Cleaning system and cleaning method

Abstract

According to the main technical scheme, the cleaning system comprises a cleaning robot, the cleaning robot comprises a first main control part and at least one functional part, and the functional part comprises a sensing part; the basic equipment comprises a cleaning piece and a feature piece, and the sensing piece is used for sensing the feature piece; the first main control part is at least used for judging whether a functional part meets the cleaning condition or not, when the target functional part meets the cleaning condition, the position of the basic equipment is determined according to the sensing result of the sensing part on the feature part, and the cleaning robot is cleaned according to the position of the target functional part on the cleaning robot and the position of the basic equipment. And controlling the cleaning robot to move to the target function part to act with the cleaning part so as to clean the target function part. Whether the function part needs to be cleaned or not is automatically judged by arranging the cleaning part on the basic equipment, when cleaning is needed, the position of the basic equipment is recognized, and automatic cleaning is achieved by approaching the cleaning part, cleaning is timely, and manual operation is not needed.

Description

Technical Field

[0001] This invention relates to the field of smart home technology, and in particular to a cleaning system and cleaning method. Background Technology

[0002] With the increasing popularity of smart home technology, especially the gradual development of cleaning robots, home cleaning has become much easier and is increasingly popular with families. To make cleaning robots more versatile, in addition to basic functions such as sweeping, mopping, and motion mechanisms, they are also equipped with auxiliary components such as sensors and cameras, enabling human-computer interaction, image recognition, and obstacle detection.

[0003] Functional components are exposed on the robot's surface, and over time, dust and grease can accumulate, requiring regular cleaning. Current cleaning methods typically involve manually wiping the robot's surface, which cannot be adjusted based on the amount of dust accumulated. This can lead to poor cleaning results due to signal errors during the cleaning process, and manual cleaning also degrades the user experience. Summary of the Invention

[0004] In view of this, the present invention provides a cleaning system and cleaning method that automatically determines whether functional components need cleaning. When cleaning is required, the system identifies the location of the base equipment and moves it close to the cleaning component. By setting the cleaning component on the base equipment, automatic cleaning is achieved, which is timely and requires no manual operation.

[0005] On one hand, the present invention provides a cleaning system, comprising:

[0006] A cleaning robot (100) includes a first main control and at least one functional component, the at least one functional component including a sensing element (110);

[0007] The basic equipment (200) includes a cleaning component (210) and a feature component (220), and a sensing component (110) is used to sense the feature component (220);

[0008] The first main control is used at least to determine whether a functional component meets the cleaning conditions. When the target functional component meets the cleaning conditions, the cleaning robot (100) is controlled to move to the target functional component and the cleaning component (210) to perform cleaning based on the sensing result of the sensor (110) on the feature (220) and the position of the target functional component on the cleaning robot (100).

[0009] The sensing element (110) includes an image acquisition element, which is used to acquire image information.

[0010] Among them, the feature (220) includes a specific pattern, which includes a pattern of a specific color, a pattern of a specific shape, and / or a pattern of a specific arrangement.

[0011] The feature (220) includes at least one signal transmitter for transmitting an identification signal of a specific wavelength, and the sensing element (110) includes a signal receiver for receiving the identification signal.

[0012] The at least one functional component further includes at least one of a functional sensor and a charging component (140).

[0013] The cleaning robot (100) includes a bottom surface and a surrounding surface, with the surrounding surface encircling the bottom surface and extending to one side of the bottom surface;

[0014] Functional components are provided on the enclosure surface. The cleaning component (210) includes a side cleaning component (211), which is used to contact the functional components on the enclosure surface.

[0015] And / or, a functional component is provided on the bottom surface, and the cleaning component (210) includes a bottom cleaning component (212) for contacting the functional component on the bottom surface.

[0016] The basic equipment (200) also includes a second main control and a moving component. The second main control is connected to the moving component, and the moving component is connected to the cleaning component (210). The moving component is used to drive the cleaning component (210) to move in order to clean the functional components.

[0017] Alternatively, the cleaning robot (100) may also include a motion mechanism (130), and the first master control is also used to drive the cleaning robot (100) to move by controlling the motion mechanism (130) so that the functional component moves relative to the cleaning component (210) for cleaning.

[0018] Among them, the basic equipment (200) also includes the main body of the equipment;

[0019] Both the cleaning component (210) and the feature component (220) are connected to the main body of the equipment;

[0020] Alternatively, the main body of the equipment includes a docking space, where the cleaning robot (100) can be selectively docked, the cleaning component (210) is located in the docking space, and the feature component (220) is set on the main body of the equipment.

[0021] On the other hand, the present invention also provides a cleaning method for a cleaning system, the cleaning system including a cleaning robot and basic equipment, the method comprising:

[0022] Determine whether the functional components of the cleaning robot meet the cleaning conditions, and use the functional components that meet the cleaning conditions as the target functional components.

[0023] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the cleaning robot is controlled to move until the target functional component comes into contact with the cleaning component of the base equipment.

[0024] The control function and the cleaning function move relative to each other to clean the function.

[0025] The specific steps for determining whether the functional components of the cleaning robot meet the cleaning conditions are as follows:

[0026] Determine whether the time elapsed since the last cleaning of the functional component meets the preset time limit, or determine whether the cleaning robot has completed a cleaning cycle since the last cleaning of the functional component, or determine whether cleaning work needs to be performed.

[0027] The specific steps for determining whether the cleaning conditions are met are as follows:

[0028] The system determines whether a functional component meets the cleaning requirements based on the signals from that component.

[0029] The step of determining whether cleaning conditions are met based on signals from functional components is as follows:

[0030] Determine whether the data missing rate of the functional component reaches the first preset threshold;

[0031] Alternatively, determine whether the area of ​​the stain on the image acquired by the functional component reaches a second preset threshold;

[0032] Alternatively, determine whether the voltage signal of the functional component is less than a third preset threshold.

[0033] Among them, the feature element includes a specific pattern, and the sensing element includes an image acquisition element;

[0034] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the steps for controlling the cleaning robot to move until the target functional component contacts the cleaning component are as follows:

[0035] Determine whether the image information acquired by the image acquisition device matches the stored specific pattern. If so, determine the location of the basic device based on the image information.

[0036] Determine the relative position of the target functional component to the basic equipment based on the position of the target functional component on the cleaning robot;

[0037] The cleaning robot moves according to the relative position of the target functional component and the base equipment, so that the target functional component comes into contact with the cleaning component of the base equipment.

[0038] The feature includes a signal transmitter for transmitting a specific signal, and the sensing element includes a signal receiver;

[0039] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the steps for controlling the cleaning robot to move until the target functional component contacts the cleaning component are as follows:

[0040] The cleaning robot moves to the base equipment based on the signal received by the signal receiver;

[0041] Based on the position of the target functional component on the cleaning robot, rotate the cleaning robot to move it until the target functional component comes into contact with the cleaning component of the base equipment.

[0042] The steps for controlling the relative movement of the target functional component and the cleaning component, and for cleaning the target functional component, specifically include:

[0043] The cleaning robot is controlled to move so that the target functional component and the cleaning component move relative to each other, thereby cleaning the target functional component.

[0044] And / or, control the movement of the cleaning component to move the target functional component and the cleaning component relative to each other, thereby cleaning the target functional component.

[0045] The cleaning system and method proposed in this invention actively determine whether functional components need to be cleaned, thereby achieving timely cleaning of functional components and avoiding the impact of dirt accumulation on the functionality of functional components, which would affect the cleaning effect of the robot. When a functional component needs cleaning, the system automatically locates the position of the cleaning component and moves it to interact with the functional component, achieving fully automatic cleaning without human intervention. This avoids the burden of manual cleaning and improves the user experience. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of a cleaning robot and its basic equipment in a relative position, provided by an embodiment of the present invention.

[0047] Figure 2 This is a schematic diagram of the structure of a cleaning robot and its basic equipment in two relative positions, provided by an embodiment of the present invention;

[0048] Figure 3 A schematic diagram of the structure of a basic device provided in an embodiment of the present invention;

[0049] Figure 4 A flowchart of a cleaning method provided in an embodiment of the present invention. Detailed Implementation

[0050] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of the specific implementation, structure, features and effects of a cleaning system proposed according to the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0051] On the one hand, such as Figure 1-3 As shown, the present invention provides a cleaning system including a cleaning robot (100). The cleaning robot (100) is used for mobile cleaning. The cleaning robot (100) can also be called an intelligent cleaning device, a sweeping robot, a mopping robot, etc., and can perform autonomous mobile cleaning without user control. The cleaning robot (100) includes a shell (120), a first main control unit, a motion mechanism (130), a cleaning mechanism, etc. The cleaning robot (100) can have various shapes. In order to balance stability and applicability to various scenarios, such as cleaning areas under beds, the outer contour of the cleaning robot (100) is usually a flat cylindrical structure. The shell (120) of the cleaning robot (100) mainly includes a chassis and an outer cover connected to the chassis and forming a receiving cavity. The shape of the chassis can be set according to actual needs, such as being approximately disc-shaped, or it can be adapted to components such as water tanks to form an irregular shape. The first main control unit controls the motion mechanism (130) of the cleaning robot (100), enabling the cleaning robot (100) to move towards the base equipment (200) to clean functional components, or to move out of the base equipment (200) to perform floor cleaning. The cleaning mechanism may include a roller brush and a dust box, etc. The first main control unit controls the cleaning mechanism to collect dust, debris, etc. during the movement of the cleaning robot (100), thereby cleaning the floor. The motion mechanism (130) may include a moving wheel (131) and an auxiliary steering wheel (132). The moving wheel (131) protrudes entirely or partially from under the chassis to contact the ground. It is driven by a drive motor in the inner cavity, causing the moving wheel to rotate and drive the cleaning robot (100) to move. The auxiliary steering wheel (132) may be a universal wheel fixed under the chassis. By rotating and stopping the moving wheel (131) in conjunction with the auxiliary steering wheel (132), the cleaning robot (100) can be turned.

[0052] The cleaning robot (100) also includes at least one functional component, which includes a sensing component (110). The functional component can be a single component, i.e., only the sensing component (110). The sensing component (110) can be a part used only for sensing the feature component (220), or the sensing component (110) can have multiple functions in different scenarios. When not sensing the feature component (220), the sensing component (110) can be used to sense the environment for obstacle avoidance, mapping, etc., while when a functional component needs cleaning, the sensing component (110) is used to sense the feature component (220). The sensing component (110) can be a camera, a signal receiver, etc. The functional component can also be multiple, i.e., in addition to the sensing component (110), it can include various other components, such as at least one of a functional sensor and a charging component (140). Functional sensors are used to provide various positional information, motion status information, communication information, and obstacle information to the first main control unit of the cleaning robot (100), enabling the first main control unit to adjust the movement of the cleaning robot (100), avoid obstacles, and communicate with the outside world. Specifically, the functional sensors may include at least one of a communication sensor (150), a wall-following sensor (160), an obstacle avoidance sensor (170), and a cliff sensor (180). Figure 1 As shown, the communication sensor (150), wall-following sensor (160), and obstacle avoidance sensor (170) are mounted on the side wall of the outer casing, while the cliff sensor (180) is mounted on the chassis. The wall-following sensor (160), obstacle avoidance sensor (170), cliff sensor (180), as well as the aforementioned charging component (140), communication sensor (150), and sensing component (110), are all exposed on the surface or outer side of the housing (120), thus requiring cleaning due to dust accumulation.

[0053] The cleaning system also includes a base device (200), which includes a cleaning component (210) and a feature component (220), and a sensing component (110) for sensing the feature component (220).

[0054] The cleaning component (210) is used to clean the functional component. The cleaning method is designed to ensure that the cleaning component (210) and the functional component can move relative to each other. The cleaning component (210) can take many forms, which will be described in detail below with reference to more specific embodiments. The feature component (220) is a symbol that represents the basic device (200). The sensing component (110) and the feature component (220) are mutually cooperating devices that can realize the positioning of the basic device (200). The feature component (220) is a signal or graphic in the environment that can uniquely represent the basic device (200).

[0055] The first main control is used at least to determine whether a functional component meets the cleaning conditions. When the target functional component meets the cleaning conditions, the cleaning robot (100) is controlled to move to the target functional component and the cleaning component (210) to perform cleaning based on the sensing result of the sensor (110) on the feature (220) and the position of the target functional component on the cleaning robot (100).

[0056] The first main control stores cleaning conditions and the position information of functional components on the cleaning robot (100). The cleaning conditions are used to determine whether the functional components need to be cleaned, thereby realizing the automatic confirmation of the cleaning needs of the cleaning components. When it is confirmed that the cleaning components need to be cleaned, the cleaning robot (100) is moved by controlling the motion mechanism (130). When the sensing element (110) senses the feature element (220), the position of the basic equipment (200) or the cleaning component (210) is determined according to the sensing result. Based on the position of the functional components on the cleaning robot (100), the cleaning robot (100) is moved so that the cleaning robot (100) moves to contact the target functional component that needs to be cleaned and the cleaning component (210). The functional component and the cleaning component (210) move relative to each other to perform cleaning.

[0057] The cleaning system and method proposed in this invention actively determine whether functional components need to be cleaned, thereby achieving timely cleaning of functional components and avoiding the impact of dirt accumulation on the functionality of functional components, which would affect the cleaning effect of the robot. When a functional component needs cleaning, the system automatically locates the position of the cleaning component and moves it to interact with the functional component, achieving fully automatic cleaning without human intervention. This avoids the burden of manual cleaning and improves the user experience.

[0058] In one embodiment, the cleaning robot (100) includes a bottom surface and a surrounding surface, the surrounding surface encircling the bottom surface and extending to one side of the bottom surface. The bottom surface is the side facing the ground during the use of the cleaning robot (100), and the surrounding surface is the side profile of the cleaning robot (100).

[0059] Functional components are provided on the enclosure surface, and / or on the bottom surface, such as the aforementioned wall-following sensor (160), obstacle avoidance sensor (170), charging component (140), communication sensor (150), and sensing component (110) located on the side wall of the outer casing, while the cliff sensor (180) is located on the chassis. Figure 1-2 As shown, the cleaning component (210) includes a side cleaning component (211) for contacting the functional component on the surrounding surface, and the cleaning component (210) also includes a bottom cleaning component (212) for contacting the functional component on the bottom surface.

[0060] The cleaning component (210) can be at least one or a combination of a brush, wool felt, soft rubber, and foam. In some embodiments, different materials and shapes of cleaning components (210) can be used in different locations. For example, in the side cleaning component (211), the side cleaning component (211) in a part of the height corresponding to the communication sensor (150) is a brush, while the side cleaning component (211) in a part of the height corresponding to the charging component (140) is foam. The front end of the foam near the charging component (140) is more prominent than the brush, so that the foam can be inserted into the socket of the charging component (140) for wiping and cleaning, while the brush can scrape and clean the surface of the communication sensor (150).

[0061] The basic equipment (200) can be used solely for cleaning functional components, meaning the basic equipment (200) can be set up independently, either fixed to the ground or fixed to a base station. For example, the basic equipment (200) may also include a main body, which may be an L-shaped bracket for bonding or adhering to the ground. The side cleaning component (211) and the bottom cleaning component (212) are set on the L-shaped bracket, and the feature component (220) is connected to the main body. For example, it may be set below the side cleaning component (211) of the L-shaped bracket and above the bottom cleaning component (212) in the horizontal direction, and can then be sensed by the sensing component (110).

[0062] The bottom cleaning component (212) can be configured as follows: Figure 3 The shape shown has a notch A in the middle, which is used to make way for the auxiliary steering wheel (132) of the motion mechanism (130) so that the bottom cleaning member (212) can clean the functional members on both sides of the auxiliary steering wheel (132).

[0063] In another embodiment, the basic equipment (200) is a cleaning base station, or in other words, the basic equipment (200) is a partial structure of the cleaning base station. The main body of the equipment includes a docking space. The cleaning robot (100) is used to selectively dock in the docking space of the cleaning base station. The cleaning robot (100) cooperates with the cleaning base station, and the cleaning base station can perform operations such as charging, water replenishment, cleaning, and dust collection on the docked cleaning robot (100). The cleaning component (210) is located in the docking space, and the feature component (220) is set on the main body of the equipment. This allows the cleaning of the functional components to be performed simultaneously while the cleaning robot (100) is in the docking space performing operations such as charging and water replenishment.

[0064] On the other hand, such as Figure 4As shown, the present invention also provides a cleaning method for the aforementioned cleaning system, the cleaning system including the aforementioned cleaning robot (100) and basic equipment (200). In the following, the implementation of the cleaning method will be described in detail in conjunction with the structure of the cleaning system. It can be understood that the description of the cleaning system in the following content can be regarded as the features and implementation of the cleaning system.

[0065] Cleaning methods include:

[0066] S1: Determine whether the functional components of the cleaning robot (100) meet the cleaning conditions, and take the functional components that meet the cleaning conditions as the target functional components.

[0067] Cleaning functional components can be done by cleaning all functional components at once. In one embodiment, the step of determining whether a functional component of the cleaning robot meets the cleaning conditions specifically involves: determining whether a preset time has elapsed since the last cleaning of the functional component, such as whether the time elapsed since the last cleaning process exceeds one hour or one day. Alternatively, it can be done by: determining whether the cleaning robot (100) has completed a cleaning cycle since the last cleaning of the functional component. If a cleaning cycle has been completed, the functional component is considered to meet the cleaning conditions after the cleaning work is completed, ensuring that functional components are cleaned after each cleaning cycle. Alternatively, it can be done by determining whether cleaning work is about to begin. If cleaning work is about to begin, the functional component is considered to meet the cleaning conditions, ensuring that functional components are cleaned before cleaning begins, guaranteeing the smooth progress of each cleaning operation. In the embodiment of cleaning all functional components at once, if the cleaning conditions are met, the functional components are sequentially defined as target functional components; that is, after the current functional component is cleaned, the next functional component is designated as the target functional component.

[0068] In another implementation, the cleaning conditions are pre-stored conditions that correspond one-to-one with each functional component. The cleaning conditions vary depending on the type of functional component. Determining whether a functional component of the cleaning robot meets the cleaning conditions can be done by sequentially checking each functional component at preset time intervals, and designating the functional component that meets the cleaning conditions as the target functional component. The target functional component refers to the cleaning component that meets the cleaning conditions and needs to be cleaned. Preferably, the step of determining whether the cleaning conditions are met specifically involves: determining whether a functional component meets the cleaning conditions based on its signal.

[0069] The following are examples of specific types of functional components and their corresponding cleaning conditions. It should be understood that the functional components are not limited to the following implementation methods:

[0070] First, the step of determining whether the cleaning conditions are met based on the signals from the functional components specifically involves determining whether the data missing ratio of the functional components reaches a first preset threshold.

[0071] The functional components can be the aforementioned communication sensor (150), wall-following sensor (160), obstacle avoidance sensor (170), and cliff sensor (180), or they can be sensing components (110), enabling the determination of whether the functional components are attached to debris based on the amount of data missing in the received signal. The specific value of the first preset threshold can be the same or different for different functional components. More specifically, the first preset threshold corresponding to each of the communication sensor (150), wall-following sensor (160), obstacle avoidance sensor (170), and cliff sensor (180) is stored in the first main controller. The first preset threshold is then used to determine whether the data missing ratio of the communication sensor (150), wall-following sensor (160), obstacle avoidance sensor (170), and cliff sensor (180) reaches the corresponding first preset threshold. Sensors with a data missing ratio exceeding the first threshold are designated as target sensors. The data missing ratio refers to the difference between the theoretically acquired data amount and the actual acquired data amount within a preset time, and the quotient of the theoretically acquired data amount. The preset time can be set as needed.

[0072] Secondly, the step of determining whether the cleaning conditions are met based on the signals from the functional components specifically involves determining whether the area of ​​the stain on the image acquired by the functional components reaches a second preset threshold.

[0073] The functional component is an image acquisition component, specifically a camera. The camera can be a different camera from the sensing component (110), or the image acquisition component is the same as the sensing component (110). Determining whether the stain area in the image acquired by the functional component reaches the second preset threshold specifically involves extracting the stain outline from the image acquired by the functional component and calculating whether the proportion of the stain outline to the image reaches the second preset threshold. The determination of the stain outline can be achieved by driving the cleaning robot (100) to move, and using the area in the image whose outline remains unchanged within a preset time as the stain area.

[0074] Third, the step of determining whether the cleaning conditions are met based on the signal of the functional component specifically involves determining whether the voltage signal of the functional component is less than a third preset threshold.

[0075] The functional component is a charging component (140). During the charging process, the charging component (140) will generate a voltage of a third preset threshold. When dust accumulates in the charging component (140), the voltage will drop. Before determining whether the voltage signal of the functional component is less than the third preset threshold, the process also includes driving the cleaning robot (100) to move to the charging device, such as driving the cleaning robot (100) to move to the cleaning base station and position it in a designated location, so that the charging component (140) docks with the charging device for charging. Then, it is determined whether the voltage signal of the functional component is less than the third preset threshold. If it is less than the third preset threshold, the charging component (140) is used as the target functional component.

[0076] S2. Based on the sensing results of the sensor (110) on the feature (220) and the position of the target functional component on the cleaning robot (100), control the cleaning robot (100) to move until the target functional component and the cleaning component (210) come into contact.

[0077] The sensor (110) can locate the basic equipment (200) in a variety of ways:

[0078] In one embodiment, the feature (220) includes a specific pattern, which may include a pattern of a specific color, a pattern of a specific shape, and / or a pattern of a specific arrangement, such as a QR code. The sensing element (110) includes an image acquisition element, such as a camera. The sensing element (110) is used to acquire image information, and the first main control is used to determine the position of the base device (200) based on the image information.

[0079] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the steps for controlling the cleaning robot to move until the target functional component contacts the cleaning component are as follows:

[0080] First, determine whether the image information acquired by the image acquisition device matches the stored specific pattern. If so, determine the location of the basic device based on the image information.

[0081] The user can first specify the approximate location of the basic equipment on the map, and then move the cleaning robot (100) to the vicinity of the basic equipment to acquire images. In the implementation where the feature (220) is a QR code, it is determined whether there is information matching the QR code in the image information acquired by the image acquisition device. If the match is successful, the feature (220) is successfully identified. Then, based on the edge information of the QR code area in the image information, such as the feature points of the QR code area, such as the distance and angle information between the two ends or vertices of the QR code area and the sensing device (110), the position of the basic equipment (200) is determined.

[0082] Secondly, based on the position of the target functional component on the cleaning robot, determine the relative position of the target functional component and the basic equipment.

[0083] For example, the first main control can store the relative positions of each functional component and the sensing component (110). Based on the relative positions of the feature component (220) and the sensing component (110) and the relative positions of the target functional component and the sensing component (110), the relative positions of the target functional component and the basic device (200) can be obtained.

[0084] Finally, the cleaning robot (200) is moved according to the relative position of the target functional component and the base equipment (200) so that the target functional component comes into contact with the cleaning component (210) of the base equipment (200).

[0085] The cleaning robot (100) can be controlled to move perpendicularly to the central axis of the base device (200) to the central axis of the base device (200). Alternatively, a point can be specified on the central axis of the base device (200), the cleaning robot (100) can be controlled to move to the specified point, and then the posture of the cleaning robot (100) can be adjusted so that the target functional component of the cleaning robot (100) is facing the base device (200), and then it can move to the base device (200) in a direction parallel to the central axis. The path can be flexibly adjusted so that the target functional component can move to contact the cleaning component (210) of the base device (200).

[0086] Alternatively, in another embodiment, the feature (220) includes a signal transmitter for emitting an identification signal of a specific wavelength, such as an infrared signal. The sensing element (110) includes a signal receiver, such as an infrared receiver, for receiving the identification signal. The first master control is used to determine the position of the base device (200) based on the identification signal. The feature (220) may have multiple signal transmitters for emitting multiple sets of infrared signals with different codes, which are used to divide the base device (200) into multiple areas. There are multiple signal receivers, which are located on different sides of the cleaning robot (100).

[0087] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the steps for controlling the cleaning robot to move until the target functional component contacts the cleaning component are as follows:

[0088] First, based on the signal obtained by the signal receiver, the cleaning robot (100) is moved to the base equipment (200).

[0089] According to the stored strategy of rotating and moving cleaning robot (100), the movement of cleaning robot (100) is dynamically adjusted according to the infrared signals with different codes received by the signal receiver until the cleaning robot (100) reaches the base device (200).

[0090] More specifically, the feature (220) consists of three infrared emitters installed on the base device (200). The first, second, and third infrared emitters divide the front of the base device (200) into a central area, a left front area, and a right front area. The cleaning robot (100) is equipped with three infrared sensors: a first infrared sensor located directly in front of the cleaning robot (100) along its axis, and a second and third infrared sensor symmetrically arranged relative to the first infrared sensor.

[0091] First, control the cleaning robot (100) to move to a preset distance in front of the base equipment (200) marked on the map. Then, rotate the cleaning robot (100) in place. Determine which area the cleaning robot (100) is in—left front zone, middle zone, or right front zone—based on the signal quantities received by the first infrared sensor, second infrared sensor, and third infrared sensor from the three infrared transmitters. If the cleaning robot (100) is in the middle zone, adjust the position of the cleaning robot (100) until the first infrared sensor receives the infrared signal from the first infrared transmitter, and then move the cleaning robot (100) in a straight line to the base equipment (200). If the cleaning robot (100) is in the left front zone, turn the cleaning robot (100) to the right. When the second infrared sensor receives the signal from the second infrared transmitter, the cleaning robot (100) moves straight until the second infrared sensor receives the signal from the first infrared transmitter, then stops moving and rotates the cleaning robot (100) to the left until the first infrared sensor receives the infrared signal from the first infrared transmitter, and then moves the cleaning robot (100) in a straight line to the base equipment (200). If the cleaning robot (100) is located in the right front area, it has a control process similar to that described above, which will not be repeated here. It is understandable that there may be many other control strategies, which will not be listed one by one.

[0092] Next, based on the position of the target functional component on the cleaning robot (100), the cleaning robot (100) is rotated to move until the target functional component comes into contact with the cleaning component (210) of the base equipment (200).

[0093] When the cleaning robot (100) arrives at the base equipment (200), the first infrared sensor of the above embodiment faces the cleaning component (210). Based on the relative position of the first infrared sensor and the target functional component, the cleaning robot (100) is rotated to make contact between the target functional component and the cleaning component (210) of the base equipment (200).

[0094] S3. Control the relative movement of the target functional component and the cleaning component (210) to clean the target functional component.

[0095] The relative movement between the target functional component and the cleaning component can be a process where the target functional component moves actively while the cleaning component remains stationary. Specifically, the cleaning process involves controlling the target functional component to move relative to the cleaning component. This includes: the first main control unit driving the cleaning robot (100) to move via the control motion mechanism (130), thereby moving the target functional component relative to the cleaning component (210) for cleaning. For example, controlling the cleaning robot (100) to rotate left and right allows it to move relative to the cleaning component (210) in a twisting manner.

[0096] Alternatively, in some other embodiments, the base device (200) further includes a second main control and a moving component. The second main control is connected to the moving component, and the moving component is connected to the cleaning component (210). The moving component is used to drive the cleaning component (210) to move in order to clean the functional component. That is, the step of controlling the relative movement of the target functional component and the cleaning component to clean the target functional component specifically includes: controlling the movement of the cleaning component (210) so that the target functional component and the cleaning component (210) move relative to each other to clean the target functional component.

[0097] The moving part can be a combination of a motor and a lead screw. The lead screw is connected to the cleaning part (210). The cleaning part (210) is slidably connected to the main body of the basic equipment (200) in the aforementioned embodiment. By driving the lead screw to rotate, the thread pushes the cleaning part (210) to move back and forth, thereby achieving the cleaning of the target functional part.

[0098] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A cleaning system, characterized in that, include: A cleaning robot (100) includes a first main control and at least one functional component, the at least one functional component including a sensing element (110); The basic device (200) includes a cleaning component (210) and a feature component (220), and the sensing component (110) is used to sense the feature component (220); The first main control is used at least to determine whether the target functional component meets the cleaning conditions. When the target functional component meets the cleaning conditions, the cleaning robot (100) is controlled to move to the target functional component and interact with the cleaning component (210) based on the sensing result of the sensor (110) on the feature (220) and the position of the target functional component on the cleaning robot (100) to perform cleaning of the target functional component.

2. The cleaning system according to claim 1, characterized in that, The sensing element (110) includes an image acquisition element, which is used to acquire image information.

3. The cleaning system according to claim 1, characterized in that, The feature (220) includes a signal transmitter for transmitting an identification signal of a specific wavelength, and the sensing element (110) includes a signal receiver for receiving the identification signal.

4. The cleaning system according to claim 1, characterized in that, The at least one functional component further includes at least one of a functional sensor and a charging component (140).

5. The cleaning system according to claim 1, characterized in that, The cleaning robot (100) includes a bottom surface and a surrounding surface, the surrounding surface surrounding the bottom surface and extending to one side of the bottom surface; The functional component is provided on the enclosure surface, and the cleaning component (210) includes a side cleaning component (211), which is used to contact the functional component on the enclosure surface; And / or, the functional component is provided on the bottom surface, and the cleaning component (210) includes a bottom cleaning component (212) for contacting the functional component on the bottom surface.

6. A cleaning method for a cleaning system comprising a cleaning robot and basic equipment, characterized in that, The method includes: Determine whether the functional components of the cleaning robot meet the cleaning conditions, and take the functional components that meet the cleaning conditions as the target functional components; Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the cleaning robot is controlled to move until the target functional component contacts the cleaning component; The target functional component and the cleaning component are moved relative to each other to clean the target functional component.

7. The cleaning method according to claim 6, characterized in that, The step of determining whether the cleaning conditions are met is as follows: The signal from the functional component determines whether the functional component meets the cleaning conditions.

8. The cleaning method according to claim 7, characterized in that, The step of determining whether the cleaning conditions are met based on the signal from the functional component specifically involves: Determine whether the data missing ratio of the functional component reaches a first preset threshold; Alternatively, determine whether the area of ​​the stain on the image acquired by the functional component reaches a second preset threshold; Alternatively, determine whether the voltage signal of the functional component is less than a third preset threshold.

9. The cleaning method according to claim 6, characterized in that, The feature includes a specific pattern, and the sensing element includes an image acquisition element; The step of controlling the cleaning robot to move until the target functional component contacts the cleaning component, based on the sensing result of the sensing element on the feature element and the position of the target functional component on the cleaning robot, specifically includes: Determine whether the image information acquired by the image acquisition device matches the stored specific pattern; if so, determine the location of the basic device based on the image information. Based on the position of the target functional component on the cleaning robot, determine the relative position of the target functional component and the basic equipment; The cleaning robot is moved according to the relative position of the target functional component and the base equipment so that the target functional component comes into contact with the cleaning component of the base equipment.

10. The cleaning method according to claim 6, characterized in that, The feature includes a signal transmitter for transmitting a specific signal, and the sensing element includes a signal receiver; The step of controlling the cleaning robot to move until the target functional component contacts the cleaning component, based on the sensing result of the sensing element on the feature element and the position of the target functional component on the cleaning robot, specifically includes: The cleaning robot is moved to the base equipment according to the signal obtained by the signal receiver; Rotate the cleaning robot according to the position of the target functional component on the cleaning robot until the target functional component contacts the cleaning component of the base equipment.

Images