Cleaning system, control method of cleaning system and medium

Abstract

The invention relates to the technical field of cleaning, in particular to a cleaning system, a control method of the cleaning system, a medium and equipment, the cleaning system comprises a cleaning base station and self-moving equipment, and the cleaning base station comprises a dust collection bin used for installing a dust collection part; the cleaning system further comprises an operating mechanism, the operating mechanism is configured to disassemble or assemble the dust collecting part, and the operating mechanism is arranged on any one of the cleaning base station and the self-moving equipment. The dust collecting part is automatically disassembled and assembled through the operating mechanism, maintenance operation needing to be manually carried out by a user is converted into an automatic process, and time and energy are saved; the dust collection part is automatically disassembled and assembled to prevent a user from directly contacting the dust collection part and garbage in the dust collection part, thereby being more sanitary; by presetting the motion trail and the action sequence of the operating mechanism, the process of replacing the dust collecting part each time can be ensured to be accurate, errors or unstable factors possibly caused by manual operation are avoided, and the automation degree, convenience and sanitation of the cleaning system are improved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, specifically to a cleaning system, a control method for the cleaning system, and a medium. Background Technology

[0002] In related cleaning systems, the self-moving equipment collects and stores trash from the ground into a dust box. When the equipment returns to the cleaning base station, a fan at the base station collects the trash from the dust box into a dust collection unit. The volume of the dust collection unit is several times that of the dust box, allowing for multiple dust collections. When the dust collection unit is full, the user must manually remove the old unit and replace it with a new one. This maintenance requires periodic replacement, which is inconvenient and unhygienic. Summary of the Invention

[0003] The purpose of this application is to provide a cleaning system, a control method for the cleaning system, and a medium to solve the problems of inconvenience and unsanitary conditions associated with manually replacing the dust collection unit.

[0004] To address the aforementioned technical problems, this application provides a cleaning system, including a cleaning base station and a self-moving device, wherein the cleaning base station includes a dust collection bin for installing a dust collection unit;

[0005] The cleaning system also includes an operating mechanism disposed on either the cleaning base station or the self-moving device, the operating mechanism being configured to disassemble or install the dust collection unit.

[0006] Optionally, the cleaning base station further includes a receiving compartment for storing a spare dust collection unit, and the operating mechanism is configured to detach the dust collection unit from the dust collection compartment and remove the spare dust collection unit from the receiving compartment and install it into the dust collection compartment.

[0007] Optionally, the clean base station includes:

[0008] The base station body, the dust collection bin and the container bin are disposed in the base station body;

[0009] A door, connected to the base station body, is configured to open or close the openings of the dust collection chamber and the receiving chamber.

[0010] Optionally, the openings of the dust collection bin and the receiving bin are formed on the same side wall of the cleaning base station, and the same door body opens or closes the openings of the dust collection bin and the receiving bin.

[0011] Optionally, one end of the door is hinged to the base station body, and the cleaning base station further includes:

[0012] A locking mechanism is disposed between the opposite end of the door and the base station body. The operating mechanism is configured to apply pressure to the door. Under the pressure of the door, the locking mechanism switches between a locked state and an unlocked state. In the locked state, the door closes the openings of the dust collection chamber and the receiving chamber. In the unlocked state, the door opens the openings of the dust collection chamber and the receiving chamber.

[0013] Optionally, the operating mechanism is disposed on the self-moving device, the self-moving device having a working position, and when the self-moving device is in the working position, the operating mechanism is capable of performing the action of disassembling or installing the dust collection unit.

[0014] Optionally, the self-moving device also has a recycling location, whereby the operating mechanism can place the disassembled dust collection unit in a storage location when the self-moving device is in the recycling location.

[0015] Optionally, when the self-moving device is in the working position, it is located in front of the cleaning base station and at a preset distance from the cleaning base station.

[0016] Optionally, the cleaning base station includes a base station body, and the dust collection bin and the container bin are disposed on the base station body; the cleaning base station also includes a door body, the door body is connected to the base station body, and the door body is configured to open or close the opening ends of the dust collection bin and the container bin;

[0017] The end of the door connected to the main body of the base station is the first end, and the end of the door away from the main body of the base station is the second end. The distance between the first end and the second end is W. The operating mechanism includes at least one mechanical joint, and the sum of the lengths of the mechanical joints is L.

[0018] The range of the preset distance is: W < D < L.

[0019] Optionally, the cleaning system further includes an image acquisition device disposed on the operating mechanism. The image acquisition device is configured to acquire images of the cleaning base station. When the image acquired by the image acquisition device overlaps with a preset image, the operating mechanism can clamp the dust collection unit to be disassembled or installed, or perform an action to fix the dust collection unit.

[0020] Optionally, the cleaning base station is provided with an identification alignment mark. When the identification alignment mark in the image acquired by the image acquisition device coincides with the identification alignment mark in the preset image, the operating mechanism can clamp the dust collection part to be disassembled or installed, or perform the action of fixing the dust collection part.

[0021] This application 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 dust collection bin for installing a dust collection unit. The cleaning system also includes an operating mechanism, which is disposed on either the cleaning base station or the self-moving device. The control method for the cleaning system includes step A:

[0022] Control the operating mechanism to disassemble or install the dust collection unit.

[0023] Optionally, the cleaning base station further includes a container for storing spare dust collection units, and the control mechanism for disassembling or installing the dust collection unit includes:

[0024] The operating mechanism is controlled to detach the dust collection unit from the dust collection chamber and then remove the spare dust collection unit from the receiving chamber and install it into the dust collection chamber.

[0025] Optionally, the cleaning base station includes a base station body and a door, one end of the door is hinged to the base station body, and the cleaning base station further includes a locking mechanism disposed between the opposite end of the door and the base station body. The locking mechanism switches between a locked state and an unlocked state under pressure. Before controlling the operating mechanism to detach the dust collection part in the dust collection chamber, step A further includes:

[0026] The operating mechanism is controlled to press the door, and the door opens the openings of the dust collection chamber and the receiving chamber.

[0027] Optionally, after step A involves controlling the operating mechanism to remove the spare dust collection unit from the receiving chamber and installing it into the dust collection chamber, it further includes:

[0028] The operating mechanism is controlled to press the door again, and the door closes the opening ends of the dust collection bin and the receiving bin.

[0029] Optionally, the operating mechanism is disposed on the self-moving device, and step A, before controlling the operating mechanism to disassemble or install the dust collection unit, further includes:

[0030] Control the self-moving device to move to the working position.

[0031] Optionally, after controlling the operating mechanism to perform the action of disassembling the dust collection unit, step A further includes:

[0032] Control the self-moving device to move to the recycling position, and control the operating mechanism to place the disassembled integrated part in the storage position;

[0033] The self-moving device is controlled to move to the working position, and the operating mechanism is controlled to perform the action of installing the dust collection unit.

[0034] Optionally, the cleaning system further includes an image acquisition device disposed on the operating mechanism, and step A further includes:

[0035] The image acquisition device acquires images of the cleaning base station. When the image acquired by the image acquisition device overlaps with a preset image, the operating mechanism is controlled to clamp the dust collection part to be disassembled or installed, or the operating mechanism is controlled to perform the action of fixing the dust collection part.

[0036] Optionally, the cleaning base station is equipped with an identification alignment mark. When the image acquired by the image acquisition device overlaps with a preset image, the operating mechanism is controlled to clamp the dust collection unit to be disassembled or installed, or the operating mechanism is controlled to perform an action to fix the dust collection unit, including:

[0037] When the identification alignment mark in the image acquired by the image acquisition device coincides with the identification alignment mark in the preset image, the operating mechanism is controlled to clamp the dust collection part to be disassembled or installed, or the operating mechanism is controlled to perform the action of fixing the dust collection part.

[0038] Optionally, the operating mechanism includes a drive unit, and step A further includes:

[0039] The electrical parameters of the drive unit are collected, and if the value of the electrical parameters is not lower than a preset threshold, the operating mechanism is controlled to disengage from the dust collection unit.

[0040] Optionally, step A is performed if preset conditions are met, wherein the preset conditions include at least one of a first preset condition and a second preset condition:

[0041] The first preset condition is that the time elapsed since the last execution of step A is not less than a preset time.

[0042] The second preset condition is that the dust collection section is detected to be full.

[0043] 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.

[0044] The technical effects of this application are as follows;

[0045] This application achieves the disassembly and installation of the dust collection unit through an operating mechanism, thereby transforming the maintenance operation that originally required manual operation by the user into an automated process, reducing user intervention and saving time and effort; the automatic disassembly and installation of the dust collection unit avoids direct contact between the user and the dust collection unit and the garbage inside, making it more hygienic; by controlling the movement trajectory and action sequence of the operating mechanism, it can ensure that each dust collection unit replacement process is accurate and error-free, improving the automation, convenience and hygiene of the cleaning system. Attached Figure Description

[0046] Figure 1 A schematic diagram of the structure of a self-moving device in a specific embodiment of the cleaning system provided in this application;

[0047] Figure 2 This is a schematic diagram of the structure of a cleaning base station in a specific embodiment of the cleaning system provided in this application;

[0048] Figure 3 for Figure 2 A schematic diagram of a cleaning base station with the door in the open position;

[0049] Figure 4 for Figure 3 A structural diagram of the second angle;

[0050] Figure 5 for Figure 2 A schematic diagram of the structure of the dust collection section in the first position of the cleaning base station;

[0051] Figure 6 for Figure 2 A schematic diagram of the structure of the dust collection section in the cleaning base station with the sliding part in the second position;

[0052] Figure 7 The flowchart shows S100-S104 in a specific embodiment of the control method for the cleaning system provided in this application;

[0053] Figure 8 for Figure 7 Flowcharts for S105-S107 of the control method for the cleaning system;

[0054] in, Figures 1-6 The accompanying figure labels are as follows:

[0055] 1-Clean base station; 11-Dust collection unit; 111-Handle structure; 1111-Clamping component; 112-Dust collection body; 113-Fixing part; 1131-First through hole; 114-Sliding part; 1141-Second through hole; 12-Dust collection chamber; 13-Containing chamber; 14-Side wall; 15-Door; 1A-Base station body;

[0056] 2-Operating mechanism; 21-Gripper; 211-Gripping part; 22-Robotic arm; 221-Mechanical joint;

[0057] 3-Self-moving device; 31-Main body of the device; 311-Storage slot;

[0058] 4-Image acquisition equipment. Detailed Implementation

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] In related cleaning systems, the self-moving equipment collects and stores trash from the ground into a dust box. When the equipment returns to the cleaning base station, a fan at the base station collects the trash from the dust box into a dust collection unit. The volume of the dust collection unit is several times that of the dust box, allowing for multiple dust collections. When the dust collection unit is full, the user must manually remove the old unit and replace it with a new one. This maintenance requires periodic replacement, which is inconvenient and unhygienic.

[0064] To address the inconvenience and unhygienic nature of manually replacing dust collection units, this application provides a cleaning system comprising a cleaning base station and a self-moving device. The cleaning base station includes a dust collection chamber for installing the dust collection unit. The cleaning system also includes an operating mechanism, which is located on either the cleaning base station or the self-moving device. The operating mechanism is configured to disassemble or install the dust collection unit, thereby transforming the maintenance operations that originally required periodic manual operation by the user into an automated process, reducing user intervention and saving time and effort. Automatic disassembly and installation of the dust collection unit avoids direct contact between the user and the dust collection unit and the debris within, making it more hygienic. By pre-setting the movement trajectory and action sequence of the operating mechanism, the accuracy of each dust collection unit replacement process can be ensured, avoiding errors or instabilities that may occur during manual operation, thus improving the automation, convenience, and hygiene of the cleaning system.

[0065] To facilitate understanding of the cleaning system provided in the embodiments of this application, the following is combined with... Figures 1-4 Please provide an explanation. Figure 1 A schematic diagram of the structure of a self-moving device in a specific embodiment of the cleaning system provided in this application; Figure 2 This is a schematic diagram of the structure of a cleaning base station in a specific embodiment of the cleaning system provided in this application; Figure 3 for Figure 2 A schematic diagram of a cleaning base station with the door in the open position; Figure 4 for Figure 3 A structural diagram of the second angle.

[0066] This application provides a cleaning system, including a cleaning base station 1 and a self-moving device 3. The cleaning base station 1 includes a dust collection bin 12 for installing a dust collection unit 11.

[0067] The cleaning system also includes an operating mechanism 2, which is located in either the cleaning base station 1 or the self-moving device 3. The operating mechanism 2 is configured to remove or install the dust collection unit 11.

[0068] The cleaning system of this application embodiment realizes the disassembly and installation of the dust collection unit 11 through the operating mechanism 2, thereby transforming the maintenance operation that originally required manual operation by the user into an automated process, reducing user intervention and saving time and effort; the automatic disassembly and installation of the dust collection unit 11 avoids direct contact between the user and the dust collection unit 11 and the garbage therein, making it more hygienic; by controlling the movement trajectory of the operating mechanism 2, it can be ensured that the process of replacing the dust collection unit 11 is accurate and error-free, improving the automation, convenience and hygiene of the cleaning system.

[0069] The operating mechanism 2 can perform the task of disassembling or installing the dust collection unit 11 at regular intervals. The operating mechanism 2 moves according to a preset trajectory through a pre-set program; or, the operator can control the operation of the operating mechanism 2 through a terminal device associated with the cleaning system, such as a mobile terminal, to perform the task of disassembling or installing the dust collection unit 11.

[0070] Please continue to refer to this. Figure 1 In some embodiments of this application, the self-moving device 3 includes a device body 31, which has a storage slot 311. The operating mechanism 2 is connected to the storage slot 311 through an installation structure disposed in the storage slot 311, so that the operating mechanism 2 can move with the movement of the device body 31. During normal operation, the operating mechanism 2 can be folded and stored in the storage slot 311. The operating mechanism 2 in the folded state occupies less space and has a smaller volume, making it easy to store. When it is necessary to replace the dust collection part 11, the operating mechanism 2 extends out to perform the action of replacing the dust collection part 11.

[0071] like Figure 1 As shown in the embodiment of this application, the operating mechanism 2 includes a gripper 21 and a robotic arm 22. One end of the robotic arm 22 is connected to the main body 31 of the device, and the gripper 21 is connected to the other end of the robotic arm 22. The robotic arm 22 includes at least one mechanical joint 221, and multiple mechanical joints 221 are hinged to each other to increase the range of motion of the robotic arm 22. The gripper 21 includes two clamping parts 211 arranged opposite to each other. The two clamping parts 211 can move towards each other or away from each other to clamp the dust collection part 11 or detach from the dust collection part 11.

[0072] Please continue to refer to this. Figure 3 and Figure 4 In some embodiments of this application, the cleaning base station 1 further includes a receiving chamber 13 for storing a spare dust collection unit 11. The operating mechanism 2 is configured to remove the dust collection unit 11 from the dust collection chamber 12 and take out the spare dust collection unit 11 from the receiving chamber 13 and install it in the dust collection chamber 12.

[0073] As configured above, in this embodiment, the dust collection units 11 are respectively arranged in the dust collection chamber 12 and the receiving chamber 13. The dust collection chamber 12 is used to install the currently used dust collection units 11, while the receiving chamber 13 is used to store spare dust collection units 11. When the dust collection units 11 in the dust collection chamber 12 are full of garbage, the operating mechanism 2 can first automatically detach the dust collection units 11 in the dust collection chamber 12, and then take out the spare dust collection units 11 from the receiving chamber 13 and install them into the dust collection chamber 12. This configuration of the dust collection units 11 can extend the continuous working cycle of the cleaning system. Since the receiving chamber 13 stores spare dust collection units 11, user maintenance is only required after all dust collection units 11 are full, greatly reducing the frequency of user intervention. According to actual needs, users can flexibly configure the number of spare dust collection units 11 in the receiving chamber 13 to adapt to different cleaning cycles and garbage generation, improving the applicability and market competitiveness of the cleaning system of this application.

[0074] The dust collection unit 11 can be fixed within the dust collection chamber 12 using a snap-fit ​​method. This ensures the reliable installation position of the dust collection unit 11, guaranteeing that the fan of the cleaning base station 1 can accurately collect the waste from the dust box of the self-moving device 3 into the dust collection unit 11. Furthermore, the operating mechanism 2 can connect or separate the dust collection unit 11 from the dust collection chamber 12 with simple actions such as pushing or pulling, improving the replacement efficiency of the dust collection unit 11, simplifying the control logic of the operating mechanism 2, reducing the control cost of the operating mechanism 2, and ensuring the accuracy and reliability of the operating mechanism 2's actions.

[0075] The spare dust collection unit 11 can be movably installed inside the receiving chamber 13, or it can be installed inside the receiving chamber 13 by snap-fit ​​fixing. This also helps to improve the replacement efficiency of the dust collection unit 11, simplify the control logic of the operating mechanism 2, and ensure the accuracy and reliability of the operation of the operating mechanism 2.

[0076] The storage compartment 13 can be equipped with monitoring devices such as cameras to monitor the number of spare dust collection units 11 inside the storage compartment 13. When all the spare dust collection units 11 inside the storage compartment 13 are used up, the cleaning base station 1 can issue a prompt signal, such as a voice prompt signal or a light prompt signal, to remind the user to install spare dust collection units 11 inside the storage compartment 13.

[0077] Please continue to refer to this. Figure 3 In some embodiments of this application, the clean base station 1 includes:

[0078] The base station body 1A, the dust collection bin 12 and the storage bin 13 are disposed on the base station body 1A;

[0079] The door 15 is connected to the base station body 1A and is configured to open or close the opening of the dust collection chamber 12 and the receiving chamber 13.

[0080] As configured above, when the dust collection unit 11 needs to be replaced, the operating mechanism 2 acts on the door 15, causing the door 15 to open the openings of the dust collection chamber 12 and the receiving chamber 13, making it easier for the operating mechanism 2 to perform the action of replacing the dust collection unit 11. After the dust collection unit 11 is replaced, the operating mechanism 2 acts on the door 15, causing the door 15 to close the openings of the dust collection chamber 12 and the receiving chamber 13. During the normal operation of the cleaning base station 1, the door 15 is always in a closed state to prevent the dust collection unit 11 from being exposed, thereby improving the cleanliness of the cleaning base station 1 and enhancing the user experience.

[0081] The dust collection chamber 12 and the container chamber 13 can be located on the same side wall or different side walls of the base station body 1A; the openings of the dust collection chamber 12 and the container chamber 13 can be opened and closed through the same door or through separate doors.

[0082] Please continue to refer to this. Figure 2 and Figure 3 In this embodiment of the application, the opening ends of the dust collection bin 12 and the receiving bin 13 are formed on the same side wall 14 of the base station body 1A, and the same door 15 opens or closes the opening ends of the dust collection bin 12 and the receiving bin 13.

[0083] As configured above, when replacing the dust collection unit 11, the operating mechanism 2 only needs to perform the operation of opening the door 15 once to simultaneously open the opening ends of the dust collection chamber 12 and the receiving chamber 13. Similarly, after the dust collection unit 11 is replaced, the operating mechanism 2 only needs to perform the operation of closing the door 15 once to simultaneously close the opening ends of the dust collection chamber 12 and the receiving chamber 13, simplifying the operation of the operating mechanism 2 and improving the replacement efficiency of the dust collection unit 11.

[0084] Furthermore, in this embodiment, one end of the door 15 is hinged to the base station body 1A, and the cleaning base station 1 further includes:

[0085] A locking mechanism is disposed between the opposite end of the door 15 and the base station body 1A. The operating mechanism 2 is configured to apply pressure to the door 15. The locking mechanism can switch between a locked state and an unlocked state under the pressure of the door 15. In the locked state, the door 15 closes the opening ends of the dust collection chamber 12 and the receiving chamber 13. In the unlocked state, the door 15 opens the opening ends of the dust collection chamber 12 and the receiving chamber 13.

[0086] As configured above, one end of the door 15 is hinged to the base station body 1A, allowing the door 15 to rotate around the hinge point, thereby opening or closing the opening ends of the dust collection chamber 12 and the storage chamber 13. The locking mechanism is located between the opposite end of the door 15 and the base station body 1A. The locking mechanism can switch between locked and unlocked states under the pressure of the door 15. Thus, during normal operation, the locking mechanism is in the locked state, and the door 15 closes the openings of the dust collection chamber 12 and the receiving chamber 13. When replacing the dust collection part 11, the operating mechanism 2 presses the door 15, and the locking mechanism switches to the unlocked state, allowing the door 15 to open the openings of the dust collection chamber 12 and the receiving chamber 13. After the dust collection part 11 is replaced, the operating mechanism 2 presses the door 15 again, and the locking mechanism switches to the locked state, allowing the door 15 to close the openings of the dust collection chamber 12 and the receiving chamber 13. This simplifies the opening and closing process of the door 15, simplifies the operation of the operating mechanism 2, reduces the control cost of the operating mechanism 2, and ensures the accuracy and reliability of the operation of the operating mechanism 2.

[0087] Depend on Figure 3 As can be seen from this embodiment, the lower end of the door 15 is hinged to the base station body 1A, and the locking mechanism is located between the upper end of the door 15 and the base station body 1A. When the door 15 opens the openings of the dust collection chamber 12 and the receiving chamber 13, the door 15 rotates downwards. A damping element can be provided between the door 15 and the base station body 1A, such as a buffer hinge structure connecting the door 15 and the base station body 1A, to limit the opening speed of the door 15, allowing the door 15 to slowly open the openings of the dust collection chamber 12 and the receiving chamber 13, minimizing the risk of the door 15 hitting the ground and being damaged, and improving the safety of the door 15.

[0088] In some other embodiments of this application, the upper end of the door 15 is hinged to the base station body 1A, and the locking mechanism is disposed between the lower end of the door 15 and the base station body 1A. When the door 15 opens the opening ends of the dust collection chamber 12 and the receiving chamber 13, the door 15 rotates upward.

[0089] Alternatively, the left end of the door 15 is hinged to the base station body 1A, and the locking mechanism is located between the right end of the door 15 and the base station body 1A. When the door 15 opens the opening ends of the dust collection chamber 12 and the receiving chamber 13, the door 15 rotates to the left.

[0090] Alternatively, the right end of the door 15 is hinged to the base station body 1A, and the locking mechanism is located between the left end of the door 15 and the base station body 1A. When the door 15 opens the opening ends of the dust collection chamber 12 and the receiving chamber 13, the door 15 rotates to the right.

[0091] The locking mechanism can be a push-button lock (press-type mechanical lock). The core of the push-button lock (press-type mechanical lock) is to drive the internal mechanical structure through the pressing action to realize the extension and retraction of the lock tongue for locking and unlocking. The push-button lock (press-type mechanical lock) is an existing technology well known to those skilled in the art, and will not be described in detail here.

[0092] In some embodiments of this application, the operating mechanism 2 is disposed on the self-moving device 3, the self-moving device 3 has a working position, and when the self-moving device 3 is in the working position, the operating mechanism 2 can perform the action of disassembling or installing the dust collection unit 11.

[0093] As configured above, this embodiment designs the movement trajectory of the self-moving device 3. When the dust collection unit 11 needs to be replaced, the self-moving device 3 can be controlled to move to the working position, and then the operating mechanism 2 can be controlled to perform the action of disassembling or installing the dust collection unit 11. When the operating mechanism 2 is set on the self-moving device 3, by expanding the function of the operating mechanism 2, the operating mechanism 2 can also play the role of picking up garbage when the self-moving device 3 performs cleaning tasks, making the function of the operating mechanism 2 more abundant and improving the utilization rate of the operating mechanism 2.

[0094] In this embodiment of the application, the cloth bag switches between a locked state and an unlocked state under the action of force. The self-moving device 3 also has a recycling position. When the self-moving device 3 is in the recycling position, the operating mechanism 2 can place the disassembled dust collection part 11 in the storage position.

[0095] As set above, this application embodiment designs the movement trajectory of the self-moving device 3. The self-moving device 3 has a working position and a recycling position. When it is necessary to replace the dust collection part 11, the self-moving device 3 can be controlled to move to the working position, and the operating mechanism 2 can be controlled to press the door 15. The locking mechanism switches to the unlocked state, and the door 15 opens the opening of the dust collection chamber 12 and the receiving chamber 13. The operating mechanism 2 removes the dust collection part 11 from the dust collection chamber 12. Then, the self-moving device 3 moves to the recycling position, and the operating mechanism 2 places the removed dust collection part 11 in the storage position. Then, the self-moving device 3 moves to the working position, and the operating mechanism 2 takes out a spare dust collection part 11 from the receiving chamber 13 and installs it into the dust collection chamber 12. After installation, the operating mechanism 2 presses the door 15 again, the locking mechanism switches to the locked state, and the door 15 closes the opening of the dust collection chamber 12 and the receiving chamber 13, completing the replacement of the dust collection part 11.

[0096] It can be seen that by presetting the working and recycling positions of the self-moving device 3 and the precise positioning and trajectory control of the operating mechanism 2, the self-moving device 3 and the operating mechanism 2 can automatically complete the disassembly, recycling and installation of the dust collection unit 11 without the need for manual intervention by the user, thereby automating the replacement of the dust collection unit 11 and further improving the convenience and hygiene of the cleaning system.

[0097] In some other embodiments of this application, the operating mechanism 2 is disposed at the cleaning base station 1 to perform the action of disassembling or installing the dust collection part 11. The cleaning base station 1 is equipped with a traveling part such as a roller to realize position movement. By planning the trajectory of the cleaning base station 1, the dust collection part 11 can also be recycled.

[0098] Among them, the self-moving device 3 can be a robot vacuum cleaner, a robot vacuum and mop combo, or other self-moving devices that meet the requirements.

[0099] In this embodiment, when the self-moving device 3 is in the working position, the self-moving device 3 is located in front of the cleaning base station 1 and has a preset distance from the cleaning base station 1.

[0100] As set above, the "front end of the cleaning base station 1" refers to the end with the opening of the dust collection chamber 12 and the receiving chamber 13. When the self-moving device 3 is in the working position, the self-moving device 3 and the cleaning base station 1 have a preset distance. This is to enable the operating mechanism 2 to open the door 15 smoothly, to avoid collision between the door 15 and the operating mechanism 2 when the door is opened as much as possible, and to reduce the size of the operating mechanism 2 required to complete the replacement operation of the dust collection section 11 normally, which is more conducive to the miniaturization of the self-moving device 3.

[0101] Define the end of the gate 15 connected to the base station body 1A as the first end, and the end of the gate 15 away from the base station body 1A as the second end, with the distance between the first end and the second end being W; the sum of the lengths of the mechanical joints 221 in the operating mechanism 2 is L; as follows Figure 1 As shown in the embodiment of this application, the robotic arm 22 of the operating mechanism 2 includes two mechanical joints 221. The length of one mechanical joint 221 is defined as L1, and the length of the other mechanical joint 221 is defined as L2, then L = L1 + L2.

[0102] The range of the aforementioned preset distance is: W < D < L.

[0103] Verification has shown that if the distance between the self-moving device 3 and the cleaning base station 1 is no greater than W when the self-moving device 3 is in the working position, the self-moving device 3 and the cleaning base station 1 are relatively close, and there is a possibility of collision with the operating mechanism 2 when the door 15 is opened. If the distance between the self-moving device 3 and the cleaning base station 1 is no less than L when the self-moving device 3 is in the working position, the self-moving device 3 and the cleaning base station 1 are relatively far, and the operating mechanism 2 may not be able to complete the replacement operation of the dust collection part 11 normally. Based on this, in the cleaning system of this application embodiment, the distance between the self-moving device 3 and the cleaning base station 1 when the self-moving device 3 is in the working position has the above value range, so as to avoid collision with the operating mechanism 2 when the door 15 is opened as much as possible, reduce the size of the operating mechanism 2 required to complete the replacement operation of the dust collection part 11 normally, reduce the structural cost of the operating mechanism 2, and require less storage space for the operating mechanism 2, which is more conducive to the miniaturization of the self-moving device 3.

[0104] Please continue to refer to this. Figure 1 In some embodiments of this application, the cleaning system also includes an image acquisition device 4 disposed on the operating mechanism 2. The image acquisition device 4 is configured to acquire images of the cleaning base station 1. When the image acquired by the image acquisition device 4 overlaps with a preset image, the operating mechanism 2 can clamp the dust collection part 11 to be disassembled or installed, or perform the action of fixing the dust collection part 11.

[0105] As configured above, the main controller of the cleaning system has a first preset image and a second preset image pre-stored inside. When disassembling the dust collection part 11 in the dust collection chamber 12, the operating mechanism 2 moves towards the dust collection chamber 12 according to a preset trajectory. The image acquisition device 4 continuously acquires images of the cleaning base station 1. The main controller continuously compares the images acquired by the image acquisition device 4 with the first preset image. When the images acquired by the image acquisition device 4 and the first preset image overlap, the operating mechanism 2 can clamp the dust collection part 11 to be disassembled, facilitating the subsequent disassembly of the dust collection part 11. When retrieving a spare dust collection part 11 from the receiving chamber 13, the operating mechanism 2 moves towards the receiving chamber 13 according to a preset trajectory. The image acquisition device 4 continuously acquires images of the cleaning base station 1. The main controller continuously compares the image acquired by the image acquisition device 4 with the second preset image. When the image acquired by the image acquisition device 4 overlaps with the second preset image, the operating mechanism 2 can clamp the dust collection part 11 to be installed, making it easy to remove the dust collection part 11 from the storage compartment 13. When installing the spare dust collection part 11 into the dust collection compartment 12, the operating mechanism 2 moves towards the dust collection compartment 12 according to the preset trajectory. The image acquisition device 4 continuously acquires images of the cleaning base station 1, and the main controller continuously compares the image acquired by the image acquisition device 4 with the first preset image. When the image acquired by the image acquisition device 4 overlaps with the first preset image, the operating mechanism 2 performs the action of fixing the dust collection part 11, thereby fixing the spare dust collection part 11.

[0106] Therefore, in this embodiment of the application, the self-moving device 3 adopts a precise positioning method based on image recognition to ensure that the operating mechanism 2 can accurately find the position of the dust collection part 11 and reliably clamp the dust collection part 11 to be disassembled or installed, or reliably fix the spare dust collection part 11.

[0107] The image acquisition device 4 may include a camera.

[0108] Furthermore, in some embodiments of this application, the cleaning base station 1 is provided with an identification alignment mark. When the identification alignment mark in the image acquired by the image acquisition device 4 coincides with the identification alignment mark in the preset image, the operating mechanism 2 can clamp the dust collection part 11 to be disassembled or installed, or perform the action of fixing the dust collection part 11.

[0109] As set up above, the identification alignment mark serves as a specific marker on the cleaning base station 1, providing a clear target for the image acquisition device 4. By comparing the consistency of the identification alignment mark in the acquired image with the identification alignment mark in the preset image, the operating mechanism 2 can accurately locate the position of the dust collection unit 11. Compared to identifying the entire image of the cleaning base station 1, identifying a specific identification alignment mark is faster and more accurate, reducing the complexity and computational load of image processing, improving response speed, and ensuring that the operating mechanism 2 can reliably clamp the dust collection unit 11 to be disassembled or installed.

[0110] There are no restrictions on the specific form of the identification alignment mark. The design of the identification alignment mark can adopt simple geometric patterns, such as circles, triangles, etc.

[0111] Please refer to Figure 3 and Figure 4 In some embodiments of this application, the dust collection unit 11 includes a handle structure 111, the handle structure 111 is provided with a clamping member 1111, and the operating mechanism 2 can clamp or release the clamping member 1111 to achieve connection or disconnection with the dust collection unit 11.

[0112] As configured above, the handle structure 111 and the clamping member 1111 provide a force application point for the operating mechanism 2, which facilitates the operating mechanism 2 to clamp the dust collection part 11 and improves the stability of the operating mechanism 2 in clamping the dust collection part 11.

[0113] The clamping member 1111 may include a clamping protrusion disposed on the handle structure 111, and / or a clamping groove disposed on the handle structure 111.

[0114] Please refer to Figures 5-6 , Figure 5 for Figure 2 A schematic diagram of the structure of the dust collection section in the first position of the cleaning base station; Figure 6 for Figure 2 A schematic diagram of the structure of the dust collection section in the cleaning base station with the sliding part in the second position.

[0115] In some embodiments of this application, the dust collection unit 11 further includes:

[0116] The dust collection body 112 has a dust inlet.

[0117] The fixing part 113 is connected to the dust collection body part 112, and the fixing part 113 is provided with a first through hole 1131 communicating with the dust inlet;

[0118] The sliding part 114 is slidably mounted on the fixed part 113. The sliding part 114 is provided with a second through hole 1141. The sliding part 114 has a first position and a second position. In the first position, the second through hole 1141 and the first through hole 1131 are connected. In the second position, the sliding part 114 closes the first through hole 1131. The handle structure 111 is connected to the sliding part 114.

[0119] As configured above, when the dust collection unit 11 is installed inside the dust collection chamber 12, the sliding part 114 is in the first position, and the second through hole 1141 and the first through hole 1131 are connected, which facilitates the fan of the cleaning base station 1 to collect the garbage in the dust box into the dust collection unit 11. When disassembling the dust collection unit 11, the operating mechanism 2 clamps the handle structure 111 connected to the sliding part 114. Under the pulling force of the operating mechanism 2, the sliding part 114 slides to the second position, and the sliding part 114 closes the first through hole 1131, thereby closing the dust collection unit 11. Then the operating mechanism 2 removes the dust collection unit 11, preventing the garbage in the dust collection unit 11 from falling out during the removal or recycling process.

[0120] This application embodiment also provides a control method for a cleaning system. The cleaning system includes a cleaning base station 1 and a self-moving device 3. The cleaning base station 1 includes a dust collection chamber 12 for installing a dust collection unit 11. The cleaning system also includes an operating mechanism 2, which is disposed in either the cleaning base station 1 or the self-moving device 3. The control method for the cleaning system includes step A:

[0121] Control the disassembly or installation of the dust collection unit 11 by the operating mechanism 2.

[0122] The control method of the cleaning system in this application embodiment realizes the automatic disassembly and installation of the dust collection unit 11 through the operating mechanism 2, thereby transforming the maintenance operation that originally required manual operation by the user into an automated process, reducing the user's manual intervention and saving time and effort; the automatic disassembly and installation of the dust collection unit 11 avoids the user's direct contact with the dust collection unit 11 and the garbage in it, which is more hygienic; by controlling the movement trajectory and action sequence of the operating mechanism 2, it can be ensured that the process of replacing the dust collection unit 11 is accurate and error-free, improving the automation, convenience and hygiene of the cleaning system.

[0123] Furthermore, the cleaning base station 1 also includes a receiving compartment 13 for storing spare dust collection units 11, and a control operating mechanism 2 for disassembling or installing the dust collection units 11, including:

[0124] The control mechanism 2 removes the dust collection part 11 from the dust collection chamber 12 and takes out the spare dust collection part 11 from the storage chamber 13 and installs it in the dust collection chamber 12.

[0125] As set up above, the dust collection units 11 are respectively arranged in the dust collection chamber 12 and the receiving chamber 13. When the dust collection units 11 in the dust collection chamber 12 are full of garbage, the operating mechanism 2 can first automatically remove the dust collection units 11 in the dust collection chamber 12, and then take out the spare dust collection units 11 from the receiving chamber 13 and install them into the dust collection chamber 12, thereby extending the continuous working cycle of the cleaning system and greatly reducing the frequency of user intervention.

[0126] In some embodiments of this application, the cleaning base station 1 includes a base station body 1A and a door 15. One end of the door 15 is hinged to the base station body 1A. The cleaning base station 1 also includes a locking mechanism, which is disposed between the opposite end of the door 15 and the base station body 1. The locking mechanism switches between a locked state and an unlocked state under pressure. Step A, before the control operation mechanism 2 detaches the dust collection part 11 in the dust collection chamber 12, further includes:

[0127] The control mechanism 2 presses the door 15, and the door 15 opens the opening of the dust collection chamber 12 and the receiving chamber 13.

[0128] As set up above, during normal operation, the locking mechanism is in the locked state, and the door 15 closes the opening ends of the dust collection chamber 12 and the receiving chamber 13 to prevent the dust collection part 11 from being exposed during normal operation, thereby improving the cleanliness of the cleaning base station 1. When it is necessary to replace the dust collection part 11, the operating mechanism 2 presses the door 15, the locking mechanism switches to the unlocked state, and the door 15 can open the opening ends of the dust collection chamber 12 and the receiving chamber 13, making it convenient for the operating mechanism 2 to perform the action of replacing the dust collection part 11.

[0129] Furthermore, after the control mechanism 2 removes the spare dust collection unit 11 from the receiving chamber 13 and installs it into the dust collection chamber 12, step A also includes:

[0130] The control mechanism 2 presses the door 15 again, and the door 15 closes the opening ends of the dust collection bin 12 and the receiving bin 13.

[0131] As set up above, after the dust collection part 11 is replaced, the operating mechanism 2 presses the door 15 again, the locking mechanism switches to the locked state, and the door 15 can close the opening of the dust collection chamber 12 and the receiving chamber 13, so as to prevent the dust collection part 11 from being exposed during normal operation and improve the cleanliness of the cleaning base station 1.

[0132] The locking mechanism in this embodiment adopts a push-type mechanical lock, which realizes locking and unlocking through the pressing action, simplifying the process of opening or closing the door 15, simplifying the action of the operating mechanism 2, reducing the control cost of the operating mechanism 2, and ensuring the accuracy and reliability of the action of the operating mechanism 2.

[0133] In some embodiments of this application, the operating mechanism 2 is disposed on the self-moving device 3, and step A, before controlling the operating mechanism 2 to disassemble or install the dust collection unit, further includes:

[0134] Control the self-moving device 3 to move to the working position.

[0135] As configured above, this embodiment designs the movement trajectory of the self-moving device 3. When the dust collection unit 11 needs to be replaced, the self-moving device 3 can be controlled to move to the working position, and then the operating mechanism 2 can be controlled to perform the action of disassembling or installing the dust collection unit 11. When the operating mechanism 2 is set on the self-moving device 3, by expanding the function of the operating mechanism 2, the operating mechanism 2 can also play the role of picking up garbage when the self-moving device 3 performs cleaning tasks, making the function of the operating mechanism 2 more abundant and improving the utilization rate of the operating mechanism 2.

[0136] Furthermore, in this embodiment of the application, after the control operation mechanism 2 performs the action of disassembling the dust collection unit 11, step A further includes:

[0137] Control the self-moving device 3 to move to the recycling position, and control the operating mechanism 2 to place the disassembled integrated part 11 in the storage position;

[0138] The self-moving device 3 is controlled to move to the working position, and the operating mechanism 2 is controlled to perform the action of installing the dust collection unit 11.

[0139] As set up above, by presetting the working and recycling positions of the self-moving device 3 and the precise positioning and trajectory control of the operating mechanism 2, the self-moving device 3 and the operating mechanism 2 can automatically complete the disassembly, recycling and installation of the dust collection unit 11 without the need for manual intervention by the user, thereby automating the replacement of the dust collection unit 11 and improving the convenience and hygiene of the cleaning system.

[0140] In some embodiments of this application, the cleaning system further includes an image acquisition device 4 disposed on the operating mechanism, and step A further includes:

[0141] The image acquisition device 4 acquires images of the cleaning base station 1. When the image acquired by the image acquisition device 4 overlaps with the preset image, the control operation mechanism 2 clamps the dust collection part 11 to be disassembled or installed, or controls the control operation mechanism 2 to perform the action of fixing the dust collection part 11.

[0142] As configured above, the main controller of the cleaning system has a first preset image and a second preset image pre-stored inside. When disassembling the dust collection unit 11 in the dust collection chamber 12, the operating mechanism 2 moves towards the dust collection chamber 12 according to a preset trajectory. The image acquisition device 4 continuously acquires images of the cleaning base station 1. The main controller continuously compares the images acquired by the image acquisition device 4 with the first preset image. When the images acquired by the image acquisition device 4 and the first preset image overlap, the operating mechanism 2 can clamp the dust collection unit 11 to be disassembled, facilitating the subsequent disassembly of the dust collection unit 11. When retrieving a spare dust collection unit 11 from the receiving chamber 13, the operating mechanism 2 moves towards the receiving chamber 13 according to a preset trajectory. The image acquisition device 4 continuously acquires images of the cleaning base station 1. The main controller continuously compares the image acquired by the image acquisition device 4 with the second preset image. When the image acquired by the image acquisition device 4 and the second preset image overlap, the operating mechanism 2 can clamp the dust collection part 11 to be installed, making it easier to remove the dust collection part 11 later. When installing the spare dust collection part 11 into the dust collection chamber 12, the operating mechanism 2 moves towards the dust collection chamber 12 according to the preset trajectory. The image acquisition device 4 continuously acquires images of the clean base station 1, and the main controller continuously compares the image acquired by the image acquisition device 4 with the first preset image. When the image acquired by the image acquisition device 4 and the first preset image overlap, the operating mechanism 2 performs the action of fixing the dust collection part 11, thereby fixing the spare dust collection part 11.

[0143] Therefore, this embodiment of the application, by adopting a precise positioning method based on image recognition, ensures that the operating mechanism 2 can accurately locate the position of the dust collection part 11 and reliably clamp the dust collection part 11 to be disassembled or installed, or reliably fix the spare dust collection part 11.

[0144] In some embodiments of this application, the cleaning base station 1 is provided with an identification alignment mark. When the image acquired by the image acquisition device 4 overlaps with a preset image, the control operation mechanism 2 clamps the dust collection part 11 to be disassembled or installed, or the control operation mechanism 2 performs the action of fixing the dust collection part 11, including:

[0145] When the identification alignment mark in the image acquired by the image acquisition device 4 coincides with the identification alignment mark in the preset image, the control operation mechanism 2 clamps the dust collection part 11 to be disassembled or installed, or the control operation mechanism 2 performs the action of fixing the dust collection part 11.

[0146] As set up above, the identification alignment mark serves as a specific marker on the cleaning base station 1, providing a clear target for the image acquisition device 4. By comparing the consistency between the identification alignment mark in the acquired image and the identification alignment mark in the preset image, the operating mechanism 2 can accurately locate the position of the dust collection unit 11. Compared to identifying the entire image of the cleaning base station 1, identifying a specific identification alignment mark is faster and more accurate, reducing the complexity and computational load of image processing, improving response speed, and ensuring that the operating mechanism 2 can reliably clamp the dust collection unit 11 to be disassembled or installed, or reliably perform the action of fixing the dust collection unit 11.

[0147] In some embodiments of this application, the operating mechanism 2 includes a drive unit, and step A further includes:

[0148] The electrical parameters of the drive unit are collected, and if the value of the electrical parameters is not lower than the preset threshold, the operating mechanism 2 is controlled to disengage from the dust collection unit 11.

[0149] If the current of the drive unit can be collected, the drive unit has a stable and small current when the dust collection unit 11 is not installed in place. When the dust collection unit 11 is installed in place, the load on the drive unit increases, resulting in an increase in the current of the drive unit. Therefore, if the value of the current of the drive unit is not lower than a preset threshold, it can be determined that the dust collection unit 11 is installed in place.

[0150] With the above settings, by monitoring the changes in the electrical parameters of the drive unit in real time, it is possible to automatically determine whether the dust collection unit 11 has been correctly installed, so as to accurately control the operation of the operating mechanism 2 and improve the installation accuracy of the dust collection unit 11.

[0151] In some embodiments of this application, step A is executed when preset conditions are met. The preset conditions include at least one of a first preset condition and a second preset condition:

[0152] The first preset condition is that the time elapsed since the last execution of step A is not less than a preset time.

[0153] The second preset condition is that the dust collection section is detected to be full.

[0154] In other words, the dust collection unit 11 is replaced when the preset conditions are met. By setting appropriate control conditions, the utilization rate of the dust collection unit 11 can be guaranteed while the replacement of the dust collection unit 11 can be made more timely.

[0155] The first preset condition is that the time elapsed since the last execution of step A is not less than a preset time. The specific value of the preset time can be set according to the specific application scenario of the cleaning system. For example, in application scenarios with large spaces and a lot of garbage, the value of the preset time can be reduced, and the replacement frequency of the dust collection unit 11 can be increased. In application scenarios with small spaces and less garbage, the value of the preset time can be increased, and the replacement frequency of the dust collection unit 11 can be reduced, so that the dust collection unit 11 is exactly full of garbage after the preset time interval. Moreover, the time-based replacement method has simple control logic, which can be implemented with only a timer. It does not require complex sensors and algorithms to detect the degree of garbage filling, thus reducing the complexity and cost of the system.

[0156] The second preset condition is that the dust collection section is detected to be full. The degree of fullness of the dust collection section can be collected by an image acquisition device located outside the dust collection section 11 and near the opening of the dust collection section 11, or the weight of the dust collection section 11 can be detected to provide more accurate status information of the dust collection section 11. The dust collection section 11 is only replaced when it is truly full of dust, avoiding unnecessary replacement operations and improving the space utilization of the dust collection section 11.

[0157] In some embodiments of this application, the control method for the cleaning system includes the following steps:

[0158] Step S100: Move the mobile device 3 to the working position, and the operating mechanism 2 extends out from the inside of the storage slot 311;

[0159] Step S101: The operating mechanism 2 presses the door 15, and the door 15 opens the opening of the dust collection chamber 12 and the receiving chamber 13. The operating mechanism 2 moves towards the dust collection chamber 12 according to the preset trajectory. The image acquisition device 4 continuously acquires images of the cleaning base station 1. When the image acquired by the image acquisition device 4 overlaps with the first preset image, the operating mechanism 2 clamps the dust collection part 11 to be disassembled inside the dust collection chamber 12.

[0160] Step S102: The sliding part 114 slides to the second position, and the sliding part 114 closes the first through hole 1131, thereby closing the dust collection part 11. The operating mechanism 2 then removes the dust collection part 11.

[0161] Step S103: The mobile device 3 moves to the recycling position, and the operating mechanism 2 places the disassembled dust collection unit 11 in the storage position;

[0162] Step S104: The mobile device 3 moves to the working position, and the operating mechanism 2 moves towards the storage chamber 13 according to the preset trajectory. The image acquisition device 4 continuously acquires images of the cleaning base station 1. When the image acquired by the image acquisition device 4 overlaps with the second preset image, the operating mechanism 2 clamps the dust collection part 11 to be installed in the storage chamber 13.

[0163] Step S105: The operating mechanism 2 moves toward the dust collection chamber 12 according to the preset trajectory, and the image acquisition device 4 continuously acquires images of the cleaning base station 1. When the image acquired by the image acquisition device 4 overlaps with the first preset image, the operating mechanism 2 performs the action of fixing the dust collection part 11.

[0164] Step S106: Continuously collect the current of the drive unit of the operating mechanism 2. If the value of the current of the drive unit is not lower than the preset threshold, determine that the dust collection unit 11 is installed in place, and release the dust collection unit 11 from the operating mechanism 2.

[0165] Step S107: The operating mechanism 2 presses the door 15, the door 15 closes the opening of the dust collection bin 12 and the receiving bin 13, and the operating mechanism 2 retracts into the receiving slot 311.

[0166] 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.

[0167] 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.

[0168] 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 cleaning system, characterized by The cleaning system comprises a cleaning base station and a self-moving device, the cleaning base station comprises a dust collection bin for mounting a dust collection part; The cleaning system further comprises an operating mechanism arranged in any one of the cleaning base station and the self-moving device, the operating mechanism is configured to dismount or mount the dust collection part.

2. The cleaning system of claim 1, wherein, The cleaning base station further comprises a containing bin for storing a standby dust collection part, the operating mechanism is configured to dismount the dust collection part in the dust collection bin and mount the standby dust collection part in the containing bin.

3. The cleaning system of claim 2, wherein, The cleaning base station comprises: a base station body, the dust collection bin and the containing bin are arranged in the base station body; a door body connected to the base station body, the door body is configured to open or close the opening end of the dust collection bin and the containing bin.

4. The cleaning system of claim 3, wherein, The opening ends of the dust collection bin and the containing bin are formed in the same side wall of the base station body, and the same door body opens or closes the opening ends of the dust collection bin and the containing bin.

5. The cleaning system of claim 4, wherein, One end of the door body is hinged to the base station body, and the cleaning base station further comprises: a locking mechanism arranged between the other end of the door body and the base station body, the operating mechanism is configured to apply pressure to the door body, and the locking mechanism switches between a locked state and an unlocked state under the pressure, in the locked state, the door body closes the opening ends of the dust collection bin and the containing bin, and in the unlocked state, the door body opens the opening ends of the dust collection bin and the containing bin.

6. The cleaning system according to any one of claims 1-5, wherein, The operating mechanism is arranged in the self-moving device, the self-moving device has a working position, and when the self-moving device is in the working position, the operating mechanism can perform the action of dismounting or mounting the dust collection part.

7. The cleaning system of claim 6, wherein, The self-moving device also has a recycling position, and when the self-moving device is in the recycling position, the operating mechanism can place the dismounted dust collection part in a storage position.

8. The cleaning system of claim 6, wherein, When the self-moving device is in the working position, the self-moving device is located at the front end of the cleaning base station and has a preset distance D from the cleaning base station.

9. The cleaning system of claim 8, wherein, The cleaning base station comprises a base station body, the dust collection bin and the containing bin are arranged in the base station body; the cleaning base station further comprises a door body connected to the base station body, the door body is configured to open or close the opening end of the dust collection bin and the containing bin; One end of the door body connected to the base station body is a first end, the other end of the door body away from the base station body is a second end, the distance between the first end and the second end is W; the operating mechanism comprises at least one mechanical joint, and the sum of the lengths of the mechanical joints is L; The preset distance ranges from W to D to L.

10. The cleaning system of any one of claims 1-5, wherein, The cleaning system further comprises an image acquisition device arranged in the operating mechanism, the image acquisition device is configured to acquire an image of the cleaning base station, and when the image acquired by the image acquisition device coincides with a preset image, the operating mechanism can clamp the dust collection part to be dismounted or mounted, or perform the action of fixing the dust collection part.

11. The cleaning system of claim 10, wherein, The cleaning base station is provided with an identification alignment mark, and in a case where the identification alignment mark in the image collected by the image collection device coincides with the identification alignment mark in the preset image, the operating mechanism can clamp the dust collecting part to be disassembled or installed or perform an action of fixing the dust collecting part.

12. A control method of a cleaning system, characterized by, The cleaning system comprises a cleaning base station and a self-moving device, the cleaning base station comprising a dust collecting bin for mounting a dust collecting part; the cleaning system further comprises an operating mechanism arranged on any one of the cleaning base station and the self-moving device, and a control method of the cleaning system comprises the following step A: controlling the operating mechanism to disassemble or install the dust collecting part.

13. The control method of the cleaning system according to claim 12, wherein, The cleaning base station further comprises a containing bin for storing a spare dust collecting part, and the step of controlling the operating mechanism to disassemble or install the dust collecting part comprises: controlling the operating mechanism to disassemble the dust collecting part in the dust collecting bin and install the spare dust collecting part in the containing bin.

14. The control method of the cleaning system according to claim 13, wherein, The cleaning base station comprises a base station body and a door body, one end of the door body being hinged to the base station body, and the cleaning base station further comprises a locking mechanism arranged between the other end of the door body and the base station body, the locking mechanism being switched between a locked state and an unlocked state under the action of pressure, and the step A further comprises the following before the step of controlling the operating mechanism to disassemble the dust collecting part in the dust collecting bin: controlling the operating mechanism to press the door body, the door body opening the opening ends of the dust collecting bin and the containing bin.

15. The control method of the cleaning system according to claim 14, wherein, The step A further comprises the following after the step of controlling the operating mechanism to install the spare dust collecting part in the containing bin in the dust collecting bin: controlling the operating mechanism to press the door body again, the door body closing the opening ends of the dust collecting bin and the containing bin.

16. A method of controlling a cleaning system according to any of claims 12-15, characterized in that, The operating mechanism is arranged on the self-moving device, and the step A further comprises the following before the step of controlling the operating mechanism to disassemble or install the dust collecting part: controlling the self-moving device to move to a working position.

17. The control method of the cleaning system according to claim 16, wherein, The step A further comprises the following after the step of controlling the operating mechanism to perform the action of disassembling the dust collecting part: controlling the self-moving device to move to a recycling position, and controlling the operating mechanism to place the disassembled dust collecting part in a storage position; controlling the self-moving device to move to the working position, and controlling the operating mechanism to perform the action of installing the dust collecting part.

18. A method of controlling a cleaning system according to any one of claims 12-15, characterized in that, The cleaning system further comprises an image collection device arranged on the operating mechanism, and the step A further comprises the following: collecting an image of the cleaning base station by the image collection device, and in a case where the image collected by the image collection device coincides with a preset image, controlling the operating mechanism to clamp the dust collecting part to be disassembled or installed or controlling the operating mechanism to perform an action of fixing the dust collecting part.

19. The control method of the cleaning system according to claim 18, characterized in that, The cleaning base station is provided with an identification alignment mark, and in a case where the image collected by the image collection device coincides with a preset image, controlling the operating mechanism to clamp the dust collecting part to be disassembled or installed or controlling the operating mechanism to perform an action of fixing the dust collecting part comprises: In a case where the identified alignment mark in the image captured by the image acquisition device coincides with the identified alignment mark in the preset image, the operating mechanism is controlled to clamp the dust collection part to be disassembled or installed or to perform an action of fixing the dust collection part.

20. The method of claim 12-15, wherein the cleaning system is controlled by a computer program. The operating mechanism comprises a driving part, and the step A further comprises: An electrical parameter of the driving part is acquired, and in a case where a value of the electrical parameter is not lower than a preset threshold, the operating mechanism is controlled to disengage from the dust collection part.

21. The method of claim 12-15, wherein the cleaning system is controlled by a computer program. The step A is performed in a case where a preset condition is met, and the preset condition comprises at least one of a first preset condition and a second preset condition: The first preset condition is that a time length from a previous time of performing the step A is not less than a preset time length. The second preset condition is that it is detected that the dust collection part is full.

22. A computer-readable storage medium, characterized in that, A computer program is stored on the computer readable storage medium, and the computer program is executed by the processor to implement the control method of the cleaning system according to any one of claims 12-21.

Images