Cleaning control method and apparatus of cleaning base station, cleaning base station and storage medium
By controlling the rotational speed, water flow rate, and horizontal movement speed of the rolling brush based on its movement direction and position, the method and apparatus address the water splashing issue in cleaning devices, ensuring effective cleaning without contamination.
Patent Information
- Authority / Receiving Office
- US · United States
- Patent Type
- Applications(United States)
- Current Assignee / Owner
- BEIJING ROBOROCK INNOVATION TECH CO LTD
- Filing Date
- 2023-12-19
- Publication Date
- 2026-07-30
AI Technical Summary
The issue of water splashing during the cleaning process of cleaning devices, such as sweeping robots, due to the rotation of the cleaning rolling brush, leading to machine failure and contamination.
A method and apparatus that control the rotational speed, water flow rate, and horizontal movement speed of the rolling brush based on its movement direction and position within the rolling groove to prevent water splashing.
Effectively prevents water splashing during the cleaning process, ensuring efficient cleaning without machine failure or contamination.
Smart Images
Figure US20260215575A1-D00000_ABST
Abstract
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a U.S. national stage of an International Patent Application No. PCT / CN2023 / 139934, and claims priority to invention patent application No. CN 202211733371.1, filed on Dec. 30, 2022 and entitled “WASHING CONTROL METHOD AND APPARATUS OF CLEANING BASE STATION, CLEANING BASE STATION, AND STORAGE MEDIUM”, the disclosure of both of which is incorporated herein by reference in its entirety.TECHNICAL FIELD
[0002] The present disclosure relates to the field of control technologies of cleaning base stations, and relates to a washing control method and apparatus of a cleaning base station, the cleaning base station, and a storage medium.BACKGROUND
[0003] With the development of smart robot technologies, technological innovations are emerging endlessly, and sweeping robots are continuously achieving breakthroughs in innovations across fields such as artificial intelligence algorithms, washing and mopping integration, intelligent dust collection, intelligent water washing / cleaning, and related areas. The sweeping robot product has now become a household necessity across all socioeconomic groups. After completing sweeping and mopping, a sweeping robot returns to a cleaning base station for intelligent dust collection and intelligent water washing / cleaning.
[0004] The method of water washing / cleaning by rotation of a cleaning rolling brush faces water splashing issues akin to how bicycle tires splash water during rainy rides. This results in dirty water scattering around an entire machine and, in severe cases, may even lead to machine failure. How to control the rolling brush to prevent water splashing has become a core technical challenge in this cleaning manner.
[0005] It should be noted that information disclosed in the above Background section is used merely for a better understanding of the background of the present disclosure, and therefore may include information that does not constitute the related art known to those of ordinary skill in the art.SUMMARY
[0006] An objective of the present disclosure is to provide a washing control method and apparatus of a cleaning base station, the cleaning base station, and a storage medium, to avoid the problem of water splashing from a rolling brush when the cleaning base station washes a cleaning device.
[0007] According to a first aspect of embodiments of the present disclosure, a washing control method of a cleaning base station is provided. The cleaning base station includes a rolling brush cleaning mechanism and a water supply mechanism. After a cleaning device returns to the cleaning base station, the water supply mechanism discharges water to the rolling brush cleaning mechanism. A rolling brush in the rolling brush cleaning mechanism rotates, and reciprocates along a rolling groove, so as to clean a cleaning assembly of the cleaning device. The method includes:
[0008] when the cleaning base station cleans the cleaning device, controlling a rotational speed of the rolling brush and / or a water flow rate of the water supply mechanism based on a movement direction and a movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism.
[0009] In some embodiments, controlling the rotational speed of the rolling brush based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism includes:
[0010] when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, controlling the rolling brush to rotate at a first rotational speed; and when the rolling brush moves to a second endpoint from the first preset point of the rolling groove along the first movement direction, controlling the rolling brush to rotate at a second rotational speed, wherein the second rotational speed is less than the first rotational speed; or
[0011] when the rolling brush moves to a second preset point from the second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to rotate at the first rotational speed; and when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the rolling brush to rotate at the second rotational speed, wherein the second rotational speed is less than the first rotational speed.
[0012] In some embodiments, controlling the water flow rate of the water supply mechanism based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism includes:
[0013] when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the water supply mechanism to discharge water at a first water flow rate; or
[0014] when the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the water supply mechanism to discharge water at a second water flow rate, wherein the second water flow rate is greater than the first water flow rate.
[0015] In some embodiments, the method further includes:
[0016] when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to move on the rolling groove at a first horizontal movement speed; or
[0017] when the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the rolling brush to move on the rolling groove at a second horizontal movement speed, wherein the second horizontal movement speed is less than the first horizontal movement speed.
[0018] In some embodiments, controlling the rotational speed of the rolling brush based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism includes:
[0019] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling the rotational speed of the rolling brush to be reduced from a first rotational speed to a second rotational speed according to a first preset speed reduction rule; or
[0020] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, controlling the rotational speed of the rolling brush to be reduced from the first rotational speed to the second rotational speed according to the first preset speed reduction rule.
[0021] In some embodiments, controlling the water flow rate of the water supply mechanism based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism includes:
[0022] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling the water flow rate of the water supply mechanism to be increased from a first water flow rate to a second water flow rate according to a preset water flow rate increase rule; or
[0023] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, controlling the water flow rate of the water supply mechanism to be increased from the first water flow rate to the second water flow rate according to the preset water flow rate increase rule.
[0024] In some embodiments, the method further includes:
[0025] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling a horizontal movement speed of the rolling brush on the rolling groove to be reduced from a first movement speed to a second movement speed according to a second preset speed reduction rule; or
[0026] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, controlling the horizontal movement speed of the rolling brush on the rolling groove to be reduced from the first movement speed to the second movement speed according to the second preset speed reduction rule.
[0027] According to a second aspect of the embodiments of the present disclosure, a washing control apparatus of a cleaning base station is provided. The cleaning base station includes a rolling brush cleaning mechanism and a water supply mechanism. After a cleaning device returns to the cleaning base station, the water supply mechanism discharges water to the rolling brush cleaning mechanism. A rolling brush in the rolling brush cleaning mechanism rotates, and reciprocates along a rolling groove, so as to clean a cleaning assembly of the cleaning device. The apparatus includes:
[0028] a control module, configured to: when the cleaning base station cleans the cleaning device, control a rotational speed of the rolling brush and / or a water flow rate of the water supply mechanism based on a movement direction and a movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism.
[0029] In some embodiments, the control module is configured to:
[0030] when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, control the rolling brush to rotate at a first rotational speed; and when the rolling brush moves to a second endpoint from the first preset point of the rolling groove along the first movement direction, control the rolling brush to rotate at a second rotational speed, wherein the second rotational speed is less than the first rotational speed; or
[0031] when the rolling brush moves to a second preset point from the second endpoint of the rolling groove along a second movement direction, control the rolling brush to rotate at the first rotational speed; and when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, control the rolling brush to rotate at the second rotational speed, wherein the second rotational speed is less than the first rotational speed.
[0032] In some embodiments, the control module is further configured to:
[0033] when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, control the water supply mechanism to discharge water at a first water flow rate; or
[0034] when the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, control the water supply mechanism to discharge water at a second water flow rate, wherein the second water flow rate is greater than the first water flow rate.
[0035] In some embodiments, the control module is further configured to:
[0036] when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, control the rolling brush to move on the rolling groove at a first horizontal movement speed; or
[0037] when the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, control the rolling brush to move on the rolling groove at a second horizontal movement speed, wherein the second horizontal movement speed is less than the first horizontal movement speed.
[0038] In some embodiments, the control module is configured to:
[0039] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, control the rotational speed of the rolling brush to be reduced from a first rotational speed to a second rotational speed according to a first preset speed reduction rule; or
[0040] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, control the rotational speed of the rolling brush to be reduced from the first rotational speed to the second rotational speed according to the first preset speed reduction rule.
[0041] In some embodiments, the control module is further configured to:
[0042] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, control the water flow rate of the water supply mechanism to be increased from a first water flow rate to a second water flow rate according to a preset water flow rate increase rule; or
[0043] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, control the water flow rate of the water supply mechanism to be increased from the first water flow rate to the second water flow rate according to the preset water flow rate increase rule.
[0044] In some embodiments, the control module is further configured to:
[0045] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, control a horizontal movement speed of the rolling brush on the rolling groove to be reduced from a first movement speed to a second movement speed according to a second preset speed reduction rule; or
[0046] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, control the horizontal movement speed of the rolling brush on the rolling groove to be reduced from the first movement speed to the second movement speed according to the second preset speed reduction rule.
[0047] According to a third aspect of the embodiments of the present disclosure, a cleaning base station is provided. The cleaning base station includes: at least one processor and a memory communicatively connected to the at least one processor, wherein
[0048] the memory stores instructions executable by the at least one processor; and the instructions are configured to perform the method according to any one of the embodiments of the first aspect.
[0049] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium storing computer instructions thereon is provided. When executed by a processor, the instructions implement the steps of the method according to any one of the embodiments of the first aspect.
[0050] The present disclosure provides a washing control method and apparatus of a cleaning base station, the cleaning base station, and a storage medium. When the cleaning base station cleans a cleaning device, a rotational speed of a rolling brush and / or a water flow rate of a water supply mechanism are / is controlled based on a movement direction and a movement position in a rolling groove of the rolling brush in a rolling brush cleaning mechanism, thereby avoiding the problem of water splashing from the rolling brush when the cleaning base station washes the cleaning device.
[0051] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and should not be construed as a limitation on the present disclosure.BRIEF DESCRIPTION OF THE DRAWINGS
[0052] The accompanying drawings herein, which are incorporated in and constitute a part of the Description, illustrate embodiments conforming to the present disclosure and are used together with the Description to explain the principles of the present disclosure. Apparently, the accompanying drawings in the following description show merely some embodiments of the present disclosure, and those of ordinary skill in the art may still derive other drawings from these accompanying drawings without creative efforts.
[0053] FIG. 1 is a structural schematic diagram of a cleaning base station according to some embodiments of the present disclosure;
[0054] FIG. 2 is a structural schematic diagram of a rolling brush cleaning mechanism according to some embodiments of the present disclosure;
[0055] FIG. 3 is a flowchart of a washing control method of a cleaning base station according to some embodiments of the present disclosure;
[0056] FIG. 4 is a schematic diagram showing rolling of a rolling brush in a rolling groove according to some embodiments of the present disclosure;
[0057] FIG. 5 is a schematic diagram showing another rolling of the rolling brush in the rolling groove according to some embodiments of the present disclosure;
[0058] FIG. 6 is a schematic diagram showing yet another rolling of the rolling brush in the rolling groove according to some embodiments of the present disclosure;
[0059] FIG. 7 is a schematic diagram showing still yet another rolling of the rolling brush in the rolling groove according to some embodiments of the present disclosure; and
[0060] FIG. 8 is a block diagram of a washing control apparatus of a cleaning base station according to some embodiments of the present disclosure.DETAILED DESCRIPTION
[0061] Exemplary embodiments are described below in further detail with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in a plurality of forms and should not be construed as being limited to examples described herein. On the contrary, these embodiments are provided such that the present disclosure is more comprehensive and complete, and fully conveys the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be incorporated into one or more embodiments in any suitable manner. In the following description, many specific details are provided to give a full understanding of the embodiments of the present disclosure. However, those skilled in the art will be aware that the technical solutions of the present disclosure may be practiced with one or more of the specific details omitted, or other methods, components, apparatuses, steps, or the like may be used. In other cases, the well-known technical solutions are not illustrated or described in detail, so as to avoid overshadowing and obscuring various aspects of the present disclosure.
[0062] In addition, the accompanying drawings are merely schematic illustrations of the present disclosure, and are not necessarily drawn to scale. Identical reference numerals in the accompanying drawings denote identical or similar parts. Therefore, repeated description thereof will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities, and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in the form of software, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor apparatuses and / or microcontroller apparatuses.
[0063] FIG. 1 is a structural schematic diagram of a cleaning base station according to some embodiments of the present disclosure.
[0064] As shown in FIG. 1 and FIG. 2, after completing sweeping and mopping, a cleaning device returns to a cleaning base station in position through a return-to-pile ramp (F); a dust collection system (A) is started to collect dust; and a rolling brush cleaning mechanism (E) is started to perform a washing action. In this case, a water supply mechanism (B) supplies water to the rolling brush cleaning mechanism (E); a rolling brush (1) in the rolling brush cleaning mechanism (E) reciprocates from a point a to a point d and then from the point d to the point a along a rolling groove (2) while rotating, thereby completing self-cleaning of a cleaning assembly of the cleaning device (for example, a sweeping robot); and generated wastewater is pumped back to a water recovery tank (C) under the action of negative pressure of an air pump in a vacuumed state. Specifically, the rolling brush cleaning mechanism (E) rolls from the point a to the point d and then rolls back from the point d to the point a, thereby completing one cleaning cycle. From the point a to the point d, the rolling brush (1) rotates clockwise; and from the point d to the point a, the rolling brush (1) rotates counterclockwise. In this process, a scraper blade (3) performs a scraping operation on the cleaning assembly of the cleaning device, and the rolling brush scrapes against the cleaning assembly, thereby completing self-cleaning of the cleaning assembly. The cleaning assembly may be wiping cloth or a rolling brush.
[0065] FIG. 3 is a flowchart of a washing control method of a cleaning base station according to some embodiments of the present disclosure.
[0066] As shown in FIG. 3, the washing control method of a cleaning base station includes the following step.
[0067] In step S301, when the cleaning base station cleans a cleaning device, a rotational speed of a rolling brush and / or a water flow rate of a water supply mechanism are / is controlled based on a movement direction and a movement position in a rolling groove of the rolling brush in a rolling brush cleaning mechanism.
[0068] In this embodiment, when the cleaning base station cleans the cleaning device, the rotational speed of the rolling brush and the water flow rate of the water supply mechanism may each be controlled independently based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism. Certainly, the rotational speed of the rolling brush and the water flow rate of the water supply mechanism may be controlled simultaneously, to avoid a problem of water splashing from the rolling brush when the cleaning base station washes the cleaning device.
[0069] The control method of step S301 is described in detail below with several specific embodiments.Embodiment 1
[0070] As shown in FIG. 4, a first preset point c and a second preset point b may be provided between a first endpoint a and a second endpoint d of the rolling groove. When the rolling brush moves to the first preset point c from the first endpoint a of the rolling groove along a first movement direction, the rolling brush is controlled to rotate at a first rotational speed, for example, 1500 rpm; and when the rolling brush moves to the second endpoint d from the first preset point c of the rolling groove along the first movement direction, the rolling brush is controlled to rotate at a second rotational speed, for example, 600 rpm, wherein the second rotational speed is less than the first rotational speed.
[0071] As shown in FIG. 5, when the rolling brush moves to the second preset point b from the second endpoint d of the rolling groove along a second movement direction, the rolling brush is controlled to rotate at the first rotational speed; and when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, the rolling brush is controlled to rotate at the second rotational speed, wherein the second rotational speed is less than the first rotational speed.
[0072] In this way, the problem of water splashing from the rolling brush when the cleaning base station washes the cleaning device can be avoided by independently controlling the rotational speed of the rolling brush.Embodiment 2
[0073] In addition to controlling the rotational speed of the rolling brush, the problem of water splashing from the rolling brush when the cleaning base station washes the cleaning device can also be avoided by controlling the water flow rate.
[0074] As shown in FIG. 4 and FIG. 5, when the rolling brush moves to the first preset point c from the first endpoint a of the rolling groove along the first movement direction, or when the rolling brush moves to the second preset point b from the second endpoint d of the rolling groove along the second movement direction, the water supply mechanism is controlled to discharge water at a first water flow rate, for example, 20 g / min; or
[0075] when the rolling brush moves to the second endpoint d from the first preset point c of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint a from the second preset point b of the rolling groove along the second movement direction, the water supply mechanism is controlled to discharge water at a second water flow rate, for example, 50 g / min, wherein the second water flow rate is greater than the first water flow rate.
[0076] In this way, the problem of water splashing from the rolling brush when the cleaning base station washes the cleaning device can also be avoided by independently controlling the water flow rate of the water supply mechanism.Embodiment 3
[0077] Certainly, to achieve a better effect, the foregoing two methods may also be used in combination, that is, the water flow rate of the water supply mechanism is controlled while the rotational speed of the rolling brush is controlled.
[0078] As shown in FIG. 4 and FIG. 5, when the rolling brush moves to the first preset point c from the first endpoint a of the rolling groove along the first movement direction, or when the rolling brush moves to the second preset point b from the second endpoint d of the rolling groove along the second movement direction, the rolling brush is controlled to rotate at the first rotational speed, for example, 1500 rpm; and at the same time, the water supply mechanism is controlled to discharge water at the first water flow rate, for example, 20 g / min; or
[0079] when the rolling brush moves to the second endpoint d from the first preset point c of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint a from the second preset point b of the rolling groove along the second movement direction, the rolling brush is controlled to rotate at the second rotational speed, for example, 600 rpm; and at the same time, the water supply mechanism is controlled to discharge water at the second water flow rate, for example, 50 g / min.
[0080] Therefore, when the rotational speed is reduced, a relatively high water flow rate is provided; and when the rotational speed is increased, a relatively low water flow rate is provided. This can not only ensure a cleaning effect, but also avoid the problem of water splashing caused when the rotational speed of the rolling brush is too high and the water flow rate is relatively high.Embodiment 4
[0081] To further avoid water splashing from the rolling brush, in addition to reducing the rotational speed of the rolling brush and increasing the water flow rate, a horizontal movement speed of the rolling brush may also be reduced further.
[0082] Specifically, when the rolling brush moves to the first preset point c from the first endpoint a of the rolling groove along the first movement direction, or when the rolling brush moves to the second preset point b from the second endpoint d of the rolling groove along the second movement direction, the rolling brush is controlled to move on the rolling groove at a first horizontal movement speed; or
[0083] when the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, the rolling brush is controlled to move on the rolling groove at a second horizontal movement speed, wherein the second horizontal movement speed is less than the first horizontal movement speed.
[0084] Certainly, the foregoing solution of controlling the horizontal movement speed of the rolling brush may be used independently or in combination with any one of embodiments 1, 2 and 3 above.Embodiment 5
[0085] As shown in FIG. 6, when the rolling brush moves to the second endpoint d from the first endpoint a of the rolling groove along the first movement direction, the rotational speed of the rolling brush is controlled to be reduced from the first rotational speed to the second rotational speed according to a first preset speed reduction rule.
[0086] For example, at the first endpoint a, the rolling brush starts to rotate clockwise at the first rotational speed, for example, 1500 rpm, and moves towards the second endpoint d along the rolling groove while rotating. In the moving process, the rotational speed of the rolling brush is reduced continuously according to the first preset speed reduction rule, and is reduced to the second rotational speed, for example, 600 rpm when the second endpoint d is reached. In this way, the rotational speed is reduced continuously, which can avoid water splashing from the rolling brush. The preset speed reduction rule may be a uniform decrease from the first rotational speed to the second rotational speed between the two endpoints.
[0087] As shown in FIG. 7, after the rolling brush reaches the second endpoint d, the rotational speed of the rolling brush is then quickly increased from the second rotational speed to the first rotational speed; and the movement direction is changed, that is, the rolling brush moves to the first endpoint a from the second endpoint d of the rolling groove along the second movement direction that is opposite to the first movement direction. In the moving process, the rotational speed of the rolling brush is reduced from the first rotational speed to the second rotational speed according to the first preset speed reduction rule, thereby completing one cleaning cycle. The foregoing operations are repeated until complete cleaning is implemented.Embodiment 6
[0088] In addition to controlling the rotational speed of the rolling brush, the problem of water splashing from the rolling brush when the cleaning base station washes the cleaning device can also be avoided by controlling the water flow rate.
[0089] As shown in FIG. 6, when the rolling brush moves to the second endpoint from the first endpoint of the rolling groove along the first movement direction, the water flow rate of the water supply mechanism is controlled to be increased from a first water flow rate to a second water flow rate according to a preset water flow rate increase rule.
[0090] For example, at the first endpoint a, the water supply mechanism is controlled to discharge water at the first water flow rate, for example, 20 g / min. At the same time, the rolling brush starts to rotate clockwise, and moves towards the second endpoint d along the rolling groove while rotating. In the moving process, the rotational speed of the rolling brush is reduced continuously according to the first preset speed reduction rule, and reduced to the second rotational speed, for example, 600 rpm, when the second endpoint d is reached. During reduction of the rotational speed, the water flow rate of the water supply mechanism is increased from the first water flow rate to the second water flow rate, for example, 50 g / min, according to the preset water flow rate increase rule. In this way, the water flow rate is increased while the rotational speed is reduced, which can avoid water splashing from the rolling brush. The preset water flow rate increase rule may be a uniform increase of the water flow rate from the first water flow rate to the second water flow rate between the two endpoints.
[0091] As shown in FIG. 7, when the rolling brush moves to the first endpoint a from the second endpoint d of the rolling groove along the second movement direction, the water flow rate of the water supply mechanism is controlled to be increased from the first water flow rate to the second water flow rate according to the preset water flow rate increase rule.
[0092] In this way, the problem of water splashing from the rolling brush when the cleaning base station washes the cleaning device can also be avoided by independently controlling the water flow rate of the water supply mechanism.Embodiment 7
[0093] Certainly, to achieve a better effect, the foregoing two methods may also be used in combination, that is, the water flow rate of the water supply mechanism is controlled while the rotational speed of the rolling brush is controlled.
[0094] As shown in FIG. 6 and FIG. 7, when the rolling brush moves to the second endpoint d from the first endpoint a of the rolling groove along the first movement direction, the rotational speed of the rolling brush is controlled to be reduced from the first rotational speed to the second rotational speed according to the first preset speed reduction rule; and at the same time, the water flow rate of the water supply mechanism is controlled to be increased from the first water flow rate to the second water flow rate according to the preset water flow rate increase rule.
[0095] After the rolling brush reaches the second endpoint d, the rotational speed of the rolling brush is then quickly increased from the second rotational speed to the first rotational speed; and the water flow rate of the water supply mechanism is quickly reduced from the second water flow rate to the first water flow rate. In addition, the movement direction is changed, that is, the rolling brush moves to the first endpoint a from the second endpoint d of the rolling groove along the second movement direction that is opposite to the first movement direction. In the moving process, the rotational speed of the rolling brush is reduced from the first rotational speed to the second rotational speed according to the first preset speed reduction rule; and at the same time, the water flow rate of the water supply mechanism is controlled to be increased from the first water flow rate to the second water flow rate according to the preset water flow rate increase rule.
[0096] Therefore, when the rotational speed is reduced, a relatively high water flow rate is provided; and when the rotational speed is increased, a relatively low water flow rate is provided. This can not only ensure a cleaning effect, but also avoid the problem of water splashing caused when the rotational speed of the rolling brush is too high and the water flow rate is relatively high.Embodiment 8
[0097] To further avoid water splashing from the rolling brush, the horizontal movement speed of the rolling brush may be reduced further while reducing the rotational speed of the rolling brush and increasing the water flow rate.
[0098] As shown in FIG. 6, when the rolling brush moves to the second endpoint from the first endpoint of the rolling groove along the first movement direction, the horizontal movement speed of the rolling brush on the rolling groove is controlled to be reduced from a first movement speed to a second movement speed according to a second preset speed reduction rule.
[0099] As shown in FIG. 7, when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along the second movement direction, the horizontal movement speed of the rolling brush on the rolling groove is controlled to be reduced from the first movement speed to the second movement speed according to the second preset speed reduction rule.
[0100] Certainly, the foregoing solution of controlling the horizontal movement speed of the rolling brush may be used independently or in combination with any one of embodiments 6, 7 and 8 above.
[0101] The following are apparatus embodiments of the present disclosure, which can be used to perform the method embodiments of the present disclosure. For details not disclosed in the apparatus embodiments of the present disclosure, please refer to the method embodiments of the present disclosure.
[0102] FIG. 8 is a block diagram of a washing control apparatus of a cleaning base station according to some embodiments of the present disclosure.
[0103] As shown in FIG. 8, according to a second aspect of the embodiments of the present disclosure, a washing control apparatus of a cleaning base station is provided. The cleaning base station includes a rolling brush cleaning mechanism, a water recovery mechanism, and a water supply mechanism. After a cleaning device returns to the cleaning base station, the water supply mechanism discharges water to the rolling brush cleaning mechanism. A rolling brush in the rolling brush cleaning mechanism rotates, and reciprocates along a rolling groove, so as to clean a cleaning assembly of the cleaning device. Wastewater is recovered by the water recovery mechanism. The apparatus includes:
[0104] a control module 81, configured to: when the cleaning base station cleans the cleaning device, control a rotational speed of the rolling brush and / or a water flow rate of the water supply mechanism based on a movement direction and a movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism.
[0105] In some embodiments, the control module is configured to:
[0106] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, control the rotational speed of the rolling brush to be reduced from a first rotational speed to a second rotational speed according to a first preset speed reduction rule; or
[0107] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, control the rotational speed of the rolling brush to be reduced from the first rotational speed to the second rotational speed according to the first preset speed reduction rule.
[0108] In some embodiments, the control module is further configured to:
[0109] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, control the water flow rate of the water supply mechanism to be increased from a first water flow rate to a second water flow rate according to a preset water flow rate increase rule; or
[0110] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, control the water flow rate of the water supply mechanism to be increased from the first water flow rate to the second water flow rate according to the preset water flow rate increase rule.
[0111] In some embodiments, the control module is further configured to:
[0112] when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, control a horizontal movement speed of the rolling brush on the rolling groove to be reduced from a first movement speed to a second movement speed according to a second preset speed reduction rule; or
[0113] when the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, control the horizontal movement speed of the rolling brush on the rolling groove to be reduced from the first movement speed to the second movement speed according to the second preset speed reduction rule.
[0114] In some embodiments, the control module is configured to:
[0115] when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, control the rolling brush to rotate at a first rotational speed; and when the rolling brush moves to a second endpoint from the first preset point of the rolling groove along the first movement direction, control the rolling brush to rotate at a second rotational speed, wherein the second rotational speed is less than the first rotational speed; or
[0116] when the rolling brush moves to a second preset point from the second endpoint of the rolling groove along a second movement direction, control the rolling brush to rotate at the first rotational speed; and when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, control the rolling brush to rotate at the second rotational speed, wherein the second rotational speed is less than the first rotational speed.
[0117] In some embodiments, the control module is further configured to:
[0118] when the rolling brush moves to the first preset point from the first endpoint of the rolling groove along the first movement direction, or when the rolling brush moves to the second preset point from the second endpoint of the rolling groove along the second movement direction, control the water supply mechanism to discharge water at a first water flow rate; or
[0119] when the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, control the water supply mechanism to discharge water at a second water flow rate, wherein the second water flow rate is greater than the first water flow rate.
[0120] In some embodiments, the control module is further configured to:
[0121] when the rolling brush moves to the first preset point from the first endpoint of the rolling groove along the first movement direction, or when the rolling brush moves to the second preset point from the second endpoint of the rolling groove along the second movement direction, control the rolling brush to move on the rolling groove at a first horizontal movement speed; or
[0122] when the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, control the rolling brush to move on the rolling groove at a second horizontal movement speed, wherein the second horizontal movement speed is less than the first horizontal movement speed.
[0123] According to a third aspect of the embodiments of the present disclosure, a cleaning base station is provided. The cleaning base station includes at least one processor; and a memory communicatively connected to the at least one processor.
[0124] The memory stores instructions executable by the at least one processor; and the instructions are configured to perform the method according to any one of the embodiments of the first aspect.
[0125] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium storing computer instructions thereon is provided. When executed by a processor, the instructions implement the steps of the method according to any one of the embodiments of the first aspect.
[0126] Further, it may be understood that the term “a plurality of” in the present disclosure means two or more, and other quantifiers shall be interpreted analogously. The term “and / or” describes an association relationship between associated objects and indicates that three relationships may exist. For example, A and / or B may indicate the following three cases: only A exists, both A and B exist, and only B exists. The character “ / ” generally indicates an “or” relationship between associated objects. The singular forms “a / an”, “said”, and “the” are also intended to include plural forms unless the context clearly indicates other meanings.
[0127] Further, it may be understood that the terms “first”, “second”, and the like are used to describe various information, but the information should not be limited by these terms. These terms are merely used to distinguish between information of the same type, and do not indicate any specific order or importance. Actually, the expressions “first”, “second”, and the like are interchangeable. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
[0128] Further, it may be understood that in the embodiments of the present disclosure, although operations are described in a specific order in the accompanying drawings, it should not be interpreted as requiring these operations to be performed in the specific order or in a serial order, or as requiring all the shown operations to be performed to achieve a desired result. In a specific environment, multi-task processing and parallel processing may be advantageous.
[0129] Those skilled in the art may readily figure out other embodiments of the present disclosure after considering the Description and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, purposes or adaptive changes of the present disclosure. Such variations, purposes or adaptive changes follow the general principle of the present disclosure and include common general knowledge or conventional technical means in the technical field which is not disclosed in the present disclosure. The Description and embodiments are merely considered as examples, and the true scope and spirit of the present disclosure are defined by the appended claims.
[0130] It should be understood that the present disclosure is not limited to the exact structure that has been described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope of the present disclosure. The scope of the present disclosure is defined only by the appended claims.
Claims
1. A washing control method of a cleaning base station, wherein the cleaning base station comprises a rolling brush cleaning mechanism and a water supply mechanism; after a cleaning device returns to the cleaning base station, the water supply mechanism discharges water to the rolling brush cleaning mechanism, and a rolling brush in the rolling brush cleaning mechanism rotates, and reciprocates along a rolling groove, to clean a cleaning assembly of the cleaning device; and the method comprises:when the cleaning base station cleans the cleaning device, controlling at least one of a rotational speed of the rolling brush or a water flow rate of the water supply mechanism based on a movement direction and a movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism.
2. The washing control method according to claim 1, wherein controlling the rotational speed of the rolling brush based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism comprises:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, controlling the rolling brush to rotate at a first rotational speed; and when the rolling brush moves to a second endpoint from the first preset point of the rolling groove along the first movement direction, controlling the rolling brush to rotate at a second rotational speed, wherein the second rotational speed is less than the first rotational speed; andwhen the rolling brush moves to a second preset point from the second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to rotate at the first rotational speed; and when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the rolling brush to rotate at the second rotational speed, wherein the second rotational speed is less than the first rotational speed.
3. The washing control method according to claim 1, wherein controlling the water flow rate of the water supply mechanism based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism comprises:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the water supply mechanism to discharge water at a first water flow rate; andwhen the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the water supply mechanism to discharge water at a second water flow rate, wherein the second water flow rate is greater than the first water flow rate.
4. The washing control method according to claim 1, further comprising:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to move on the rolling groove at a first horizontal movement speed; andwhen the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the rolling brush to move on the rolling groove at a second horizontal movement speed, wherein the second horizontal movement speed is less than the first horizontal movement speed.
5. The washing control method according to claim 1, wherein controlling the rotational speed of the rolling brush based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism comprises:when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling the rotational speed of the rolling brush to be reduced from a first rotational speed to a second rotational speed according to a first preset speed reduction rule; andwhen the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, controlling the rotational speed of the rolling brush to be reduced from the first rotational speed to the second rotational speed according to the first preset speed reduction rule.
6. The washing control method according to claim 1, wherein controlling the water flow rate of the water supply mechanism based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism comprises:when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling the water flow rate of the water supply mechanism to be increased from a first water flow rate to a second water flow rate according to a preset water flow rate increase rule; andwhen the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, controlling the water flow rate of the water supply mechanism to be increased from the first water flow rate to the second water flow rate according to the preset water flow rate increase rule.
7. The washing control method according to claim 1, further comprising:when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling a horizontal movement speed of the rolling brush on the rolling groove to be reduced from a first movement speed to a second movement speed according to a second preset speed reduction rule; andwhen the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, controlling the horizontal movement speed of the rolling brush on the rolling groove to be reduced from the first movement speed to the second movement speed according to the second preset speed reduction rule.
8. (canceled)9. A cleaning base station, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein,the memory stores instructions executable by the at least one processor; and the instructions are configured to perform a washing control method of a cleaning base station, wherein the cleaning base station comprises a rolling brush cleaning mechanism and a water supply mechanism; after a cleaning device returns to the cleaning base station, the water supply mechanism discharges water to the rolling brush cleaning mechanism, and a rolling brush in the rolling brush cleaning mechanism rotates, and reciprocates along a rolling groove, to clean a cleaning assembly of the cleaning device; and the method comprises:when the cleaning base station cleans the cleaning device, controlling at least one of a rotational speed of the rolling brush or a water flow rate of the water supply mechanism based on a movement direction and a movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism.
10. A non-transitory computer-readable storage medium, storing computer-executable instructions, wherein the computer-executable instructions are configured to perform a washing control method of a cleaning base station, wherein the cleaning base station comprises a rolling brush cleaning mechanism and a water supply mechanism; after a cleaning device returns to the cleaning base station, the water supply mechanism discharges water to the rolling brush cleaning mechanism, and a rolling brush in the rolling brush cleaning mechanism rotates, and reciprocates along a rolling groove, to clean a cleaning assembly of the cleaning device; and the method comprises:when the cleaning base station cleans the cleaning device, controlling at least one of a rotational speed of the rolling brush or a water flow rate of the water supply mechanism based on a movement direction and a movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism.
11. The washing control method according to claim 1, wherein controlling at least one of the rotational speed of the rolling brush or the water flow rate of the water supply mechanism based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism comprises:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to rotate at a first rotational speed, and controlling the water supply mechanism to discharge water at a first water flow rate at the same time; andwhen the rolling brush moves to a second endpoint point from a first preset point of the rolling groove along a first movement direction, or when the rolling brush moves to a first endpoint from a second preset point of the rolling groove along a second movement direction, controlling the rolling brush to rotate at a second rotational speed, and controlling the water supply mechanism to discharge water at a second water flow rate at the same time;wherein the second rotational speed is less than the first rotational speed, and the second water flow rate is greater than the first water flow rate.
12. The washing control method according to claim 2, further comprising:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to move on the rolling groove at a first horizontal movement speed; andwhen the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the rolling brush to move on the rolling groove at a second horizontal movement speed, wherein the second horizontal movement speed is less than the first horizontal movement speed.
13. The washing control method according to claim 3, further comprising:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to move on the rolling groove at a first horizontal movement speed; andwhen the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the rolling brush to move on the rolling groove at a second horizontal movement speed, wherein the second horizontal movement speed is less than the first horizontal movement speed.
14. The washing control method according to claim 11, further comprising:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to move on the rolling groove at a first horizontal movement speed; andwhen the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the rolling brush to move on the rolling groove at a second horizontal movement speed, wherein the second horizontal movement speed is less than the first horizontal movement speed.
15. The washing control method according to claim 1, wherein controlling at least one of the rotational speed of the rolling brush or the water flow rate of the water supply mechanism based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism comprises:when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling the rotational speed of the rolling brush to be reduced from a first rotational speed to a second rotational speed according to a first preset speed reduction rule; and controlling the water flow rate of the water supply mechanism to be increased from a first water flow rate to a second water flow rate according to a preset water flow rate increase rule at the same time; andwhen the rolling brush moves to a first endpoint from a second endpoint of the rolling groove along a second movement direction, controlling the rotational speed of the rolling brush to be reduced from a first rotational speed to a second rotational speed according to a first preset speed reduction rule, and controlling the water flow rate of the water supply mechanism to be increased from a first water flow rate to a second water flow rate according to a preset water flow rate increase rule at the same time.
16. The washing control method according to claim 15, wherein the preset speed reduction rule is a uniform decrease from the first rotational speed to the second rotational speed between two endpoints.
17. The washing control method according to claim 15, wherein the preset water flow rate increase rule is a uniform increase of the water flow rate from the first water flow rate to the second water flow rate between two endpoints.
18. The washing control method according to claim 6, further comprising:when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling a horizontal movement speed of the rolling brush on the rolling groove to be reduced from a first movement speed to a second movement speed according to a second preset speed reduction rule; andwhen the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, controlling the horizontal movement speed of the rolling brush on the rolling groove to be reduced from the first movement speed to the second movement speed according to the second preset speed reduction rule.
19. The washing control method according to claim 15, further comprising:when the rolling brush moves to a second endpoint from a first endpoint of the rolling groove along a first movement direction, controlling a horizontal movement speed of the rolling brush on the rolling groove to be reduced from a first movement speed to a second movement speed according to a second preset speed reduction rule; andwhen the rolling brush moves to the first endpoint from the second endpoint of the rolling groove along a second movement direction, controlling the horizontal movement speed of the rolling brush on the rolling groove to be reduced from the first movement speed to the second movement speed according to the second preset speed reduction rule.
20. The cleaning base station according to claim 9, wherein controlling the rotational speed of the rolling brush based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism comprises:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, controlling the rolling brush to rotate at a first rotational speed; and when the rolling brush moves to a second endpoint from the first preset point of the rolling groove along the first movement direction, controlling the rolling brush to rotate at a second rotational speed, wherein the second rotational speed is less than the first rotational speed; andwhen the rolling brush moves to a second preset point from the second endpoint of the rolling groove along a second movement direction, controlling the rolling brush to rotate at the first rotational speed; and when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the rolling brush to rotate at the second rotational speed, wherein the second rotational speed is less than the first rotational speed.
21. The cleaning base station according to claim 9, wherein controlling the water flow rate of the water supply mechanism based on the movement direction and the movement position in the rolling groove of the rolling brush in the rolling brush cleaning mechanism comprises:when the rolling brush moves to a first preset point from a first endpoint of the rolling groove along a first movement direction, or when the rolling brush moves to a second preset point from a second endpoint of the rolling groove along a second movement direction, controlling the water supply mechanism to discharge water at a first water flow rate; andwhen the rolling brush moves to the second endpoint from the first preset point of the rolling groove along the first movement direction, or when the rolling brush moves to the first endpoint from the second preset point of the rolling groove along the second movement direction, controlling the water supply mechanism to discharge water at a second water flow rate, wherein the second water flow rate is greater than the first water flow rate.