verification is considered abnormal.

[0068] It should be noted that the cleaning equipment can record and save the cloth type of the cloth component each time it is replaced or installed, thus obtaining a historical installation record. This historical installation record can be data that only includes the cloth type of the most recently replaced or installed cloth component, or it can include the cloth type of each cloth component replaced or installed after the cleaning equipment starts performing a cleaning task. Therefore, when verifying along the second verification path, the cloth type of the most recently installed cloth component can be obtained based on the historical installation record, thereby identifying the cloth type of the target cloth component installed by the cleaning equipment as the cloth type of its most recently installed cloth component. However, if the historical installation record is lost due to system initialization, is empty, or the cloth type of the most recently replaced or installed cloth component in the historical installation record is unknown, then the cloth type of the target cloth component cannot be identified based on the historical installation record.

[0069] It should also be noted that the inability to identify the cloth type based on the occupancy status of predefined cloth storage slots could occur if all predefined cloth storage slots are occupied. Therefore, if the cloth type of the target cloth component installed on the cleaning equipment cannot be identified based on historical installation records, and all predefined cloth storage slots are occupied, a verification anomaly can be determined. This provides the system with error detection capabilities, enabling timely detection of system anomalies (such as an extra cloth component, no available predefined cloth storage slots, and inability to perform the cloth component replacement operation normally), preventing erroneous operations from being performed based on an abnormal state, and improving the system's security and fault tolerance.

[0070] Based on the aforementioned method for verifying the type of the cleaning equipment's cloth assembly, this application also provides a method for controlling the replacement of the cleaning equipment's cloth assembly. This method can also be applied to a system including a cleaning base station and a cleaning equipment. By using this method, after executing the aforementioned method for verifying the type of the cleaning equipment's cloth assembly to obtain the type information of the target cloth assembly, the cleaning equipment can be controlled to perform the corresponding cloth assembly operation based on this type information.

[0071] The type information can be obtained by verifying the type of the target cloth component on the cleaning device using the aforementioned cloth component type verification method. This verification process checks the type of the target cloth component on the cleaning tray or cleaning device. Therefore, based on the obtained cloth type of the target cloth component, the cleaning device can be more accurately controlled to perform the corresponding cloth component operation, improving the effectiveness of cloth component replacement.

[0072] For example, when a verification anomaly occurs, the cleaning equipment can be controlled to execute a preset anomaly handling procedure. This could include pausing the cleaning equipment's task, issuing an audible and visual alarm, or sending an anomaly notification to the user's terminal via an app. This allows for user-friendly handling of anomalies, improving user experience and system security, and preventing the robot from becoming stagnant or performing erroneous operations.

[0073] Once the verification is successful and the type information of the target cleaning cloth component is obtained, the type information can be compared with the target cleaning cloth type required for the current cleaning task, and the cleaning equipment can be controlled to perform operations such as installing, replacing, or ignoring the cleaning cloth component based on the comparison result.

[0074] For example, let's take the type information as the type of the target cloth assembly installed on the cleaning equipment. If the cloth type corresponding to the type information matches the target cloth type, the cleaning equipment can be controlled to ignore the cloth assembly replacement operation, i.e., ignore the cloth assembly operation, and continue performing the cleaning task. Alternatively, if the cloth type corresponding to the type information does not match the target cloth type, the cleaning equipment can be controlled to perform an operation to replace the cloth assembly with the target cloth type, i.e., replace the cloth assembly, and continue performing the cleaning task.

[0075] For example, consider the type of the target cloth component on the cleaning tray. When the cloth type corresponding to the type information matches the target cloth type, the cleaning equipment can be controlled to install the target cloth component on the cleaning tray, thus continuing the cleaning task. Alternatively, when the cloth type corresponding to the type information does not match the target cloth type, the cleaning equipment can be controlled to replace the cloth component with the target cloth type. For instance, the cleaning base station can be controlled to replace the target cloth component on the cleaning tray with the one of the target cloth type, and then the cleaning equipment can be controlled to replace the cloth component on the cleaning tray, allowing the cleaning equipment to continue the cleaning task.

[0076] In this way, the cleaning equipment's cloth components can be replaced as needed, which is precise and efficient, avoiding unnecessary replacement actions, saving time and mechanical wear. Replacement is only needed when truly required, significantly improving cleaning efficiency and equipment lifespan.

[0077] Of course, the above is only an exemplary description of controlling the cleaning equipment to perform corresponding wiping component operations based on the wiping type of the target wiping component on the cleaning tray or cleaning equipment and the target wiping type required for the cleaning task. In practical applications, the cleaning equipment can also be controlled based on the obtained type information according to the implementation method of replacing the wiping component in related technologies, which is not limited here.

[0078] Optionally, the type of target cleaning cloth required for the cleaning task can be determined based on the area type of the area to be cleaned that the cleaning equipment is about to enter. Specifically, the cleaning equipment can identify the area type based on markings on an environmental map. Alternatively, the cleaning equipment can use environmental sensing devices such as LiDAR to perceive the environment of the area to be cleaned and determine the area type based on the perception. Or, the cleaning equipment can use image recognition based on images captured by a camera to identify the area type of the area to be cleaned. Of course, the cleaning equipment can also determine the area type of the area to be cleaned through any other means; there are no limitations on this.

[0079] In this way, the simple replacement of the cleaning cloth component can be intelligently combined with complex household cleaning scenarios, making the behavior of the cleaning equipment closer to human needs. It can use the matching cleaning cloth component to clean different cleaning areas, which greatly improves the intelligence level of the product and the user experience.

[0080] As an example, a matching relationship between zone types and target cloth types can be predefined. This allows for easier determination of the target cloth type based on the zone type of the area the cleaning equipment will soon enter. The matching relationship can be configured using lookup tables, configuration files in formats such as JSON or YAML. This predefined matching relationship enables the use of optimized cloth components for cleaning different zones, fundamentally preventing cross-contamination between different zones and ensuring optimal cleaning results and hygiene standards.

[0081] In this embodiment, the type of mop included (or based on) in the above matching relationship may include at least two of the following: a high-strength scraping mop, a sponge water-locking mop, and a phase change energy storage mop. The high-strength scraping mop is a mop assembly designed with a high-friction surface to enhance physical cleaning ability, suitable for cleaning rough or stubborn stains. The phase change energy storage mop is a mop assembly containing a phase change material layer in its structure. This phase change energy storage mop can absorb heat and maintain its temperature, achieving heat preservation cleaning when cleaning surfaces, simulating the effect of hot water mopping, suitable for occasions requiring hot water cleaning, such as removing grease and stubborn stains. The sponge water-locking mop is a mop assembly with water-locking and water-absorbing capabilities. The sponge water-locking mop reduces water residue during mopping, suitable for cleaning tasks requiring controlled moisture, such as cleaning wooden floors or other non-water-resistant surfaces.

[0082] By setting the above cloth types, the cleaning equipment can select the cloth component on demand for specific stains (oil stains, water stains, dust) and floor materials (wood flooring), improving the cleaning effect of the cleaning equipment on specific stains and floor materials and enhancing the user experience.

[0083] For example, in this embodiment of the application, when the cleaning device detects that the dirt level of the currently used wiping cloth component exceeds a first preset threshold or the usage time exceeds a second preset threshold, it determines that the cleaning device needs to replace the wiping cloth component, and determines that the target wiping cloth type required for the current cleaning task is an unknown type. Therefore, the cleaning device can be controlled to perform a wiping cloth replacement operation to replace the wiping cloth component with any type of wiping cloth, thereby facilitating the subsequent use of the replaced wiping cloth component to continue performing the cleaning task. This avoids prolonged use of a single wiping cloth component, or continued use of an excessively dirty wiping cloth component for cleaning tasks, improving the cleaning effect of the cleaning device on the cleaning area and extending the service life of the wiping cloth component.

[0084] Based on the above implementation method, the type of cloth component located on the cleaning tray or cleaning equipment can be easily and quickly verified simply by considering the occupancy of each predefined cloth storage slot, without requiring a complex cloth component type identification device. This allows the cleaning equipment to more accurately replace cloth components as needed based on the verification results, improving the efficiency of cloth component replacement.

[0085] Based on the same concept as the aforementioned embodiments, in this application embodiment, the verification of the type of the wiping component can also be performed by the cleaning base station. After the cleaning base station obtains the type information of the target wiping component (i.e., the wiping type of the target wiping component) located on the cleaning tray or cleaning device through verification, the cleaning base station can generate control information for controlling the cleaning device to perform the wiping component operation based on the type information and send it to the cleaning device so that the cleaning device can perform the corresponding wiping component operation based on the control information.

[0086] For example, such as Figure 5 Furthermore, this application embodiment also provides a method for verifying and interacting with the type of a cleaning base station's cleaning cloth component, wherein the cleaning base station can be the cleaning base station mentioned in the foregoing embodiments. This method may include the following steps S501-S503.

[0087] S501, Obtain the location information of the cleaning cloth.

[0088] The cloth presence information is used to indicate whether a cloth assembly is present in the cleaning tray and whether each predefined cloth storage location is occupied by a cloth assembly.

[0089] S502. Based on the cloth presence information, by analyzing the occupancy status of at least one predefined cloth storage location, the cloth type of the target cloth component located on the cleaning tray or cleaning equipment is verified to obtain the type information of the target cloth component.

[0090] The type information of the target cloth component may include the type of cloth used in the target cloth component.

[0091] S503. Based on the type information, generate control information for controlling the cleaning equipment to perform the operation of the wiping component and send it to the cleaning equipment.

[0092] It should be noted that the specific method for verifying the type of the target wiping component by combining the above S501 and S502 to obtain the type information of the target wiping component can be referred to the relevant implementation examples of the wiping component type verification method of the aforementioned cleaning equipment. The only difference between the two is the execution subject, so it will not be described in detail here.

[0093] As an example, when the cleaning base station successfully verifies and obtains the type information of the target cleaning cloth component, the cleaning base station can send the type information as control information to the cleaning device, so that the cleaning device can perform the corresponding cleaning cloth component operation based on the comparison result between the type information and the target cleaning cloth type required for the current cleaning task. For example, after receiving the type information of the target cleaning cloth component, the cleaning device can specifically perform the corresponding cleaning cloth component operation based on the relevant steps after obtaining the type information of the target cleaning cloth component in the aforementioned cleaning device cleaning cloth component replacement control method. For details, please refer to the aforementioned related implementation examples, which will not be elaborated here.

[0094] As another example, when the cleaning equipment needs to replace the cloth assembly, it can also send target cloth type information corresponding to the target cloth type required for the cleaning task to the cleaning base station. This can be done by sending a cloth replacement request containing the target cloth type information or by directly sending the target cloth type information to the cleaning base station. The cleaning base station can then receive the target cloth type information from the cleaning equipment. At this point, the cleaning base station can compare the type information of the target cloth assembly it receives with the received target cloth type information, and generate corresponding control commands based on the comparison results, sending them to the cleaning equipment to instruct it to install, replace, or ignore the cloth assembly and perform the corresponding cloth assembly operation. The specific implementation method where the cleaning base station compares the type information of the target cloth assembly with the target cloth type information to instruct the cleaning equipment to install, replace, or ignore the cloth assembly and perform the corresponding cloth assembly operation can be referred to in the aforementioned cloth assembly replacement control method for cleaning equipment, where the cleaning equipment compares the type information with the target cloth type required for the current cleaning task and controls the cleaning equipment to perform the installation, replacement, or ignoring of the cloth assembly operation based on the comparison results. This will not be elaborated upon here. The difference between the two lies in the executing entity. Here, the cleaning base station controls the cleaning equipment to perform the corresponding installation, replacement, or ignoring of the wiping cloth component by generating control commands in the same way. In the example mentioned above, the cleaning equipment itself controls itself to perform the corresponding installation, replacement, or ignoring of the wiping cloth component in the same way.

[0095] It should be understood that the cleaning base station wiping component type verification and interaction method provided in the embodiments of this application has the same concept as the cleaning equipment wiping component type verification method and replacement control method, and therefore the technical effect obtained is the same as the technical effect of the aforementioned related methods. Therefore, it will not be specifically described here.

[0096] This application also provides a control device for cleaning equipment. Figure 6 A schematic diagram of the control device for a cleaning equipment is shown, such as... Figure 6As shown, the device is installed in a cleaning equipment. The device may include a processing module configured to execute the aforementioned method for verifying the type of the cleaning equipment's cloth assembly or a method for controlling the replacement of the cleaning equipment's cloth assembly. Of course, depending on different functional divisions, in this embodiment, the processing module may also include multiple different units to execute corresponding methods through mutual cooperation. The units included in the processing module are not specifically limited here; they can be configured according to actual conditions in practical applications.

[0097] For example, a processing module may include a processor and a memory, in which a computer program is stored, by which the processor executes the computer program to implement a corresponding method.

[0098] This application also provides a cleaning device, which may include the control device of the cleaning device described above, in order to perform the aforementioned corresponding methods.

[0099] This application also provides a control device for cleaning base stations. Figure 7 A schematic diagram of the structure of a control device for a clean base station is shown, such as... Figure 7 As shown, the device is installed in a cleaning base station. The device may include a processing module and a communication module. The processing module is configured to execute the aforementioned cleaning base station's cloth component type verification and interaction method. The communication module can be used to communicate with the cleaning equipment to send control information. Of course, depending on different functional divisions, in this embodiment, the processing module may also include multiple different units to execute corresponding methods through mutual cooperation. The units included in the processing module are not specifically limited here; they can be configured according to actual conditions in practical applications.

[0100] For example, a processing module may include a processor and a memory, in which a computer program is stored, by which the processor executes the computer program to implement a corresponding method.

[0101] This application embodiment also provides a cleaning base station, which may include the control device for the cleaning base station described above, a cleaning tray, a storage compartment, and a sensing unit. The storage compartment is provided with multiple predefined cloth storage slots, each predefined cloth storage slot having a corresponding cloth type. The sensing unit can be used to detect and generate cloth presence information involved in the aforementioned method. For example, the sensing unit may include the aforementioned Hall sensor, photoelectric sensor, etc., without limitation.

[0102] This application also provides a cleaning system that may include the cleaning equipment and cleaning base station described above, in order to implement the aforementioned method.

[0103] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement one of the aforementioned related methods.

[0104] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A type verification method of a cleaning device's wipe assembly, characterized by, Applied to a system comprising a cleaning base station and the cleaning device, the cleaning base station is provided with a cleaning tray and a plurality of predefined cloth storage positions, each predefined cloth storage position is predefined with a corresponding cloth type; the method comprises: Obtaining the cloth in-place information of the cleaning base station, the cloth in-place information is used to indicate whether there is a cloth assembly in the cleaning tray, and whether each predefined cloth storage position is occupied by a cloth assembly; Based on the cloth in-place information, by analyzing the occupation state of at least one of the predefined cloth storage positions, the cloth type of the target cloth assembly located on the cleaning tray or the cleaning device is verified.

2. The method of claim 1, wherein, The cloth type of the target cloth assembly located on the cleaning tray or the cleaning device is verified by analyzing the occupation state of at least one of the predefined cloth storage positions, comprising: By analyzing the occupation state of at least one of the predefined cloth storage positions, the cloth type of the target cloth assembly located on the cleaning tray or the cleaning device is identified.

3. The method of claim 2, wherein, The cloth type of the target cloth assembly located on the cleaning tray or the cleaning device is verified by analyzing the occupation state of at least one of the predefined cloth storage positions, comprising: According to the cloth type predefined by the unoccupied predefined cloth storage position, the cloth type of the target cloth assembly is identified.

4. The method of claim 3, wherein, The cloth type of the target cloth assembly is identified as the cloth type predefined by the unoccupied predefined cloth storage position when only one predefined cloth storage position is unoccupied. The cloth type of the target cloth assembly is identified according to the cloth type predefined by the unoccupied predefined cloth storage position, comprising:

5. The method of claim 3, wherein, When there are two or more predefined cloth storage positions unoccupied, the cloth type is identified according to the following rules: First, determine whether the target cloth type required by the cleaning task is a known type, and the type belongs to the cloth type predefined by the unoccupied predefined cloth storage position; If yes, the cloth type of the target cloth assembly is identified as the target cloth type; If not, according to the preset cloth type priority, the cloth type of the target cloth assembly is identified from the cloth type predefined by the unoccupied predefined cloth storage position. The cloth type of the target cloth assembly located on the cleaning tray or the cleaning device is verified based on the cloth in-place information by analyzing the occupation state of at least one of the predefined cloth storage positions, comprising:

6. The method of claim 1, wherein, According to whether there is a cloth assembly in the cleaning tray, a first verification path or a second verification path is selected; The first verification path is used to verify the cloth type of the target cloth assembly located on the cleaning tray; The second verification path is used to verify the cloth type of the target cloth assembly installed on the cleaning device. When verifying along the first verification path, if all predefined cloth storage positions are occupied, it is determined that the verification is abnormal.

7. The method of claim 6, wherein, ​ 8. The method of claim 6, wherein, When checking along the second checking path, a cloth type is identified based on historical installation records of the cleaning device first; if the cloth type cannot be identified based on the historical installation records, the cloth type of the target cloth assembly is identified according to the occupation state of the predefined cloth storage position again; if the cloth type cannot be identified according to both the historical installation records and the occupation state, it is determined that the checking is abnormal.

9. A replacement control method of a cleaning device's wiping cloth assembly, characterized by, The method is applied to a system comprising a cleaning base station and a cleaning device, and the method comprises: performing the type checking method of the cloth assembly as claimed in any one of claims 1 to 8 to obtain type information of a target cloth assembly; controlling the cleaning device to perform a corresponding cloth assembly operation according to the obtained type information.

10. The method of claim 9, wherein, The control of the cleaning device to perform a corresponding cloth assembly operation comprises: if the checking is abnormal, controlling the cleaning device to perform a preset abnormality handling process.

11. The method according to claim 9 or 10, characterized in that, The control of the cleaning device to perform a corresponding cloth assembly operation comprises: if the checking is successful and the type information of the target cloth assembly is obtained, comparing the type information with a target cloth type required by a current cleaning task, and controlling the cleaning device to perform an installation, replacement or ignoring operation of the cloth assembly according to a comparison result.

12. The method of claim 11, wherein, The target cloth type is determined based on a region type of a region to be entered by the cleaning device.

13. The method of claim 12, wherein, The region type and the target cloth type have a predefined matching relationship, and the cloth type based on the predefined matching relationship is at least two of a strong dirt scraping cloth, a sponge water locking cloth and a phase change energy storage cloth.

14. The method of claim 9, wherein, The method further comprises: when the cleaning device detects that a dirt level of a currently used cloth assembly exceeds a first preset threshold or a use duration exceeds a second preset threshold, determining that the cleaning device needs to replace the cloth assembly, and determining that a target cloth type required by a current cleaning task is an unknown type; controlling the cleaning device to perform a cloth replacement operation to replace a cloth assembly of any cloth type.

15. A method for cleaning base station's wipe assembly type verification and interaction, characterized in that, The cleaning base station is provided with a cleaning disc and a plurality of predefined cloth storage positions, each of which is predefined with a corresponding cloth type; the method comprises: obtaining cloth in position information, which is used to indicate whether a cloth assembly exists in the cleaning disc and whether each predefined cloth storage position is occupied by a cloth assembly; based on the cloth in position information, checking a cloth type of a target cloth assembly located on the cleaning disc or the cleaning device by analyzing an occupation state of at least one predefined cloth storage position to obtain type information of the target cloth assembly; generating control information for controlling the cleaning device to perform a cloth assembly operation according to the type information and sending the control information to the cleaning device.

16. The method of claim 15, wherein, The generation of the control information for controlling the cleaning device to perform a cloth assembly operation according to the type information and the sending of the control information to the cleaning device comprise: If the verification is successful and the type information of the target cloth assembly is obtained, the type information is sent to the cleaning device as the control information, so that the cleaning device performs a cloth assembly operation based on a comparison result of the type information and a target cloth type required by a current cleaning task.

17. The method of claim 15, wherein, The method further includes: receiving target cloth type information from the cleaning device; The method further includes:

18. A control device for a cleaning apparatus, characterized in that The method further includes:

19. The control device of claim 18, wherein, The processing module includes a processor and a memory, and the memory stores a computer program, and the processor implements the method by executing the computer program.

20. A cleaning apparatus, characterized by The control device includes a processing module and a communication module.

21. A control device for cleaning a base station, characterized in that The processing module is configured to perform the method according to any one of claims 15-17. The communication module is configured to communicate with the cleaning device to send the control information. The processing module includes a processor and a memory, and the memory stores a computer program, and the processor implements the method by executing the computer program.

22. The control device of claim 21, wherein, The control device includes:

23. A cleaning base station, characterized by, The control device includes: The cleaning base station includes: The cleaning base station includes: The computer program, when executed by the processor, implements the method according to any one of claims 1-14 or any one of claims 15-17. ​ 24. A cleaning system characterized by, ​ ​ 25. A computer readable storage medium having stored thereon a computer program, characterized in that, ​

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