Cleaning base station, cleaning system, control method and cleaning method for cleaning system

Abstract

A cleaning base station (10), a cleaning system (100), and a control method and cleaning method for the cleaning system (100), the cleaning base station (10) comprising: a base station body (11) provided with a dust collection port (101) and a dust collection air duct, the dust collection port (101) being used for receiving dirt discharged by a cleaning robot (20); and a dust collection fan (114) used for allowing an air flow in the dust collection air duct to directionally flow.

Description

Cleaning base station, cleaning system, control method of cleaning system, and cleaning method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patents with application numbers 202310798112.5, 202310792192.3 and 202321706438.2, all with application date of June 30, 2023, the entire contents of which are incorporated into this application by reference. Technical Field

[0003] The present application relates to the technical field of household appliances, and in particular to a cleaning base station, a cleaning system, a control method for the cleaning system, and a cleaning method. Background Art

[0004] The rapid development of science and technology has brought many conveniences to people's daily lives. The intelligent home experience has moved from the previous conceptual and high-end promotional slogans to the track of real life. When people face the accumulated debris on the ground in the home, they have a more relaxed, simple, efficient, convenient and timely way to deal with it. People can buy cleaning robots as helpers to clean up the debris. In daily life, cleaning robots can automatically clean and collect dust, particles and other debris and transport them to the cleaning base station for temporary storage. After the cleaning base station is full of dust, particles, etc., the user can clean the cleaning base station.

[0005] When the cleaning robot transfers the collected debris and garbage to the cleaning base station, the transfer of garbage is rather troublesome, resulting in a poor user experience.

[0006] Application Contents

[0007] This application proposes a cleaning base station that can conveniently transfer and collect debris and garbage into the cleaning base station, making it convenient for users to use and providing a better user experience.

[0008] The present application also proposes a cleaning system having the above-mentioned cleaning base station.

[0009] This application also proposes a control method applied to the above cleaning system.

[0010] This application also proposes a cleaning method applied to the above cleaning system.

[0011] According to the first aspect of the present application, the cleaning base station includes: a base station body having a dust collection interface and a dust collection air duct, wherein the dust collection interface is used to receive debris discharged by the cleaning robot; and a dust collection fan, which is used to make the airflow in the dust collection air duct produce a directional flow.

[0012] According to the cleaning base station of the present application, a base station body and a dust collecting fan are set up. The dust collecting fan is used to make the airflow in the dust collecting duct produce a directional flow. The structure is simple, which can make the cleaning base station more convenient in receiving the debris and garbage collected by the cleaning robot and transferring them, thereby providing users with a better experience.

[0013] In some embodiments of the present application, the cleaning base station also includes: a first detection device, which is arranged on the base station body, and is used to detect the amount of debris passing through the dust collection duct and generate a detection signal; a control device, which is arranged on the base station body, and is used to adjust the working state of the dust collection fan according to the detection signal after the dust collection fan is turned on.

[0014] In one embodiment of the present application, the base station body includes a body connected to each other and a base for carrying a cleaning robot, the dust collection interface is arranged on a side of the body close to the base, and the first detection device is arranged on the body.

[0015] In some examples of the present application, the base station body includes a body connected to each other and a base for carrying a cleaning robot, and the dust collection interface and the first detection device are arranged on the base.

[0016] In one embodiment of the present application, the control device is configured to: determine that the cleaning robot enters the dust removal stage, and start the dust collection fan; obtain the amount of debris in the dust collection duct based on the detection signal; if the amount of debris in the dust collection duct is not higher than a first threshold, turn off the dust collection fan; if the amount of debris in the dust collection duct is higher than the first threshold and not higher than a second threshold, reduce the speed of the dust collection fan; if the amount of debris in the dust collection duct is higher than the second threshold, increase the speed of the dust collection fan.

[0017] The cleaning system according to the second aspect of the present application includes: the cleaning base station according to the first aspect of the present application and a cleaning robot.

[0018] According to the cleaning system of the present application, a cleaning base station of the first aspect embodiment mentioned above is set up, and the cleaning base station is provided with a base station body and a dust collecting fan. The dust collecting fan is used to make the airflow in the dust collecting duct produce a directional flow. The structure is simple, which can make the cleaning base station more convenient in receiving the debris and garbage collected by the cleaning robot and transferring them, thereby providing a better user experience.

[0019] In some embodiments of the present application, the cleaning base station also includes a control device, the cleaning robot includes a second detection device and a dust box with a dust collection port; the second detection device is used to detect the amount of debris in the dust box and generate a detection signal, the dust collection interface is used to receive the debris discharged from the dust collection port, the dust collection fan is used to make the airflow in the dust collection duct produce a directional flow, and the control device is used to adjust the working state of the dust collection fan according to the detection signal after the dust collection fan is turned on.

[0020] In one embodiment of the present application, the second detection device is disposed in the dust box.

[0021] In one embodiment of the present application, the control device is configured to: determine that the cleaning robot enters the dust removal stage, and start the dust collection fan; obtain the amount of debris in the dust box based on the detection signal; if the amount of debris in the dust box is not higher than a first threshold, turn off the dust collection fan; if the amount of debris in the dust box is higher than the first threshold and not higher than a second threshold, reduce the speed of the dust collection fan; if the amount of debris in the dust box is higher than the second threshold, increase the speed of the dust collection fan.

[0022] In some embodiments of the present application, the cleaning base station is configured to clean the garbage inside the cleaning robot under the condition of docking with the cleaning robot, and the cleaning robot includes an image acquisition device, and the image acquisition device is configured to obtain garbage information of the area to be cleaned; the cleaning base station includes: a dust cup assembly, the dust cup assembly has a cavity and a dust suction port and an air outlet connected to the cavity; a dust collection assembly, including a dust collection fan, a dust collection duct and an air outlet duct, the dust collection fan is connected to the air outlet through the air outlet duct to drive the airflow from the dust collection duct through the dust suction port to the air outlet; a control device, the control device is configured to obtain the garbage information and control the operating parameters of the dust collection fan at least partially based on the garbage information.

[0023] In one embodiment of the present application, the image acquisition device includes: a camera device and an analysis and recognition module, the camera device is used to obtain the garbage image of the area to be cleaned, the analysis and recognition module is connected to the camera device, and the analysis and recognition module determines the type of garbage based on the garbage image obtained by the camera device.

[0024] In some examples of the present application, the analysis and identification module determines the type of garbage corresponding to the garbage in the area to be cleaned based on a preset correspondence between garbage and garbage types.

[0025] In one embodiment of the present application, the control device is further configured to feed back the spam information of the spam detected by the image acquisition device to the terminal for display by the terminal.

[0026] In some examples of the present application, the control device is further used to control the operating parameters of the dust collecting fan according to the control instructions of the terminal.

[0027] In one embodiment of the present application, the dust collection interface and the first charging terminal are provided on the peripheral wall of the base station body, and the dust collection interface and the first charging terminal are provided on the same side of the peripheral wall of the cleaning base station; the dust collection port and the second charging terminal are provided on the peripheral wall of the cleaning robot, and the dust collection port and the second charging terminal are provided on the same side of the peripheral wall of the cleaning robot. The cleaning robot is movable and has a mating state of docking with the cleaning base station and a separation state of separation from the cleaning base station. In the mating state, the first charging terminal and the second charging terminal are in contact and electrically connected.

[0028] In some examples of the present application, in the mated state, the dust collection interface and the dust collection port are connected.

[0029] In an example of the present application, the opening area of ​​the dust collection interface is larger than the opening area of ​​the dust collection port. In the mating state, along the up and down directions, the upper and lower edges of the dust collection port are located between the upper and lower edges of the dust collection interface. Along the circumferential direction of the cleaning base station, the two opposite sides of the dust collection port along the circumferential direction of the cleaning robot are located between the two opposite sides of the dust collection interface along the circumferential direction of the cleaning base station.

[0030] In one example of the present application, a sealing ring is provided on the cleaning base station, and the sealing ring surrounds the dust collection interface. In the mating state, the sealing ring fits against the outer wall of the cleaning robot to seal the dust collection interface and the dust collection port.

[0031] In some examples of the present application, part of the outer wall surface of the dust box is configured as the outer peripheral wall of the cleaning robot, and the dust collection port is provided on the dust box.

[0032] In one example of the present application, the dust box is configured such that a portion of the outer peripheral wall of the cleaning robot is provided with at least two recessed portions recessed toward the interior of the dust box.

[0033] In some examples of the present application, a flame retardant is embedded in the cleaning robot, and the flame retardant surrounds the second charging terminal.

[0034] In one example of the present application, the second charging terminal protrudes from the flame retardant.

[0035] In some examples of the present application, a height of the first charging terminal in the up-down direction is greater than a height of the second charging terminal in the up-down direction.

[0036] In some examples of the present application, the first charging terminal and the dust collection interface are arranged in the up-down direction, and the first charging terminal is located above the dust collection interface, the dust collection port and the second charging terminal are arranged in the up-down direction, and the second charging terminal is located above the dust collection port.

[0037] In some examples of the present application, after the first charging terminal is electrically connected to the second charging terminal, the cleaning robot moves a first distance in the docking direction of the cleaning base station, and it is determined that the cleaning robot is in a docking state with the cleaning base station.

[0038] The control method of the cleaning system according to the third aspect of the present application is applied to the cleaning system according to the second aspect of the present application, and the control method includes: determining that the cleaning robot enters the dust removal stage, starting the dust collection fan of the cleaning base station; obtaining the amount of debris at a preset position; and adjusting the working state of the dust collection fan based on the amount of debris.

[0039] According to the control method of the cleaning system of the present application, by adjusting the working state of the dust collection fan during the dust discharge stage of the cleaning robot and dynamically adjusting the dust collection time, the exhaust volume of the dust collection fan can be adjusted according to the amount of debris. When the amount of debris is small, the present application can shut down the dust collection fan in advance or reduce the speed of the dust collection fan, saving the ineffective work loss of the dust collection fan; when the amount of debris is large, the running time of the dust collection fan can be extended or the speed can be increased, instead of running the dust collection fan again after the user finds that the debris has not been cleaned up after the dust collection fan stops working, thereby improving the intelligence of the dust collection fan and the dust collection efficiency, and also improving the user experience of the debris cleaning operation and saving energy.

[0040] In some embodiments of the present application, the preset position includes: a dust box of the cleaning robot and / or a dust collection duct of the cleaning base station.

[0041] In some embodiments of the present application, the working state of the dust collecting fan is adjusted based on the amount of debris, including: if the amount of debris at the preset position is not higher than a first threshold, turning off the dust collecting fan; if the amount of debris at the preset position is higher than the first threshold, maintaining the dust collecting fan to continue running.

[0042] In some embodiments of the present application, the working state includes starting and stopping the dust collecting fan and / or the speed of the dust collecting fan.

[0043] In one embodiment of the present application, the working state of the dust collecting fan is adjusted based on the amount of debris, including: if the amount of debris at the preset position is not higher than a second threshold, reducing the speed of the dust collecting fan; if the amount of debris at the preset position is higher than the second threshold, increasing the speed of the dust collecting fan.

[0044] The cleaning method of the cleaning system according to the fourth aspect of the present application is applied to the cleaning system according to the second aspect of the present application, and the cleaning method includes: obtaining garbage information of the area to be cleaned; and controlling the operating parameters of the dust collection fan according to the obtained garbage information.

[0045] According to the cleaning method of the cleaning system of the present application, by obtaining real-time garbage information of the area to be cleaned and controlling the operating parameters of the dust collection fan according to the obtained garbage information, the cleaning base station can reliably and stably suck out the garbage during the dust collection operation, making the dust collection operation of the cleaning base station more flexible, the dust collection efficiency higher, and the dust collection effect better, thereby providing users with a better experience.

[0046] In some embodiments of the present application, the operating parameters of the dust collection fan include dust collection time and / or dust collection suction force.

[0047] In some embodiments of the present application, the garbage information includes at least one of garbage type, garbage volume, garbage material, and garbage moisture content.

[0048] In one embodiment of the present application, the types of garbage include: dry garbage, wet garbage and mixed dry and wet garbage.

[0049] In some examples of the present application, controlling the operating parameters of the dust collecting fan based on the acquired garbage information includes: confirming that the garbage in the area to be cleaned includes wet garbage, and controlling to increase the dust collecting suction force of the dust collecting fan.

[0050] In some examples of the present application, the operating parameters of the dust collecting fan are controlled based on the acquired garbage information, including: confirming that the wet garbage content in the garbage in the area to be cleaned is greater than a preset threshold, and controlling to increase the dust collection time of the dust collecting fan.

[0051] In an example of the present application, the control to increase the dust collection time of the dust collecting fan includes: first controlling the dust collecting fan to work at a first suction force for a first time, and then controlling the dust collecting fan to work at a second suction force for a second time, wherein the second suction force is greater than the first suction force.

[0052] In some embodiments of the present application, the cleaning method further includes: determining the area type of the area to be cleaned, the area types including: oily area, water-containing area and dust-containing area; according to the area type, selecting a suction curve model corresponding to the area type, and controlling the dust collection fan to operate according to the suction curve model.

[0053] In one embodiment of the present application, the cleaning method further includes: the cleaning robot receives a cleaning task instruction and obtains cleaning map data corresponding to the cleaning task instruction; divides the cleaning map data into regions; and generates a suction curve model of the dust collection fan in the corresponding area.

[0054] In some examples of the present application, the cleaning method further includes: performing model training on the generated suction curve model, and controlling the dust collecting fan to operate with the trained suction curve model.

[0055] In an example of the present application, the trained suction curve model includes a weight factor based on preset conditions, and the suction curve of the dust collecting fan changes with the weight factor.

[0056] In some specific embodiments of the present application, the cleaning method further includes: determining that the current working time of the cleaning base station is within a preset time period, and controlling to reduce the dust collection suction force of the dust collection fan.

[0057] In some specific embodiments of the present application, the cleaning method further includes: determining that the area to be cleaned does not include a target object, and controlling to increase the dust collection suction force of the dust collecting fan.

[0058] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] FIG1 is a schematic diagram of a cleaning system according to an embodiment of the present application;

[0060] FIG2 is a schematic diagram of a cleaning system according to an embodiment of the present application from another angle;

[0061] FIG3 is a schematic diagram of a cleaning base station according to an embodiment of the present application;

[0062] FIG4 is a flow chart of a control method according to an embodiment of the present application;

[0063] FIG5 is a flow chart of a control method according to another embodiment of the present application;

[0064] FIG6 is a flow chart of a control method according to another embodiment of the present application;

[0065] FIG7 is a schematic flow chart of a cleaning method according to the first embodiment of the present application;

[0066] FIG8 is a schematic flow chart of a cleaning method according to a second embodiment of the present application;

[0067] FIG9 is a schematic flow chart of a cleaning method according to a third embodiment of the present application;

[0068] FIG10 is a schematic flow chart of a cleaning method according to a fourth embodiment of the present application;

[0069] FIG11 is a schematic flow chart of a cleaning method according to a fifth embodiment of the present application;

[0070] FIG12 is a schematic flow chart of a cleaning method according to a sixth embodiment of the present application;

[0071] FIG13 is a flow chart of a cleaning method according to a seventh embodiment of the present application.

[0072] Reference numerals:

[0073] 10. Cleaning base station; 11. Base station body; 111. Dust cup assembly; 112. Dust collection hose; 113. Suction hose; 114. Dust collection fan; 101. Dust collection interface; 12. First charging terminal; 121. First positive terminal; 122. First negative terminal; 13. Sealing ring;

[0074] 20. Cleaning robot; 21. Dust collection port; 22. Second charging terminal; 221. Second positive terminal; 222. Second negative terminal; 23. Dust box; 231. Recessed portion; 24. Flame retardant;

[0075] 100. Clean the system. DETAILED DESCRIPTION

[0076] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0077] The following describes a cleaning base station 10 according to an embodiment of the first aspect of the present application with reference to FIG1 to FIG3 .

[0078] As shown in Figures 1-3, the cleaning base station 10 according to an embodiment of the present application includes: a base station body 11 and a dust collection fan 114. The base station body 11 has a dust collection interface 101 and a dust collection duct. The dust collection interface 101 is used to receive debris discharged by the cleaning robot 20; the dust collection fan 114 is used to make the airflow in the dust collection duct produce a directional flow.

[0079] In this embodiment, the base station body 11 has a dust collection interface 101 and a dust collection air duct. The dust collection interface 101 is used to receive debris discharged by a cleaning robot 20, such as a sweeper, a scrubber, or a sweeper-mop machine. The debris here refers to garbage, dust, etc. cleaned and absorbed by the cleaning robot 20.

[0080] Exemplarily, the cleaning robot 20 is equipped with a dust box 23 for accommodating debris, and the dust collecting port 21 is provided on the dust box 23 .

[0081] The dust collecting fan 114 is used to make the airflow in the dust collecting duct produce a directional flow.

[0082] For example, the dust collection fan 114 is disposed within the base station body 11. The base station body 11 may be internally configured with a cavity and a dust collection duct, which connects the dust collection interface 101 and the cavity. When the cleaning robot 20 needs to exhaust dust, the dust collection fan 114 is activated, creating a negative pressure within the dust collection duct. Since the dust collection interface 101 is connected to the dust collection port 21, a negative pressure is also created within the dust box 23 of the cleaning robot 20. Under the action of the negative pressure, debris within the dust box 23 is sucked into the dust collection duct and temporarily stored in the cavity.

[0083] In this embodiment, a dust collection fan 114 is set in the cleaning base station 10. The dust collection fan 114 can drive the airflow in the dust collection duct to produce a directional flow. When the cleaning robot 20 transfers debris and garbage to the cleaning base station 10, the debris discharged by the cleaning robot 20 enters the dust collection duct from the dust collection interface 101. The dust collection fan 114 is operated, thereby driving the debris in the dust collection duct to be stably transferred along the dust collection duct to the storage space of the cleaning base station 10, thereby conveniently realizing the transfer of debris and garbage, avoiding manual operation of the user, and making it more convenient for users to use and having a better user experience.

[0084] According to the cleaning base station 10 of the embodiment of the present application, by setting the base station body 11 and the dust collection fan 114, the dust collection fan 114 is used to make the airflow in the dust collection duct produce a directional flow. The structure is simple, which can make the cleaning base station 10 more convenient when receiving the debris and garbage collected by the cleaning robot 20 and transferring them, thereby providing users with a better experience.

[0085] In some embodiments of the present application, the cleaning base station 10 may further include: a first detection device and a control device, the first detection device being arranged on the base station body 11, for detecting the amount of debris passing through the dust collection duct and generating a detection signal; the control device being arranged on the base station body 11, for adjusting the working state of the dust collection fan 114 according to the detection signal after the dust collection fan 114 is turned on.

[0086] In this embodiment, the first detection device is provided on the base station body 11 and is used to detect the amount of debris passing through the dust collection duct and generate a detection signal. The type of the first detection device is not limited. For example, the first detection device can be an infrared sensor, a lidar system, or an ultrasonic sensor.

[0087] The first detection device can be an infrared sensor installed in the dust collection duct, with one end being a transmitter and the other being a receiver. The transmitter emits infrared light waves, which scatter when they hit debris. The receiver collects the light and calculates the amount of debris by comparing the changes in light before and after.

[0088] In another embodiment, the first detection device may be an ultrasonic sensor, including a transmitter and a receiver. The transmitter emits an ultrasonic signal into the dust collection duct, and timing begins at the moment the ultrasonic wave is emitted. The ultrasonic wave propagates through the air and is immediately reflected back when it encounters debris along the way. The ultrasonic receiver stops timing when it receives the reflected wave, and the amount of debris is calculated based on the fluctuation in timing.

[0089] In this embodiment, the control device is provided on the base body, and is used to adjust the working state of the dust collecting fan 114 according to the detection signal after the dust collecting fan 114 is turned on.

[0090] In one embodiment, the control device can be configured to: determine that the cleaning robot 20 has entered the dust removal phase, start the dust collection fan 114; obtain the amount of debris in the dust collection duct based on the detection signal; if the amount of debris in the dust collection duct is not higher than a first threshold, turn off the dust collection fan 114; if the amount of debris in the dust collection duct is higher than the first threshold and not higher than a second threshold, reduce the speed of the dust collection fan 114; if the amount of debris in the dust collection duct is higher than the second threshold, increase the speed of the dust collection fan 114. It is understandable that the first threshold is lower than the second threshold.

[0091] Exemplarily, the control device may be a single chip microcomputer, a microprocessor, an integrated circuit (IC), etc., and the first detection device and the control device may be wirelessly connected or electrically connected.

[0092] The wireless connection method may be a WIFI (wireless fidelity) connection, an NFC (Near Field Communication) connection, or a Bluetooth connection.

[0093] In a specific embodiment, the first detection device can be wirelessly connected to the control device, eliminating the need for wiring and saving costs.

[0094] It is understood that after the cleaning robot 20 enters the dust removal phase, the dust collection interface 101 is connected to the dust collection port 21, the dust collection fan 114 is turned on, and the cleaning base station 10 enters the dust collection phase, sucking debris from the cleaning robot 20 through the dust collection air duct. During the dust collection process, the control device adjusts the operating state of the dust collection fan 114 based on the detection signal. In other words, before the control device makes adjustments, the dust collection fan 114 is initially in the on state.

[0095] This embodiment adjusts the working state of the dust collecting fan 114 by detecting the amount of debris in the dust collecting air duct, dynamically adjusts the dust collection time, and can adjust the exhaust volume of the dust collecting fan 114 according to the amount of debris, thereby saving energy. It is understandable that compared with the dust collection of the dust collecting fan 114 with a fixed time, the present application can shut down the dust collecting fan 114 in advance or reduce the speed of the dust collecting fan 114 when the amount of debris is small, thereby saving the ineffective work loss of the dust collecting fan 114; when the amount of debris is large, the running time of the dust collecting fan 114 can be extended or the speed can be increased, rather than running the dust collecting fan 114 again after the user finds that the debris has not been cleaned up after the dust collecting fan 114 stops working. This improves the intelligence level and dust collection efficiency of the dust collecting fan 114, improves the user experience of the debris cleaning operation, and saves energy.

[0096] In one embodiment of the present application, the base station body 11 may include a body and a base connected to each other for carrying the cleaning robot 20, the dust collection interface 101 is arranged on a side of the body close to the base, and the first detection device is arranged on the body.

[0097] The specific connection method between the base station body 11 and the base is not limited. It can be connected in a non-detachable manner, such as welding, riveting, etc.; it can also be connected in a detachable manner, such as clamping, screw connection, bolt connection, etc.

[0098] Exemplarily, the base is detachably connected to the base station body 11. In this embodiment, during the design of the base station body 11, when the size or position of the dust collection port 21 of the cleaning robot 20 changes locally, it is only necessary to update the design of the corresponding base or body, without the need to update the design of both the base and the body simultaneously. This can reduce product design costs, increase the commonality of parts between different models of base station bodies 11, and reduce the company's inventory pressure on stagnant materials.

[0099] The dust collection interface 101 and the first detection device are not limited to any specific location. It is understood that at least part of the first detection device is located in the dust collection duct.

[0100] In one specific embodiment, the dust collection interface 101 can be located on a side of the body near the base, and the first detection device can be located within the body. In other words, the dust collection duct is located within the body. In this embodiment, only the wiring needs to be buried in the base, resulting in a relatively simple structure. The base thickness can be kept relatively small, and when matching different bases with the body, only wiring needs to be considered.

[0101] In some examples of the present application, the base station body 11 may include a body connected to each other and a base for carrying the cleaning robot 20, and the dust collection interface 101 and the first detection device are arranged on the base.

[0102] That is to say, the dust collecting air duct is arranged on the base. In this way, during the dust discharge phase of the cleaning robot 20, some large debris falls directly into the cavity by its own gravity, thereby improving the dust collection efficiency of the cleaning base station 10.

[0103] In a specific embodiment, one end of the base away from the body is provided with a slope for guiding the cleaning robot 20 to enter or leave the base. It is understandable that the base has a certain thickness, and the slope can facilitate the cleaning robot 20 to enter or leave the base more easily and smoothly.

[0104] The cleaning system 100 according to the second embodiment of the present application is described below with reference to FIG. 1 to FIG. 3 .

[0105] As shown in FIG1-FIG3 , a cleaning system 100 according to an embodiment of the present application includes a cleaning base station 10 and a cleaning robot 20 according to an embodiment of the first aspect of the present application.

[0106] According to the cleaning system 100 of the embodiment of the present application, by setting the cleaning base station 10 of the above-mentioned first aspect embodiment, the cleaning base station 10 is provided with a base station body 11 and a dust collecting fan 114. The dust collecting fan 114 is used to make the airflow of the dust collecting duct produce a directional flow. The structure is simple, which can make the cleaning base station 10 more convenient when receiving the debris and garbage collected by the cleaning robot 20 and transferring them, thereby providing a better user experience.

[0107] In some embodiments of the present application, the cleaning base station 10 may further include a control device, and the cleaning robot 20 may include a second detection device and a dust box 23 with a dust collection port 21; the second detection device is used to detect the amount of debris in the dust box 23 and generate a detection signal, the dust collection interface 101 is used to receive debris discharged from the dust collection port 21, the dust collection fan 114 is used to make the airflow in the dust collection duct produce a directional flow, and the control device is used to adjust the working state of the dust collection fan 114 according to the detection signal after the dust collection fan 114 is turned on.

[0108] In this embodiment, the cleaning robot 20 includes a second detection device and a dust box 23 having a dust collecting port 21. That is, in this embodiment, the second detection device is provided on the cleaning robot 20.

[0109] In this embodiment, the dust collection interface 101 is used to receive debris discharged from the dust collection port 21, and the dust collection fan 114 is used to make the airflow of the dust collection duct produce a directional flow, so that the debris in the dust box 23 is sucked into the dust collection duct under the action of negative pressure and then temporarily stored in the cavity.

[0110] It should be noted that when the cleaning robot 20 is cleaning the floor, the space inside the dust box 23 can be at either positive or negative pressure, without limitation. It should be noted that when the cleaning robot 20 is cleaning the floor, the dust collection port 21 is closed, and the airflow inside the dust box 23 substantially does not escape from the dust collection port 21.

[0111] It can be understood that the volume of the cavity is larger than the volume of the dust box 23, so it can accommodate the debris collected by the cleaning robot 20 when performing multiple cleaning tasks. The user only needs to clean the debris in the cavity of the cleaning base station 10, and there is no need to clean the dust box 23 of the cleaning robot 20 every time.

[0112] In this embodiment, the second detection device is used to detect the amount of debris in the dust box 23 and generate a detection signal, and the control device is used to adjust the working state of the dust collecting fan 114 according to the detection signal generated by the second detection device after the dust collecting fan 114 is turned on.

[0113] In one embodiment of the present application, the control device can be configured to: determine that the cleaning robot 20 enters the dust removal stage, and start the dust collection fan 114; obtain the amount of debris in the dust box 23 based on the detection signal; if the amount of debris in the dust box 23 is not higher than the first threshold, turn off the dust collection fan 114; if the amount of debris in the dust box 23 is higher than the first threshold and not higher than the second threshold, reduce the speed of the dust collection fan 114; if the amount of debris in the dust box 23 is higher than the second threshold, increase the speed of the dust collection fan 114.

[0114] It can be understood that the control device is wirelessly connected to the second detection device.

[0115] Exemplarily, the connection mode between the control device and the second detection device may be a WIFI connection, an NFC connection, a Bluetooth connection, or the like.

[0116] The cleaning system 100 provided in the embodiment of the present application adjusts the working state of the dust collecting fan 114 by detecting the amount of debris in the dust box 23, dynamically adjusts the dust collection time, and can adjust the exhaust volume of the dust collecting fan 114 according to the amount of debris. When the amount of debris is small, the present application can shut down the dust collecting fan 114 in advance or reduce the speed of the dust collecting fan 114, saving the ineffective work loss of the dust collecting fan 114; when the amount of debris is large, the running time of the dust collecting fan 114 can be extended or the speed can be increased, instead of running the dust collecting fan 114 again after the user finds that the debris has not been cleaned up after the dust collecting fan 114 stops working, thereby improving the intelligence and dust collection efficiency of the dust collecting fan 114, and also improving the user experience of the debris cleaning operation, saving energy.

[0117] The type of the second detection device is not limited. For example, the second detection device can be an infrared sensor, a laser radar system, a weight sensor, or an ultrasonic sensor.

[0118] In one embodiment, the second detection device may be a video surveillance device. That is, the camera of the video surveillance device collects images of the dust box 23 and uses machine learning technology to automatically identify the collected images of the dust box 23 to determine the debris in the dust box 23.

[0119] It is understandable that different types of second detection devices may have different locations. In one embodiment of the present application, the second detection device may be disposed in the dust box 23 , thereby facilitating the second detection device to detect the amount of debris in the dust box 23 .

[0120] For example, the second detection device is an infrared sensor, including a transmitting end and a receiving end, which is fixedly installed in the dust box 23. A negative pressure is formed in the dust box 23 of the cleaning robot 20. When the debris is discharged through the dust collecting port 21, the transmitting end emits infrared light waves, which are scattered after being irradiated by the debris. After the receiving end collects the light, it calculates the amount of debris by comparing the changes in the light before and after.

[0121] In another embodiment, the second detection device is disposed outside the dust box 23. For example, the second detection device is a weight sensor that calculates the amount of debris by detecting a weight change of the dust box 23.

[0122] It should be noted that the cleaning base station 10 in the embodiment of the present application may be the cleaning base station 10 in any of the above embodiments, or may be other cleaning base stations 10.

[0123] Exemplarily, the cleaning base station 10 is the cleaning base station 10 in any of the above embodiments. The cleaning system 100 can detect the amount of debris in the dust collection duct through the first detection device, and detect the amount of debris in the dust box 23 through the second detection device, and then adjust the exhaust volume of the dust collection fan 114 according to the detection results of the first detection device and the second detection device, thereby improving the dust collection efficiency and user experience. In this way, compared with only setting the second detection device, the dust collection fan 114 stops working when the debris in the dust box 23 is exhausted and the debris is located in the dust collection duct, thereby improving the dust collection effect. At the same time, when one of the first detection device and the second detection device fails, it will not affect the normal operation of the control device, and the user can be informed of timely maintenance based on the detection results, thereby improving the user experience.

[0124] The specific structural form of the cleaning robot 20 is not limited.

[0125] Exemplarily, the cleaning robot 20 may include a body and a plurality of travel drive wheels protruding from the bottom side of the body. The body is roughly disc-shaped. The number of travel drive wheels is not limited and may be two or more than two. In the present application, the number of travel drive wheels is two, and the two travel drive wheels are coaxially arranged. It should be noted that the coaxial arrangement of the two travel drive wheels means that when the two travel drive wheels are circular wheels, the rotation center lines of the two travel drive wheels are on the same straight line; when the two travel drive wheels are crawler-type wheels, the rotation center lines of the driving wheels of the two crawler-type wheels are located on a first straight line, and the rotation center lines of the driven wheels of the two crawler-type wheels are located on a second straight line, and the first straight line and the second straight line are spaced apart and parallel to each other.

[0126] Exemplarily, the cleaning robot 20 includes universal wheels protruding from the bottom side of the body. The universal wheels are located in front of the rotation axis of the travel drive wheels. The universal wheels serve to support the body and steer the robot. The number of universal wheels can be one or two. Exemplarily, the number of universal wheels is one. The universal wheel can be located on the perpendicular midline of the line connecting the rotation centers of the two travel drive wheels, or it can be offset from the perpendicular midline by a small distance. The two travel drive wheels and the universal wheel form a three-point stable support for the body. Among them, the two travel drive wheels are driving wheels, and the universal wheel is a driven wheel.

[0127] The dust box 23 is detachably mounted on the machine body. The user can remove the dust box 23 from the machine body for cleaning, flushing, etc. according to the user's needs.

[0128] The bottom surface of the body is provided with a dust suction port, and the cleaning robot 20 includes a roller brush, and the bristles of the roller brush extend from the dust suction port. Exemplarily, the roller brush extends in the left and right directions of the body.

[0129] The dust box 23 is provided with an air inlet and an air extraction port, and the air inlet is connected to the dust collection port. During the cleaning operation of the cleaning robot 20, the dust collection blower 114 and other devices continuously draw air from the air extraction port, creating a negative pressure in the dust box 23, and further creating a negative pressure environment around the dust collection port. Dust, hair, and other debris on the ground are sucked into the dust box 23 and intercepted there.

[0130] It can be understood that the dust box 23 can be set at any appropriate position of the body, for example, at the tail of the body. In this embodiment, the dust box 23 and the body together constitute the circumferential contour of the cleaning robot 20; in other embodiments, the body is provided with an installation cavity for accommodating the dust box 23 at a position roughly in the middle of the front-to-back direction, and the dust box 23 can be placed in the installation cavity from the top of the body, or taken out of the installation cavity. In this embodiment, the circumferential contour of the body is the circumferential contour of the cleaning robot 20.

[0131] Exemplarily, a top cover is provided on the top of the dust box 23. The user takes out the dust box 23, opens the top cover, pours out the debris inside the dust box 23, or flushes the dust box 23, etc. In other words, the cleaning robot 20 can perform dust removal autonomously through the cleaning base station 10, and can also be used by the user for manual dust removal, cleaning, etc.

[0132] In one embodiment, the top surface of the base of the cleaning base station 10 is provided with an anti-slip protrusion array, which extends to the slope. When the cleaning robot 20 enters or leaves the base, the walking drive wheels always run on the anti-slip protrusion array to reduce the possibility of the walking drive wheels slipping.

[0133] In some embodiments of the present application, the cleaning base station 10 is configured to clean the garbage inside the cleaning robot 20 under the condition of docking with the cleaning robot 20, and the cleaning robot 20 includes an image acquisition device, which is configured to obtain garbage information of the area to be cleaned; the cleaning base station 10 may include: a dust cup assembly 111, the dust cup assembly 111 has a cavity and a dust suction port and an air outlet connected to the cavity; a dust collection assembly, including a dust collection fan 114, a dust collection air duct and an air outlet duct, the dust collection fan 114 is connected to the air outlet through the air outlet duct to drive the airflow from the dust collection air duct through the dust suction port to the air outlet; a control device, the control device is configured to obtain garbage information and control the operating parameters of the dust collection fan 114 based at least in part on the garbage information.

[0134] This embodiment obtains real-time garbage information of the area to be cleaned and controls the operating parameters of the dust collection fan 114 according to the obtained garbage information, so that the cleaning base station 10 can reliably and stably suck out the garbage during the dust collection operation, making the dust collection operation of the cleaning base station 10 more flexible, the dust collection efficiency higher, and the dust collection effect better, thereby providing users with a better experience.

[0135] In one embodiment of the present application, the image acquisition device may include: a camera device and an analysis and recognition module, the camera device is used to obtain garbage images in the area to be cleaned, the analysis and recognition module is connected to the camera device, and the analysis and recognition module determines the type of garbage based on the garbage images obtained by the camera device.

[0136] Thus, by setting up a camera device, it is relatively convenient and easy to obtain real-time garbage images of the area to be cleaned, and the analysis and recognition module analyzes and processes the obtained garbage images to obtain the types of garbage in the images, thereby facilitating the control device to adjust the operating parameters of the dust collecting fan 114, so that the dust collecting fan 114 can make more accurate parameter adjustments according to the actual situation of the garbage in the area to be cleaned to achieve the best dust collection effect. At the same time, the camera device is used to obtain the garbage image and the analysis and recognition module is used to analyze the garbage image to obtain the information parameters of the garbage, so that the information parameter collection of the garbage is more accurate and intuitive, the information collection is simple and convenient, and the information collection method of obtaining the image can avoid direct contact between the image acquisition device and the garbage, thereby making the image acquisition device run more stably and reliably, reducing the failure rate, and to a certain extent, making the user experience better. Optionally, the camera device is an AI (Artificial Intelligence) camera device.

[0137] Furthermore, the analysis and identification module can also determine the area type of the area to be cleaned based on the garbage image, so that the control device can further adjust the operating parameters of the dust collection fan 114 according to different area types, thereby further improving the dust collection effect of the cleaning base station 10.

[0138] In one embodiment of the present application, the analysis and identification module can determine the type of garbage corresponding to the garbage in the area to be cleaned based on a preset correspondence between the garbage and the garbage type. Specifically, when classifying the garbage, the garbage can be classified based on its shape, volume, color, etc., so that different types of garbage have obvious differences and characteristics in the image. The analysis and identification module stores information about these preset garbage types. When analyzing and determining the type of garbage, the analysis and identification module compares the acquired garbage image with the stored preset garbage types to obtain and determine the garbage type to which the garbage belongs. Therefore, by determining the garbage type corresponding to the garbage based on the preset correspondence between the garbage and the garbage type, the analysis and identification module can more conveniently and quickly identify the garbage type corresponding to the garbage.

[0139] In some embodiments of the present application, the control device is also used to feed back the garbage information of the garbage detected by the image acquisition device to the terminal for display by the terminal. This makes it convenient for users to view the garbage information that has been cleaned, making the cleaning system 100 more intelligent, and making it convenient for users to adjust the operating status of the dust collection fan 114 through the terminal according to the garbage information and personal needs, thereby improving the user's experience. At the same time, when there are some lost items in the garbage, users can more easily view and discover them, thereby allowing users to reduce unnecessary losses and further improve the user's experience. Preferably, the terminal is the user's mobile communication device, and the control device can send information parameters to the user's mobile communication device by wireless transmission.

[0140] In one embodiment of the present application, the control device is further configured to control the operating parameters of the dust collection fan 114 according to control instructions from the terminal. Thus, the user can manually input instructions on the terminal to control the dust collection operation of the cleaning base station 10, thereby enabling manual control of the cleaning base station 10 as needed, facilitating the user's time coordination to participate in other activities, making the cleaning system 100 more controllable and thereby enhancing the user experience.

[0141] In one embodiment of the present application, as shown in FIG3 , the dust collection assembly may further include: a dust collection hose 112, the inner side of the dust collection hose 112 defining at least a portion of a dust collection air duct, and the two ends of the dust collection hose 112 respectively connecting the dust suction port and the dust collection interface 101. Thus, under the suction of the dust collection blower 114, dust and debris enter the dust collection air duct from the dust collection interface 101 and flow along the dust collection hose 112 into the cavity of the dust cup assembly 111 for dust collection. The dust collection hose 112 has a simple structure and good flow diversion effect. The dust collection hose 112 is easily connected to the dust collection interface 101 and the cavity, thereby improving installation efficiency and reducing the manufacturing cost of the cleaning base station 10. Preferably, the dust collection hose 112 can be made of PP (polypropylene) or PVC (polyvinyl chloride). This ensures the flexibility of the dust collection hose 112, facilitates the connection of the dust collection hose 112, and ensures the strength of the dust collection hose 112, thereby increasing the service life of the dust collection hose 112.

[0142] In one embodiment of the present application, as shown in FIG3 , the dust collection assembly may further include: a suction hose 113 , one end of the suction hose 113 being connected to the air outlet of the cavity and the other end being connected to the dust collecting fan 114 . Specifically, the inner side of the suction hose 113 defines an air outlet duct. Thus, when the dust collecting fan 114 is performing a suction operation, the dust collecting fan 114 sucks the dust cup assembly 111 through the suction hose 113 . The structure is simple, the diversion effect is good, and the suction hose 113 is more convenient to connect to the cavity and the dust collecting fan 114 , which is convenient for improving installation efficiency and reducing the production cost of the cleaning base station 10 . Preferably, the suction hose 113 can be made of PP (polypropylene) or PVC (polyvinyl chloride), which can ensure the flexibility of the suction hose 113 , facilitate the connection of the suction hose 113 , and also ensure the strength of the suction hose 113 and increase the service life of the suction hose 113 .

[0143] In one embodiment of the present application, referring to Figures 1 and 2, a dust collection interface 101 and a first charging terminal 12 are provided on the peripheral wall of the cleaning base station 10, and the dust collection interface 101 and the first charging terminal 12 are provided on the same side of the peripheral wall of the cleaning base station 10. A dust collection port 21 and a second charging terminal 22 are provided on the peripheral wall of the cleaning robot 20, and the dust collection port 21 and the second charging terminal 22 are provided on the same side of the peripheral wall of the cleaning robot 20. The cleaning robot 20 is movable and has a mating state with the cleaning base station 10 and a separation state separated from the cleaning base station 10. In the mating state, The first charging terminal 12 and the second charging terminal 22 are in contact and electrically connected, so that the cleaning robot 20 can be charged. Compared with the prior art, by arranging the dust collection port 21 and the second charging terminal 22 on the same side of the peripheral wall of the cleaning robot 20, the charging mode and the dust collection mode can be switched without turning the cleaning robot 20, which can improve the working efficiency of the cleaning system 100, shorten the time interval for the cleaning robot 20 to clean the floor, and improve the user experience; in the separated state, the cleaning robot 20 can automatically complete the floor cleaning task in the room.

[0144] It should be noted that a spring is provided in the cleaning base station 10, and the spring is connected to the first charging terminal 12. When the first charging terminal 12 contacts the second charging terminal 22, the spring is compressed and has a certain elastic force to make the first charging terminal 12 and the second charging terminal 22 fit tightly together, avoiding poor contact between the first charging terminal 12 and the second charging terminal 22, avoiding the generation of electric sparks causing safety accidents, and ensuring the reliability of the connection between the first charging terminal 12 and the second charging terminal 22.

[0145] In this embodiment, the dust collection interface 101 and the first charging terminal 12 are arranged on the same side of the peripheral wall of the cleaning base station 10, and the dust collection port 21 and the second charging terminal 22 are arranged on the same side of the peripheral wall of the cleaning robot 20. The charging mode and the dust collection mode can be switched without turning the cleaning robot 20. This can improve the working efficiency of the cleaning system 100, shorten the time interval for the cleaning robot 20 to clean the floor, and improve the user experience.

[0146] In some examples of the present application, in the mated state, the dust collection interface 101 and the dust collection port 21 can be connected.

[0147] In this embodiment, in the mating state, the dust collection interface 101 and the dust collection port 21 are connected, and the garbage and dust in the cleaning robot 20 can be collected into the cleaning base station 10, realizing the dust collection function, reducing the frequency of users manually cleaning garbage, and improving the user experience.

[0148] In some embodiments of the present invention, after the first charging terminal 12 is electrically connected to the second charging terminal 22, the cleaning robot 20 moves a first distance in the docking direction of the cleaning base station 10 (refer to the front-to-back direction shown in FIG1 ), and then it is determined that the cleaning robot 20 is in a docking state with the cleaning base station 10 to ensure the reliability of the connection between the first charging terminal 12 and the second charging terminal 22. For example, the first distance can be 5 mm, 1 cm, 2 cm, 5 cm, or 10 cm.

[0149] In a specific example, the cleaning robot 20 is provided with a precision alignment component. During the docking process of the cleaning robot 20 and the cleaning base station 10, the precision alignment component can ensure that the cleaning robot 20 moves in a straight line toward the front end of the docking direction of the cleaning robot 20 and the cleaning base station 10. After the first charging terminal 12 contacts the second charging terminal 22, the mainboard in the cleaning base station 10 detects the charging signal, and then sends a command to the driving wheel of the cleaning robot 20 to move 10 mm toward the front end of the docking direction of the cleaning robot 20 and the cleaning base station 10 and then stop. As the cleaning robot 20 moves toward the front end of the docking direction of the cleaning robot 20 and the cleaning base station 10, the spring connected to the first charging terminal 12 is compressed, and the first charging terminal 12 moves toward the front end of the docking direction of the cleaning robot 20 and the cleaning base station 10. After the cleaning robot 20 stops completely, the dust collection port 21 is docked with the dust collection interface 101, and dust collection begins.

[0150] It should be noted that, depending on the diameter and rotation speed ratio of the driving wheels of different cleaning robots 20 , the distance that the driving wheels of the cleaning robot 20 move toward the front end in the docking direction between the cleaning robot 20 and the cleaning base station 10 varies.

[0151] Of course, the present invention is not limited thereto. In the mating state, the dust collection interface 101 may be connected to the dust collection port 21 while the first charging terminal 12 and the second charging terminal 22 are electrically connected.

[0152] In an example of the present application, as shown in reference figures 1 and 2, the opening area of ​​the dust collection interface 101 is larger than the opening area of ​​the dust collection port 21. When the cleaning robot 20 and the cleaning base station 10 are in a coordinated state, the garbage and dust in the cleaning robot 20 can be prevented from leaking out from the gap between the dust collection port 21 and the dust collection interface 101, thereby avoiding repetitive work, and avoiding secondary dusting, thereby protecting the indoor air environment.

[0153] In a further embodiment of the present invention, in the mating state, along the up and down directions (the up and down directions as shown in Figure 1), the upper and lower edges of the dust collection port 21 are located between the upper and lower edges of the dust collection interface 101, and along the circumferential direction of the cleaning base station 10, the two opposite sides of the dust collection port 21 along the circumferential direction of the cleaning robot 20 are located between the two opposite sides of the dust collection interface 101 along the circumferential direction of the cleaning base station 10, thereby ensuring that the area opposite to the dust collection port 21 is entirely located within the area opposite to the dust collection interface 101, ensuring that the garbage and dust sucked out from the dust collection port 21 can all enter the interior of the cleaning base station 10 through the dust collection interface 101.

[0154] In an example of the present application, as shown in reference figure 1, a sealing ring 13 is provided on the cleaning base station 10, and the sealing ring 13 surrounds the dust collection interface 101. In the mating state, the sealing ring 13 fits with the outer wall of the cleaning robot 20 to seal the dust collection interface 101 and the dust collection port 21, which can further prevent the garbage and dust in the cleaning robot 20 from leaking from the gap between the dust collection port 21 and the dust collection interface 101, avoid repetitive work, and avoid secondary dusting, thereby protecting the indoor air environment.

[0155] Preferably, the sealing ring 13 is a rubber part with a certain elasticity. When the front end of the cleaning robot 20 moves toward the docking direction between the cleaning robot 20 and the cleaning base station 10, the sealing ring 13 can be pressed through the outer wall of the cleaning robot 20 to achieve an interference fit, thereby ensuring that the seal is leak-proof during the dust collection process.

[0156] In some examples of the present application, as shown in FIG. 2 , part of the outer wall surface of the dust box 23 may be constructed as the outer peripheral wall of the cleaning robot 20 , and the dust collecting port 21 is provided on the dust box 23 .

[0157] In this embodiment, the dust box 23 is used to temporarily store garbage and dust. Part of the outer wall of the dust box 23 is constructed as the outer wall of the cleaning robot 20. The dust collecting port 21 is provided on the dust box 23. The structure is simple, which facilitates the garbage and dust in the dust box 23 to be directly discharged from the cleaning robot 20 through the dust collecting port 21.

[0158] In an example of the present application, as shown in reference figure 2, the dust box 23 is constructed as a portion of the outer peripheral wall of the cleaning robot 20 and is provided with at least two recessed portions 231 recessed toward the interior of the dust box 23. The recessed portions 231 can be used for the user to insert his fingers to remove the dust box 23 from the cleaning robot 20, which can reduce the difficulty of the user in cleaning the dust box 23 and improve the user's experience.

[0159] In some examples of the present application, as shown in Figure 2, a flame retardant 24 is embedded in the cleaning robot 20, and the flame retardant 24 surrounds the second charging terminal 22. The second charging terminal 22 can be installed on the cleaning robot 20 through the flame retardant 24 to meet safety regulations and ensure the safety performance of the cleaning robot 20.

[0160] In an example of the present application, as shown in reference Figure 2, the second charging terminal 22 protrudes from the flame retardant 24, which facilitates the second charging terminal 22 to contact and electrically connect with the first charging terminal 12, and can to a certain extent prevent the first charging terminal 12 from contacting the rest of the cleaning robot 20, thereby avoiding safety accidents.

[0161] It should be noted that the second charging terminal 22 is made of a relatively hard material, and the surface of the second charging terminal 22 is plated with a coating, which has a certain degree of reliability.

[0162] In some examples of the present application, as shown in Figures 1 and 2, the height of the first charging terminal 12 in the up and down directions is greater than the height of the second charging terminal 22 in the up and down directions, which can accommodate a certain degree of docking error and can be adapted to a variety of different models of cleaning robots 20, thereby improving the compatibility and utilization rate of the cleaning base station 10 and relatively reducing the development cost of the cleaning base station 10.

[0163] Furthermore, as shown in Figures 1 and 2, the width of the first charging terminal 12 along the circumferential direction of the cleaning base station 10 is greater than the width of the second charging terminal 22 along the circumferential direction of the cleaning robot 20, which can accommodate a certain degree of docking error and can be adapted to a variety of different models of cleaning robots 20, thereby improving the compatibility and utilization rate of the cleaning base station 10 and relatively reducing the development cost of the cleaning base station 10.

[0164] Furthermore, referring to Figures 1 and 2, in the mating state, the side of the first charging terminal 12 facing the cleaning robot 20 is in contact with the surrounding wall of the cleaning robot 20, which can avoid poor contact between the first charging terminal 12 and the second charging terminal 22, and avoid the generation of electric sparks that may cause safety accidents.

[0165] In some examples of the present application, as shown in Figures 1 and 2, the first charging terminal 12 and the dust collection interface 101 are arranged in the up and down directions, and the first charging terminal 12 is located above the dust collection interface 101, and the dust collection port 21 and the second charging terminal 22 are arranged in the up and down directions, and the second charging terminal 22 is located above the dust collection port 21. Providing the dust collection port 21 below the second charging terminal 22 can make the dust collection port 21 located at the lower end of the circumferential direction of the cleaning robot 20 as much as possible, which is convenient for the layout of the dust box 23 of the cleaning robot 20, and convenient for the garbage in the dust box 23 to enter the dust collection interface 101 through the dust collection port 21, which can improve the dust collection effect, reduce the residual garbage in the dust box 23, reduce the frequency of users manually cleaning the dust box 23, and improve the user experience.

[0166] In an example of the present application, as shown in Figures 1 and 2, the first charging terminal 12 includes a first positive terminal 121 and a first negative terminal 122, and the first positive terminal 121 and the first negative terminal 122 are spaced apart along the circumferential direction of the cleaning base station 10 and are symmetrically arranged about the center line extending in the up and down directions of the dust collection interface 101, and the second charging terminal 22 includes a second positive terminal 221 and a second negative terminal 222, and the second positive terminal 221 and the second negative terminal 222 are spaced apart along the circumferential direction of the cleaning robot 20 and are symmetrically arranged about the center line extending in the up and down directions of the dust collection port 21. The symmetrical arrangement can reduce the difficulty of docking the cleaning robot 20 with the cleaning base station 10, facilitate the production and processing of the cleaning robot 20 and the cleaning base station 10, and can improve the aesthetics of the cleaning system 100.

[0167] It can be understood that when the cleaning robot 20 and the cleaning base station 10 are in a cooperative state, the first positive terminal 121 is in contact with and electrically connected to the second positive terminal 221, and the first negative terminal 122 is in contact with and electrically connected to the second negative terminal 222, thereby forming a loop, enabling the cleaning base station 10 to charge the cleaning robot 20.

[0168] In some embodiments of the present invention, in the coordinated state, the cleaning robot 20 and the cleaning base station 10 are located on the same placement surface, for example, they can be located on the ground at the same time and the cleaning robot 20 is located on one side of the cleaning base station 10. There is no need to additionally provide a base on the cleaning base station 10 to support the cleaning robot 20 to achieve the functions of charging and dust collection, which relatively reduces the production cost of the cleaning system 100, reduces the footprint of the cleaning base station 10, reduces the difficulty of docking the cleaning robot 20 with the cleaning base station 10, and improves the efficiency of docking the cleaning robot 20 with the cleaning base station 10.

[0169] The following describes a control method of the cleaning system 100 according to an embodiment of the third aspect of the present application with reference to Figures 4 to 6.

[0170] The control method of the cleaning system 100 according to the embodiment of the present application is applied to the cleaning system 100 according to the embodiment of the second aspect of the present application. The control method includes: determining that the cleaning robot 20 enters the dust removal stage, starting the dust collection fan 114 of the cleaning base station 10; obtaining the amount of debris at a preset position; and adjusting the working state of the dust collection fan 114 based on the amount of debris.

[0171] According to the control method of the embodiment of the present application, by adjusting the working state of the dust collecting fan 114 during the dust discharge stage of the cleaning robot 20 and dynamically adjusting the dust collection time, the exhaust volume of the dust collecting fan 114 can be adjusted according to the amount of debris. When the amount of debris is small, the present application can shut down the dust collecting fan 114 in advance or reduce the speed of the dust collecting fan 114, thereby saving the ineffective work loss of the dust collecting fan 114; when the amount of debris is large, the running time of the dust collecting fan 114 can be extended or the speed can be increased, instead of running the dust collecting fan 114 again after the user finds that the debris has not been cleaned up after the dust collecting fan 114 stops working, thereby improving the intelligence and dust collection efficiency of the dust collecting fan 114, and also improving the user experience of the debris cleaning operation and saving energy.

[0172] It is understandable that the cleaning robot 20 needs to enter the dust removal stage after cleaning for more than a preset time.

[0173] In some embodiments, the cleaning robot 20 needs to enter the dust removal phase after the roller brush has been in use for a first preset time period. In other embodiments, the cleaning robot 20 needs to enter the dust removal phase after the suction port has been sucking for a second preset time period. The first preset time period and the second preset time period can be the same or different, corresponding to different cleaning modes.

[0174] In the step of determining whether the cleaning robot 20 enters the dust discharge stage, the method of determining whether the cleaning robot 20 enters the dust discharge stage is not limited.

[0175] In one embodiment, the cleaning robot 20 enters the dust discharge phase by opening or closing the dust collection duct of the cleaning base station 10, or by connecting the dust collection interface 101 with the dust collection port 21. For example, in some embodiments, the cleaning robot 20 enters the dust discharge phase when the dust collection duct of the cleaning base station 10 is opened; in other embodiments, the cleaning robot 20 enters the dust discharge phase when the dust collection port 21 of the cleaning robot 20 is connected to the dust collection interface 101 of the cleaning base station 10.

[0176] In another embodiment, the cleaning robot 20 enters the dust removal phase by detecting its arrival time, wherein the arrival time detection refers to detecting whether the cleaning robot 20 is at a target position. The target position refers to the position of the cleaning robot 20 when the dust collection port 21 of the cleaning robot 20 is connected to the dust collection interface 101 of the cleaning base station 10.

[0177] In one embodiment, the cleaning system 100 includes a sensing mechanism for detecting the presence of the cleaning robot 20 .

[0178] Specifically, in some embodiments, the sensing mechanism includes a first electrode sheet and a second electrode sheet. The first electrode sheet is arranged on the cleaning base station 10, and a first sensing circuit electrically connected to the first electrode sheet is arranged on the cleaning base station 10. The second electrode sheet is arranged on the cleaning robot 20, and a second sensing circuit electrically connected to the second electrode sheet is arranged on the cleaning robot 20. When the electrode sheets on the two are connected, the first sensing circuit and the second sensing circuit are connected, and a sensing signal indicating that the cleaning robot 20 is at the target position is sent to the control device.

[0179] In other embodiments, the sensing mechanism includes a position sensor, such as an infrared sensor. The emitting component of the infrared sensor can be installed on one of the cleaning base station 10 and the cleaning robot 20, and the receiving component of the infrared sensor can be installed on the other. When the receiving component receives the infrared ray emitted by the emitting component, it sends a sensing signal to the control device indicating that the cleaning robot 20 is at the target position.

[0180] In this way, after receiving the sensing signal, the control device controls the cleaning base station 10 to collect dust from the cleaning robot 20, that is, starts the dust collecting fan 114, so as to clean the debris accumulated by the cleaning robot 20 in a timely and accurate manner.

[0181] In some embodiments of the present application, the preset position may include the dust box 23 of the cleaning robot 20 and / or the dust collection duct of the cleaning base station 10. That is, in some embodiments, the preset position includes the dust box 23 of the cleaning robot 20, in other embodiments, the preset position includes the dust collection duct of the cleaning base station 10, and in still other embodiments, the preset position includes the dust box 23 of the cleaning robot 20 and the dust collection duct of the cleaning base station 10.

[0182] It is understandable that the amount of debris in the dust box 23 and the dust collection duct can both reflect the adjustment requirements of the dust collection fan 114. Furthermore, by obtaining the amount of debris in both the dust box 23 of the cleaning robot 20 and the dust collection duct of the cleaning base station 10, the dust collection fan 114 is prevented from stopping when debris in the dust box 23 is completely removed and remains in the dust collection duct, thereby improving the dust collection effect. At the same time, if one of the two detection devices fails, it will not affect the adjustment of the dust collection fan 114, and the user can be informed of the detection results and timely maintenance is required, thereby improving the user experience.

[0183] In this embodiment, the debris amount may refer to the flow rate within the dust collection duct or the mass of debris within the dust box 23. For example, the preset location is the dust box 23 of the cleaning robot 20, and the detection device is a load cell. It is understood that in order to obtain a larger load cell range, zero calibration is performed on the dust box 23 without debris.

[0184] In some embodiments of the present application, please refer to Figure 2, and adjust the working state of the dust collection fan 114 based on the amount of debris, including: if the amount of debris at the preset position is not higher than the first threshold, turn off the dust collection fan 114; if the amount of debris at the preset position is higher than the first threshold, maintain the dust collection fan 114 to continue running.

[0185] Among them, the first threshold value can be a pre-set value used to characterize the amount of debris. Specifically, the first threshold value can be 0, that is, after the dust collecting fan 114 is turned on, the amount of debris at the preset position is detected by the detection device. If the amount of debris at the preset position is not higher than 0, it means that there is no debris at the preset position, and the debris in the dust box 23 of the cleaning robot 20 has been completely discharged. At this time, the dust collecting fan 114 is turned off by the control device, which saves energy and extends the service life of the dust collecting fan 114; if the amount of debris at the preset position is higher than 0, it means that there is debris at the preset position, and there is still undischarged debris in the dust box 23 of the cleaning robot 20. The dust collecting fan 114 is maintained to continue running to discharge the remaining debris. In this way, the dust collecting fan 114 is adjusted according to the current dust discharge needs of the cleaning robot 20, which is intelligent and convenient, and improves the user experience.

[0186] It is understandable that the working state of the dust collecting fan 114 may refer to either the opening or closing of the dust collecting fan 114 or the rotational speed of the dust collecting fan 114 .

[0187] In some embodiments of the present application, the operating state of the dust collecting fan 114 includes the start and stop of the dust collecting fan 114 and / or the speed of the dust collecting fan 114. For example, the operating state of the dust collecting fan 114 can be the start and stop of the dust collecting fan 114, the speed of the dust collecting fan 114, or the start and stop of the dust collecting fan 114 and the speed of the dust collecting fan 114. In other words, this embodiment can adjust the exhaust volume of the dust collecting fan 114 by controlling the start and stop of the dust collecting fan 114 and / or the speed of the dust collecting fan 114.

[0188] In one embodiment of the present application, based on the amount of debris, the working state of the dust collecting fan 114 is adjusted, including: if the amount of debris at the preset position is not higher than the second threshold, the speed of the dust collecting fan 114 is reduced; if the amount of debris at the preset position is higher than the second threshold, the speed of the dust collecting fan 114 is increased. The second threshold can be a pre-set value for characterizing the amount of debris. That is to say, referring to Figure 3, the cleaning robot 20 enters the dust removal stage, starts the dust collecting fan 114 of the cleaning base station 10, and the detection device works at the same time to detect the amount of debris at the preset position in a timely manner. When the detected amount of debris is greater than or equal to the second threshold, this signal is sent to the control device, and the control device automatically controls to increase the speed of the dust collecting fan 114 and speed up the suction of debris in the dust box 23. When the detected amount of debris is less than the second threshold, this signal is sent to the control device, and the control device automatically controls to reduce the speed of the dust collecting fan 114. That is, the speed of the dust collecting fan 114 can be controlled, the speed can be increased when there are more debris in the dust box 23, and the speed can be reduced when there are fewer debris in the dust box 23. This is intelligent and convenient, which improves the user experience, saves energy, and extends the service life of the dust collecting fan 114.

[0189] An embodiment of the present application provides an electronic device, comprising a processor and a memory for storing a computer service capable of running on the processor, wherein the processor implements any one of the above control methods when running the computer service. It is understood that the memory can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a read-only optical disc (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache.By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronized dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM). The memory described in the embodiments of the present application is intended to include, but is not limited to, these and any other suitable types of memory.

[0190] Among them, the control method disclosed in this application can be applied to a processor or implemented by a processor. The processor can be an integrated circuit chip with signal processing capabilities. During the implementation process, the various steps of the voice conversion method can be completed by the hardware integrated logic circuit in the processor or by instructions in the form of software. The above-mentioned processor can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the various methods, steps and logic block diagrams disclosed in this application. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the control method disclosed in this application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory. The processor reads the information in the memory and, in combination with its hardware, completes the steps of the control method provided in the embodiment of this application.

[0191] The present application also provides a storage medium storing computer-executable instructions, which are executed by a processor to implement any of the control methods in the present application. Specifically, the storage medium may be a computer-readable storage medium, such as a memory storing a computer program. The computer program may be executed by a processor of a processing device to complete the steps of the design method in the present application. The computer-readable storage medium may be a memory such as a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0192] The following describes a cleaning method of the cleaning system 100 according to the fourth embodiment of the present application with reference to Figures 7 to 13.

[0193] The cleaning method of the cleaning system 100 according to the embodiment of the present application is applied to the cleaning system 100 according to the embodiment of the second aspect of the present application. The cleaning method includes: obtaining garbage information of the area to be cleaned; and controlling the operating parameters of the dust collection fan 114 according to the obtained garbage information.

[0194] In this embodiment, real-time garbage information of the area to be cleaned is obtained. For example, the image acquisition device on the cleaning robot 20 can be used to perform real-time detection of the garbage information of the area to be cleaned. The garbage information can be the type of garbage, the amount of garbage, the size of garbage, the weight of garbage, etc. The garbage information can reflect the difficulty of garbage cleaning. For example, some garbage with heavier weight or wet garbage, when the cleaning base station 10 performs dust collection operations on the garbage collected by the cleaning robot 20, the dust collection fan 114 is not easy to suck the garbage from the cleaning robot 20 into the cavity, while lighter garbage or smaller garbage is relatively easier to clean. When the amount of garbage is large, the dust collection base station needs a longer cleaning time. When the amount of garbage is small, the dust collection base station can clean up the garbage stored in the cleaning robot 20 more quickly.

[0195] Based on the acquired garbage information, the operating parameters of the dust collecting fan 114 are controlled. The operating parameters of the dust collecting fan 114 may include the suction force of the integrated fan, the dust collecting time of the dust collecting fan 114, the start and stop of the dust collecting fan 114, etc. Based on the garbage information acquired by the image acquisition device, the garbage information of the garbage stored in the cleaning robot 20 can be obtained, and the operating parameters of the dust collecting fan 114 can be adjusted so that the dust collecting fan 114 can perform dust collection operations with the most appropriate operating parameters based on the garbage information to be cleaned. This allows the cleaning base station 10 to clean the garbage stored in the cleaning robot 20 more thoroughly and effectively, thereby making the dust collection operation of the cleaning base station 10 more flexible and efficient.

[0196] For example, when the garbage information obtained is about heavier garbage, the suction force of the dust collecting fan 114 can be set to be larger, so that the cleaning base station 10 can more reliably and quickly suck and store the garbage. When the garbage information obtained is about lighter garbage, the suction force of the dust collecting fan 114 can be set to be smaller, so that the cleaning base station 10 can operate at a low power condition when sucking the garbage reliably and quickly, which can reduce the dust collection operation cost to a certain extent. When the garbage information obtained is about a large amount of garbage, the dust collecting fan 114 can be set to a longer dust collection time, so as to ensure that the cleaning base station 10 sucks and cleans up the garbage stored in the cleaning robot 20, as well as other situations, which are not listed here one by one.

[0197] According to the cleaning method of the embodiment of the present application, by obtaining real-time garbage information of the area to be cleaned and controlling the operating parameters of the dust collection fan 114 according to the obtained garbage information, the cleaning base station 10 can reliably and stably suck and clean the garbage during the dust collection operation, making the dust collection operation of the cleaning base station 10 more flexible, the dust collection efficiency higher, and the dust collection effect better, thereby providing the user with a better experience.

[0198] In some embodiments of the present application, the cleaning method may further include: the cleaning robot 20 cleaning the area to be cleaned; and the cleaning robot 20 docking with the cleaning base station 10 .

[0199] When the cleaning system 100 is in operation, the cleaning robot 20 cleans the area to be cleaned and temporarily stores the garbage in the dust collection chamber. At the same time, during the cleaning process, the cleaning robot 20 obtains garbage information of the garbage cleaned into the dust collection chamber through the image acquisition device. The cleaning robot 20 transmits the garbage information to the control device of the cleaning base station 10, so that the cleaning base station 10 can adjust the operating parameters of the dust collection fan 114 according to the obtained garbage information through the control device. In this way, the garbage information obtained by the cleaning base station 10 can be more accurately matched with the garbage stored in the dust collection chamber, thereby facilitating the cleaning base station 10 to more accurately adjust the operating parameters of the dust collection fan 114 according to the garbage information, so that the cleaning base station 10 has good dust collection effect and efficiency when collecting dust.

[0200] When the cleaning robot 20 is docked with the cleaning base station 10, the cleaning robot 20 is docked with the cleaning base station 10, and the dust collecting fan 114 sucks the garbage in the dust collecting chamber from the dust collecting port 21 into the dust collecting air duct according to the corresponding operating parameters and flows the dust into the cavity for storage in the form of dust and gas, thereby completing the dust collection operation of the cleaning base station 10.

[0201] In some embodiments of the present application, the operating parameters of the dust collection fan 114 include dust collection time and / or dust collection suction force.

[0202] Therefore, the operating parameter of the dust collecting fan 114 can be the dust collecting time, the operating parameter of the dust collecting fan 114 can also be the dust collecting suction force, and the operating parameter of the dust collecting fan 114 can also be the dust collecting time and the dust collecting suction force. For example, when the amount of garbage that needs to be collected is large or it is difficult to collect dust, a longer dust collecting time can make the garbage suction and cleaning more complete. When the garbage is easier to clean or the amount of garbage is not large, the dust collecting time can be set to be shorter. While ensuring a good dust collection effect, the operating time of the dust collecting fan 114 can be reduced, thereby reducing the dust collection operation cost to a certain extent. Since the dust collecting fan 114 will inevitably generate noise during operation, the dust collecting time of the dust collecting fan 114 can be reasonably adjusted according to the garbage information that needs to be cleaned, which can reduce unnecessary operating noise, thereby allowing users to have a better user experience.

[0203] The size of the dust collection suction force has a great influence on the dust collection capability of the cleaning base station 10. When the dust collection suction force of the dust collection fan 114 is large, the cleaning base station 10 can more reliably and effectively suck out and clean some difficult-to-remove garbage or clean the garbage more quickly. For example, in some areas to be cleaned where there is oily ground, there is a lot of oil in the garbage. Under the action of the oil, the garbage is easily adhered to the inner wall surface of the dust collection chamber more firmly. At this time, the dust collection suction force of the dust collection fan 114 can be increased, so that the cleaning base station 10 can effectively remove the garbage from the dust collection chamber and clean it. When the amount of garbage in the area to be cleaned is large, the dust collection suction force of the dust collection fan 114 can also be increased, so that the cleaning base station 10 can more quickly suck out the garbage stored in the dust collection chamber and collect dust, thereby improving the dust collection efficiency.

[0204] In this embodiment, the dust collection time and dust collection suction force of the dust collection fan 114 can also be adjusted together to meet the time and suction force requirements of different garbage conditions, so that the cleaning base station 10 can more reliably and conveniently suck out the garbage in the dust collection chamber and clean the garbage more thoroughly, thereby making the dust collection effect of the cleaning base station 10 better and the dust collection efficiency higher.

[0205] In some embodiments of the present application, spam information may include at least one of the following: spam type, spam volume, spam material, and spam moisture content. Therefore, spam information is defined as including at least one of the following: spam type, spam volume, spam material, and spam moisture content. In other words, spam information may include any one of these, or may include multiple of these.

[0206] It is understandable that in actual use, the environment in which the cleaning system 100 operates is generally one or several fixed types. For example, in a certain family, the area to be cleaned in the house is fixed, and the environmental conditions of the area to be cleaned and the garbage generated in the area to be cleaned are also relatively fixed. Setting the garbage information to include at least one of the type of garbage, volume of garbage, material of garbage and moisture content of garbage can enable the cleaning base station 10 to obtain sufficient garbage information for dust collection operations according to actual conditions, so that the garbage information can more flexibly and accurately reflect the actual garbage situation, which can simplify the processing of garbage information by the cleaning base station 10 to a certain extent and improve the efficiency of garbage cleaning.

[0207] In one embodiment of the present application, the types of garbage may include dry garbage, wet garbage, and mixed dry and wet garbage. It should be noted that dry garbage here can refer to garbage that does not contain water. Dry garbage can also refer to other domestic waste other than hazardous waste, recyclables, and wet garbage. Wet garbage here can refer to garbage that contains water. Wet garbage can also refer to easily degradable biomass waste. When dry garbage is garbage that does not contain water, such as paper scraps, dust, hair, etc., it can be relatively easy to clean during cleaning. When wet garbage is garbage that contains water, such as fruit peels, wet wipes, fruit cores, etc., it is more difficult and troublesome to vacuum clean. Mixed dry and wet garbage has additional dust collection difficulties. Therefore, classifying garbage can better distinguish the difficulty of garbage dust collection, and then the dust collection fan 114 can adjust the operating parameters accordingly according to the different types of garbage, so that the cleaning base station 10 can effectively and thoroughly vacuum and clean different types of garbage, thereby improving the dust collection effect of the cleaning base station 10 and providing a better user experience.

[0208] In some examples of the present application, the operating parameters of the dust collection fan 114 are controlled based on the acquired garbage information, including: confirming that the garbage in the area to be cleaned includes wet garbage, and controlling to increase the dust collection suction force of the dust collection fan 114. This ensures that the dust collection suction force meets the dust collection requirements of wet garbage, allowing the cleaning base station 10 to reliably and effectively clean the wet garbage in the dust collection chamber, thereby improving the dust collection effect of the cleaning base station 10.

[0209] In some examples of the present application, controlling the operating parameters of the dust collecting fan 114 based on the acquired garbage information may include: confirming that the wet garbage content in the garbage in the area to be cleaned is greater than a preset threshold, and controlling to increase the dust collection time of the dust collecting fan 114.

[0210] The preset threshold here refers to the wet garbage content in the garbage when the integrated fan can suck and clean the garbage from the dust collecting chamber within the preset dust collection time. When the wet garbage content in the garbage exceeds the preset threshold, it is difficult for the dust collecting fan 114 to clean the garbage within the preset dust collection time. This embodiment obtains the wet garbage content in the garbage in the cleaning area, and increases the dust collection time when the wet garbage content exceeds the preset threshold, so that the cleaning base station 10 can clean the garbage more reliably and stably.

[0211] In an example of the present application, controlling to increase the dust collection time of the dust collection fan 114 may include: first controlling the dust collection fan 114 to work at a first suction force for a first time, and then controlling the dust collection fan 114 to work at a second suction force for a second time, where the second suction force is greater than the first suction force.

[0212] For example, when the wet garbage content in the garbage exceeds a preset threshold, the dust collecting fan 114 can work at the first suction force for the first time to collect dust from the garbage. The dust collecting fan 114 then adjusts the dust collecting suction force from the first suction force to the second suction force, and collects dust from the garbage within the second time. In this way, the garbage in the dust collecting chamber can be cleaned more cleanly during the suction process with a longer dust collection time and a larger dust collection suction force, thereby improving the dust collection effect of the cleaning base station 10.

[0213] In some embodiments of the present application, the cleaning method may further include: determining the area type of the area to be cleaned, the area types including: oily area, water-containing area and dust-containing area; according to the area type, selecting a suction curve model corresponding to the area type, and controlling the dust collection fan 114 to operate according to the suction curve model.

[0214] It is understandable that in oily areas, garbage is easily soaked in oil. Under the influence of the oil, the garbage tends to adhere more firmly to the inner wall of the dust collection chamber. The dust collection fan 114 needs to provide a large dust collection suction force to remove the garbage from the ground. In water-containing areas, garbage tends to increase in weight due to the immersion and action of the water or remain more firmly on the inner wall of the dust collection chamber due to the tension of the water. The dust collection fan 114 also needs to provide a large dust collection suction force to clean the garbage. In dust-containing areas, the environment has less impact on the garbage, and the garbage is more convenient to clean by suction. Among them, the suction curve model can refer to the curve model formed by the dust collection suction force and dust collection time of the dust collection fan 114 changing accordingly with the garbage information during the cleaning process.

[0215] Therefore, when cleaning garbage, the cleaning base station 10 selects a suction curve model corresponding to the area type according to the area type, so that the dust collection suction of the dust collecting fan 114 can change according to the corresponding suction curve model, so that it can better adapt to the suction requirements required for garbage collection in the corresponding area type, so that the cleaning base station 10 can efficiently and stably suck and clean the garbage cleaned and stored by the cleaning robot 20 in the areas to be cleaned of different area types, making the adaptability of the cleaning base station 10 better and more comprehensive, which is conducive to improving the dust collection efficiency and dust collection effect of the cleaning base station 10, and providing users with a better experience.

[0216] In one embodiment of the present application, the cleaning method may also include: the cleaning robot 20 receives a cleaning task instruction and obtains cleaning map data corresponding to the cleaning task instruction. For example, the cleaning robot 20 can move its position and detect the area to be cleaned through an image acquisition device to obtain cleaning map data of the kitchen area. The cleaning map data may include data such as the oil stain location, water liquid location, garbage location, garbage information, etc. in the kitchen area. This can facilitate the cleaning base station 10 to perform dust collection operations according to the cleaning area of ​​the cleaning robot 20 and adjust the operating parameters of the dust collection fan 114 accordingly.

[0217] The cleaning map data is divided into regions. For example, the image acquisition device can divide the area to be cleaned into oily areas, water areas, etc. according to the acquired oily and watery locations, thereby further dividing the garbage in the area to be cleaned.

[0218] Generate a suction curve model for the corresponding area, so that the cleaning base station 10 can use the best dust collection suction force to collect the garbage stored in the corresponding area by the cleaning robot 20, so that the cleaning base station 10 can more effectively and reliably suck and clean the garbage in the dust collection chamber.

[0219] In some examples of the present application, the cleaning method may further include: performing model training on the generated suction curve model, and controlling the dust collecting fan 114 to operate according to the trained suction curve model.

[0220] It is understandable that in actual usage scenarios, the cleaning system 100 will generate noise due to the operation of the dust collecting fan 114. When the dust collecting fan 114 runs for a long time, it will generate noise for a long time. When the suction force of the dust collecting fan 114 is large, it will generate louder noise, which will cause troubles and impacts on the user's daily work, study, life, entertainment, etc. For example, when the user needs a quiet environment for indoor activities, the noise generated by the operation of the dust collecting fan 114 will make the user feel irritated, thereby reducing the user's usage experience.

[0221] Therefore, by training the generated suction curve model, the suction curve model can be adjusted and changed according to different usage scenarios, so that the dust collection fan 114 can cooperate with and adapt to the user's dust collection needs in different usage scenarios when operating with the suction curve model. For example, when the user needs a quieter environment, the suction curve model can appropriately reduce the dust collection suction force or dust collection time of the dust collection fan 114 according to the needs of the scene. When the user does not need a quieter environment, the suction curve model can appropriately increase the dust collection suction force or dust collection time of the dust collection fan 114, so that the cleaning base station 10 can meet the user's needs for environmental conditions under the condition of performing good dust collection operations in different usage scenarios, thereby improving the user's usage experience.

[0222] Since under normal circumstances, the user's work and rest routines and life patterns remain unchanged, therefore, by training the produced suction curve model, the suction curve model can be made more and more in line with the user's usage needs and scene changes. For example, within a fixed time period, the user always needs a quiet environment. The suction curve in the suction curve model within this period can be set to a changing curve with less dust collection suction or even no dust collection operation, so that the cleaning system 100 can better meet the needs of the user's usage scenarios and adjust the operating status more intelligently and flexibly.

[0223] In an example of the present application, the trained suction curve model may include a weight factor based on preset conditions, and the suction curve of the dust collecting fan 114 changes with the weight factor.

[0224] The preset conditions may refer to the environmental conditions required by the user within a preset time period, for example, the user requires a very quiet environment during the sleeping period, the user may allow an environment with a certain degree of noise during the entertainment period, the user may allow an environment with any noise level when busy outside, and so on. Among them, the weight factor may refer to the allowable value of the noise level generated by the cleaning base station 10 under the preset conditions. Under different preset conditions, the allowable noise level is different, and the weight factor is also different. After the weight factor is included in the trained suction curve model, the dust collection fan 114 can better meet the user's environmental needs in multiple usage scenarios when operating with the trained suction curve model, so that the user can get a better usage experience.

[0225] In a specific embodiment of the present application, the cleaning method further includes: determining that the current working time of the cleaning base station 10 is within a preset time period, and controlling to reduce the dust collection suction force of the dust collection fan 114 .

[0226] Therefore, within a preset time period, the dust collection suction force of the dust collection fan 114 is reduced, so that the dust collection fan 114 produces less noise pollution, so that the user can obtain a quieter environment, meet the user's environmental needs, and provide the user with a better user experience.

[0227] In a specific embodiment of the present application, the cleaning method may further include: determining that the area to be cleaned does not include the target object, and controlling to increase the dust collection suction force of the dust collection fan 114 .

[0228] The target object may refer to a user or other human being. When it is determined that the area to be cleaned does not include the target object, the cleaning base station 10 can clean up the garbage more efficiently and quickly, thereby improving the efficiency of garbage cleaning and reducing the garbage cleaning time, thereby further improving the user experience.

[0229] A cleaning system 100 according to a specific embodiment of the present application will be described below with reference to FIG. 1 to FIG. 13 .

[0230] As shown in Figures 1 to 3, the cleaning system 100 includes a cleaning robot 20 and a cleaning base station 10. The cleaning robot 20 cooperates with the cleaning base station 10 to perform cleaning operations. The cleaning robot 20 and the base station have a cooperative state and a disengaged state. The cleaning base station 10 includes a base station body 11, a dust cup assembly 111, a dust collection assembly, a controller and a first charging terminal 12. The dust cup assembly 111, the dust collection assembly, the controller and the first charging terminal 12 are all arranged on the base station body 11. The base station body 11 has a dust collection interface 101. The dust cup assembly 111 has a cavity. The dust collection assembly includes a dust collection hose 112, a suction hose 113 and a dust collection fan 114. The dust collection interface 101 is connected to the cavity through the dust collection hose 112. One end of the suction hose 113 is connected to the cavity and the other end is connected to the dust collection fan 114. The dust collection fan 114 is used to suck garbage from the dust collection interface 101 into the cavity.

[0231] The cleaning robot 20 includes an image acquisition device and a second charging terminal 22. The cleaning robot 20 has a dust collection chamber and a dust collection port 21 connected to the dust collection chamber. The image acquisition device includes a camera and an analysis and recognition module. The camera is used to capture images of garbage in the area to be cleaned. The analysis and recognition module is used to analyze and process the garbage images to determine garbage type and other garbage information, and to classify the area to be cleaned.

[0232] When the cleaning robot 20 is in a coordinated state with the base station, the dust collection port 21 of the cleaning robot 20 is docked with the dust collection interface 101 of the cleaning base station 10, and the second charging terminal 22 is connected to the first charging terminal 12. The cleaning base station 10 performs dust collection operations, and the dust collection fan 114 operates, so that dust collection suction is formed in the dust collection air duct, cavity, and suction air duct. Under the action of the dust collection suction, dust and other garbage in the cleaning robot 20 are discharged from the dust collection cavity of the cleaning robot 20 through the dust collection port 21 and the dust collection interface 101 into the dust collection air duct and into the cavity for storage. When the cleaning robot 20 is disconnected from the cleaning base station 10, the cleaning robot 20 can automatically clean the room.

[0233] The control method according to the embodiment of the present application is described below with reference to FIG. 4 to FIG. 6 .

[0234] The control method according to an embodiment of the present application includes:

[0235] Determine that the cleaning robot 20 enters the dust removal stage, start the dust collection fan 114 of the cleaning base station 10; obtain the amount of debris at a preset position; and adjust the working state of the dust collection fan 114 based on the amount of debris.

[0236] In another embodiment of the present application, the control method further includes: if the amount of debris at the preset position is not higher than the first threshold, turning off the dust collection fan 114; if the amount of debris at the preset position is higher than the first threshold, maintaining the dust collection fan 114 to continue running.

[0237] In another embodiment of the present application, the control method further includes: if the amount of debris at the preset position is not higher than the second threshold, reducing the speed of the dust collection fan 114; if the amount of debris at the preset position is higher than the second threshold, increasing the speed of the dust collection fan 114.

[0238] The cleaning method according to an embodiment of the present application is described below with reference to Figures 7 to 13.

[0239] The cleaning method according to an embodiment of the present application includes:

[0240] While cleaning the area to be cleaned, the cleaning robot 20 uses an image acquisition device to obtain real-time garbage information about the area to be cleaned. The controller then controls the operating parameters of the dust collection fan 114 based on this garbage information. After the cleaning robot 20 is docked with the cleaning base station 10, the dust collection fan 114 operates to collect the garbage collected by the cleaning robot 20. The garbage information may include one or more of the following: garbage type, garbage volume, garbage material, and garbage moisture content. Garbage types include dry garbage, wet garbage, and mixed dry and wet garbage. When the wet garbage content exceeds a preset threshold, the dust collection time is increased, and the dust collection fan 114 operates at a first suction force for a first time and at a second suction force for a second time, where the second suction force is greater than the first suction force.

[0241] In another embodiment of the present application, the cleaning method further includes: after receiving a cleaning instruction, the cleaning robot 20 moves in the area to be cleaned and acquires an image of the area to be cleaned through an image acquisition device, the image acquisition device processes and analyzes the image of the area to be cleaned to acquire cleaning map data, thereby dividing the area to be cleaned into area types and determining garbage information such as the type of garbage in the area to be cleaned, generating a suction curve model for the area based on the type of area to be cleaned and the garbage information therein, and controlling the dust collection fan 114 to operate based on the suction curve model to clean the garbage. Area types include oily areas, water areas, and dust areas, and the suction curve model is a curve formed by the operating parameters of the dust collection fan 114 changing with the cleaning process, and the operating parameters include dust collection time and dust collection suction.

[0242] In another embodiment of the present application, the cleaning method also includes: the cleaning robot 20 determines that the current working time of the cleaning base station 10 is in a preset time period, controls to reduce the dust collection suction force of the dust collection fan 114, determines that the area to be cleaned does not include the target object, and controls to increase the dust collection suction force of the dust collection fan 114.

[0243] According to the cleaning system 100 of the embodiment of the present application, a base station body 11 and a dust collecting fan 114 are provided. The dust collecting fan 114 is used to make the airflow in the dust collecting duct produce a directional flow. The structure is simple, which can make the cleaning base station 10 more convenient in receiving the debris and garbage collected by the cleaning robot 20 and transferring them, thereby providing a better user experience.

[0244] In the description of this application, it should be understood that the terms "center", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on this application.

[0245] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0246] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0247] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0248] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0249] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning base station, wherein: include: The base station body has a dust collection interface and a dust collection air duct, wherein the dust collection interface is used to receive debris discharged by the cleaning robot; The dust collecting fan is used to make the airflow in the dust collecting air duct produce directional flow.

2. The cleaning base station according to claim 1, wherein: Also includes: A first detection device, disposed on the base station body, for detecting the amount of debris passing through the dust collecting air duct and generating a detection signal; A control device is arranged on the base station body, and is used to adjust the working state of the dust collecting fan according to the detection signal after the dust collecting fan is turned on.

3. The cleaning base station according to claim 2, wherein: The base station body includes a body connected to each other and a base for carrying a cleaning robot, the dust collection interface is arranged on a side of the body close to the base, and the first detection device is arranged on the body.

4. The cleaning base station according to claim 3, wherein: The base station body includes a body connected to each other and a base for carrying the cleaning robot, and the dust collection interface and the first detection device are arranged on the base.

5. The cleaning base station according to any one of claims 2 to 4, wherein: The control device is configured to: Determining that the cleaning robot enters the dust removal stage, and starting the dust collection fan; Acquiring the amount of debris in the dust collecting air duct based on the detection signal; If the amount of debris in the dust collecting air duct is not higher than the first threshold, turn off the dust collecting fan. If the amount of debris in the dust collecting air duct is higher than the first threshold and not higher than the second threshold, reduce the speed of the dust collecting fan. If the amount of debris in the dust collecting air duct is higher than the second threshold, increase the speed of the dust collecting fan.

6. A cleaning system, wherein: include: A cleaning base station and a cleaning robot according to any one of claims 1 to 5.

7. The cleaning system according to claim 6, wherein: The cleaning base station further includes a control device, and the cleaning robot includes a second detection device and a dust box having a dust collection port; The second detection device is used to detect the amount of debris in the dust box and generate a detection signal, the dust collection interface is used to receive the debris discharged from the dust collection port, the dust collection fan is used to make the airflow in the dust collection duct produce a directional flow, and the control device is used to adjust the working state of the dust collection fan according to the detection signal after the dust collection fan is turned on.

8. The cleaning system according to claim 7, wherein: The second detection device is arranged in the dust box.

9. The cleaning system according to claim 7, wherein: The control device is configured to: Determining that the cleaning robot enters the dust removal stage, and starting the dust collection fan; acquiring the amount of debris in the dust box based on the detection signal; If the amount of debris in the dust box is not higher than the first threshold, turn off the dust collecting fan. If the amount of debris in the dust box is higher than the first threshold and not higher than the second threshold, reduce the speed of the dust collecting fan. If the amount of debris in the dust box is higher than the second threshold, increase the speed of the dust collecting fan.

10. The cleaning system according to any one of claims 7 to 9, wherein: The cleaning base station is configured to clean garbage inside the cleaning robot under the condition of docking with the cleaning robot, and the cleaning robot includes an image acquisition device, and the image acquisition device is configured to obtain garbage information of the area to be cleaned; The cleaning base station comprises: A dust cup assembly, the dust cup assembly having a cavity and a dust suction port and an air outlet communicated with the cavity; A dust collecting assembly, comprising a dust collecting fan, a dust collecting air duct and an air outlet duct, wherein the dust collecting fan is connected to the air outlet through the air outlet duct to drive the air flow from the dust collecting air duct to the air outlet through the dust suction port; A control device is configured to obtain the garbage information and control the operating parameters of the dust collecting fan at least partially based on the garbage information.

11. The cleaning system according to claim 10, wherein: The image acquisition device includes: a camera device and an analysis and recognition module, the camera device is used to obtain the garbage image of the area to be cleaned, the analysis and recognition module is connected to the camera device, and the analysis and recognition module determines the garbage type of the garbage according to the garbage image obtained by the camera device.

12. The cleaning system according to claim 11, wherein: The analysis and identification module determines the garbage type corresponding to the garbage in the to-be-cleaned area according to a preset correspondence between the garbage and the garbage type.

13. The cleaning system according to any one of claims 10 to 12, wherein: The control device is also used to feed back the garbage information of the garbage detected by the image acquisition device to the terminal for display by the terminal.

14. The cleaning system of claim 13, wherein: The control device is also used to control the operating parameters of the dust collecting fan according to the control instructions of the terminal.

15. The cleaning system according to any one of claims 7 to 14, wherein: The dust collection interface and the first charging terminal are provided on the peripheral wall of the base station body, and the dust collection interface and the first charging terminal are provided on the same side of the peripheral wall of the cleaning base station; A dust collection port and a second charging terminal are provided on the peripheral wall of the cleaning robot, and the dust collection port and the second charging terminal are provided on the same side of the peripheral wall of the cleaning robot. The cleaning robot is movable and has a mating state of docking with the cleaning base station and a separation state of separation from the cleaning base station. In the mating state, the first charging terminal and the second charging terminal are in contact and electrically connected.

16. The cleaning system of claim 15, wherein: In the mating state, the dust collection interface and the dust collection port are connected.

17. The cleaning system of claim 16, wherein: The opening area of ​​the dust collection interface is larger than the opening area of ​​the dust collection port. In the mating state, along the up and down directions, the upper and lower edges of the dust collection port are located between the upper and lower edges of the dust collection interface. Along the circumferential direction of the cleaning base station, the opposite sides of the dust collection port along the circumferential direction of the cleaning robot are located between the opposite sides of the dust collection interface along the circumferential direction of the cleaning base station.

18. The cleaning system of claim 16, wherein: The cleaning base station is provided with a sealing ring, which surrounds the dust collection interface. In the mating state, the sealing ring fits with the outer wall of the cleaning robot to seal the dust collection interface and the dust collection port.

19. The cleaning system according to any one of claims 15 to 18, wherein: Part of the outer wall surface of the dust box is configured as the outer peripheral wall of the cleaning robot, and the dust collecting port is arranged on the dust box.

20. The cleaning system of claim 19, wherein: The dust box is configured such that at least two recessed portions recessed toward the inside of the dust box are provided on a portion of the outer peripheral wall of the cleaning robot.

21. The cleaning system according to any one of claims 15 to 20, wherein: A flame retardant is embedded in the cleaning robot, and the flame retardant surrounds the second charging terminal.

22. The cleaning system of claim 21, wherein: The second charging terminal protrudes from the flame retardant.

23. The cleaning system according to any one of claims 15 to 22, wherein: A height of the first charging terminal in the up-down direction is greater than a height of the second charging terminal in the up-down direction.

24. The cleaning system according to any one of claims 15 to 23, wherein: The first charging terminal and the dust collection interface are arranged in the up-down direction, and the first charging terminal is located above the dust collection interface, and the dust collection port and the second charging terminal are arranged in the up-down direction, and the second charging terminal is located above the dust collection port.

25. The cleaning system according to any one of claims 15 to 24, wherein: After the first charging terminal is electrically connected to the second charging terminal, and the cleaning robot moves a first distance in the docking direction of the cleaning base station, it is determined that the cleaning robot is in a docking state with the cleaning base station.

26. A method for controlling a cleaning system, wherein: Applicable to the cleaning system according to any one of claims 6 to 25, the control method comprising: Determine that the cleaning robot has entered the dust removal phase and start the dust collection fan of the cleaning base station; Get the amount of debris at a preset location; Based on the amount of debris, the working state of the dust collecting fan is adjusted.

27. The control method according to claim 26, wherein: The preset positions include: Clean the dust box of the cleaning robot and / or the dust collection duct of the cleaning base station.

28. The control method according to claim 26, wherein: Based on the amount of debris, adjusting the working state of the dust collecting fan includes: If the amount of debris at the preset position is not higher than a first threshold, turning off the dust collecting fan; If the amount of debris at the preset position is higher than the first threshold, the dust collecting fan is maintained in continuous operation.

29. The control method according to any one of claims 26 to 28, wherein: The working state includes starting and stopping the dust collecting fan and / or the speed of the dust collecting fan.

30. The control method according to claim 29, wherein: Based on the amount of debris, adjusting the working state of the dust collecting fan includes: If the amount of debris at the preset position is not higher than a second threshold, reducing the speed of the dust collecting fan; If the amount of debris at the preset position is higher than the second threshold, the rotation speed of the dust collecting fan is increased.

31. A cleaning method for a cleaning system, wherein: The cleaning system applied to any one of claims 6 to 25, wherein the cleaning method comprises: Get garbage information of the area to be cleaned; The operating parameters of the dust collecting fan are controlled according to the acquired garbage information.

32. The cleaning method according to claim 31, wherein: The operating parameters of the dust collecting fan include dust collecting time and / or dust collecting suction force.

33. The cleaning method according to claim 31, wherein: The garbage information includes at least one of garbage type, garbage volume, garbage material and garbage moisture content.

34. The cleaning method according to claim 33, wherein: The types of garbage include: dry garbage, wet garbage and mixed dry and wet garbage.

35. The cleaning method according to claim 34, wherein: The controlling the operating parameters of the dust collecting fan according to the acquired garbage information includes: Confirm that the garbage in the area to be cleaned includes wet garbage, The dust collecting suction force of the dust collecting fan is controlled to increase.

36. The cleaning method according to claim 34, wherein: The controlling the operating parameters of the dust collecting fan according to the acquired garbage information includes: Confirm that the wet garbage content in the garbage in the area to be cleaned is greater than a preset threshold, Control and increase the dust collection time of the dust collection fan.

37. The cleaning method according to claim 36, wherein: The controlling to increase the dust collection time of the dust collecting fan includes: first controlling the dust collecting fan to work at a first suction force for a first time, and then controlling the dust collecting fan to work at a second suction force for a second time, wherein the second suction force is greater than the first suction force.

38. The cleaning method according to any one of claims 31 to 37, wherein: The cleaning method further comprises: Determine the area type of the area to be cleaned, the area type including: an oily area, a water-containing area, and a dusty area; According to the area type, a suction curve model corresponding to the area type is selected, and the dust collecting fan is controlled to operate according to the suction curve model.

39. The cleaning method according to claim 38, wherein: The cleaning method further comprises: The cleaning robot receives a cleaning task instruction and obtains cleaning map data corresponding to the cleaning task instruction; Dividing the cleaning map data into regions; Generate a suction curve model of the dust collection fan in the corresponding area.

40. The cleaning method according to claim 39, wherein: The cleaning method further includes: performing model training on the generated suction curve model, and controlling the dust collecting fan to operate according to the trained suction curve model.

41. The cleaning method according to claim 40, wherein: The trained suction curve model includes a weight factor based on preset conditions, and the suction curve of the dust collecting fan changes with the weight factor.

42. The cleaning method according to claim 41, wherein: The cleaning method further comprises: It is determined that the current working time of the cleaning base station is in a preset time period, and the dust collection suction force of the dust collecting fan is controlled to be reduced.

43. The cleaning method according to claim 41, wherein: The cleaning method further comprises: It is determined that the area to be cleaned does not include the target object, and the dust collection suction force of the dust collecting fan is controlled to be increased.

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