Cleaning method, device, base station and storage medium

Abstract

The embodiments of the present disclosure provide a cleaning method, a device, a base station, and a storage medium, in which the cleaning method is used for a base station used in cooperation with a cleaning robot, the base station including a base station body, a cleaning assembly, and a liquid ejection device, the cleaning assembly is movably provided on the base station body, and includes a first cleaning member and a second cleaning member arranged side by side to remove foreign objects on the cleaning system by interfering with the cleaning system of the cleaning robot, the cleaning liquid discharged from the liquid ejection device is used to clean the cleaning system, and the cleaning method includes a step of obtaining first relative position information of the first cleaning member and the second cleaning member, a step of obtaining a movement direction of the cleaning assembly relative to the base station body, and a step of controlling the working state of the cleaning assembly and the working state of the liquid ejection device based on the first relative position information and the movement direction. Thus, the cleaning effect of the base station can be improved and energy can be saved.

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to Chinese Patent Application No. 202111014045.0, filed on August 31, 2021, the entire contents of which are incorporated herein by reference.

[0002] TECHNICAL FIELD The present disclosure relates to the field of intelligent control, and in particular to cleaning methods, devices, base stations and storage media. [Background technology]

[0003] Current base stations typically have a movable cleaning assembly to clean the flat mop cloth of the integrated sweeping and mopping cleaning robot, and a liquid dispensing device to provide cleaning liquid for cleaning the flat mop cloth, but the current cleaning method has the problems of low cleaning efficiency and large energy waste. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a cleaning method, device, base station, and storage medium for improving the cleaning effect of the base station and saving energy.

[0005] An embodiment of a first aspect of the present disclosure provides a cleaning method used in a base station used in cooperation with a cleaning robot, the base station including a base station body, a cleaning assembly, and a liquid dispensing device, the cleaning assembly being movably provided on the base station body and including a first cleaning member and a second cleaning member arranged side by side, the first cleaning member and the second cleaning member being for interfering with a cleaning system of the cleaning robot to remove foreign matter on the cleaning system, and cleaning liquid discharged from the liquid dispensing device being used to clean the cleaning system, the cleaning method comprising: The method includes steps of acquiring first relative position information of the first cleaning member and the second cleaning member, acquiring a movement direction of the cleaning assembly relative to the base station body, and controlling the working state of the cleaning assembly and the working state of the liquid ejection device based on the first relative position information and the movement direction.

[0006] Furthermore, the first cleaning member includes a cleaning scraper and the second cleaning member is rotatable about a rotation axis, and controlling the operating state of the cleaning assembly includes controlling a rotational state of the second cleaning member.

[0007] Further, the step of controlling the working state of the cleaning assembly and the working state of the liquid ejection device based on the first relative position information and the movement direction includes controlling the second cleaning member to rotate when the second cleaning member is positioned in front of the first cleaning member in the movement direction of the cleaning assembly, and controlling the liquid ejection device to operate.

[0008] Furthermore, the liquid ejection device is arranged alongside the first cleaning member and the second cleaning member, and the step of controlling the liquid ejection device to operate includes controlling the liquid ejection device located in front of the first cleaning member in the movement direction to operate.

[0009] Furthermore, the cleaning method further includes the steps of obtaining second relative position information of the cleaning assembly and the base station body, and controlling an initial movement direction of the cleaning assembly based on the second relative position information.

[0010] Furthermore, the cleaning method further includes a step of detecting whether the distance between the cleaning assembly and the first side edge of the base station body is equal to or greater than the distance between the cleaning assembly and the second side edge of the base station body, and a step of controlling the cleaning assembly to move toward the first side edge of the base station body if the distance between the cleaning assembly and the first side edge of the base station body is equal to or greater than the distance between the cleaning assembly and the second side edge of the base station body.

[0011] Furthermore, the cleaning method further includes a step of controlling the cleaning assembly to move toward a second side edge of the base station body after the cleaning assembly has moved to a first side edge of the base station body, and controlling the liquid ejection device to stop operating.

[0012] The cleaning method further includes the step of controlling the cleaning assembly to move to a predetermined position on the base station body in response to a cleaning end command.

[0013] Furthermore, the step of acquiring second relative position information of the cleaning assembly and the base station body further includes acquiring the second relative position relationship of the cleaning assembly and the base station body via a sensing device and a signal transmitting device provided on the base station body and the cleaning assembly, respectively.

[0014] Further, the step of providing a first sensing device near a first side edge of the base station body, a second sensing device near a second side edge of the base station body, and a third sensing device near a predetermined position on the base station body, and acquiring a second relative positional relationship between the cleaning assembly and the base station body via the sensing device and the signal transmitting device provided on the base station body and the cleaning assembly, respectively, includes: determining that the cleaning assembly has moved to a first side of the base station body based on the first sensing device sensing the signal transmitting device; determining that the cleaning assembly has moved to a second side of the base station body based on the second sensing device sensing the signal transmitting device; and determining that the cleaning assembly has moved to a predetermined position on the base station body based on the third sensing device sensing the signal transmitting device.

[0015] Furthermore, the base station further comprises a cleaning tank located below the cleaning assembly, and the cleaning method further includes steps of acquiring liquid level information in the cleaning tank and controlling the operating state of the liquid ejection device based on the liquid level information.

[0016] An embodiment of a second aspect of the present disclosure provides a cleaning device used in a base station used in cooperation with a cleaning robot, the base station including a base station body, a cleaning assembly, and a liquid dispensing device, the cleaning assembly being movably provided on the base station body and including a first cleaning member and a second cleaning member arranged side by side, the first cleaning member and the second cleaning member being for interfering with a cleaning system of the cleaning robot to remove foreign matter on the cleaning system, and cleaning liquid discharged from the liquid dispensing device being used to clean the cleaning system, and the cleaning device including: a first acquisition module for acquiring first relative position information of the first cleaning member and the second cleaning member; a second acquisition module for acquiring a direction of movement of the cleaning assembly relative to the base station body; A first processing module for controlling an operating state of the cleaning assembly and an operating state of the liquid dispensing device based on the first relative position information and the direction of movement.

[0017] Further, the first cleaning member includes a cleaning scraper, the second cleaning member is rotatable about a rotation axis, and the first processing module includes: The cleaning device includes a first processing unit for controlling the rotation state of the second cleaning member.

[0018] Furthermore, the first processing module The cleaning assembly further includes a second processing unit for controlling the second cleaning member to rotate when the second cleaning member is positioned in front of the first cleaning member in the moving direction of the cleaning assembly, and for controlling the liquid ejection device to operate.

[0019] Furthermore, a liquid ejection device is arranged alongside the first cleaning member and the second cleaning member. A second processing unit that controls the operation of the liquid ejection device includes: The cleaning device includes a first processing subunit for controlling the operation of a liquid ejection device located in front of the first cleaning member in the moving direction.

[0020] Furthermore, the cleaning device a third acquisition module for acquiring second relative position information of the cleaning assembly and the base station body; and a second processing module for controlling an initial direction of movement of the cleaning assembly based on the second relative position information.

[0021] Furthermore, the cleaning device a detection module for detecting whether a distance between the cleaning assembly and a first side edge of the base station body is equal to or greater than a distance between the cleaning assembly and a second side edge of the base station body; The second processing module includes a second processing subunit for controlling the cleaning assembly to move toward the first side edge of the base station body when the distance between the cleaning assembly and the first side edge of the base station body is greater than or equal to the distance between the cleaning assembly and the second side edge of the base station body.

[0022] Furthermore, the second processing module further includes a third processing subunit for controlling the cleaning assembly to move to the second side edge of the base station body after the cleaning assembly moves to the first side edge of the base station body, and for controlling the liquid ejection device to stop operating.

[0023] Furthermore, the cleaning device further comprises a third processing module for controlling the cleaning assembly to move to a predetermined position on the base station body in response to a cleaning end command.

[0024] Furthermore, the third acquisition module acquires a second relative positional relationship between the cleaning assembly and the base station body via a sensing device and a signal transmitting device provided on the base station body and the cleaning assembly, respectively.

[0025] Further, a first sensing device is provided near a first side edge of the base station body, a second sensing device is provided near a second side edge of the base station body, and a third sensing device is provided near a predetermined position of the base station body, and the third acquisition module: a first determining unit for determining that the cleaning assembly has moved to the first side of the base station body based on the first sensing device sensing the signal transmitting device; a second determining unit for determining that the cleaning assembly has moved to a second side of the base station body based on the second sensing device sensing the signal transmitting device; and a third determination unit for determining that the cleaning assembly has moved to a predetermined position on the base station body based on the third sensing device sensing the signal transmitting device.

[0026] Additionally, the base station further includes a cleaning basin located below the cleaning assembly, the cleaning device comprising: a fourth acquisition module for acquiring liquid level information in the cleaning tank; The liquid ejection device further includes a fourth processing module for controlling the operating state of the liquid ejection device based on the liquid level information.

[0027] An embodiment of a third aspect of the present disclosure provides a base station comprising a processor and a memory, the memory being used to store operational instructions, and the processor calling the operational instructions to perform any one of the cleaning methods of the first aspect.

[0028] An embodiment of a fourth aspect of the present disclosure provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, performs the cleaning method of any one of the first aspects above.

[0029] The cleaning method, device, base station and computer-readable storage medium provided by the embodiments of the present disclosure comprehensively consider the first relative position information of the first cleaning member and the second cleaning member, and the second relative position information of the cleaning assembly and the base station body, thereby adapting the working state of the cleaning assembly to the structure and movement direction of the cleaning assembly, and adapting the working state of the liquid dispensing device to the structure and working state of the cleaning assembly, thereby further improving the cleaning efficiency and cleaning effect of the cleaning assembly, thereby improving energy utilization, saving energy and reducing cleaning costs, and suitable for widespread application.

[0030] In order to more clearly describe the embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly describe the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these accompanying drawings without any creative work. [Brief explanation of the drawings]

[0031] [Figure 1] 1 is a structural schematic diagram of a cleaning robot system according to an alternative embodiment of the present disclosure; [Figure 2] 1 is a structural schematic diagram of a cleaning robot according to an alternative embodiment of the present disclosure; [Figure 3] FIG. 2 shows a structural diagram of the embodiment at a certain viewing angle. [Figure 4] 4 is an exploded schematic view of a portion of the embodiment shown in FIG. [Figure 5] 1 is a structural schematic diagram of a base station according to a first alternative embodiment of the present disclosure; [Figure 6] 1 is a structural schematic diagram of a cleaning assembly according to a first alternative embodiment of the present disclosure; [Figure 7] 1 is a structural schematic diagram of a portion of a cleaning assembly according to a second alternative embodiment of the present disclosure; [Figure 8] 5 shows a schematic diagram of the structure of the embodiment in one direction. [Figure 9]1 is a schematic flow chart of a cleaning method provided by an alternative embodiment of the present disclosure. [Figure 10] 1 is a schematic block diagram of a cleaning device provided by an alternative embodiment of the present disclosure. [Figure 11] 1 is a schematic diagram of the electronic structure of a base station provided by an alternative embodiment of the present disclosure; [Explanation of symbols]

[0032] 10 Cleaning robot 110 Device body 111 Front part 112 Rear part 120 Sensing System 121 Determination device 122 buffers 130 Control Module 140 Drive System 141 Drive Wheel Module 142 driven wheel 150 Cleaning System 151 Dry Cleaning System 152 Side Brush 153 Wet Cleaning System 1531 cleaning head 1532 Drive Unit 1533 Driving Platform 1534 Support Platform 160 Energy Systems 170 Human-Machine Interactive Systems 20 Base Stations 21 Base station main unit 211 Cleaning tank 212 Mounting groove 22 Sensing device 221 1st sensing device 222 Second sensing device 223 Third sensing device 23 Charging Contact Patch 24 Information Department 30 Cleaning Assembly 31 first cleaning member 32 second cleaning member 33 Bracket 34 Drive unit 35 Liquid discharge device 500 Cleaning Equipment 502 First Acquisition Module 504 Second Acquisition Module 506 First Processing Module 601 Processing equipment 602 ROM 603 RAM 604 Bus 605 I / O interface 606 Input Device 607 Output Device 608 Storage device 609 Communication Equipment DETAILED DESCRIPTION OF THE INVENTION

[0033]

[0023] Hereinafter, embodiments of the present disclosure will be described in detail, examples of which are illustrated in the accompanying drawings, where the same or similar reference numerals always refer to the same or similar elements, or elements having the same or similar functions. The following embodiments described with reference to the accompanying drawings are illustrative and are intended to illustrate the present disclosure only, and are not to be construed as limiting the present disclosure.

[0034] Those skilled in the art will understand that the singular forms "a," "one," "said," and "the," as used herein, can also include the plural unless expressly stated otherwise. Furthermore, it should be further understood that the term "comprising," as used in describing the present disclosure, specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be noted that when an element is "connected" or "coupled" to another element, it may be connected or coupled to the other element directly or through intermediate elements. Furthermore, "connected" or "coupled" herein may be a wireless connection or coupling. The term "and / or" herein includes all or any unit and all combinations of one or more associated listed items.

[0035] To more clearly illustrate the technical solutions and advantages of the present disclosure, the embodiments of the present disclosure are described in more detail below with reference to the accompanying drawings.

[0036] The embodiments of the present disclosure provide possible application scenarios, which include a base station. Specifically, as shown in FIG. 1 , the application scenario may be a cleaning robot system, which includes a base station 20 and a cleaning robot 10, i.e., the base station 20 is used in cooperation with the cleaning robot 10, and the cleaning robot 10 may be a self-mobile robot.

[0037] 2 and 3 , the cleaning robot 10 includes a main body 110, a sensing system 120, a control module 130, a drive system 140, a cleaning system 150, an energy system 160, and a human-machine interactive system 170. The cleaning robot 10 may be a self-mobile cleaning robot or other cleaning robots that meet the requirements. A self-mobile cleaning robot is a device that automatically cleans an area to be cleaned without user intervention. When the self-mobile cleaning robot starts its work, it departs from the base station 20 to perform the cleaning task. When the self-mobile cleaning robot 10 completes the cleaning task or needs to abort the cleaning task, the self-mobile cleaning robot 10 can return to the base station 20 for charging or other operations.

[0038] As shown in FIG. 2, the device body 110 includes a front portion 111 and a rear portion 112 and is generally circular in shape (front-to-back circular), but may be other shapes, including, but not limited to, a generally D-shape with a square front portion and a circular rear portion, and a rectangular or square shape with a square front portion and a square rear portion.

[0039] 2, the sensing system 120 includes a positioning device 121 located on the device body 110, a collision sensor and a proximity sensor provided on a buffer 122 of the front portion 111 of the device body 110, a cliff sensor provided at the bottom of the device body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the device body 110, and is used to provide various position information and movement status information of the device to the control module 130. The positioning device 121 includes, but is not limited to, a camera and a laser distance sensor (LDS).

[0040] As shown in FIG. 2, the front part 111 of the device body 110 carries the buffer 122. During the cleaning process, when the driving wheel module 141 propels the cleaning robot 10 to travel on the floor, the buffer 122 detects one or more events in the travel path of the cleaning robot 10 through a sensor system, such as an infrared sensor, installed thereon. Based on the events detected by the buffer 122, such as an obstacle or a wall, the cleaning robot 10 controls the driving wheel module 141 to make the cleaning robot 10 respond to the event, for example, move away from the obstacle.

[0041] The control module 130 is provided on a main circuit board within the device body 110 and includes a computing processor, such as a central processing unit and an application processor, that communicates with a non-transitory memory, such as a hard disk, flash memory, or random access memory. The application processor uses a positioning algorithm, such as simultaneous localization and mapping (SLAM), to draw a real-time map of the environment in which the cleaning robot 10 is located based on obstacle information fed back by the laser distance sensor. Furthermore, based on the distance information and speed information fed back by sensing devices such as sensors installed in the buffer 122, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers, the current working state, current position, and current posture of the cleaning robot 10 are comprehensively determined, such as whether the cleaning robot 10 has crossed a door stop, stepped onto a carpet, is at a cliff, is stuck above or below, the dust box is full, or has been picked up, and specific next operation strategies are provided for different situations so that the cleaning robot 10 can have better cleaning performance and user experience.

[0042] As shown in FIG. 3 , the drive system 140 controls the machine body 110 to move across a floor surface based on a drive command having distance and angle information (e.g., x, y, and θ components). The drive system 140 includes a drive wheel module 141, which can simultaneously control the left and right wheels. To more precisely control the movement of the machine, the drive wheel module 141 preferably includes a left drive wheel module and a right drive wheel module. The left and right drive wheel modules 141 are arranged along a lateral axis defined by the machine body 110. To enable the cleaning robot 10 to move more stably across a floor surface or to have stronger mobility, the cleaning robot 10 may include one or more driven wheels 142, including, but not limited to, universal wheels. The drive wheel module 141 includes a running wheel, a drive motor, and a control circuit for controlling the drive motor. A circuit for measuring drive current and an odometer may be further connected to the drive wheel module 141. The drive wheels may include an offset drop suspension system, and are movably fixed, e.g., rotatably assembled to the equipment body 110, and receive a spring offset that is offset downwardly away from the equipment body 110. The spring offset allows the drive wheels to maintain contact and traction with the floor surface with a constant ground contact force, while the cleaning elements of the cleaning robot 10 also contact the floor surface with a constant pressure.

[0043] The energy system 160 may include a rechargeable battery such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery is connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are connected to a single-chip microcomputer control circuit. The host connects charging electrodes on the side or bottom of the device to a charging pile for charging.

[0044] The human-machine interactive system 170 may include buttons on a host panel for the user to select functions, a display screen, and / or indicator lights and / or a speaker, which are used to display the current device status or function options to the user, and may further include a mobile phone client program. In the case of a route navigation type automatic cleaning device, the mobile phone client can display a map of the device's environment and the device's location to the user, providing a richer and more user-friendly range of functions.

[0045] The cleaning system 150 may be a dry cleaning system 151 and / or a wet cleaning system 153 .

[0046] As shown in Figure 3, the dry cleaning system 151 provided by the embodiment of the present disclosure may include a roller brush, a dust box, a fan, and an air outlet. The roller brush, which has a certain interference with the floor surface, sweeps up dust on the floor surface and lifts it up in front of the dust suction port between the roller brush and the dust box. The dust is then sucked into the dust box by the suction gas generated by the fan that passes through the dust box. The dry cleaning system 151 further includes a side brush 152 with a rotating shaft, which forms a certain angle with the floor surface and moves the chips to the roller brush area of ​​the cleaning system 150.

[0047] 3 and 4, a wet cleaning system 153 provided by an embodiment of the present disclosure may include a cleaning head 1531, a driving unit 1532, a water supply mechanism, a liquid storage tank, etc. Here, the cleaning head 1531 may be disposed below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning head 1531 via the water supply mechanism, and the cleaning head 1531 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be sprayed directly onto the surface to be cleaned, and the cleaning head 1531 evenly applies the cleaning liquid to clean the flat surface.

[0048] Here, the cleaning head 1531 is used to clean a surface to be cleaned, and the drive unit 1532 drives the cleaning head 1531 to move substantially back and forth along the target surface, which is a part of the surface to be cleaned. The cleaning head 1531 moves back and forth along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the surface of the cleaning head 1531 that comes into contact with the surface to be cleaned, and the back and forth movement generates high-frequency friction with the surface to be cleaned, removing dirt on the surface to be cleaned.

[0049] 5, the base station 20 includes a base station main body 21, a cleaning assembly 30, and a liquid dispensing device 35. The cleaning assembly 30 is movably mounted on the base station main body 21. Specifically, the cleaning assembly 30 is movable relative to the base station main body 21. For example, the cleaning assembly 30 can move back and forth along the left-right direction of the base station 20. The left-right direction of the base station 20 is indicated by the solid arrow in FIG. 5, and the direction indicated by the dotted arrow in FIG. 5 is the front-rear direction of the base station 20. The cleaning assembly 30 includes a first cleaning member 31 and a second cleaning member 32 arranged side by side. The first cleaning member 31 and the second cleaning member 32 interfere with the cleaning system 150 of the cleaning robot 10 to remove foreign objects on the cleaning system 150, thereby cleaning the cleaning system 150. The first cleaning member 31 and the second cleaning member 32 may have different structures, and the first cleaning member 31 and the second cleaning member 32 may be arranged side by side along the direction of movement of the cleaning assembly 30 relative to the base station main body 21.

[0050] That is, when the cleaning robot 10 moves to the base station body 21, the cleaning assembly 30 is positioned opposite the cleaning system 150, and the first and second cleaning members interfere with the cleaning system 150 of the cleaning robot 10, thereby removing foreign objects on the cleaning system 150 while the cleaning assembly 30 moves relative to the base station body 21. That is, the cleaning robot 10 can achieve automatic cleaning with the cleaning assembly 30 of the base station, and further eliminate the need for manual cleaning of the cleaning system 150 or the replacement of a new cleaning system 150, simplifying manual operation and improving the manual cleaning experience, making it suitable for widespread application.

[0051] Furthermore, the cleaning assembly 30 further includes a liquid dispensing device 35. When the cleaning assembly 30 is cleaning the cleaning system 150 of the cleaning robot 10, the liquid dispensing device 35 of the cleaning assembly 30 operates to spray cleaning liquid onto the cleaning system 150, thereby cleaning the cleaning system 150 through the collision force of the cleaning liquid or allowing the cleaning liquid to penetrate into the cleaning system 150, thereby further improving the cleaning effect when the first cleaning member 31 and the second cleaning member 32 are cleaning the cleaning system 150.

[0052] Furthermore, the liquid discharger 35 sprays the cleaning liquid onto at least one of the first cleaning member 31 and the second cleaning member 32, allowing the first cleaning member 31 and / or the second cleaning member 32 to quickly and uniformly apply the cleaning liquid onto the cleaning system 150, thereby ensuring a better cleaning effect. Note that the liquid discharger 35 may spray the cleaning liquid onto the cleaning system 150, the first cleaning member, and / or the second cleaning member 32 simultaneously to further improve the penetration efficiency of the cleaning system 150.

[0053] Specifically, the cleaning liquid discharged by the liquid discharge device is located on the side of the first cleaning member 31 closer to the second cleaning member 32.

[0054] As an embodiment of the present disclosure, as shown in FIG. 9, an embodiment of the present disclosure provides a cleaning method including the following method steps:

[0055] Step S902: First relative position information of the first cleaning member and the second cleaning member is acquired. Step S904: Obtain the movement direction of the cleaning assembly relative to the base station body.

[0056] In an embodiment of the present disclosure, the first relative position information is obtained according to a start cleaning command, where the start cleaning command is configured to control the cleaning assembly 30 to start moving relative to the base station body 21 and / or the liquid dispensing device 35 to operate in order to clean the cleaning system 150 of the cleaning robot 10. When the base station 20 responds to the start cleaning command, it needs to control the cleaning assembly to move in order to clean the cleaning system 150. Note that the first relative position information and the movement direction of the cleaning assembly 30 may be obtained during the movement process.

[0057] Here, the first relative position information is the relative position information of the first cleaning member 31 and the second cleaning member 32. Specifically, the first cleaning member 31 and the second cleaning member 32 are distributed side by side along the cleaning assembly 30 in the movement direction of the base station body 21. Due to the different installation positions of the first cleaning member 31 and the second cleaning member 32, the first cleaning member 31 may be located on the left and / or right side of the second cleaning member 32. During the process of the cleaning assembly 30 moving in the same direction relative to the base station body 21, a situation may arise in which the first cleaning member 31 is located ahead of and / or behind the second cleaning member 32 in the movement direction. At the same time, due to the different structures of the first cleaning member 31 and the second cleaning member 32, different cleaning effects and cleaning efficiencies may occur. In addition, in this case, if the liquid discharge device 35 is constantly operating, there is a problem of affecting the cleaning effect and wasting resources.

[0058] The movement direction is the direction of movement of the cleaning assembly 30 relative to the base station body 21. Different movement directions of the cleaning assembly 30 relative to the base station body 21 will affect the cleaning efficiency of the cleaning assembly 30. For example, when the cleaning assembly 30 is located on the left and right sides of the base station body 21, the cleaning assembly 30 may move to the right or left relative to the base station body 21. Since the movement direction of the cleaning assembly 30 relative to the base station body 21 may be different, the cleaning efficiency and cleaning effect may also be different when the positions of the first cleaning member 31 and the second cleaning member 32 are fixed. At the same time, if the liquid discharger 35 is constantly operating, this may affect the cleaning effect and waste resources.

[0059] Specifically, the base station 20 includes a control device. The first relative position information is input through an input device, and the control device connected to the input device can determine the first relative position information. For example, once the structure of the cleaning assembly 30 is determined, the first relative position information of the first cleaning member 31 and the second cleaning member 32 is determined. For example, if the first cleaning member 31 is located to the left and / or right of the second cleaning member 32, the control device can obtain the first relative position information by inputting the first relative position information into the input device. It should be understood that the control device can also obtain the first relative position information via other devices that meet the requirements.

[0060] The direction of movement may be determined by position switches connected to the control device, sensing devices 22 and signal transmitting devices, distance detection devices, or other devices that meet the requirements.

[0061] Step S906: Control the working state of the cleaning assembly and the working state of the liquid dispensing device based on the first relative position information and the movement direction.

[0062] While the cleaning assembly 30 moves in the same direction relative to the base station body 21, the first relative position information varies, which may affect the cleaning effect and efficiency of the cleaning assembly 30 and result in resource waste. Since different movement directions may affect the positions of the first cleaning member 31 and the second cleaning member 32 in the movement direction, if the first relative position information and movement direction are not taken into consideration, the cleaning assembly may have low cleaning efficiency, poor cleaning effect, and resource waste.

[0063] Therefore, the present disclosure controls the working state of the cleaning assembly 30 based on the first relative position information and the movement direction, thereby adapting the working state of the cleaning assembly 30 to the first relative position information and the movement direction, thereby contributing to improving cleaning efficiency and cleaning effect; and at the same time, controls the working state of the liquid ejection device 35 to adapt to the first relative position information and the movement direction, ultimately making the liquid ejection state well adapted to the cleaning assembly 30, contributing to further improving the cleaning effect, reducing energy waste, increasing energy utilization rate, and saving energy.

[0064] That is, the cleaning method provided by the present disclosure comprehensively considers the first relative position information of the first cleaning member 31 and the second cleaning member 32 and the movement direction of the cleaning assembly 30 relative to the base station body 21, thereby adapting the working state of the cleaning assembly 30 to the structure and movement direction of the cleaning assembly itself, and adapting the working state of the liquid ejection device 35 to the structure and movement direction of the cleaning assembly 30, thereby further improving the cleaning efficiency and cleaning effect of the cleaning assembly 30, thereby improving energy utilization, saving energy, and reducing cleaning costs.

[0065] In the above embodiment, as shown in FIGS. 6 and 7, the first cleaning member 31 includes a cleaning scraper, and the second cleaning member 32 is rotatable around a rotation axis, i.e., the second cleaning member 32 is rotatable relative to the base station body 21. For example, the second cleaning assembly 30 includes a cleaning roller, which moves left and right along with the cleaning assembly while simultaneously rotating on its own axis. Specifically, the cleaning roller has brushes and / or blades on its outer surface. The roller may be a soft rubber roller with blades on its outer periphery, or a brush with bristles on its outer periphery. Specifically, the cleaning assembly 30 further includes a bracket 33 and a driving device 34. The first cleaning member 31 and the second cleaning member 32 are mounted on the bracket 33. The driving device 34 is used to move the bracket 33 relative to the base station body 21 and drive the second cleaning member 32 to rotate.

[0066] The cleaning principle of the cleaning assembly is basically that the cleaning roller of the second cleaning member 32 can rotate, and the blades or sweeping bristles of the roller can extend into the cleaning system of the cleaning robot 10 to pick up dirt hidden there. Furthermore, as the cleaning assembly 30 moves left and right, the scraper of the first cleaning member 31 scrapes off dirt and dirty water on the cleaning system, thereby achieving secondary cleaning of the wet cleaning assembly.

[0067] Specifically, during the cleaning process, the bristles or blades of the second cleaning member 32 extend into and fully contact the interior of the cleaning head, removing foreign matter from within the cleaning head of the wet cleaning system. Furthermore, the second cleaning member 32 rotates while moving left and right, and its bristles or blades create a brushing effect on the cleaning system during rotation, causing the foreign matter within the cleaning system to be swung out and scraped away by the vibrations generated by the brushing effect. At the same time, in cooperation with the operation of the second cleaning member 32, the scraper of the first cleaning member 31 scrapes out the foreign matter and dirty water carried or brushed out of the cleaning system, thereby completing the cleaning operation of the cleaning system.

[0068] In some possible embodiments of the present disclosure, the step of controlling the operating state of the cleaning assembly specifically includes:

[0069] The rotation state of the second cleaning member is controlled.

[0070] In this embodiment, the rotation state of the second cleaning member 32 includes the start and stop of rotation of the second cleaning member 32, and may further include the rotation direction of the second cleaning member 32. During the movement of the cleaning assembly 30, the rotation of the second cleaning member 32 can remove dirt hidden in the cleaning system 150, and the first cleaning member 31 can sweep away foreign matter and dirty water carried or shaken out of the cleaning system 150. Therefore, during the movement of the cleaning assembly 30, the first cleaning member 31 is located behind the movement direction of the second cleaning member 32, and the first cleaning member 31 sweeps away foreign matter carried or shaken out of the cleaning system 150 by the second cleaning member 32, while cooperating with the liquid discharge of the liquid discharge device 35 to clean the cleaning system. The first cleaning member 31 sweeps away dirty cleaning liquid after the cleaning operation of the cleaning system 150 is completed, ensuring good cleaning effect and high cleaning efficiency.

[0071] During the movement of the cleaning assembly 30, if the first cleaning member 31 is positioned ahead of the second cleaning member 32 in the traveling direction, the first cleaning member 31 is likely to be unable to reliably scrape off foreign matter carried or thrown out of the cleaning system 150 by the second cleaning member 32. In this case, when the liquid dispensing device 35 operates to clean the cleaning system, the first cleaning member 31 is likely to be unable to timely scrape off the dirty cleaning liquid from the cleaning system 150, which is likely to result in secondary pollution or significant energy waste.

[0072] In view of this, the present disclosure controls the rotation state of the second cleaning member 32 under circumstances where the first relative position information of the first cleaning member 31 and the second cleaning member 32 and the movement direction of the cleaning assembly 30 relative to the base station body 21 are reasonably taken into consideration, and in cooperation with the working state of the liquid dispensing device 35, the first cleaning member 31 reliably and efficiently scrapes off foreign matter carried or shaken out of the cleaning system 150 by the second cleaning member 32, and at the same time scrapes off dirty cleaning liquid after the cleaning operation of the cleaning system 150 is completed, thereby contributing to further improving the cleaning effect and cleaning efficiency, and avoiding the occurrence of a situation where the first cleaning member 31 is unable to scrape off the dirty cleaning liquid in a timely manner, resulting in secondary pollution or large energy waste, thereby greatly improving the cleaning effect, improving energy utilization rate, saving energy, and reducing cleaning costs.

[0073] In some possible embodiments provided by the present disclosure, the first relative position information includes first position information and second position information, where the first position information is that the first cleaning member 31 is located on one side of the second cleaning member 32. As shown in FIG. 6 , for example, along the movement direction of the cleaning assembly 30, assuming that the movement direction is the left-right direction of the base station 20, the first cleaning member 31 is located on the left or right side of the second cleaning member 32. The second position information is that at least two second cleaning members 32 are distributed on both sides of the first cleaning member 31 along the movement direction of the cleaning assembly 30. As shown in FIG. 7 , a second cleaning member 32 is located on each of the left and right sides of the first cleaning member 31. It should be understood that the number of second cleaning members 32 on each of the left and right sides of the first cleaning member 31 may be the same or different.

[0074] Step S906 of the cleaning method includes:

[0075] Step S906-1: When the second cleaning member is located in front of the first cleaning member in the moving direction of the cleaning assembly, the second cleaning member is controlled to rotate, and the liquid discharger is controlled to operate.

[0076] In this embodiment, when the second cleaning member 32 is positioned ahead of the first cleaning member 31 in the moving direction of the cleaning assembly 30, the first cleaning member 31 can scrape off dirt carried by the second cleaning member 32 from the cleaning system 150 while the cleaning assembly 30 is moving relative to the base station body 21. At the same time, the liquid dispenser is controlled to operate, and the first cleaning member 31 scrapes off the cleaning liquid sprayed from the liquid dispenser 35 after completing the cleaning operation of the cleaning system. Therefore, under this circumstance, by rotating the second cleaning member 32 and controlling the liquid dispenser 35 to operate, cleaning efficiency can be improved and a good cleaning result can be achieved.

[0077] Furthermore, in some embodiments provided by the present disclosure, the liquid ejection device 35 sprays the cleaning liquid onto the rotating second cleaning member 32, and the rotation of the second cleaning member 32 uniformly applies the cleaning liquid to the cleaning system of the cleaning robot, contributing to further improving the cleaning effect of the cleaning system and improving the utilization rate of the cleaning liquid. It should be understood that in other embodiments of the present disclosure, the liquid ejected from the liquid ejection device 35 may directly act on the cleaning system of the cleaning robot, and in this case, by cooperating with the rotation of the second cleaning member 32, the cleaning effect of the cleaning system can also be similarly improved.

[0078] When the first cleaning member 31 is positioned in front of the second cleaning member 32 in the direction of movement of the cleaning assembly 30, the rotation of the second cleaning member 32 may be controlled, for example, to rotate the second cleaning member 32 to remove dirt hidden in the cleaning system 150. In this case, the first cleaning member 31 is positioned in front of the second cleaning member 32 along the traveling direction of the cleaning assembly 30, and the first cleaning member 31 timely removes dirt carried by the second cleaning member 32 from the cleaning system 150. However, when the cleaning assembly 30 travels in the reverse direction relative to the base station body 21, the first cleaning member 31 is positioned behind the second cleaning member 32, so that dirt on the cleaning system 150 can be reliably and efficiently scraped off. That is, this allows the second cleaning member 32 to remove dirt from the cleaning system 150 in advance, contributing to improved cleaning effect and cleaning efficiency.

[0079] In another example, the second cleaning member 32 may be controlled not to rotate, thereby contributing to reducing the energy consumption of the drive system of the cleaning assembly, where the drive system is used to drive the second cleaning member 32 to rotate relative to the base station body 21, contributing to reducing cleaning costs.

[0080] In the above embodiment, the liquid ejection device is arranged alongside the first cleaning member and the second cleaning member. The step of controlling the liquid ejection device to operate includes: This includes controlling the operation of a liquid ejection device located in front of the first cleaning member in the movement direction.

[0081] In this embodiment, the liquid dispenser 35 is arranged alongside the first cleaning member 31 and the second cleaning member 32, allowing more liquid to be sprayed from the liquid dispenser 35 to affect the cleaning system 150 of the cleaning robot 10, further improving the liquid utilization rate of the liquid dispenser 35. If the liquid dispenser 35 is installed in a different position, for example, behind the first cleaning member 31 in the direction of movement of the cleaning assembly 30, the first cleaning member 31 may not be able to timely scrape off dirty cleaning liquid, resulting in secondary pollution and significant energy waste. Therefore, the present disclosure controls the liquid dispenser 35 located ahead of the first cleaning member 31 in the direction of movement to operate, so that the first cleaning member 31 can timely scrape off dirty cleaning liquid after the cleaning system completes a cleaning operation while the cleaning assembly 30 moves relative to the base station body, thereby avoiding resource waste and secondary pollution and contributing to improved cleaning effect and efficiency.

[0082] Furthermore, the nozzles of the liquid ejection device 35 are distributed along the movement direction of the cleaning assembly 30, i.e., the liquid sprayed from the nozzles of the liquid ejection device 35 may be located on both sides of the first cleaning member 31. By rationally controlling the operating state of the nozzles of the liquid ejection device 35, the nozzles of the liquid ejection device 35 located behind the first cleaning member 31 can be controlled to stop operating in the movement direction of the cleaning assembly 30, thereby saving energy and improving the cleaning effect, and the nozzles of the liquid ejection device located in front of the first cleaning member 31 can be controlled to operate in the movement direction of the cleaning assembly 30, ensuring good cleaning effect.

[0083] In some possible embodiments provided by the present disclosure, the cleaning method further includes the following steps: Step S901-1: Obtain second relative position information of the cleaning assembly and the base station body. Step S901-2: Control the initial movement direction of the cleaning assembly based on the second relative position information.

[0084] In this embodiment, the second relative position information is the position information of the cleaning assembly 30 relative to the base station body 21. In the initial state, the cleaning assembly 30 may be located at one side, an intermediate position, or a position close to one side of the base station body 21. Therefore, when the cleaning assembly 30 initially moves in different directions relative to the base station body 21, it may take different periods of time to reach one side of the base station body 21. That is, the cleaning assembly 30 needs to change direction after moving along the initial direction and then after different periods of time, which consumes a lot of power for one revolution of the cleaning assembly 30. Therefore, the initial movement direction of the cleaning assembly 30 is controlled based on the second relative position information. The initial movement direction of the cleaning assembly 30 relative to the base station body 21 is associated with the second relative position information between the cleaning assembly 30 and the base station body 21 in the initial state, and the initial return time of the cleaning assembly 30 can be adjusted, which contributes to reducing power consumption and costs.

[0085] In the above embodiment, the cleaning method further comprises the steps of: detecting whether a distance between the cleaning assembly and a first side of the base station body is greater than or equal to a distance between the cleaning assembly and a second side of the base station body; and controlling the cleaning assembly to move to the first side of the base station body when the distance between the cleaning assembly and the first side of the base station body is equal to or greater than the distance between the cleaning assembly and the second side of the base station body.

[0086] In this embodiment, the base station body 21 has a first side edge and a second side edge opposite each other along the movement direction of the cleaning assembly 30, where, for example, the movement direction of the cleaning assembly 30 is the left-right direction of the base station, and the first side edge may be located on the left side of the base station and the second side edge may be located on the right side of the base station, or the first side edge may be located on the right side of the base station and the second side edge may be located on the left side of the base station.

[0087] In the initial state, it is detected whether the distance between the cleaning assembly 30 and the first side edge of the base station body 21 is equal to or greater than the distance between the cleaning assembly 30 and the second side edge of the base station body 21. Because the distance between the cleaning assembly 30 and the first side edge of the base station body 21 and the distance between the cleaning assembly 30 and the second side edge of the base station body 21 are different, the movement time until the cleaning assembly 30 performs a direction change operation after reaching the first side edge is different from the movement time until the cleaning assembly 30 performs a direction change operation after reaching the second side edge. Therefore, if it is detected that the distance between the cleaning assembly 30 and the first side edge is equal to or greater than the distance between the cleaning assembly 30 and the second side edge of the base station body 21, it indicates that the movement time until the cleaning assembly 30 moves in a direction close to the first side edge and reaches the first side edge is equal to or greater than the movement time until the cleaning assembly 30 moves in a direction close to the second side edge and reaches the second side edge. At this time, the cleaning assembly 30 is controlled to move in the direction of the first side edge of the base station body 21, and since it takes a long or appropriate time for the cleaning assembly 30 to reach the first side edge of the base station body 21, this solves the problem of the cleaning assembly 30 making an initial movement and then reaching the second side edge in a short time before performing a direction change operation, thereby contributing to further improvement of energy utilization rate.

[0088] That is, in the cleaning method provided by the present disclosure, the initial movement direction of the cleaning assembly 30 is a direction in which the cleaning assembly 30 moves closer to the first side edge of the base station body 21, and when the cleaning assembly 30 initially moves relative to the base station body 21, the cleaning assembly 30 is controlled to move toward the first side edge that is far or an appropriate distance from the cleaning assembly 30, and a direction change operation is performed after the cleaning assembly 30 reaches the first side edge of the base station body 21 after a long or appropriate time, which contributes to reducing energy consumption and improving energy utilization rate.

[0089] Furthermore, the base station is provided with a distance detection device, which may be provided on either the base station body 21 or the cleaning assembly 30, or may be provided simultaneously on the base station body 21 and the cleaning assembly 30. Different installation positions of the distance detection device can meet different structural requirements of the distance detection device. Specifically, the distance detection device may be a distance sensor, a distance detection switch, etc.

[0090] In some possible embodiments provided by the present disclosure, the cleaning method further comprises the steps of: The method includes controlling the cleaning assembly 30 to move toward the second side of the base station body 21 after the cleaning assembly 30 has moved to the first side of the base station body 21 .

[0091] In this embodiment, the cleaning assembly 30 moves from its initial direction of movement to the first side edge, then performs a direction change operation and moves to the second side edge of the base station body 21, i.e., the cleaning assembly 30 moves back and forth relative to the base station body 21. The back and forth movement means that the cleaning assembly 30 moves from the first side edge of the base station body 21 to the second side edge, and then repeatedly moves from the second side edge of the base station body 21 back to the first side edge of the base station body 21. Here, controlling the cleaning assembly 30 to move back and forth relative to the base station body 21 contributes to improving the cleaning thoroughness and effectiveness of the cleaning assembly 30 for the cleaning system 150 of the cleaning robot 10, and further improves the cleanliness of the cleaning system and user satisfaction.

[0092] In some possible embodiments provided by the present disclosure, the cleaning method further includes the following steps:

[0093] Step S908: In response to the cleaning end command, the cleaning assembly is controlled to move to a second predetermined position on the base station body.

[0094] Here, the cleaning end command is used to control the cleaning assembly 30 to stop the cleaning operation. When the base station 20 responds to the cleaning end command, it indicates that it is no longer necessary to control the movement of the cleaning assembly 30 to clean the cleaning system 150. The predetermined position is a position close to the first side edge of the base station body 21 or a position close to the second side edge of the base station body 21. In this case, the predetermined position may be one of the first side edge of the base station body 21 and the second side edge of the base station body 21, or the predetermined position may be a position close to the middle of the base station body 21, i.e., the predetermined position is between the first side edge and the second side edge of the base station body 21.

[0095] When responding to a cleaning end command, i.e., when the cleaning assembly 30 no longer needs to perform a cleaning operation, the cleaning assembly moves to a predetermined position on the base station body 21 so that the cleaning assembly 30 does not block or interfere with other components of the cleaning robot 10, and does not block or interfere with other components of the base station, making it convenient for the cleaning robot 10 to perform other operations on the base station, such as charging operations or operations such as filling cleaning liquid.

[0096] Here, in response to the cleaning end command, the control device may control the second cleaning member 32 to stop rotating, i.e., the second cleaning assembly 30 to stop removing foreign objects from the cleaning system 150, thereby reducing energy consumption of the drive system, and the liquid dispenser 35 to stop operating, i.e., the liquid dispenser 35 to stop cleaning the cleaning system 150 with the cleaning liquid sprayed therefrom, thereby contributing to energy savings and reduction in energy consumption. At the same time, the control device may control the cleaning assembly 30 to move to a predetermined position on the base station body 21, thereby stopping the cleaning operation of the cleaning system 150. Note that the control device may also control the second cleaning member 32 to stop rotating and the liquid dispenser 35 to stop operating when the cleaning assembly 30 moves to the predetermined position on the base station body 21.

[0097] Specifically, the predetermined position is a middle position of the base station body 21, for example, the middle position between the first side and the second side of the base station body 21. That is, after the cleaning assembly 30 completes the cleaning operation for the cleaning system 150 of the cleaning robot 10, the base station controls the cleaning assembly 30 to move to the middle position of the base station body 21 in response to a cleaning end command.

[0098] Specifically, during the cleaning process of the cleaning robot 10 cleaning the cleaning system 150, the cleaning assembly 30 may be controlled to move from a first side of the base station body to a second side of the base station body, and then from the second side to the first side of the base station body. This process may be repeated to enhance the cleaning power of the cleaning system 150 and ensure good cleaning results. For example, a working time for the cleaning assembly 30 may be preset, and the cleaning process may end when the preset working time is reached. A sensor may be provided in the base station 20 or the cleaning robot 10 to detect the degree of soiling of the cleaning system 150. If the sensor output data indicates that the degree of soiling of the cleaning system 150 of the cleaning robot 10 is lower than a predetermined threshold, the cleaning process may be ended.

[0099] In some possible embodiments provided by the present disclosure, step S901-1 includes: and acquiring a second relative positional relationship between the cleaning assembly and the base station body via a sensing device and a signal transmitting device provided on the base station body and the cleaning assembly, respectively.

[0100] In this embodiment, as shown in FIG. 8, the base station 20 further includes a sensing device 22 and a signal transmitting device, which determine the second relative positional relationship of the cleaning assembly 30 with respect to the base station body 21 through the sensing device 22 and the signal transmitting device, for example, whether the cleaning assembly 30 moves to the first side edge, the second side edge, or a predetermined position of the base station body 21, and further controls the movement direction of the cleaning assembly 30 with respect to the base station body 21, and controls the working state of the second cleaning member 32 and the liquid dispensing device 35, which contributes to improving the control accuracy of the cleaning assembly 30 and the liquid dispensing device 35, improving the cleaning effect, and saving energy.

[0101] Furthermore, on the one hand, the sensing device 22 may be provided on the base station body 21 and the signal transmitting device may be provided on the cleaning assembly 30, and on the other hand, the sensing device 22 may be provided on the cleaning assembly 30 and the signal transmitting device may be provided on the base station body 21. Different installation positions of the sensing device 22 and the signal transmitting device can meet the requirements of different structures of the sensing device 22 and the signal transmitting device, and expand the use range of the product.

[0102] Specifically, the sensing device 22 includes at least one of an optical coupling element, a magnetic detection element, and a microswitch, and the signal transmitting device is a trigger member adapted to the sensing device 22, and it should be understood that, for example, the signal transmitting device may be an optical emitting device adapted to the optical coupling element, or a magnetic signal transmitting device adapted to the magnetic detection element, or a movable structure adapted to the microswitch, etc.

[0103] In the above embodiment, a first sensing device 221 is provided near the first side edge of the base station body 21, a second sensing device 222 is provided near the second side edge of the base station body 21, and a third sensing device 223 is provided near a predetermined position on the base station body 21, and the step of obtaining the second relative positional relationship between the cleaning assembly and the base station body through the sensing device and the signal transmitting device provided on the base station body 21 and the cleaning assembly 30, respectively, includes: determining that the cleaning assembly has moved to the first side of the base station body based on the first sensing device sensing the signal transmitting device; determining that the cleaning assembly has moved to the second side of the base station body based on the second sensing device sensing the signal transmitting device; Determining that the cleaning assembly has moved to a predetermined position on the base station body based on the third sensing device sensing the signal transmitting device.

[0104] That is, in the embodiment of the present disclosure, the sensing device 22 is provided on the base station body 21, and the signal transmitting device is provided on the cleaning assembly 30, and the number of sensing devices 22 is three, including a first sensing device 221 provided near the first side edge of the base station body 21, a second sensing device 222 provided near the second side edge of the base station body 21, and a third sensing device 223 provided near a predetermined position of the base station body 21, where, along the movement direction of the cleaning assembly 30, the predetermined position of the base station body 21 is at an intermediate position between the first side edge and the second side edge of the base station body 21, that is, along the movement direction of the cleaning assembly 30, the third sensing device is provided at an intermediate position of the base station body.

[0105] Thus, when the first sensing device 221 senses the signal transmitting device while the cleaning assembly 30 is moving relative to the base station body 21, it is determined that the cleaning assembly 30 has moved to the first side of the base station body 21 relative to the base station body 21, and the control device can control the cleaning assembly 30 to move to the second side of the base station body 21 based on the sensing information. When the second sensing device 222 senses the signal transmitting device, it is determined that the cleaning assembly 30 has moved to the second side of the base station body 21 relative to the base station body 21, and the control device can control the cleaning assembly 30 to move to the first side of the base station body 21 based on the sensing information. When the third sensing device 223 senses the signal transmitting device, it is determined that the cleaning assembly 30 has moved to a predetermined position relative to the base station body 21, and the control device can control the second cleaning member 32 of the cleaning assembly 30 to stop rotating and the liquid dispensing device 35 to stop operating based on the sensing information. This provides a simple structure, high detection accuracy, and improved control precision for the cleaning method.

[0106] In the specific example of the present disclosure, the first side edge of the base station body 21 is on the left side of the second side edge of the base station body. When the cleaning robot 10 stops at the base station 20, the control device of the base station 20 first detects, using the distance detection device, whether the distance between the cleaning assembly 30 and the first side edge of the base station body is equal to or greater than the distance between the cleaning assembly and the second side edge of the base station body. If yes, the control device controls the cleaning assembly to move to the first side edge of the base station body; if not, the control device controls the cleaning assembly to move to the second side edge of the base station body.

[0107] When the first sensing device 221 senses the signal transmitting device, it is determined that the cleaning assembly 30 has moved to the first side of the base station body 21 relative to the base station body 21, and the control device can control the cleaning assembly to move to the second side of the base station body 21 based on the sensing information. When the second sensing device 222 senses the signal transmitting device, it is determined that the cleaning assembly 30 has moved to the second side of the base station body 21 relative to the base station body 21, and the control device can control the cleaning assembly to move to the first side of the base station body 21 based on the sensing information. It should be understood that the cleaning assembly 30 may move back and forth multiple times according to this logic until the cleaning operation is completed.

[0108] In one specific example, the first cleaning member 31 is located to the left of the second cleaning member 32, and the liquid discharger is located to the right of the first cleaning member 31. When the second cleaning member 32 is located in front of the first cleaning member 31 in the movement direction of the cleaning assembly 30, the second cleaning member 32 is rotated and the liquid discharger 35 is controlled to operate. That is, when the cleaning assembly 30 moves from the first side edge to the second side edge of the base station body 21, i.e., when the cleaning assembly 30 moves to the right, the second cleaning member 32 is located in front of the movement direction of the first cleaning member 31, and the liquid discharger 35 is located in front of the first cleaning member 31. At this time, the second cleaning member 32 is rotated and the liquid discharger 35 located in front of the first cleaning member 31 is controlled to operate. The rotating second cleaning member 32 can remove dirt from the cleaning system 150, and the liquid discharger 35 can eject dirt. The ejected liquid acts on the cleaning system 150 to perform the cleaning operation, or the rotating second cleaning member 32 uniformly applies the liquid ejected from the liquid ejection device 35 onto the cleaning system, and while the cleaning assembly 30 moves from the first side to the second side, the first cleaning member 31 located behind the rotating second cleaning member 32 scrapes off the dirt removed from the cleaning system 150 by the rotating second cleaning member 32, and at the same time scrapes off the dirty cleaning liquid after the cleaning operation of the cleaning system is completed, thereby ensuring a good cleaning effect.

[0109] Furthermore, when the cleaning assembly 30 moves from the second side edge to the first side edge of the base station body 21, i.e., when the cleaning assembly 30 moves to the left, the second cleaning member 32 is located behind the first cleaning member 31 in the movement direction, and the liquid ejection device 35 is located behind the first cleaning member 31, and at this time, the second cleaning member 32 is controlled to rotate or not rotate, and the liquid ejection device is controlled not to operate.

[0110] In another example, at least two second cleaning members 32 are distributed on both sides of the first cleaning member 31 along the movement direction of the cleaning assembly 30, for example, a second cleaning member 32 is provided on each of the left and right sides of the first cleaning member 31, and it should be understood that the number of second cleaning members 32 on each of the left and right sides of the first cleaning member 31 may be the same or different. Here, the liquid ejection devices 35 may be distributed on both sides of the first cleaning member.

[0111] When the cleaning assembly 30 moves from the first side edge to the second side edge of the base station body 21, i.e., when the cleaning assembly 30 moves to the right, the second cleaning member 32 located to the right of the first cleaning member 31 and the liquid ejection device 35 located to the right of the first cleaning member 31 are both located forward in the direction of movement of the first cleaning member 31. At this time, the second cleaning member 32 located to the right of the first cleaning member 31 is rotated, and the liquid dispensing device 35 located to the right of the first cleaning member 31 is controlled to operate, so that the rotating second cleaning member 32 can remove dirt from the cleaning system 150, and the liquid sprayed from the liquid spraying device 35 acts on the cleaning system to achieve the cleaning operation, or the rotating second cleaning member 32 evenly applies the liquid sprayed from the liquid spraying device 35 onto the cleaning system, and while the cleaning assembly 30 moves from the first side to the second side, the first cleaning member 31 located behind the rotating second cleaning member 32 scrapes off the dirt removed from the cleaning system by the rotating second cleaning member 32, and at the same time, scrapes off the dirty cleaning liquid after the cleaning operation of the cleaning system is completed, thereby ensuring a good cleaning effect.

[0112] Furthermore, when the cleaning assembly 30 moves from the second side edge to the first side edge of the base station body, i.e., when the cleaning assembly 30 moves to the left, the second cleaning member 32 located on the left side of the first cleaning member 31 and the liquid dispenser 35 located on the left side of the first cleaning member 31 are both located forward in the direction of movement of the first cleaning member 31. At this time, the second cleaning member 32 located on the left side of the first cleaning member 31 is rotated, and the liquid dispenser 35 located on the left side of the first cleaning member 31 is controlled to operate, so that the first cleaning member 31 located behind the rotating second cleaning member 32 scrapes off the dirt removed from the cleaning system by the rotating second cleaning member 32, and at the same time, scrapes off the dirty cleaning liquid after the cleaning operation of the cleaning system is completed, thereby ensuring a good cleaning effect.

[0113] Furthermore, in the above embodiment, when the control device receives a cleaning end command during the movement of the cleaning assembly, it controls the cleaning assembly 30 to continue moving, and when the third sensing device detects the signal transmitting device, it determines that the cleaning assembly 30 has moved to a predetermined position on the base station body 21 relative to the base station body 21, and the control device can stop the rotation of the second cleaning member 32 of the cleaning assembly based on the sensing information, stop the operation of the liquid dispensing device 35, and end the cleaning operation.

[0114] For example, the operating time of the cleaning assembly 30 may be preset, and the cleaning process will end when the preset operating time is reached. A sensor may be provided in the base station 20 or the cleaning robot 10 to detect the degree of dirtiness of the cleaning system 150, and the cleaning process will end when the sensor output data indicates that the degree of dirtiness of the cleaning system 150 of the cleaning robot 10 is lower than a predetermined threshold. As shown in FIG. 8 , a mounting groove 212 is provided in the base station body 21, and the sensor 22 is installed in the mounting groove 212. The installation of the mounting groove 212 serves to protect the sensor 22 to a certain extent, preventing contamination of the sensor 22 by sewage and foreign matter, contributing to improving the service life and sensitivity of the sensor 22, and contributing to improving the control accuracy and reliability of the base station 20.

[0115] Furthermore, the sensing device 22 is detachably connected to the mounting groove 212; for example, a slot is provided in the mounting groove 212 and a buckle is provided on the sensing device 22, and the cooperation of the slot and the buckle allows the sensing device 22 to be quickly and accurately mounted in the mounting groove 212 of the base station body 21. Alternatively, a screw hole can be provided in the mounting groove 212, a through-hole can be provided in the sensing device 22, and a bolt can be connected to the screw hole through the through-hole, allowing the sensing device 22 to be detachably mounted in the mounting groove 212.

[0116] Here, since the sensing device 22 is detachably connected to the mounting groove 212, it is convenient to remove the sensing device 22 from the mounting groove 212 for maintenance or replacement, which contributes to reducing maintenance and replacement costs.

[0117] Furthermore, a mounting portion is provided on the cleaning assembly 30, for example, the mounting portion is provided on the bracket 33, and the signal transmitting device is provided on the mounting portion, which faces the sensing device 22. The installation of the mounting portion improves the connection reliability of the signal transmitting device and the bracket 33, and at the same time, the installation of the mounting portion allows the signaling device to be pre-positioned, and the height of the signaling device on the cleaning assembly 30 is adapted to the height of the sensing device 22 on the base station body 21, contributing to improving the sensing accuracy of the sensing device 22. At the same time, the signal transmitting device faces the sensing device 22, contributing to further improving the sensing accuracy and sensitivity of the sensing device 22, and contributing to improving the control accuracy and reliability of the base station 20.

[0118] Specifically, a slot is provided in the mounting portion, and a buckle is provided in the signal transmitting device, and the signal transmitting device is attached to the cleaning assembly 30 by cooperation of the slot and the buckle. Alternatively, the signal transmitting device may be directly clamped into the slot, which simplifies the structure and facilitates installation. It should be understood that the signal transmitting device may also be attached to the cleaning assembly 30 via a bolt or other structure that meets the requirements.

[0119] Here, the signal transmitting device is detachably connected to the mounting portion of the bracket 33, and it is convenient to remove the signal transmitting device from the mounting portion of the cleaning assembly 30 for maintenance or replacement, which contributes to reducing maintenance and replacement costs.

[0120] Furthermore, as shown in Figures 5 and 8, the sensing device 22 is arranged at the rear of the base station body 21. Usually, the base station 20 further includes a charging contact patch 23 for connecting to the cleaning robot 10 to supply power. The charging contact patch 23 is advantageously arranged at the front of the base station body 21 and connected to the cleaning robot 10. By arranging the sensing device 22 at the rear of the base station body 21, sufficient space can be secured at the front of the base station body 21 for installing the charging contact patch 23 or other components compatible with the cleaning robot 10, which further realizes a rational layout of the base station 20 and facilitates functional expansion of the base station 20.

[0121] For example, in order for the cleaning robot to stop reliably and accurately at the base station 20, a guide part 24, such as a guide block or guide wheel, is usually provided at the front of the base station body 21. When the cleaning robot 10 comes into contact with the guide part 24, the cleaning robot 10 is guided to move closer to the frame of the base station 20, restricting the vertical movement of the cleaning robot 10, and further improving the smoothness and accuracy of the cleaning robot 10 when stopping at the frame of the base station 20, thereby improving the efficiency of the robot when stopping at the frame of the base station 20, making it suitable for widespread application.

[0122] In the present disclosure, the sensing device 22 is provided at the rear of the base station main body 21, so that it does not affect the installation of the guide unit 24, and reliability and accuracy can be ensured when the cleaning robot 10 stops at the base station 20.

[0123] 6 and 8 , the cleaning assembly 30 further includes a driving device 34 that drives the bracket 33 to move relative to the base station body 21. The signal transmitting device is provided on the driving device 34, and the signal transmitting device may be provided on a portion of the driving device 34 extending rearward from the base station body 21, thereby reducing the distance between the sensing device 22 and the signal transmitting device, improving the sensitivity and reliability of the sensing device 22 and further improving the control accuracy of the base station 20. In some possible embodiments provided by the present disclosure, the first relative position information includes second position information, and the second position information indicates that at least two second cleaning members 32 are distributed on both sides of the first cleaning member 31 along the movement direction of the cleaning assembly 30. As shown in FIG. 7 , second cleaning members 32 are provided on the left and right sides of the first cleaning member 31, respectively. It should be understood that the number of second cleaning members 32 on the left and right sides of the first cleaning member 31 may be the same or different. Step S904 of the cleaning method specifically includes the following steps:

[0124] 5, in some possible embodiments provided by the present disclosure, the base station 20 further includes a cleaning basin 211 below the cleaning assembly 30. The cleaning basin 211 is used to accommodate foreign matter removed from the cleaning system of the cleaning robot 10 by the cleaning assembly 30 and / or to collect wastewater generated during the cleaning process of the cleaning system, thereby facilitating subsequent treatment of the foreign matter and wastewater and improving the cleanliness of the environment around the base station 20. Here, the wastewater is wastewater formed after the cleaning liquid ejected from the liquid ejecting device 35 has completed cleaning the cleaning system.

[0125] Furthermore, a dirt discharge port is provided on at least one side of the cleaning tank 211, and foreign matter in the cleaning tank 211 can be removed by moving it to the outside of the cleaning tank 211 through the dirt discharge port.

[0126] Here, the dirt outlets may be provided on one or both sides of the cleaning tub 211, and different installation positions of the dirt outlets can meet the requirements of different structures of the cleaning tub 211 and expand the scope of use of the product. It should be understood that one, two or more dirt outlets may be provided on the same side of the cleaning tub 211.

[0127] Here, the base station 20 further includes a liquid level detection device, which may be a liquid level sensor, a liquid level float or other structure that meets the requirements, and the liquid level detection device is used to detect the level of the liquid in the cleaning tank 211.

[0128] The cleaning method provided by the present disclosure further includes the following steps.

[0129] Step S910: Information about the liquid level in the cleaning tank is acquired, and the working state of the liquid discharger is controlled based on the information about the liquid level.

[0130] In this embodiment, the liquid level information in the cleaning tank 211 can indicate the height of the liquid level contained in the cleaning tank 211. When the liquid level information reaches a preset threshold, the liquid level in the cleaning tank 211 is high, which may affect the normal operation of the cleaning assembly or base station. Therefore, by controlling the liquid discharge device 35 to stop operating, the liquid discharge device 35 can be prevented from continuing to operate, causing the liquid level in the cleaning tank 211 to rise, resulting in wastewater overflowing from the cleaning tank 211 and causing secondary pollution, or causing wastewater to affect the normal operation of the cleaning assembly 30 or base station, thereby contributing to improving the cleanliness of the environment around the base station 20 and the reliability of its operation.

[0131] If the liquid level information does not reach the preset threshold, it indicates that the cleaning tank 211 can still accommodate wastewater, and the current working state of the liquid discharge device 35 can be maintained, and there is no situation where the wastewater in the cleaning tank 211 overflows outside the cleaning tank 211.

[0132] Here, the preset threshold value may be smaller than the tank height of the cleaning tank 211. Specifically, the preset threshold value may be a fixed value, such as 20 mm, 30 mm, 40 mm, or other value that meets the requirements. Alternatively, the preset threshold value may be adapted to the tank height of the cleaning tank 211. For example, the preset threshold value may be 0.95 times, 0.9 times, 0.85 times the tank height of the cleaning tank 211, or other value that meets the requirements, and is not particularly limited in the present disclosure.

[0133] As shown in Fig. 10, an embodiment of the second aspect of the present disclosure provides a cleaning device 500 for use in a base station used in cooperation with a cleaning robot, the base station including a base station body, a cleaning assembly, and a liquid dispensing device, the cleaning assembly being movably provided on the base station body and including a first cleaning member and a second cleaning member arranged side by side, the first cleaning member and the second cleaning member being for removing foreign matter on the cleaning system by interfering with the cleaning system of the cleaning robot, and the cleaning liquid discharged from the liquid dispensing device being used to clean the cleaning system. a first acquisition module 502 for acquiring first relative position information of the first cleaning member and the second cleaning member; a second acquisition module 504 for acquiring a direction of movement of the cleaning assembly relative to the base station body; and a first processing module 506 that controls an operating state of the cleaning assembly and an operating state of the liquid dispensing device based on the first relative position information and the movement information.

[0134] According to the cleaning device 500 provided by the present disclosure, based on the first relative position information acquired by the first acquisition module 502, the second acquisition module acquires the movement direction of the cleaning assembly relative to the base station body, and the first processing module 506 controls the working state of the cleaning assembly, adapts the working state of the cleaning assembly to the first relative position information and movement direction, contributing to improving cleaning efficiency and cleaning effect, and at the same time adapts the working state of the liquid discharging device to the first relative position information and movement direction, so that the liquid discharging state and the cleaning assembly work well together, contributing to further improving the cleaning effect, reducing the phenomenon of energy waste, increasing energy utilization rate, and saving energy.

[0135] That is, according to the cleaning device 500 of the present disclosure, by comprehensively considering the first relative position information of the first cleaning member and the second cleaning member and the movement direction of the cleaning assembly relative to the base station body, the working state of the cleaning assembly can be adapted to the structure and movement direction of the cleaning assembly itself, and the working state of the liquid ejection device can be adapted to the structure and working state of the cleaning assembly, thereby further improving the cleaning efficiency and cleaning effect of the cleaning assembly, thereby improving energy utilization rate, saving energy, and reducing cleaning costs.

[0136] As an example, the first cleaning member includes a cleaning scraper, the second cleaning member is rotatable around a rotation axis, and the first processing module 506 includes a first processing unit for controlling the rotation state of the second cleaning member.

[0137] As an example, the first processing module 506 includes a second processing unit used to control the rotation of the second cleaning member when the second cleaning member is positioned in front of the first cleaning member in the movement direction of the cleaning assembly, and to control the liquid ejection device to operate.

[0138] In one example, the liquid ejection device is arranged alongside the first cleaning member and the second cleaning member, and the second processing unit that controls the operation of the liquid ejection device includes a first processing subunit that is used to control the operation of the liquid ejection device located ahead of the first cleaning member in the movement direction.

[0139] As an example, the cleaning device a third acquisition module for acquiring second relative position information of the cleaning assembly and the base station body; and a second processing module for controlling an initial direction of movement of the cleaning assembly based on the second relative position information.

[0140] As an example, the cleaning device further comprising a detection module for detecting whether a distance between the cleaning assembly and a first side edge of the base station body is equal to or greater than a distance between the cleaning assembly and a second side edge of the base station body; The second processing module includes a second processing subunit for controlling the cleaning assembly to move to the first side edge of the base station body when the distance between the cleaning assembly and the first side edge of the base station body is greater than or equal to the distance between the cleaning assembly and the second side edge of the base station body.

[0141] As an example, the second processing module further includes a third processing subunit for controlling the cleaning assembly to move to a second side edge of the base station body after the cleaning assembly moves to a first side edge of the base station body and stop operation of the liquid ejection device.

[0142] As an example, the cleaning device further includes a third processing module for controlling the cleaning assembly to move to a predetermined position on the base station body in response to a cleaning end command.

[0143] As an example, the third acquisition module acquires a second relative positional relationship between the cleaning assembly and the base station body via a sensing device and a signal transmitting device provided on the base station body and the cleaning assembly, respectively.

[0144] For example, a first sensing device is provided near a first side edge of the base station body, a second sensing device is provided near a second side edge of the base station body, and a third sensing device is provided near a predetermined position of the base station body, and the third acquisition module is: a first determining unit for determining that the cleaning assembly has moved to the first side of the base station body based on the first sensing device sensing the signal transmitting device; a second determining unit for determining that the cleaning assembly has moved to a second side of the base station body based on the second sensing device sensing the signal transmitting device; and a third determination unit for determining that the cleaning assembly has moved to a predetermined position on the base station body based on the third sensing device sensing the signal transmitting device.

[0145] In one example, the base station further includes a cleaning basin below the cleaning assembly, and the cleaning device includes: a fourth acquisition module for acquiring liquid level information in the cleaning tank; The liquid ejection device further includes a fourth processing module for controlling the working state of the liquid ejection device based on the liquid level information.

[0146] An embodiment of the present disclosure provides a base station comprising a processor and a memory, wherein the memory stores computer program instructions that are executed by the processor, and when executed by the processor, perform steps of the cleaning method of any embodiment.

[0147] 11, the base station includes a processing unit 601 (e.g., a central processor, a graphics processor, etc.) that can perform various appropriate operations and processes according to programs stored in a read-only memory (ROM 602) or programs loaded from a storage device 608 into a random access memory (RAM 603). The RAM 603 stores various programs and data necessary for the operation of the electronic robot. The processing unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface is also connected to the bus 604.

[0148] Typically, input devices 606, such as a touchscreen, touchpad, keyboard, mouse, camera, microphone, sensing device, etc., output devices 607, such as a liquid crystal display (LCD), speaker, vibrator, etc., storage device 608, such as a hard disk, etc., and communication device 609 are connected to I / O interface 605. Communication device 609 may enable the base station to communicate with other robots wirelessly or via a wire to exchange data; for example, communication device 609 may enable communication between the base station and a cleaning robot or a remote mobile device. While FIG. 11 illustrates a base station with various devices, it should be understood that it is not necessary to implement or include all of the devices shown. Alternatively, more or fewer devices may be implemented or included.

[0149] In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as a robot software program. For example, an embodiment of the present disclosure provides a robot software program product, including a computer program carried on a readable medium, the computer program including program code for the method shown in Flowchart 9. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 609, or may be installed from the storage device 608, or may be installed from the ROM 602. When the computer program is executed by the processing device 601, the functions defined in the method of the embodiment of the present disclosure are realized.

[0150] It should be noted that the computer-readable medium described in this disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the above. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM 603), a read-only memory (ROM 602), an erasable programmable read-only memory (EPROM 602 or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM 602), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier, carrying computer-readable program code. Such propagated data signals include, but are not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may be any computer-readable medium other than a computer-readable storage medium that transmits, propagates, or transfers a program used by or in conjunction with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium may be transferred by any suitable medium, such as, but not limited to, wire, fiber optic cable, RF (radio frequency), etc., or any suitable combination of the above.

[0151] The computer-readable medium may be included in the robot, or may be separate and not integrated into the robot.

[0152] Computer program code for carrying out the operations of the present disclosure can be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​(such as Java, Smalltalk, C++, etc.), and conventional procedural programming languages ​​(such as "C" or similar programming languages). The program code may run entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server.

[0153] In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, such as a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., connected via the Internet using an Internet Service Provider).

[0154] The flowcharts and block diagrams in the accompanying drawings illustrate possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowcharts or block diagrams may represent a module, program section, or portion of code, which includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions depicted in the boxes may occur in a different order than that depicted in the accompanying drawings. For example, two boxes depicted in succession may actually be executed substantially in parallel, or may be executed in the reverse order, depending on the functionality involved. It should also be noted that each box in the block diagrams and / or flowcharts, and combinations of boxes in the block diagrams and / or flowcharts, may be implemented in a dedicated hardware-based system that performs the specified function or operation, or in a combination of dedicated hardware and computer instructions.

[0155] The above-described device embodiments are merely schematic, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments of the present disclosure, which can be understood and implemented by those skilled in the art without any creative effort.

[0156] Finally, it should be noted that the above-mentioned embodiments are only intended to illustrate the technical solutions of the present disclosure, and are not intended to limit the present disclosure; although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art can still understand that modifications can be made to the technical solutions disclosed in the above various embodiments, or equivalent substitutions can be made to some of the technical features, and these modifications or substitutions will not deviate from the essence of the corresponding technical solutions and the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. 1. A cleaning method for use in a base station used in cooperation with a cleaning robot, comprising: the base station includes a base station body, a cleaning assembly, and a liquid discharging device, the cleaning assembly is movably provided on the base station body and includes a first cleaning member and a second cleaning member arranged side by side along a moving direction of the cleaning assembly relative to the base station body, the first cleaning member and the second cleaning member are for interfering with a cleaning system of the cleaning robot to remove foreign matter on the cleaning system, and cleaning liquid discharged from the liquid discharging device is used to clean the cleaning system, and the cleaning method includes: acquiring first relative position information of the first cleaning member and the second cleaning member; obtaining a direction of movement of the cleaning assembly relative to the base station body; and controlling an operating state of the cleaning assembly and an operating state of the liquid dispensing device based on the first relative position information and the direction of movement.

2. The first cleaning member includes a cleaning scraper, and the second cleaning member is rotatable about a rotation axis, and the step of controlling the operating state of the cleaning assembly includes: The cleaning method according to claim 1 , further comprising controlling a rotation state of the second cleaning member.

3. controlling an operating state of the cleaning assembly and an operating state of the liquid dispensing device based on the first relative position information and the movement direction, controlling the second cleaning member to rotate when the second cleaning member is in front of the first cleaning member in a moving direction of the cleaning assembly; 3. The cleaning method according to claim 2, further comprising controlling the liquid ejection device to operate.

4. the liquid ejection device is disposed alongside the first cleaning member and the second cleaning member; The step of controlling the operation of the liquid ejection device includes:

4. The cleaning method according to claim 3, further comprising controlling the liquid ejection device positioned ahead of the first cleaning member in the moving direction to operate.

5. obtaining second relative position information of the cleaning assembly and the base station body; 5. The method of claim 4, further comprising: controlling an initial direction of movement of the cleaning assembly based on the second relative position information.

6. detecting whether a distance between the cleaning assembly and a first side edge of the base station body is equal to or greater than a distance between the cleaning assembly and a second side edge of the base station body; 6. The method of claim 5, further comprising the step of controlling the cleaning assembly to move toward the first side edge of the base station body when the distance between the cleaning assembly and the first side edge of the base station body is equal to or greater than the distance between the cleaning assembly and the second side edge of the base station body.

7. 7. The method of claim 6, further comprising the step of controlling the cleaning assembly to move toward a second side of the base station body after the cleaning assembly has moved to a first side of the base station body.

8. 7. The cleaning method according to claim 6, further comprising the step of controlling the cleaning assembly to move to a predetermined position on the base station body in response to a cleaning end command.

9. The step of obtaining second relative position information of the cleaning assembly and the base station body includes: The cleaning method of claim 8, further comprising obtaining a second relative positional relationship between the cleaning assembly and the base station body via a sensing device and a signal transmitting device provided on the base station body and the cleaning assembly, respectively.

10. a first sensing device provided near a first side edge of the base station body, a second sensing device provided near a second side edge of the base station body, and a third sensing device provided near a predetermined position on the base station body, and acquiring a second relative positional relationship between the cleaning assembly and the base station body through a sensing device and a signal transmitting device provided on the base station body and the cleaning assembly, respectively; determining that the cleaning assembly has moved to a first side of the base station body based on a first sensing device sensing the signal transmitting device; determining that the cleaning assembly has moved to a second side of the base station body based on a second sensing device sensing the signal transmitting device; 10. The cleaning method of claim 9, further comprising determining that the cleaning assembly has moved to the predetermined position on the base station body based on a third sensing device sensing the signal transmitting device.

11. The base station further comprises a cleaning basin located below the cleaning assembly, and the cleaning method comprises: acquiring liquid level information in the cleaning tank; 2. The cleaning method according to claim 1, further comprising the step of controlling an operating state of the liquid ejection device based on the liquid level information.

12. A cleaning device used in a base station used in cooperation with a cleaning robot, comprising: The base station includes a base station body, a cleaning assembly, and a liquid dispensing device, the cleaning assembly is movably provided on the base station body, and includes a first cleaning member and a second cleaning member arranged side by side along a moving direction of the cleaning assembly relative to the base station body, the first cleaning member and the second cleaning member are for interfering with a cleaning system of the cleaning robot to remove foreign matter on the cleaning system, cleaning liquid discharged from the liquid dispensing device is used to clean the cleaning system, and the cleaning device is a first acquisition module for acquiring first relative position information of the first cleaning member and the second cleaning member; a second acquisition module for acquiring a direction of movement of the cleaning assembly relative to the base station body; a first processing module for controlling an operating state of the cleaning assembly and an operating state of the liquid dispensing device based on the first relative position information and the movement direction.

13. a processor and a memory; the memory is used to store operating instructions; A base station, characterized in that the processor is used to call the operating instructions and to carry out the cleaning method according to any one of claims 1 to 11.

14. A computer-readable storage medium on which a computer program is stored, the computer-readable storage medium being characterized in that, when the program is executed by a processor, the computer-readable storage medium performs the cleaning method according to any one of claims 1 to 11.

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