Cleaning appliance replenishment method, system and related apparatus

Abstract

The cleaning equipment replenishment method, system, and related apparatus provided in this application relate to the field of cleaning technology. The method is applied to a stair-climbing device, which includes: a device body with a accommodating space for housing the cleaning equipment; a first liquid storage tank disposed within the device body; and a replenishment pipeline connected to the first liquid storage tank and, when the cleaning equipment is parked in the accommodating space, connected to a second liquid storage tank of the cleaning equipment. The method includes: when replenishment conditions are met, transporting cleaning liquid from the first liquid storage tank to the second liquid storage tank through the replenishment pipeline to replenish the second liquid storage tank. This solution utilizes the cleaning liquid in the first liquid storage tank of the stair-climbing device to replenish the second liquid storage tank of the cleaning equipment, enabling the cleaning equipment to replenish without returning to the cleaning equipment base station, avoiding a return trip, shortening the cleaning cycle, saving time, and improving cleaning efficiency and user experience.

Description

TECHNICAL FIELD

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

[0002] In modern family or office environment, a sweeping robot has become an important tool for daily cleaning. The sweeping robot continuously consumes cleaning liquid (referred to as liquid, such as water) in a storage tank when performing a cleaning task. When the liquid in the storage tank is insufficient, the sweeping robot usually needs to return to a base station for liquid supplementing operation to continue performing the cleaning task.

[0003] The sweeping robot performs a cleaning task on different floors, and a stair climbing machine is needed to transport the sweeping robot between different floors. Generally, the base station of the sweeping robot is usually installed at a specific location. When the sweeping robot and the base station are not on the same floor, if the liquid amount in the storage tank of the sweeping robot is insufficient, the sweeping robot needs to be transported to the base station for liquid supplementing by the stair climbing machine, and then transported back to the working floor for continuing work by the stair climbing machine.

[0004] The time consumed by the sweeping robot in the round trip between the base station and the working floor can be much longer than the actual cleaning task time, resulting in low overall cleaning efficiency. SUMMARY

[0005] Embodiments of the present application provide a cleaning equipment liquid supplementing method, system and related device for improving the cleaning efficiency of the cleaning equipment and saving cleaning time.

[0006] In a first aspect, embodiments of the present application provide a cleaning equipment liquid supplementing method applied to a stair climbing equipment, wherein the stair climbing equipment is used to transport a cleaning equipment between different floors.

[0007] The stair climbing equipment comprises:

[0008] a device body having a containing space for accommodating the cleaning equipment;

[0009] a first storage tank arranged in the device body;

[0010] a liquid supplementing pipeline connected with the first storage tank and connected with a second storage tank of the cleaning equipment when the cleaning equipment is parked in the containing space;

[0011] The method comprises:

[0012] When a liquid supplementing condition is met, cleaning liquid is transported from the first storage tank to the second storage tank through the liquid supplementing pipeline to supplement the second storage tank with liquid.

[0013] The above method uses the cleaning liquid in the first storage tank of the stair-climbing device to replenish the second storage tank of the cleaning device. This allows the cleaning device to replenish the liquid without returning to the cleaning device base station, avoiding a return trip, shortening the cleaning cycle, saving time, and improving cleaning efficiency and user experience.

[0014] In some embodiments, the fluid replenishment conditions include: the cleaning equipment being docked in the containment space.

[0015] In some embodiments, the replenishment conditions include: the replenishment pipeline being connected to the second reservoir of the cleaning equipment.

[0016] In some embodiments, the fluid replenishment conditions include: the cleaning device successfully docking with the stair-climbing device in the receiving space.

[0017] In some embodiments, the method further includes:

[0018] In response to a first instruction from the cleaning equipment, the stair-climbing device is controlled to dock with the cleaning equipment;

[0019] The first indication information is used to indicate that the cleaning equipment needs to be replenished with liquid, or to indicate that the cleaning equipment needs to be replenished with liquid and climb stairs.

[0020] In some embodiments, the step of conveying cleaning liquid from the first reservoir to the second reservoir through the replenishment pipeline includes:

[0021] The target volume of cleaning liquid is transferred from the first storage tank to the second storage tank.

[0022] In some embodiments, the target water volume is a fixed water volume.

[0023] In some embodiments, the method further includes:

[0024] The target water volume is received from the cleaning equipment, or the target water volume is determined based on the cleaning task of the cleaning equipment.

[0025] In some embodiments, the stair-climbing device is further provided with an overflow water recovery system, and the method further includes:

[0026] Turn on the water pump of the overflow recovery water circuit to recover the overflow water generated by the second storage tank into the first storage tank.

[0027] In some embodiments, if the stair-climbing equipment is operating in an inclined state during the process of transporting the cleaning equipment to the target floor, the second liquid storage tank is not replenished.

[0028] In some embodiments, the method further includes:

[0029] In response to the second instruction information of the cleaning equipment, the cleaning equipment is moved from its current floor to the floor where the cleaning equipment base station is located, so that the cleaning equipment can perform sewage treatment at the cleaning equipment base station.

[0030] In response to a third instruction from the cleaning equipment, the cleaning equipment is moved back to its original working floor.

[0031] In some embodiments, the method further includes:

[0032] When the water level in the first storage tank is less than the preset water level, the stair climbing device is controlled to return to the stair climbing device base station to replenish the first storage tank.

[0033] or,

[0034] When it is detected that the water level in the first storage tank is insufficient to support the cleaning equipment in completing the cleaning task, the stair-climbing equipment is controlled to return to the stair-climbing equipment base station to replenish the first storage tank.

[0035] Secondly, embodiments of this application provide a cleaning equipment replenishment system, including: a cleaning equipment and a stair-climbing device; the stair-climbing device is used to transport the cleaning equipment between different floors;

[0036] The stair-climbing device includes:

[0037] The equipment body has a space for accommodating the cleaning equipment;

[0038] The first liquid storage tank is installed on the main body of the device;

[0039] A replenishment pipeline is connected to the first liquid storage tank and, when the cleaning equipment is parked in the accommodating space, to the second liquid storage tank of the cleaning equipment.

[0040] The stair-climbing device is also used for:

[0041] When the replenishment conditions are met, the target amount of water is transported from the first storage tank to the second storage tank through the replenishment pipeline to replenish the second storage tank.

[0042] Thirdly, embodiments of this application provide an electronic device, including a processor, a transceiver, and a memory; the processor is communicatively connected to both the transceiver and the memory.

[0043] The memory stores computer-executed instructions;

[0044] The transceiver communicates and interacts with external devices.

[0045] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0046] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method of any of the first aspects.

[0047] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method of any one of the first aspects.

[0048] The cleaning equipment replenishment method, system, and related apparatus provided in this application utilize the cleaning liquid in the first storage tank of the stair-climbing equipment to replenish the second storage tank of the cleaning equipment. This enables the cleaning equipment to replenish the cleaning equipment without returning to the cleaning equipment base station, avoiding a return trip, shortening the cleaning cycle, saving time, and improving cleaning efficiency and user experience. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0050] Figure 1 A schematic diagram of the front of the stair-climbing device provided in the embodiments of this application;

[0051] Figure 2 A schematic diagram of the front of the device body provided in an embodiment of this application;

[0052] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0053] Figure 4 A connection diagram of the first liquid storage tank, the first transfer pump, the liquid replenishment pipeline and the recovery device provided in this application is shown in the embodiment.

[0054] Figure 5 A schematic flowchart of a method for replenishing fluid in a cleaning device, as provided in this application, is shown.

[0055] Figure 6 This application provides a schematic diagram of a stair-climbing process according to an embodiment;

[0056] Figure 7 A schematic diagram of the structure of a cleaning equipment replenishment system according to an embodiment of this application is provided;

[0057] Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0058] Explanation of reference numerals in the attached figures:

[0059] 10-Stair climbing equipment; 11-Accommodation space;

[0060] 20-Support plate;

[0061] 30 - Cover plate;

[0062] 40-Side panel;

[0063] 50 - Separator; 51 - Through hole;

[0064] 61-First liquid storage tank; 62-First transfer pump; 63-Replenishment pipeline; 64-Connector;

[0065] 71-Collection tank; 71a-Bottom wall; 72-Storage tank; 73-Second transfer pump; 74-Recovery pipeline;

[0066] 80-Crawling arm assembly.

[0067] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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.

[0069] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect, without limiting their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0070] It should be noted that, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0071] In multi-story residential or office environments, cleaning equipment (such as robotic vacuum cleaners) is often used to automate cleaning tasks. However, cleaning equipment consumes liquid (such as water) in its built-in reservoir when performing cleaning tasks, so it needs to be replenished regularly to maintain cleaning effectiveness.

[0072] In related technologies, cleaning equipment typically replenishes its liquid supply by returning to its base station, which is usually fixed on a specific floor (e.g., the first floor). When the cleaning equipment needs to perform cleaning tasks on other floors (e.g., the second or third floor), it must be transported back to the base station's floor (e.g., the first floor) using a stair-climbing device for replenishment, and then transported back to the target floor again using the same device. This results in long round trips, high time consumption, and reduced cleaning efficiency. The limited capacity of the cleaning equipment's built-in liquid storage tank further exacerbates this problem with frequent replenishment.

[0073] Furthermore, overflow water generated during the replenishment of cleaning equipment base stations (such as due to excessive replenishment or limited storage tank capacity) often enters the cleaning tray of the cleaning equipment base station. This overflow water can later be used to self-clean the cleaning components of the cleaning equipment before being discharged into the waste liquid storage tank; or it can be discharged directly into the waste liquid storage tank. The lack of an effective recycling mechanism for overflow water generated during the replenishment of cleaning equipment base stations may pollute the environment of the cleaning equipment base station or waste water resources.

[0074] In this scenario, users have higher requirements for cleaning efficiency, time cost, and user experience. For example, users expect cleaning equipment to quickly complete cross-floor liquid replenishment, reducing waiting time, and avoiding interruptions to cleaning tasks due to frequent trips to the cleaning equipment's base station. Overflow water that may be generated during liquid replenishment needs to be effectively recovered to improve utilization and prevent leaks from damaging the equipment or the environment.

[0075] To address the aforementioned issues, this application provides a method, system, and related apparatus for replenishing liquid in cleaning equipment. By integrating movable liquid replenishment components (such as a first liquid storage tank and liquid replenishment pipelines) into the stair-climbing equipment, the liquid replenishment logic of the cleaning equipment is transferred from the fixed cleaning equipment base station to the mobile stair-climbing equipment. The cleaning equipment can complete liquid replenishment without returning to the cleaning equipment base station when moving across floors, realizing the dynamic liquid replenishment function of the cleaning equipment in cross-floor cleaning tasks. Furthermore, through structural optimization and logic control, the problems of low liquid replenishment efficiency, complex overflow handling, and poor equipment adaptability in the prior art are solved.

[0076] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0077] First, a brief introduction will be given to the stair-climbing device provided in the embodiments of this application.

[0078] refer to Figures 1-4 The stair-climbing equipment 10 includes:

[0079] The device includes a main body, a first liquid storage tank 61, a replenishment pipeline 63, and a first delivery pump 62. The main body has a housing space 11 for accommodating cleaning equipment. The first liquid storage tank 61 is placed in the housing space 11 and is used to store cleaning liquid. The replenishment pipeline 63 is connected to the first liquid storage tank 61 and, when the cleaning equipment is parked in the housing space 11, is connected to the second liquid storage tank of the cleaning equipment to replenish the second liquid storage tank. The first delivery pump 62 is connected to the replenishment pipeline 63 and is used to drive the cleaning liquid in the first liquid storage tank 61 to flow to the second liquid storage tank.

[0080] Cleaning equipment refers to equipment that performs cleaning tasks, including automated cleaning equipment such as robotic vacuum cleaners, robotic mops, robotic floor scrubbers, and robotic sweeping and mopping. The specific type of cleaning equipment is not limited, but it includes a second liquid storage tank to store the cleaning liquid (such as water) required for performing the cleaning task. The stair-climbing device 10 refers to the equipment used to transport the cleaning equipment between different floors, serving as a mobile platform and liquid replenishment station for the cleaning equipment. When the cleaning equipment needs to cross floors, it connects to the stair-climbing device 10, which performs the stair-climbing operation, enabling the cleaning equipment to move between different floors for cross-floor cleaning.

[0081] The main body of the device is an integral structure of the stair-climbing device 10, which has a receiving space 11 to accommodate cleaning equipment. The size of the receiving space 11 is adapted to the external dimensions of the cleaning equipment. The main body of the device also has a first opening, which communicates with the receiving space 11 for the main body to enter and exit the receiving space 11. Along a direction intersecting (e.g., perpendicular to) the height of the stair-climbing device 10, the first opening is located on one side of the receiving space 11 to facilitate the entry of the cleaning equipment into the stair-climbing device 10. For example, along the traveling direction of the stair-climbing device 10, the first opening is located on the front side of the receiving space 11. Figure 1 As shown, the direction of travel of the stair-climbing device 10 is the X direction.

[0082] In some possible examples, such as Figure 1 As shown, the equipment body includes a support plate 20, a cover plate 30, and a side plate 40. Along the height direction of the equipment body, the cover plate 30 is opposite to and spaced apart from the support plate 20. The side plate 40 connects the support plate 20 and the cover plate 30, and the support plate 20, cover plate 30, and side plate 40 together form an accommodating space 11. The accommodating space 11 formed by the support plate 20, cover plate 30, and side plate 40 provides good protection for the cleaning equipment and the first liquid storage tank 61.

[0083] The first liquid storage tank 61 serves as a liquid storage container for storing cleaning liquids, such as clean water or diluted floor cleaner. The first liquid storage tank 61 is housed within the receiving space 11 and is fixedly connected to the main body of the equipment, for example, by fasteners to the support plate 20. The shape of the first liquid storage tank 61 is adapted to the receiving space 11.

[0084] The ratio of the height of the first liquid storage tank 61 to the height of the stair-climbing device 10 is greater than or equal to 0.7 and less than or equal to 1, for example, any one of 0.7, 0.8, 0.9, and 1, or any two of these values. When the ratio of the height of the first liquid storage tank 61 to the height of the stair-climbing device 10 is within this range, the cleaning liquid storage space can be maximized, improving liquid storage capacity. The ratio of the volume of the first liquid storage tank 61 to the volume of the second liquid storage tank is greater than or equal to 2 and less than or equal to 4, for example, any one of 2, 3, and 4, or any two of these values. When the volume of the first liquid storage tank 61 is within this range, the liquid volume of the stair-climbing device 10 is sufficient for the cleaning equipment to perform cleaning tasks on high floors, meeting the needs of multi-floor cleaning tasks.

[0085] The replenishment line 63 refers to the channel for conveying cleaning liquid to the first liquid storage tank 61 and the second liquid storage tank. The replenishment line 63 is connected to the first liquid storage tank 61 and, when the cleaning equipment is parked in the receiving space 11, to the second liquid storage tank of the cleaning equipment. For example, the connector 64 of the replenishment line 63 can be snapped into the filling port of the second liquid storage tank of the cleaning equipment. The replenishment line 63 can be a flexible tube (such as a silicone tube) or a semi-rigid tube (such as a polyethylene tube). The replenishment line 63 can include one or more pipe sections to flexibly connect the first delivery pump 62 and the second liquid storage tank.

[0086] The first delivery pump 62 is connected to the replenishment pipeline 63, which can mean that the first delivery pump 62 is connected to one end of the replenishment pipeline 63 or that the first delivery pump 62 is located in the middle of the replenishment pipeline 63. For example, the replenishment pipeline 63 includes at least two pipe sections, one end of which is connected to the first storage tank 61 and the other end of which is connected to the inlet of the first delivery pump 62; the other end of which is connected to the outlet of the first delivery pump 62 and the other end of which is connected to the injection port of the second storage tank.

[0087] Continue reading Figures 1 to 4The stair-climbing device 10 also includes a recovery device, which is located within the housing space 11 and connected to both the overflow port of the second liquid storage tank and the first liquid storage tank 61. This recovery device is used to recover overflow liquid from the second liquid storage tank when replenishing cleaning liquid to the first liquid storage tank 61. The recovery device is a device for collecting and transporting overflow liquid, and can be a modular component integrated within the housing space 11. The overflow port is an opening in the second liquid storage tank used to discharge excess cleaning liquid; it can be an overflow hole located at the top of the second liquid storage tank. The recovery device enables closed-loop management of overflow liquid, ensuring that the second liquid storage tank can be replenished with cleaning liquid and that overflow liquid can be collected promptly, avoiding waste and reducing the risk of overflow liquid stagnation or damage to the main body of the equipment / cleaning equipment, thus reducing maintenance costs.

[0088] In some possible examples, the recovery device includes a recovery liquid tank and a recovery pipeline 74. The recovery liquid tank is disposed within the receiving space 11 and communicates with the overflow port of the second storage tank, used to store overflow liquid when the second storage tank is replenished with cleaning liquid. The recovery pipeline 74 is connected to the recovery liquid tank and to the first storage tank 61. The recovery liquid tank is a container for storing overflow liquid, and the recovery pipeline 74 is a channel for connecting the recovery liquid tank and the first storage tank 61 for transporting overflow liquid. The recovery liquid tank collects the overflow liquid from the second storage tank, and the recovery pipeline 74 transports the overflow liquid to the first storage tank 61, thereby realizing the timely recovery of overflow liquid from the second storage tank to the first storage tank 61 and improving liquid utilization.

[0089] In some possible implementations, the recovery tank includes a collection tank 71 and a storage tank 72. When the cleaning equipment is docked in the receiving space 11, the second opening of the collection tank 71 is located below the overflow port of the cleaning equipment, and the bottom wall 71a of the collection tank 71 is provided with a drain port. The storage tank 72 is connected to the drain port and to the recovery pipeline 74. The collection tank 71 refers to the container used to collect the overflow liquid, the drain port refers to the opening used to discharge the overflow liquid, and the storage tank 72 refers to the container used to store the overflow liquid. The overflow liquid flows back to the first storage tank 61 in sequence through the collection tank 71, the storage tank 72, and the recovery pipeline 74. The second opening of the collection tank 71 is located below the overflow port of the cleaning equipment, allowing the overflow liquid to flow into the collection tank 71 by gravity, thus simplifying the equipment structure.

[0090] In some possible examples, the recovery device further includes a second transfer pump 73, connected to the recovery pipeline 74, for driving the overflow liquid in the recovery tank to flow to the first storage tank 61. The second transfer pump 73 is a pump-like device that drives the overflow liquid from the second storage tank to the first storage tank 61. The second transfer pump 73 ensures that the overflow liquid return is unaffected by the liquid level, and is precise, stable, and controllable. The second transfer pump 73 provides power for the return of the overflow liquid; the recovery tank, recovery pipeline 74, and second transfer pump 73 work together to ensure the timely recovery of overflow liquid from the second storage tank to the first storage tank 61.

[0091] The second transfer pump 73 is connected to the recovery pipeline 74, meaning that the second transfer pump 73 can be connected to one end of the recovery pipeline 74 or located in the middle of the replenishment pipeline 63. For example, the recovery pipeline 74 includes at least two pipe sections, one end of which is connected to the recovery liquid tank and the other end of which is connected to the inlet of the second transfer pump 73; the other end of which is connected to the outlet of the second transfer pump 73 and the other end of which is connected to the return port of the first storage tank 61.

[0092] In some possible examples, the device body also includes: a partition plate 50 disposed in the receiving space 11, the partition plate 50 also being provided with a through hole 51, a connector 64 of the replenishment pipeline 63 passing through the through hole 51, and connecting to the liquid inlet of the cleaning device when the cleaning device is parked in the receiving space 11 to connect to the second liquid storage tank.

[0093] In some possible examples, the stair-climbing device 10 also includes a crawler arm assembly 80, which is connected to the device body and used to drive the device body to crawl. The specific structure of the crawler arm assembly 80 is not limited.

[0094] Based on the above stair-climbing machine structure, the following describes the method for replenishing the cleaning equipment fluid provided in the embodiments of this application.

[0095] Figure 5 A flowchart illustrating a method for replenishing fluid in a cleaning device, as provided in this application embodiment. Figure 1 ,like Figure 5 As shown, it includes:

[0096] S401. When the replenishment conditions are met, the cleaning liquid is transported from the first liquid storage tank to the second liquid storage tank through the replenishment pipeline to replenish the second liquid storage tank.

[0097] The execution entity in this application embodiment can be the control unit of the stair-climbing device. For example, the controller or central processing unit of the stair-climbing device.

[0098] In some embodiments, the replenishment conditions may include: the cleaning equipment being parked in the specific containment space of the equipment body of the stair-climbing equipment.

[0099] For example, a limit switch is installed within the receiving space of the stair-climbing equipment. When the cleaning equipment stops in place within the receiving space, the limit switch is triggered. Upon detecting that the limit switch has been triggered, the stair-climbing equipment can determine that the cleaning equipment is stopped within the receiving space.

[0100] For example, a stair-climbing device has an ultrasonic sensor array. When each sensor in the ultrasonic sensor array detects that the distance between the cleaning device and the sensor meets a preset threshold, it can be determined that the cleaning device is parked in the receiving space.

[0101] For example, stair-climbing equipment has a visual recognition system (such as lidar and cameras) that can capture the shape features and location information of the cleaning equipment in real time, and accurately determine whether the cleaning equipment is parked in the designated space through image processing algorithms.

[0102] In some embodiments, the replenishment conditions may further include: the replenishment pipeline of the stair-climbing device is connected to the second liquid storage tank of the cleaning device.

[0103] For example, a limit switch (or magnetic switch) is installed at the joint of the replenishment pipeline. Before the replenishment pipeline is connected to the second liquid storage tank of the cleaning equipment, the limit switch is in the pop-up state (the magnetic switch is in the disengaged state). When the stair-climbing equipment detects that the limit switch (or magnetic switch) has been triggered, it can be confirmed that the replenishment pipeline is connected to the second liquid storage tank of the cleaning equipment.

[0104] In some embodiments, the replenishment conditions may further include: the cleaning equipment successfully docking with the stair-climbing equipment within the stair-climbing equipment's containment space.

[0105] Successful docking of cleaning equipment with stair-climbing equipment can include one or more of the following:

[0106] 1. The cleaning equipment and the stair-climbing equipment are successfully connected in terms of physical structure. For example, the connector of the liquid replenishment pipeline of the stair-climbing equipment is successfully connected to the liquid replenishment port of the liquid storage tank of the cleaning equipment, and the fixing devices between the stair-climbing equipment and the cleaning equipment are successfully connected (such as locking mechanisms).

[0107] 2. The power interfaces of the cleaning equipment and the stair-climbing equipment have been successfully connected. For example, the power supply interface of the stair-climbing equipment has been successfully connected to the charging interface of the cleaning equipment, or vice versa.

[0108] 3. This indicates that the cleaning equipment and the stair-climbing equipment have successfully established a communication signal connection. For example, the cleaning equipment and the stair-climbing equipment have successfully established a connection through a control bus or wireless signal.

[0109] For example, the stair-climbing equipment can determine whether the cleaning equipment and the stair-climbing equipment are successfully connected in terms of physical structure by detecting whether the limit switch at the corresponding position is triggered.

[0110] For example, the stair-climbing device can output a detection voltage to the pin of the energy interface. If a voltage signal is received from the pin, it can be determined that the energy interface of the cleaning device and the stair-climbing device has been successfully connected.

[0111] For example, the stair-climbing device can send a communication request to the cleaning device. After receiving a communication response from the cleaning device, it can be determined that the communication signals between the cleaning device and the stair-climbing device have been successfully connected.

[0112] In some embodiments, when the stair-climbing device detects that the stair-climbing device and the cleaning device meet the above-mentioned replenishment conditions, the cleaning liquid can be transported from the first storage tank to the second storage tank through the replenishment pipeline to replenish the second storage tank. For example, the stair-climbing device can control the operation of the first delivery pump to drive the cleaning liquid in the first storage tank to flow to the second storage tank.

[0113] The cleaning equipment replenishment method provided in this application uses the cleaning liquid in the first storage tank of the stair-climbing equipment to replenish the second storage tank of the cleaning equipment. This allows the cleaning equipment to replenish the cleaning equipment without having to return to the cleaning equipment base station, avoiding a return trip, shortening the cleaning cycle, saving time, and improving cleaning efficiency and user experience.

[0114] In some embodiments, when the cleaning device determines that it needs to replenish liquid (e.g., the water level in the second storage tank is less than a preset threshold), it can send a first instruction message to the stair-climbing device to instruct the stair-climbing device to replenish liquid from the second storage tank to the first storage tank.

[0115] After receiving the first instruction, the stair-climbing device can send a response to the cleaning device and control the stair-climbing device to dock with the cleaning device to enter the liquid replenishment process.

[0116] For example, the stair-climbing equipment can move based on the location of the cleaning equipment. When the stair-climbing equipment moves near the cleaning equipment, it can guide the cleaning equipment to dock with the stair-climbing equipment. After successful docking, it can be determined whether the replenishment conditions described above are met. After confirming that the replenishment conditions are met, the cleaning liquid in the first reservoir of the stair-climbing equipment is used to replenish the second reservoir of the cleaning equipment (i.e., a replenishment operation is performed).

[0117] Alternatively, the cleaning equipment can be moved based on the location of the stair-climbing equipment. When the cleaning equipment moves near the stair-climbing equipment, the stair-climbing equipment can guide the cleaning equipment to dock with it and perform the above-mentioned liquid replenishment operation.

[0118] Alternatively, the cleaning equipment and the stair-climbing equipment can move towards each other based on their respective positions (i.e., the cleaning equipment moves towards the location of the stair-climbing equipment, and the stair-climbing equipment moves towards the location of the cleaning equipment) to reduce movement time and thus improve the efficiency of fluid replenishment. When the cleaning equipment moves near the stair-climbing equipment, the stair-climbing equipment can guide the cleaning equipment to dock with it and perform the aforementioned fluid replenishment operation.

[0119] In some embodiments, when the cleaning equipment determines that it needs to replenish liquid and climb stairs, it may also send a first instruction message to the stair-climbing equipment to instruct the stair-climbing equipment to replenish liquid to the first liquid tank through the second liquid tank, and to move the cleaning equipment to the target floor.

[0120] After receiving the first instruction, the stair-climbing equipment can send a response to the cleaning equipment and control the stair-climbing equipment to dock with the cleaning equipment to enter the liquid replenishment and handling process.

[0121] For example, after the cleaning equipment and the stair-climbing equipment are successfully docked, it is determined whether the liquid replenishment conditions described above are met. If the conditions are met, the liquid replenishment operation is performed. After replenishment is complete, the stair-climbing equipment can then perform the stair-climbing operation to transport the cleaning equipment to the target floor.

[0122] Alternatively, after the cleaning equipment and the stair-climbing equipment are successfully connected, the stair-climbing equipment can first perform the stair-climbing operation to move the cleaning equipment to the target floor, and then perform the replenishment operation after confirming that the replenishment conditions are met.

[0123] Alternatively, after the cleaning equipment and the stair-climbing equipment are successfully connected, the stair-climbing equipment can perform both the stair-climbing and liquid replenishment operations simultaneously once it has determined that the liquid replenishment conditions are met.

[0124] In some embodiments, when the cleaning equipment determines that it needs to climb stairs, it may also send a first instruction message to the stair-climbing equipment to instruct the stair-climbing equipment to carry the cleaning equipment to the target floor.

[0125] After receiving the first instruction, the stair-climbing equipment can send a response to the cleaning equipment and control the stair-climbing equipment to dock with the cleaning equipment, enter the handling process, and move the cleaning equipment to the target floor.

[0126] The target floor can be sent to the stair-climbing device by the cleaning equipment through the first instruction information, or it can be determined by the stair-climbing device based on the cleaning task of the cleaning equipment.

[0127] For example, when a cleaning device is performing a cleaning task, it can send the cleaning task (e.g., cleaning the 1st and 2nd floors) to a stair-climbing device. When the stair-climbing device receives the first instruction information sent by the cleaning device, which includes the stair-climbing requirement, it can determine that the target floor is the 2nd floor if the cleaning device is currently on the 1st floor.

[0128] For example, when a cleaning device is performing a cleaning task, it can send the task (e.g., cleaning the 3rd floor) to a stair-climbing device. When the stair-climbing device receives the first instruction information from the cleaning device, which includes the stair-climbing requirement, it can directly determine that the target floor is the 3rd floor.

[0129] It should be understood that climbing stairs can include climbing upwards (e.g., from the 1st floor to the 2nd floor) and climbing downwards (e.g., from the 2nd floor to the 1st floor).

[0130] In some embodiments, to differentiate between the stair-climbing equipment's stair-climbing needs and its fluid replenishment needs, the first indication information may include a first field and a second field. The first field indicates whether the cleaning equipment needs to climb stairs, and the second field indicates whether the cleaning equipment needs fluid replenishment.

[0131] For example, the first and second fields can be indicated by bit mapping to correspond to the requirements. For instance, the first field can use one bit to indicate whether the cleaning equipment needs to climb stairs. A bit value of 1 indicates that the cleaning equipment needs to climb stairs, and a bit value of 0 indicates that the cleaning equipment does not need to climb stairs. Alternatively, a bit value of 0 indicates that the cleaning equipment needs to climb stairs, and a bit value of 1 indicates that the cleaning equipment does not need to climb stairs. This application does not limit this specific approach.

[0132] The second field can also use one bit to indicate whether the cleaning equipment needs replenishment. When the bit is 1, it indicates that the cleaning equipment needs replenishment; when the bit is 0, it indicates that the cleaning equipment does not need replenishment. Alternatively, when the bit is 0, it indicates that the cleaning equipment needs replenishment; when the bit is 1, it indicates that the cleaning equipment does not need replenishment. This application does not limit this aspect.

[0133] In some embodiments, the first indication information may further include a third field for indicating the target floor. For example, the second field may also use N bits to indicate the target floor. For instance, when the bit information is 01, the target floor is floor 1; when the bit information is 11, the target floor is floor 2.

[0134] In some embodiments, when the stair climber replenishes the second liquid storage tank, it can transport the target amount of cleaning liquid from the first liquid storage tank to the second liquid storage tank.

[0135] The target water volume may include any of the following:

[0136] 1. The target water volume is a fixed water volume.

[0137] For example, the target water volume can be a fixed volume such as 500ml, 1L, or 2L. The specific value can be set based on actual needs, and this application embodiment does not limit this.

[0138] 2. The target water volume is the amount of water used to fill the second storage tank.

[0139] For example, if the capacity of the second storage tank is 2L, the target water volume is 1.9L when the remaining water volume in the second storage tank is 100ml; and the target water volume is 1.5L when the remaining water volume in the second storage tank is 500ml.

[0140] 3. The target water volume is the water volume set based on the capacity of the second storage tank.

[0141] For example, the target water volume can be set to 1, 0.8, or 0.7 times the capacity of the second storage tank. The specific value can be set based on actual needs, and this application does not limit this.

[0142] 4. The target water volume is the amount of water required for cleaning the equipment.

[0143] For example, the water volume required by cleaning equipment can refer to the actual amount of water needed by the cleaning equipment to perform a cleaning task. For instance, if the cleaning equipment needs another 500ml of cleaning liquid to complete the cleaning task, then the target water volume is 500ml.

[0144] 5. The target water volume is the amount of water already consumed by the cleaning equipment.

[0145] For example, the amount of water consumed by cleaning equipment can refer to the amount of water consumed by the cleaning equipment in performing cleaning tasks. For instance, the cleaning equipment has cleaned 10m... 2 If 500ml of cleaning liquid was used in the living room, then the target water volume is 500ml.

[0146] In some embodiments, when the target water volume is a fixed volume, this fixed volume can be preset in the stair-climbing device. When the stair-climbing device performs a replenishment operation, the fixed volume of cleaning liquid can be delivered from the first storage tank to the second storage tank. Using a fixed volume for replenishment simplifies the replenishment logic, makes it easy to implement, eliminates the need for complex calculations, and thus improves the efficiency and stability of replenishment.

[0147] In some embodiments, when the target water volume is the amount of water intended to fill the second storage tank, the target water volume may be sent from the cleaning equipment to the stair-climbing equipment, or the stair-climbing equipment may determine the target water volume based on the information sent by the cleaning equipment.

[0148] For example, the cleaning equipment determines the target water volume based on the remaining water volume and capacity of the second storage tank, and sends the target water volume to the stair-climbing equipment. Alternatively, the cleaning equipment sends the remaining water volume and capacity of the second storage tank to the stair-climbing equipment, which then calculates and determines the target water volume based on the received data.

[0149] Optionally, the capacity of the second storage tank is fixed. During interaction with the stair-climbing device (e.g., when replenishment is needed for the first time), the cleaning device can send the capacity of the second storage tank to the stair-climbing device. The stair-climbing device can record this capacity, and during subsequent replenishments, the cleaning device only needs to send the remaining water in the second storage tank. This reduces the communication overhead between the cleaning device and the stair-climbing device.

[0150] Optionally, the cleaning device typically replenishes the second reservoir when the remaining water level is less than or equal to a fixed threshold (e.g., 100ml). Therefore, the stair-climbing device can pre-record this fixed threshold and the capacity of the second reservoir (e.g., set by the user in the stair-climbing device, or sent by the cleaning device to the stair-climbing device). When replenishing the cleaning device, the target water volume can be determined based on this fixed threshold and the capacity of the second reservoir. When replenishment is needed, the cleaning device only needs to send a replenishment command, without needing to carry the target water volume, further reducing the communication overhead between the cleaning device and the stair-climbing device, thereby improving the efficiency of replenishment.

[0151] In some embodiments, when the target water volume is set based on the capacity of the second storage tank, the stair-climbing device can determine the target water volume based on the recorded capacity of the second storage tank (e.g., set by the user in the stair-climbing device, or sent by the cleaning device to the stair-climbing device). This simplifies the replenishment logic and makes it easier to implement.

[0152] In some embodiments, when the target water volume is the water volume required by the cleaning equipment, or when the target water volume is the water volume already consumed by the cleaning equipment, the target water volume can be determined by the cleaning equipment and sent to the stair-climbing equipment, or it can be determined directly by the stair-climbing equipment. For example, the target water volume can be the water volume determined by the cleaning equipment based on the cleaning task and sent to the stair-climbing equipment, or the water volume determined by the stair-climbing equipment based on the cleaning task of the cleaning equipment.

[0153] For example, the cleaning equipment's cleaning task is to clean the first-floor living room (25m²). 2 The water consumption per unit area of ​​the cleaning equipment is 0.1 L / m². 2 (Predefined within the cleaning equipment) The volume of the second liquid storage tank is 1L.

[0154] The cleaning equipment starts its cleaning task from the cleaning equipment base station (the second storage tank is full of water). Assuming the cleaning equipment only needs replenishment after the water in the second storage tank is depleted, then after the cleaning equipment has cleaned 10 meters... 2 Afterwards, the water in the second storage tank was exhausted, leaving a remaining cleaning area of ​​15 m². 2 The required water volume is 1.5L, while the second storage tank has a volume of 1L. Therefore, the water volume required for this cleaning of the equipment is 1L. When the equipment needs replenishment next time, the remaining cleaning area is 5m². 2 The required water volume is 0.5L, and the second storage tank has a volume of 1L. Therefore, the next cleaning of the equipment requires 0.5L of water.

[0155] For example, the water consumption per unit area of ​​the cleaning equipment is 0.1 L / m². 2 The cleaning equipment cleaned 10m 2 Afterwards, the cleaning equipment determines that water needs to be replenished (e.g., the water in the second storage tank is depleted or less than the preset value). If the cleaning equipment determines that the current water consumption is 1L, then the target water volume is 1L.

[0156] It should be understood that when the stair-climbing device determines the target water volume based on the cleaning task of the cleaning equipment, the cleaning task can be sent to the stair-climbing device when the cleaning equipment starts executing the cleaning task. The stair-climbing device can determine the target water volume based on the calculation logic described above. The capacity of the second liquid storage and the water consumption per unit area of ​​the cleaning equipment can be sent from the cleaning equipment to the stair-climbing device, or they can be set by the user within the stair-climbing device; this embodiment does not limit this setting.

[0157] In some embodiments, when replenishing the second liquid storage tank using a fixed water volume or a water volume set based on the capacity of the second liquid storage tank, overflow may occur. For example, when replenishing the second liquid storage tank by adding 1L of liquid each time, if the capacity of the second liquid storage tank is 1L and the remaining water volume in the second liquid storage tank is 0.1L, 0.1L of excess liquid will overflow from the overflow port (also known as the overflow outlet) of the second liquid storage tank.

[0158] To reduce the accumulation of spilled liquid or damage to the main body of the equipment / cleaning equipment, reduce maintenance costs, and improve the utilization rate of liquid, the stair climbing equipment can also activate the water pump (such as the second transfer pump) of the overflow water recovery circuit to recover the overflow water generated by the second storage tank to the first storage tank.

[0159] For example, refer to Figure 3 and Figure 4Overflow water from the second storage tank can flow out from its overflow port, pass through the collection tank 71, and then collect in the storage tank 72. After starting the second transfer pump 73, the overflow water in the storage tank 72 can be transported to the first storage tank 61 through the recovery pipeline 74, thus realizing the recovery of overflow water from the second storage tank. The overflow path formed by the collection tank 71, the storage tank 72, and the recovery pipeline 74 can be referred to as the overflow recovery water path for the second storage tank.

[0160] In some embodiments, the stair-climbing device may activate the water pump in the overflow recovery path when it determines that the replenishment conditions are met; alternatively, the stair-climbing device may activate the water pump in the overflow recovery path after successfully docking with the cleaning equipment; alternatively, the stair-climbing device may activate the water pump in the overflow recovery path when it begins to perform the replenishment operation; or alternatively, the stair-climbing device may activate the water pump in the overflow recovery path upon receiving a first instruction message including a replenishment requirement. This application does not limit the timing of activating the water pump in the overflow recovery path.

[0161] In some embodiments, if the cleaning equipment has both replenishment and stair-climbing requirements, after the cleaning equipment and the stair-climbing equipment are successfully docked, the second liquid tank is not replenished while the stair-climbing equipment is performing the stair-climbing process (i.e., the process of moving the cleaning equipment to the target floor), so as to improve the safety of the replenishment process.

[0162] Among them, such as Figure 6 As shown, when the stair-climbing equipment moves the cleaning equipment from the 1st floor to the 2nd floor, the stair-climbing process can be described as follows:

[0163] Scenario 1: The process of moving from the ground floor and up the stairs to eventually reach the second floor.

[0164] Scenario 2: This only refers to the process of moving on stairs, i.e., the stair-climbing equipment operates in an inclined state.

[0165] In scenario 1, "not replenishing the second liquid tank" means that once the stair-climbing equipment begins to move, replenishing the second liquid tank is prohibited. This applies whether the equipment is moving on a flat surface or on a staircase. For example, ... Figure 6 As shown, when the stair-climbing equipment moves the cleaning equipment from the 1st floor, the first delivery pump can be turned off to stop replenishing the second liquid tank. When the stair-climbing equipment moves the cleaning equipment to the 2nd floor, the first delivery pump can be turned on to resume replenishing the second liquid tank.

[0166] In scenario 2, "not replenishing the second liquid tank" means that replenishment to the second liquid tank is prohibited only while the stair-climbing equipment is moving up the stairs. That is, replenishment to the second liquid tank is permitted during the stair-climbing equipment's movement to position A. For example, after the stair-climbing equipment starts moving the cleaning equipment from the first floor, if it detects that it has reached position A (e.g., by using an image sensor to detect the image ahead), or if it detects that the stair-climbing equipment is moving in an inclined position (e.g., by using a gyroscope to detect the posture of the stair-climbing equipment), the first delivery pump can be shut off to stop replenishing the second liquid tank. When the stair-climbing equipment moves the cleaning equipment to the second floor, the first delivery pump can be turned on to resume replenishing the second liquid tank. By restricting replenishment to the second liquid tank only when the stair-climbing machine is moving in an inclined position, the efficiency of replenishment can be improved while ensuring safety.

[0167] In some embodiments, when the cleaning equipment, the stair-climbing equipment, and the cleaning equipment base station are on the same floor, if the cleaning equipment needs to be replenished with liquid, it can return to the cleaning equipment base station for replenishment, or it can be replenished via the stair-climbing equipment. This application does not limit this aspect.

[0168] To improve replenishment efficiency, the cleaning equipment can also determine which device to use for replenishment based on the distance between it and the stair-climbing equipment and the cleaning equipment base station. For example, if the distance between the cleaning equipment and the stair-climbing equipment is less than the distance between the cleaning equipment and the cleaning equipment base station, the stair-climbing equipment can be used preferentially for replenishment.

[0169] In some embodiments, when the cleaning equipment needs to climb stairs to perform cleaning tasks (e.g., after completing a cleaning task on the 1st floor, it needs to go to the 2nd floor to perform a cleaning task), the cleaning equipment can return to the cleaning equipment base station for replenishment, and then be transported to the target floor by the stair-climbing equipment; alternatively, it can be replenished and transported to the target floor by the stair-climbing equipment.

[0170] In some embodiments, the cleaning equipment generates wastewater when performing cleaning tasks. When the amount of wastewater in the wastewater box exceeds a preset amount, the cleaning equipment needs to return to the cleaning equipment base station for wastewater treatment before it can continue performing cleaning tasks. If the cleaning equipment and the cleaning equipment base station are not on the same floor at this time (e.g., the cleaning equipment is on the 2nd floor and the cleaning equipment base station is on the 1st floor), the cleaning equipment needs to be moved to the floor where the cleaning equipment base station is located using a stair-climbing device.

[0171] For example, in response to a second instruction message from the cleaning equipment, the cleaning equipment is moved from its current floor to the floor where the cleaning equipment base station is located, so that the cleaning equipment can perform wastewater treatment at the cleaning equipment base station; in response to a third instruction message from the cleaning equipment, the cleaning equipment is moved back to the original floor where it was working; the third instruction message is used to indicate that the wastewater treatment by the cleaning equipment is complete.

[0172] For example, when the cleaning equipment detects that the amount of sewage in the sewage box exceeds a preset amount, it can send a second instruction to the stair-climbing device. Upon receiving this second instruction, the stair-climbing device can control itself to dock with the cleaning equipment, and after successful docking, move the cleaning equipment from its current floor to the floor where the cleaning equipment's base station is located. The second instruction may include the floor where the cleaning equipment's base station is located, or it may directly instruct the user to return to the cleaning equipment's base station.

[0173] When the second instruction information includes the floor where the cleaning equipment base station is located, the stair-climbing device can perform a stair-climbing operation based on that floor to move the cleaning equipment from its current floor to the floor where the cleaning equipment base station is located. When the second instruction information can directly instruct the device to return to the cleaning equipment base station, the stair-climbing device can perform a stair-climbing operation based on the pre-acquired information about the floor where the cleaning equipment base station is located to move the cleaning equipment from its current floor to the floor where the cleaning equipment base station is located.

[0174] After the cleaning equipment finishes treating the wastewater at the cleaning equipment base station, it can send a third instruction to the stair-climbing equipment, instructing the stair-climbing equipment to move the cleaning equipment back to the original floor where it was working. This third instruction may include the original floor where it was working.

[0175] Optionally, when the cleaning equipment is treating sewage at the cleaning equipment base station, the second water tank can also be replenished through the cleaning equipment base station.

[0176] Alternatively, the cleaning equipment can treat wastewater only at the cleaning equipment base station, and then replenish the liquid through the stair-climbing equipment to reduce the energy consumption of the stair-climbing equipment during the transportation of the cleaning equipment.

[0177] In some embodiments, when the cleaning equipment is performing a cleaning task, the stair-climbing equipment can also replenish the first liquid tank to better support the replenishment of the second liquid tank, so as to avoid insufficient liquid in the first liquid tank, which would prevent the cleaning equipment from completing the cleaning task.

[0178] For example, when the water level in the first storage tank is less than the preset water level, the stair-climbing device is controlled to return to the stair-climbing device base station to replenish the first storage tank.

[0179] For example, if the stair-climbing device detects through sensors that the water level in the first storage tank has dropped to 0.5L, which is less than the preset 1L, the device can automatically return to its base station to replenish the first storage tank. After replenishment, the device can automatically return to its original position.

[0180] It should be understood that the preset water volume can be set based on actual needs, and this application embodiment does not limit this.

[0181] For example, when it is detected that the amount of water in the first liquid storage tank is insufficient to support the cleaning equipment to complete the cleaning task, the stair-climbing equipment is controlled to return to the stair-climbing equipment base station to replenish the first liquid storage tank.

[0182] For example, the cleaning equipment's cleaning task is to clean the living room on the first floor and the living room on the second floor (area 50m²). 2 The water consumption per unit area of ​​the cleaning equipment is 0.1 L / m². 2 The second storage tank has a volume of 1L. The stair-climbing equipment, through interaction with the cleaning equipment, determines that the remaining cleaning area is 30 m². 2 (That is, the required water volume is 3L). If the water volume in the first storage tank is 1L (capacity is 5L), this water volume is insufficient to support the cleaning equipment to complete the cleaning task. The stair-climbing equipment can return to the stair-climbing equipment base station to replenish the first storage tank. After replenishment, the stair-climbing equipment can automatically return to its original position.

[0183] For example, by interacting with the cleaning equipment, the stair-climbing device can obtain the amount of water consumed by the cleaning equipment, or determine the amount of water consumed based on the area cleaned and the water consumption per unit area. If the water level in the first storage tank is less than the amount of water consumed by the cleaning equipment, the stair-climbing device can return to the stair-climbing device base station to replenish the first storage tank. After replenishment, the stair-climbing device can automatically return to its original position.

[0184] In some embodiments, when the stair-climbing device returns to the stair-climbing device base station to replenish the first liquid storage tank, it can use the remaining liquid in the first liquid storage tank to replenish the second liquid storage tank before returning to the stair-climbing device base station to replenish the first liquid storage tank. This extends the time for the cleaning device to perform the cleaning task, reduces the waiting time while the stair-climbing device is replenishing the first liquid storage tank when the second liquid storage tank needs to be replenished, and thus improves the efficiency of performing the cleaning task.

[0185] The stair-climbing device can also return directly to the stair-climbing device base station to replenish the first liquid storage tank when it detects that the water level in the first liquid storage tank is insufficient to support the cleaning equipment in completing the cleaning task.

[0186] In some embodiments, when the stair-climbing equipment base station replenishes the first liquid storage tank, it can either fill the first liquid storage tank completely, add a fixed amount of liquid to the first liquid storage tank, or replenish the liquid according to the amount of water required for the cleaning equipment to complete the cleaning task. This application embodiment does not limit the specific amount of liquid replenished.

[0187] Based on the above embodiments, this application also provides a cleaning equipment fluid replenishment system.

[0188] Figure 7 This is a schematic diagram of a cleaning equipment replenishment system provided in an embodiment of this application, as shown below. Figure 7 As shown, it includes:

[0189] Cleaning equipment 100 and stair-climbing equipment 10. Stair-climbing equipment 10 is used to move cleaning equipment 100 between different floors.

[0190] The stair-climbing device 10 includes: a device body having a receiving space for accommodating cleaning equipment; a first liquid storage tank disposed in the device body; and a liquid replenishment pipeline connected to the first liquid storage tank and connected to the second liquid storage tank of the cleaning equipment when the cleaning equipment is parked in the receiving space.

[0191] The stair-climbing device 10 is also used for:

[0192] When the replenishment conditions are met, the target amount of water is transported from the first storage tank to the second storage tank through the replenishment pipeline to replenish the second storage tank.

[0193] In some embodiments, fluid replacement conditions include any of the following:

[0194] The cleaning equipment is parked in the storage space.

[0195] The replenishment pipeline is connected to the second liquid storage tank of the cleaning equipment.

[0196] The cleaning equipment successfully docked with the stair-climbing equipment within the designated space.

[0197] In some embodiments, the cleaning equipment replenishment system may further include a cleaning equipment base station, which may also be equipped with a replenishment device. When the cleaning equipment is docked at the cleaning equipment base station, the replenishment device in the base station replenishes the cleaning fluid to the second storage tank of the cleaning equipment. This allows the cleaning equipment to replenish cleaning fluid via both the stair-climbing device 10 and the cleaning equipment base station, improving the flexibility of cleaning fluid replenishment. The cleaning equipment base station can also charge the cleaning equipment, improving its battery life.

[0198] In some embodiments, the cleaning equipment replenishment system may further include a stair-climbing equipment base station, which may also be equipped with a replenishment device. When the stair-climbing equipment is parked inside the base station, the replenishment device in the base station replenishes the cleaning liquid to the first storage tank of the stair-climbing equipment. The base station can also charge the stair-climbing equipment, improving its battery life.

[0199] In some embodiments, the stair-climbing device 10 is further configured to, in response to a first instruction message from the cleaning device, control the stair-climbing device to dock with the cleaning device; the first instruction message is used to indicate that the cleaning device needs to be replenished with liquid, or to indicate that the cleaning device needs to be replenished with liquid and to climb the stair.

[0200] In some embodiments, the stair-climbing device 10 is also used to deliver a target amount of cleaning liquid from a first storage tank to a second storage tank.

[0201] In some embodiments, the target water volume is a fixed water volume.

[0202] In some embodiments, the stair-climbing device 10 is also used to receive a target water volume sent by the cleaning device, or to determine the target water volume based on the cleaning task of the cleaning device.

[0203] In some embodiments, the stair-climbing device 10 is further configured to activate the water pump of the overflow recovery water path to recover the overflow generated by the second storage tank into the first storage tank.

[0204] In some embodiments, if the stair-climbing device 10 is operating in an inclined state while carrying the cleaning equipment to the target floor, the second liquid storage tank will not be replenished.

[0205] In some embodiments, the stair-climbing device 10 is further configured to, in response to a second instruction from the cleaning device, move the cleaning device from its current floor to the floor where the cleaning device base station is located, so that the cleaning device can perform wastewater treatment at the cleaning device base station; and in response to a third instruction from the cleaning device, move the cleaning device back to its original operating floor.

[0206] In some embodiments, the stair-climbing device 10 is further configured to, when the water level in the first liquid tank is less than a preset water level, control the stair-climbing device to return to the stair-climbing device base station to replenish the first liquid tank; or, when it is detected that the water level in the first liquid tank is insufficient to support the cleaning device in completing the cleaning task, control the stair-climbing device to return to the stair-climbing device base station to replenish the first liquid tank.

[0207] The stair-climbing device of the cleaning equipment replenishment system provided in this application embodiment can perform the cleaning equipment replenishment method shown in any of the above embodiments. Its principle and technical effect are similar, and will not be described again here.

[0208] This application also provides an electronic device.

[0209] Figure 8 This is a schematic diagram of the structure of the electronic device 80 provided in the embodiments of this application, such as... Figure 8 As shown, the electronic device may include: a transceiver 801, a processor 802, and a memory 803. This electronic device may be the control unit of the stair-climbing device in any of the above embodiments.

[0210] Processor 802 executes computer execution instructions stored in memory, causing processor 802 to perform the scheme in the above embodiments. Processor 802 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0211] The memory 803 is connected to the processor 802 via the system bus and completes communication between them. The memory 803 is used to store computer program instructions.

[0212] The transceiver 801 can perform the functions of receiving and sending data and instructions.

[0213] Optionally, the electronic device 80 may also include a communication interface to communicate and interact with external or internal devices, such as client devices (e.g., mobile phones, tablets). In specific implementations, if the communication interface, memory 803, and processor 802 are implemented independently, they can be interconnected via a bus to complete communication with each other.

[0214] The system bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. Transceivers are used to enable communication between database access devices and other computers (e.g., clients, read-write libraries, and read-only libraries). Memory may include random access memory (RAM) and may also include non-volatile memory.

[0215] Optionally, in a specific implementation, if the communication interface, memory 803, and processor 802 are integrated on a single chip, then the communication interface, memory 803, and processor 802 can communicate through an internal interface.

[0216] This application also provides a chip for executing instructions, which is used to execute the technical solutions of the methods described in the above embodiments.

[0217] This application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the technical solution of the above method embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0218] In one possible implementation, a computer-readable medium may include random access memory (RAM), read-only memory (ROM), compact discread-only memory (CD-ROM) or other optical disc storage, disk storage or other magnetic storage devices, or any other medium targeted to carry or to store the required program code in the form of instructions or data structures, and accessible by a computer. Furthermore, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs, laser discs, optical discs, Digital Versatile Discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0219] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the technical solution of the above method embodiments. Its implementation principle and technical effects are similar, and will not be repeated here.

[0220] In the specific implementation of the aforementioned terminal device or server, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0221] Those skilled in the art will understand that all or part of the steps in any of the above method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, all or part of the steps in the above method embodiments are performed.

[0222] If the technical solution of this application is implemented in software form and sold or used as a product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product, which is stored in a storage medium and includes a computer program or several instructions. This computer software product enables a computer device (which may be a personal computer, server, network device, or similar electronic device) to execute all or part of the steps of the methods in the embodiments of this application.

[0223] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0224] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0225] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0226] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0227] When integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0228] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0229] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0230] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for replenishing fluid in cleaning equipment, characterized in that, Applied to stair-climbing equipment, the stair-climbing equipment is used to transport cleaning equipment between different floors; The stair-climbing device includes: The equipment body has a space for accommodating the cleaning equipment; The first liquid storage tank is installed on the main body of the device; A replenishment pipeline is connected to the first liquid storage tank and, when the cleaning equipment is parked in the accommodating space, to the second liquid storage tank of the cleaning equipment. The method includes: When the replenishment conditions are met, cleaning liquid is transported from the first storage tank to the second storage tank through the replenishment pipeline to replenish the second storage tank.

2. The method according to claim 1, characterized in that, The replenishment conditions include: the cleaning equipment being docked in the containment space.

3. The method according to claim 1, characterized in that, The replenishment conditions include: the replenishment pipeline is connected to the second liquid storage tank of the cleaning equipment.

4. The method according to claim 1, characterized in that, The replenishment conditions include: the cleaning equipment successfully docking with the stair-climbing equipment in the containment space.

5. The method according to claim 1, characterized in that, The method further includes: In response to a first instruction from the cleaning equipment, the stair-climbing device is controlled to dock with the cleaning equipment; The first indication information is used to indicate that the cleaning equipment needs to be replenished with liquid, or to indicate that the cleaning equipment needs to be replenished with liquid and climb stairs.

6. The method according to claim 1, characterized in that, The step of transporting cleaning liquid from the first storage tank to the second storage tank through the replenishment pipeline includes: The target volume of cleaning liquid is transferred from the first storage tank to the second storage tank.

7. The method according to claim 6, characterized in that, The target water volume is a fixed water volume.

8. The method according to claim 6, characterized in that, The method further includes: The target water volume is received from the cleaning equipment, or the target water volume is determined based on the cleaning task of the cleaning equipment.

9. The method according to claim 1, characterized in that, The stair-climbing device is also equipped with an overflow water recovery system, and the method further includes: Turn on the water pump of the overflow recovery water circuit to recover the overflow water generated by the second storage tank into the first storage tank.

10. The method according to any one of claims 1-9, characterized in that, If the stair-climbing equipment is operating at an angle during the process of moving the cleaning equipment to the target floor, the second liquid storage tank will not be replenished.

11. The method according to any one of claims 1-9, characterized in that, The method further includes: In response to the second instruction information of the cleaning equipment, the cleaning equipment is moved from its current floor to the floor where the cleaning equipment base station is located, so that the cleaning equipment can perform sewage treatment at the cleaning equipment base station. In response to a third instruction from the cleaning equipment, the cleaning equipment is moved back to its original working floor.

12. The method according to any one of claims 1-9, characterized in that, The method further includes: When the water level in the first storage tank is less than the preset water level, the stair climbing device is controlled to return to the stair climbing device base station to replenish the first storage tank. or, When it is detected that the water level in the first storage tank is insufficient to support the cleaning equipment in completing the cleaning task, the stair-climbing equipment is controlled to return to the stair-climbing equipment base station to replenish the first storage tank.

13. A liquid replenishment system for cleaning equipment, characterized in that, include: Cleaning equipment and stair-climbing equipment; The stair-climbing device is used to transport the cleaning equipment between different floors; The stair-climbing device includes: The equipment body has a space for accommodating the cleaning equipment; The first liquid storage tank is installed on the main body of the device; A replenishment pipeline is connected to the first liquid storage tank and, when the cleaning equipment is parked in the accommodating space, to the second liquid storage tank of the cleaning equipment. The stair-climbing device is also used for: When the replenishment conditions are met, the target amount of water is transported from the first storage tank to the second storage tank through the replenishment pipeline to replenish the second storage tank.

14. The system according to claim 13, characterized in that, The fluid replenishment conditions include any of the following: The cleaning equipment is parked in the accommodating space; The replenishment pipeline is connected to the second liquid storage tank of the cleaning equipment; The cleaning equipment successfully docked with the stair-climbing equipment in the accommodating space.

15. An electronic device, characterized in that, include: The processor, transceiver, and memory are provided; the processor is communicatively connected to both the transceiver and the memory. The memory stores computer-executed instructions; The transceiver communicates and interacts with external devices. The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-12.

16. A computer-readable storage medium, characterized in that, It stores a computer program thereon, which is executed by a processor to implement the method of any one of claims 1-12.

17. A computer program product, characterized in that, Includes a computer program that, when executed by a controller, implements the method of any one of claims 1-12.

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