Cleaning base station and system, control method of cleaning base station and system and medium

Abstract

The invention relates to the technical field of cleaning, in particular to a cleaning base station and system, a control method of the cleaning base station and a medium, the cleaning base station comprises a base station body, the base station body comprises a charging bin capable of charging a self-moving device, the bottom wall of the charging bin is provided with an opening part, and when the self-moving device is located in the charging bin and is in butt joint with the charging bin for charging, the opening part is opened; a cleaning module of the self-moving equipment can extend out of the opening part; and the walking part is arranged at the bottom of the base station main body. According to the cleaning base station, under the condition that the self-moving equipment is in the charging state, if a cleaning task exists, the cleaning base station can bear the self-moving equipment to move, the cleaning module extends out of the opening part to execute the cleaning task, charging and cleaning are carried out at the same time, and the problem that the self-moving equipment is long in charging time and inconvenient to use is solved. And the user needs to wait for charging or cleaning.

Description

Technical Field

[0001] This application relates to the field of clean technology, specifically to a clean base station, system, control method, and medium thereof. Background Technology

[0002] The batteries used in related self-moving devices are subject to factors such as cost, heat dissipation, battery compartment space, and cell charging rate, resulting in a long charging time. In cases where the cleaning area is large, this may cause problems for users while waiting for charging or cleaning. Summary of the Invention

[0003] This application provides a cleaning base station, system, control method, and medium to solve the problem of long charging time for mobile devices, requiring users to wait for charging or cleaning.

[0004] To address the aforementioned technical problems, this application provides a clean base station, comprising:

[0005] The base station body includes a charging compartment for charging a self-moving device. The bottom wall of the charging compartment has an opening. When the self-moving device is located in the charging compartment and docked for charging, the cleaning module of the self-moving device can extend out from the opening.

[0006] The running section is located at the bottom of the base station body.

[0007] Optionally, the clean base station further includes:

[0008] A shielding part is connected to the base station body, and the shielding part is configured to open or close the opening.

[0009] Optionally, the clean base station further includes:

[0010] A power supply assembly is installed on the base station body, and the power supply assembly includes at least one of a self-powered system and an external power supply system.

[0011] Optionally, the self-powered system includes a fuel cell, and the clean base station further includes:

[0012] A hydrogen supply unit is connected to the hydrogen inlet of the fuel cell, and the hydrogen supply unit includes a water electrolysis hydrogen production device.

[0013] Optionally, the self-powered system includes a fuel cell, and the clean base station further includes:

[0014] A thermoelectric conversion unit, configured to convert the thermal energy generated by the fuel cell into electrical energy;

[0015] The load unit is electrically connected to the thermoelectric conversion unit.

[0016] Optionally, the cleaning base station further includes a drying assembly, and the load unit includes at least one of a heating element for heating clean water, a heating element in the drying assembly, and a heating element for heating wastewater.

[0017] Optionally, the clean base station further includes:

[0018] A drainage pipe, one end of which is connected to the outlet of the fuel cell, and the other end of which forms a drain outlet;

[0019] A first switch is connected to the drainage pipe, and the first switch is configured to connect or disconnect the water outlet and the drainage outlet.

[0020] A pH meter, configured to detect the pH value of the reactant water discharged from the outlet;

[0021] A controller is configured to control the first switch to connect the water outlet and the drain outlet when a first preset condition is met.

[0022] Optionally, the first preset condition is that the pH value of the reactant water is between 6.5 and 7.5, and the drainage volume of the drainage pipe is lower than the preset drainage volume.

[0023] Optionally, the clean base station further includes:

[0024] A clean water tank is installed on the main body of the base station;

[0025] The first pipeline connects the water outlet and the clean water tank;

[0026] A second switch is connected to the first pipeline, and the second switch is configured to connect or disconnect the water outlet and the clean water tank.

[0027] The controller is also configured to control the second switch to connect the water outlet and the clean water tank when the first preset condition is not met but the second preset condition is met.

[0028] Optionally, the second preset condition is: the water level in the clean water tank is not higher than the maximum water level.

[0029] Optionally, the clean base station further includes:

[0030] A wastewater tank is installed on the main body of the base station;

[0031] The second pipeline connects the water outlet and the sewage tank;

[0032] A third switch is connected to the second pipeline, and the third switch is configured to connect or disconnect the outlet and the sewage tank.

[0033] The controller is also configured to control the third switch to connect the water outlet and the sewage tank if neither the first preset condition nor the second preset condition is met.

[0034] Optionally, the self-powered system includes solar panels, which include:

[0035] Solar panels are connected to the exterior of the base station body;

[0036] An energy storage battery is electrically connected to the solar panel.

[0037] Optionally, the clean base station further includes:

[0038] A vacuuming device is installed on the main body of the base station;

[0039] A detection device configured to detect the type of an item to be processed.

[0040] Optionally, the detection device includes at least one of a dirt sensor and an image acquisition device.

[0041] Optionally, the vacuuming device includes a vacuum tube and a suction head, the suction head including a dust removal suction head and a mite removal suction head, one end of the vacuum tube is installed on the base station body, and either the dust removal suction head or the mite removal suction head is connected to the other end of the vacuum tube.

[0042] Optionally, the base station body includes a storage compartment, and the wall of the base station body has an outlet hole below the storage compartment along the direction of gravity. The outlet hole communicates with the storage compartment. The cleaning base station further includes:

[0043] A first gate body is connected to the base station body, and the gate body is configured to open or close the outlet hole.

[0044] Optionally, the base station body has a discharge compartment located below the storage compartment along the direction of gravity. A through hole is provided in the partition wall between the storage compartment and the discharge compartment. The outlet hole communicates with the discharge compartment. The cleaning base station further includes:

[0045] The second gate is connected to the base station body and is configured to open or close the through hole.

[0046] The plate is hinged within the discharge hopper and located below the through hole, with the outlet hole located at the free end of the plate. The plate is configured to rotate in the height direction.

[0047] This application also provides a cleaning system, characterized in that it includes:

[0048] The aforementioned clean base station;

[0049] The self-moving device includes a cleaning module, which extends from the opening when the self-moving device is located in the charging compartment and docked for charging.

[0050] This application also provides a control method for a cleaning system, characterized in that the cleaning system includes a cleaning base station and a self-moving device, the cleaning base station includes a base station body, the base station body includes a charging compartment for charging the self-moving device, the bottom wall of the charging compartment has an opening, the self-moving device includes a cleaning module, and the control method for the cleaning system includes:

[0051] When the self-moving device is located in the charging compartment and in a docked charging state, and has a cleaning task, and the battery power of the self-moving device is not higher than a second preset power level, the cleaning module of the self-moving device is controlled to extend from the opening, and the cleaning base station is controlled to carry the self-moving device to move in order to perform the cleaning task.

[0052] Optionally, the cleaning base station further includes a shielding portion, and the control method of the cleaning system further includes, before controlling the cleaning module of the self-moving device to extend from the opening:

[0053] Control the shielding part to open the opening.

[0054] Optionally, the cleaning base station further includes a power supply component, which includes a self-powered system and an external power supply system. The control method of the cleaning system further includes:

[0055] The system controls the self-powered system or the external power supply system to supply power according to the power supply mode command input by the user.

[0056] If no power supply mode command is received from the user and the power supply current of the external power supply system is detected to be non-zero, the external power supply system is controlled to supply power; if no power supply mode command is received from the user and the power supply current of the external power supply system is detected to be zero, the self-powered system is controlled to supply power.

[0057] Optionally, the self-powered system includes solar panels, and the control method for the cleaning system further includes:

[0058] If the battery power of the self-moving device is higher than the second preset power level, the cleaning base station is controlled to move to the preset energy storage location.

[0059] Optionally, the self-powered system includes a fuel cell, and the control method for the cleaning system further includes:

[0060] In the event of a user-input hot water washing instruction, the thermoelectric conversion unit is controlled to supply electrical energy to at least one of the heating elements used for heating clean water and the heating elements in the drying assembly; wherein, the cleaning base station further includes a thermoelectric conversion unit configured to convert the thermal energy generated by the fuel cell into electrical energy;

[0061] When the user inputs a cold water washing command, the thermoelectric conversion unit provides electrical energy to the heating element in the drying assembly;

[0062] In the absence of a user-inputted hot water or cold water washing instruction, the thermoelectric conversion unit supplies electrical energy to the heating element used to heat the wastewater.

[0063] Optionally, the self-powered system includes a fuel cell, and the control method for the cleaning system further includes:

[0064] The pH value of the reactant water discharged from the outlet of the fuel cell is detected;

[0065] Under the condition of meeting the first preset condition, the outlet of the fuel cell and the outlet of the drainage pipe are connected, and the cleaning base station is moved to provide water to plants and animals.

[0066] If the first preset condition is not met, but the second preset condition is met, control the connection between the water outlet and the water inlet of the clean water tank.

[0067] If neither the first preset condition nor the second preset condition is met, the outlet and the inlet of the sewage tank are connected.

[0068] Optionally, the first preset condition is that the pH value of the reactant water is between 6.5 and 7.5, and the drainage volume of the drainage pipe is lower than the preset drainage volume.

[0069] The second preset condition is that the water level in the clean water tank is not higher than the maximum water level.

[0070] Optionally, the cleaning base station further includes a vacuuming device and a detection device, and the control method of the cleaning system further includes:

[0071] When the self-moving device detects that the item to be cleaned is an item that requires auxiliary processing, it controls the cleaning base station to move to the location of the item that requires auxiliary processing;

[0072] If the cleaning base station detects that the item requiring assistance is within the limits of waste, it controls the vacuum cleaner to pick up the item. If the cleaning base station detects that the item requiring assistance is outside the limits of waste, it sends a signal to the user that assistance is required.

[0073] Optionally, the vacuuming device includes a suction head, and the control method of the cleaning system further includes:

[0074] If the type of the suction head is detected to be inconsistent with the cleaning mode command entered by the user, the user-entered cleaning mode command will not be executed, and a signal will be issued to remind the user to replace the suction head.

[0075] If the type of the suction head is detected to match the cleaning mode command input by the user, the vacuuming device is controlled to enter the corresponding cleaning mode.

[0076] Optionally, the suction head is either a mite-removing suction head or a vacuum suction head. The step of controlling the vacuuming device to enter the corresponding cleaning mode when the suction head matches the user-inputted cleaning mode command includes:

[0077] When a mite removal command is received from the user or the suction power value input by the user is not less than the preset suction power, and the suction head is detected to be the mite removal suction head, the vacuum cleaner is controlled to enter the mite removal mode.

[0078] When a user inputs a vacuuming command or the user inputs a suction power value less than the preset suction power, and the user detects that the suction head is the vacuuming head, the user controls the vacuuming device to enter the vacuuming mode.

[0079] Optionally, after controlling the vacuum cleaner to enter the mite removal mode, the method further includes:

[0080] Upon receiving a manual confirmation signal, the vacuuming device is controlled to begin mite removal.

[0081] Optionally, after controlling the vacuuming device to enter the vacuuming mode, the following steps are included:

[0082] The system detects whether the vacuum cleaner is being held by the user. If the user's hand is detected, the system controls the vacuum cleaner to start vacuuming based on the posture change signal of the vacuum cleaner. If the user's hand is not detected, the system controls the vacuum cleaner to start vacuuming after a preset time interval.

[0083] Optionally, the control method for the cleaning system further includes:

[0084] Upon receiving a feeding command, the system controls the cleaning base station to move to the feeding position, controls the first door to open the outlet hole, controls the plate to rotate to a preset tilt angle, and controls the second door to open the through hole. The base station body includes a storage compartment and a discharge compartment, with the through hole between the storage compartment and the discharge compartment. The wall of the base station body has the outlet hole, which communicates with the storage compartment. The plate is hinged within the discharge compartment and located below the through hole. The outlet hole is located at the free end of the plate, and the plate is configured to rotate in the height direction.

[0085] Upon receiving a signal indicating the end of feeding, the system controls the second door to close the through hole, controls the plate to rotate to its initial position, and controls the first door to close the outlet hole.

[0086] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned control method for the cleaning system.

[0087] The technical effects of this application are as follows:

[0088] This application integrates a walking section into the cleaning base station, which allows the cleaning base station to move and be positioned more flexibly. The bottom wall of the charging compartment has an opening. When the self-moving device is located in the charging compartment and docked for charging, if there is a cleaning task, the cleaning base station can carry the self-moving device to move. The cleaning module performs the cleaning task through the opening, realizing simultaneous charging and cleaning, and solving the problem of long charging time for self-moving devices, which requires users to wait for charging or cleaning. Attached Figure Description

[0089] Figure 1 This is a schematic diagram of a specific embodiment of the clean base station provided in this application;

[0090] Figure 2 for Figure 1 A magnified view of the location of the charging compartment when the opening in the clean base station is open;

[0091] Figure 3 for Figure 1 A structural diagram of a clean base station from the second angle;

[0092] Figure 4 for Figure 1 A magnified view of the location of the storage compartment when it is open;

[0093] Figure 5 A control flowchart of one embodiment of the control method for the cleaning system provided in this application;

[0094] Figure 6 for Figure 5 Control flowchart related to charging and cleaning;

[0095] Figure 7 The control method for the clean system provided in this application includes a control flowchart related to the electrical energy, water, and heat generated by the fuel cell.

[0096] Figure 8 The control flowchart related to the cleaning mode in the control method of the cleaning system provided in this application;

[0097] in, Figures 1-4 The reference numerals in the attached figures are as follows;

[0098] 1-Base station body; 11-Charging compartment; 111-Bottom wall; 111a-Opening; 112-Second charging spring; 1a-Outlet hole; 12-Discharge compartment; 13-Plate section;

[0099] 2-Drainage pipe; 2a-Drain outlet;

[0100] 3-Sewage discharge pipe; 3a-Sewage discharge outlet;

[0101] 4-Solar panels;

[0102] 5-Dust collection device; 51-Dust collection hose; 52-Nozzle head. Detailed Implementation

[0103] 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0104] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0105] It should be understood that the phrase "some embodiments" throughout the specification means that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "some embodiments" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0106] In this description, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art will understand the specific meaning of these terms in this document based on the specific circumstances.

[0107] The batteries used in related self-moving devices are subject to factors such as cost, heat dissipation, battery compartment space, and cell charging rate, resulting in a long charging time. In cases where the cleaning area is large, this may cause users to wait for charging or cleaning, leading to user complaints.

[0108] Based on this, this application provides a cleaning base station, including a base station body, which includes a charging compartment for charging a mobile device. The bottom wall of the charging compartment has an opening, allowing the cleaning module of the mobile device to extend out from the opening when the mobile device is in the charging compartment and docked for charging. A walking section is located at the bottom of the base station body. This application's cleaning base station integrates a walking section, which allows the cleaning base station to move and be more flexible in its positioning. The opening in the bottom wall of the charging compartment allows the cleaning base station to carry the mobile device when it is in the charging compartment and docked for charging, and if a cleaning task is required, the cleaning base station can move the mobile device while the cleaning module performs the cleaning task through the opening, enabling charging and cleaning to be performed simultaneously. This solves the problem of long charging times for mobile devices, which previously required users to wait for charging or cleaning.

[0109] To facilitate understanding of the clean base station provided in the embodiments of this application, the following is combined with... Figures 1-2 Please provide an explanation. Figure 1 This is a schematic diagram of a specific embodiment of the clean base station provided in this application; Figure 2 for Figure 1 A magnified view of the location of the charging compartment when the opening in the clean base station is open.

[0110] This application provides a clean base station, including:

[0111] The base station body 1 includes a charging compartment 11 that can charge a self-moving device. The bottom wall 111 of the charging compartment 11 has an opening 111a. When the self-moving device is located in the charging compartment 11 and docked for charging, the cleaning module of the self-moving device can extend out from the opening 111a.

[0112] The running section is located at the bottom of the base station body 1.

[0113] In this embodiment of the cleaning base station, the base station body 1 is the main structure of the entire cleaning base station, serving to support other components. The charging compartment 11 provides charging space for the self-moving device. When the self-moving device needs charging, it can enter the charging compartment 11 and dock for charging. When the self-moving device does not need charging and there is no cleaning task, it can also be parked in the charging compartment 11. That is, the charging compartment 11 also provides parking space for the self-moving device. The walking section allows the cleaning base station to move and its position to be more flexible. The walking section may include wheels set at the bottom of the base station body 1. The number of wheels is not limited, such as three wheels. The charging compartment 11 has an opening 111a on its bottom wall. When the mobile device is in the charging compartment 11 and docked for charging, its cleaning module can extend from the opening 111a. If a cleaning task is required, the user does not need to wait for charging or cleaning. The cleaning base station can carry the mobile device, and its cleaning module can perform cleaning tasks through the opening 111a. For example, the cleaning module can extend from the opening 111a and be lowered onto the floor to begin cleaning, allowing charging and cleaning to occur simultaneously. This solves the problem of long charging times for mobile devices, which previously required users to wait for charging or cleaning. When the mobile device does not need charging, it can leave the cleaning base station and complete cleaning independently.

[0114] Furthermore, for the original batteries that come with self-cleaning devices, after 500 or more cycles, the battery capacity will decay to 70% or less of its initial capacity, directly affecting the self-cleaning device's battery life. This causes the self-cleaning device to need to return to the cleaning station to continue charging before completing the cleaning task, or due to poor consistency of the battery cells, a cell may become undervoltage, triggering over-discharge protection, causing the self-cleaning device to automatically shut down when leaving the cleaning station. Unless a new battery is replaced, the self-cleaning device will not function properly. The cleaning station, however, can carry the self-cleaning device while charging and performing cleaning tasks simultaneously, keeping the battery voltage of the self-cleaning device at 14.4V or higher. This avoids undervoltage in any cell and solves the problem of short battery life due to battery capacity decay, thus extending the lifespan of the self-cleaning device and reducing maintenance costs.

[0115] To ensure that the cleaning base station can support the movement of the self-moving device while it is located in the charging compartment 11 and connected for charging, a limiting structure can be set in the charging structure of the self-moving device and the charging compartment 11. Specifically, the self-moving device is provided with a first charging spring with a first limiting component, and the charging compartment 11 is provided with a second charging spring 112 with a second limiting component. The first and second limiting components form an electromagnet structure. For example, one of the first and second limiting components may be a magnetic rod, and the other may be a magnetic hole for accommodating the magnetic rod. When the electromagnet structure is energized, the first and second limiting components limit the movement, thereby ensuring that the first and second charging springs 112 are fully engaged and preventing displacement. This keeps the cleaning base station and the self-moving device relatively fixed, ensuring reliable charging of the automatic cleaning equipment while the cleaning base station supports the movement of the self-moving device.

[0116] In some embodiments of this application, the clean base station further includes:

[0117] The shielding part is connected to the base station body 1, and the shielding part is configured to open or close the opening 111a.

[0118] As configured above, the shielding part is connected to the base station body 1 and is configured to open or close the opening 111a. When the mobile device is located in the charging compartment 11 and docked for charging, and a cleaning task is required, the shielding part can be controlled to open the opening 111a, allowing the cleaning module of the mobile device to extend and perform the cleaning task. When there is no need to perform the cleaning task while charging, the shielding part can close the opening 111a to prevent external dust from entering the charging compartment 11 and ensure the charging safety of the mobile device. If the mobile device does not need to be charged, it can leave the cleaning base station and complete the cleaning work independently. In this case, the shielding part can be controlled to close the opening 111a. Alternatively, when the mobile device is located in the charging compartment 11 and docked for charging, and there is no cleaning task, the shielding part can also be controlled to close the opening 111a.

[0119] In some embodiments of this application, the clean base station further includes:

[0120] A power supply component is installed on the base station body 1. The power supply component includes at least one of a self-powered system and an external power supply system.

[0121] Traditional cleaning base stations typically rely solely on an external power supply system, requiring an external power grid to charge self-moving devices. This limits the placement and flexibility of the cleaning base stations, and they can only charge self-moving devices when there is no power outage. In contrast, the cleaning base station of this application integrates a self-powering system, eliminating the need for a real-time external power source. The cleaning base station can be placed more flexibly in any location and can charge self-moving devices even during power outages.

[0122] To ensure the mobility of the clean base station, the external power supply system in the clean base station no longer uses a plug-in power cord, but uses a charging spring similar to that of the self-moving device to connect to the charging pile. The clean base station can use a locator light to return to the location of the charging pile, or when the user first uses the self-moving device, the user can find out the specific location of the charging pile through the terminal device's quick mapping function.

[0123] In some embodiments of this application, the self-powered system includes a fuel cell, and the clean base station further includes:

[0124] The hydrogen supply unit is connected to the hydrogen inlet of the fuel cell and includes a water electrolysis hydrogen production device.

[0125] For fuel cells, the principle of generating electricity is through the chemical reaction of hydrogen and oxygen to produce water and electricity, while generating heat in the process. The specific reaction steps are as follows:

[0126] Hydrogen gas undergoes oxidation at the anode of the fuel cell, losing electrons to become hydrogen ions. These hydrogen ions move towards the cathode through a special exchange membrane, such as a PEM (Proton Exchange Membrane). Simultaneously, oxygen gains electrons at the cathode, forming oxygen ions. Hydrogen and oxygen ions combine at the cathode to form water, releasing electrons in the process. These electrons flow through the external circuit, generating an electric current to charge the battery built into the self-moving device. The chemical reaction is as follows:

[0127] Anode: 2H₂ → 4H + +4e -

[0128] Cathode: O2 + 4H + +4e - →2H2O

[0129] Overall reaction: 2H₂ + O₂ → 2H₂O

[0130] The hydrogen source for the fuel cell can be a water electrolysis hydrogen production device or a hydrogen storage tank built into the base station body 1. The oxygen source is air. For example, the base station body 1 is equipped with a connecting pipeline that connects the oxygen inlet of the fuel cell to the external environment. An air compressor is installed on the connecting pipeline, and the air from the external environment is compressed by the air compressor before it can be used.

[0131] The aforementioned fuel cell powers the charging compartment 11, providing a continuous and stable power output. This enables the cleaning station to generate its own power without the need for an external power source, enhancing its flexibility and allowing the self-moving equipment to perform charging and cleaning simultaneously. Furthermore, the fuel cell's reaction process generates not only electricity but also reactants such as water and heat. Utilizing these reactants enriches the functionality of the cleaning station, as detailed below.

[0132] In addition, when the hydrogen supply unit adopts an electrolysis water hydrogen production device, there is no need for an external supply of hydrogen, achieving self-sufficiency in hydrogen, reducing human intervention, and improving the intelligence level of the clean base station of this application.

[0133] The structure and working principle of the water electrolysis hydrogen production device are existing technologies well known to those skilled in the art, and will not be described in detail here.

[0134] Furthermore, in some embodiments of this application, the self-powered system includes a fuel cell, and the clean base station further includes:

[0135] A thermoelectric conversion unit is configured to convert the thermal energy generated by the fuel cell into electrical energy.

[0136] The load unit, thermoelectric conversion unit and load unit are electrically connected.

[0137] As mentioned earlier, fuel cells generate heat during power generation. By introducing the thermoelectric conversion unit mentioned above, the heat energy generated by the fuel cell can be converted into electrical energy, thereby realizing the reuse of heat energy and improving the energy utilization rate of the fuel cell. The electrical energy generated by the thermoelectric conversion unit can be used to support the operation of the clean energy base station itself, reducing energy consumption.

[0138] The thermoelectric conversion unit can be implemented in various ways, specifically:

[0139] In some embodiments, the thermoelectric conversion unit includes heat dissipation fins connected to the outer surface of the fuel cell. The heat dissipation fins contain an organic working fluid. The heat generated by the fuel cell is transferred to the heat dissipation fins, which in turn transfer the heat to the organic working fluid, causing the organic working fluid to absorb heat and evaporate to form high-temperature and high-pressure steam. The steam drives the turbine to rotate, and the turbine then drives the generator to generate electricity, thereby converting the thermal energy generated by the fuel cell into electrical energy.

[0140] In other embodiments, the thermoelectric conversion unit is based on the Seebeck effect and includes a thermoelectric material (such as bismuth telluride thermoelectric semiconductor material). The hot end of the thermoelectric material contacts the outer surface of the fuel cell, while the cold end is kept at a low temperature by a heat sink or fan. The temperature difference between the two ends drives the charge carriers to move directionally within the thermoelectric material, generating a DC voltage. The output low-voltage electricity is regulated by a power regulation module and then supplies power to the load unit. The power regulation module includes a DC-DC (Direct Current-Direct Current) boost module and an MPPT (Maximum Power Point Tracking) circuit. The DC-DC boost module is used to boost the low-voltage DC output from the thermoelectric conversion unit to a standard voltage, and the MPPT circuit is used to dynamically optimize the output impedance of the thermoelectric conversion unit to maximize energy extraction efficiency.

[0141] The cleaning base station also includes a drying component, and the load unit includes at least one of a heating element for heating clean water, a heating element in the drying component, and a heating element for heating wastewater.

[0142] Heating elements for heating clean water are disposed in the flow path of the clean water, such as in some embodiments where the heating elements for heating clean water are disposed in a clean water tank; heating elements for heating wastewater are disposed in the flow path of the wastewater, such as in some embodiments where the heating elements for heating wastewater are disposed in a wastewater tank.

[0143] In some embodiments, the cleaning module of the self-moving device includes a mop, and a clean water tank can provide clean water for cleaning the mop. The mop cleaning typically has a hot water cleaning mode and a cold water cleaning mode. In the hot water cleaning mode, the clean water is heated by a heating element and the heated clean water is used to clean the mop. In the cold water cleaning mode, the clean water does not need to be heated and the mop is cleaned with cold water. After the mop is cleaned, it needs to be dried. The drying component includes a fan and a heating element. The fan blows the hot air generated by the heating element onto the mop, causing the moisture on the mop to evaporate quickly, thereby achieving drying.

[0144] In related cleaning base stations, the heating elements used for heating clean water and the heating elements in the drying assembly both require additional electrical energy. The cleaning base station of this application introduces the aforementioned thermoelectric conversion unit, which converts the heat energy generated by the fuel cell into electrical energy and supplies this electrical energy to at least one of the heating elements used for heating clean water, the heating elements in the drying assembly, and the heating elements used for heating wastewater. When a user inputs a hot water washing command, the thermoelectric conversion unit can be controlled to supply electrical energy to at least one of the heating elements used for heating clean water and the heating elements in the drying assembly, and the cleaning base station enters a hot water cleaning mode to achieve hot water washing and mop drying, reducing additional energy consumption. When a user inputs a cold water washing command, the thermoelectric conversion unit can be controlled to supply electrical energy to the heating elements in the drying assembly, and the cleaning base station enters a cold water cleaning mode to achieve cold water washing and mop drying, reducing additional energy consumption. When the user does not use the mopping function of the self-moving device, i.e., when no hot water or cold water washing command is received from the user, the thermoelectric conversion unit can be controlled to supply electrical energy to the heating elements used for heating wastewater to achieve a heat dissipation effect.

[0145] In other embodiments of this application, the clean base station is also provided with heat dissipation holes, through which excess heat generated by the fuel cell can be dissipated, further improving the heat dissipation effect.

[0146] Please continue to refer to this. Figure 1 In some embodiments of this application, the clean base station further includes:

[0147] Drainage pipe 2, one end of which is connected to the outlet of the fuel cell, and the other end forms a drain outlet 2a;

[0148] A first switch is connected to the drainage pipe 2, and the first switch is configured to connect or disconnect the outlet and the drain outlet 2a.

[0149] pH meter, configured to detect the pH value of the reactant water discharged from the outlet;

[0150] The controller is configured to control the first switch to connect the water outlet and the drain outlet 2a when a first preset condition is met.

[0151] The first preset condition is that the pH value of the reactant water is between 6.5 and 7.5, and the drainage volume of the drainage pipe 2 is lower than the preset drainage volume.

[0152] Currently, if users are away from home for extended periods due to business trips or travel, they cannot water their plants or regularly provide drinking water for their pets, forcing them to temporarily house their animals with friends, causing significant inconvenience. This application's cleaning base station fully utilizes the reactant water produced by the fuel cell. When the pH value of the reactant water is between 6.5 and 7.5, and the drainage volume of drain pipe 2 is lower than the preset drainage volume, the first switch connects the outlet and drain outlet 2a. The reactant water produced by the fuel cell can then be discharged through drain outlet 2a, facilitating watering of plants and providing drinking water for pets. This achieves automatic water supply for both plants and animals, solving the problem of users being unable to care for their pets during extended absences, avoiding the hassle of temporary care, and simplifying their lives. Through the terminal device's rapid mapping function and the user's assistance in confirming the location of their home, the cleaning base station can more accurately determine the placement of plants and the location of pet drinking water.

[0153] The pH value of the reactant water is between 6.5 and 7.5, indicating that the reactant water is close to neutral, neither too acidic nor too alkaline, and is suitable for the growth of most green plants and drinking by animals.

[0154] The aforementioned preset drainage capacity can be set according to the total water requirements of the animals and plants in the home. For example, if the water requirement for animals is 500 mL / day and the water requirement for plants is 1000 mL / day, the total water requirement can be calculated based on the number of animals and plants in the home. When the drainage capacity of drain pipe 2 is not less than the total water requirement, it indicates that there is no need to continue supplying water to the animals and plants. Alternatively, if the pH value of the reactant water is not between 6.5 and 7.5, it indicates that the current reactant water is not suitable for supplying to the animals and plants. In this case, the first switch will be controlled to disconnect the outlet and drain outlet 2a.

[0155] The first switch can be a valve structure for easy control.

[0156] Furthermore, in some embodiments of this application, the clean base station further includes:

[0157] A clean water tank is installed on the main body of the base station 1;

[0158] The first pipeline connects the water outlet and the clean water tank;

[0159] The second switch is connected to the first pipeline and is configured to connect or disconnect the outlet and the clean water tank.

[0160] The controller is also configured to control the second switch to connect the water outlet and the clean water tank when the first preset condition is not met but the second preset condition is met.

[0161] The first preset condition is that the pH value of the reactant water is not between 6.5 and 7.5, or the drainage volume of drain pipe 2 is not lower than the preset drainage volume. The second preset condition is that the water level in the clear water tank is not higher than the maximum water level.

[0162] Related technologies for cleaning base stations without automatic water supply and drainage require users to manually add clean water; while those with automatic water supply and drainage can only be placed in fixed areas such as restrooms for water changes, making them inflexible. However, the cleaning base station of this application, when the first preset condition is not met but the second preset condition is met, will have its controller activate a second switch to connect the water outlet and the clean water tank, directly replenishing the clean water tank with the reactant water from the fuel cell. This saves time on water replenishment, reduces manual intervention, and improves the automation and intelligence level of the cleaning base station of this application.

[0163] If the second preset condition is not met, that is, the water level in the clean water tank is higher than the maximum water level, it indicates that the clean water tank is full and water cannot be added to the clean water tank. The second switch will then disconnect the water outlet from the clean water tank.

[0164] The second switch can be a valve structure for easy control.

[0165] Furthermore, in some embodiments of this application, the clean base station further includes:

[0166] The sewage tank is installed on the main body of the base station 1;

[0167] The second pipeline connects the water outlet and the sewage tank;

[0168] The third switch is connected to the second pipeline and is configured to connect or disconnect the outlet and the sewage tank.

[0169] The controller is also configured to control the third switch to connect the outlet and the inlet of the sewage tank if neither the first preset condition nor the second preset condition is met.

[0170] If neither the first preset condition nor the second preset condition is met, i.e., neither water supply to plants and animals nor water replenishment to the clean water tank is required, then the third switch is opened to connect the outlet and the inlet of the wastewater tank, discharging the reactant water from the fuel cell into the wastewater tank.

[0171] The third switch can be a valve structure for easy control.

[0172] Depend on Figure 1 As can be seen, the clean base station in this application embodiment also includes:

[0173] Wastewater discharge pipe 3, one end of which is connected to the wastewater outlet of the wastewater tank, and the other end forms a wastewater discharge port 3a;

[0174] The fourth switch is connected to the sewage discharge pipe 3 and is configured to connect or disconnect the sewage outlet and the sewage discharge port 3a.

[0175] Existing technologies for cleaning base stations without automatic water supply and drainage require users to manually empty the wastewater. Some wastewater tanks contain deodorization modules, which may detach during emptying, making manual retrieval inconvenient and unhygienic. While some technologies do offer automatic water supply and drainage, these base stations are fixed in areas like restrooms for water changes, limiting their flexibility. The cleaning base station of this application, however, can move synchronously with a self-moving device. Therefore, when wastewater needs to be drained, both the base station and the self-moving device can move together to the restroom, opening the fourth switch to connect the wastewater outlet and discharge port 3a, thus draining the wastewater without manual emptying. This reduces the possibility of the deodorization module detaching and solves the inconvenience and unhygienic problem of manually retrieving a detached module. After the wastewater is drained, the cleaning base station and the self-moving device can move together to perform cleaning tasks, or the self-moving device can perform the cleaning task independently, making the base station's location more flexible.

[0176] The fourth switch can be a valve structure for easy control.

[0177] In other embodiments of this application, the self-powered system includes solar panels, which include:

[0178] Solar panel 4 is connected to the outside of base station body 1;

[0179] The energy storage battery and the solar panel are electrically connected.

[0180] As set up above, the cleaning base station in this embodiment of the application introduces a solar panel 4 and an energy storage battery. The solar panel 4 can directly convert solar energy into electrical energy and store it in the energy storage battery to power the charging compartment 11. This enables the cleaning base station to generate its own power without the need for external power supply, improving the flexibility of the cleaning base station and facilitating the movement of the cleaning base station carrying the self-moving equipment. This allows the self-moving equipment to be charged and cleaned simultaneously.

[0181] When the self-moving device has sufficient battery power and the cleaning base station does not need to support the movement of the self-moving device, the cleaning base station can remain in a location with sufficient sunlight to supplement solar energy and convert solar energy into electrical energy for storage and backup.

[0182] In other embodiments of this application, the self-powered system may also include a fuel cell and a solar panel, both of which can power the charging compartment 11.

[0183] Depend on Figure 1 As can be seen, in this embodiment of the application, the solar panel 4 is connected to the top of the base station body 1, so that the solar panel 4 can receive as much sunlight as possible and improve the photoelectric conversion efficiency.

[0184] Please continue to refer to this. Figure 1 In other embodiments of this application, the clean base station further includes:

[0185] Dust collection device 5 is installed on the base station body 1;

[0186] The detection equipment is configured to detect the type of items to be cleaned.

[0187] For self-cleaning devices, the battery, prioritizing battery life, cannot provide a large peak discharge current for the fan. Therefore, self-cleaning devices have limited suction power, and hair tangling in the brush head is also a major challenge. In some embodiments of this application, the vacuuming device 5 is integrated into the cleaning base station. Items that cannot be cleaned by the self-moving device can be cleaned by the vacuuming device 5. The detection device is configured to detect the type of item to be cleaned, including whether the item is garbage and whether it is an oversized item. Oversized items are those that exceed the processing capacity of the vacuuming device 5. If the size of the item to be cleaned is larger than the size of the suction port of the vacuuming device 5, then the item is an oversized item and needs to be cleaned manually by the user. If the item to be cleaned is not garbage, the vacuuming device 5 will not process it, and the user needs to clean it manually to avoid sucking in non-garbage items as much as possible. If the item to be cleaned is hair from the user or pet, which is garbage that does not exceed the processing capacity of the vacuuming device 5, then the vacuuming device 5 can suck it up, avoiding the problem of hair getting tangled in the brush head when handled by the self-moving device.

[0188] Therefore, the detection device in this embodiment can accurately identify the types of items that the vacuum cleaner 5 can clean, ensuring the cleaning effect while preventing the cleaning base station from cleaning items beyond its capacity, thus extending the service life of the cleaning base station.

[0189] The detection equipment includes at least one of a dirt sensor and an image acquisition device.

[0190] A dirt sensor is a sensor that detects the degree of dirtiness. The working principle of a dirt sensor can be based on various technologies, including but not limited to optical detection, capacitive detection, or pressure change detection. For example, optical detection determines the cleanliness of the item to be cleaned by emitting light and detecting the amount of reflected or absorbed light, thereby determining whether the item is garbage.

[0191] Image acquisition devices can intuitively acquire images of items to be cleaned, thereby more accurately determining the type, size, etc. of the items to be cleaned. Image acquisition devices may include RGB (Red Green Blue) cameras, etc.

[0192] The dust collection device 5 specifically includes a fan body, a dust collection section, a dust collection pipe 51, and a suction head 52. The fan body is installed on the base station body 1 and is responsible for generating suction. The dust collection section is connected to the fan body and is used to collect the sucked-in garbage. One end of the dust collection pipe 51 is installed on the base station body 1 and connected to the dust collection section.

[0193] The nozzle 52 includes a mite removal nozzle and a vacuum cleaner nozzle. The mite removal nozzle is suitable for the mite removal mode of the vacuum cleaner 5, and the vacuum cleaner nozzle is suitable for the vacuuming mode of the vacuum cleaner 5. Either the dust removal nozzle or the mite removal nozzle is connected to the other end of the vacuum hose 51.

[0194] In addition, the mite-removal nozzle can also integrate functions such as ultraviolet disinfection, mite removal, and vacuuming. Among them, ultraviolet disinfection can be achieved through a UV (Ultraviolet) lamp.

[0195] Please refer to Figure 3 and Figure 4 , Figure 3 for Figure 1 A structural diagram of a clean base station from the second angle; Figure 4 for Figure 1 A magnified view of the location of the storage compartment when it is open.

[0196] In some embodiments of this application, the base station body 1 includes a storage compartment, and the wall of the base station body 1 has an outlet hole 1a below the storage compartment along the direction of gravity. The outlet hole 1a communicates with the storage compartment. The cleaning base station also includes:

[0197] The first gate is connected to the base station body 1 and is configured to open or close the exit hole 1a.

[0198] Currently, if users are away from home for extended periods due to business trips or travel, they cannot regularly feed their pets and must board them with friends, causing significant inconvenience. Therefore, this application embodiment includes a storage compartment in the base station body 1 for storing food. The base station body 1 has an outlet hole 1a communicating with the storage compartment on its wall below the storage compartment along the direction of gravity. A first door is configured to open or close the outlet hole 1a. Thus, when feeding the pet, the base station can be moved to the feeding position, i.e., close to the pet's food bowl, and then the first door can be opened to allow some food from the storage compartment to be discharged through the outlet hole 1a under gravity and fall into the pet's food bowl. After feeding, the first door can be closed to close the outlet hole 1a, solving the problem of not being able to feed pets when the user's home is unoccupied for extended periods, or the problem of pets accumulating food due to excessive feeding by the owner. The feeding position can be determined during rapid mapping.

[0199] Furthermore, in some embodiments, the base station body 1 has a discharge chamber 12 disposed below the storage chamber along the direction of gravity, and the partition wall between the storage chamber and the discharge chamber 12 is provided with a through hole, and the outlet hole 1a is connected to the discharge chamber 12. The cleaning base station also includes:

[0200] The second gate is connected to the base station body 1 and is configured to open or close a through hole.

[0201] Plate portion 13 is hinged within discharge hopper 12 and located below through hole, with outlet hole 1a located at the free end of plate portion 13. Plate portion 13 is configured to rotate in the height direction.

[0202] The end furthest from the hinged end of the plate portion 13 is defined as the free end.

[0203] As set up above, when it is necessary to feed the animals, the cleaning base station can be controlled to move to the feeding position. First, the first door is controlled to open the outlet hole 1a, and then the plate 13 is controlled to rotate to a suitable angle, that is, from the hinge end of the plate 13 to the free end of the plate 13, the plate 13 tilts downward. Then, the second door is controlled to open the through hole, and the food in the storage compartment can fall onto the plate 13 under the action of gravity and be placed into the animal feeding bowl along the plate 13. After feeding, the second door can be controlled to close the through hole, and the first door can close the outlet hole 1a.

[0204] As described above, the plate 13 can act as a buffer and guide the food, allowing the food to be slowly placed into the animal's feeding bowl along the plate 13, minimizing the possibility of the food falling elsewhere.

[0205] This application also provides a cleaning system, including:

[0206] The aforementioned clean base station;

[0207] The self-moving device, including the cleaning module, can extend from the opening when the self-moving device is located in the charging compartment 11 and docked for charging.

[0208] The cleaning system of this application includes the aforementioned cleaning base station, and therefore has the same technical effects as the aforementioned cleaning base station, which will not be repeated here.

[0209] The self-moving device can be a robot vacuum cleaner, a robot vacuum and mop combo, or other self-moving devices that meet the requirements.

[0210] Please refer to Figures 4-8 , Figure 4 for Figure 1 A magnified view of the location of the storage compartment when it is open; Figure 5 A control flowchart of one embodiment of the control method for the cleaning system provided in this application; Figure 6 for Figure 5 Control flowchart related to charging and cleaning; Figure 7 The control method for the clean system provided in this application includes a control flowchart related to the electrical energy, water, and heat generated by the fuel cell. Figure 8 The control flowchart related to the cleaning mode in the control method of the cleaning system provided in this application.

[0211] This application embodiment also provides a control method for a cleaning system. The cleaning system includes a cleaning base station and a self-moving device. The cleaning base station includes a base station body 1, and the base station body 1 includes a charging compartment 11 for charging the self-moving device. The bottom wall 111 of the charging compartment 11 has an opening 111a. The self-moving device includes a cleaning module. The control method for the cleaning system includes:

[0212] When the self-moving device is located in the charging compartment 11 and is in a docked charging state, has a cleaning task, and the battery power of the self-moving device is not higher than the second preset power, the cleaning module of the self-moving device is controlled to extend out from the opening 111a, and the cleaning base station is controlled to carry the self-moving device to move in order to perform the cleaning task.

[0213] The control method of the cleaning system in this application embodiment, when the self-moving device is located in the charging compartment 11 and in a docked charging state, has a cleaning task, and the battery power of the self-moving device is not higher than a second preset power level, controls the cleaning module of the self-moving device to extend from the opening 111a, and controls the cleaning base station to move the self-moving device to perform the cleaning task. This allows charging and cleaning to be performed simultaneously, solving the problem of long charging time for self-moving devices and the need for users to wait for charging or cleaning. Moreover, the control method of the cleaning system in this application can achieve simultaneous charging and cleaning, keeping the battery voltage of the self-moving device at 14.4V or above. This avoids undervoltage of any battery cell and solves the problem of short battery life due to battery capacity decay, which necessitates battery replacement, thus extending the service life of the self-moving device and reducing its maintenance costs.

[0214] When the battery power of the self-moving device is higher than the second preset power level and there is a cleaning task, the self-moving device can leave the cleaning base station and complete the cleaning work independently.

[0215] When the battery power of the self-moving device is not higher than the first preset power, the self-moving device is controlled to enter the charging compartment 11 and dock for charging, regardless of whether the self-moving device is in the cleaning process. If the self-moving device is in the cleaning process, after the self-moving device enters the charging compartment 11 and docks for charging, the cleaning module of the self-moving device is controlled to extend from the opening 111a, and the cleaning base station is controlled to carry the self-moving device to continue to perform the cleaning task.

[0216] The specific values ​​of the first and second preset battery levels can be set by considering factors such as the area of ​​the cleaning area and the battery health of the self-moving device. For example, the first preset battery level could be 15% and the second preset battery level could be 90%. Alternatively, the self-moving device can dynamically adjust the specific values ​​of the first and second preset battery levels through self-learning to maximize the working efficiency of the self-moving device.

[0217] The cleaning tasks of the self-moving device include timed cleaning tasks preset by the cleaning system, as well as cleaning tasks input by the user. That is, the self-moving device can perform timed cleaning tasks or random cleaning tasks.

[0218] Furthermore, cleaning tasks that obtain user input include:

[0219] Obtain the cleaning task input by the user via function keys;

[0220] Alternatively, it can retrieve cleaning tasks input by the user via voice.

[0221] Alternatively, it can obtain cleaning tasks input by the user through a terminal device associated with the cleaning equipment.

[0222] As set up above, the control method of the cleaning system in this application supports multiple input methods for cleaning tasks. Users can issue cleaning tasks through function buttons, voice control, or terminal devices, adapting to different user preferences and usage scenarios, and improving user experience and ease of operation.

[0223] In some embodiments of this application, the cleaning base station further includes a shielding portion, and the control method of the cleaning system further includes, before controlling the cleaning module of the self-moving device to extend out of the opening:

[0224] The control shield opens the opening 111a.

[0225] As set up above, when the self-moving device is located in the charging compartment 11 and in a docked charging state, has a cleaning task, and the battery power of the self-moving device is not higher than the second preset power level, the shielding part can be controlled to open the opening 111a, allowing the cleaning module of the self-moving device to extend and perform the cleaning task, thus achieving cleaning while charging; when cleaning while charging is not required, the shielding part can close the opening 111a to prevent external dust from entering the charging compartment 11 and ensure the charging safety of the self-moving device.

[0226] In some embodiments of this application, the cleaning base station includes a power supply component, which includes a self-powered system and an external power supply system. The control method of the cleaning system further includes:

[0227] Controls the power supply system or external power supply system to supply power according to the power supply mode command input by the user;

[0228] If no power supply mode command is received from the user and the power supply current of the external power supply system is detected to be non-zero, control the external power supply system to supply power; if no power supply mode command is received from the user and the power supply current of the external power supply system is detected to be zero, control the self-powered system to supply power.

[0229] As set above, the control method of the cleaning system in this application prioritizes selecting the power supply mode based on the power supply mode command input by the user. If the user inputs an external power supply mode command, the external power supply system is controlled to supply power. If the user inputs a self-powered mode command, the self-powered system is controlled to supply power. If no power supply mode command input by the user is obtained, the external power supply system is prioritized for supply when the power supply current of the external power supply system is detected to be non-zero. When the external power supply system cannot be used due to a power outage, the self-powered system is selected for supply.

[0230] The process of obtaining the power supply mode command input by the user includes:

[0231] Obtain the power supply mode command input by the user via function keys;

[0232] Obtain the power supply mode command input by the user via voice;

[0233] Alternatively, it can obtain power mode commands input by the user through a terminal device associated with the cleaning system.

[0234] As set up above, the control method of the cleaning system in this application supports multiple input methods. Users can issue power supply mode commands through function keys, voice control, or terminal devices to adapt to different user preferences and usage scenarios, thereby improving user experience and ease of operation.

[0235] Furthermore, in some embodiments of this application, the self-powered system includes solar panels, and the control method of the cleaning system in embodiments of this application further includes:

[0236] If the battery power of the self-moving device is higher than the second preset power level, control the cleaning base station to move to the preset energy storage location.

[0237] As set above, if the battery power of the self-moving device is higher than the second preset power, and the self-moving device has a cleaning task, the self-moving device can leave the cleaning base station and perform the cleaning task independently. If the self-moving device does not have a cleaning task, the self-moving device can be placed inside the charging compartment 11 and moved to the preset energy storage location along with the cleaning base station.

[0238] The preset energy storage location mentioned here is a location with abundant sunlight. By controlling the cleaning base station to move to the preset energy storage location, the cleaning base station can supplement solar energy and convert it into electrical energy for storage. When users first use the cleaning system to create environmental maps, they can select at least one sunny area as the preset energy storage location.

[0239] Furthermore, in some embodiments of this application, the control method for the cleaning system further includes:

[0240] If the battery power of the self-moving device is higher than the second preset power level, control the cleaning base station to move to the initial position.

[0241] As set up above, if the battery power of the self-moving device is higher than the second preset power level, and the self-moving device has a cleaning task, the self-moving device can leave the cleaning base station and perform the cleaning task independently. If the self-moving device does not have a cleaning task, the self-moving device can be placed inside the charging compartment 11 and moved to the initial position together with the cleaning base station.

[0242] The initial location mentioned here refers to the location of the charging pile at the cleaning base station. The cleaning base station can use a charging pile locator to return to the initial location, or when the user first starts using the cleaning system, the specific location of the charging pile can be determined through the quick mapping function of the terminal device.

[0243] In some embodiments of this application, the self-powered system includes a fuel cell, and the control method of the cleaning system in embodiments of this application further includes:

[0244] In the event of a user-input hot water washing instruction, the thermoelectric conversion unit is controlled to supply electrical energy to at least one of the heating elements used for heating clean water and the heating elements in the drying assembly; wherein, the cleaning base station also includes a thermoelectric conversion unit configured to convert the thermal energy generated by the fuel cell into electrical energy;

[0245] When the user inputs a cold water washing command, the thermoelectric conversion unit supplies electrical energy to the heating element in the drying assembly;

[0246] In the absence of a user-input instruction for washing fabric with hot or cold water, the thermoelectric conversion unit supplies electrical energy to the heating element used to heat the wastewater.

[0247] In some embodiments, the cleaning module of the self-moving device includes a mop, and a clean water tank can provide clean water for cleaning the mop. The mop cleaning has a hot water cleaning mode, which heats the clean water using a heating element and then uses the heated water to clean the mop. After the mop is cleaned, it needs to be dried. The drying component includes a fan and a heating element. The fan blows the hot air generated by the heating element onto the mop, causing the moisture on the mop to evaporate quickly, thereby achieving drying.

[0248] In related cleaning base stations, the heating elements used to heat clean water and the heating elements in the drying assembly both require additional electrical energy. However, the self-powered system of this application includes a fuel cell, and the cleaning base station also includes a thermoelectric conversion unit. The thermoelectric conversion unit is configured to convert the heat energy generated by the fuel cell into electrical energy. In the case of a user-input hot water washing command, the control method of the cleaning system in this application can control the thermoelectric conversion unit to provide electrical energy to at least one of the heating elements used to heat clean water and the heating elements in the drying assembly. The cleaning base station then enters a hot water cleaning mode, realizing hot water washing and mop drying, thus reducing additional energy consumption.

[0249] The mop cleaning system features a cold water cleaning mode, which eliminates the need for heating the water by washing the mop with cold water. After washing, the mop needs to be dried. The drying assembly includes a fan and a heating element. The fan blows hot air generated by the heating element onto the mop, causing the moisture on the mop to evaporate quickly, thus achieving drying. In related cleaning base stations, the heating element in the drying assembly consumes additional electrical energy. However, the control method of the cleaning system in this application, upon receiving a user's input command for cold water mop washing, controls the thermoelectric conversion unit to supply electrical energy to the heating element in the drying assembly, enabling the cleaning base station to enter cold water cleaning mode, achieving both cold water washing and mop drying, thus reducing additional energy consumption.

[0250] When the user does not use the mopping function of the self-moving device, that is, when no hot water or cold water washing command is received from the user, the thermoelectric conversion unit can be controlled to provide electrical energy to the heating element in the sewage tank to heat the sewage and achieve a heat dissipation effect.

[0251] The process of obtaining user input for hot or cold water cloth washing instructions also includes three methods:

[0252] Get the user's hot water wash command or cold water wash command input via function keys;

[0253] Get the user's voice input command for washing the cloth with hot water or cold water;

[0254] Alternatively, it can acquire hot water or cold water washing instructions input by the user through a terminal device associated with the cleaning system.

[0255] As set up above, the control method of the cleaning system in this application supports multiple input methods. Users can issue hot water or cold water washing instructions through function buttons, voice control, or terminal devices to adapt to different user preferences and usage scenarios, thereby improving user experience and ease of operation.

[0256] Furthermore, in some embodiments of this application, the self-powered system includes a fuel cell, and the control method for the cleaning system further includes:

[0257] Detect the pH value of the reactant water discharged from the outlet of the fuel cell;

[0258] Under the condition that the first preset condition is met, the outlet of the fuel cell and the outlet 2a of the drainage pipe 2 are connected, and the cleaning base station is moved to provide water to plants and animals.

[0259] If the first preset condition is not met, but the second preset condition is met, control the connection between the water outlet and the water inlet of the clean water tank.

[0260] If neither the first nor the second preset condition is met, the outlet and the inlet of the sewage tank are connected.

[0261] Currently, if users are away from home for extended periods due to business trips or travel, they cannot water their plants or regularly provide drinking water for their pets, forcing them to temporarily house their animals and plants with friends, causing significant inconvenience. However, the cleaning system control method of this application fully utilizes the reactant water produced by the fuel cell. Under certain preset conditions, it connects the fuel cell outlet to the drain outlet 2a of the drain pipe 2, controlling the movement of the cleaning base station to supply water to the plants and animals. This achieves automatic water supply for both plants and pets, solving the problem of users being unable to care for their plants during long absences, avoiding the hassle of temporary care, and making life more convenient. Through the terminal device's rapid mapping function and the user's assistance in confirming the location of their home, the cleaning base station can more accurately determine the placement of plants and the location of pet drinking water.

[0262] Related technologies for cleaning base stations without automatic water supply and drainage require users to manually add clean water; while those with automatic water supply and drainage can only be placed in fixed areas such as restrooms for water changes, making them inflexible. However, the control method of the cleaning system in this application, when a first preset condition is not met but a second preset condition is met, controls the connection between the water outlet and the water inlet of the clean water tank, directly replenishing the clean water tank with the reactant water from the fuel cell. This saves time on water replenishment, reduces manual intervention, and improves the automation and intelligence level of the cleaning base station in this application.

[0263] If neither the first preset condition nor the second preset condition is met, i.e., neither water supply to plants and animals nor water replenishment to the clean water tank is required, then the water outlet and the inlet of the wastewater tank are connected to discharge the reactant water from the fuel cell into the wastewater tank.

[0264] Specifically, the first preset condition is that the pH value of the reactant water is between 6.5 and 7.5, and the drainage volume of the drainage pipe 2 is lower than the preset drainage volume.

[0265] The pH value of the reactant water is between 6.5 and 7.5, indicating that the reactant water is close to neutral, neither too acidic nor too alkaline, making it suitable for the growth of most green plants and for drinking by animals.

[0266] The preset drainage volume can be set according to the total water requirements of the animals and plants in the home. For example, if the water requirement for animals is 500 mL / day and the water requirement for plants is 1000 mL / day, the total water requirement can be calculated based on the number of animals and plants in the home. When the drainage volume of drain pipe 2 is not less than the total water requirement, it indicates that there is no need to continue supplying water to the animals and plants. Alternatively, if the pH value of the reactant water is not between 6.5 and 7.5, it indicates that the current reactant water is not suitable for supplying the animals and plants, and the outlet and drain outlet 2a will be disconnected.

[0267] The second preset condition is: the water level in the clean water tank is not higher than the maximum water level.

[0268] If the water level in the clean water tank is higher than the maximum water level, it indicates that the clean water tank is full and water should not be added to the tank. The outlet and the inlet of the clean water tank should be disconnected.

[0269] Furthermore, in some embodiments of this application, the cleaning base station further includes a dust collection device 5 and a detection device, and the control method of the cleaning system further includes:

[0270] When the mobile device detects that the item to be cleaned is an item that requires auxiliary processing, it controls the cleaning base station to move to the location of the item that requires auxiliary processing.

[0271] If the cleaning base station detects that the item requiring assistance is within the limits of waste, it controls the vacuuming device to pick up the item. If the cleaning base station detects that the item requiring assistance is beyond the limits, it sends a signal to the user that assistance is needed.

[0272] The items requiring auxiliary processing are those that the self-moving device cannot handle, such as hair that may get tangled in the brush head, oversized items, or items that are too heavy, including both trash and non-trash items. The self-moving device has a detection device for detecting the items to be cleaned. The detection device includes an image acquisition device, such as an RGB (Red, Green, Blue) camera. The RGB camera can acquire image information of the items to be cleaned. The acquired image information of the items to be cleaned is compared with pre-stored image information of items requiring auxiliary processing. If the acquired image information of the items to be cleaned matches the pre-stored image information of items requiring auxiliary processing, then the items to be cleaned are confirmed to be items requiring auxiliary processing.

[0273] Among them, oversized items are items that exceed the processing capacity of the vacuum cleaner 5. This mainly refers to items whose size exceeds the size of the vacuum cleaner's suction port. Oversized items can be garbage or non-garbage items.

[0274] Among them, the waste that does not exceed the limit is the waste that does not exceed the processing capacity of the vacuum cleaner 5. This mainly refers to the waste whose size does not exceed the size of the vacuum nozzle of the vacuum cleaner 5. The waste that does not exceed the limit can only be waste and does not include non-waste items.

[0275] The control method of the cleaning system in this application embodiment first controls the self-moving device to detect the type of the item to be cleaned when performing a cleaning task. If it is determined that the item to be cleaned is an item requiring auxiliary processing, the cleaning base station is controlled to move to the location of the item requiring auxiliary processing for processing. Then, the cleaning base station detects the type of the item requiring auxiliary processing to determine whether it is garbage and whether it is an oversized item. Only if the item requiring auxiliary processing does not exceed the processing capacity of the vacuum cleaner 5 and is garbage, the vacuum cleaner 5 is controlled to suck up the item requiring auxiliary processing, minimizing the possibility of the vacuum cleaner 5 sucking up non-garbage items. If the items requiring auxiliary processing are hair that may get tangled in the brush head, the vacuuming device 5 of the cleaning base station will handle them. The vacuuming device 5 of the cleaning base station has advantages such as a large discharge current, which can effectively pick up these hairs and avoid the problem of hair getting tangled in the brush head when cleaning hair by the self-moving equipment. If the items requiring auxiliary processing exceed the processing capacity of the vacuuming device 5, regardless of whether the items are garbage or not, a signal will be sent to the user requiring auxiliary processing, waiting for the user to handle them, so as to avoid damage to the cleaning system caused by handling items beyond its capacity and extend the service life of the cleaning system.

[0276] Among these methods, the system can send signals to users that require assistance. This can be done through the voice broadcast function of a mobile device, or by displaying a message on a terminal device connected to the cleaning system that requires assistance. This reminds users to handle these items in a timely manner, thereby improving cleaning efficiency.

[0277] In some embodiments of this application, the vacuuming device 5 includes a suction head 52, and the control method of the cleaning system further includes:

[0278] If the type of vacuum cleaner 52 is not consistent with the cleaning mode command entered by the user, the user-entered cleaning mode command will not be executed, and a signal will be issued to remind the user to replace the vacuum cleaner 52.

[0279] If the type of vacuum cleaner 52 is detected to match the cleaning mode command input by the user, the vacuum cleaner 5 is controlled to enter the corresponding cleaning mode.

[0280] As set above, the control method of the cleaning system in this application embodiment will refuse to execute and issue a reminder to replace the vacuum cleaner 52 if it detects that the type of vacuum cleaner 52 does not match the cleaning mode command input by the user. This effectively avoids the problem of poor cleaning effect caused by the user using the wrong vacuum cleaner 52. Moreover, the user does not need to judge the matching relationship between the vacuum cleaner 52 and the cleaning mode, making the operation more convenient and user-friendly.

[0281] The vacuum cleaner 5 has a trigger signal line that corresponds to the vacuum cleaner 52. When the vacuum cleaner 52 is installed, the vacuum cleaner 52 will trigger the specific trigger signal line, thereby transmitting a specific installation signal. The type of vacuum cleaner 52 can be determined by the installation signal.

[0282] The process of obtaining user-inputted cleaning mode commands also includes three methods:

[0283] Obtain the cleaning mode command input by the user via function keys;

[0284] Obtain cleaning mode commands input by the user via voice;

[0285] Alternatively, it can acquire cleaning mode commands input by the user through a terminal device associated with the cleaning system.

[0286] As set up above, the control method of the cleaning system in this application supports multiple input methods. Users can issue cleaning mode commands through function buttons, voice control, or terminal devices to adapt to different user preferences and usage scenarios, thereby improving user experience and ease of operation.

[0287] Furthermore, in some embodiments of this application, the vacuum cleaner 52 includes either a mite-removing nozzle or a vacuum cleaner nozzle. When the vacuum cleaner 52 is detected to match a user-inputted cleaning mode command, the vacuum cleaner device 5 is controlled to enter the corresponding cleaning mode, including:

[0288] When a mite removal command is received from the user or the suction power value input by the user is not less than the preset suction power, and when the vacuum cleaner 52 is detected as a mite removal head, the vacuum cleaner device 5 is controlled to enter the mite removal mode.

[0289] When a user inputs a vacuuming command or the user inputs a suction power value that is less than the preset suction power, and when the vacuum cleaner 52 is detected as a vacuum cleaner head, the vacuum cleaner device 5 is controlled to enter the vacuuming mode.

[0290] As set above, this application has two input methods for cleaning mode commands: users can input mite removal commands or vacuuming commands, or they can set specific suction power values. For example, when the preset suction power is 15 kPa, if the user inputs a suction power value of not less than 15 kPa, it means that the user has selected the mite removal mode; if the user inputs a suction power value of less than 15 kPa, it means that the user has selected the vacuuming mode.

[0291] At the same time, the vacuum cleaner 5 is only controlled to enter the mite removal mode when the mite removal nozzle and the mite removal mode command are matched, and the vacuum cleaner 5 is only controlled to enter the vacuuming mode when the vacuum cleaner nozzle and the vacuuming mode command are matched, which effectively avoids the problem of poor cleaning effect caused by the user using the wrong vacuum cleaner 52.

[0292] In this embodiment of the application, the control method of the cleaning system after controlling the vacuum cleaner 5 to enter the mite removal mode further includes:

[0293] After receiving a manual confirmation signal, control the vacuum cleaner 5 to start removing mites.

[0294] When a function button in the vacuum cleaner 5 is detected to be pressed, a manual confirmation signal is obtained to minimize the possibility of misoperation.

[0295] In this embodiment of the application, the control method of the cleaning system after controlling the vacuuming device 5 to enter the vacuuming mode further includes:

[0296] The system detects whether the vacuum cleaner 5 is being held by the user. If the vacuum cleaner 5 is being held by the user, the system controls the vacuum cleaner 5 to start vacuuming based on the posture change signal of the vacuum cleaner 5. If the vacuum cleaner 5 is not being held by the user, the system controls the vacuum cleaner 5 to start vacuuming after a preset time interval.

[0297] Since the posture of the vacuum cleaner 5 changes when it is held by the user and when it is in its natural state, the user can determine whether the vacuum cleaner 5 is being held by the user by detecting its posture. If the posture of the vacuum cleaner 5 is the same as its natural state, the user can determine that the vacuum cleaner 5 is not being held by the user. If the posture of the vacuum cleaner 5 is different from its natural state, the user can determine that the vacuum cleaner 5 is being held by the user.

[0298] When the vacuum cleaner 5 is determined to be held by the user, its posture is continuously monitored. If the posture of the vacuum cleaner 5 changes, the vacuum cleaner 5 is controlled to start vacuuming, thus achieving intelligent start-up and improving ease of use. When the vacuum cleaner 5 is not held by the user, it is controlled to start vacuuming after a preset interval, thus achieving automatic start-up.

[0299] The posture of the vacuum cleaner 5 can be detected by a posture sensor.

[0300] The specific value of the preset duration is not limited; in some embodiments, the preset duration can be 10 seconds.

[0301] In some embodiments of this application, the control method for the cleaning system further includes:

[0302] Upon receiving a feeding instruction, the system controls the cleaning base station to move to the feeding position, controls the first door to open the outlet hole 1a, controls the plate 13 to rotate to a preset tilt angle, and controls the second door to open the through hole. The base station body 1 includes a storage compartment and a discharge compartment 12, with a through hole between the storage compartment and the discharge compartment 12. The wall of the base station body 1 has an outlet hole 1a, which is connected to the storage compartment. The plate 13 is hinged in the discharge compartment 12 and is located below the through hole. The outlet hole 1a is located at the free end of the plate 13, and the plate 13 is configured to rotate in the height direction.

[0303] Upon receiving a signal indicating the end of feeding, the second gate is controlled to close the through hole, the control plate 13 is rotated to its initial position, and the first gate is controlled to close the outlet hole 1a.

[0304] As configured above, the control method of the cleaning system in this application can also perform feeding operations upon receiving a feeding command. Specifically, it first controls the cleaning base station to move to the feeding position, controls the first door to open the outlet hole 1a, controls the plate 13 to rotate to a preset tilt angle, and controls the second door to open the through hole. The food inside the storage compartment will fall onto the plate 13 under gravity and then fall into the animal feeding bowl along the plate 13. Upon receiving a feeding end signal, it controls the second door to close the through hole, controls the plate 13 to rotate to the initial position, and controls the first door to close the outlet hole 1a to avoid feeding too much at once.

[0305] The feeding end signal can be that the feeding time has reached a preset duration.

[0306] The initial position of the plate 13 can be abutting against the upper wall of the discharge bin 12. The plate 13 can block the food and slow down the falling speed of the food.

[0307] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned control method for the cleaning system.

[0308] The computer-readable storage medium of this application embodiment is used to implement the aforementioned control method for the cleaning system, and therefore has the same technical effects as the aforementioned control method for the cleaning system, which will not be repeated here.

[0309] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A clean base station, characterized in that, include: The base station body includes a charging compartment for charging a self-moving device. The bottom wall of the charging compartment has an opening. When the self-moving device is located in the charging compartment and docked for charging, the cleaning module of the self-moving device can extend out from the opening. The running section is located at the bottom of the base station body.

2. The clean base station according to claim 1, characterized in that, The clean base station also includes: A shielding part is connected to the base station body, and the shielding part is configured to open or close the opening.

3. The clean base station according to claim 1, characterized in that, The clean base station also includes: A power supply assembly is installed on the base station body, and the power supply assembly includes at least one of a self-powered system and an external power supply system.

4. The clean base station according to claim 3, characterized in that, The self-powered system includes a fuel cell, and the clean base station also includes: A hydrogen supply unit is connected to the hydrogen inlet of the fuel cell, and the hydrogen supply unit includes a water electrolysis hydrogen production device.

5. The clean base station according to claim 3, characterized in that, The self-powered system includes a fuel cell, and the clean base station also includes: A thermoelectric conversion unit, configured to convert the thermal energy generated by the fuel cell into electrical energy; The load unit is electrically connected to the thermoelectric conversion unit.

6. The clean base station according to claim 5, characterized in that, The cleaning base station also includes a drying assembly, and the load unit includes at least one of a heating element for heating clean water, a heating element in the drying assembly, and a heating element for heating wastewater.

7. The clean base station according to any one of claims 4-6, characterized in that, The clean base station also includes: A drainage pipe, one end of which is connected to the outlet of the fuel cell, and the other end of which forms a drain outlet; A first switch is connected to the drainage pipe, and the first switch is configured to connect or disconnect the water outlet and the drainage outlet. A pH meter, configured to detect the pH value of the reactant water discharged from the outlet; A controller is configured to control the first switch to connect the water outlet and the drain outlet when a first preset condition is met.

8. The clean base station according to claim 7, characterized in that, The first preset condition is that the pH value of the reactant water is between 6.5 and 7.5, and the drainage volume of the drainage pipe is lower than the preset drainage volume.

9. The clean base station according to claim 7, characterized in that, The clean base station also includes: A clean water tank is installed on the main body of the base station; The first pipeline connects the water outlet and the clean water tank; A second switch is connected to the first pipeline, and the second switch is configured to connect or disconnect the water outlet and the clean water tank. The controller is also configured to control the second switch to connect the water outlet and the clean water tank when the first preset condition is not met but the second preset condition is met.

10. The clean base station according to claim 9, characterized in that, The second preset condition is that the water level in the clean water tank is not higher than the maximum water level.

11. The clean base station according to claim 9, characterized in that, The clean base station also includes: A wastewater tank is installed on the main body of the base station; The second pipeline connects the water outlet and the sewage tank; A third switch is connected to the second pipeline, and the third switch is configured to connect or disconnect the outlet and the sewage tank. The controller is also configured to control the third switch to connect the water outlet and the sewage tank if neither the first preset condition nor the second preset condition is met.

12. The clean base station according to any one of claims 3-6, characterized in that, The self-powered system includes solar panels, which include: Solar panels are connected to the exterior of the base station body; An energy storage battery is electrically connected to the solar panel.

13. The clean base station according to any one of claims 1-6, characterized in that, The clean base station also includes: A vacuuming device is installed on the main body of the base station; A detection device configured to detect the type of an item to be processed.

14. The clean base station according to claim 13, characterized in that, The detection device includes at least one of a dirt sensor and an image acquisition device.

15. The clean base station according to claim 13, characterized in that, The vacuuming device includes a vacuum tube and a suction head. The suction head includes a dust removal suction head and a mite removal suction head. One end of the vacuum tube is installed on the base station body, and either the dust removal suction head or the mite removal suction head is connected to the other end of the vacuum tube.

16. The clean base station according to any one of claims 1-6, characterized in that, The base station body includes a storage compartment, and an outlet hole is provided on the wall of the base station body below the storage compartment along the direction of gravity. The outlet hole communicates with the storage compartment. The cleaning base station also includes: A first gate is connected to the base station body and is configured to open or close the outlet hole.

17. The clean base station according to claim 16, characterized in that, The base station body has a discharge compartment located below the storage compartment along the direction of gravity. A through hole is provided in the partition wall between the storage compartment and the discharge compartment. The outlet hole communicates with the discharge compartment. The cleaning base station also includes: The second gate is connected to the base station body and is configured to open or close the through hole. The plate is hinged within the discharge hopper and located below the through hole, with the outlet hole located at the free end of the plate. The plate is configured to rotate in the height direction.

18. A cleaning system, characterized in that, include: The clean base station according to any one of claims 1-17; The self-moving device includes a cleaning module, which extends from the opening when the self-moving device is located in the charging compartment and docked for charging.

19. A control method for a cleaning system, characterized in that, The cleaning system includes a cleaning base station and a self-moving device. The cleaning base station includes a base station body, which includes a charging compartment for charging the self-moving device. The bottom wall of the charging compartment has an opening. The self-moving device includes a cleaning module. The control method of the cleaning system includes: When the self-moving device is located in the charging compartment and in a docked charging state, and has a cleaning task, and the battery power of the self-moving device is not higher than a second preset power level, the cleaning module of the self-moving device is controlled to extend from the opening, and the cleaning base station is controlled to carry the self-moving device to move in order to perform the cleaning task.

20. The control method for the cleaning system according to claim 19, characterized in that, The cleaning base station further includes a shielding portion, and the control method of the cleaning system, before controlling the cleaning module of the self-moving device to extend from the opening, further includes: Control the shielding part to open the opening.

21. The control method for the cleaning system according to claim 19, characterized in that, The cleaning base station also includes a power supply component, which includes a self-powered system and an external power supply system. The control method for the cleaning system further includes: The system controls the self-powered system or the external power supply system to supply power according to the power supply mode command input by the user. If no power supply mode command is received from the user and the power supply current of the external power supply system is detected to be non-zero, the external power supply system is controlled to supply power; if no power supply mode command is received from the user and the power supply current of the external power supply system is detected to be zero, the self-powered system is controlled to supply power.

22. The control method for the cleaning system according to claim 21, characterized in that, The self-powered system includes solar panels, and the control method for the cleaning system further includes: If the battery power of the self-moving device is higher than the second preset power level, the cleaning base station is controlled to move to the preset energy storage location.

23. The control method for the cleaning system according to claim 21, characterized in that, The self-powered system includes a fuel cell, and the control method for the cleaning system further includes: In the event of a user-input hot water washing instruction, the thermoelectric conversion unit is controlled to supply electrical energy to at least one of the heating elements used for heating clean water and the heating elements in the drying assembly; wherein, the cleaning base station further includes a thermoelectric conversion unit configured to convert the thermal energy generated by the fuel cell into electrical energy; When the user inputs a cold water washing command, the thermoelectric conversion unit provides electrical energy to the heating element in the drying assembly; In the absence of a user-inputted hot water or cold water washing instruction, the thermoelectric conversion unit supplies electrical energy to the heating element used to heat the wastewater.

24. The control method for the cleaning system according to claim 21, characterized in that, The self-powered system includes a fuel cell, and the control method for the cleaning system further includes: The pH value of the reactant water discharged from the outlet of the fuel cell is detected; Under the condition of meeting the first preset condition, the outlet of the fuel cell and the outlet of the drainage pipe are connected, and the cleaning base station is moved to provide water to plants and animals. If the first preset condition is not met, but the second preset condition is met, control the connection between the water outlet and the water inlet of the clean water tank. If neither the first preset condition nor the second preset condition is met, the outlet and the inlet of the sewage tank are connected.

25. The control method for the cleaning system according to claim 24, characterized in that, The first preset condition is that the pH value of the reactant water is between 6.5 and 7.5, and the drainage volume of the drainage pipe is lower than the preset drainage volume. The second preset condition is that the water level in the clean water tank is not higher than the maximum water level.

26. The control method for the cleaning system according to any one of claims 19-25, characterized in that, The cleaning base station also includes a dust collection device and a detection device, and the control method of the cleaning system further includes: When the self-moving device detects that the item to be cleaned is an item that requires auxiliary processing, it controls the cleaning base station to move to the location of the item that requires auxiliary processing; If the cleaning base station detects that the item requiring assistance is within the limits of waste, it controls the vacuum cleaner to pick up the item. If the cleaning base station detects that the item requiring assistance is outside the limits of waste, it sends a signal to the user that assistance is required.

27. The control method for the cleaning system according to claim 26, characterized in that, The vacuuming device includes a suction head, and the control method for the cleaning system further includes: If the type of the suction head is detected to be inconsistent with the cleaning mode command entered by the user, the user-entered cleaning mode command will not be executed, and a signal will be issued to remind the user to replace the suction head. If the type of the suction head is detected to match the cleaning mode command input by the user, the vacuuming device is controlled to enter the corresponding cleaning mode.

28. The control method for the cleaning system according to claim 27, characterized in that, The suction head includes either a mite-removing suction head or a vacuum suction head. The step of controlling the vacuuming device to enter the corresponding cleaning mode when the suction head matches the user-inputted cleaning mode command includes: When a mite removal command is received from the user or the suction power value input by the user is not less than the preset suction power, and the suction head is detected to be the mite removal suction head, the vacuum cleaner is controlled to enter the mite removal mode. When a user inputs a vacuuming command or the user inputs a suction power value less than the preset suction power, and the vacuum head is detected as the vacuuming head, the vacuuming device is controlled to enter the vacuuming mode.

29. The control method for the cleaning system according to claim 28, characterized in that, The control method for the cleaning system, after controlling the vacuuming device to enter the mite removal mode, further includes: Upon receiving a manual confirmation signal, the vacuuming device is controlled to begin mite removal.

30. The control method for the cleaning system according to claim 28, characterized in that, The control method for the cleaning system after the vacuuming device is controlled to enter the vacuuming mode includes: The system detects whether the vacuum cleaner is being held by the user. If the user's hand is detected, the system controls the vacuum cleaner to start vacuuming based on the posture change signal of the vacuum cleaner. If the user's hand is not detected, the system controls the vacuum cleaner to start vacuuming after a preset time interval.

31. The control method for the cleaning system according to any one of claims 19-25, characterized in that, The control method for the cleaning system further includes: Upon receiving a feeding command, the system controls the cleaning base station to move to the feeding position, controls the first door to open the outlet hole, controls the plate to rotate to a preset tilt angle, and controls the second door to open the through hole. The base station body includes a storage compartment and a discharge compartment, with the through hole between the storage compartment and the discharge compartment. The wall of the base station body has the outlet hole, which communicates with the storage compartment. The plate is hinged within the discharge compartment and located below the through hole. The outlet hole is located at the free end of the plate, and the plate is configured to rotate in the height direction. Upon receiving a signal indicating the end of feeding, the system controls the second door to close the through hole, controls the plate to rotate to its initial position, and controls the first door to close the outlet hole.

32. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the control method of the cleaning system as described in any one of claims 19-31.

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