Alarm method, cleaning robot and base station

Abstract

The application relates to an alarm method, a cleaning robot and a base station. The alarm method is applied to a cleaning robot, the cleaning robot is provided with a sewage box, the sewage box is configured to store sewage collected by the cleaning robot and discharge the sewage when the cleaning robot is in a sewage discharging state; the method comprises the following steps: receiving liquid level state information of a sewage tank sent by a base station, wherein the sewage tank is used for accessing sewage discharged from the sewage box; in the case that the liquid level state information represents that the liquid level of the sewage tank is higher than a first preset liquid level threshold, detecting a current working state of the cleaning robot; if the current working state represents that the cleaning robot is cleaning a cleaning component, controlling the cleaning robot to send alarm information, wherein the alarm information is used for prompting that a sewage filter screen is blocked or sewage leakage occurs, and the sewage filter screen is used for filtering sewage collected in a working process of the cleaning robot. The method can improve the cleaning effect of the cleaning robot.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to an alarm method, a cleaning robot, and a base station. Background Technology

[0002] With the development of robotics technology, cleaning robot technology has emerged. Cleaning robots can automatically perform cleaning tasks such as mopping, sweeping, and dusting in the workspace. In daily cleaning tasks, the cleaning robot first filters the collected wastewater through a wastewater filter, and then discharges the filtered wastewater into the base station's wastewater tank.

[0003] However, the wastewater filter often gets clogged, which causes wastewater to overflow inside the cleaning robot, contaminating the inside of the robot. This can easily cause secondary pollution during the cleaning process, resulting in poor cleaning performance. Summary of the Invention

[0004] Therefore, it is necessary to provide an alarm method, a cleaning robot, and a base station that can improve the cleaning effect of cleaning robots in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides an alarm method applied to a cleaning robot, wherein the cleaning robot is equipped with a wastewater box configured to store wastewater collected by the cleaning robot and to discharge wastewater when the cleaning robot is in a wastewater discharge state; the method includes:

[0006] The system receives the liquid level status information of the sewage tank sent by the base station, wherein the sewage tank is used to receive sewage discharged from the sewage box;

[0007] When the liquid level status information indicates that the liquid level in the sewage tank is higher than a first preset liquid level threshold, the current working status of the cleaning robot is detected.

[0008] If the current working state indicates that the cleaning robot is cleaning the cleaning components, then the cleaning robot is controlled to issue an alarm message, wherein the alarm message is used to indicate that the sewage filter is clogged or that sewage has leaked, and the sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

[0009] In one embodiment, the alarm information includes a first alarm information and a second alarm information; controlling the cleaning robot to issue alarm information includes:

[0010] If the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, then the cleaning robot is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged.

[0011] If the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, then the cleaning robot is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that a sewage leak has occurred.

[0012] Wherein, the second preset liquid level threshold is greater than the first preset liquid level threshold.

[0013] In one embodiment, the alarm information includes a first alarm information and a second alarm information; controlling the cleaning robot to issue alarm information includes:

[0014] Based on the liquid level status information and the previously received liquid level status information, the rate of increase of the liquid level in the sewage tank is detected;

[0015] If the rate of increase in liquid level is greater than a first preset rate threshold, the cleaning robot is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged.

[0016] If the rate of increase in liquid level is not greater than a first preset rate threshold, the cleaning robot is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that a sewage leak has occurred.

[0017] In one embodiment, after the cleaning robot issues an alarm message, the method further includes:

[0018] If the alarm information is used to indicate that a sewage leak has occurred, the cleaning robot is controlled to reduce the cleaning rate of the cleaning components.

[0019] If the alarm message indicates that the wastewater filter is clogged, the cleaning robot is controlled to pause the cleaning of the cleaning components.

[0020] In one embodiment, the method includes:

[0021] The degree of clogging of the wastewater filter is assessed based on the rate of increase in liquid level, and the clogging degree assessment result is obtained.

[0022] The cleaning robot is controlled to push a third alarm message generated based on the clogging degree assessment result to a preset terminal, wherein the third alarm message is used to indicate the degree of clogging of the sewage filter.

[0023] Secondly, this application also provides an alarm method for use in a cleaning robot, the method comprising:

[0024] The system receives water level status information from a base station regarding the water tank level. If the water level status information indicates that the water tank level is higher than a first preset water level threshold, the system controls the cleaning robot to issue an alarm message. The alarm message is used to indicate that the wastewater filter is clogged or that a wastewater leak has occurred. The wastewater filter is used to filter the wastewater collected by the cleaning robot during its operation.

[0025] Thirdly, this application also provides an alarm method applied to a base station, wherein the base station is equipped with a wastewater tank; the method includes:

[0026] Real-time monitoring of the liquid level status information in the wastewater tank;

[0027] When the cleaning robot is inside the base station, the liquid level status information is sent to the cleaning robot;

[0028] The cleaning robot is configured to issue an alarm message when the liquid level status information indicates that the liquid level in the sewage tank is higher than a first preset liquid level threshold and the cleaning components are being cleaned. The alarm message is used to indicate that the sewage filter is clogged or that sewage has leaked. The sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

[0029] In one embodiment, the method further includes:

[0030] If no feedback information from the cleaning robot regarding the liquid level status information is detected, and the liquid level status information indicates that the liquid level in the sewage tank is higher than the first preset liquid level threshold, then the previous working state of the cleaning robot in the last feedback is obtained.

[0031] Based on the time difference between the previous working state time point and the current time point, determine whether the cleaning robot is in the target working state of cleaning the cleaning components;

[0032] If it is determined that the cleaning robot is in the target working state of cleaning the cleaning components, the base station is controlled to issue an alarm message, wherein the alarm message is used to indicate that the wastewater filter of the cleaning robot is clogged or that the cleaning robot has leaked wastewater.

[0033] In one embodiment, the alarm information includes first alarm information and second alarm information; controlling the base station to issue alarm information includes:

[0034] If the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, then the base station is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged.

[0035] If the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, then the base station is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that a sewage leak has occurred.

[0036] Wherein, the second preset liquid level threshold is greater than the first preset liquid level threshold.

[0037] Fourthly, this application also provides a cleaning robot, including a memory, a processor, a cleaning component, and a wastewater tank. The wastewater tank is configured to store wastewater collected during the operation of the cleaning robot and to discharge wastewater when the cleaning robot is in a wastewater discharge state. The memory stores a computer program, and the processor executes the computer program to implement the following steps:

[0038] The system receives liquid level status information of a sewage tank sent by a base station, wherein the sewage tank is used to receive sewage discharged from the sewage box; when the liquid level status information indicates that the liquid level of the sewage tank is higher than a first preset liquid level threshold, the system detects the current working status of the cleaning robot; if the current working status indicates that the cleaning robot is cleaning the cleaning components, the system controls the cleaning robot to issue an alarm message, wherein the alarm message is used to indicate that the sewage filter is clogged or that sewage leakage has occurred, and the sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

[0039] Fifthly, this application also provides a cleaning robot, including a memory, a processor, and cleaning components, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0040] The system receives water level status information from a base station regarding the water tank level. If the water level status information indicates that the water tank level is higher than a first preset water level threshold, the system controls the cleaning robot to issue an alarm message. The alarm message is used to indicate that the wastewater filter is clogged or that a wastewater leak has occurred. The wastewater filter is used to filter the wastewater collected by the cleaning robot during its operation.

[0041] Sixthly, this application also provides a base station, including a memory, a processor, a sewage tank, and a liquid level sensor. The liquid level sensor is used to detect the liquid level state of the sewage tank. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0042] The system monitors the liquid level status information of the sewage tank in real time; when the cleaning robot is inside the base station, it sends the liquid level status information to the cleaning robot; the cleaning robot is configured to issue an alarm message when the liquid level status information indicates that the liquid level of the sewage tank is higher than a first preset liquid level threshold and the cleaning components are being cleaned, wherein the alarm message is used to indicate that the sewage filter is clogged or that sewage leakage has occurred, and the sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

[0043] The aforementioned alarm method, cleaning robot, and base station include a wastewater box on the cleaning robot, configured to store wastewater collected by the robot and discharge it when the robot is in a wastewater discharge state. A wastewater trough is used to receive the wastewater discharged from the wastewater box. Additionally, the base station shares the wastewater trough's liquid level information with the cleaning robot. When the liquid level in the trough exceeds a first preset threshold, the cleaning robot detects its current operating status. Since the wastewater box only discharges wastewater during the discharge process, if the current operating status indicates the robot is cleaning cleaning components, it means the wastewater filter is clogged, causing the collected wastewater to overflow or leak during cleaning, leading to the rise in the base station's wastewater trough level. Therefore, the cleaning robot issues an alarm to alert the user to the clogged filter or leaking wastewater. This allows for timely notification of the user to address the clogged filter and leaking wastewater, preventing secondary pollution during subsequent cleaning operations and improving the cleaning robot's effectiveness. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a flowchart illustrating an alarm method in one embodiment of this application;

[0046] Figure 2 This is a flowchart illustrating an alarm method in another embodiment of this application;

[0047] Figure 3 This is a diagram showing the internal structure of a cleaning robot in one embodiment of this application;

[0048] Figure 4 This is a diagram of the internal structure of a base station in one embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] In one exemplary embodiment, such as Figure 1 As shown, an alarm method is provided, which is applied to a cleaning robot. The cleaning robot is equipped with a wastewater box configured to store wastewater collected by the cleaning robot and to discharge wastewater when the cleaning robot is in a wastewater discharge state. The alarm method includes steps 202 to 206. Wherein:

[0051] Step 202: Receive the liquid level status information of the sewage tank sent by the base station, wherein the sewage tank is used to receive sewage discharged from the sewage box.

[0052] It should be noted that the cleaning robot in this embodiment has multiple device states, such as cleaning, drying, and sewage discharge. The cleaning state indicates that the cleaning robot is cleaning the cleaning components, the drying state indicates that the cleaning robot is drying the cleaning components, and the sewage discharge state indicates that the sewage box of the cleaning robot is discharging sewage. At this time, the sewage tank of the base station will be connected to the cleaning robot to discharge sewage. Therefore, in this embodiment, when the cleaning robot is cleaning the cleaning components, it will first collect the sewage generated during cleaning into the sewage box, and then discharge the sewage in the sewage box into the sewage tank of the base station when the cleaning robot is in the sewage discharge state.

[0053] In addition, the base station will monitor the liquid level of the sewage tank in real time and send the liquid level status information to the cleaning robot to share the monitored liquid level status of the sewage tank with the cleaning robot.

[0054] As an example, the wastewater tank of the base station can be set up in the self-cleaning area of ​​the cleaning robot, that is, in the area where the cleaning robot cleans the cleaning components, such as the area where the cleaning robot in the base station cleans the mop or roller.

[0055] Step 204: When the liquid level in the sewage tank, as indicated by the liquid level status information, is higher than the first preset liquid level threshold, the current working status of the cleaning robot is detected.

[0056] Step 206: If the current working status indicates that the cleaning robot is cleaning the cleaning components, then control the cleaning robot to issue an alarm message. The alarm message is used to indicate that the sewage filter is clogged or that sewage has leaked. The sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

[0057] The liquid level status information indicates the liquid level of the sewage tank. For example, if the depth of the sewage tank is 50 mm, the liquid level status information can be 40 mm, 30 mm, or 20 mm, etc.

[0058] As an example, steps 204 to 206 include: when the liquid level in the wastewater tank, as indicated by the liquid level status information, is higher than a first preset liquid level threshold, detecting the current working state of the cleaning robot; if the current working state is "cleaning in progress," it indicates that the cleaning robot is cleaning the cleaning components, and the wastewater box is not discharging wastewater. Therefore, the wastewater in the base station's wastewater tank is leaking out, and it is determined that the leakage is caused by the wastewater filter being clogged, resulting in the wastewater collected during the cleaning process. This triggers the cleaning robot to issue an alarm, indicating that the wastewater filter is clogged or that a wastewater leak has occurred. This allows for timely prompting to clean the wastewater filter and remove leaked wastewater, preventing secondary pollution caused by the cleaning robot continuing to perform cleaning tasks even when a wastewater leak has occurred.

[0059] As an example, the cleaning components mentioned above can be mops or rollers, etc.

[0060] In this embodiment, the cleaning robot is equipped with a wastewater box, which is configured to store wastewater collected by the cleaning robot and discharge wastewater into the wastewater tank when the cleaning robot is in the wastewater discharge state. In addition, the base station shares the liquid level status information of the wastewater tank with the cleaning robot. When the liquid level status information indicates that the liquid level of the wastewater tank is higher than a first preset liquid level threshold, the cleaning robot will detect the current working status. Since the wastewater box only discharges wastewater into the wastewater tank when it is in the wastewater discharge state, if the current working status indicates that the cleaning robot is cleaning the cleaning components, it means that the wastewater filter is blocked, causing the wastewater collected during the cleaning process to overflow or leak, which causes the liquid level of the base station's wastewater tank to rise. Therefore, at this time, the cleaning robot is controlled to issue an alarm message to indicate that the wastewater filter is blocked or that wastewater has leaked. This can realize timely reminders to the user to deal with the blocked wastewater filter and the leaked wastewater, thereby avoiding secondary pollution during subsequent cleaning work by the cleaning robot and thus improving the cleaning effect of the cleaning robot.

[0061] Additionally, it should be noted that timely reminders to clean the wastewater filter and remove leaked wastewater can keep the cleaning robot in optimal working condition, thus improving its cleaning efficiency.

[0062] In one embodiment, the alarm information includes a first alarm information and a second alarm information; controlling the cleaning robot to issue alarm information includes:

[0063] If the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, the cleaning robot is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged; if the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, the cleaning robot is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that sewage leakage has occurred; wherein the second preset liquid level threshold is greater than the first preset liquid level threshold.

[0064] During the cleaning process, a small amount of liquid may splash out when the cleaning robot cleans the cleaning components, resulting in a small amount of liquid in the base station's wastewater tank. Alternatively, the wastewater filter may become clogged, causing wastewater to overflow and resulting in a large amount of liquid in the wastewater tank.

[0065] Specifically, if the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, it means that the cleaning robot is leaking a lot of sewage. Therefore, the cleaning robot is controlled to issue a first alarm message to indicate that the sewage filter is clogged. If the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, it means that the cleaning robot is leaking a little sewage. Therefore, the cleaning robot is controlled to issue a second alarm message to indicate that a sewage leak has occurred. The second preset liquid level threshold is greater than the first preset liquid level threshold.

[0066] In this embodiment, by detecting the liquid level in the sewage tank, it can be determined whether the leaked sewage is caused by a clogged sewage filter. If it is determined that the leaked sewage is caused by a clogged sewage filter, a first alarm message is issued to indicate that the sewage filter is clogged; if it is determined that the leaked sewage is not caused by a clogged sewage filter, a second alarm message is issued to indicate that the sewage is leaking. This improves the accuracy of the robot's alarms.

[0067] In one embodiment, the alarm information includes a first alarm information and a second alarm information; controlling the cleaning robot to issue alarm information includes:

[0068] Based on the liquid level status information and the previously received liquid level status information, the rate of increase of the liquid level in the sewage tank is detected; if the rate of increase of the liquid level is greater than a first preset rate threshold, the cleaning robot is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged; if the rate of increase of the liquid level is not greater than the first preset rate threshold, the cleaning robot is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that sewage leakage has occurred.

[0069] During the cleaning process, a small amount of liquid may splash out when the cleaning robot cleans the cleaning components, resulting in a small amount of liquid in the base station's wastewater tank. In this case, the rate of liquid level rise in the base station's wastewater tank is relatively low. Alternatively, the wastewater filter may become clogged, causing wastewater to overflow directly, resulting in a large amount of liquid in the wastewater tank. In this case, the rate of liquid level rise in the base station's wastewater tank is relatively high.

[0070] Specifically, based on the liquid level status information and the previously received liquid level status information, the difference in the rising liquid level of the sewage tank is calculated; based on the time interval between the liquid level status information and the previously received liquid level status information and the difference in the rising liquid level, the rate of increase in the liquid level of the sewage tank is calculated; if the rate of increase in the liquid level is greater than a first preset rate threshold, it indicates that the cleaning robot is leaking a large amount of sewage, so the cleaning robot is controlled to issue a first alarm message to indicate that the sewage filter is clogged; if the rate of increase in the liquid level is not greater than the first preset rate threshold, it indicates that the cleaning robot is leaking a small amount of sewage, so the cleaning robot is controlled to issue a second alarm message to indicate that a sewage leak has occurred, wherein the second alarm message is used to indicate that a sewage leak has occurred.

[0071] In this embodiment, by detecting the rate of increase in the liquid level in the sewage tank, it can be determined whether the leaking sewage is caused by a clogged sewage filter. If it is determined that the leaking sewage is caused by a clogged sewage filter, a first alarm message is issued to indicate that the sewage filter is clogged; if it is determined that the leaking sewage is not caused by a clogged sewage filter, a second alarm message is issued to indicate that the sewage is leaking. This improves the accuracy of the robot's alarms.

[0072] As an example, machine alerting methods also include:

[0073] The degree of clogging of the wastewater filter is assessed based on the rate of increase in liquid level, and a clogging assessment result is obtained. The cleaning robot is then controlled to push a third alarm message generated based on the clogging assessment result to a preset terminal. The third alarm message is used to indicate the degree of clogging of the wastewater filter.

[0074] Generally speaking, the higher the degree of clogging of the sewage filter, the higher the rate of sewage overflow, and thus the higher the rate of liquid level rise in the sewage tank of the base station. The clogging degree assessment result can be a clogging degree assessment value. The higher the clogging degree assessment value, the higher the degree of clogging of the sewage filter, and the lower the clogging degree assessment value, the lower the degree of clogging of the sewage filter.

[0075] Specifically, based on the mapping relationship between the liquid level rise rate and the clogging degree assessment value, the clogging degree assessment value corresponding to the liquid level rise rate is detected, and a third alarm message corresponding to the clogging degree assessment value is generated. The cleaning robot is then controlled to push the third alarm message to a preset terminal. The third alarm message is used to indicate the degree of clogging of the sewage filter.

[0076] As an example, when the clogging level assessment value is low, a third alarm message can be generated as text, such as "The filter is slightly clogged." When the clogging level assessment value is high, a third alarm message can be generated as text, such as "The filter is severely clogged. Please clean it as soon as possible."

[0077] In this embodiment, the degree of clogging of the wastewater filter of the cleaning robot can be estimated by the rate of increase in liquid level. This allows a third alarm message corresponding to the degree of clogging of the wastewater filter to be pushed to a preset terminal. This enables timely feedback to the user on the degree of clogging of the wastewater filter based on the third alarm message, resulting in richer alarm content and higher alarm accuracy.

[0078] In one embodiment, after controlling the cleaning robot to issue an alarm message, the method further includes:

[0079] If the alarm message indicates a sewage leak, the cleaning robot will reduce the cleaning rate of the cleaning components; if the alarm message indicates a clogged sewage filter, the cleaning robot will pause the cleaning of the cleaning components.

[0080] In cases where the wastewater filter is not completely clogged, the reason why the cleaning robot leaks a small amount of liquid may be due to the cleaning rate of the cleaning components being too high, causing the liquid to splash out. Therefore, when the alarm message indicates a wastewater leak, the cleaning robot can be controlled to reduce the cleaning rate of the cleaning components to avoid wastewater leakage. When the alarm message indicates a clogged wastewater filter, the cleaning robot should be controlled to pause the cleaning of the cleaning components to prevent more wastewater from leaking due to the clogged wastewater filter.

[0081] In one exemplary embodiment, this embodiment also provides an alarm method applied to a cleaning robot, the alarm method comprising:

[0082] The system receives water level status information from a base station regarding the water tank level. If the water level status information indicates that the water tank level is higher than a first preset water level threshold, the system controls the cleaning robot to issue an alarm message. The alarm message is used to indicate that the wastewater filter is clogged or that a wastewater leak has occurred. The wastewater filter is used to filter the wastewater collected by the cleaning robot during its operation.

[0083] It should be noted that the water collection trough can be set up on the base station. Unlike the sewage trough, this water collection trough will not be connected to the sewage in the sewage box of the cleaning robot. The water collection trough can be set up in the self-cleaning area of ​​the cleaning robot in the base station.

[0084] As an example, the water tank is used to collect wastewater generated by the cleaning robot when cleaning the cleaning components and filtered by the wastewater filter, and to guide the wastewater, for example, by guiding the wastewater to the wastewater box, or by guiding the wastewater directly to the external water channel.

[0085] It should be noted that after the sewage is filtered by the sewage filter, the flow rate is usually slow. At this time, the receiving tank can quickly guide the sewage into the tank, and the liquid level in the receiving tank will not be very high, that is, the liquid level in the receiving tank is lower than the first preset liquid level threshold. However, if the sewage filter is blocked, causing the sewage to overflow directly without being filtered, the sewage flow rate is usually faster. At this time, the receiving tank cannot quickly guide the sewage into the tank, so the liquid level in the receiving tank will be higher, that is, the liquid level in the receiving tank is higher than the first preset liquid level threshold.

[0086] Based on the above analysis, it can be determined that if the water level in the receiving tank is high, it indicates that sewage has leaked, and it is highly likely that the sewage filter is clogged. Therefore, in this embodiment, the cleaning robot can receive the liquid level status information of the receiving tank sent by the base station. If the liquid level status information indicates that the liquid level in the receiving tank is higher than the first preset liquid level threshold, it indicates that the cleaning robot has a sewage leak, and the sewage leak may be caused by the sewage filter being clogged. Therefore, the cleaning robot is controlled to issue an alarm message, which is used to indicate that the sewage filter is clogged or that a sewage leak has occurred. The sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

[0087] In addition to the water tank, the base station can also be equipped with a container, such as a sewage tank or sewage trough, to collect the sewage from the cleaning robot's sewage box. This allows the sewage from the cleaning robot's sewage box to be pumped into the sewage tank or sewage trough.

[0088] In addition, the base station will monitor the liquid level status of the water tank in real time and share this information with the cleaning robot.

[0089] In this embodiment, by setting up a water collection tank on the base station and detecting the liquid level of the water collection tank in real time, it can be determined that the sewage collected by the cleaning robot has leaked or overflowed when the liquid level of the water collection tank is higher than the first preset liquid level threshold, which causes the liquid level of the water collection tank to rise. Therefore, the cleaning robot is controlled to issue an alarm message to indicate that the sewage filter is blocked or that sewage has leaked. This can promptly remind the user to deal with the blocked sewage filter and the leaked sewage, thereby avoiding secondary pollution caused by the cleaning robot during subsequent cleaning work and thus improving the cleaning effect of the cleaning robot.

[0090] As an example, after receiving the water level status information of the water tank sent by the base station, the alarm method also includes:

[0091] Based on the liquid level status information and the previously received liquid level status information of the receiving tank, the rate of increase of the liquid level in the receiving tank is detected. If the rate of increase of the liquid level is greater than a first preset rate threshold, it indicates that the sewage leakage is most likely caused by the clogging of the sewage filter. Therefore, the cleaning robot is controlled to issue a first alarm message, which is used to indicate that the sewage filter is clogged. If the rate of increase of the liquid level is not greater than the first preset rate threshold, it indicates that the sewage leakage is most likely not caused by the clogging of the sewage filter. Therefore, the cleaning robot is controlled to issue a second alarm message, which is used to indicate that a sewage leakage has occurred.

[0092] In this way, by detecting the rate at which the liquid level rises in the water tank, it can be determined whether the leaking sewage is caused by a clogged sewage filter, thereby issuing a corresponding alarm message, which improves the accuracy of the robot's alarm.

[0093] As an example, after receiving the water level status information of the water tank sent by the base station, the alarm method also includes:

[0094] If the liquid level information indicates that the water level in the receiving tank is higher than the second preset liquid level threshold, it means that the sewage filter is severely clogged, leading to a large amount of sewage leakage. Therefore, the cleaning robot is controlled to issue a first alarm message, which indicates that a sewage leakage has occurred and the sewage filter is severely clogged. If the liquid level information indicates that the sewage tank level is not higher than the second preset liquid level threshold but higher than the first preset liquid level threshold, it means that the sewage filter is not severely clogged, leading to a partial sewage leakage. In this case, the cleaning robot is controlled to issue a second alarm message, which indicates that a sewage leakage has occurred and the sewage filter is partially clogged. The second preset liquid level threshold is greater than the first preset liquid level threshold.

[0095] In this embodiment, by detecting the liquid level in the water tank, the degree of blockage of the sewage filter can be determined, thereby issuing corresponding alarm information, which improves the accuracy of robot alarms.

[0096] In one exemplary embodiment, such as Figure 2 As shown, an alarm method is provided, applied to a base station, which is equipped with a wastewater tank; the method includes:

[0097] Step 302: Real-time detection of the liquid level status information in the sewage tank.

[0098] Step 304: When the cleaning robot is inside the base station, the liquid level status information is sent to the cleaning robot; the cleaning robot is configured to issue an alarm message when the liquid level status information indicates that the liquid level in the sewage tank is higher than the first preset liquid level threshold and the cleaning components are being cleaned. The alarm message is used to indicate that the sewage filter is clogged or that sewage has leaked. The sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

[0099] The base station can be equipped with a liquid level sensor in its wastewater tank to detect the liquid level. The base station uses the liquid level sensor to monitor the liquid level in the wastewater tank in real time and sends the liquid level information to the cleaning robot when the robot is inside the base station. If the liquid level information indicates that the liquid level in the wastewater tank is higher than a first preset liquid level threshold, the cleaning robot will trigger a detection of its current working status. If the current working status indicates that the cleaning components are being cleaned, the cleaning robot will issue an alarm to indicate that the wastewater filter is clogged or that a wastewater leak has occurred.

[0100] It should be noted that the wastewater filter is used to filter the wastewater collected during the operation of the cleaning robot. The cleaning robot has multiple device states, such as cleaning, drying, and discharging. The cleaning state indicates that the cleaning robot is cleaning the cleaning components, the drying state indicates that the cleaning robot is drying the cleaning components, and the discharging state indicates that the cleaning robot is discharging wastewater into the wastewater tank of the base station. Therefore, in this embodiment, when the cleaning robot is cleaning the cleaning components, it will first collect the wastewater generated during cleaning into the wastewater box, and then discharge the wastewater in the wastewater box into the wastewater tank of the base station when the cleaning robot is in the discharging state.

[0101] In the above embodiments, the cleaning robot is equipped with a wastewater box, which is configured to store wastewater collected by the cleaning robot and discharge wastewater into the base station's wastewater tank when the cleaning robot is in the wastewater discharge state. In addition, the base station shares the liquid level status information of the wastewater tank with the cleaning robot. When the liquid level status information indicates that the liquid level of the wastewater tank is higher than a first preset liquid level threshold, the cleaning robot will detect the current working status. Since the wastewater box only discharges wastewater into the wastewater tank when it is in the wastewater discharge state, if the current working status indicates that the cleaning robot is cleaning the cleaning components, it means that the wastewater filter is blocked, causing the wastewater collected during the cleaning process to overflow or leak, which causes the liquid level of the base station's wastewater tank to rise. Therefore, at this time, the cleaning robot is controlled to issue an alarm message to indicate that the wastewater filter is blocked or that wastewater has leaked. This can realize timely reminders to the user to deal with the blocked wastewater filter and the leaked wastewater, thereby avoiding secondary pollution caused by the cleaning robot during subsequent cleaning work, thus improving the cleaning effect of the cleaning robot.

[0102] In one embodiment, the alarm method further includes:

[0103] If no feedback information regarding the liquid level status is detected from the cleaning robot, and the liquid level status information indicates that the liquid level in the sewage tank is higher than the first preset liquid level threshold, then the previous working state of the cleaning robot is obtained; based on the time difference between the time point of the previous working state and the current time point, it is determined whether the cleaning robot is in the target working state of cleaning the cleaning components; if it is determined that the cleaning robot is in the target working state of cleaning the cleaning components, then the control base station issues an alarm message, wherein the alarm message is used to indicate that the sewage filter of the cleaning robot is clogged or that the cleaning robot has leaked sewage.

[0104] After the base station sends the liquid level status information to the cleaning robot, the cleaning robot will usually return feedback information to indicate that an alarm has been issued or that the liquid level status information has been received. If the base station does not receive the liquid level status information, it indicates that there is a communication failure between the base station and the cleaning robot, such as a communication network failure. In this case, the cleaning robot may not be able to receive the liquid level status information.

[0105] It should be noted that in this embodiment, the cleaning robot also shares its working status with the base station. For example, the cleaning robot can share its current working status with the base station in the form of a heartbeat packet.

[0106] Specifically, if no feedback information from the cleaning robot regarding the liquid level status is detected, it indicates a communication failure between the base station and the cleaning robot. Then, if the liquid level status indicates that the sewage tank level is higher than a first preset liquid level threshold, the previous working state of the cleaning robot is first obtained. Based on the time difference between the time the base station received the previous working state and the current time, and the previous working state, it is estimated whether the cleaning robot is in the target working state of cleaning the cleaning components. If it is determined that the cleaning robot is in the target working state of cleaning the cleaning components, the base station is controlled to issue an alarm message, which is used to indicate that the cleaning robot's sewage filter is clogged or that the cleaning robot has experienced sewage leakage.

[0107] It should be noted that the working time of the cleaning robot in each working state is usually preset. For example, the drying time can be set to 25 minutes, and the cleaning time for cleaning the cleaning components can be set to 5 minutes. In addition, the working state of the cleaning robot changes in a preset order, such as cleaning the cleaning components first and then drying the cleaning components.

[0108] As an example, the alarm information includes a first alarm information and a second alarm information; the control base station issues alarm information, including:

[0109] If the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, the control base station issues a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged; if the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, the control base station issues a second alarm message, wherein the second alarm message is used to indicate that sewage leakage has occurred; wherein the second preset liquid level threshold is greater than the first preset liquid level threshold.

[0110] Specifically, if the liquid level information indicates that the sewage tank level is higher than the second preset liquid level threshold, it means that the cleaning robot is leaking a large amount of sewage. Therefore, the control base station issues a first alarm to indicate that the sewage filter is clogged. If the liquid level information indicates that the sewage tank level is not higher than the second preset liquid level threshold, it means that the cleaning robot is leaking a small amount of sewage. Therefore, the control base station issues a second alarm to indicate that a sewage leak has occurred. The second preset liquid level threshold is greater than the first preset liquid level threshold. In this way, by detecting the liquid level in the sewage tank, the base station can determine whether the leaked sewage is caused by a clogged sewage filter. When it is determined that the leaked sewage is caused by a clogged sewage filter, the base station issues a first alarm to indicate a clogged sewage filter; when it is determined that the leaked sewage is not caused by a clogged sewage filter, the base station issues a second alarm to indicate a sewage leak. This improves the accuracy of the base station's alarms.

[0111] As an example, the alarm information includes a first alarm information and a second alarm information; the control base station issues alarm information, including:

[0112] Based on the liquid level status information and the previously received liquid level status information, the rate of increase of the liquid level in the sewage tank is detected; if the rate of increase of the liquid level is greater than a first preset rate threshold, the control base station issues a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged; if the rate of increase of the liquid level is not greater than the first preset rate threshold, the control base station issues a second alarm message, wherein the second alarm message is used to indicate that sewage leakage has occurred.

[0113] Specifically, based on the liquid level status information and previously received liquid level status information, the difference in the rising liquid level of the sewage tank is calculated. Based on the time interval between the current liquid level status information and the previously received liquid level status information, and the difference in the rising liquid level, the rate of increase in the sewage tank level is calculated. If the rate of increase in the liquid level is greater than a first preset rate threshold, it indicates that the cleaning robot is leaking a significant amount of sewage. Therefore, the control base station issues a first alarm message to indicate that the sewage filter is clogged. If the rate of increase in the liquid level is not greater than the first preset rate threshold, it indicates that the cleaning robot is leaking a small amount of sewage. Therefore, the control base station issues a second alarm message to indicate that a sewage leak has occurred. The second alarm message is used to indicate a sewage leak. In this way, by detecting the rate of increase in the liquid level in the sewage tank, the base station can determine whether the leaking sewage is caused by a clogged sewage filter. When it is determined that the leaking sewage is caused by a clogged sewage filter, the base station issues a first alarm message to indicate a clogged sewage filter; when it is determined that the leaking sewage is not caused by a clogged sewage filter, the base station issues a second alarm message to indicate a sewage leak. This improves the accuracy of the base station's alarms.

[0114] In this embodiment, when a communication failure exists between the base station and the cleaning robot, and the liquid level status information indicates that the sewage tank level is higher than a first preset liquid level threshold, the base station can estimate whether the cleaning robot is in the target working state of cleaning components based on the previous working state reported by the cleaning robot and the time difference between the time of the previous working state and the current time. Therefore, when it is determined that the cleaning robot is in the target working state of cleaning components, the base station can control the base station to issue an alarm message to indicate that the sewage filter of the cleaning robot is clogged or that sewage leakage has occurred. This prevents situations where alarms cannot be issued in a timely manner due to communication failures between the cleaning robot and the base station, improving the accuracy and timeliness of alarms.

[0115] It should be understood that although the steps in the flowcharts of the embodiments described above 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 flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0116] In one exemplary embodiment, a cleaning robot is provided, the internal structure of which can be shown in the diagram below. Figure 3 As shown. The cleaning robot includes a processor, memory, cleaning components, a wastewater tank, input / output interfaces, a communication interface, a display unit, and an input device. The wastewater tank is configured to store wastewater collected by the cleaning robot and discharge wastewater when the robot is in a wastewater discharge state. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor of the cleaning robot provides computing and control capabilities. The memory of the cleaning robot includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interfaces of the cleaning robot are used for exchanging information between the processor and external devices. The communication interface of the cleaning robot is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements an alarm method. Those skilled in the art will understand that... Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the cleaning robot to which the present application is applied. A specific cleaning robot may include more or fewer parts than shown in the figure, or combine certain parts, or have different part arrangements.

[0117] In one exemplary embodiment, a cleaning robot is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0118] The system receives liquid level status information of a sewage tank sent by a base station, wherein the sewage tank is used to receive sewage discharged from the sewage box; when the liquid level status information indicates that the liquid level of the sewage tank is higher than a first preset liquid level threshold, the system detects the current working status of the cleaning robot; if the current working status indicates that the cleaning robot is cleaning the cleaning components, the system controls the cleaning robot to issue an alarm message, wherein the alarm message is used to indicate that the sewage filter is clogged or that sewage leakage has occurred, and the sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

[0119] In one embodiment, the alarm information includes first alarm information and second alarm information; the processor, when executing the computer program, also implements the following steps:

[0120] If the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, then the cleaning robot is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged; if the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, then the cleaning robot is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that sewage leakage has occurred; wherein the second preset liquid level threshold is greater than the first preset liquid level threshold.

[0121] In one embodiment, the alarm information includes first alarm information and second alarm information; the processor, when executing the computer program, also implements the following steps:

[0122] Based on the liquid level status information and previously received liquid level status information, the rate of increase of the liquid level in the sewage tank is detected; if the rate of increase of the liquid level is greater than a first preset rate threshold, the cleaning robot is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged; if the rate of increase of the liquid level is not greater than the first preset rate threshold, the cleaning robot is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that sewage leakage has occurred.

[0123] In one embodiment, the device information includes the number of backup devices in the distributed system, the local device performance information of the local backup devices, and the local network information of the local backup devices; when the processor executes the computer program, it also performs the following steps:

[0124] If the alarm message indicates a sewage leak, the cleaning robot is controlled to reduce the cleaning rate of the cleaning components; if the alarm message indicates a clogged sewage filter, the cleaning robot is controlled to pause the cleaning of the cleaning components.

[0125] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0126] Based on the rate of increase in liquid level, the degree of clogging of the wastewater filter is assessed to obtain a clogging assessment result; the cleaning robot is controlled to push a third alarm message generated based on the clogging assessment result to a preset terminal, wherein the third alarm message is used to indicate the degree of clogging of the wastewater filter.

[0127] In one exemplary embodiment, a cleaning robot is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0128] The system receives water level status information from a base station regarding the water tank level. If the water level status information indicates that the water tank level is higher than a first preset water level threshold, the system controls the cleaning robot to issue an alarm message. The alarm message is used to indicate that the wastewater filter is clogged or that a wastewater leak has occurred. The wastewater filter is used to filter the wastewater collected by the cleaning robot during its operation.

[0129] In one exemplary embodiment, a base station is provided, the internal structure of which can be shown in the following diagram. Figure 4 As shown. The base station includes a processor, memory, a sewage tank, a liquid level sensor, an input / output interface, a communication interface, a display unit, and an input device. The liquid level sensor detects the liquid level in the sewage tank. The processor, memory, and input / output interface are connected via a system bus. The communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements an alarm method. Those skilled in the art will understand that... Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the solution of this application and does not constitute a limitation on the base station to which the solution of this application is applied. A specific base station may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0130] In one exemplary embodiment, a base station is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0131] The system monitors the liquid level status of the wastewater tank in real time. When the cleaning robot is inside the base station, the liquid level status information is sent to the cleaning robot. The cleaning robot is configured to issue an alarm message when the liquid level status information indicates that the liquid level of the wastewater tank is higher than a first preset liquid level threshold and the cleaning components are being cleaned. The alarm message is used to indicate that the wastewater filter is clogged or that a wastewater leak has occurred. The wastewater filter is used to filter the wastewater collected by the cleaning robot during its operation.

[0132] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0133] If no feedback information from the cleaning robot regarding the liquid level status information is detected, and the liquid level status information indicates that the liquid level in the sewage tank is higher than a first preset liquid level threshold, then the previous working state of the cleaning robot in the last feedback is obtained; based on the time difference between the time point of the previous working state and the current time point, it is determined whether the cleaning robot is in the target working state of cleaning the cleaning components; if it is determined that the cleaning robot is in the target working state of cleaning the cleaning components, then the base station is controlled to issue an alarm message, wherein the alarm message is used to indicate that the sewage filter of the cleaning robot is clogged or to indicate that the cleaning robot has leaked sewage.

[0134] In one embodiment, the alarm information includes first alarm information and second alarm information; the processor, when executing the computer program, also implements the following steps:

[0135] If the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, then the base station is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged; if the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, then the base station is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that sewage leakage has occurred; wherein the second preset liquid level threshold is greater than the first preset liquid level threshold.

[0136] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0137] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0138] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0139] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0140] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An alarm method, characterized in that, An application to a cleaning robot, wherein the cleaning robot is equipped with a wastewater box configured to store wastewater collected by the cleaning robot and to discharge wastewater when the cleaning robot is in a wastewater discharge state; the method includes: The system receives the liquid level status information of the sewage tank sent by the base station, wherein the sewage tank is used to receive sewage discharged from the sewage box; When the liquid level status information indicates that the liquid level in the sewage tank is higher than a first preset liquid level threshold, the current working status of the cleaning robot is detected. If the current working state indicates that the cleaning robot is cleaning the cleaning components, then the cleaning robot is controlled to issue an alarm message, wherein the alarm message is used to indicate that the sewage filter is clogged or that sewage has leaked, and the sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

2. The method according to claim 1, characterized in that, The alarm information includes a first alarm information and a second alarm information; controlling the cleaning robot to issue alarm information includes: If the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, then the cleaning robot is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged. If the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, then the cleaning robot is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that a sewage leak has occurred. Wherein, the second preset liquid level threshold is greater than the first preset liquid level threshold.

3. The method according to claim 1, characterized in that, The alarm information includes a first alarm information and a second alarm information; controlling the cleaning robot to issue alarm information includes: Based on the liquid level status information and the previously received liquid level status information, the rate of increase of the liquid level in the sewage tank is detected; If the rate of increase in liquid level is greater than a first preset rate threshold, the cleaning robot is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged. If the rate of increase in liquid level is not greater than a first preset rate threshold, the cleaning robot is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that a sewage leak has occurred.

4. The method according to claim 2 or 3, characterized in that, After the cleaning robot issues an alarm message, the method further includes: If the alarm information is used to indicate that a sewage leak has occurred, the cleaning robot is controlled to reduce the cleaning rate of the cleaning components. If the alarm message indicates that the wastewater filter is clogged, the cleaning robot is controlled to pause the cleaning of the cleaning components.

5. The method according to claim 3, characterized in that, The method includes: The degree of clogging of the wastewater filter is assessed based on the rate of increase in liquid level, and the clogging degree assessment result is obtained. The cleaning robot is controlled to push a third alarm message generated based on the clogging degree assessment result to a preset terminal, wherein the third alarm message is used to indicate the degree of clogging of the sewage filter.

6. An alarm method, characterized in that, Applied to cleaning robots, the method includes: Receive the liquid level status information of the water tank sent by the base station; When the liquid level status information indicates that the liquid level in the water receiving tank is higher than a first preset liquid level threshold, the cleaning robot is controlled to issue an alarm message. The alarm message is used to indicate that the sewage filter is clogged or that sewage leakage has occurred. The sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

7. An alarm method, characterized in that, Applied to a base station, wherein the base station is equipped with a sewage tank; the method includes: Real-time monitoring of the liquid level status information in the wastewater tank; When the cleaning robot is inside the base station, the liquid level status information is sent to the cleaning robot; The cleaning robot is configured to issue an alarm message when the liquid level status information indicates that the liquid level in the sewage tank is higher than a first preset liquid level threshold and the cleaning components are being cleaned. The alarm message is used to indicate that the sewage filter is clogged or that sewage has leaked. The sewage filter is used to filter the sewage collected by the cleaning robot during its operation.

8. The method according to claim 7, characterized in that, The method further includes: If no feedback information from the cleaning robot regarding the liquid level status information is detected, and the liquid level status information indicates that the liquid level in the sewage tank is higher than the first preset liquid level threshold, then the previous working state of the cleaning robot in the last feedback is obtained. Based on the time difference between the previous working state time point and the current time point, determine whether the cleaning robot is in the target working state of cleaning the cleaning components; If it is determined that the cleaning robot is in the target working state of cleaning the cleaning components, the base station is controlled to issue an alarm message, wherein the alarm message is used to indicate that the wastewater filter of the cleaning robot is clogged or that the cleaning robot has leaked wastewater.

9. The method according to claim 8, characterized in that, The alarm information includes a first alarm information and a second alarm information; controlling the base station to issue alarm information includes: If the liquid level status information indicates that the liquid level in the sewage tank is higher than the second preset liquid level threshold, then the base station is controlled to issue a first alarm message, wherein the first alarm message is used to indicate that the sewage filter is clogged. If the liquid level status information indicates that the liquid level in the sewage tank is not higher than the second preset liquid level threshold, then the base station is controlled to issue a second alarm message, wherein the second alarm message is used to indicate that a sewage leak has occurred. Wherein, the second preset liquid level threshold is greater than the first preset liquid level threshold.

10. A cleaning robot, characterized in that, The system includes a memory, a processor, a cleaning component, and a wastewater tank configured to store wastewater collected during the operation of the cleaning robot and to discharge wastewater into a wastewater tank at a base station when the cleaning robot is in a wastewater discharge state. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

11. A base station, characterized in that, The device includes a memory, a processor, a wastewater tank, and a level sensor, wherein the level sensor is used to detect the level of the wastewater tank, the memory stores a computer program, and the processor executes the computer program to implement the steps of the method according to any one of claims 7 to 9.

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