Cleaning system

Abstract

A cleaning system. The cleaning system comprises a cleaning device (100) and a base station (200). The cleaning device (100) comprises a dust box (110), a first dust collection unit communicated with the dust box (110), and a battery electrically connected to the first dust collection unit. The first dust collection unit is used for sucking garbage outside the cleaning device (100) into the dust box (110). The base station (200) comprises a dust collection cavity (210) and a second dust collection unit communicated with the dust collection cavity (210). The cleaning device (100) further comprises a controller, and when the current voltage of the battery is less than or equal to a first voltage threshold, the controller controls the cleaning device (100) to return to the base station (200). The cleaning system has a dust collection mode, and when the cleaning system is in the dust collection mode, the second dust collection unit is started to suck the garbage in the dust box (110) into the dust collection cavity (210).

Description

A cleaning system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 30, 2023, with application number 2023107973701 and invention name “A Cleaning System”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of smart home appliances, and more particularly to a cleaning system. Background Art

[0003] At present, when a cleaning system (including a base station and cleaning equipment, such as a sweeping robot) collects dust, the solution usually adopted is that when the cleaning equipment enters the preset position on the base station, the garbage in the dust box of the cleaning equipment is sucked into the dust collection chamber of the base station by the fan on the base station for storage. The base station charges the cleaning equipment that enters the preset position, and turning on the fan on the cleaning equipment can effectively improve the dust collection efficiency. However, when the cleaning equipment cooperates with the base station to collect dust, it will generate a large amount of power (about 60W), and this power exceeds the power supplied by the base station charging (about 24W). This may cause the cleaning equipment, which already has little power, to lose power or restart, and fail to complete the work smoothly. However, if the charging power of the base station is increased, the cost will increase significantly.

[0004] Summary of the Invention

[0005] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] The present application provides a cleaning system, which includes a cleaning device and a base station. The cleaning device includes a dust box, a first dust collecting unit connected to the dust box, and a battery electrically connected to the first dust collecting unit. The first dust collecting unit is used to absorb garbage outside the cleaning device into the dust box; the base station includes a dust collecting chamber and a second dust collecting unit connected to the dust collecting chamber; the cleaning device also includes a controller, and when the current voltage of the battery is less than or equal to the first voltage threshold, the controller controls the cleaning device to return to the base station; the cleaning system has a dust collection mode, and when the cleaning system is in the dust collection mode, the second dust collecting unit is started to absorb garbage in the dust box into the dust collecting chamber; if the current voltage of the battery is greater than the second voltage threshold, the controller starts the first dust collecting unit so that the first dust collecting unit assists the second dust collecting unit in collecting dust; wherein the second voltage threshold is less than the first voltage threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The following drawings of this application are hereby incorporated as part of this application for understanding this application. The drawings show the embodiments of this application and their descriptions, and are used to explain the device and principle of this application. In the drawings,

[0008] FIG1 is a schematic structural diagram of a cleaning system according to an embodiment of the present application, wherein the first fan is not working and the second fan is working.

[0009] FIG2 is a schematic structural diagram of a cleaning system according to an embodiment of the present application, wherein the first fan and the second fan operate simultaneously.

[0010] FIG3 is a schematic structural diagram of a cleaning device in a cleaning system according to an embodiment of the present application;

[0011] FIG4 is a schematic structural block diagram of a cleaning system according to an embodiment of the present application;

[0012] FIG5 is a schematic diagram of the working process of the cleaning equipment in an embodiment of the present application.

[0013] Explanation of the accompanying drawings: 100-cleaning device, 101-device body, 110-dust box, 111-accommodating chamber, 112-dust inlet, 113-dust outlet, 120-first fan, 130-dust inlet channel, 140-roller brush, 150-first channel, 151-first docking port, 160-walking mechanism, 161-walking wheel, 163-universal wheel, 170-roller brush cover, 200-base station, 210-dust collecting chamber, 220-second fan, 230-second channel, A, B-airflow direction. DETAILED DESCRIPTION

[0014] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described in order to avoid confusion with the present application.

[0015] It should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to make the disclosure thorough and complete and to fully convey the scope of the present application to those skilled in the art. In the drawings, the dimensions and relative sizes of layers and regions may be exaggerated for clarity. Like reference numerals throughout represent like elements.

[0016] It should be understood that although the terms first, second, third, etc. may be used to describe various elements, components, regions, layers, and / or parts, these elements, components, regions, layers, and / or parts should not be limited by these terms. These terms are merely used to distinguish one element, component, region, layer, or part from another element, component, region, layer, or part. Therefore, without departing from the teachings of this application, the first element, component, region, layer, or part discussed below may be represented as a second element, component, region, layer, or part.

[0017] Spatially relative terms, such as "below," "beneath," "beneath," "above," "upper," etc., may be used herein for convenience to describe the relationship of one element or feature to other elements or features illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use and operation in addition to the orientations depicted in the figures.

[0018] The purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application. When used herein, the singular forms "a", "an", and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "comprising" and / or "including", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0019] Embodiments of the invention are described herein with reference to cross-sectional views that are schematic diagrams of ideal embodiments (and intermediate structures) of the present application. Thus, variations in the shapes shown due to, for example, manufacturing techniques and / or tolerances can be expected. Therefore, the embodiments of the present application should not be limited to the specific shapes shown herein, but rather include shape deviations due to, for example, manufacturing. Therefore, what is shown in the figures is schematic in nature, and their shapes are not intended to show the actual shape of the device and are not intended to limit the scope of the present application.

[0020] A cleaning system according to an embodiment of the present application will be described in detail with reference to Figures 1 to 5. The cleaning system includes a cleaning device 100 and a base station 200.

[0021] The cleaning device 100 can be a robot vacuum or a sweeping and mopping robot, and includes a dust box 110, a battery, a controller, and a first dust collection unit, such as a first fan 120. The battery is used to power the first dust collection unit. The first fan 120 is used to generate negative pressure within the dust box 110 to draw trash outside the cleaning device 100 into the dust box 110.

[0022] Specifically, the dust box 110 includes a accommodating chamber 111, a dust inlet 112 communicating with the accommodating chamber 111, an air outlet communicating with the accommodating chamber 111, and a dust outlet 113 communicating with the accommodating chamber 111. The accommodating chamber 111 is used to accommodate garbage. The dust inlet 112 is communicated with the outside of the cleaning device 100, and garbage outside the cleaning device 100 can enter the accommodating chamber 111 through the dust inlet 112. In an embodiment of the present application, the cleaning device 100 is provided with a dust inlet channel 130, and the dust inlet 112 is communicated with the outside of the cleaning device 100 through the dust inlet channel 130. In some other embodiments, the dust inlet channel 130 may not be provided on the cleaning device 100, and the dust inlet 112 of the dust box 110 is directly communicated with the outside of the cleaning device 100. The air inlet of the first fan 120 is connected to the air outlet of the dust box 110 directly or through a connecting air duct. The first fan 120 is used to generate negative pressure within the receiving chamber 111 of the dust box 110 to suck garbage outside the cleaning device 100 into the dust box 110. A filter is provided at the air outlet of the dust box 110 or upstream of the air outlet. The filter allows air in the receiving chamber 111 to pass through it and enter the first fan 120, while restricting garbage in the receiving chamber 111 from passing through it and entering the first fan 120, thereby retaining the garbage in the receiving chamber 111. The filter can be a filter mesh, a high-efficiency air filter (HEPA), or other suitable filter. The dust outlet 113 of the dust box 110 is used to allow garbage in the receiving chamber 111 to leave the receiving chamber 111. A cover plate is provided at the dust outlet 113, which is located outside the dust outlet 113. The cover plate can be connected to the dust box 110 via a torsion spring, or it can be a rubber sheet directly connected to the dust box 110. When the air pressure in the accommodating chamber 111 is less than or equal to the air pressure outside the dust outlet 113, the cover plate covers the dust outlet 113, closing the dust outlet 113. When the air pressure in the accommodating chamber 111 is greater than the air pressure outside the dust outlet 113 and the force exerted by the air pressure on the cover plate exceeds a certain value, the air pressure pushes the cover plate to move, opening the dust outlet 113. At this time, the garbage in the accommodating chamber 111 can leave the accommodating chamber 111 through the dust outlet 113. Thus, when the first fan 120 is working to collect dust, a negative pressure is generated in the accommodating chamber 111, the cover plate closes the dust outlet 113, and the air outside the cleaning device 100, together with the garbage, enters the accommodating chamber 111 through the dust inlet channel 130 and the dust inlet 112 in sequence. Afterwards, the gas enters the first fan 120 through the filter element and the air outlet, and is discharged through the air outlet of the first fan 120, leaving the garbage in the accommodating chamber 111.

[0023] Referring to Figure 3, in an embodiment of the present application, the cleaning device 100 also includes a device body 101 and a walking mechanism 160, the dust box 110 and the first blower 120 are both mounted on the device body 101, the walking mechanism 160 includes a power member connected to the device body 101 and a walking wheel 161 connected to the power member, the power member is used to drive the walking wheel 161 to rotate relative to the device body 101 to drive the device body 101 to move on the surface to be cleaned. In an embodiment of the present application, the power member is a motor, and the walking mechanism 160 also includes a universal wheel 163 rotatably connected to the device body 101, and the universal wheel 163 is located at the front of the device body 101 on one side of the surface to be cleaned. It should be noted that the "front" in this application refers to the part toward the direction of advance of the cleaning device 100 (towards the side of the direction of advance of the cleaning device 100). There can be two walking wheels 161, located in the middle of the device body 101 on one side toward the surface to be cleaned. The travel wheels 161 and the universal wheels 163 may be arranged in an isosceles triangle on the side of the device body 101 facing the surface to be cleaned. In some embodiments, the drive assembly may include a power member and a track wheel, wherein the track wheel is located on the side of the device body 101 facing the surface to be cleaned, and the power member is in transmission connection with the track wheel to drive the track wheel to rotate, thereby driving the device body 101 to move across the surface to be cleaned.

[0024] In an embodiment of the present application, the cleaning device 100 also includes a roller brush 140 and a roller brush motor for driving the roller brush 140 to rotate. The controller of the cleaning device 100 is electrically connected to the roller brush motor for controlling the roller brush motor to drive the roller brush to rotate. The roller brush 140 is used to clean the surface to be cleaned while rotating.

[0025] The roller brush 140 is located on the side of the device body 101 facing the surface to be cleaned and outside the dust inlet 112 of the dust box 110. The device body 101 has a mounting groove facing the surface to be cleaned for mounting the roller brush 140. The roller brush 140 is installed in the mounting groove. The mounting groove also has a roller brush cover 170 on the outside. The roller brush cover 170 is detachably connected to the device body 101. The roller brush cover 170 has a hollow portion at a position corresponding to the mounting groove, and the hollow portion is used to expose the roller brush 140. Specifically, the roller brush 140 is located on the side of the dust inlet channel 130 away from the dust inlet 112. The central axis of the roller brush 140 is parallel to the surface to be cleaned. The bristles and / or rubber strips on the roller brush 140 contact the surface to be cleaned. Therefore, when the roller brush 140 rotates, the bristles and / or rubber strips can push garbage on the surface to be cleaned toward the dust inlet channel 130 so that it can enter the accommodating chamber 111 through the dust inlet channel 130 and the dust inlet 112. The roller brush motor is in transmission connection with the roller brush 140 of the roller brush 140 and is used to drive the roller brush 140 to rotate. In the embodiment of the present application, the roller brush motor can drive the roller brush 140 to rotate in a first direction and a second direction. The first direction is consistent with the rotation direction of the travel wheel 161 when the cleaning device 100 is moving forward, that is, the first direction is the counterclockwise direction in Figure 1, and the second direction is opposite to the first direction, that is, the second direction is the clockwise direction in Figure 1. When the cleaning device 100 is moving on the surface to be cleaned and the first fan 120 is operating to collect dust, the roller brush motor drives the roller brush 140 to rotate in the first direction to push garbage on the surface to be cleaned toward the dust inlet channel 130, and then absorb it into the accommodating cavity 111 of the dust box 110.

[0026] The base station 200 includes a second dust collection unit and a dust collection chamber 210, wherein the second dust collection unit includes a second fan 220. The dust collection chamber 210 is used to hold garbage. When the cleaning device 100 is in a preset position in the base station 200, the dust collection chamber 210 is connected to the dust box 110 through the dust collection channel 300. In an embodiment of the present application, the dust collection channel 300 includes a first channel 150 located on the cleaning device 100 and a second channel 230 located on the base station 200. The first end of the first channel 150 is connected to the dust box 110, and the cover plate outside the dust outlet 113 is located in the first channel 150. The second end of the first channel 150 is the first docking port 151 on the cleaning device 100. The first end of the second channel 230 is connected to the dust inlet 112 of the dust collection chamber 210, and the second end of the second channel 230 is the second docking port on the base station 200. When the cleaning device 100 is in a preset position in the base station 200, the first docking port 151 docks with the second docking port (i.e., docks by abutting or plugging), thereby connecting the dust collecting chamber 210 and the dust box 110 through the dust collection channel 300. The second fan 220 is used to generate negative pressure in the dust collecting chamber 210 to absorb the garbage in the dust box 110 into the dust collecting chamber 210 through the dust collection channel 300. The air inlet of the second fan 220 is connected to the air outlet of the dust collecting chamber 210, and a filter is provided at the air outlet. The filter allows the gas in the accommodating chamber 111 to pass through it and enter the fan, while restricting the garbage in the accommodating chamber 111 from passing through it and entering the fan, thereby retaining the garbage in the accommodating chamber 111. The filter can be a filter screen, a high-efficiency air filter, or other suitable filter. Thus, when the cleaning device 100 is in the preset position in the base station 200 and the second fan 220 is working, the second fan 220 generates negative pressure in the dust collecting chamber 210, and the gas pressure in the dust collecting channel 300 is less than the pressure in the accommodating chamber 111 of the dust box 110. The cover is opened, and the garbage in the accommodating chamber 111 enters the dust collecting chamber 210 through the dust outlet 113, the dust collecting channel 300 and the dust inlet 112 of the dust collecting chamber 210 in turn, and then the garbage in the dust box 110 can be absorbed into the dust collecting chamber 210 for storage.

[0027] In an embodiment of the present application, the first docking port 151 is located at the tail of the cleaning device 100 to achieve dust collection at the tail. The dust inlet 112 of the dust box 110 is located on the side of the dust box 110 facing the front of the cleaning device, and the dust outlet 113 of the dust box is located on the side of the dust box 110 facing the tail of the cleaning device, and the dust outlet 113 is connected to the first docking port 151. Thus, when the second fan 220 is working to collect dust, the flow trajectory of the airflow in the dust box 110 is a straight line (or approximately a straight line), which can better carry away the garbage in the dust box 110, and there is basically no dead angle. In some other embodiments, the first docking port can be located at the bottom of the cleaning device 100 to achieve bottom dust collection. The position of the first docking port can be flexibly configured according to the specific design requirements of the cleaning device 100 and the base station 200 by those skilled in the art.

[0028] In an embodiment of the present application, the cleaning system has a dust collection mode. When the cleaning system is in the dust collection mode, the second dust collection unit is started to absorb the garbage in the dust box into the dust collecting chamber. Specifically, the dust collecting chamber 210 is connected to the dust box 110, and the second fan 220 is started to generate negative pressure in the dust collecting chamber 210 to absorb the garbage in the dust box 110 into the dust collecting chamber 210.

[0029] In an embodiment of the present application, the cleaning system may enter the dust collection mode when a specific button corresponding to the dust collection mode on the base station 200 is triggered. In some other embodiments, the cleaning system may automatically enter the dust collection mode when other preset trigger conditions are met. For example, the base station 200 and / or the cleaning device may be provided with an in-position determination unit, and the in-position determination unit is used to determine whether the cleaning device 100 is in a preset position in the base station 200. When the in-position determination unit determines that the cleaning device 100 is in the preset position in the base station 200, the cleaning system enters the dust collection mode. The in-position determination unit may include a contact sensor, a proximity sensor, or other suitable sensor provided on the base station 200, which is used to be triggered when the cleaning device 100 is in the preset position in the base station 200, so that when it is triggered, it can be determined that the cleaning device 100 is in the preset position in the base station 200. Alternatively, when the charging electrode on the base station 200 is in electrical contact with the charging electrode on the cleaning device 100, it is determined that the cleaning device 100 is in the preset position in the base station 200. It should be noted that the electrical contact between the charging electrode on the base station 200 and the charging electrode on the cleaning device 100 does not mean that the base station 200 starts charging the battery of the cleaning device 100. At this time, only a small current can be passed to determine that the cleaning device 100 is in place.

[0030] As shown in Figure 4, in an embodiment of the present application, the cleaning device 100 also includes a battery, which is electrically connected to the first fan 120 and the roller brush motor to power them. The base station 200 also includes a power supply circuit, which is connected to the mains power and the second fan 220 to receive the mains power and power the second fan 220. When the cleaning system is in dust collection mode and the first fan 120 assists in dust collection, the battery supplies power to the first fan 120, and the power supply circuit supplies power to the second fan 220. The base station 200 also includes a charging circuit, which is connected to the mains power. When the cleaning device 100 is in a preset position in the base station 200, the charging circuit is electrically connected to the battery, and the charging circuit can charge the battery. The cleaning system also has a charging mode. When the cleaning system is in charging mode, the charging circuit charges the battery. In some embodiments, when the cleaning system is in dust collection mode, the charging circuit is disabled, that is, the charging circuit does not charge the battery of the cleaning device 100 when the cleaning system is in dust collection mode. The charging circuit can be configured to charge the battery of the cleaning device 100 when dust collection is completed and the cleaning system is in non-dust collection mode. In this way, when the cleaning system is in dust collection mode, most of the electrical energy received by the base station 200 can be used to power the second fan 220, so that the second fan 220 can operate at a higher power, improve the dust collection effect, and avoid the charging circuit taking away part of the electrical energy, causing the power of the second fan 220 to decrease. In addition, if the charging of the battery of the cleaning device is turned on while the cleaning device is working, the charging voltage will be lowered. In this application, charging the battery of the cleaning device after dust collection will not affect the charging voltage. In some other embodiments, the charging circuit can also charge the battery of the cleaning device 100 when the cleaning system is in dust collection mode.

[0031] In some embodiments, a user interface is provided on the cleaning device 100, and the user can start the cleaning work of the cleaning device 100 through the user interface, such as a switch button, etc. During the cleaning process of the cleaning device, the current voltage of the battery of the cleaning device is collected, and the current voltage of the battery is compared with the first voltage threshold. When the current voltage of the battery is less than the first voltage threshold, the cleaning device is controlled to stop cleaning and return to the base station. When the current voltage of the battery is greater than or equal to the first voltage threshold, it indicates that the remaining power of the cleaning device can continue to clean, such as cleaning by a roller brush. If the current voltage of the battery always satisfies or is greater than or equal to the first voltage threshold before the cleaning work is completed, the cleaning device can continue to perform the cleaning work until the cleaning work is completed, and the cleaning device 100 is controlled to move back to the base station 200 for charging (that is, recharging).

[0032] Exemplarily, the base station 200 also includes a first controller, which is connected to the in-place determination unit for determining whether the cleaning device 100 is in a preset position in the base station 200 by the in-place determination unit. The first controller is also connected to the second blower 220 control. Specifically, the first controller can be a single-chip microcomputer or other suitable control device, which is electrically connected to the second blower 220 to control the second blower 220. The controller on the cleaning device 100 is called the second controller. The second controller provided on the cleaning device 100 is connected to the drive assembly, the first blower 120 and the roller brush motor, and the second controller controls the drive assembly to drive the cleaning device 100 to advance on the surface to be cleaned, and controls the first blower 120 and the roller brush motor to work to achieve cleaning of the surface to be cleaned. The first controller and the second controller can be connected to each other through connection contacts or wireless communication modules (such as infrared communication modules, Bluetooth communication modules or WIFI communication modules).

[0033] When the cleaning device 100 stops cleaning and arrives at the base station 200, the second controller of the cleaning device 100 can control the roller brush to self-clean. After the self-cleaning is completed, the cleaning device 100 returns to the base station 200. Exemplarily, the controller of the cleaning device 100 controls the roller brush motor to drive the roller brush to rotate for self-cleaning, including controlling the roller brush motor to drive the roller brush to rotate in a first direction. Exemplarily, the controller controls the roller brush motor to drive the roller brush to rotate for self-cleaning, further comprising: controlling the roller brush motor to drive the roller brush to rotate alternately in the first and second directions.

[0034] In some embodiments, when the cleaning device 100 and the base station 200 are docked, for example, when the cleaning device 100 is in a preset position in the base station 200, the cleaning system enters the dust collection mode. At this time, the first controller can start the second dust collection unit, for example, to control the second fan 220 to work, to collect dust. Specifically, when the first controller determines through the in-place determination unit that the cleaning device 100 and the base station 200 are docked, it controls the second fan 220 to start and start working. After the second fan 220 is started, the airflow from the outside of the cleaning device 100 passes through the dust inlet channel 130, the dust inlet port, the accommodating chamber, the dust outlet, and the dust collection channel 300 in sequence into the dust collection chamber 210 (the direction of the airflow is shown as A in Figure 1).

[0035] After the cleaning device 100 enters the base station 200, if the current voltage of the battery of the cleaning device 100 in the base station 200 is greater than the second voltage threshold, the first dust collection unit of the cleaning device 100, such as the first fan 120, is activated to assist the second dust collection unit in collecting dust. The first dust collection unit can be activated at the same time as the second dust collection unit of the base station is activated to assist the second dust collection unit in collecting dust, or it can be activated after a preset time, such as 10 seconds, has passed since the second dust collection unit was activated. In some embodiments, when the cleaning system is in dust collection mode, the dust collection chamber 210 is connected to the dust box 110, and the second fan 220 is first activated to generate a negative pressure in the dust collection chamber 210 to suck the dust in the dust box 110 into the dust collection chamber 210. After the second fan 220 has been operating for a preset time, and if the current voltage of the battery of the cleaning device 100 in the base station 200 is greater than the second voltage threshold, the first fan 120 is activated. The preset time can be 5 seconds or other time greater than 5 seconds, such as 10 seconds. When the cleaning system enters dust collection mode, the second fan 220 starts to operate. After the second fan 220 is started, air flows from the outside of the cleaning device 100 through the dust inlet channel 130, the dust inlet port 112, the receiving chamber 111, the dust outlet 113, and the dust collection channel 300 into the dust collection chamber 210 (the direction of air flow is shown in A in Figure 1). Since the first fan 120 is not working at this time, the air flow preferentially carries away fine dust and some garbage in the receiving chamber 111 of the dust box 110 and allows them to enter the dust collection chamber 210, effectively preventing the dust from adhering to the filter element in the dust box 110, thereby extending the service life of the filter element. After the second fan 220 has been working for a preset time, and the remaining power of the battery of the cleaning device is sufficient to support the first fan 120 to assist the second fan 220 in collecting dust, the first fan 120 starts to start working. At this time, the first fan 120 and the second fan 220 work at the same time. Part of the airflow entering the accommodating chamber 111 through the dust inlet channel 130 and the dust inlet 112 enters the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300 (the direction of the airflow is shown as A in Figure 2), and the other part of the airflow enters the first fan 120 through the air outlet on the dust box 110, and is discharged through the air outlet of the first fan 120 (the direction of the airflow is shown as B in Figure 2). The simultaneous operation of the first fan 120 and the second fan 220 can significantly increase the velocity and flow rate of the airflow in the dust box 110, thereby carrying heavier garbage and allowing it to enter the dust collection chamber 210 through the dust outlet 113 and the dust collection channel 300 under the action of the second fan 220, thereby improving the dust collection efficiency of the base station 200. In the embodiment of the present application, the power of the second fan 220 is greater than that of the first fan 120, thereby preventing some garbage from being adsorbed on the filter element of the dust box 110 and unable to enter the dust collection chamber 210.

[0036] In the embodiment of the present application, there are two first fans 120, both of which are connected to the dust box 110. The two first fans 120 are configured to start simultaneously after the second fan 220 has been operating for a preset time, so as to increase the air flow rate and flow rate in the accommodating chamber 111 of the entire dust box 110, so that the garbage in the accommodating chamber 111 can be more easily passed through the dust outlet 113 and the dust collection channel 300 into the dust collection chamber 210 under the action of the second fans 220. In the embodiment of the present application, the dust box 110 has a first air outlet and a second air outlet on both sides, and the air inlets of the two first fans 120 are connected to the first air outlet and the second air outlet respectively. The first air outlet and the second air outlet are arranged in different directions so that the airflows generated by the two first fans 120 can flow out of the dust box 110 in different directions. When the cleaning system is in dust collection mode and both the first and second fans 120 and 220 are operating simultaneously, the airflow entering the receiving chamber 111 of the dust box 110 is split into three streams: one stream enters the first fan 120 through the first air outlet, another stream enters the second fan 220 through the second air outlet, and a third stream enters the dust collecting chamber 210 through the dust outlet 113 and the dust collection channel 300. These three streams significantly increase the air velocity and flow rate throughout the receiving chamber 111. The higher air velocity and flow rate can carry more or heavier trash. The airflows in different directions effectively disturb the trash in the dust box 110, making it easier for the trash in the receiving chamber 111 to enter the dust collecting chamber 210 through the dust outlet 113 and the dust collection channel 300 under the action of the second fan 220. This significantly improves the cleanliness of the dust box 110, increases the service life of the dust box 110, reduces the number of times the user needs to clean the dust box 110, and enhances the user experience.

[0037] In an embodiment of the present application, the dust inlet 112 and the dust outlet 113 are located on both sides of the dust box 110 in the third direction (i.e., the front-to-back direction in Figure 2), wherein the directions of the first air outlet and the second air outlet intersect with the third direction, and the directions of the first air outlet and the second air outlet may be perpendicular or non-perpendicular to the third direction. Thus, when the cleaning system is in dust collection mode and both the first fan 120 and the second fan 220 are operating simultaneously, the airflow velocity in the third direction is significantly increased, especially near the dust inlet 112. The airflow generated by the two first fans 120 can cause the debris in the dust box 110 to tend to move between the first air outlet and the second air outlet, that is, to move it into the flow path of the airflow generated by the second fan 220. The airflow generated by the second fan 220 can better push the debris in the accommodating chamber 111 along the third direction (that is, from the dust inlet 112 to the dust outlet 113). Thus, it can better push the debris in the accommodating chamber 111 into the dust collection chamber 210 through the dust outlet 113 and the dust collection channel 300, thereby improving the dust collection efficiency of the base station 200. In other embodiments, the number of first fans 120 can also be one. In other embodiments, the air inlet can be located at the top of the dust box 110 (that is, on the side of the dust box 110 away from the surface to be cleaned). In other embodiments, the dust outlet 113 may be located at the bottom of the dust box 110, that is, on the side of the dust box 110 facing the surface to be cleaned. The specific locations of the dust inlet 112, dust outlet 113, and air outlet on the dust box 110 can be flexibly adjusted by those skilled in the art based on the design requirements of the cleaning device 100 and the base station 200.

[0038] In some embodiments, when there are two first fans 120, the second controller can control the two first fans 120 to work alternately after the second fan 220 has worked for a preset time and the current voltage of the battery of the cleaning device is greater than the second voltage threshold, that is, one first fan 120 is first started and works for a third time (for example, 10 seconds or other suitable time), then the first fan 120 is turned off, and the other first fan 120 is started and works for a fourth time (for example, 10 seconds or other suitable time), and then turned off, and so on. In this way, on the one hand, the direction of the airflow in the dust box 110 can be changed, and the garbage in the accommodating chamber 111 can be disturbed, making it easier for the garbage to enter the dust collecting chamber 210 through the dust outlet 113 and the dust collecting channel 300 under the action of the second fan 220; on the other hand, it can prevent some garbage from being continuously adsorbed on the filter element at the corresponding air outlet under the action of the first fan 120. In some embodiments, when the cleaning system is in dust collection mode, if the current voltage of the battery is greater than a second voltage threshold, the second controller controls the roller brush motor to drive the roller brush 140 to rotate to assist the second dust collection unit in collecting dust. The rotation of the roller brush 140 can disturb the airflow entering the dust box 110, changing the direction of the airflow, thereby causing the airflow entering the dust box 110 to flow irregularly, blowing up garbage originally in the corners of the receiving chamber 111, making it easier for the garbage to enter the dust collection chamber 210 through the dust outlet 113 and the dust collection channel 300 under the action of the second fan 220, thereby significantly improving the dust collection effect of the base station 200. Specifically, the roller brush 140 can be driven to rotate when the second fan 220 is operating alone or when the first fan 120 is activated (i.e., when the first fan 120 and the second fan 220 are operating simultaneously).

[0039] Specifically, the second controller is connected to the roller brush motor and is used to control the roller brush 140 to rotate alternately in a first direction and a second direction. Specifically, when the second fan 220 is started or when the first fan 120 is started, the second controller also controls the roller brush motor to drive the roller brush 140 to rotate alternately in the first direction and the second direction. For example, the roller brush 140 rotates in the first direction for a first time (e.g., 5 seconds or other suitable time), and then rotates in the second direction for a second time (e.g., 5 seconds or other suitable time, the second time can be less than or equal to the first time), and so on. Compared with the roller brush continuously rotating in the first direction, the alternating rotation of the roller brush 140 in the first direction and the second direction can better disturb the airflow entering the dust inlet channel 130 (i.e., entering the dust inlet port 112), making it easier for the garbage to enter the dust collection chamber 210 through the dust outlet 113 and the dust collection channel 300 under the action of the second fan 220, thereby significantly improving the dust collection effect of the base station 200. The alternating rotation of the roller brush 140 in the first and second directions can also effectively clean hair or other foreign matter remaining on the roller brush 140, ensuring that the roller brush 140 is in a relatively clean state during the next cleaning. It should be noted that when the roller brush motor drives the roller brush 140 to rotate alternately in the first and second directions, it first drives the roller brush 140 to rotate in the first direction, so that the garbage adhering to the roller brush enters the dust box 110 and the dust collection chamber 210 under the action of the airflow, thereby preventing the garbage from being thrown out. Of course, in some embodiments, the timing at which the roller brush 140 starts to rotate may be different from the timing at which the first fan 120 and the timing at which the second fan 220 start. For example, the timing at which the roller brush 140 starts to rotate may be later than the timing at which the second fan 220 starts and earlier than the timing at which the first fan 120 starts, or later than the timing at which the first fan 120 starts. In some other embodiments, the timing at which the roller brush 140 starts to rotate may be the same as the timing at which the first fan 120 and the timing at which the second fan 220 start. The timing at which the roller brush 140 starts to rotate may be limited according to actual conditions.

[0040] When the cleaning device 100 collects dust on the base station 200, the first fan and the roller brush of the cleaning device 100 are turned on to cooperate with the base station 200 to complete the dust collection, thereby improving the dust collection efficiency. In other embodiments, when the cleaning system is in the dust collection mode, the rotation of the roller brush can also be omitted, that is, the first dust collection unit and the second dust collection unit work in coordination.

[0041] In some embodiments, after the first dust collection unit of the cleaning device is activated, if the current voltage of the battery of the cleaning device is less than or equal to a third voltage threshold, the first dust collection unit stops operating, where the third voltage threshold is less than the second voltage threshold. In some embodiments, if the current voltage of the battery is less than or equal to the third voltage threshold, the second controller also controls the roller brush motor to stop rotating.

[0042] Among them, the third voltage threshold is smaller than the above-mentioned first voltage threshold. When the first dust collecting unit of the cleaning device is working, the power of the battery of the cleaning device will be continuously consumed. When the current voltage of the battery of the cleaning device is smaller than or equal to the third voltage threshold, the first dust collecting unit of the cleaning device is controlled to stop working to reduce power loss, so as to avoid excessive power consumption of the battery of the cleaning device, resulting in power failure or restart. The second dust collecting unit of the base station continues to complete the dust collection. In this way, it can also effectively ensure that the battery of the cleaning device will not be damaged by over-discharge, thereby ensuring the life of the battery.

[0043] In some embodiments, taking the example of a first dust collection unit and a roller brush of a cleaning device both participating in the work to assist the second dust collection unit in collecting dust, during the dust collection process, if the current voltage of the battery of the cleaning device is always greater than the third voltage threshold, then, while the second dust collection unit is operating, the first dust collection unit and the roller brush will remain in operation until their respective operating times reach a set duration. Specifically, assuming that in the dust collection mode, the complete operating time of the first dust collection unit is the first set duration, and the complete operating time of the roller brush is the second set duration, the first set duration may be the same as or different from the second set duration, and this is not a unique limitation.

[0044] For the cleaning system, the time taken by the second dust collecting unit to complete the dust collection work is the preset working time. After the second dust collecting unit works for the preset working time (for example, the second dust collecting unit completes the dust collection work, and the preset working time can be any suitable time, such as 20s, 25s, 30s or 40s, etc.), the base station starts charging the battery of the cleaning device. The current voltage of the battery does not affect the work of the second dust collecting unit. In the dust collection mode, regardless of the relationship between the current voltage of the battery and the third voltage threshold, the second dust collecting unit will work for the preset working time. After the second dust collecting unit completes the work, the cleaning system will switch from the dust collection mode to the charging mode. It is not difficult to understand that the first set time and the second set time are less than or equal to the preset working time.

[0045] In other words, the base station will not charge the cleaning device's battery until the second dust collection unit completes its dust collection task. When the cleaning system is in dust collection mode, the base station will not charge the cleaning device's battery. The base station must prioritize the completion of dust collection operations to ensure that when the cleaning device leaves the base station after charging, the dust box of the cleaning device has enough space to collect the garbage generated by the next cleaning task, and that the battery of the cleaning device has sufficient power.

[0046] Exemplarily, the cleaning device has multiple gears, and the aforementioned first voltage threshold, second voltage threshold, and third voltage threshold are determined based on mapping data. The first voltage threshold is greater than the second voltage threshold, and the second voltage threshold is greater than the third voltage threshold. The mapping data includes mapping relationship data of the operating voltage, operating current, and operating time of the cleaning device at different gears, wherein the operating time includes the time it takes for the cleaning device to go from full power to shutdown at different gears.

[0047] The mapping data is obtained by measuring the treadmill data of the cleaning equipment in different gears. Taking five gears as an example, from low to high, they are gear 1, gear 2, gear 3, gear 4 and gear 5. The working voltage (i.e., the voltage of the battery) and the working current per second when the cleaning equipment is fully charged to automatically shut down at different gears are recorded to form the final mapping data. Optionally, the mapping data can be data in the form of a table, or it can be data composed of curves, or it can be other data that can reflect the mapping relationship. From gear 1 to gear 5, Table 1, Table 2, Table 3, Table 4 and Table 5 correspond to each other. By querying Tables 1 to 5, the working data of the cleaning equipment under different gears can be obtained, such as when the cleaning equipment starts charging at a specified gear, the working voltage and working current of the cleaning equipment when charging, etc. Exemplarily, the above-mentioned gears can also be increased or decreased according to actual conditions. For example, it can also be set to gear 1 to gear 7 or gear 1 to gear 9, etc., which will not be repeated here. It is worth mentioning that each gear can correspond to a working mode, and the running machine data will be different in different working modes.

[0048] The following will introduce how to obtain the above-mentioned first voltage threshold, second voltage threshold and third voltage threshold by mapping data. It is worth mentioning that the following method is only used as an example, and other suitable methods may also be applicable to this application.

[0049] Exemplarily, the above-mentioned first voltage threshold represents the recharge voltage Vrc, which refers to the threshold voltage at which the cleaning device completes the cleaning task and starts the recharge mode. When the cleaning device works in different gears, Vrc may be different. When the cleaning device is working, the cleaning device can select the corresponding first voltage threshold according to the gear it is in to determine whether to recharge.

[0050] In some embodiments, the cleaning device includes multiple working modes, wherein the multiple working modes include a first working mode. When the cleaning device is in the first working mode, the cleaning device does not perform self-cleaning of the cleaning module before returning to the base station after stopping the cleaning work. When the cleaning device is in the first working mode, the corresponding first voltage threshold is: the standby voltage corresponding to the working voltage at the first time point in the working time in the mapping relationship data of the first gear among the multiple gears, wherein the cleaning device runs the first working mode in the first gear, and the first time point and the charging time point are separated by a first preset time length. The charging time point is the time point corresponding to the battery voltage when the cleaning device enters the base station for charging in the first gear.

[0051] The above-mentioned first gear can be the lowest gear (for example, corresponding to gear 1), and its corresponding mapping relationship data is the data in Table 1. Exemplarily, the first preset duration can be 15 minutes or other suitable time. For example, the working current is obtained through Table 1, and the working voltage when recharging under the Vcs voltage in the standby state is deduced. This voltage is found in Table 1, and it is pushed forward 15 minutes to obtain the working voltage at this time, and then converted into the standby voltage through the internal resistance of the cleaning equipment. The standby voltage is also the first voltage threshold. The internal resistance of the cleaning equipment includes the resistance of components such as batteries and connectors. Exemplarily, the first voltage threshold can be 14.1V or other suitable values.

[0052] For example, before the cleaning device enters the base station, the roller brush can rotate for self-cleaning. After the cleaning device enters the base station to charge, if the first dust collection unit is turned on, the roller brush rotates to assist the second dust collection unit in collecting dust. If the first dust collection unit is turned off, the roller brush stops rotating. During dust collection, the roller brush in the cleaning device can be turned on and off synchronously with the first dust collection unit, or it can be turned on and off asynchronously.

[0053] Due to the different working modes, there is another way to calculate the above-mentioned first voltage threshold. In some embodiments, multiple working modes include a second working mode. When the cleaning device is in the second working mode, the cleaning device stops cleaning and performs self-cleaning of the cleaning module before returning to the base station. When the cleaning device is in the second working mode, the corresponding first voltage threshold is: the standby voltage corresponding to the working voltage at the third time point in the working time in the mapping relationship data of the second gear among multiple gears (for example, corresponding to gear 4), wherein the cleaning device runs the second working mode in the second gear, and the third time point and the self-cleaning time point are separated by a second preset time length. The self-cleaning time point is the time point corresponding to the working voltage of the cleaning module of the cleaning device during self-cleaning. The working voltage of the cleaning module during self-cleaning is obtained based on the working current of the cleaning module during self-cleaning and the internal resistance of the cleaning device. The working current of the cleaning module during self-cleaning is obtained through the mapping relationship data of the second gear.

[0054] It is worth mentioning that there may be other gears between the first gear and the second gear.

[0055] For example, the mapping relationship data corresponding to the second gear is the relevant data in Table 4, and the second preset duration is 21s or other suitable duration. The working current of the roller brush during self-cleaning is queried through Table 4, and converted into the working voltage of the roller brush during self-cleaning through the internal resistance. Query Table 4 to obtain the working voltage of this voltage pushed forward 21S, and convert it into the standby voltage again through the internal resistance, that is, the standby voltage value during recharging is obtained, which is the first voltage threshold. Compared with the calculation of the first voltage threshold in the second gear, because in this gear, the roller brush participates in self-cleaning, the size of its first voltage threshold will be different.

[0056] For example, the third voltage threshold is the minimum operating threshold Vcp during dust collection, i.e., the minimum operating voltage threshold at which the cleaning device exits dust collection mode. Compared to the first and second voltage thresholds, the third voltage threshold is the lowest. The first dust collection unit remains on only when the voltage of the cleaning device is above the third voltage threshold; otherwise, the cleaning device may lose power.

[0057] The third voltage threshold is: the working voltage corresponding to the third time point in the working time in the mapping relationship data of the middle gear among the multiple gears, wherein the third time point and the end time of the working time are separated by a third preset time length. Exemplarily, the middle gear is the third gear, and the corresponding mapping relationship data is the data in Table 3. The third preset time length can be 30s or other suitable time lengths. Query the working voltage 30s before shutdown in Table 3 and set this voltage as the third voltage threshold. Once the current voltage of the battery is lower than this value during dust collection, the cleaning device immediately exits the dust collection mode, the first dust collection unit and the roller brush stop working, and the base station continues to complete dust collection. Exemplarily, the third voltage threshold can be 12V or other suitable values.

[0058] The second voltage threshold is the minimum startup voltage (Vcs) before dust collection. This is the minimum voltage threshold before the first fan and roller brush are activated after the cleaning device arrives at the base station. Once the cleaning device enters the base station, if the standby voltage is less than or equal to the second voltage threshold, the second dust collection unit and roller brush cannot be activated.

[0059] Optionally, the second voltage threshold is: the open circuit voltage corresponding to the working voltage at the second time point in the working time in the mapping relationship data of the middle gear among the multiple gears, wherein the second time point and the third time point are separated by a fourth preset time length, and the open circuit voltage is the sum of the working voltage at the second time point and the internal resistance voltage of the cleaning device. Optionally, the fourth preset time length is greater than or equal to the preset dust collection time of the second dust collection unit of the base station (for example, 25s, 30s or other suitable time), so as to ensure that the remaining power of the battery of the cleaning device can meet the dust collection needs. Exemplarily, the fourth preset time length is 25s or other suitable time. The middle gear is the above-mentioned gear 3, and the corresponding mapping relationship data is the data in Table 3. Query Table 3, find the time point corresponding to the third voltage threshold, push forward the working time of 25s, and record the voltage at this time as Vcp25s. It is assumed here that the internal resistance of the battery is in the ohmic characteristic range, and the battery open circuit voltage Voc=Vw+IR, Vw=Vcp25s is used by the formula. I is the operating current, and R is the resistance of the battery and connector, usually between 0.1-0.25 ohms. Here, 0.25 ohms is used. Calculate the open circuit voltage at this point, which is the second voltage threshold. The second voltage threshold is 13.5V.

[0060] For example, after the cleaning equipment has been used for a period of time, it may lose power quickly due to reasons such as battery aging. It is possible that when collecting dust, the voltage reaches the threshold in advance, causing the robot to be unable to start the fan and roller brush normally to cooperate with the base station to collect dust. To solve this problem, when the current voltage of the battery is less than or equal to the second voltage threshold or the third voltage threshold, the second controller also: adds a predetermined increase value to the current first voltage threshold to update the first voltage threshold. The initial value of the first voltage threshold is determined based on the mapping data. After that, whenever the battery voltage is less than or equal to the second voltage threshold or the third voltage threshold, the first voltage threshold is updated once. The updated first voltage threshold is used for recharging judgment during the next cleaning. In some other embodiments, whenever the battery voltage is less than or equal to the second voltage threshold or the third voltage threshold, the current first voltage threshold is added with a predetermined increase value to update the first voltage threshold. Exemplarily, whenever a preset update condition is met, the current cached data is increased by 1 to obtain updated cached data, wherein the preset update condition includes that when the cleaning device returns to the base station, the current voltage of the battery is less than or equal to the second voltage threshold, or the current voltage of the battery is less than or equal to the third voltage threshold; the initial first voltage threshold is added to the updated voltage threshold to update the first voltage threshold to obtain the updated first voltage threshold, wherein the updated voltage threshold is equal to the product of the updated cached data and the preset increase value. The first voltage threshold is added to the predetermined increase value, that is, the first voltage threshold is added to the product of the updated cached data and the preset update value to update the first voltage threshold to obtain the updated first voltage threshold. The initial value of the cached data can be 0. Based on the initial value of 0, whenever the current voltage of the battery is less than or equal to the second voltage threshold or the current voltage of the battery is less than or equal to the third voltage threshold, 1 is added to the current cached data. Exemplarily, the cached data is N, and the initial value of N is 0. When the first fan and roller brush are turned off in advance during a robot dust collection (that is, when the current voltage of the battery is less than or equal to the second voltage threshold during robot dust collection, the first fan and roller brush are turned off in advance), or when the voltage is lower than the second voltage threshold after recharging, the cached data is +1. Taking the initial first voltage threshold of 14.1v as an example, Vrc = 14.1V + N * 0.1, the first voltage threshold will increase by about 2%, and the battery power of the cleaning device will be more before charging to ensure the working needs of assisting the second dust collection unit to collect dust. When the cleaning device is shut down normally, the cached data will be saved. If the user replaces the new battery, the cached data will be restored to the default value of 0 after the power is cut off. In this way, when the battery ages during the use of the cleaning device and the capacity drops significantly, a certain degree of optimization can be performed to ensure the reasonable distribution of power in the cleaning device.

[0061] Through the above voltage threshold determination and parameter compensation, this application can enable the cleaning equipment to more intelligently allocate the power required for cleaning and recharging. Under the condition of ensuring the appropriate amount of power required to complete the entire work process of roller brush self-cleaning, recharging and dust collection, there is no need to set an excessively high recharging threshold, allowing more power to be used to complete the cleaning task.

[0062] FIG5 is a diagram showing a specific working process of the cleaning device in an embodiment of the present application. As shown in FIG5 , when the cleaning device starts working, the cleaning function is activated and the cleaning device performs a cleaning operation. During the cleaning process, the current voltage of the battery of the cleaning device is compared with a first voltage threshold. If the current voltage of the battery is less than the first voltage threshold, the cleaning device stops working, the roller brush of the cleaning device performs self-cleaning, and the cleaning device returns to the base station for charging, thereby realizing recharging of the cleaning device. When the cleaning device stops working, a breakpoint is recorded, and subsequent cleaning is performed after charging is completed.

[0063] When the current voltage of the cleaning device's battery is greater than or equal to a first voltage threshold Vcr, it indicates that the cleaning device has enough power left to continue cleaning, such as using a brush. If the current voltage of the cleaning device's battery remains greater than or equal to the first voltage threshold before the cleaning task is completed, the cleaning device can continue cleaning. After the cleaning task is completed, the cleaning device is controlled to move back to the base station for charging. When the cleaning task is completed, the brush of the cleaning device will self-clean and the cleaning device will return to the base station for charging.

[0064] After arriving at the base station, the current voltage of the battery of the cleaning device will be compared with the second voltage threshold Vcs. If the current voltage of the battery is less than or equal to the second voltage threshold, the second dust collection unit and the roller brush cannot be started, and the second dust collection unit of the base station is started to collect dust. Only the second fan of the base station works for dust collection. If the current voltage of the battery is greater than the second voltage threshold, the first dust collection unit of the cleaning device, such as the first fan and the roller brush, will also participate in the work, assisting the second dust collection unit in dust collection, and cooperating with the base station to collect dust to improve the dust collection efficiency. Specifically, the details of the first fan and the roller brush participating in dust collection can refer to the relevant description above.

[0065] When the first dust collecting unit and the roller brush of the cleaning device are both working to assist the second dust collecting unit in collecting dust, and during the dust collection process, the battery voltage of the cleaning device is always greater than the third voltage threshold, the first dust collecting unit and the roller brush of the cleaning device stop working and the base station starts charging the cleaning device. The dust collection work is completed when the dust collection time reaches the preset dust collection time, or, after starting the first dust collecting unit of the cleaning device to collect dust, if the current voltage of the battery of the cleaning device is less than or equal to the third voltage threshold, the first dust collecting unit and the roller brush stop working, and then the base station starts charging the cleaning device. In this way, the remaining power of the battery of the cleaning device can be used to provide power to meet the needs of the first dust collecting unit and the roller brush to assist the second dust collecting unit in collecting dust.

[0066] In summary, according to the cleaning system of the present application, when performing dust collection operations, the battery power of the cleaning device can be reflected by the current voltage of the battery of the cleaning device. When the current voltage of the battery is less than the first voltage threshold, it indicates that the cleaning device is low on power and needs to enter the base station. After entering the base station, if the current voltage of the battery of the cleaning device is greater than the second voltage threshold, it indicates that the remaining power of the cleaning device can cooperate with the base station for dust collection, and the first dust collection unit is turned on. If the current voltage of the battery of the cleaning device is less than or equal to the second voltage threshold, it indicates that the power of the cleaning device is insufficient to cooperate with the base station for dust collection, and the first dust collection unit is turned off to avoid power failure of the cleaning device. And during the dust collection operation, if the current voltage of the battery is less than the third voltage threshold, the cleaning device will be stopped in time to reduce energy consumption and save the power of the cleaning device. Controlling the cleaning device can reasonably switch the working mode of the cleaning device to ensure the power of the cleaning device during the dust collection process.

[0067] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely illustrative and are not intended to limit the scope of the present application. Various changes and modifications may be made therein by those skilled in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0068] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0069] Similarly, it should be understood that in order to streamline the present application and aid in understanding one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this approach of the present application should not be interpreted as reflecting the intention that the application claimed for protection requires more features than those explicitly recited in each claim. More precisely, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with fewer features than all the features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present application.

[0070] Those skilled in the art will understand that, except where mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus disclosed herein may be combined in any combination. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0071] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

[0072] It should be noted that the above-mentioned embodiments illustrate rather than limit the invention and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims.

Claims

1. A cleaning system, characterized in that: The cleaning system comprises a cleaning device and a base station, wherein the cleaning device comprises a dust box, a first dust collecting unit connected to the dust box, and a battery electrically connected to the first dust collecting unit, wherein the first dust collecting unit is used to absorb garbage outside the cleaning device into the dust box; The base station includes a dust collecting chamber and a second dust collecting unit connected to the dust collecting chamber; The cleaning device further comprises a controller, and when the current voltage of the battery is less than or equal to a first voltage threshold, the controller controls the cleaning device to return to the base station; The cleaning system has a dust collection mode. When the cleaning system is in the dust collection mode, the second dust collection unit is started to absorb the garbage in the dust box into the dust collection chamber; if the current voltage of the battery is greater than a second voltage threshold, the controller starts the first dust collection unit so that the first dust collection unit assists the second dust collection unit in collecting dust; wherein the second voltage threshold is less than the first voltage threshold.

2. The system according to claim 1, characterized in that The controller further: after starting the first dust collecting unit, if the current voltage of the battery is less than or equal to a third voltage threshold, controls the first dust collecting unit to stop working, wherein the third voltage threshold is less than the second voltage threshold.

3. The system according to claim 1 or 2, characterized in that: The cleaning device further comprises a roller brush and a roller brush motor, wherein the roller brush motor is electrically connected to the battery and is used to drive the roller brush to rotate. The controller further comprises: After the cleaning device stops cleaning and before the cleaning device enters the base station, the roller brush motor is controlled to drive the roller brush to rotate for self-cleaning.

4. The system according to claim 3, characterized in that The controller controls the roller brush motor to drive the roller brush to rotate for self-cleaning, including: controlling the roller brush motor to drive the roller brush to rotate in a first direction, or controlling the roller brush motor to drive the roller brush to rotate alternately in a first direction and a second direction, wherein the first direction and the second direction are opposite, and the first direction is consistent with the rotation direction of the travel wheel when the cleaning device moves forward.

5. The system according to any one of claims 1 to 4, characterized in that The cleaning device further comprises a roller brush and a roller brush motor, wherein the roller brush motor is electrically connected to the battery and is used to drive the roller brush to rotate. The controller further comprises: When the cleaning system is in the dust collection mode, if the current voltage of the battery is greater than the second voltage threshold, the roller brush motor is controlled to drive the roller brush to rotate to assist the second collection mode. The dust unit collects dust, and if the current voltage of the battery is less than or equal to the third voltage threshold, the roller brush motor is controlled to stop rotating, and the third voltage threshold is less than the second voltage threshold.

6. The system according to claim 5, characterized in that The controlling of the roller brush motor to drive the roller brush to rotate to assist the second dust collecting unit in collecting dust includes: controlling the roller brush motor to drive the roller brush to rotate in a first direction, or controlling the roller brush motor to drive the roller brush to rotate alternately in a first direction and a second direction, wherein the first direction is opposite to the second direction, and the first direction is consistent with the rotation direction of the travel wheel when the cleaning device moves forward.

7. The system according to claim 4 or 6, characterized in that: When the roller brush motor drives the roller brush to rotate alternately along the first direction and the second direction, the roller brush is firstly driven to rotate along the first direction.

8. The system according to any one of claims 3 to 6, characterized in that: In the dust collection mode, the complete working time of the first dust collection unit is the first set time, and the complete working time of the roller brush is the second set time. The first set time and the second set time are both less than or equal to the preset working time, and the preset working time is the time taken by the second dust collection unit to complete the dust collection work.

9. The system according to claim 2, characterized in that The controller also: When the cleaning device returns to the base station, if the current voltage of the battery is less than or equal to the second voltage threshold or the current voltage of the battery is less than or equal to the third voltage threshold, the current first voltage threshold is added with a predetermined increase value to update the first voltage threshold.

10. The system according to claim 2, characterized in that The controller also: Whenever a preset update condition is met, the current cache data is added by 1 to obtain updated cache data, wherein the preset update condition includes that when the cleaning device returns to the base station, the current voltage of the battery is less than or equal to the second voltage threshold, or the current voltage of the battery is less than or equal to the third voltage threshold; The initial first voltage threshold is added with an updated voltage threshold to update the first voltage threshold to obtain an updated first voltage threshold, wherein the updated voltage threshold is equal to the product of the updated cache data and a preset increase value.

11. The system according to any one of claims 1 to 10, characterized in that: The base station is configured to charge the battery after the second dust collection unit works for a preset working time.

12. The system according to claim 11, characterized in that The base station further comprises a charging circuit configured to charge the battery; When the cleaning system is in the dust collection mode, the charging circuit is deactivated; After the second dust collecting unit works for a preset working time, the charging circuit charges the battery.

13. The system according to any one of claims 1 to 10, characterized in that: The controller is more specifically: If the current voltage of the battery is greater than the second voltage threshold, the battery is controlled to supply power to the first dust collecting unit to start the first dust collecting unit, so that the first dust collecting unit assists the second dust collecting unit in collecting dust.

14. The system according to any one of claims 1 to 13, characterized in that The dust collection chamber and the dust box are connected by a dust collection channel, and the dust collection channel includes a first channel located at the cleaning device and a second channel of the base station, one end of the first channel is a first pair of interfaces on the cleaning device, the first pair of interfaces is located at the tail of the cleaning device, and the first pair of interfaces is used to dock with the second channel.

15. The system according to claim 1, characterized in that The first dust collecting unit includes at least two first fans, each of which is connected to the dust box, and if the current voltage of the battery is greater than the second voltage threshold, each of the first fans is configured to start simultaneously.

16. The system according to claim 1 or 15, characterized in that: If the current voltage of the battery is greater than the second voltage threshold, the controller controls the first dust collecting unit to start while the second dust collecting unit is turned on, or controls the first dust collecting unit to start after the second dust collecting unit has been working for a preset time.

17. The system according to claim 1, characterized in that The first dust collecting unit includes two first fans, and the dust box is provided with a first air outlet and a second air outlet. The two first fans are connected to the first air outlet and the second air outlet respectively, and the first air outlet and the second air outlet are arranged in different directions, so that the airflows formed by the two first fans can flow out of the dust box in different directions.

18. The system according to claim 17, characterized in that The dust box includes a accommodating cavity, a dust inlet and a dust outlet communicated with the accommodating cavity, the dust inlet and the dust outlet are located on both sides of the dust box in a third direction, and the directions of the first air outlet and the second air outlet intersect with the third direction.

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