Cleaning system

Abstract

The application discloses a cleaning system, which comprises a cleaning base station, a cleaning host, a detection assembly and a controller. The cleaning base station is provided with a containing cavity and a passing ramp. The passing ramp is communicated with the containing cavity. The cleaning host comprises a cleaning assembly. The cleaning assembly is rotatable and is arranged on the bottom of the cleaning host and can be lifted along the height direction of the cleaning host. The detection assembly is used for detecting whether the cleaning host reaches a predetermined position and detecting the position of the cleaning host when the cleaning host moves to the containing cavity from the predetermined position. The controller is electrically connected with the cleaning host. The controller is used for controlling the cleaning assembly to descend so as to make the cleaning assembly contact with the surface of the passing ramp and controlling the cleaning host to move along the direction close to the cleaning base station according to the received back station signal. The cleaning system solves the problem that the cleaning host is difficult to return to the cleaning base station from the passing ramp in the prior art.

Description

Technical Field

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

[0002] The cleaning system includes a cleaning base station and a cleaning host. The cleaning base station is mainly used for charging, rewashing, collecting dirt, drying, and water injection of the cleaning host.

[0003] The cleaning host is equipped with a cleaning component that can reciprocate along the height of the cleaning host. In the prior art, the cleaning base station includes a housing cavity for housing the cleaning host, and the cleaning base station also has a ramp through which the cleaning host returns to the housing cavity. However, existing cleaning hosts have difficulty returning to the cleaning base station via the ramp. Utility Model Content

[0004] The main objective of this application is to provide a cleaning system that at least solves the problem in the prior art that the cleaning host is difficult to return to the cleaning base station from the ramp.

[0005] According to one aspect of this application, a cleaning system is provided, the cleaning system comprising:

[0006] A cleaning base station, wherein the cleaning base station is provided with a accommodating cavity and a passage ramp, and the passage ramp is connected to the accommodating cavity;

[0007] A cleaning unit, the cleaning unit including a cleaning component, the cleaning component being rotatably and vertically mounted at the bottom of the cleaning unit along the height direction of the cleaning unit;

[0008] A detection component, the detection component being used at least to detect whether the cleaning host has reached a predetermined position, and at least to detect the position of the cleaning host as it moves from the predetermined position to the receiving cavity;

[0009] A controller electrically connected to the cleaning host, the controller being used at least to control the descent of the cleaning component to at least bring the cleaning component into contact with the surface of the access ramp, and to control the cleaning host to move in a direction closer to the cleaning base station according to a received return signal;

[0010] The detection component is electrically connected to the controller. The controller controls the cleaning host to adjust its posture at the predetermined position according to the detection signal of the detection component, so that the cleaning component is aligned with the receiving cavity. The controller also controls the cleaning component to descend according to the detection signal of the detection component, so that the cleaning component contacts the surface of the passage ramp.

[0011] Furthermore, the cleaning unit also includes a travel wheel, which is disposed at the bottom of the cleaning unit. When the cleaning component is rotated to align with the receiving cavity, the travel wheel is located on the side of the cleaning component away from the receiving cavity.

[0012] The detection component is disposed in at least one of the cleaning base station and the cleaning host, within the projection of the cleaning host in the height direction. When the projection of the cleaning component at least partially overlaps with the projection of the ramp, the controller controls the cleaning component to descend according to the detection signal of the detection component, so that the cleaning component contacts the surface of the ramp.

[0013] Furthermore, the cleaning unit also includes a travel wheel, which is disposed at the bottom of the cleaning unit. When the cleaning component is rotated to align with the receiving cavity, the travel wheel is located on the side of the cleaning component away from the receiving cavity.

[0014] The detection component is disposed on at least one of the cleaning base station and the cleaning host. When the traveling wheel moves to the edge of the ramp away from the accommodating cavity, the controller controls the cleaning component to descend according to the detection signal of the detection component, so that the cleaning component can contact the surface of the ramp.

[0015] Furthermore, the detection component is disposed in at least one of the cleaning base station and the cleaning host. The detection component is also used to detect whether the cleaning component descends after the cleaning host receives the return signal. The controller controls the cleaning component to rotate according to the detection signal of the detection component, so as to generate a frictional force between the cleaning component and the ramp to assist the cleaning host in moving along the ramp.

[0016] Furthermore, the cleaning host also includes travel wheels, which are electrically connected to the controller, and the cleaning assembly includes a roller mop that can rotate around its own axis;

[0017] The controller is further configured to receive the signal transmitted by the detection component and control the rotation direction of the roller mop to be the same as the rotation direction of the travel wheel, so as to generate a frictional force between the roller mop and the ramp to assist the cleaning host in moving along the ramp.

[0018] Furthermore, the cleaning assembly also includes a disc mop, which is electrically connected to the controller. The disc mop is rotatable about its own axis, and the axis of the disc mop is parallel to the height direction of the cleaning host.

[0019] The controller is further configured to receive signals transmitted by the detection component and then control the disc mop to rotate in a predetermined direction, so that the disc mop and the ramp generate a frictional force that assists the cleaning host in moving along the ramp.

[0020] Furthermore, the disc mop includes a first disc mop and a second disc mop, which are spaced apart along a first direction. The controller is also configured to receive a signal transmitted by the detection component and then control the first disc mop to rotate along a first rotation direction and control the second disc mop to rotate along a second rotation direction opposite to the first rotation direction, so that the first disc mop and the second disc mop generate frictional force to assist the cleaning host in moving along the ramp.

[0021] Furthermore, the cleaning host also includes a drive component, which is connected to the cleaning component and drives the cleaning component to rotate. The drive component is electrically connected to the controller.

[0022] The cleaning host has a return-to-station mode and an edge-cleaning mode; the rotational speed of the drive component when the cleaning host is in the return-to-station mode is less than the rotational speed of the drive component when the cleaning host is in the edge-cleaning mode; and / or,

[0023] The cleaning unit has an edge cleaning mode and a washing mode; the rotational speed of the drive component when the cleaning unit is in the edge cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning unit is in the washing mode; and / or

[0024] The cleaning unit has a regular cleaning mode and a washing mode. When the cleaning unit is in the regular cleaning mode, the rotational speed of the drive component is greater than or equal to the rotational speed of the drive component when the cleaning unit is in the washing mode; or, the rotational speed of the drive component when the cleaning unit is in the regular cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning unit is in the washing mode; and / or,

[0025] The cleaning host has an edge cleaning mode and a regular cleaning mode. The rotational speed of the drive component when the cleaning host is in the edge cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning host is in the regular cleaning mode.

[0026] Furthermore, the cleaning host has a zone cleaning mode and an edge cleaning mode, and the rotational speed of the drive component when the cleaning host is in the zone cleaning mode is greater than the rotational speed of the drive component when the cleaning host is in the edge cleaning mode.

[0027] Furthermore, during the process of the cleaning host moving from the predetermined position to the receiving cavity, the rotational speed of the drive component remains constant.

[0028] In this application, when a user sends a return signal to the cleaning host from an electronic device, or when a return signal is generated within the cleaning host, the controller receives the return signal and controls the cleaning host to move towards the cleaning base station. Subsequently, when the detection component detects that the cleaning host has moved to a predetermined position, the detection component sends a signal to the controller, which controls the cleaning host to rotate at the predetermined position, aligning the cleaning component with the receiving cavity. Afterward, the controller controls the cleaning host to move towards the receiving cavity. When the detection component detects that the cleaning host has reached the position where the cleaning component needs to be lowered, the detection component sends a signal to the controller. At this time, the controller controls the cleaning component to descend until it contacts the surface of the ramp, thereby increasing the friction between the cleaning host and the ramp and preventing insufficient friction that would prevent the cleaning host from entering the receiving cavity through the ramp. Attached Figure Description

[0029] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0030] Figure 1 This is a logical diagram of the control method for the cleaning system disclosed in this application;

[0031] Figure 2 Figure 'a' is a schematic diagram of the cleaning unit adjusting its posture at a predetermined position. Figure 2 Figure b is a schematic diagram of the cleaning unit being adjusted to a predetermined position so that the cleaning component and the receiving cavity are aligned (the cleaning component is a disc mop);

[0032] Figure 3 Figure 'a' is a schematic diagram of the cleaning unit adjusting its posture at a predetermined position. Figure 2 Figure b is a schematic diagram of the cleaning unit being adjusted to a predetermined position so that the cleaning component and the receiving cavity are aligned (the cleaning component is a roller mop);

[0033] Figure 4 This is a schematic diagram of the cleaning host adjusting its posture at a predetermined position, where (a) is the process of the cleaning host translating and (b) is the process of the cleaning host stopping its movement.

[0034] Figure 5 This is the logic control diagram of the cleaning system disclosed in this application;

[0035] Figure 6 This is a schematic diagram of the cleaning system disclosed in this application;

[0036] Figure 7 This is a schematic diagram of the structure of the clean base station disclosed in this application;

[0037] Figure 8 This is a simplified bottom view of the cleaning host in one embodiment of this application;

[0038] Figure 9 A simplified bottom view of the cleaning host in another embodiment disclosed in this application;

[0039] Figure 10 This is a schematic diagram of the change in the rotation direction of the roller mop of the cleaning host disclosed in this application, where a represents the motion state of the cleaning host when it moves forward and b represents the motion state of the cleaning host when it moves backward.

[0040] Figure 11 This is a schematic diagram of the structure of an existing cleaning unit.

[0041] The above figures include the following reference numerals:

[0042] 10. Cleaning base station; 20. Cleaning host; 21. Traveling wheel; 22. Cleaning component; 23. Disc mop; 24. Roller mop; 30. Controller; 40. Detection component; 101. Receiving cavity; 102. Passing ramp; 103. Predetermined position; 231. First disc mop; 232. Second disc mop. Detailed Implementation

[0043] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0044] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0045] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0046] In existing technology, the cleaning host 20 (e.g., a robotic vacuum cleaner) needs to return to the receiving cavity 101 via a ramp 102 with a certain incline. However, when the surface of the ramp 102 or the wheels 21 of the cleaning host 20 have insufficient friction due to wetness, wear, or other reasons, the cleaning host 20 may be unable to move along the ramp to the receiving cavity 101, thus causing malfunction of the cleaning host 20. In a specific embodiment, for example, attached... Figure 11 As shown, the cleaning host 20 is equipped with a pressurization device, which can be a suspension. When the cleaning host 20 is cleaning normally, the pressurization device applies pressure to the travel wheels 21 of the cleaning host 20, resulting in a large friction between the cleaning host 20 and the ground. However, when the cleaning host 20 returns to the cleaning base station 10, the pressurization device removes the pressure applied to the travel wheels 21, resulting in a low friction between the cleaning host 20 and the surface of the ramp 102. This causes the cleaning host 20 to be unable to move along the ramp 102 to the receiving cavity 101.

[0047] To address the aforementioned problems, according to an embodiment of this application, a cleaning system is provided. This cleaning system includes a cleaning host 20 and a cleaning base station 10. The cleaning base station 10 includes a accommodating cavity 101 and a passage ramp 102, the passage ramp 102 communicating with the accommodating cavity 101. The cleaning host 20 includes a cleaning component 22, which is rotatably and vertically mounted at the bottom of the cleaning host 20 along its height direction. The cleaning system is used to execute a control method for the cleaning system; see [link to relevant documentation]. Figure 1 To be continued Figure 3 As shown, the control method for the cleaning system includes the following steps:

[0048] Step S1: When the cleaning host 20 receives the return signal, it controls the cleaning host 20 to move towards the cleaning base station 10 to the predetermined position 103.

[0049] Specifically, the return signal can be sent from the terminal to the cleaning host 20. For example, when a user needs the cleaning host 20 to return to the cleaning base station 10, they can send a return signal to the cleaning host 20 via a mobile phone or other electronic device. Of course, the return signal can also be sent by the cleaning host 20 itself. For example, when the cleaning host 20's battery level is lower than a predetermined level, the cleaning host 20 needs to return to the cleaning base station 10 for charging, and at this time, the cleaning host 20 sends a return signal itself. Furthermore, when the cleaning host 20 has run for a certain period, or when the cleaning host 20 needs to be cleaned by the cleaning base station 10, the cleaning host 20 can also send a return signal, causing the cleaning host 20 to move in a direction closer to the cleaning base station 10. In this embodiment, the predetermined position 103 refers to a position at a predetermined distance from the entrance end of the ramp 102, and in the height direction of the cleaning host 20 (as shown in the attached diagram). Figure 5 Within the projection of the Z-direction, the predetermined position 103 is in the extension direction of the ramp 102; that is, after the cleaning host 20 reaches the predetermined position 103, it enters the ramp 102 in a straight line.

[0050] Step S2: Based on the relative position of the cleaning component 22 of the cleaning host 20 and the cleaning base station 10, control the cleaning host 20 to adjust its posture at a predetermined position 103 so that the cleaning component 22 of the cleaning host 20 is aligned with the receiving cavity 101 of the cleaning base station 10.

[0051] Step S3: Control the cleaning host 20 to move along the access ramp 102 of the cleaning base station 10 towards the receiving cavity 101. Before the cleaning host 20 moves to the receiving cavity 101, control the cleaning component 22 to descend so that the cleaning component 22 contacts the surface of the access ramp 102 and assists the cleaning host 20 to move along the access ramp 102 to the receiving cavity 101.

[0052] Specifically, the reason why the cleaning component 22 needs to be adjusted to align with the receiving cavity 101 of the cleaning base station 10 in step S2 is to ensure that the cleaning component 22 can contact the ramp 102 after it descends. This prevents the cleaning component 22 from being located on the side away from the receiving cavity 101 when the cleaning host 20 enters the ramp 102, thus preventing the cleaning component 22 from failing to contact the ramp 102 after descending. After the cleaning component 22 descends and contacts the surface of the ramp 102, it can apply a force to the cleaning host 20, thereby increasing the force between the cleaning host 20 and the ramp. This prevents the friction between the cleaning host 20 and the ramp 102 from being too low, which would prevent the cleaning host 20 from moving along the ramp 102 to the receiving cavity 101. In this embodiment, the direction of alignment with the receiving cavity 101 can be the direction directly opposite to the receiving cavity 101, or it can be a direction offset from the direction directly opposite to the receiving cavity 101 by a small angle (e.g., -5° to 5°).

[0053] In other words, after the cleaning host 20 reaches the predetermined position 103, the cleaning host 20 is controlled to adjust its posture at the predetermined position 103 so that the cleaning component 22 of the cleaning host 20 is aligned with the receiving cavity 101 of the cleaning base station 10. Then, the cleaning host 20 is controlled to move along the access ramp 102 of the cleaning base station 10 towards the receiving cavity 101. Before the cleaning host 20 moves to the receiving cavity 101, the cleaning component 22 is controlled to descend so that the cleaning component 22 contacts the surface of the access ramp 102 and assists the cleaning host 20 in moving until the cleaning host 20 moves to the receiving cavity 101. In other words, after the cleaning host 20 rotates, the cleaning component 22 is always aligned with the direction of the receiving cavity 101. When the cleaning host 20 enters the passage ramp 102 and the cleaning component 22 descends, the cleaning component 22 can contact the surface of the passage ramp 102. After the cleaning component 22 contacts the passage ramp 102, friction may occur between the cleaning component 22 and the passage ramp 102. It is also possible that when the cleaning component descends, the center of gravity of the cleaning host 20 changes, thereby increasing the friction between the cleaning host 20 and the passage ramp 102, which in turn increases the friction between the cleaning host 20 and the passage ramp 102, making it easier for the cleaning host 20 to move along the passage ramp 102 into the receiving cavity 101.

[0054] Furthermore, for example, attached Figure 2 To be continued Figure 4 The steps of controlling the cleaning host 20 to adjust its posture at a predetermined position 103 according to the relative position of the cleaning component 22 of the cleaning host 20 and the cleaning base station 10 include: when the cleaning component 22 is located on the side of the cleaning host 20 close to the cleaning base station 10, controlling the cleaning host 20 to translate or stop moving at the predetermined position 103; when the cleaning component 22 is located on the side of the cleaning host 20 away from the cleaning base station 10, controlling the cleaning host 20 to rotate at the predetermined position 103.

[0055] In some embodiments, in step S2, when the cleaning host 20 reaches the predetermined position 103 and the cleaning component 22 is located on the side of the cleaning host 20 away from the receiving cavity 101, the cleaning host 20 is controlled to rotate, so that the cleaning host 20 is aligned with the receiving cavity 101, and the cleaning host 20 is controlled to move in a backward posture along the direction closer to the receiving cavity. When the cleaning component 22 is located at the end of the cleaning host 20 close to the receiving cavity 101, the cleaning host 20 is controlled to translate or stop moving. For example, when the cleaning host 20 moves to the predetermined position 103 and the cleaning component 22 is aligned with the receiving cavity 101, the cleaning host 20 is controlled to stop moving; and when the cleaning host 20 moves to the predetermined position 103 and the cleaning component 22 is not aligned with the receiving cavity 101, the cleaning host 20 is controlled to translate, so that the cleaning component 22 is aligned with the receiving cavity 101, and then the cleaning host 20 is controlled to move in a forward posture along the direction closer to the receiving cavity 101.

[0056] Further, in step S3, before the cleaning host 20 moves to the receiving cavity 101, the step of controlling the cleaning component 22 to descend so that the cleaning component 22 contacts the surface of the passage ramp 102 includes: during the process of the cleaning host 20 moving from the predetermined position 103 to the passage ramp 102, controlling the cleaning component 22 to descend so that when the cleaning host 20 is running on the passage ramp 102, the cleaning component 22 can contact the surface of the passage ramp 102 and assist the cleaning host 20 in moving along the passage ramp 102 to the receiving cavity 101.

[0057] It is understandable that if the cleaning component 22 descends to its lowest position before reaching the ramp 102, this could cause obstruction between the cleaning component 22 and the edge of the ramp 102 away from the receiving cavity 101, ultimately preventing the cleaning unit 20 from moving onto the ramp 102. However, in some embodiments of this application, during the movement of the cleaning unit 20 from the predetermined position 103 to the ramp 102, the cleaning component 22 is controlled to descend so that when the cleaning unit 20 is running on the ramp 102, the cleaning component 22 can contact the surface of the ramp 102. Since the distance between the predetermined position 103 and the entrance end of the ramp 102 is known, the cleaning component 22 can be controlled to descend slowly as the cleaning host 20 moves from the predetermined position 103 to the ramp 102. When the cleaning host 20 moves to the entrance end of the ramp 102, the cleaning component 22 can contact the surface of the ramp 102. This saves time for the cleaning host 20 to move to the receiving cavity 101 and avoids the cleaning component 22 being blocked by the ramp 102, preventing the cleaning host 20 from moving along the ramp 102.

[0058] In some other embodiments, in step S3, the step of controlling the cleaning component 22 to descend so that the cleaning component 22 contacts the surface of the ramp 102 includes: controlling the cleaning component 22 to descend so that the cleaning host 20 can contact the surface of the ramp 102 and assist the cleaning host 20 to move along the ramp 102 to the receiving cavity 101 during the process of moving from the ramp 102 to the receiving cavity 101.

[0059] Specifically, during the process of the cleaning unit 20 moving from the ramp 102 to the receiving cavity 101, there may be a situation where the cleaning unit 20 can move onto the ramp 102 but cannot move from the ramp 102 to the receiving cavity 101. That is, the friction between the cleaning unit 20 and the ramp 102 can keep the cleaning unit 20 on the ramp 102, but it cannot move from the ramp 102 to the receiving cavity 101. At this time, the cleaning component 22 is lowered, and the cleaning component 22 contacts the surface of the ramp 102, thereby increasing the friction between the cleaning unit 20 and the ramp 102, so that the cleaning unit 20 can move from the ramp 102 to the receiving cavity 101.

[0060] In some embodiments, the cleaning host 20 further includes a travel wheel 21 disposed at the bottom of the cleaning host 20. When the cleaning component 22 is adjusted to align with the receiving cavity 101, the travel wheel 21 is located on the side of the cleaning component 22 away from the receiving cavity 101. During the process of the cleaning host 20 moving from the access ramp 102 to the receiving cavity 101, the step of controlling the cleaning component 22 to descend so that the cleaning component 22 can contact the surface of the access ramp 102 includes: when the projection of the cleaning component 22 at least partially overlaps with the projection of the access ramp 102 in the height direction of the cleaning host 20, controlling the cleaning component 22 to descend so that the cleaning component 22 can contact the surface of the access ramp 102 and assist the cleaning host 20 to move along the access ramp 102 to the receiving cavity 101.

[0061] Understandably, when the cleaning component 22 is aligned with the receiving cavity 101, the travel wheel 21 is located on the side of the cleaning component 22 away from the receiving cavity 101. That is, when the cleaning host 20 moves to the ramp 102, the cleaning component 22 is always located relative to the travel wheel 21 on the side closer to the receiving cavity 101. This prevents the travel wheel 21 from slipping between itself and the ramp 102 when the cleaning component 22 is located relative to the receiving cavity 101, thus preventing the cleaning component 22 from contacting the ramp 102 after descent. Furthermore, in this embodiment, within the projection of the cleaning host 20 in the height direction, when the projection of the cleaning component 22 at least partially overlaps with the projection of the ramp 102, the cleaning component 22 is controlled to descend so that it can contact the surface of the ramp 102. Obviously, when the projection of the cleaning component 22 overlaps at least partially with the projection of the ramp 102, it can be ensured that the cleaning component 22 contacts the surface of the ramp 102 after it descends, thereby avoiding the cleaning component 22 from getting stuck on the edge of the ramp 102 away from the receiving cavity 101, which would prevent the cleaning host 20 from moving on the ramp 102.

[0062] In other embodiments, when the travel wheel 21 moves to the edge of the ramp 102 away from the receiving cavity 101, the cleaning component 22 is controlled to descend so that the cleaning component 22 can contact the surface of the ramp 102 and assist the cleaning host 20 in moving along the ramp 102 to the receiving cavity 101.

[0063] In this embodiment, since the cleaning component 22 is closer to the receiving cavity 101 than the traveling wheel 21, when the traveling wheel 21 contacts the edge of the ramp 102 away from the receiving cavity 101, the cleaning component 22 can be lowered to ensure that it can contact the surface of the ramp 102 after it is lowered.

[0064] Furthermore, the control method of the cleaning system also includes: controlling the cleaning component 22 to rotate during the process of controlling the cleaning component 22 to descend to contact the surface of the ramp 102 or after controlling the cleaning component 22 to descend to contact the surface of the ramp 102, so as to generate a frictional force between the cleaning component 22 and the ramp 102 to assist the cleaning host 20 in moving along the ramp 102.

[0065] Understandably, although the friction between the cleaning unit 20 and the ramp 102 increases when the cleaning component 22 descends to contact the ramp 102, friction may also occur between the cleaning component 22 and the ramp 102 in the opposite direction of the cleaning unit 20's movement as the cleaning unit 20 moves along the ramp 102. This slows down the cleaning unit 20's movement speed and results in lower efficiency during the cleaning unit 20's return process. This embodiment, by controlling the rotation of the cleaning component 22, generates friction between the cleaning component 22 and the ramp 102 to assist the cleaning unit 20 in moving along the ramp 102. This improves the return efficiency of the cleaning unit 20 and makes it easier for the cleaning unit 20 to move along the ramp 102 to the receiving cavity 101. Furthermore, by controlling the cleaning component 22 to rotate during its descent to contact the surface of the ramp 102, the cleaning unit 20 avoids the possibility of damage to the cleaning component 22 during rotation, which could occur if the friction between the cleaning component 22 and the ramp 102 is high. Controlling the cleaning component 22 to rotate only after it has reached contact with the ramp 102 also reduces the likelihood of it spinning idly before contact, thus saving energy for the cleaning unit 20.

[0066] In some embodiments, as shown in the appendix Figure 10 As shown, the cleaning assembly 22 includes a roller mop 24, which can rotate around its own axis. The steps of controlling the rotation of the cleaning assembly 22 include: controlling the rotation direction of the roller mop 24 to be the same as the rotation direction of the travel wheel 21, so that a frictional force is generated between the roller mop 24 and the ramp 102 to assist the cleaning host 20 in moving along the ramp 102.

[0067] It is understandable that when the roller mop 24 and the travel wheel 21 rotate in the same direction, a frictional force is generated between the roller mop 24 and the cleaning ramp in the direction from the ramp 102 to the receiving cavity 101, that is, a frictional force in the same direction as the travel direction of the cleaning unit 20, thereby assisting the cleaning unit 20 to move along the ramp 102 to the receiving cavity 101. It is worth mentioning that the axial direction of the cleaning component 22 can be perpendicular to both the travel direction and the height direction of the cleaning unit 20, and the axial direction of the cleaning component 22 can also be perpendicular to the height direction of the cleaning unit 20, and have a certain angle with the travel direction of the cleaning unit 20.

[0068] It is known that, as shown in the attached document Figure 10As shown, when the cleaning unit 20 moves forward, the rotation direction X3 of the roller mop 24 is opposite to the rotation direction X4 of the travel wheels. However, when the cleaning unit 20 moves backward and enters the ramp 102, in order to generate friction between the roller mop 24 and the ramp to assist the cleaning unit 20 in passing through the ramp 102, the rotation direction X3 of the roller mop 24 needs to be the same as the rotation direction X4 of the travel wheels 21.

[0069] In other embodiments, the cleaning assembly 22 further includes a disc mop 23, which is rotatable about its own axis. The axis of the disc mop 23 is parallel to the height direction of the cleaning host 20. The step of controlling the rotation of the cleaning assembly 22 includes controlling the disc mop 23 to rotate in a predetermined direction, so that the disc mop 23 and the ramp 102 generate a frictional force that assists the cleaning host 20 in moving along the ramp 102. Similarly, when the disc mop 23 rotates in the predetermined direction, a frictional force is generated between the disc mop 23 and the ramp 102 to assist the cleaning host 20 in moving along the ramp 102, so that the cleaning host 20 can enter the receiving cavity 101.

[0070] In one specific embodiment, the cleaning component 22 includes a first disc mop 231 and a second disc mop 232, the first disc mop 231 and the second disc mop 232 being aligned along a first direction (as shown in the attached diagram). Figure 8 The first disc mop 231 is controlled to rotate in the first rotation direction, and the second disc mop 232 is controlled to rotate in the second rotation direction opposite to the first rotation direction, so that the first disc mop 231 and the second disc mop 232 generate frictional force to assist the cleaning host 20 in moving along the passage ramp 102.

[0071] As attached Figure 8 As shown, the first rotation direction is Figure 8 In the X1 direction, the second rotation direction is Figure 8 In the X2 direction, when the first disc mop 231 rotates along the first rotation direction and the second disc mop 232 rotates along the second rotation direction, frictional forces will be generated between the first disc mop 231 and the second disc mop 232 to assist the cleaning host 20 in moving along the ramp 102. The arrangement of the first disc mop 231 and the second disc mop 232 can balance the frictional components between the first disc mop 231, the second disc mop 232 and the ramp 102, preventing the cleaning host 20 from shifting on the ramp 102, which would prevent the cleaning host 20 from entering the receiving cavity 101.

[0072] Optionally, the cleaning component 22 can also be a flat mop. After the flat mop descends to contact the ramp 102, the flat mop is controlled to swing, thereby generating friction that assists the cleaning host 20 in moving along the ramp 102 to the receiving cavity 101.

[0073] In some embodiments, when the cleaning host 20 reaches the receiving cavity 101, the cleaning host 20 receives a charging signal and controls the cleaning component 22 to stop rotating.

[0074] After the cleaning host 20 returns to the receiving cavity 101, the cleaning base station 10 typically needs to collect dust from the dust collection box of the cleaning host 20, clean the cleaning components 22 of the cleaning host 20, fill the water tank of the cleaning host 20 with water, dry the cleaning components 22, and charge the cleaning host 20. The typical working sequence of the cleaning base station 10 is dust collection, cleaning, water filling, drying, and charging. Therefore, when the cleaning host 20 receives a charging signal, indicating that the cleaning process of the cleaning components 22 has ended, it needs to control the cleaning components 22 to stop rotating to prevent them from spinning idly, consuming energy, and causing the charging time of the cleaning host 20 to be too long.

[0075] Furthermore, the cleaning host 20 has a return mode and an edge cleaning mode, and the control method of the cleaning system also includes: the rotation speed of the roller mop 24 when the cleaning host 20 is in the return mode is less than the rotation speed of the roller mop 24 when the cleaning host 20 is in the edge cleaning mode.

[0076] In this embodiment, the return-to-station mode refers to the mode in which the cleaning host 20 moves to the receiving cavity 101 after receiving the return-to-station signal, and the edge cleaning mode refers to the mode in which the cleaning component 22 protrudes from the outer edge of the cleaning host 20 to clean corners and other hard-to-reach areas. It is understandable that in the return-to-station mode, if the roller mop 24 rotates too fast, and the cleaning host 20 moves too quickly along the ramp 102, it may easily collide with the wall of the receiving cavity 101, causing damage to the cleaning host 20. Conversely, when the cleaning host 20 is in the edge cleaning mode, the roller mop 24 needs to rotate at a higher speed to better clean debris from corners.

[0077] Optionally, the cleaning host 20 has an edge cleaning mode and a regular cleaning mode, and the control method of the cleaning system further includes: the rotation speed of the roller mop 24 when the cleaning host 20 is in the edge cleaning mode is less than or equal to the rotation speed of the roller mop 24 when the cleaning host 20 is in the cleaning mode.

[0078] In this embodiment, the conventional cleaning mode refers to the mode in which the roller mop 24 is retracted inside the cleaning host 20 and used to clean the floor. In the conventional cleaning mode, the roller mop 24 needs to increase the friction frequency with the floor to be cleaned per unit time, thereby increasing the cleaning power of the cleaning host 20. However, when the cleaning host 20 is in the cleaning mode, because the fibers on the roller mop 24 easily accumulate sewage, it is necessary to increase the rotation speed of the roller mop 24 in the cleaning mode to improve the cleaning effect of the roller mop 24. It is known that the rotation speed of the roller mop 24 in the conventional cleaning mode is higher than or equal to the rotation speed of the roller in the edge cleaning mode. This is because an excessively high rotation speed will cause the roller mop 24 to bounce away the debris when cleaning corners. Therefore, in this embodiment, in order to improve the adsorption effect of the roller mop 24 on the debris in corners, the rotation speed of the roller mop 24 in the edge cleaning mode needs to be less than or equal to the rotation speed of the roller mop 24 in the conventional cleaning mode.

[0079] Optionally, the cleaning host 20 has a regular cleaning mode and a washing mode, and the control method of the cleaning system further includes: the rotation speed of the roller mop 24 when the cleaning host 20 is in the regular cleaning mode is less than or equal to the rotation speed of the roller mop 24 when the cleaning host 20 is in the washing mode.

[0080] In this embodiment, the cleaning mode refers to the mode in which the cleaning base station 10 cleans the roller mop 24 after the cleaning host 20 returns to the receiving cavity 101. It is understood that the process of the cleaning base station 10 cleaning the roller mop 24 is as follows: the roller mop 24 is repeatedly rolled and brushed within the cleaning tank of the cleaning base station 10. Since the fibers inside the roller mop 24 are prone to retaining wastewater, it is necessary to increase the rotation speed of the roller mop 24 to improve the cleaning effect. That is, the rotation speed of the roller mop 24 when the cleaning host 20 is in the normal cleaning mode is less than or equal to the rotation speed of the roller mop 24 when the cleaning host 20 is in the cleaning mode.

[0081] Optionally, similar to the roller mop 24, when the cleaning component 22 is a disc mop 23, the control method of the cleaning system further includes: the rotational speed of the disc mop 23 when the cleaning host 20 is in the return mode is less than the rotational speed of the disc mop 23 when the cleaning host 20 is in the edge cleaning mode.

[0082] Similarly, in the return mode, the rotation speed of the disc mop 23 should be reduced to avoid the cleaning host 20 being affected by the rotation speed of the disc mop 23, causing the cleaning host 20 to move too fast on the ramp 102, which would eventually cause the cleaning host 20 to collide with the wall of the accommodating cavity 101.

[0083] Similar to the roller mop 24, when the cleaning component 22 is a disc mop 23, the control method of the cleaning system further includes: the rotational speed of the disc mop 23 when the cleaning host 20 is in the edge cleaning mode is less than the rotational speed of the disc mop 23 when the cleaning host 20 is in the washing mode. Unlike the roller mop 24, the cleaning process of the disc mop 23 by the cleaning base station 10 includes: spraying with a high-pressure water gun and rotating and scraping. Since wastewater can easily remain in the fibers of the disc mop 23, it is necessary to increase the rotational speed of the disc mop 23 in the washing mode; that is, the rotational speed of the disc mop 23 when the cleaning host 20 is in the edge cleaning mode is less than the rotational speed of the disc mop 23 when the cleaning host 20 is in the washing mode.

[0084] Optionally, the control method of the cleaning system further includes: the rotation speed of the disc mop 23 when the cleaning host 20 is in the normal cleaning mode is greater than or equal to the rotation speed of the disc mop 23 when the cleaning host 20 is in the washing mode.

[0085] Similar to the roller mop 24, when cleaning the disc mop 23, the rotation speed of the disc mop 23 should be increased to ensure more efficient and even cleaning. However, it is understandable that the cleaning base station 10 can perform 360° cleaning without dead angles on the disc mop 23 through high-pressure spraying and rotating scraping. Therefore, when the disc mop 23 is being cleaned by the cleaning base station 10, there is no need to increase the rotation speed of the disc mop 23 excessively. Considering the need to save energy consumption of the cleaning host 20, the rotation speed of the disc mop 23 in the cleaning mode can be less than or equal to the rotation speed of the disc mop 23 in the normal cleaning mode.

[0086] Furthermore, the cleaning host 20 has a zone cleaning mode and an edge cleaning mode, and the control method of the cleaning system also includes: the rotation speed of the cleaning component 22 when the cleaning host 20 is in the zone cleaning mode is greater than the rotation speed of the cleaning component 22 when the cleaning host 20 is in the edge cleaning mode.

[0087] Specifically, the zoned cleaning mode refers to a mode in which the cleaning host 20, after receiving the zoned cleaning signal, divides the surface to be cleaned into multiple zones and cleans one or more of these zones. Similar to the conventional cleaning mode, the rotation speed of the cleaning component 22 in the zoned cleaning mode should be higher than that in the edge cleaning mode. That is, when cleaning the surface to be cleaned, the rotation speed of the cleaning component 22 needs to be increased to improve the cleaning efficiency. However, in edge cleaning, in order to prevent debris in corners from being bounced away by the cleaning component 22, the rotation speed of the cleaning component 22 needs to be reduced.

[0088] Furthermore, the control method of the cleaning system also includes: during the process of the cleaning host 20 moving from the predetermined position 103 to the receiving cavity 101, keeping the rotation speed of the cleaning component 22 constant.

[0089] Understandably, when the rotational speed of the cleaning component 22 remains constant, the frictional force generated between the cleaning component 22 and the ramp 102, which assists the cleaning host 20 in moving along the ramp 102, remains almost constant. This makes the cleaning host 20 move at a constant speed on the ramp 102, thus preventing the cleaning host 20 from accelerating on the ramp 102, which would eventually cause the cleaning host 20 to collide with the inner wall of the receiving cavity 101, or the cleaning host 20 from decelerating on the ramp 102, which might prevent the cleaning host 20 from moving into the receiving cavity 101.

[0090] On the other hand, as attached Figure 5 To be continued Figure 10 As shown, a cleaning system according to this application also includes a detection component 40 and a controller 30.

[0091] The detection component 40 is used to detect whether the cleaning host 20 has reached the predetermined position 103. The detection component 40 is also used to detect the position of the cleaning host 20 as it moves from the predetermined position 103 to the receiving cavity 101. The controller 30 is electrically connected to the cleaning host 20 and is used to control the cleaning component 22 to descend so that it at least contacts the surface of the ramp 102, and to control the cleaning host 20 to move in a direction closer to the cleaning base station 10 based on a received return signal. The detection component 40 is electrically connected to the controller 30, and the controller 30 controls the cleaning host 20 to adjust its posture at the predetermined position 103 according to the detection signal from the detection component 40, so that the cleaning component 22 is aligned with the receiving cavity 101. The controller 30 also controls the cleaning component 22 to descend according to the detection signal from the detection component 40, so that it contacts the surface of the ramp 102.

[0092] Specifically, when a user sends a return signal to the cleaning host 20 from an electronic device, or when a return signal is generated within the cleaning host 20, the controller 30 receives the return signal and controls the cleaning host 20 to move in a direction closer to the cleaning base station 10. Subsequently, when the detection component 40 detects that the cleaning host 20 has moved to a predetermined position 103, the detection component 40 sends a signal to the controller 30, and the controller 30 controls the cleaning host 20 to adjust its posture at the predetermined position 103, so that the cleaning host 20 is aligned with the direction in which the cleaning component 22 is aligned with the receiving cavity 101. Subsequently, the controller 30 controls the cleaning host 20 to move along the direction close to the receiving cavity 101. When the detection component 40 detects that the cleaning host 20 has reached the position where the cleaning component 22 needs to be lowered, the detection component 40 sends a signal to the controller 30. At this time, the controller 30 controls the cleaning component 22 to descend until it contacts the surface of the ramp 102, thereby increasing the friction between the cleaning host 20 and the ramp 102 and preventing the friction between the cleaning host 20 and the ramp 102 from being too low, which would prevent the cleaning host 20 from entering the receiving cavity 101 through the ramp 102. In a specific embodiment, the cleaning host 20 also includes a linear motor, which is electrically connected to the controller 30 and connected to the cleaning component 22. The linear motor is used to control the cleaning component 22 to rise or fall along the height direction of the cleaning host 20. In some embodiments, the linear motor can also be replaced by a hydraulic cylinder or a pneumatic cylinder. In addition, the structure driving the cleaning component 22 can also be the configuration of the first transmission component in the published patent application CN119523345A. In some embodiments, the detection component 40 may be a lidar, camera, infrared sensor, dual-line laser, laser rangefinder, rangefinder, position sensor, edge sensor, and ultrasonic sensor, or a combination of the above devices.

[0093] In some embodiments, the cleaning system further includes a navigation component, which enables the cleaning host 20 to accurately move to a predetermined position 103 after receiving a return signal. In one specific embodiment, the navigation component includes a lidar and a positioning sensor. The lidar scans the surrounding environment to prevent the cleaning host 20 from colliding with obstacles, and the positioning sensor enables the cleaning host 20 to move along the direction of the predetermined position 103. In another specific embodiment, the cleaning host 20 is equipped with a synchronous positioning module and a mapping module. These modules can construct a digital map of the environment in which the cleaning host 20 is located in real time and determine its own coordinates and the coordinates of the predetermined position 103, thereby enabling the controller 30 to accurately control the cleaning host 20 to move to the predetermined position 103.

[0094] Furthermore, to ensure that the cleaning host 20 reaches the predetermined position 103 and adjusts its posture so that the cleaning component 22 is aligned with the receiving cavity 101, and can then enter the access ramp 102 in a straight line, this embodiment also includes a region division component on the cleaning base station 10. This region division component divides the space in which the cleaning host 20 moves into multiple independent regions. The region between the access ramp 102 and the predetermined position 103 is one of these independent regions. When the cleaning host 20 moves close to the access ramp 102, if it deviates from the region between the access ramp 102 and the predetermined position 103, the controller 30 controls the cleaning host 20 to move to that region. Ultimately, this allows the cleaning host 20 to enter the access ramp 102 in a manner that moves towards the center of the base station, thus preventing the cleaning host 20 from being unable to return to the receiving cavity 101. In this embodiment, the region division component includes at least one of an infrared transmitter and a millimeter-wave transmitter.

[0095] On the other hand, the timing for the controller 30 to control the cleaning component 22 to descend based on the detection signal from the detection component 40 can be either during the process of the cleaning host 20 moving from the moving position to the passage ramp 102, or during the process of the cleaning host 20 moving from the passage ramp 102 to the receiving cavity 101.

[0096] Furthermore, the cleaning host 20 also includes a travel wheel 21, which is disposed at the bottom of the cleaning host 20. When the cleaning component 22 is adjusted to align with the receiving cavity 101, the travel wheel 21 is located on the side of the cleaning component 22 away from the receiving cavity 101. The detection component 40 is disposed in at least one of the cleaning base station 10 and the cleaning host 20. In the projection of the cleaning component 22 in the height direction of the cleaning host 20, when the projection of the cleaning component 22 at least partially overlaps with the projection of the ramp 102, the controller 30 controls the cleaning component 22 to descend according to the detection signal of the detection component 40 so that the cleaning component 22 contacts the surface of the ramp 102.

[0097] In other words, when the cleaning unit 20 reaches the entrance of the ramp 102, and the projection of the cleaning component 22 at least partially overlaps with the projection of the ramp 102, the detection component 40 sends a signal to the controller 30. The controller 30 then controls the cleaning component 22 to descend, ensuring contact between the cleaning component 22 and the surface of the ramp 102. This prevents the cleaning component 22 from descending prematurely, which would cause it to abut against the edge of the ramp 102 away from the receiving cavity 101, preventing the travel wheel 21 from moving onto the ramp 102. In this embodiment, the detection component 40 can be located on the ramp 102, at the entrance of the ramp 102, at the end of the cleaning unit 20 near the ramp 102, or on the top of the cleaning unit 20, or a combination of these locations, i.e., detection is performed using different components.

[0098] Optionally, when the travel wheel 21 moves to the edge of the ramp 102 away from the receiving cavity 101, the controller 30 controls the cleaning component 22 to descend according to the detection signal of the detection component 40, so that the cleaning component 22 can contact the surface of the ramp 102.

[0099] In this embodiment, when the traveling wheel 21 contacts the edge of the ramp 102 away from the receiving cavity 101, the detection component 40 sends a signal to the controller 30, and the controller 30 controls the cleaning component 22 to descend. Since the cleaning component 22 has been adjusted to align with the receiving cavity 101 at the predetermined position 103, and the traveling wheel 21 is located on the side of the cleaning component 22 away from the receiving cavity 101, this means that the projection of the cleaning component 22 in the height direction is located within the projection of the ramp 102 in the height direction. After the cleaning component 22 descends, it can contact the ramp 102, thereby avoiding the cleaning component 22 being blocked by the edge of the ramp 102 away from the receiving cavity 101, which would prevent the traveling wheel 21 from moving onto the ramp 102.

[0100] For example, in one specific embodiment, the detection component 40 can be a position sensor. The transmitting end of the position sensor is disposed on the cleaning host 20, and the reflecting end of the position sensor is disposed at the entrance end of the ramp 102. When the cleaning host 20 reaches the entrance end of the ramp 102, the signal sent by the transmitting end of the position sensor is reflected by the reflecting end of the position sensor, and the position sensor sends a signal to the controller 30. Alternatively, the detection component can be an infrared sensor. The transmitting end of the infrared sensor is disposed on the cleaning base station 10 and emits infrared light to the entrance end of the ramp 102. The receiving end of the infrared sensor is disposed on the top of the cleaning host 20. When the cleaning host 20 enters the entrance end of the ramp 102, the receiving end of the infrared sensor receives the signal and sends a signal to the controller.

[0101] Furthermore, the detection component 40 is at least used to detect whether the cleaning component 22 has descended after the cleaning host 20 receives the return signal. The controller 30 controls the cleaning component 22 to rotate according to the detection signal of the detection component 40, so that a frictional force is generated between the cleaning component 22 and the ramp 102 to assist the cleaning host 20 in moving along the ramp 102.

[0102] In this embodiment, after the cleaning component 22 descends, the detection component 40 sends a signal to the controller 30. At this time, the controller 30 can control the cleaning component 22 to rotate during its descent to contact the ramp 102, or control the cleaning component 22 to rotate after it descends to contact the ramp 102, thereby generating a frictional force between the cleaning component 22 and the ramp 102 to assist the cleaning host 20 in moving along the ramp 102. In this embodiment, the detection component 40 can be a position sensor and a vision sensor, or a multi-axis inertial measurement element, or a lidar.

[0103] Furthermore, the travel wheel 21 is electrically connected to the controller 30, and the cleaning assembly 22 includes a roller mop 24; wherein, after receiving the signal transmitted by the detection assembly 40, the controller 30 is also used to control the rotation direction of the roller mop 24 to be the same as the rotation direction of the travel wheel 21, so that a frictional force is generated between the roller mop 24 and the ramp 102 to assist the cleaning host 20 in moving along the ramp 102.

[0104] In other words, after the controller 30 receives the signal transmitted by the detection component 40, the controller 30 not only controls the roller mop 24 to descend, but also controls the roller mop 24 to rotate. The controller 30 also needs to control the rotation direction of the roller mop 24 to be consistent with the rotation direction of the travel wheel 21, so that when the roller mop 24 rolls, the direction of the friction force generated between the roller mop 24 and the ramp 102 is the same as the direction from the ramp 102 to the receiving cavity 101, thereby improving the cleaning host 20's ability to move from the ramp 102 to the receiving cavity 101.

[0105] Optionally, the cleaning component 22 also includes a disc mop 23, which is electrically connected to the controller 30. The disc mop 23 can rotate around its own axis, and the axis of the disc mop 23 is parallel to the height direction of the cleaning host 20. The controller 30 is also used to receive the signal transmitted by the detection component 40 and control the disc mop 23 to rotate in a predetermined direction so that the disc mop 23 generates a frictional force with the ramp 102 to assist the cleaning host 20 in moving along the ramp 102.

[0106] Similarly, after receiving the signal transmitted by the detection component 40, the controller 30 not only needs to control the disc mop 23 to descend, but also needs to control the disc mop 23 to rotate in a predetermined direction, so that after the disc mop 23 rotates, it can generate a frictional force with the ramp 102 to assist the cleaning host 20 in moving along the ramp 102. In some embodiments, the cleaning component 22 includes both the roller mop 24 and the disc mop 23, and the controller 30 can simultaneously control the descent and rotation of both the roller mop 24 and the disc mop 23.

[0107] Furthermore, the disc mop 23 includes a first disc mop 231 and a second disc mop 232, which are spaced apart along a first direction. The controller 30 is also used to receive the signal transmitted by the detection component 40, control the first disc mop 231 to rotate along a first rotation direction, and control the second disc mop 232 to rotate along a second rotation direction opposite to the first rotation direction, so that the first disc mop 231 and the second disc mop 232 generate frictional force to assist the cleaning host 20 in moving along the ramp 102.

[0108] When the first disc mop 231 rotates in the first direction and the second disc mop 232 rotates in the second direction, the combined frictional force between the first disc mop 231 and the second disc mop 232 is consistent with the direction of travel of the cleaning host 20, thereby assisting the cleaning host 20 to move along the ramp 102 to the receiving cavity 101. At the same time, the first disc mop 231 and the second disc mop 232 are spaced apart along the first direction, ensuring that the frictional force between the first disc mop 231, the second disc mop 232 and the ramp 102 is uniform, thereby preventing the cleaning host 20 from deviating while moving on the ramp 102.

[0109] Furthermore, the cleaning unit 20 also includes a drive component connected to the cleaning component 22. The drive component drives the cleaning component 22 to rotate and is electrically connected to the controller 30. The rotational speed of the drive component when the cleaning unit 20 is in return mode is lower than the rotational speed when the cleaning unit 20 is in edge cleaning mode. It is understandable that if the rotational speed of the drive component is too fast in return mode, the rotational speed of the roller mop 24 or disc mop 23 will be too fast, potentially causing the cleaning unit 20 to move too quickly along the ramp 102. This could result in the cleaning unit 20 colliding with the wall of the receiving cavity 101 after entering the receiving cavity, causing damage to the cleaning unit 20. Conversely, when the cleaning unit 20 is in edge cleaning mode, a faster rotational speed of the roller mop 24 or disc mop 23 is required to better clean corner debris, preventing insufficient cleaning of corner debris due to a slower rotational speed of the roller mop 24 or disc mop 23.

[0110] Optionally, the rotational speed of the drive component when the cleaning host 20 is in the edge cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning host 20 is in the washing mode.

[0111] Understandably, when the roller mop 24 or disc mop 23 is cleaned by the cleaning base station 10, due to the accumulation of dirt and debris on the roller mop 24 or disc mop 23, the rotation speed of the roller mop 24 or disc mop 23 should be increased to ensure efficient and even cleaning. It is worth noting that when the cleaning component 22 is typically the roller mop 24, its edge cleaning ability is weaker than that of the disc mop 23. This is because the disc mop 23, during cleaning, not only wets and dissolves the debris in the cleaning area but also applies downward pressure to it. Therefore, the rotation speed of the roller mop 24 in edge cleaning mode can be equal to its rotation speed in cleaning mode.

[0112] In some embodiments, the rotational speed of the drive component when the cleaning host 20 is in the normal cleaning mode is greater than or equal to the rotational speed of the drive component when the cleaning host 20 is in the washing mode. In this embodiment, the cleaning component 22 is a disc mop 23. Since the disc mop 23 is relatively easy to clean and has a good cleaning effect, the rotational speed of the disc mop 23 does not need to be too fast when cleaning it. That is, the rotational speed of the drive component when the cleaning host 20 is in the normal cleaning mode is greater than or equal to the rotational speed of the drive component when the cleaning host 20 is in the washing mode.

[0113] In other embodiments, the rotational speed of the drive component when the cleaning host 20 is in the normal cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning host 20 is in the washing mode. In this embodiment, the cleaning component 22 is a roller mop 24, and the cleaning effect of the cleaning base station 10 on the roller mop 24 is worse than that of the disc mop 23. Therefore, in order to improve the cleaning effect of the cleaning base station 10 on the roller mop 24, in this embodiment, the rotational speed of the drive component when the cleaning host 20 is in the normal cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning host 20 is in the washing mode.

[0114] Optionally, the rotational speed of the drive component when the cleaning host 20 is in edge cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning host 20 is in regular cleaning mode.

[0115] It is known that when the drive component performs edge cleaning, if the rotation speed of the cleaning component 22 is too fast, the cleaning component 22 may easily bounce away debris from corners, making it difficult for the cleaning component 22 to pick up the debris in the corners, resulting in low cleaning efficiency. Therefore, in this embodiment, the rotation speed of the cleaning component 22 in the edge cleaning mode can be appropriately reduced, that is, the rotation speed of the drive component when the cleaning host 20 is in the edge cleaning mode is less than or equal to the rotation speed of the drive component when the cleaning host 20 is in the normal cleaning mode.

[0116] Optionally, the cleaning host 20 has a zone cleaning mode and an edge cleaning mode, and the rotation speed of the drive component when the cleaning host 20 is in the zone cleaning mode is greater than the rotation speed of the drive component when the cleaning host 20 is in the edge cleaning mode.

[0117] Specifically, similar to the regular cleaning mode, the rotation speed of the cleaning component 22 in the zoned cleaning mode should be higher than that in the edge cleaning mode. That is, when cleaning the surface to be cleaned, the rotation speed of the cleaning component 22 needs to be increased to improve the cleaning efficiency of the surface to be cleaned. However, when cleaning the edge, in order to avoid the cleaning component 22 from being too fast and kicking away the debris in the corner, the rotation speed of the cleaning component 22 needs to be reduced.

[0118] Furthermore, in some embodiments, when the cleaning host 20 is located within the accommodating cavity 101, the cleaning base station 10 can send a cleaning signal to the controller 30, and the controller 30 then enters the cleaning mode upon receiving the cleaning signal. In some embodiments, an external electronic device can send at least one of the following to the controller 30: a return signal, a regular cleaning signal, an edge cleaning signal, and a zoned cleaning signal. When the controller 30 receives the aforementioned signal, it controls the cleaning host 20 to enter the corresponding signal's operating mode. Of course, in some embodiments, when the cleaning host 20 is cleaning the surface to be cleaned, the navigation component can send an edge cleaning signal or a regular cleaning signal to the controller 30 based on the monitored external environment. For example, when the cleaning host 20 moves to a corner or similar location, the navigation component sends an edge cleaning signal to the controller 30, and the controller 30 controls the cleaning host 20 to enter the edge cleaning mode. When the cleaning host 20 moves away from a corner or similar location, the navigation component sends a regular cleaning signal to the controller 30, and the controller 30 controls the cleaning host 20 to enter the regular cleaning mode.

[0119] When the cleaning host 20 receives a signal to perform a cleaning task at the cleaning base station 10, the controller 30 controls the cleaning component 22 to rise and controls the cleaning host 20 to move along the access ramp 102 to the outside of the cleaning base station 10.

[0120] In other words, after receiving the signal to perform the cleaning task, the controller 30 first controls the cleaning component 22 to lift, so as to avoid interference between the cleaning component 22 and the inner wall of the accommodating cavity 101 or between the cleaning component 22 and the outer periphery of the passage ramp 102, which would prevent the cleaning host 20 from moving smoothly to the outside of the cleaning base station 10.

[0121] Optionally, during the process of the cleaning host 20 moving from the predetermined position 103 to the receiving cavity 101, the rotational speed of the drive component is kept constant.

[0122] Specifically, when the rotational speed of the cleaning component 22 remains constant, the frictional force generated between the cleaning component 22 and the ramp 102 on the ramp 102, which causes the auxiliary cleaning host 20 to move along the ramp 102, remains almost constant. This makes the cleaning host 20 move at a constant speed on the ramp 102, thereby preventing the cleaning host 20 from accelerating on the ramp 102, which would eventually cause the cleaning host 20 to collide with the inner wall of the receiving cavity 101, or the cleaning host 20 from decelerating on the ramp 102, which might prevent the cleaning host 20 from moving to the receiving cavity 101.

[0123] In some embodiments, the disc mop 23 has an outwardly expanding position protruding from the outer periphery of the cleaning host 20 and an inwardly retracted position retracting to the inner side of the cleaning host 20. In fact, in some embodiments, when the disc mop 23 is in the inwardly retracted position, a portion of the disc mop 23 may also protrude from the outer periphery of the cleaning host 20. In this embodiment, the volume of the disc mop 23 protruding from the outer periphery of the cleaning host 20 in the outwardly expanding position is greater than the volume of the disc mop 23 protruding from the outer periphery of the cleaning host 20 in the inwardly retracted position. When the disc mop 23 is in the outwardly expanding position, the disc mop 23 is in an edge cleaning mode, used for cleaning corners and wall corners.

[0124] In one specific embodiment, the working process of the cleaning system includes: after receiving the return signal, the controller 30 controls the cleaning host 20 to move in a direction close to the cleaning base station 10; under the action of the navigation component, the cleaning host 20 moves to the predetermined position 103; after the detection component 40 detects that the cleaning host 20 has reached the predetermined position 103, the detection component 40 sends a signal to the controller 30, and the controller 30 controls the cleaning host 20 to adjust its attitude so that the cleaning component 22 is aligned with the receiving cavity 101; then the controller 30 controls the cleaning host 20 to move in a direction close to the passage ramp 102. As the cleaning unit 20 moves along the direction approaching the ramp 102, under the action of the area division component and the controller 30, the cleaning unit 20 moves in a straight line to the entrance end of the ramp 102. Subsequently, the detection component 40 detects and sends a signal to the controller 30. The controller 30 controls the cleaning component 22 to descend until it contacts the ramp 102, thereby increasing the friction between the cleaning unit 20 and the ramp 102. This prevents the cleaning unit 20 from having difficulty entering the receiving cavity 101 due to low friction between them. Afterward, the detection component 40 detects the descent of the cleaning component 22 and sends a signal to the controller 30. The controller 30 controls the cleaning component 22 to rotate, thereby generating friction between the cleaning component 22 and the ramp 102 to assist the cleaning unit 20 in moving along the ramp 102. Finally, after receiving the return signal, the cleaning unit 20 can enter the receiving cavity 101 through the ramp 102.

[0125] In summary, the control method and cleaning system of this application, after the cleaning host 20 receives the return signal and before the cleaning host 20 moves from the predetermined position 103 to the receiving cavity 101, control the cleaning component 22 to descend to contact the passage ramp 102, thereby increasing the friction between the cleaning host 20 and the passage ramp 102, and enabling the cleaning host 20 to enter the receiving cavity 101 through the passage ramp 102. Furthermore, this application also controls the cleaning component 22 to rotate during or after its descent to contact the passage ramp 102, generating friction between the cleaning component 22 and the passage ramp 102 to assist the cleaning host 20 in moving along the passage ramp 102, further improving the efficiency of the cleaning host 20 returning to the receiving cavity 101. In this application, the cleaning host 20 is also limited in different working modes to avoid damage to the cleaning component 22, or to improve the cleaning effect of the cleaning host 20, or to improve the cleaning effect of the cleaning base station 10 on the cleaning component 22.

[0126] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0127] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0128] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning system, characterized in that, The cleaning system includes: A clean base station (10) is provided with a accommodating cavity (101) and a passage ramp (102), and the passage ramp (102) is connected to the accommodating cavity (101); A cleaning host (20) includes a cleaning component (22), which is rotatably and vertically disposed at the bottom of the cleaning host (20) along the height direction of the cleaning host (20); The detection component (40) is used at least to detect whether the cleaning host (20) has reached the predetermined position (103), and at least to detect the position of the cleaning host (20) when the cleaning host (20) moves from the predetermined position (103) to the receiving cavity (101); A controller (30) electrically connected to the cleaning host (20) is configured to at least control the cleaning component (22) to descend so as to at least bring the cleaning component (22) into contact with the surface of the access ramp (102), and to control the cleaning host (20) to move in a direction closer to the cleaning base station (10) according to a received return signal. The detection component (40) is electrically connected to the controller (30). The controller (30) controls the cleaning host (20) to adjust its posture at the predetermined position (103) according to the detection signal of the detection component (40) so that the cleaning component (22) is aligned with the receiving cavity (101). The controller (30) also controls the cleaning component (22) to descend according to the detection signal of the detection component (40) so that the cleaning component (22) contacts the surface of the passage ramp (102).

2. The cleaning system of claim 1, wherein, The cleaning unit (20) also includes a travel wheel (21), which is located at the bottom of the cleaning unit (20). When the cleaning component (22) is rotated to align with the receiving cavity (101), the travel wheel (21) is located on the side of the cleaning component (22) away from the receiving cavity (101). The detection component (40) is disposed in at least one of the cleaning base station (10) and the cleaning host (20). In the projection of the cleaning host (20) in the height direction, when the projection of the cleaning component (22) at least partially overlaps with the projection of the ramp (102), the controller (30) controls the cleaning component (22) to descend according to the detection signal of the detection component (40) so that the cleaning component (22) contacts the surface of the ramp (102).

3. The cleaning system of claim 1, wherein, The cleaning unit (20) also includes a travel wheel (21), which is located at the bottom of the cleaning unit (20). When the cleaning component (22) is rotated to align with the receiving cavity (101), the travel wheel (21) is located on the side of the cleaning component (22) away from the receiving cavity (101). The detection component (40) is disposed on at least one of the cleaning base station (10) and the cleaning host (20). When the travel wheel (21) moves to the edge of the ramp (102) away from the accommodating cavity (101), the controller (30) controls the cleaning component (22) to descend according to the detection signal of the detection component (40) so that the cleaning component (22) can contact the surface of the ramp (102).

4. The cleaning system of claim 1, wherein, The detection component (40) is disposed in at least one of the cleaning base station (10) and the cleaning host (20). The detection component (40) is also used to detect whether the cleaning component (22) descends after the cleaning host (20) receives the return signal. The controller (30) controls the cleaning component (22) to rotate according to the detection signal of the detection component (40) so that a frictional force is generated between the cleaning component (22) and the ramp (102) to assist the cleaning host (20) in moving along the ramp (102).

5. The cleaning system of claim 4, wherein, The cleaning host (20) also includes a travel wheel (21), which is electrically connected to the controller (30). The cleaning component (22) includes a roller mop (24), which is rotatable around its own axis. The controller (30) is also used to receive the signal transmitted by the detection component (40) and control the rotation direction of the roller mop (24) to be the same as the rotation direction of the travel wheel (21) so that a frictional force is generated between the roller mop (24) and the ramp (102) to assist the cleaning host (20) in moving along the ramp (102).

6. The cleaning system of claim 4, wherein, The cleaning component (22) also includes a disc mop (23), which is electrically connected to the controller (30). The disc mop (23) is rotatable about its own axis, and the axis of the disc mop (23) is parallel to the height direction of the cleaning host (20). The controller (30) is also used to receive the signal transmitted by the detection component (40) and control the disc mop (23) to rotate in a predetermined direction so that the disc mop (23) and the ramp (102) generate a frictional force to assist the cleaning host (20) in moving along the ramp (102).

7. The cleaning system of claim 6, wherein, The disc mop (23) includes a first disc mop (231) and a second disc mop (232), the first disc mop (231) and the second disc mop (232) being spaced apart along a first direction. The controller (30) is also used to receive a signal transmitted by the detection component (40), and then control the first disc mop (231) to rotate along a first rotation direction and control the second disc mop (232) to rotate along a second rotation direction opposite to the first rotation direction, so that the first disc mop (231) and the second disc mop (232) generate frictional force to assist the cleaning host (20) in moving along the ramp (102).

8. The cleaning system of any one of claims 1 to 7, wherein, The cleaning host (20) also includes a drive component, which is connected to the cleaning component (22). The drive component drives the cleaning component (22) to rotate, and the drive component is electrically connected to the controller (30). The cleaning host (20) has a return-to-station mode and an edge-cleaning mode, and the rotational speed of the drive component when the cleaning host (20) is in the return-to-station mode is less than the rotational speed of the drive component when the cleaning host (20) is in the edge-cleaning mode; and / or, The cleaning unit (20) has an edge cleaning mode and a washing mode, and the rotational speed of the drive component when the cleaning unit (20) is in the edge cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning unit (20) is in the washing mode; and / or, The cleaning unit (20) has a regular cleaning mode and a cleaning mode. The rotational speed of the drive component when the cleaning unit (20) is in the regular cleaning mode is greater than or equal to the rotational speed of the drive component when the cleaning unit (20) is in the cleaning mode; or, the rotational speed of the drive component when the cleaning unit (20) is in the regular cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning unit (20) is in the cleaning mode; and / or, The cleaning host (20) has an edge cleaning mode and a regular cleaning mode. The rotational speed of the drive component when the cleaning host (20) is in the edge cleaning mode is less than or equal to the rotational speed of the drive component when the cleaning host (20) is in the regular cleaning mode.

9. The cleaning system of claim 8, wherein, The cleaning host (20) has a zone cleaning mode and an edge cleaning mode. The rotational speed of the drive component when the cleaning host (20) is in the zone cleaning mode is greater than the rotational speed of the drive component when the cleaning host (20) is in the edge cleaning mode.

10. The cleaning system of claim 8, wherein, During the process of the cleaning host (20) moving from the predetermined position (103) to the accommodating cavity (101), the rotational speed of the drive assembly remains constant.

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