Cleaning device and its control method, device, base station, system and storage medium

Abstract

A cleaning device (100) and a control method, device, system, and storage medium, the cleaning system comprising the cleaning device (100) and a first base station (200) for use in cooperation with the cleaning device (100), the cleaning device (100) including a first energy storage unit (110) and a first electrical connection assembly (120) connected to the first energy storage unit (110), the first base station (200) including a second electrical connection assembly (210) and a power consumption assembly (220) connected to the second electrical connection assembly (210), when the cleaning device (100) is docked with the first base station (200) such that the first electrical connection assembly (120) is coupled to the second electrical connection assembly (210), the first energy storage unit (110) supplies power to the power consumption assembly (220) of the first base station (200) via the first electrical connection assembly (120) and the second electrical connection assembly (210). When the cleaning device (100) is docked with the first base station (200), it can supply the electrical energy stored in itself to the first base station (200), and the first base station (200) does not need to search for a socket to draw power, so the placement location of the first base station (200) becomes more flexible and it can be installed and used more easily.

Description

Technical Field

[0001] This application relates to the technical field of cleaning, and particularly to a cleaning device, its control method, device, base station, system, and storage medium.

Background Art

[0002] With the continuous improvement of people's requirements for hygiene maintenance and the continuous improvement of hygiene maintenance technology, cleaning devices such as cleaning robots are becoming increasingly popular. For example, the cleaning device may be used for cleaning and maintenance of various hard floors such as floorboards, tiles, and marble. In related technologies, the cleaning device is generally used in cooperation with a base station. The base station can perform maintenance operations such as charging and cleaning on the cleaning device, has a relatively large volume, needs to be connected to a power source, and the installation position is not flexible.

Summary of the Invention

Problems to be Solved by the Invention

[0003] This application provides a cleaning device, its control method, device, base station, system, and storage medium that can at least facilitate the installation and use of a cleaning system.

Means for Solving the Problems

[0004] In a first aspect, an embodiment of this application provides a cleaning system, and the cleaning system includes: A cleaning device for cleaning a surface to be cleaned, including a first energy storage unit and a first electrical connection assembly connected to the first energy storage unit; A first base station for use in cooperation with the cleaning device, including a second electrical connection assembly, and the first base station is configured to: Be in fluid communication with an external water source device to send liquid from the external water source device into the cleaning system, and / or Be in fluid communication with an external waste discharge device to send out the dirt in the cleaning system to the external waste discharge device. When the cleaning device docks with the first base station such that the first electrical connection assembly is coupled to the second electrical connection assembly, the first energy storage unit can supply power to the first base station via the first and second electrical connection assemblies.

[0005] In a second aspect, an embodiment of the present application provides a cleaning system, the cleaning system is A cleaning device for cleaning a surface to be cleaned, comprising a first energy storage unit and a first electrical connection assembly connected to the first energy storage unit, For use in cooperation with the cleaning device, the system comprises a first base station including a second electrical connection assembly and a power consumption assembly connected to the second electrical connection assembly, When the cleaning device docks with the first base station such that the first electrical connection assembly is coupled to the second electrical connection assembly, the first energy storage unit supplies power to the first base station via the first and second electrical connection assemblies.

[0006] In a third aspect, an embodiment of the present application provides a cleaning device for cleaning a surface to be cleaned, the cleaning device comprising a first energy storage unit and a first electrical connection assembly connected to the first energy storage unit, When the cleaning device docks with the first base station such that the first electrical connection assembly is coupled to the second electrical connection assembly of the first base station, the first energy storage unit supplies power to the first base station via the first and second electrical connection assemblies.

[0007] In a fourth aspect, an embodiment of the present application provides a base station for use in cooperation with a cleaning device, and includes a second electrical connection assembly, the base station, The system is in fluid communication with an external water source to supply liquid from the water source to the cleaning system, and / or The system is configured to communicate fluidly with an external waste discharge device so as to send the waste in the cleaning system to the waste discharge device. When the base station docks with the cleaning device such that the second electrical connection assembly is coupled to the first electrical connection assembly of the cleaning device, the base station is characterized in that it acquires the electrical energy output by the cleaning device through the first electrical connection assembly via the second electrical connection assembly.

[0008] In a fifth aspect, an embodiment of the present application provides a base station for use in cooperation with a cleaning device, the base station comprising a photovoltaic power generation device and a power consumption assembly connected to the photovoltaic power generation device, The aforementioned photovoltaic power generation device is for converting solar energy into electrical energy and supplying it to the aforementioned power consumption assembly.

[0009] In a sixth aspect, an embodiment of the present application provides a control method for a cleaning system, the control method being applied to the cleaning system, and the method is When the cleaning device docks with the first base station such that the first electrical connection assembly of the cleaning device is coupled to the second electrical connection assembly of the first base station, the first energy storage unit of the cleaning device controls the first electrical connection assembly and / or the second electrical connection assembly so that the first electrical connection assembly and the second electrical connection assembly supply power to the first base station.

[0010] In the seventh aspect, an embodiment of the present application provides a control method for a cleaning system, the control method being applied to a cleaning system, the cleaning system comprising a cleaning device, a first base station and a second base station, the second base station being connectable to a commercial power supply, The aforementioned method, When the state of the cleaning device satisfies the water circulation conditions, the cleaning device is controlled to move to the first base station and dock with the first base station, or the user is prompted to move the cleaning device to the first base station and dock with the first base station, and the first base station is controlled to perform a water circulation operation on the cleaning device. If the device state of the cleaning device satisfies the charging conditions, the system includes controlling the cleaning device to move to the second base station and dock with the second base station, or prompting the user to move the cleaning device to the second base station and dock with the second base station, in order to have the second base station charge the cleaning device.

[0011] In the eighth aspect, an embodiment of the present application provides a control device, the control device including a memory and a processor, The aforementioned memory is for storing computer programs, The processor is for executing the computer program, and when executing the computer program, The steps of the control method for the cleaning device described above are implemented.

[0012] In the ninth aspect, an embodiment of the present application provides a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the processor is made to perform the steps of the above method. [Effects of the Invention]

[0013] Embodiments of the present application provide a cleaning device and a control method, apparatus, base station, system and storage medium thereof, wherein the cleaning system comprises at least a cleaning device for cleaning a surface to be cleaned and a first base station for use in cooperation with the cleaning device, the cleaning device includes a first energy storage unit and a first electrical connection assembly connected to the first energy storage unit, the first base station includes a second electrical connection assembly and a power consumption assembly connected to the second electrical connection assembly, and when the cleaning device docks with the first base station such that the first electrical connection assembly is coupled to the second electrical connection assembly, the first energy storage unit supplies power to the first base station via the first and second electrical connection assemblies. When the cleaning device docks with the first base station, it can supply the electrical energy stored within itself to the first base station, the first base station does not need to search for a socket to draw power, and the first base station does not need to install an AC-DC (ACDC) adapter, resulting in relatively low costs, reduced occupied space and weight, and thus greater flexibility in the placement of the first base station and easier installation and use.

[0014] It should be understood that the above general description and the following detailed description are illustrative and interpretive, and do not limit the disclosure of the embodiments of this application. [Brief explanation of the drawing]

[0015] To more clearly explain the technical concept of the embodiments of this application, the drawings necessary for describing the embodiments are briefly described below. However, the drawings described below are, of course, just examples of embodiments of this application, and those skilled in the art can obtain other drawings based on these without requiring any creative effort. [Figure (1)] Figure (1) is a schematic diagram showing a cleaning device in a cleaning system related to the relevant technology traveling to a base station. [Figure (2)] Figure (2) is a schematic diagram showing a base station related to the technology connected to an external water distribution pipe and a sewage discharge pipe. [Figure 1]FIG. 1 is a schematic block diagram of a cleaning system according to an embodiment of the present application. [Figure 2] FIG. 2 is a perspective schematic view of a cleaning robot according to an embodiment of the present invention. [Figure 3] FIG. 3 is a bottom view of the cleaning robot shown in FIG. 2. [Figure 4] FIG. 4 is another structural schematic view of the cleaning robot shown in FIG. 2. [Figures 5a-5c] FIGS. 5a to 5c are schematic diagrams of a cleaning device docking with a first base station in some embodiments. [Figure 6] FIG. 6 is a schematic block diagram of a first base station in one embodiment. [Figure 7] FIG. 7 is a schematic block diagram of a cleaning device in another embodiment. [Figure 8] FIG. 8 is a schematic block diagram of a cleaning system in another embodiment. [Figure 9] FIG. 9 is a schematic block diagram of a first base station in yet another embodiment. [Figure 10] FIG. 10 is a schematic block diagram of a first base station in still another embodiment. [Figure 11-14] FIGS. 11 to 14 are schematic block diagrams of a cleaning system in some other embodiments. [Figure 15-16] FIGS. 15 to 16 are schematic flowcharts of a control method for a cleaning robot in some embodiments. [Figure 17] FIG. 17 is a schematic block diagram of a control device of a cleaning system according to an embodiment of the present application.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, referring to the drawings of the embodiments of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described. Of course, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, any other embodiments obtained by those skilled in the art without inventive labor all belong to the protection scope of the present application.

[0017] The flowcharts shown in the diagrams are merely illustrative and do not necessarily have to include all content and operations / steps, nor do they necessarily have to be performed in the order they are described. For example, certain operations / steps may be further broken down, combined, or partially integrated, and therefore the actual execution order may vary depending on the actual situation.

[0018] Referring to Figures (1) and (2), Figure (1) is a schematic diagram showing a cleaning device 10 traveling to a base station 20 in a cleaning system relating to the related technology, and Figure (2) is a schematic diagram showing a state in which the base station 20 relating to the related technology is connected to an external water distribution pipe A and an external waste discharge pipe B. In the related technology, the cleaning device 10, such as a cleaning robot, is generally used in cooperation with the base station 20, and the base station 20 can perform operations on the cleaning device 10 such as charging, cleaning, purified water replenishment, and wastewater discharge. The base station 20 is connected to a socket by a plug 21 and obtains electrical energy from a commercial power source. The base station 20 may be connected to an external water source device, such as a water supply source, by an external water distribution pipe A, and may be connected to an external waste discharge device, such as a sewer, by an external waste discharge pipe B. The base station 20 is provided with a purified water chamber for temporarily storing purified water from the external water source device and a recovery chamber for temporarily storing waste to be discharged to the external waste discharge device. A power supply member is provided on the base station 20, and a charging member is provided on the cleaning device 10. When the cleaning device 10 stays in a predetermined position on the base station 20, the charging member of the cleaning device 10 comes into contact with the power supply member of the base station 20, thereby causing the base station 20 to charge the battery of the cleaning device 10. Furthermore, the base station 20 controls the opening and closing of water channels and the flow rate by supplying electrical energy obtained from the commercial power source to a power consumption assembly 22 on the base station 20, such as a valve / pump.

[0019] The cleaning device 10 may be used to wipe the ground. After the cleaning device 10 has wiped the floor of the room for a predetermined period and the wiping material has become dirty, the cleaning device 10 travels to the base station 20. The cleaning device 10 enters the base station 20 through a groove entrance on the base station 20 and stays at a predetermined location on the base station 20. At this time, the wiping material of the cleaning device 10 is housed above the cleaning groove, and the base station 20, through the action of valves and pumps, supplies cleaning water from an external water source (e.g., a faucet) to the cleaning groove via a water distribution pipe to clean the wiping material, and also discharges the dirty water used to clean the wiping material from the cleaning groove to an external waste discharge device (e.g., a drain) via a waste discharge pipe.

[0020] Because it needs to be connected to both a power source and a water source simultaneously, the base station 20 is generally installed in a location relatively close to the socket (for example, a living room), and further connected to a toilet / veranda faucet or drain by a relatively long water pipe, requiring higher requirements for the installation environment, and therefore it is not easy for users to install. The inventors of the present invention have, through creative work, provided a solution that allows the base station 20 to be easily installed, and the solution includes at least a base station 20 that does not need to be connected to an AC socket to draw power, and a cleaning device 10 that can supply power to the base station 20, and has improved a cleaning system comprising the base station 20 and the cleaning device 10, as well as a control method for the cleaning system, in order to facilitate the installation and use of the cleaning system.

[0021] Hereinafter, several embodiments of the present application will be described in detail with reference to the drawings. The embodiments and features described below may be combined with each other, as long as they do not conflict.

[0022] Referring to Figure 1, which is a schematic block diagram of a cleaning system according to an embodiment of the present application, the cleaning system comprises a cleaning device 100 and a first base station 200, and as can be understood, the embodiment of the present application further provides the cleaning device 100 and further provides the first base station 200.

[0023] As shown in Figure 1, the cleaning system according to the embodiment of the present invention comprises a cleaning device 100 and a first base station 200, and the first base station 200 is intended to be used in cooperation with the cleaning device 100.

[0024] As an option, the first base station 200 is for performing at least one of the following tasks: supplying purified water to the cleaning device 100, discharging wastewater or solid waste stored in the cleaning device 100, or cleaning or replacing the cleaning components of the cleaning device 100.

[0025] The cleaning device 100 is for cleaning the surface to be cleaned. For example, the cleaning device 100 may be a handheld cleaning device 100, such as a handheld vacuum cleaner or handheld wiping machine, or it may be an automatic cleaning device 100, such as a cleaning robot or a cleaning vehicle. For the sake of explanation, the embodiments of this application will be mainly described using a cleaning robot as an example.

[0026] Figure 2 is a schematic perspective view of a cleaning robot 100 according to an embodiment of the present invention, Figure 3 is a bottom view of the cleaning robot 100 shown in Figure 2, and Figure 4 is another schematic structural view of the cleaning robot 100 shown in Figure 2.

[0027] As shown in Figures 2 to 4, the cleaning robot 100 includes a robot body 101, a drive motor 102, a sensor unit 103, a controller 104, an energy storage unit 110, a travel unit 106, a memory 107, a communication unit 108, a robot interaction unit 109, a cleaning member 105, and a charging member 111, etc.

[0028] The cleaning member 105 may be for cleaning the ground, and there may be one or more cleaning members 105. The cleaning member 105 includes, for example, a mop. The mop includes, but is not limited to, at least one of the following: a rotary mop, a flat mop, a drum-type mop, a crawler-type mop, etc. The mop is installed at the bottom of the robot body 101, and may be specifically located behind the bottom of the robot body 101. Taking the case where the cleaning member is a rotary mop as an example, a drive motor 102 is provided inside the robot body 101, two rotating shafts extend from the bottom of the robot body 101, and the mop is fitted onto the rotating shafts. The drive motor 102 can drive the rotating shafts to rotate, which in turn drives the rotating shafts to rotate the mop.

[0029] The travel unit 106 is a component related to the movement of the cleaning robot 100, and includes a drive wheel 1061 and a universal wheel 1062. The universal wheel 1062 and the drive wheel 1061 cooperate to enable the steering and movement of the cleaning robot 100.

[0030] The controller 104 is installed inside the robot body 101 and is used to control the cleaning robot 100 to perform specific operations. The controller 104 may be, for example, a central processing unit (CPU) or a microprocessor. As shown in Figure 3, the controller 104 controls components such as the energy storage unit 110, memory 107, drive motor 102, travel unit 106, sensor unit 103, robot interaction unit 109, and cleaning member 105 by being electrically connected to these components.

[0031] The energy storage unit 110 is installed inside the robot body 101 and is intended to supply power to the cleaning robot 100.

[0032] A charging member 111 is further provided on the robot body 101, and this charging member 111 is for charging the energy storage unit 110 of the cleaning robot 100 by obtaining power from an external device.

[0033] Memory 107 is installed in the robot body 101, and a program is stored in memory 107. When the program is executed by the controller 104, the corresponding operation is performed. Memory 107 is also used to store parameters used by the cleaning robot 100. Memory 107 includes, but is not limited to, magnetic disk memory, compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory), optical memory, etc.

[0034] The communication unit 108 is installed on the robot body 101 and is used to enable the cleaning robot 100 to communicate with external devices. The communication unit 108 includes, but is not limited to, a Wireless-Fidelity (WI-FI) communication module 1081 and a short-range communication module 1082. The cleaning robot 100 can communicate with a terminal by connecting to a WI-FI router via the WI-FI communication module 1081. The cleaning robot 100 communicates with a base station via the short-range communication module 1082. The base station is a cleaning device used in cooperation with the cleaning robot 100.

[0035] The sensor unit 103 installed on the robot body 101 includes various types of sensors, such as a laser radar 1031, a collision sensor 1032, a distance sensor 1033, a fall sensor 1034, a counter 1035, and a gyroscope 1036.

[0036] The robot dialogue unit 109 is installed on the robot body 101, and the user can interact with the cleaning robot 100 using the robot dialogue unit 109. The robot dialogue unit 109 includes components such as a switch button 1091 and a speaker 1092. The user can control the cleaning robot 100 to start or stop operation by pressing the switch button 1091. The cleaning robot 100 can play audible prompts to the user using the speaker 1092.

[0037] It should be understood that the cleaning robot 100 described in the embodiments of the present invention is merely one specific example and does not specifically limit the cleaning robot 100 of the embodiments of the present invention, and the cleaning robot 100 of the embodiments of the present invention may be in yet another specific form. In other forms, the cleaning device may have more or fewer components than the cleaning robot 100 shown in Figure 1, for example, the cleaning device may include a water purification chamber for storing purified water and / or a collection chamber for storing waste, the cleaning device may wet a wiping member by transporting the purified water stored in the water purification chamber to the wiping member and / or the ground, and clean the ground with the wet wiping member, the cleaning device may further collect waste from the ground or wastewater containing waste into the collection chamber, the cleaning device may further wash the wiping member by transporting the purified water stored in the water purification chamber to the wiping member, and the wastewater containing waste that has washed the wiping member may be transported into the collection chamber.

[0038] As shown in Figure 1, the cleaning device 100 includes a first energy storage unit 110 and a first electrical connection assembly 120 connected to the first energy storage unit 110. For example, the first energy storage unit 110 may include at least one of a battery, a supercapacitor, a flywheel energy storage unit, etc., but is not limited to these, as long as it is possible to supply power to the cleaning robot 100 by storing power acquired from an external device by the charging member 111 of the cleaning robot 100. The first electrical connection assembly 120 is connected to the first energy storage unit 110, thereby enabling the first electrical connection assembly 120 and the first energy storage unit 110 to transmit energy in the form of electrical energy.

[0039] As shown in Figure 1, the first base station 200 includes a second electrical connection assembly 210, which receives electrical energy from the first electrical connection assembly 120 when the cleaning device 100 docks with the first base station 200 such that the first electrical connection assembly 120 is coupled to the second electrical connection assembly 210, thereby enabling the first energy storage unit 110 of the cleaning device 100 to supply power to the first base station 200 via the first electrical connection assembly 120 and the second electrical connection assembly 210.

[0040] For example, the first base station 200 may, and is not limited to, perform at least one of the following tasks using electrical energy obtained from the cleaning device 100: supplying purified water to the cleaning device 100, discharging wastewater or solid waste stored in the cleaning device 100, or cleaning or replacing the cleaning components of the cleaning device 100.

[0041] In some embodiments, the first base station 200 includes a power consumption assembly 220.

[0042] For example, as shown in Figure 5a, the power consumption assembly 220 is connected to the second electrical connection assembly 210. When the cleaning device 100 docks with the first base station 200 so as to connect the first electrical connection assembly 120 to the second electrical connection assembly 210, the first energy storage unit 110 can supply power to the power consumption assembly 220 of the first base station 200 via the first electrical connection assembly 120 and the second electrical connection assembly 210. At this time, the second electrical connection assembly 210 acquires the electrical energy output by the first electrical connection assembly 120 and supplies the electrical energy to the power consumption assembly 220.

[0043] In some embodiments, the first base station 200 further includes a second energy storage unit 240 which can receive and store electrical energy from the second electrical connection assembly 210 and supply power to the power consumption assembly 220. For example, the second energy storage unit 240 may include, but is not limited to, at least one of a battery, a supercapacitor, a flywheel energy storage unit, and the like.

[0044] Exemplary, as shown in Figure 5b, the second energy storage unit 230 is connected to the second electrical connection assembly 210 and the power consumption assembly 220, respectively. When the cleaning device 100 docks with the first base station 200 such that the first electrical connection assembly 120 is coupled to the second electrical connection assembly 210, the first energy storage unit 110 can supply power to the second energy storage unit 230 of the first base station 200 via the first electrical connection assembly 120 and the second electrical connection assembly 210, thereby enabling the second energy storage unit 230 to store electrical energy from the cleaning device 10 and supply power to the power consumption assembly 220.

[0045] Exemplary, as shown in Figure 5c, the second energy storage unit 230 is connected to the second electrical connection assembly 210 and the power consumption assembly 220, respectively, and the power consumption assembly 220 is connected to the second electrical connection assembly 210. When the cleaning device 100 docks with the first base station 200 such that the first electrical connection assembly 120 is coupled to the second electrical connection assembly 210, the first energy storage unit 110 can supply power to the second energy storage unit 230 of the first base station 200 via the first electrical connection assembly 120 and the second electrical connection assembly 210, thereby enabling the second energy storage unit 230 to store electrical energy from the cleaning device 10 and supply power to the power consumption assembly 220. Alternatively, the first energy storage unit 110 can also directly supply power to the power consumption assembly 220 of the first base station 200 via the first electrical connection assembly 120 and the second electrical connection assembly 210. As can be understood, the electrical energy of the power consumption assembly 220 may be supplied by the second energy storage unit 230, or by the second electrical connection assembly 210, or a portion may be supplied by the second energy storage unit 230 and a portion by the second electrical connection assembly 210.

[0046] In this way, power can be supplied to the first base station 200 by the cleaning device 100, and the first base station does not need to search for a socket to draw power. Therefore, the placement of the first base station becomes more flexible and it can be installed and used more easily. As an option, the cleaning device 100 may move to the first base station 200 on its own and dock with it, or the cleaning device 100 may be moved to the first base station 200 by the user and docked with it.

[0047] What needs to be explained is that when the cleaning device 100 docks with the first base station 200, it means that the cleaning device 100 stays at a predetermined location on the first base station 200. At this time, the first electrical connection assembly 120 and the second electrical connection assembly 210 may be contact-coupled to achieve power transmission. For example, the conductor of the first electrical connection assembly 120 (e.g., electrode sheet) and the conductor of the second electrical connection assembly 210 (e.g., electrode sheet) may be in contact to transmit electrical energy, or the first electrical connection assembly 120 and the second electrical connection assembly 210 may be non-contact-coupled to achieve power transmission. For example, the distance between the wireless power transmission member (e.g., coil) of the first electrical connection assembly 120 and the wireless power transmission member (e.g., coil) of the second electrical connection assembly 210 is within a predetermined range in which wireless power transmission can be realized. The wireless power transmission method, i.e., non-contact power transmission, may be electromagnetic induction wireless power transmission, magnetic resonance wireless power transmission, electric field-coupled wireless power transmission, microwave power transmission, etc.

[0048] In some embodiments, referring to Figure 6, the first base station 200 is configured to be in fluid communication with the external water source 201 to supply liquid from the external water source 201 to the cleaning system, and / or to be in fluid communication with the external waste discharge device 202 to discharge waste in the cleaning system to the external waste discharge device 202.

[0049] In some embodiments, as shown in Figure 6, the power consumption assembly 220 of the first base station 200 includes a water channel control member 221. For example, the water channel control member 221 is for transporting liquid from an external water source device 201 to the cleaning system, and / or for transporting waste in the cleaning system to an external waste discharge device 202. Optionally, the external water source device 201 includes, but is not limited to, a municipal water source other than the first base station 200 (e.g., a water tap), and the external waste discharge device 202 includes, but is not limited to, an external sewer other than the first base station 200.

[0050] For example, the first base station 200 can be in fluid communication with an external water source device 201 and / or an external waste discharge device 202, where fluid communication means that liquid can flow between the first base station 200 and the external water source device 201 and / or the external waste discharge device 202. For example, the water channel control member 221 is for transporting liquid from the external water source device 201 to the cleaning device 100 and / or the first base station 200, and / or the water channel control member 221 is for transporting waste from the cleaning device 100 and / or the first base station 200 to the external waste discharge device 202.

[0051] Exemplary, as shown in Figure 6, the first base station 200 includes a cleaning area 230. For example, the cleaning area 230 may be used for cleaning the cleaning members (e.g., wiping members or brushing members) of the cleaning device 100, and / or for cleaning the traveling units (e.g., wheels) of the cleaning device 100, and / or for self-cleaning of the first base station 200, and is not limited to these. For the sake of explanation, the embodiments of this application will mainly be described as an example in which the cleaning area 230 is used for cleaning the wiping members of the cleaning device 100. For example, the cleaning area 230 of the first base station 200 includes a cleaning groove, and cleaning ribs are installed in the cleaning groove, and the cleaning ribs can squeegee-clean the wiping members of the cleaning device 100.

[0052] For example, the water channel control member 221 is for transporting liquid from the external water source device 201 to the cleaning area 230 of the first base station 200. Exemplarily, as shown in Figure 6, the first base station 200 includes a liquid supply channel 231 that fluidly communicates the external water source device 201 and the cleaning area 230, and the water channel control member 221 includes a pump and / or valve provided in the liquid supply channel 231, and the pump and / or valve is for controlling the supply of liquid from the external water source device 201 to the cleaning area 230 of the first base station 200 via the liquid supply channel 231. Supplying water to the cleaning area 230 may also mean supplying water to the cleaning area 230, or spraying water directly onto the components to be cleaned within the cleaning area 230, and the embodiments of this application are not limited thereto.

[0053] For example, the water channel control member 221 is for transporting waste from the cleaning area 230 to the external waste discharge device 202. The cleaning member is cleaned with purified water transported to the cleaning area 230 to obtain dirty water containing waste, and the water channel control member 221 may be controlled to transport the waste from the cleaning area 230 to the external waste discharge device 202. Exemplarily, as shown in Figure 6, the first base station 200 includes a drainage channel 232 that fluidly communicates the cleaning area 230 and the external waste discharge device 202, and the water channel control member 221 includes a pump and / or valve provided in the drainage channel 232, and the pump and / or valve is for controlling the transport of waste from the cleaning area 230 to the external waste discharge device 202 via the drainage channel 232.

[0054] As shown in Figure 6, by controlling the valves and / or pumps, the flow of liquid between the first base station 200 and the external water source device 201 and / or the external waste discharge device 202 can be controlled.

[0055] Exemplary, in some embodiments, as shown in Figure 7, the cleaning device 100 includes a water purification chamber 130 for storing purified water and / or a recovery chamber 140 for storing waste.

[0056] For example, the first base station 200 includes a fluid supply channel 231 that fluidly connects the external water source device 201 and the water purification chamber 130, and the water channel control member 221 includes a pump and / or valve provided in the fluid supply channel 231, the pump and / or valve for supplying liquid from the external water source device 201 to the water purification chamber 130 of the cleaning device 100 via the fluid supply channel 231.

[0057] For example, the first base station 200 includes a drainage channel 232 that fluidly connects the recovery chamber 140 and the external waste discharge device 202, and the waterway control member 221 includes a pump and / or valve provided in the drainage channel 232, the pump and / or valve being for transporting waste from the recovery chamber 140 of the cleaning device 100 to the external waste discharge device 202 via the drainage channel 232.

[0058] Illustratively, referring to Figures 6 and 7, the first base station 200 includes a cleaning area 230, and the cleaning device 100 includes a water purification chamber 130 for storing purified water. The first base station 200 includes a fluid supply channel 231 that fluidly connects the external water source device 201 and the cleaning area 230, the fluid supply channel 231 further fluidly connects the external water source device 201 and the water purification chamber 130, and the pump and / or valve further delivers liquid from the external water source device 201 to the water purification chamber 130 of the cleaning device 100 via the fluid supply channel 231.

[0059] Referencing exemplary Figures 6 and 7, the first base station 200 includes a cleaning area 230, and the cleaning device 100 further includes a recovery chamber 140 for storing waste. The first base station 200 includes a drainage channel 232 that fluidly connects the cleaning area 230 to an external waste discharge device 202, the drainage channel 232 further fluidly connects the recovery chamber 140 to the external waste discharge device 202, and the pump and / or valve further send the waste in the recovery chamber 140 of the cleaning device 100 to the external waste discharge device 202 via the drainage channel 232.

[0060] As can be understood, the liquid supply channel 231 and the drainage channel 232 include, but are not limited to, liquid passages, conduits, joints, cavities, etc., provided in the first base station 200. Alternatively, the first base station 200 may be in fluid communication with an external water source device 201 and / or an external waste discharge device 202 by an external conduit, in which case the liquid supply channel 231 and the drainage channel 232 are in communication with the external conduit and the water purification chamber 130 of the cleaning area 230 / cleaning device 100 / recovery chamber 140 of the cleaning device 100, respectively, thereby allowing liquid to flow between the cleaning area 230 / water purification chamber 130 of the cleaning device 100 / recovery chamber 140 of the cleaning device 100 and the external water source device 201 and / or external waste discharge device 202. Of course, this is not the only option, and a pipeline does not necessarily have to be installed between the first base station 200 and the external water source device 201 and / or the external waste discharge device 202. For example, the first base station 200 may be installed above the external waste discharge device 202 (e.g., a drain outlet), in which case the waste from the first base station 200 may be discharged directly to the external waste discharge device 202 via the drainage channel 232.

[0061] For example, the cleaning device 100 can wet-clean the ground by transporting purified water stored in the purified water chamber 130 to the wiping member and / or the ground, and the cleaning device 100 may further collect the wastewater generated during the cleaning process in the recovery chamber 140, and as an option, the cleaning device 100 may further wash the wiping member by transporting purified water stored in the purified water chamber 130 to the wiping member, and the wastewater used to wash the wiping member may be transported to the recovery chamber 140.

[0062] When the first electrical connection assembly 120 is connected to the second electrical connection assembly 210, the first energy storage unit 110 of the cleaning device 100 supplies power to the water channel control member 221 of the first base station 200 via the first electrical connection assembly 120 and the second electrical connection assembly 210 so that the water channel control member 221 can transport liquid to the purified water chamber 130 of the cleaning device 100 and / or transport waste in the recovery chamber 140 of the cleaning device 100 to the external waste discharge device 202. As a result, the electrical energy supplied by the cleaning device 100 to the first base station 200 allows the first base station 200 to supply purified water to the cleaning device 100 and / or discharge the wastewater stored in the cleaning device 100.

[0063] As can be understood, in the embodiments of the present invention, the electrical energy of the first base station 200 is derived from the cleaning device 100, and there is no need to connect to a socket to draw power, thus allowing for greater flexibility in installation location. If fluid communication with an external water source and / or external waste discharge device is required, the first base station 200 may be installed nearby, in the vicinity of the external water source and / or external waste discharge device, for example, in an area where a municipal water source and / or drain is installed, such as a toilet, kitchen, or veranda. Furthermore, there is no need to install an AC-DC (AC / DC) adapter, nor is there a need to install a water purification chamber for temporarily storing purified water and / or a wastewater chamber for temporarily storing wastewater near the water source and / or drain, thus allowing the first base station to be made smaller and thinner, occupying less or no additional space in the living environment (for example, the small and thin first base station may be installed directly in the space below a washbasin, utilizing existing space in the living environment), thus allowing for greater flexibility in the placement of the first base station and easier installation and use.

[0064] In some embodiments, referring to Figure 8, the cleaning system further comprises a second base station 300, the second base station 300 being connectable to a commercial power source, and the second base station 300 is for at least charging the cleaning device 100.

[0065] Specifically, the second base station 300 includes a third electrical connection assembly 310. When the cleaning device 100 docks with the second base station 300 such that the first electrical connection assembly 120 of the cleaning device 100 is connected to the third electrical connection assembly 310 of the second base station 300, the second base station 300 supplies electrical energy from the commercial power supply to the first energy storage unit 110 of the cleaning device 100 via the third electrical connection assembly 310 and the first electrical connection assembly 120. The first electrical connection assembly 120 of the cleaning device 100 supplies the electrical energy output by the second base station 300 via the third electrical connection assembly 310 to the first energy storage unit 110 of the cleaning device 100, thereby enabling charging of the cleaning device 100. What needs to be explained is that the method by which the cleaning device 100 docks with the second base station 300 such that the first electrical connection assembly 120 of the cleaning device 100 is connected to the third electrical connection assembly 310 of the second base station 300 is the same as the method by which the cleaning device 100 docks with the first base station 200 such that the first electrical connection assembly 120 is connected to the second electrical connection assembly 210, and a detailed explanation is omitted here.

[0066] By having the first base station circulate water to the cleaning device, the second base station may eliminate the water circulation assembly. Thus, the structure of the second base station is simplified, its dimensions are reduced, and costs are lowered. For example, the second base station may be a simple charging pile, which can be easily installed and used to charge the cleaning device. The cleaning device can then use the electrical energy it stores to supply power to the first base station. Therefore, the first base station does not need to search for a socket to draw power, and its installation location becomes more flexible. If fluid communication with an external water source and / or external waste discharge device is required, the first base station 200 may be installed near the external water source and / or external waste discharge device, for example, in an area where a municipal water source and / or drain is installed, such as a toilet, kitchen, or veranda. Furthermore, there is no need to install an AC-DC (AC / DC) adapter, nor is there a need to install a water purification chamber for temporarily storing purified water and / or a wastewater chamber for temporarily storing wastewater near the water source and / or drain. Therefore, the first base station can be made smaller and thinner, occupying less or no additional space in the living environment (for example, the small and thin first base station can be directly installed in the space below the washbasin, utilizing existing space in the living environment). Consequently, the placement of the first base station becomes more flexible, and installation and use become easier. This makes the installation and use of the entire cleaning system much easier.

[0067] In some embodiments, the cleaning system further comprises a control device 400. Optionally, the device controller of the cleaning device 100 and / or the base station controller of the first base station 200 and / or the base station controller of the second base station 300 may independently or collaboratively constitute the control device 400. For example, the control device 400 shown in Figure 17 may be installed in the cleaning device 100, or in the first base station 200, or in the second base station 300. Of course, it is not limited to these, and for example, the control device 400 may be a device other than the cleaning device 100, the first base station 200, or the second base station 300, such as a smart home terminal or a central control unit.

[0068] The embodiments of the present invention further provide a method for controlling a cleaning system, and the control device 400 may be for implementing the steps of the method for controlling a cleaning robot according to the embodiments of the present invention.

[0069] For example, when the cleaning device 100 docks with the first base station 200 such that the first electrical connection assembly 120 of the cleaning device 100 is coupled to the second electrical connection assembly 210 of the first base station 200, the control device 400 can control the first electrical connection assembly 120 and / or the second electrical connection assembly 210 so that the first energy storage unit 110 of the cleaning device 100 supplies power to the first base station 200 via the first electrical connection assembly 120 and the second electrical connection assembly 210.

[0070] Exemplary, the method may further include controlling the operation of the power consumption assembly 220 of the first base station 200. For example, controlling the waterway control member 221 to transport liquid from an external water source device 201 to a cleaning system and / or to transport waste in the cleaning system to an external waste discharge device 202.

[0071] In some embodiments, when the device state of the cleaning device 100 satisfies the water circulation conditions, the cleaning device 100 may be controlled to move to the first base station 200 and dock with the first base station 200, and the first base station 200 may be controlled to perform a water circulation operation on the cleaning device 100, for example the water channel control member 221 may be controlled to transport liquid from an external water source device 201 to the cleaning system, and the first base station 200 may be controlled to transport waste in the cleaning system to an external waste discharge device 202.

[0072] Water circulation operations include, but are not limited to, at least one of the following: water addition, drainage, and cleaning (including mopping and wheel cleaning).

[0073] For example, the state of the cleaning device 100 satisfying the water circulation conditions includes at least one of the following: the amount of water in the purified water chamber 130 of the cleaning device 100 is less than or equal to a first water volume threshold; the amount of water in the recovery chamber 140 of the cleaning device 100 is greater than or equal to a second water volume threshold; the cumulative amount of operation of the cleaning device 100 is greater than or equal to an operation volume threshold; and the device has received a water circulation command triggered by user operation. For example, if there is relatively little purified water remaining in the purified water chamber 130 and / or a relatively large amount of waste in the recovery chamber 140, the base station may perform a water addition operation on the cleaning device 100 and / or transport the waste in the cleaning device 100 to the external waste discharge device 202. For example, if the cleaning device 100 has accumulated enough water after water addition to clean a sufficient area / length of ground and / or has accumulated enough waste when cleaning the surface to be cleaned, the base station may perform maintenance on the cleaning device 100, such as cleaning the wiping members or adding water. For example, the control device 400 may include a human-machine interaction device such as a touch panel, which can detect user operations and acquire water circulation commands triggered by user operations. Alternatively, the control device 400 may communicate with a user's terminal device such as a mobile phone, which can acquire water circulation commands triggered by user operations. Upon receiving such a water circulation command, the base station may perform a water circulation operation on the cleaning device 100.

[0074] For example, if the cleaning device 100's state satisfies the water circulation conditions and the power of the cleaning device 100's first energy storage unit 110 is equal to or greater than a first power threshold, the cleaning device 100 is controlled to move to the first base station 200 and dock with it. The cleaning device 100 is controlled to move to the first base station 200 only if the power of the first energy storage unit 110 is sufficient to supply the power necessary to maintain the cleaning device 100 by the power consumption assembly of the first base station performing a charging operation, thereby ensuring the normal operation of the first base station.

[0075] For example, if the first energy storage unit 110 controls the first electrical connection assembly 120 and / or the second electrical connection assembly 210 to supply power to the first base station 200, the second energy storage unit 240 receives and stores electrical energy from the second electrical connection assembly 210.

[0076] As an alternative, if the second electrical connection assembly 210 is not connected to the first electrical connection assembly 120, the power consumption assembly 220 may operate using the electrical energy stored in the second energy storage unit 240, and may perform, for example, self-checks, output status information, and communication with the cleaning device 100 or terminal devices, etc., and is not limited to these.

[0077] In some embodiments, as shown in Figure 9, the power consumption assembly 220 includes at least one of a detection member 222, a display assembly 223, and a communication assembly 224, wherein the detection member 222 includes at least one of a water supply presence detection member 222, a water level detection member 222, an overflow detection member 222, a filth detection member 222, and a device docking detection member 222. For example, the water supply presence detection member 222 is for detecting whether the external water source device 201 is supplying water, the water level detection member 222 is for detecting the water level in the water purification chamber 130 and / or the recovery chamber 140 of the cleaning device 100, the overflow detection member 222 is for detecting whether the first base station 200 and / or the water purification chamber 130 is overflowing, and the device docking detection member 222 is for detecting whether the first base station 200 is docked with the cleaning device 100, thereby realizing stationary detection.

[0078] As an option, the method further includes acquiring detection information from the detection member 222 and controlling the power consumption assembly 220 to operate based on the detection information. For example, the display assembly 223 may display the detection information from the detection member 222, and if at least one of the following conditions is met: the external water source device 201 is not supplying water, the water level in the water purification chamber 130 is at or above a first predetermined water level, the water level in the recovery chamber 140 is below a second predetermined water level, and the first base station 200 and / or the water purification chamber 130 are overflowing, the display assembly 223 may display information, and / or the communication assembly 224 may transmit the information to a terminal device, and / or the communication assembly 224 may transmit the information to the cleaning device 100. For example, if the device docking detection member 222 detects that the cleaning device 100 is docking with the first base station 200 so that the first electrical connection assembly 120 is coupled to the second electrical connection assembly 210, the first energy storage unit 110 of the cleaning device 100 may control the first electrical connection assembly 120 and / or the second electrical connection assembly 210 so that they supply power to the power consumption assembly 220 of the first base station 200, and control the power consumption assembly 220 of the first base station 200 to operate.

[0079] In some embodiments, as shown in Figure 10, the first base station 200 further includes a power supply route selection circuit 250, which is connected to a second electrical connection assembly 210, a second energy storage unit 240, and a power consumption assembly 220. The power supply route selection circuit 250 is for transmitting electrical energy acquired by the second electrical connection assembly 210 to the power consumption assembly 220 and / or the second energy storage unit 240, and / or the power supply route selection circuit 250 is for transmitting electrical energy acquired by the second electrical connection assembly 210 and / or electrical energy stored in the second energy storage unit 240 to the power consumption assembly 220.

[0080] For example, the power supply path selection circuit 250 includes switching elements, such as MOS elements (metal-oxide-semiconductor field-effect transistors, MOSFETs), but is not limited to these. Power supply path control is achieved by switching the switching state of the switching unit.

[0081] For example, the control device 400 and / or the power supply path selection circuit 250 may acquire the remaining amount of the second energy storage unit 240 and, based on the remaining amount of the second energy storage unit 240, control the power supply path selection circuit 250 to transmit the electrical energy acquired by the second electrical connection assembly 210 to the second energy storage unit 240, and / or control the power supply path selection circuit 250 to transmit the electrical energy acquired by the second electrical connection assembly 210 and / or the electrical energy stored in the second energy storage unit 240 to the power consumption assembly 220. For example, if the remaining capacity of the second energy storage unit 240 is above a first predetermined threshold, for example, close to a full charge, the power supply path selection circuit 250 can be controlled to transmit the electrical energy acquired by the second electrical connection assembly 210 and the electrical energy stored in the second energy storage unit 240 to the power consumption assembly 220, thereby ensuring that sufficient power is supplied to the power consumption assembly 220. If the remaining capacity of the second energy storage unit 240 is below a second predetermined threshold, for example, relatively low, the power supply path selection circuit 250 can be controlled to transmit the electrical energy acquired by the second electrical connection assembly 210 to the second energy storage unit 240, thereby charging the second energy storage unit 240.

[0082] In some embodiments, referring to Figure 8, when the device state of the cleaning device 100 satisfies the charging conditions, the cleaning device 100 may be controlled to move to the second base station 300 and dock with the second base station 300 in order to have the second base station 300 charge the cleaning device 100, or the user may be prompted to move the cleaning device to the second base station and dock with the second base station. For example, the control device 400 may control the cleaning device 100 to move to the first base station 200, or suggest to the user that the cleaning device 100 be moved to the first base station 200 for maintenance such as water circulation operations, or control the cleaning device 100 to move to the second base station 300, or suggest to the user that the cleaning device 100 be moved to the second base station 300 for charging. The electrical energy stored when the cleaning device 100 is charged at the second base station 300 may be supplied to the first base station 200 when docking with the first base station 200. The first base station 200 does not need to be independently powered, for example, it does not need to be connected to a commercial power source, and therefore the placement of the first base station becomes more flexible and easier to install and use. The first base station can circulate water through the cleaning device, allowing the second base station to remove the water circulation assembly. In this way, the structure of the second base station is simplified, its dimensions are reduced, and costs are lowered. For example, the second base station may be a simple charging pile, which can be easily installed and used to charge the cleaning device. This makes the installation and use of the entire cleaning system much easier.

[0083] For example, if the power of the first energy storage unit 110 of the cleaning device 100 is below a second power threshold, or if the current cleaning task is completed (for example, if a predetermined area or one or more rooms are cleaned, or if the entire ground on the cleaning task map is cleaned), or if the cleaning assembly of the cleaning device 100 is cleaned and dried (for example, if the cleaning device 100 cleans and dries at the first base station 200 after the entire ground on the cleaning task map has been cleaned), then it is determined that the device state of the cleaning device 100 satisfies the charging conditions, and the cleaning device 100 is controlled to move to the second base station 300 and dock with the second base station 300.

[0084] For example, when the cleaning device 100 docks with the second base station 300 such that the first electrical connection assembly 120 of the cleaning device 100 is coupled to the third electrical connection assembly 310 of the second base station 300, the second base station 300 controls the first electrical connection assembly 120 and / or the third electrical connection assembly 310 so that the third electrical connection assembly 310 and the first electrical connection assembly 120 supply electrical energy from the commercial power supply to the first energy storage unit 110 of the cleaning device 100. For example, the cleaning device 100 can communicate with the first base station 200 and the second base station 300, and when the cleaning device 100 docks with the corresponding base station, it may communicate electrical signals or wirelessly, or wirelessly as needed from time to time, and therefore the control device 400 in the cleaning device 100 may implement control over the corresponding base station, for example, by controlling the power consumption device of the first base station 200 to operate, or by controlling the power supply circuit of the second base station 300 to operate.

[0085] In some embodiments, as shown in Figures 11 and 12, the first electrical connection assembly 120 includes a first electrical connection member 121, a first power transmission circuit 122, and a second power transmission circuit 123, wherein the first electrical connection member 121 includes, for example, a conductive electrical connection member, such as an electrode sheet or a conductive post, and the first power transmission circuit 122 and the second power transmission circuit 123 are connected to the first electrical connection member 121 and the first energy storage unit 110 respectively, and the first power transmission circuit 122 is for outputting electrical energy from the first energy storage unit 110 via the first electrical connection member 121 when it is on, and the second power transmission circuit 123 is for outputting electrical energy acquired by the first electrical connection member 121 to the first energy storage unit 110 when it is on.

[0086] Exemplary, the second electrical connection assembly 210 includes a second electrical connection member 211, and the third electrical connection assembly 310 includes a third electrical connection member 311, where the second electrical connection member 211 and the third electrical connection member 311 include, for example, conductive electrical connection members such as electrode sheets and conductive posts.

[0087] For example, the first power transmission circuit 122 is for outputting electrical energy from the first energy storage unit 110 via the first electrical connection member 121 when the first electrical connection member 121 is connected to the second electrical connection member 211, and the second power transmission circuit 123 is for outputting electrical energy acquired by the first electrical connection member 121 to the first energy storage unit 110 when the first electrical connection member 121 is connected to the third electrical connection member 311. The present invention does not limit the implementation method of the first power transmission circuit 122 and the second power transmission circuit 123, and it is sufficient that the cleaning device 100 can not only output electrical energy from the first energy storage unit 110 to the first base station 200 via the first electrical connection member 121, but also store electrical energy acquired from the second base station 300 in the first energy storage unit 110 via the first electrical connection member 121.

[0088] Illustratively, referring to Figure 11, the first power transmission circuit 122 includes a reverse power supply circuit, which includes, for example, at least one of a switching circuit, a regulator circuit, or a motor drive circuit. The motor drive circuit is for driving, for example, a valve and / or pump on a waterway control member 221 in the first base station 200. The second power transmission circuit 123 includes a forward charging circuit, which has the function of charging the first energy storage unit 110, for example, a battery.

[0089] The control device 400 controls the first power transmission circuit 122 to turn on and the second power transmission circuit 123 to turn off when the first electrical connection member 121 is connected to the second electrical connection member 211, so that the first power transmission circuit 122 can output electrical energy from the first energy storage unit 110 to the first base station 200 via the first electrical connection member 121; and controls the second power transmission circuit 123 to turn on and the first power transmission circuit 122 to turn off when the first electrical connection member 121 is connected to the third electrical connection member 311, so that the second power transmission circuit 123 can output electrical energy acquired from the second base station 300 to the first energy storage unit 110 via the first electrical connection member 121.

[0090] For example, referring to Figure 12, the second power transmission circuit 123 includes a switching circuit configured such that, for example, when off, electrical energy flows from the first energy storage unit 110 to the first electrical connection member 121 via the first power transmission circuit 122, but when on, electrical energy flows from the first electrical connection member 121 to the first energy storage unit 110 via the switching circuit. For example, when the first electrical connection member 121 is connected to the second electrical connection member 211, the control device 400 controls the switching circuit of the second power transmission circuit 123 to turn off so that the first power transmission circuit 122 outputs the electrical energy of the first energy storage unit 110 to the first base station 200 via the first electrical connection member 121. When the first electrical connection member 121 is connected to the third electrical connection member 311, the control device 400 controls the switching circuit of the second power transmission circuit 123 to turn on so that the electrical energy acquired from the second base station 300 by the first electrical connection member 121 is output to the first energy storage unit 110 via the second power transmission circuit 123.

[0091] In some other embodiments, the cleaning device 100 and the first base station 200 and / or the second base station 300 use a wireless power transmission system, i.e., contactless power transmission. Referring to Figure 13, the first electrical connection assembly 120 includes the first wireless power supply module 124, which is connected to the first energy storage unit 110 of the cleaning device 100. The second electrical connection assembly 210 includes the second wireless power supply module 212, and the third electrical connection assembly 310 includes the third wireless power supply module 312. Exemplarily, at least the first wireless power supply module 124 has both wireless power transmission and wireless power reception functions, the second wireless power supply module 212 has a wireless power reception function, and the third wireless power supply module 312 has a wireless power transmission function.

[0092] For example, the first radio power module 124 is configured to output electrical energy from the first energy storage unit 110 to the second radio power module 212 so that the second radio power module 212 can supply power to the power consumption assembly 220 of the first base station 200 when the first radio power module 124 is electromagnetically coupled to the second radio power module 212.

[0093] For example, when the first radio power module 124 is electromagnetically coupled to the second radio power module 212, the control device 400 controls the first radio power module 124 and / or the second radio power module 212 so that the first radio power module 124 outputs electrical energy from the first energy storage unit 110 to the second radio power module 212 so that the second radio power module 212 can supply power to the power consumption assembly 220 of the first base station 200.

[0094] For example, when the first wireless power supply module 124 is electromagnetically coupled to the third wireless power supply module 312, the first wireless power supply module 124 acquires the electrical energy output by the third wireless power supply module 312 and outputs the acquired electrical energy to the first energy storage unit 110.

[0095] For example, when the first wireless power supply module 124 is electromagnetically coupled to the third wireless power supply module 312, the control device 400 controls the first wireless power supply module 124 and / or the third wireless power supply module 312 so that the first wireless power supply module 124 acquires the electrical energy output by the third wireless power supply module 312 and outputs the acquired electrical energy to the first energy storage unit 110.

[0096] For example, referring to Figures 11 to 13, the second base station 300 further includes a switching power supply and / or a charging circuit, which converts commercial power into electrical energy of a predetermined voltage and / or current and outputs it via a third electrical connection assembly 310 for output to, for example, the cleaning device 100. For example, the switching power supply converts commercial power into electrical energy of a predetermined voltage and / or current, and the charging circuit adjusts the voltage and / or current output to the cleaning device 100 based on parameters such as the remaining amount and temperature of the first energy storage unit 110 in the cleaning device 100.

[0097] As an alternative, the cleaning device 100 may transmit power to the first base station 200 and the second base station 300 via the first wireless power supply module 124, and also transmit data to achieve communication. Therefore, the control device 400 in the cleaning device 100 may also perform control of the corresponding base stations, for example, by controlling the power consumption device of the first base station 200 to operate, or by controlling the power supply circuit of the second base station 300 to operate.

[0098] A cleaning system according to an embodiment of the present application comprises a cleaning device for cleaning at least a surface to be cleaned, and a first base station for use in cooperation with the cleaning device, wherein the cleaning device includes a first energy storage unit and a first electrical connection assembly connected to the first energy storage unit, and the first base station includes a second electrical connection assembly and a power consumption assembly connected to the second electrical connection assembly, and when the cleaning device docks with the first base station such that the first electrical connection assembly is coupled to the second electrical connection assembly, the first energy storage unit supplies power to the first base station via the first and second electrical connection assemblies. When the cleaning device docks with the first base station, it can supply the electrical energy stored within itself to the first base station, so that the first base station does not need to search for a socket to draw power, and the first base station does not need to install an AC-DC (ACDC) adapter, resulting in relatively low costs, reduced occupied space and weight, and thus greater flexibility in the placement of the first base station and easier installation and use.

[0099] In some embodiments, the first base station may further include a photovoltaic power generator connected to the power consumption assembly of the first base station, which converts solar energy into electrical energy and supplies it to the power consumption assembly, and which can supply the electrical energy to a second energy storage unit of the first base station. This can improve the ability of the first base station to acquire electrical energy and improve operational reliability.

[0100] Referring to Figure 14 in conjunction with the above embodiment, the embodiment of the present application further provides a base station 500 and a cleaning system comprising the base station 500 and the cleaning device 100, wherein the base station 500 is intended to be used in cooperation with the cleaning device 100. The base station 500 of the embodiment of the present application includes a photovoltaic power generation device 510 and a power consumption assembly 520 connected to the photovoltaic power generation device 510, wherein the photovoltaic power generation device 510 converts solar energy into electrical energy and supplies it to the power consumption assembly 520. Exemplarily, the power consumption assembly 520 may refer to the power consumption assembly 220 of the first base station 200, which is omitted here in detail. The base station 500 does not need to be independently powered, and therefore the base station 500 is safer, its placement is more flexible, it can be installed and used more easily, and the base station 500 does not need to have an AC-DC (ACDC) adapter installed, which can reduce costs, occupied space and weight.

[0101] Referring to Figure 15 in conjunction with the above embodiment, the present embodiment further provides a method for controlling a cleaning system, and the method for controlling a cleaning system is applied to the above cleaning system.

[0102] As shown in Figure 15, the control method for the cleaning system includes step S110.

[0103] S110 When the cleaning device docks with the first base station such that the first electrical connection assembly of the cleaning device is coupled to the second electrical connection assembly of the first base station, the first energy storage unit of the cleaning device controls the first electrical connection assembly and / or the second electrical connection assembly so that the first electrical connection assembly and the second electrical connection assembly supply power to the first base station.

[0104] As an option, the first base station includes a power consumption assembly connected to a second electrical connection assembly, and the first energy storage unit of the cleaning device controls the first electrical connection assembly and / or the second electrical connection assembly to supply power to the first base station via the first electrical connection assembly. To enable the power consumption assembly of the first base station to operate, the first energy storage unit of the cleaning device controls the first electrical connection assembly and / or the second electrical connection assembly to supply power to the power consumption assembly of the first base station via the first electrical connection assembly and the second electrical connection assembly.

[0105] As an option, the first base station includes a power consumption assembly and a second electrical connection assembly and a second energy storage unit connected to the power consumption assembly, and the first energy storage unit of the cleaning device controls the first electrical connection assembly and / or the second electrical connection assembly so that the first electrical connection assembly and / or the second electrical connection assembly supply power to the first base station, The first energy storage unit of the cleaning device controls the first and / or second electrical connection assemblies to supply power to the second energy storage unit of the first base station via the first and second electrical connection assemblies, thereby enabling the second energy storage unit to store electrical energy from the cleaning device and supply power to the power consumption assembly.

[0106] As an option, the first base station includes a cleaning area, The first base station includes a fluid supply channel that fluidly connects an external water source device and a cleaning area, the power consumption assembly includes a pump and / or valve provided in the fluid supply channel, and the method further includes controlling the pump and / or valve in the fluid supply channel to deliver liquid from the external water source device to the cleaning area via the fluid supply channel, and / or The first base station includes a drainage channel that fluidly connects the cleaning area and an external waste discharge device, the power consumption assembly includes a pump and / or valve provided in the drainage channel, and the method further includes controlling the pump and / or valve in the drainage channel to send waste from the cleaning area through the drainage channel to the external waste discharge device.

[0107] As an option, the cleaning device includes a water purification chamber for storing purified water, the first base station includes a fluid supply channel that fluidly connects an external water source device and the water purification chamber, the power consumption assembly includes a pump and / or valve provided in the fluid supply channel, the method further includes controlling the pump and / or valve in the fluid supply channel to deliver liquid from the external water source device to the water purification chamber of the cleaning device via the fluid supply channel, and / or The cleaning device includes a collection chamber for storing waste, the first base station includes a drainage channel that fluidly communicates the collection chamber with an external waste discharge device, the power consumption assembly includes a pump and / or valve provided in the drainage channel, and the method further includes controlling the pump and / or valve in the drainage channel to send the waste in the collection chamber of the cleaning device to the external waste discharge device via the drainage channel.

[0108] As an option, the cleaning device includes a water purification chamber for storing purified water, and the method further includes controlling a pump and / or valve in the water purification channel to supply liquid from the external water source device to the water purification chamber of the cleaning device via the water purification channel, and / or The cleaning device includes a collection chamber for storing waste, and the method further includes controlling a pump and / or valve in the drainage channel to send the waste in the collection chamber of the cleaning device to the external waste discharge device via the drainage channel.

[0109] As an option, the power consumption assembly includes at least one of a detection member, a display assembly, and a communication assembly, and the detection member includes at least one of a water supply presence detection member, a water level detection member, an overflow detection member, a filth detection member, and a device docking detection member. The method further includes acquiring detection information from the detection member and controlling the power consumption assembly to operate based on the detection information.

[0110] As an option, the first base station further includes a power supply path selection circuit, the power supply path selection circuit is connected to the second electrical connection assembly, the second energy storage unit, and the power consumption assembly. The control method described above is To obtain the remaining amount of the aforementioned second energy storage unit, Based on the remaining amount in the second energy storage unit, the power supply path selection circuit is controlled to transmit the electrical energy acquired by the second electrical connection assembly to the second energy storage unit, and / or The further includes controlling the power supply path selection circuit to transmit the electrical energy acquired by the second electrical connection assembly and / or the electrical energy stored in the second energy storage unit to the power consumption assembly.

[0111] As an option, the control method is The system further includes controlling the cleaning device to move to the first base station and dock with it, or prompting the user to move the cleaning device to the first base station and dock with it, if at least one of the following conditions is met: the amount of water in the water purification chamber of the cleaning device is less than or equal to a first water volume threshold; the amount of water in the recovery chamber of the cleaning device is greater than or equal to a second water volume threshold; the cumulative amount of operation of the cleaning device is greater than or equal to an operation volume threshold; or a water circulation command triggered by user operation has been received.

[0112] As an option, if at least one of the following is satisfied: the amount of water in the water purification chamber of the cleaning device is less than or equal to a first water volume threshold; the amount of water in the recovery chamber of the cleaning device is greater than or equal to a second water volume threshold; the cumulative amount of operation of the cleaning device is greater than or equal to an operation amount threshold; and a water circulation command triggered by user operation has been received, and the amount of power of the first energy storage unit of the cleaning device is greater than or equal to a first power amount threshold, the cleaning device is controlled to move to the first base station and dock with the first base station, or the user is presented with the option to move the cleaning device to the first base station and dock with the first base station.

[0113] As an option, the cleaning system further comprises a second base station, the second base station includes a third electrical connection assembly, and the second base station is connectable to a commercial power supply. The aforementioned method, When the cleaning device docks with the second base station such that the first electrical connection assembly of the cleaning device is coupled to the third electrical connection assembly of the second base station, the second base station further includes controlling the first electrical connection assembly and / or the third electrical connection assembly so that the third electrical connection assembly and the first electrical connection assembly supply electrical energy from the commercial power source to the first energy storage unit of the cleaning device.

[0114] As an option, the first electrical connection assembly includes a first electrical connection member, a first power transmission circuit, and a second power transmission circuit, wherein the first power transmission circuit and the second power transmission circuit are connected to the first electrical connection member and the first energy storage unit, and the first power transmission circuit is for outputting electrical energy from the first energy storage unit via the first electrical connection member when it is ON, and the second power transmission circuit is for outputting electrical energy acquired by the first electrical connection member to the first energy storage unit when it is ON. Controlling the first electrical connection assembly and / or the second electrical connection assembly so that the first energy storage unit supplies power to the power consumption assembly of the first base station via the first electrical connection assembly and the second electrical connection assembly includes controlling the first power transmission circuit to turn on and / or controlling the second power transmission circuit to turn off, and / or Controlling the first electrical connection assembly and / or the third electrical connection assembly so that the third electrical connection assembly and the first electrical connection assembly supply electrical energy from the commercial power supply to the first energy storage unit of the cleaning device includes controlling the second power transmission circuit to be turned on and controlling the first power transmission circuit to be turned off.

[0115] As an option, the first electrical connection assembly includes a first wireless power supply module, the first wireless power supply module is connected to the first energy storage unit of the cleaning device, The second electrical connection assembly includes a second radio power supply module, and controlling the first electrical connection assembly and / or the second electrical connection assembly so that the first energy storage unit supplies power to the power consumption assembly of the first base station by the first electrical connection assembly and the second electrical connection assembly includes controlling the first radio power supply module and / or the second radio power supply module so that the first radio power supply module outputs electrical energy from the first energy storage unit to the second radio power supply module in order for the second radio power supply module to supply power to the power consumption assembly of the first base station, and / or, The third electrical connection assembly includes a third radio power supply module, and the second base station controlling the first electrical connection assembly and / or the third electrical connection assembly to supply electrical energy from a commercial power source to the first energy storage unit of the cleaning device via the third electrical connection assembly and the first electrical connection assembly includes controlling the first radio power supply module and / or the third radio power supply module to acquire electrical energy output by the third radio power supply module and output the acquired electrical energy to the first energy storage unit.

[0116] As an option, the above method is If the device state of the cleaning device satisfies the charging conditions, the system further includes controlling the cleaning device to move to the second base station and dock with it, or prompting the user to move the cleaning device to the second base station and dock with it, in order to have the second base station charge the cleaning device.

[0117] In a control method for a cleaning system according to an embodiment of the present invention, when the cleaning device docks with the first base station such that the first electrical connection assembly of the cleaning device is coupled to the second electrical connection assembly of the first base station, the first energy storage unit of the cleaning device controls the first electrical connection assembly and / or the second electrical connection assembly to supply power to the first base station via the first electrical connection assembly and the second electrical connection assembly. The first base station does not need to search for a socket to draw power, and the first base station does not need to install an AC-DC (AC / DC) adapter, resulting in relatively low costs, reduced occupied space and weight, and thus allowing for more flexible placement of the first base station and easier installation and use.

[0118] Referring to Figure 16 in conjunction with the above embodiment, the present embodiment further provides a method for controlling a cleaning system, the method for controlling a cleaning system is applied to a cleaning system, the cleaning system comprises a cleaning device, a first base station and a second base station, the second base station being connectable to a commercial power supply.

[0119] As shown in Figure 16, the control method for the cleaning system includes steps S210 to S220.

[0120] S210 If the state of the cleaning device satisfies the water circulation conditions, the cleaning device is controlled to move to the first base station and dock with the first base station, or the user is prompted to move the cleaning device to the first base station and dock with the first base station, and the first base station is controlled to perform a water circulation operation on the cleaning device.

[0121] S220 If the device status of the cleaning device satisfies the charging conditions, the cleaning device is controlled to move to the second base station and dock with the second base station in order to have the second base station charge the cleaning device, or the user is prompted to move the cleaning device to the second base station and dock with the second base station.

[0122] In some embodiments, the control device may identify the device status of the cleaning device, control the cleaning device to move to a first base station or a second base station according to the needs of the cleaning device, or present the user to move the cleaning device to the first base station or a second base station, and control the corresponding base station to complete the corresponding function when the cleaning device docks with the corresponding base station, for example, to perform a water circulation operation for the cleaning device at the first base station or to charge the cleaning device at the second base station.

[0123] Referring to Figure 17 in conjunction with the above embodiment, Figure 17 is a schematic block diagram of a control device 400 according to an embodiment of the present application. The control device 400 includes a processor 401 and a memory 402.

[0124] For example, a processor 401 and a memory 402 are connected by a bus, which is, for example, an I2C (Inter-integrated Circuit) bus.

[0125] Specifically, the processor 401 may be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0126] Specifically, memory 402 may be a flash chip, read-only memory (ROM), magnetic disk, optical disk, U disk, or portable hard disk, etc.

[0127] The processor 401 executes a computer program stored in the memory 402 and, when executing the computer program, implements the steps of the method of any one of the embodiments described above.

[0128] For example, the processor 401 executes a computer program stored in memory 402, and when executing the computer program, The present invention provides a step to implement when a cleaning device docks with a first base station such that the first electrical connection assembly of the cleaning device is coupled to the second electrical connection assembly of the first base station, and the first energy storage unit of the cleaning device controls the first electrical connection assembly and / or the second electrical connection assembly so that the first electrical connection assembly and the second electrical connection assembly supply power to the first base station.

[0129] For example, the processor 401 executes a computer program stored in memory 402, and when executing the computer program, If the device state of the cleaning device satisfies the water circulation conditions, the cleaning device is controlled to move to the first base station and dock with the first base station, or the user is prompted to move the cleaning device to the first base station and dock with the first base station, and the first base station is controlled to perform a water circulation operation on the cleaning device, and When the device state of the cleaning device satisfies the charging conditions, the system controls the cleaning device to move to the second base station and dock with it in order to have the second base station charge the cleaning device, or it provides the user with instructions to move the cleaning device to the second base station and dock with it.

[0130] The specific principles and implementation methods of the control device according to the embodiment of this application are similar to those of the above embodiment, and therefore a detailed explanation is omitted here.

[0131] Embodiments of the present invention further provide a computer-readable storage medium in which a computer program is stored and, when the computer program is executed by a processor, the processor is made to perform the steps of the method of any one of the embodiments described above.

[0132] The computer-readable storage medium may be an internal storage unit of the control device described in any one of the above embodiments, for example, the hard disk or internal memory of the control device. The computer-readable storage medium may also be an external storage device of the control device, for example, a plug-in hard disk, a Smart Media® Card (SMC), a Secure Digital (SD) card, a Flash Card, etc., located in the control device.

[0133] It should be understood that the terms used herein are for the purpose of describing specific embodiments and are not intended to limit this application.

[0134] Furthermore, it should be understood that the term "and / or" as used in this application and the attached claims refers to any combination of one or more of the items listed in relation and includes all possible combinations thereof.

[0135] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. A person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed herein, and all such modifications or substitutions should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be the same as the scope of protection of the claims. [Explanation of Symbols]

[0136] 100 Cleaning equipment 110 First Energy Storage Unit 120 First Electrical Connection Assembly 121 First electrical connection member 122 First Power Transmission Circuit 123 Second Power Transmission Circuit 124. First Wireless Power Transfer Module 130 Water purification chamber 140 Recovery Chamber 200 1st base station 210 Second electrical connection assembly 211 Second electrical connection member 212 Second Wireless Power Transfer Module 220 Power Consumption Assembly 221 Waterway control member 222 Detection member 223 Display Assembly 224 Communication Assembly 230 Cleaning Area 231 Liquid supply channel 232 Drainage channel 240 Second Energy Storage Unit 250 Power supply path selection circuit 201 External water source device 202 External waste discharge device 300 2nd base station 310 Third Electrical Connection Assembly 311 Third electrical connection member 312 Third Wireless Power Transfer Module 400 Control Unit 401 Processor 402 memory 500 base stations 510 Solar power generation equipment 520 Power Consumption Assembly

Claims

1. A cleaning system, A cleaning device for cleaning a surface to be cleaned, comprising a first energy storage unit and a first electrical connection assembly connected to the first energy storage unit, It is intended for use in cooperation with the cleaning device and comprises a first base station including a second electrical connection assembly, The first base station is, The external water source is connected to the cleaning system via fluid communication, and / or, The system is configured to communicate fluidly with the external waste discharge device so as to send the waste in the cleaning system to the external waste discharge device. When the cleaning device docks with the first base station such that the first electrical connection assembly is coupled to the second electrical connection assembly, the first energy storage unit can supply power to the first base station via the first and second electrical connection assemblies. A cleaning system characterized by the following features.

2. The cleaning system according to claim 1, wherein the first base station includes a power consumption assembly connected to a second electrical connection assembly, and when the cleaning device docks with the first base station such that the first electrical connection assembly is coupled to the second electrical connection assembly, the first energy storage unit can supply power to the power consumption assembly of the first base station via the first and second electrical connection assemblies.

3. The cleaning system according to claim 1, wherein the first base station includes a power consumption assembly and a second electrical connection assembly and a second energy storage unit connected to the power consumption assembly, respectively, and when the cleaning device docks with the first base station such that the first electrical connection assembly is coupled to the second electrical connection assembly, the first energy storage unit can supply power to the second energy storage unit of the first base station via the first electrical connection assembly and the second electrical connection assembly, thereby enabling the second energy storage unit to store electrical energy from the cleaning device and supply power to the power consumption assembly.

4. The first base station includes a cleaning area, The first base station includes a fluid supply channel that fluidly connects the external water source device and the cleaning area, the power consumption assembly includes a pump and / or valve provided in the fluid supply channel, the pump and / or valve is for controlling the supply of liquid from the external water source device to the cleaning area via the fluid supply channel, and / or The cleaning system according to claim 2, characterized in that the first base station includes a drainage channel that fluidly communicates the cleaning area and an external waste discharge device, the power consumption assembly includes a pump and / or valve provided in the drainage channel, and the pump and / or valve is for controlling the discharge of waste from the cleaning area through the drainage channel to the external waste discharge device.

5. The cleaning device includes a water purification chamber for storing purified water, the first base station includes a fluid supply channel that fluidly connects the external water source device and the water purification chamber, the power consumption assembly includes a pump and / or valve provided in the fluid supply channel, the pump and / or valve is for supplying liquid from the external water source device to the water purification chamber of the cleaning device via the fluid supply channel, and / or The cleaning system according to claim 2, characterized in that the cleaning device includes a collection chamber for storing waste, the first base station includes a drainage channel that fluidly communicates the collection chamber and an external waste discharge device, the power consumption assembly includes a pump and / or valve provided in the drainage channel, and the pump and / or valve is for sending the waste in the collection chamber of the cleaning device to the external waste discharge device via the drainage channel.

6. The cleaning device includes a water purification chamber for storing purified water, the liquid supply channel further provides fluid communication between the external water source device and the water purification chamber, the pump and / or valve further provides liquid from the external water source device to the water purification chamber of the cleaning device via the liquid supply channel, and / or The cleaning system according to claim 4, characterized in that the cleaning device includes a collection chamber for storing waste, the drainage channel further provides fluid communication between the collection chamber and an external waste discharge device, and the pump and / or valve further provides pumps and / or valves for sending the waste in the collection chamber of the cleaning device to the external waste discharge device via the drainage channel.

7. The cleaning system according to claim 2, wherein the power consumption assembly includes at least one of a detection member, a display assembly, and a communication assembly, and the detection member includes at least one of a water supply presence / absence detection member, a water level detection member, an overflow detection member, a filth detection member, and a device docking detection member.

8. The first base station further includes a power supply path selection circuit, the power supply path selection circuit being connected to the second electrical connection assembly, the second energy storage unit, and the power consumption assembly, The power supply path selection circuit is for transmitting the electrical energy acquired by the second electrical connection assembly to the power consumption assembly and / or the second energy storage unit, and / or The cleaning system according to claim 3, characterized in that the power supply path selection circuit is for transmitting electrical energy acquired by the second electrical connection assembly and / or electrical energy stored in the second energy storage unit to the power consumption assembly.

9. The cleaning system further comprises a second base station, the second base station including a third electrical connection assembly, and the second base station being connectable to a commercial power supply. The cleaning system according to claim 1, characterized in that when the cleaning device docks with the second base station such that the first electrical connection assembly of the cleaning device is connected to the third electrical connection assembly of the second base station, the second base station supplies electrical energy from the commercial power supply to the first energy storage unit of the cleaning device via the third electrical connection assembly and the first electrical connection assembly.

10. The cleaning system according to claim 9, wherein the first base station is configured to include a water circulation assembly, the second base station is configured not to include a water circulation assembly, and when the cleaning device docks with the first base station, a water circulation operation is performed on the cleaning device via the water circulation assembly of the first base station.

11. The water circulation assembly includes a water channel control member, the first energy storage unit can supply power to the water channel control member by the first electrical connection assembly and the second electrical connection assembly, and the water channel control member is for transporting liquid from the external water source device to the cleaning device and / or the first base station. and / or, The cleaning system according to claim 10, wherein the water circulation assembly includes a water channel control member, the first energy storage unit can supply power to the water channel control member via the first electrical connection assembly and the second electrical connection assembly, and the water channel control member is for transporting waste from the cleaning device and / or the first base station to the external waste discharge device.

12. The first electrical connection assembly includes a first electrical connection member, a first power transmission circuit, and a second power transmission circuit, wherein the first power transmission circuit and the second power transmission circuit are connected to the first electrical connection member and the first energy storage unit, and the first power transmission circuit is for outputting electrical energy from the first energy storage unit via the first electrical connection member when it is ON, and the second power transmission circuit is for outputting electrical energy acquired by the first electrical connection member to the first energy storage unit when it is ON. The cleaning system according to claim 9, further comprising a control device, the control device for controlling the first power transmission circuit to be turned on and the second power transmission circuit to be turned off when the first electrical connection member is coupled to the second electrical connection assembly, and for controlling the second power transmission circuit to be turned on and the first power transmission circuit to be turned off when the first electrical connection member is coupled to the third electrical connection assembly.

13. The first electrical connection assembly includes a first wireless power supply module, the first wireless power supply module is connected to a first energy storage unit of the cleaning device, and the cleaning system further comprises a control device. The second electrical connection assembly includes a second radio power module, and the control device controls the first radio power module and / or the second radio power module so that the first radio power module outputs electrical energy from the first energy storage unit to the second radio power module in order for the second radio power module to supply power to the power consumption assembly of the first base station when the first radio power module is electromagnetically coupled to the second radio power module, and / or The cleaning system according to claim 9, wherein the third electrical connection assembly includes a third wireless power supply module, and the control device controls the first wireless power supply module and / or the third wireless power supply module so that when the first wireless power supply module is electromagnetically coupled to the third wireless power supply module, the first wireless power supply module acquires electrical energy output by the third wireless power supply module and outputs the acquired electrical energy to the first energy storage unit.

14. A method for controlling a cleaning system, Applicable to the cleaning system according to any one of claims 1 to 13, the method is A method for controlling a cleaning system, characterized in that when a cleaning device docks with a first base station such that the first electrical connection assembly of the cleaning device is coupled to the second electrical connection assembly of the first base station, the first energy storage unit of the cleaning device controls the first electrical connection assembly and / or the second electrical connection assembly so that the first electrical connection assembly and the second electrical connection assembly supply power to the first base station.

15. A method for controlling a cleaning system, Applicable to the cleaning system according to any one of claims 1 to 13, the cleaning system comprises a cleaning device, a first base station and a second base station, the second base station being connectable to a commercial power supply, The control method for the cleaning system is as follows: If the state of the cleaning device satisfies the water circulation conditions, the cleaning device is controlled to move to the first base station and dock with the first base station, or the user is prompted to move the cleaning device to the first base station and dock with the first base station, and the first base station is controlled to perform a water circulation operation on the cleaning device, or When the device state of the cleaning device satisfies the water circulation conditions and the power of the first energy storage unit of the cleaning device is equal to or greater than the first power threshold, the cleaning device is controlled to move to the first base station and dock with the first base station, or the user is prompted to move the cleaning device to the first base station and dock with the first base station, and the first base station is controlled to perform a water circulation operation on the cleaning device. A method for controlling a cleaning system, characterized in that, when the device state of the cleaning device satisfies the charging conditions, the method controls the cleaning device to move to the second base station and dock with the second base station in order to have the cleaning device charged by the second base station, or the method presents the user to move the cleaning device to the second base station and dock with the second base station.

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