Method and apparatus for controlling cleaning of a cleaning base station, cleaning base station, and storage medium

Abstract

The present application relates to a cleaning control method and device for a cleaning base station, a cleaning base station, and a storage medium, the method including controlling the rotation speed of a roller brush and / or the amount of water output from the water supply mechanism based on the movement direction and movement position of a roller brush in the roller brush cleaning mechanism within the roller groove when the cleaning base station cleans a cleaning device.

Description

Related Applications

[0001] This application claims priority to a patent application filed on December 30, 2022, with application number CN202211733371.1 and titled "Cleaning base station cleaning control method and device, cleaning base station and storage medium." [Technical Field]

[0002] The present application relates to the technical field of cleaning base station control, and relates to a cleaning base station cleaning control method and device, a cleaning base station, and a storage medium. [Background technology]

[0003] With the advancement of smart robot technology, various technological innovations are emerging one after another. Vacuuming robots are constantly innovating and making breakthroughs in areas such as artificial intelligence algorithms, integrated suction and wet mopping, smart dust collection, and smart wet cleaning, and the products have become essential household items at all levels. After completing the suction and wet mopping tasks, the vacuum cleaner returns to the cleaning base station to complete the smart dust collection and smart wet cleaning tasks.

[0004] The rotating roller brush is similar to riding a bicycle on a rainy day when using a water-washing cleaning method, and the cleaning roller brush is prone to water scattering problems. Dirty water splashes all over the device, and in serious cases, it can cause the device to stop functioning. How to prevent the roller brush from scattering water is an important technical challenge for this cleaning method.

[0005] Please note that the information disclosed in the above background art is intended only to deepen understanding of the background of this application, and may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] An object of the present application is to provide a cleaning base station cleaning control method and device, a cleaning base station and a storage medium that avoid the problem of water scattering on roller brushes when the cleaning base station washes a cleaning device.

[0007] According to a first aspect of an embodiment of the present application, there is provided a cleaning control method for a cleaning base station, the cleaning base station including a roller brush cleaning mechanism and a water supply mechanism, after a cleaning device returns to the cleaning base station, the water supply mechanism supplies water to the roller brush cleaning mechanism, and the roller brush in the roller brush cleaning mechanism rotates and moves back and forth along a roller groove to clean a cleaning assembly of the cleaning device, and the cleaning control method includes: When the cleaning base station cleans the cleaning equipment, it controls the rotation speed of the roller brush and / or the amount of water flowing from the water supply mechanism based on the movement direction and movement position of the roller brush in the roller brush cleaning mechanism within the roller groove.

[0008] In one embodiment, preferably, controlling the rotation speed of the roller brush based on the moving direction and moving position of the roller brush in the roller groove in the roller brush cleaning mechanism includes: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first moving direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the first predetermined point to a second end point of the roller groove along the first moving direction, the roller brush is controlled to rotate at a second rotation speed; When the roller brush moves from a second end point of the roller groove to a second predetermined point along the second movement direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the second predetermined point of the roller groove to the first end point along the second movement direction, the roller brush is controlled to rotate at the second rotation speed, The second rotation speed is lower than the first rotation speed.

[0009] In one embodiment, preferably, controlling the amount of water discharged from the water supply mechanism based on the moving direction and moving position of the roller brush in the roller brush cleaning mechanism within the roller groove includes: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first movement direction, or when the roller brush moves from a second end point of the roller groove to a second predetermined point along a second movement direction, the water supply mechanism is controlled to supply water at a first water supply rate; when the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from the second predetermined point to the first end point of the roller groove along a second movement direction, controlling the water supply mechanism to supply water at a second water supply rate, The second water outflow rate is greater than the first water outflow rate.

[0010] In one embodiment, preferably, the cleaning control method further comprises: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first movement direction, or when the roller brush moves from a second end point of the roller groove to a second predetermined point along a second movement direction, the roller brush is controlled to move in the roller groove at a first horizontal movement speed; When the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from a second predetermined point to the first end point of the roller groove along a second movement direction, controlling the roller brush to move in the roller groove at a second horizontal movement speed; The second horizontal movement speed is less than the first horizontal movement speed.

[0011] In one embodiment, preferably, controlling the rotation speed of the roller brush based on the moving direction and moving position of the roller brush in the roller groove in the roller brush cleaning mechanism includes: When the roller brush moves from a first end point to a second end point of the roller groove along a first moving direction, the rotation speed of the roller brush is controlled to decrease from a first rotation speed to a second rotation speed according to a first predetermined deceleration rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the rotation speed of the roller brush is controlled to decrease from the first rotation speed to a second rotation speed according to a first predetermined deceleration rule.

[0012] In one embodiment, preferably, controlling the amount of water discharged from the water supply mechanism based on the moving direction and moving position of the roller brush in the roller brush cleaning mechanism within the roller groove includes: When the roller brush moves from a first end point to a second end point of the roller groove along a first movement direction, the water output of the water supply mechanism is controlled to increase from the first water output to a second water output in accordance with a predetermined water output increase rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the water output of the water supply mechanism is controlled to increase from the first water output to a second water output in accordance with a predetermined water output increase rule.

[0013] In one embodiment, preferably, the cleaning control method further comprises: When the roller brush moves from a first end point to a second end point of the roller groove along a first movement direction, a horizontal movement speed of the roller brush in the roller groove is controlled to decrease from the first movement speed to a second movement speed according to a second predetermined deceleration rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the horizontal movement speed of the roller brush in the roller groove is controlled to decrease from the first movement speed to a second movement speed according to a second predetermined deceleration rule.

[0014] According to a second aspect of an embodiment of the present application, there is provided a cleaning control device for a cleaning base station, the cleaning base station including a roller brush cleaning mechanism and a water supply mechanism, after a cleaning equipment returns to the cleaning base station, the water supply mechanism supplies water to the roller brush cleaning mechanism, and the roller brush in the roller brush cleaning mechanism rotates and moves back and forth along a roller groove to clean the cleaning assembly of the cleaning equipment, the cleaning control device including a control module, the control module controls the rotation speed of the roller brush and / or the amount of water supplied by the water supply mechanism based on the movement direction and movement position of the roller brush in the roller brush cleaning mechanism within the roller groove when the cleaning base station cleans the cleaning equipment.

[0015] In one embodiment, preferably the control module comprises: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first moving direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the first predetermined point to a second end point of the roller groove along the first moving direction, the roller brush is controlled to rotate at a second rotation speed lower than the first rotation speed; When the roller brush moves from the second end point of the roller groove to a second predetermined point along the second movement direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the second predetermined point of the roller groove to the first end point along the second movement direction, the roller brush is controlled to rotate at a second rotation speed lower than the first rotation speed.

[0016] In one embodiment, preferably the control module further comprises: when the roller brush moves from a first end point of the roller groove to a first predetermined point along a first movement direction, or when the roller brush moves from a second end point of the roller groove to a second predetermined point along a second movement direction, the water supply mechanism is controlled to supply water at a first water supply rate; When the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from a second predetermined point to the first end point of the roller groove along a second movement direction, the water supply mechanism is controlled to cause water to flow at a second water flow rate, and the second water flow rate is greater than the first water flow rate.

[0017] In one embodiment, preferably the control module further comprises: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first movement direction, or when the roller brush moves from a second end point of the roller groove to a second predetermined point along a second movement direction, the roller brush is controlled to move in the roller groove at a first horizontal movement speed; When the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from a second predetermined point to the first end point of the roller groove along a second movement direction, the roller brush is controlled to move in the roller groove at a second horizontal movement speed, and the second horizontal movement speed is smaller than the first horizontal movement speed.

[0018] In one embodiment, preferably the control module comprises: When the roller brush moves from a first end point to a second end point of the roller groove along a first moving direction, the rotation speed of the roller brush is controlled to decrease from a first rotation speed to a second rotation speed according to a first predetermined deceleration rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the rotation speed of the roller brush is controlled to decrease from the first rotation speed to a second rotation speed according to a first predetermined deceleration rule.

[0019] In one embodiment, preferably the control module further comprises: When the roller brush moves from a first end point to a second end point of the roller groove along a first movement direction, the water output of the water supply mechanism is controlled to increase from the first water output to a second water output in accordance with a predetermined water output increase rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the water output of the water supply mechanism is controlled to increase from the first water output to the second water output according to a predetermined water output increase rule.

[0020] In one embodiment, preferably the control module further comprises: When the roller brush moves from a first end point to a second end point of the roller groove along a first movement direction, a horizontal movement speed of the roller brush in the roller groove is controlled to decrease from the first movement speed to a second movement speed according to a second predetermined deceleration rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the horizontal movement speed of the roller brush in the roller groove is controlled to decrease from the first movement speed to a second movement speed according to a second predetermined deceleration rule.

[0021] According to a third aspect of an embodiment of the present application, there is provided a cleaning base station including at least one processor and a memory communicatively coupled to the at least one processor, The memory stores instructions executable by the at least one processor, the instructions configured to perform the method according to any one of the embodiments of the first aspect above.

[0022] According to a fourth aspect of the present application, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, perform the steps of the method according to any one of the embodiments of the first aspect. [Effects of the Invention]

[0023] The cleaning base station cleaning control method and device, cleaning base station, and storage medium according to the present application control the rotation speed of the roller brush and / or the amount of water discharged from the water supply mechanism based on the direction and position of movement of the roller brush in the roller groove of the roller brush cleaning mechanism when the cleaning base station cleans a cleaning device, thereby avoiding the problem of water scattering from the roller brush when the cleaning base station washes a cleaning device.

[0024] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. [Brief explanation of the drawings]

[0025] The drawings accompanying this specification, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with this specification, serve to explain the principles of the present invention. Obviously, the drawings described below are merely examples of the present invention, and those skilled in the art can derive other drawings based on these drawings without any creative work.

[0026] [Figure 1] FIG. 1 is a structural schematic diagram of a cleaning base station according to an exemplary embodiment. [Figure 2] FIG. 2 is a structural schematic diagram of a roller brush cleaning mechanism according to an exemplary embodiment. [Figure 3] 10 is a flowchart of a method for controlling cleaning of a cleaning base station according to an example embodiment. [Figure 4] 1 is a schematic diagram of a roller brush rolling in a roller groove according to an exemplary embodiment; [Figure 5] 10 is a schematic diagram of another roller brush rolling in a roller groove according to an exemplary embodiment; [Figure 6] 1 is a schematic diagram of a roller brush rolling in a roller groove according to an exemplary embodiment; [Figure 7]10 is a schematic diagram of another roller brush rolling in a roller groove according to an exemplary embodiment. FIG. [Figure 8] FIG. 10 is a block diagram of a cleaning controller for a cleaning base station according to an example embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0027] The following embodiments will be described in more detail with reference to the accompanying drawings. However, the embodiments may be implemented in various forms and should not be construed as being limited to the examples set forth herein. Rather, these embodiments are provided to make the present application more comprehensive and complete and to allow those skilled in the art to fully understand the concepts of the embodiments. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are set forth to enable a thorough understanding of the embodiments of the present application. However, those skilled in the art will understand that the technical solutions of the present application may be implemented without one or more of the specific details, or may employ other methods, components, devices, steps, etc. Additionally, well-known technical solutions have not been shown or described in detail to avoid obscuring various aspects of the present application.

[0028] Furthermore, the accompanying drawings are merely schematic diagrams of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and redundant description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities that do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0029] FIG. 1 is a structural schematic diagram of a cleaning base station according to an exemplary embodiment.

[0030] As shown in Figures 1 and 2, after completing suction cleaning and wet mopping, the cleaning device returns to its designated position at the cleaning base station via the ramp (F) to return to the base station. The dust collection system (A) starts dust collection, and the roller brush cleaning mechanism (E) starts cleaning. At this time, the water supply mechanism (B) supplies water to the roller brush cleaning mechanism (E). The roller brush (1) in the roller brush cleaning mechanism (E) rotates and simultaneously moves back and forth along the roller groove (2) from point a to point d and from point d to point a, completing a self-cleaning operation for the cleaning assembly of the cleaning device (e.g., a vacuum cleaner). The generated wastewater is sucked into the water recovery bucket (C) by generating negative pressure under vacuum conditions using a gas pump. Specifically, the roller brush cleaning mechanism (E) rolls from point a to point d and then from point d to point a, completing one cleaning cycle. From point a to point d, the roller brush (1) rotates clockwise, and from point d to point a, the roller brush (1) rotates counterclockwise. During this process, the blade (3) scrapes the cleaning assembly of the cleaning device, and the roller brush scrapes the cleaning assembly to complete the self-cleaning of the cleaning assembly. The cleaning assembly may be a mop or a roller brush.

[0031] FIG. 3 is a flow chart of a method for controlling cleaning of a cleaning base station according to an example embodiment.

[0032] As shown in FIG. 3, the cleaning base station cleaning control method includes the following steps: In step S301, when the cleaning base station cleans the cleaning equipment, the rotation speed of the roller brush and / or the amount of water flowing from the water supply mechanism are controlled based on the direction and position of movement of the roller brush in the roller brush cleaning mechanism within the roller groove.

[0033] In this embodiment, when the cleaning base station cleans the cleaning equipment, the rotation speed of the roller brush can be individually controlled based on the moving direction and moving position of the roller brush in the roller groove in the roller brush cleaning mechanism, and the amount of water discharged from the water supply mechanism can also be individually controlled. Naturally, the rotation speed of the roller brush and the amount of water discharged from the water supply mechanism can also be controlled simultaneously, thereby avoiding the problem of the roller brush splashing water when the cleaning base station washes the cleaning equipment.

[0034] The control method of step S201 will be described in detail below with reference to some specific examples.

[0035] Example 1 4, a first predetermined point c and a second predetermined point b may be provided between a first end point a and a second end point d of the roller groove. When the roller brush moves from the first end point a to the first predetermined point c of the roller groove along a first moving direction, the roller brush is controlled to rotate at a first rotation speed, for example, 1500 rpm, and when the roller brush moves from the first predetermined point c to the second end point d of the roller groove along the first moving direction, the roller brush is controlled to rotate at a second rotation speed, for example, 600 rpm, where the second rotation speed is lower than the first rotation speed.

[0036] As shown in FIG. 5, when the roller brush moves from the second end point d of the roller groove to the second predetermined point b along the second movement direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the second predetermined point to the first end point of the roller groove along the second movement direction, the roller brush is controlled to rotate at a second rotation speed, where the second rotation speed is lower than the first rotation speed.

[0037] In this way, by individually controlling the rotation speed of the roller brushes, the roller brushes can be prevented from splashing water when the cleaning base station washes the cleaning appliance.

[0038] Example 2 In addition to controlling the rotation speed of the roller brush, controlling the amount of water flow can prevent the roller brush from splashing water when the cleaning base station washes the cleaning appliance.

[0039] As shown in FIGS. 4 and 5, when the roller brush moves along a first moving direction from a first end point a of the roller groove to a first predetermined point c, or when the roller brush moves along a second moving direction from a second end point d of the roller groove to a second predetermined point b, the water supply mechanism is controlled to supply water at a first water supply rate, for example, 20 grams / minute; When the roller brush moves along the first moving direction from the first predetermined point c to the second end point d of the roller groove, or when the roller brush moves along the second moving direction from the second predetermined point b to the first end point a of the roller groove, the water supply mechanism is controlled to supply water at a second water output rate, for example, 50 grams / minute, where the second water output rate is greater than the first water output rate.

[0040] In this way, by individually controlling the amount of water discharged from the water supply mechanisms, it is possible to avoid the problem of water splashing off the roller brush when the cleaning base station is cleaning the cleaning appliance.

[0041] Example 3 Of course, to achieve better results, the above two methods may be combined, that is, the rotation speed of the roller brush is controlled in accordance with the amount of water discharged from the water supply mechanism.

[0042] As shown in Figures 4 and 5, when the roller brush moves along a first moving direction from a first end point a of the roller groove to a first predetermined point c, or when the roller brush moves along a second moving direction from a second end point d of the roller groove to a second predetermined point b, the roller brush is controlled to rotate at a first rotation speed, for example, 1500 rpm, and at the same time, the water supply mechanism is controlled to supply water at a first water output rate, for example, 20 grams / min.

[0043] When the roller brush moves from the first predetermined point c to the second end point d of the roller groove along the first moving direction, or when the roller brush moves from the second predetermined point b to the first end point a of the roller groove along the second moving direction, the roller brush is controlled to rotate at a second rotation speed, for example, 600 rpm, and at the same time, the water supply mechanism is controlled to supply water at a second water output rate, for example, 50 grams / min.

[0044] In this way, when the rotation speed decreases, a large amount of water is discharged, and when the rotation speed increases, a small amount of water is discharged, so that not only can the cleaning effect be guaranteed, but also the occurrence of problems such as water splashing caused by the rotation speed of the roller brush being too high and the amount of water discharged being too large can be quickly avoided.

[0045] Example 4 In order to further prevent the roller brush from splashing water, the rotation speed of the roller brush can be reduced to increase the amount of water discharged, and the horizontal movement speed of the roller brush can also be reduced.

[0046] Specifically, when the roller brush moves from a first end point a of the roller groove to a first predetermined point c along a first movement direction, or when the roller brush moves from a second end point d of the roller groove to a second predetermined point b along a second movement direction, the roller brush is controlled to move in the roller groove at a first horizontal movement speed; When the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from a second predetermined point to the first end point of the roller groove along a second movement direction, the roller brush is controlled to move in the roller groove at a second horizontal movement speed, where the second horizontal movement speed is smaller than the first horizontal movement speed.

[0047] Of course, the means for controlling the horizontal movement speed of the roller brush may be used alone or in any combination with the above-mentioned embodiments 1, 2 and 3.

[0048] Example 5 As shown in FIG. 6, when the roller brush moves from the first end point a to the second end point d of the roller groove along the first moving direction, the rotation speed of the roller groove is controlled to decrease from the first rotation speed to the second rotation speed according to a first predetermined deceleration rule.

[0049] For example, when the roller brush is at the first end point a, it starts rotating clockwise at a first rotational speed, e.g., 1500 rpm, and moves along the roller brush to the second end point d. During the rotational speed change, the roller brush's rotational speed is continuously reduced according to a first predetermined deceleration rule until it reaches a second rotational speed, e.g., 600 rpm, at the second end point d. By continuously reducing the rotational speed in this manner, water splashing from the roller brush can be prevented. The predetermined deceleration rule may be a uniform reduction in rotational speed from the first to the second rotational speed between the two end points.

[0050] As shown in Figure 7, after the roller brush reaches the second end point d, the rotation speed of the roller brush quickly increases from the second rotation speed to the first rotation speed, and then changes direction to move from the second end point d to the first end point a of the roller groove in the second direction opposite to the first direction. During the movement, the rotation speed of the roller groove decreases from the first rotation speed to the second rotation speed according to a first predetermined deceleration rule, thereby completing one cleaning cycle. The above operation is repeated until the cleaning cycle is completed.

[0051] Example 6 In addition to controlling the rotation speed of the roller brush, controlling the amount of water flow can prevent the roller brush from splashing water when the cleaning base station washes the cleaning appliance.

[0052] As shown in FIG. 6, when the roller brush moves from the first end point to the second end point of the roller groove along the first moving direction, the water output of the water supply mechanism is controlled to increase from the first water output to a second water output according to a predetermined water output increase rule;

[0053] For example, when the roller brush is at the first endpoint a, the water supply mechanism is controlled to deliver a first water output rate, e.g., 20 grams per minute. At the same time, the roller brush begins to rotate clockwise and moves along the roller groove toward the second endpoint d. During this rotation, the roller brush's rotation speed continuously decreases according to a first predetermined deceleration rule until it reaches a second rotation speed, e.g., 600 rpm, at the second endpoint d. As the rotation speed decreases, the water output rate of the water supply mechanism increases from the first water output rate to a second water output rate, e.g., 50 grams per minute, according to a predetermined water output increase rule. In this way, increasing the water output rate while decreasing the rotation speed can prevent the roller brush from splashing water. The predetermined water output increase rule may require the water output rate to increase at a constant rate from the first water output rate to the second water output rate between the two endpoints.

[0054] As shown in Figure 7, when the roller brush moves from the second end point d to the first end point a of the roller groove along the second movement direction, the water output of the water supply mechanism is controlled to increase from the first water output to the second water output according to a predetermined water output increase rule.

[0055] In this way, by independently controlling the amount of water discharged from the water supply mechanism, it is possible to avoid the problem of water splashing from the roller brush when the cleaning base station washes the cleaning appliance.

[0056] Example 7 Of course, to achieve better results, the above two methods may be combined, that is, the rotation speed of the roller brush is controlled in accordance with the amount of water discharged from the water supply mechanism.

[0057] As shown in Figures 6 and 7, when the roller brush moves from the first end point a to the second end point d of the roller groove along the first movement direction, the rotation speed of the roller groove is controlled to reduce the rotation speed from the first rotation speed to the second rotation speed according to a first predetermined deceleration rule, and at the same time, the water output of the water supply mechanism is controlled to increase the water output from the first water output to the second water output according to a predetermined water output increase rule.

[0058] After the roller brush reaches the second end point d, the rotation speed of the roller brush quickly increases from the second rotation speed to the first rotation speed, the water output of the water supply mechanism also quickly decreases from the second water output to the first water output, and changes its movement direction to move from the second end point d to the first end point a of the roller groove along a second movement direction opposite to the first movement direction. During the movement, the rotation speed of the roller groove decreases from the first rotation speed to the second rotation speed according to a first predetermined deceleration rule, and at the same time, the water output of the water supply mechanism is controlled to increase from the first water output to the second water output according to a predetermined water output increase rule.

[0059] In this way, when the rotation speed decreases, a large amount of water is discharged, and when the rotation speed increases, a small amount of water is discharged, so that not only can the cleaning effect be guaranteed, but also the occurrence of problems such as water splashing caused by the rotation speed of the roller brush being too high and the amount of water discharged being too large can be quickly avoided.

[0060] Example 8 Furthermore, in order to prevent the roller brush from scattering water, the rotation speed of the roller brush can be reduced, increasing the amount of water discharged, and at the same time, the horizontal movement speed of the roller brush can be reduced.

[0061] As shown in FIG. 6, when the roller brush moves from the first end point to the second end point of the roller groove along the first moving direction, the horizontal moving speed of the roller brush in the roller groove is controlled to decrease from the first moving speed to a second moving speed according to a second predetermined deceleration rule.

[0062] As shown in FIG. 7, when the roller brush moves from the second end point of the roller groove to the first end point along the second movement direction, the horizontal movement speed of the roller brush in the roller groove is controlled to decrease from the first movement speed to a second movement speed according to a second predetermined deceleration rule.

[0063] Of course, the above-mentioned means for controlling the horizontal movement speed of the roller brush may be used alone or in any combination with the above-mentioned embodiments 6, 7 and 8.

[0064] The following are apparatus embodiments of the present application, which can be used to carry out the method embodiments of the present application. For details not disclosed in the apparatus embodiments of the present application, please refer to the method embodiments of the present application.

[0065] FIG. 8 is a block diagram of a cleaning controller for a cleaning base station according to an example embodiment.

[0066] As shown in FIG. 8, according to a second aspect of the embodiment of the present application, there is provided a cleaning control device for a cleaning base station, the cleaning base station including a roller brush cleaning mechanism, a water recovery mechanism and a water supply mechanism, after the cleaning equipment returns to the cleaning base station, the water supply mechanism supplies water to the roller brush cleaning mechanism, the roller brush in the roller brush cleaning mechanism rotates and moves back and forth along the roller groove to clean the cleaning assembly of the cleaning equipment, and the water recovery mechanism recovers the dirty water.

[0067] The device includes a control module 81, which is used to control the rotation speed of the roller brush and / or the amount of water flowing from the water supply mechanism based on the movement direction and movement position of the roller brush in the roller brush cleaning mechanism within the roller groove when the cleaning base station cleans the cleaning equipment.

[0068] In one embodiment, preferably the control module comprises: When the roller brush moves from a first end point to a second end point of the roller groove along a first moving direction, the rotation speed of the roller brush is controlled to decrease from a first rotation speed to a second rotation speed according to a first predetermined deceleration rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the rotation speed of the roller brush is controlled to decrease from the first rotation speed to the second rotation speed according to a first predetermined deceleration rule.

[0069] In one embodiment, preferably the control module further comprises: When the roller brush moves from a first end point to a second end point of the roller groove along a first movement direction, the water output of the water supply mechanism is controlled to increase from the first water output to a second water output in accordance with a predetermined water output increase rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the water flow rate of the water supply mechanism is controlled to increase from the first water flow rate to the second water flow rate according to a predetermined water flow rate increase rule.

[0070] In one embodiment, preferably the control module further comprises: When the roller brush moves from a first end point to a second end point of the roller groove along a first movement direction, a horizontal movement speed of the roller brush in the roller groove is controlled to decrease from the first movement speed to a second movement speed according to a second predetermined deceleration rule; When the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, the horizontal movement speed of the roller brush in the roller groove is controlled to decrease from the first movement speed to the second movement speed according to a second predetermined deceleration rule.

[0071] In one embodiment, preferably the control module comprises: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first moving direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the first predetermined point to a second end point of the roller groove along the first moving direction, the roller brush is controlled to rotate at a second rotation speed, the second rotation speed being lower than the first rotation speed; When the roller brush moves from the second end point of the roller groove to a second predetermined point along the second movement direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the second predetermined point to the first end point of the roller groove along the second movement direction, the roller brush is controlled to rotate at a second rotation speed, the second rotation speed being lower than the first rotation speed.

[0072] In one embodiment, preferably the control module further comprises: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first movement direction, or when the roller brush moves from a second end point of the roller groove to a second predetermined point along a second movement direction, the water supply mechanism is controlled to supply water at a first water supply rate; When the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from a second predetermined point to the first end point of the roller groove along a second movement direction, the water supply mechanism is controlled to cause water to flow at a second water flow rate, and the second water flow rate is greater than the first water flow rate.

[0073] In one embodiment, preferably the control module further comprises: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first movement direction, or when the roller brush moves from a second end point of the roller groove to a second predetermined point along a second movement direction, the roller brush is controlled to move in the roller groove at a first horizontal movement speed; When the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from a second predetermined point to the first end point of the roller groove along a second movement direction, the roller brush is controlled to move in the roller groove at a second horizontal movement speed, and the second horizontal movement speed is smaller than the first horizontal movement speed.

[0074] According to a third aspect of an embodiment of the present application, there is provided a cleaning base station, the cleaning base station including at least one processor and a memory communicatively coupled to the at least one processor; Here, the memory stores instructions executable by the at least one processor, the instructions being configured to perform a method according to any one of the embodiments of the first aspect above.

[0075] According to a fourth aspect of the present application, there is provided a computer-readable storage medium having computer instructions stored thereon that, when executed by a processor, perform the steps of the method according to any one of the embodiments according to the first aspect.

[0076] Furthermore, as will be understood, in this application, "plurality" refers to two or more, and similarly to other quantifiers. "And / or" denotes a relational relationship between related objects, indicating that a three-way relationship may exist. For example, A and / or B can denote that A exists alone, A and B exist together, or B exists alone. The character " / " generally indicates that the associated objects before and after it are in an "or" relationship. The singular forms "a," "the," and "the" are intended to include the plural unless the context clearly dictates otherwise.

[0077] Furthermore, as will be understood, terms such as "first," "second," and the like are used to describe various pieces of information, but these pieces of information are not limited to these terms. These terms are used only to distinguish between pieces of information of the same type and do not indicate a particular order or importance. In fact, terms such as "first," "second," and the like may be used interchangeably. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of this application.

[0078] As will be further understood, although the examples of this application illustrate operations in a particular order in the figures, this should not be understood as requiring that the operations be performed in the particular order or sequential order shown, nor should it be understood as requiring the performance of all of the operations shown to achieve desired results. In certain environments, multitasking and parallel processing may be advantageous.

[0079] Other embodiments of the present application will readily occur to those skilled in the art after considering this specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application in accordance with its general principles, including technical means common knowledge or customary in the art that are not disclosed herein. The description and examples are intended for purposes of illustration only, with the true scope and spirit of the present application being indicated by the following claims.

[0080] It should be understood that the present application is not limited to the exact construction described above and shown in the drawings, and that various modifications and changes are possible without departing from the scope thereof, which is limited only by the appended claims.

Claims

1. 1. A method for controlling cleaning of a cleaning base station, comprising: the cleaning base station includes a roller brush cleaning mechanism and a water supply mechanism, and after the cleaning device returns to the cleaning base station, the water supply mechanism supplies water to the roller brush cleaning mechanism, and the roller brush in the roller brush cleaning mechanism rotates and moves back and forth along a roller groove, thereby cleaning the cleaning assembly of the cleaning device; The cleaning control method includes: A cleaning control method for a cleaning base station, comprising, when the cleaning base station cleans a cleaning device, controlling the rotation speed of the roller brush and / or the amount of water flowing out of the water supply mechanism based on the movement direction and movement position of the roller brush in the roller brush cleaning mechanism within the roller groove.

2. Controlling the rotation speed of the roller brush based on the moving direction and moving position of the roller brush in the roller groove in the roller brush cleaning mechanism includes: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first moving direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the first predetermined point to a second end point of the roller groove along the first moving direction, the roller brush is controlled to rotate at a second rotation speed; When the roller brush moves from a second end point of the roller groove to a second predetermined point along the second movement direction, the roller brush is controlled to rotate at a first rotation speed, and when the roller brush moves from the second predetermined point of the roller groove to the first end point along the second movement direction, the roller brush is controlled to rotate at the second rotation speed, 2. The method of claim 1, wherein the second rotation speed is lower than the first rotation speed.

3. Controlling the amount of water discharged from the water supply mechanism based on the moving direction and moving position of the roller brush in the roller brush cleaning mechanism within the roller groove is when the roller brush moves from a first end point of the roller groove to a first predetermined point along a first movement direction, or when the roller brush moves from a second end point of the roller groove to a second predetermined point along a second movement direction, controlling the water supply mechanism to cause water to flow at a first water flow rate; when the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from a second predetermined point to the first end point of the roller groove along a second movement direction, controlling the water supply mechanism to supply water at a second water supply rate, 3. The cleaning control method for a cleaning base station according to claim 1, wherein the second water outflow rate is greater than the first water outflow rate.

4. The cleaning control method further includes: When the roller brush moves from a first end point of the roller groove to a first predetermined point along a first movement direction, or when the roller brush moves from a second end point of the roller groove to a second predetermined point along a second movement direction, controlling the roller brush to move in the roller groove at a first horizontal movement speed; When the roller brush moves from a first predetermined point to a second end point of the roller groove along a first movement direction, or when the roller brush moves from a second predetermined point to the first end point of the roller groove along a second movement direction, controlling the roller brush to move in the roller groove at a second horizontal movement speed, 2. The method of claim 1, wherein the second horizontal movement speed is lower than the first horizontal movement speed.

5. Controlling the rotation speed of the roller brush based on the moving direction and moving position of the roller brush in the roller groove in the roller brush cleaning mechanism includes: When the roller brush moves from a first end point to a second end point of the roller groove along a first moving direction, the rotation speed of the roller brush is controlled to decrease from a first rotation speed to a second rotation speed according to a first predetermined deceleration rule; 2. The cleaning control method for a cleaning base station according to claim 1, further comprising: controlling a rotation speed of the roller brush to reduce the rotation speed from a first rotation speed to a second rotation speed according to a first predetermined deceleration rule when the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction.

6. Controlling the amount of water discharged from the water supply mechanism based on the moving direction and moving position of the roller brush in the roller brush cleaning mechanism within the roller groove is When the roller brush moves from a first end point to a second end point of the roller groove along a first movement direction, the water output of the water supply mechanism is controlled to increase from a first water output to a second water output in accordance with a predetermined water output increase rule; 6. The cleaning control method for a cleaning base station according to claim 1, further comprising: when the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction, controlling the water output of the water supply mechanism to increase the water output from the first water output to a second water output in accordance with a predetermined water output increase rule.

7. The cleaning control method further includes: When the roller brush moves from a first end point to a second end point of the roller groove along a first movement direction, a horizontal movement speed of the roller brush in the roller groove is controlled to decrease from the first movement speed to a second movement speed according to a second predetermined deceleration rule; 2. The cleaning control method for a cleaning base station according to claim 1, further comprising: controlling a horizontal movement speed of the roller brush in the roller groove to reduce the horizontal movement speed from the first movement speed to a second movement speed according to a second predetermined deceleration rule when the roller brush moves from the second end point to the first end point of the roller groove along the second movement direction.

8. 1. A cleaning control device for a cleaning base station, comprising: the cleaning base station includes a roller brush cleaning mechanism and a water supply mechanism, and after the cleaning device returns to the cleaning base station, the water supply mechanism supplies water to the roller brush cleaning mechanism, and the roller brush in the roller brush cleaning mechanism rotates and moves back and forth along a roller groove, thereby cleaning the cleaning assembly of the cleaning device; The cleaning control device includes a control module; A cleaning control device for a cleaning base station, characterized in that when the cleaning base station cleans a cleaning device, the control module controls the rotation speed of the roller brush and / or the amount of water flowing from the water supply mechanism based on the movement direction and movement position of the roller brush in the roller brush cleaning mechanism within the roller groove.

9. 1. A cleaning base station, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; 8. A cleaning base station, characterized in that the memory stores instructions executable by the at least one processor, the instructions configured to carry out a cleaning control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, comprising: The computer-readable storage medium has stored thereon computer-executable instructions, the computer-executable instructions being configured to perform steps of the cleaning control method of any one of claims 1 to 7.

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