Cleaning robot, cleaning robot control method, storage medium, and cleaning system

Abstract

An embodiment of the present application discloses a cleaning robot, a cleaning robot control method, a storage medium, and a cleaning system. According to the cleaning robot control method, when the cleaning robot is in the charging pose, but a first charging end of the cleaning robot is not powered, first obtaining the docking state between the first charging end and a second charging end; if the first charging end is docked with the second charging end, further obtaining the power state information of a cleaning base station, and determining the operation mode of the cleaning robot on the basis of the power state information of the cleaning base station. The present invention replaces the technical solutions of prior art in which the cleaning robot is controlled to be away from the cleaning base station as long as the first charging end is not powered, thereby reducing the frequency of the cleaning robot leaving the charging pile, and improving the user experience.

Description

Cleaning robot, cleaning robot control method, storage medium and cleaning system

[0001] Cross-reference to related applications

[0002] This disclosure is based on and claims the priority of Chinese patent application with application number 202311085025.1 and application date August 25, 2023. The entire content of the Chinese patent application is hereby incorporated into this disclosure as a reference. Technical Field

[0003] The embodiments of the present application relate to the technical field of cleaning robots, and in particular to a cleaning robot, a control method for the cleaning robot, a storage medium, and a cleaning system. Background Art

[0004] In traditional technology, when the intelligent cleaning robot is in a cleaning base station but cannot connect to the charging terminal of the cleaning base station, the robot will leave the base station and then return to the cleaning base station. This may cause the robot to be frequently positioned, affecting the user experience.

[0005] Summary of the Invention

[0006] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0007] To this end, a first aspect of the present application provides a control method for a cleaning robot.

[0008] A second aspect of the present application provides a computer-readable storage medium.

[0009] A third aspect of the present application provides a cleaning robot.

[0010] A fourth aspect of the present application provides a cleaning system.

[0011] In view of this, according to a first aspect of an embodiment of the present application, a control method for a cleaning robot is proposed, the control method comprising:

[0012] When the cleaning robot is in a charging position, obtaining charging state information of a first charging terminal of the cleaning robot;

[0013] When the first charging end is in an uncharged state, obtaining a docking state between the first charging end and the second charging end of the cleaning base station;

[0014] When the first charging end is docked with the second charging end, the operation mode of the cleaning robot is determined based on the charging state information of the cleaning base station.

[0015] In a feasible embodiment, when the first charging terminal is docked with the second charging terminal, the step of determining the operation mode of the cleaning robot based on the charging state information of the cleaning base station includes at least one of the following:

[0016] When the first charging end is docked with the second charging end and the second charging end is charged, the cleaning robot is controlled to move away from the cleaning base station and then return to the charging position;

[0017] When the first charging end is docked with the second charging end and the second charging end is not charged, the cleaning robot is controlled to maintain a current state.

[0018] In a feasible embodiment, the step of determining the operation mode of the cleaning robot includes at least one of the following:

[0019] When the first charging terminal is docked with the second charging terminal and a power-off message of the cleaning base station is received, the cleaning robot is controlled to maintain the current position;

[0020] When the first charging end is docked with the second charging end and no information related to the power-on state sent by the cleaning base station is received, controlling the cleaning robot to maintain the current position;

[0021] When the first charging end is docked with the second charging end and the cleaning base station is not powered off, the cleaning robot is controlled to move away from the cleaning base station and then return to the charging position.

[0022] In a feasible implementation manner, the charging status information of the cleaning base station is obtained by the cleaning robot polling the cleaning base station; or

[0023] The charging status information of the cleaning base station is sent to the cleaning robot via the cleaning base station.

[0024] In a feasible implementation manner, the charging status information of the cleaning base station is obtained by the cleaning robot from the cleaning base station via infrared communication.

[0025] In a feasible embodiment, the control method of the cleaning robot further includes:

[0026] When the first charging end and the second charging end are not docked, the cleaning robot is controlled to move away from the cleaning base station and then return to the charging position.

[0027] In a feasible implementation manner, when the cleaning robot returns to the charging position, the second charging end is charged, and the first charging end is still in an uncharged state, a prompt message is generated.

[0028] In a feasible implementation, the step of obtaining the docking status of the first charging end and the second charging end of the cleaning base station includes: determining the docking status of the first charging end and the second charging end based on the triggering status of the sensor on the cleaning robot.

[0029] According to a second aspect of the embodiments of the present application, a computer-readable storage medium is provided.

[0030] The computer-readable storage medium stores a computer program for implementing the control method described in any of the above technical solutions.

[0031] According to a third aspect of an embodiment of the present application, a cleaning robot is provided, comprising:

[0032] a memory storing a computer program;

[0033] a processor, configured to execute the computer program;

[0034] Wherein, when the processor executes the computer program, it implements the control method described in any of the above technical solutions.

[0035] According to a fourth aspect of an embodiment of the present application, a cleaning system is provided, comprising:

[0036] Clean base stations;

[0037] For the cleaning robot as described in the above technical solution, the cleaning base station is used to charge the cleaning robot.

[0038] In a feasible embodiment, the cleaning system further includes:

[0039] The sensor is used to obtain the docking status of the first charging end and the second charging end.

[0040] In a feasible embodiment, the cleaning system further includes:

[0041] An energy storage module is connected to the cleaning base station and the infrared communication module.

[0042] Compared with the prior art, this application has at least the following beneficial effects:

[0043] The control method of the cleaning robot provided in the embodiment of the present application first obtains the docking status of the first charging end and the second charging end when the cleaning robot is in a charging position but the first charging end of the cleaning robot is not charged. If the first charging end and the second charging end are docked, the charging status information of the cleaning base station is further obtained, and then the operation mode of the cleaning robot is determined based on the charging status information of the cleaning base station. This replaces the technical solution in traditional technology that controls the cleaning robot to stay away from the cleaning base station as long as the first charging end is not charged. It can reduce the frequency of the cleaning robot going down and improve user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0045] FIG1 is a schematic flowchart of a control method for a cleaning robot according to an embodiment of the present application;

[0046] FIG2 is a block diagram of a computer-readable storage medium according to an embodiment of the present application;

[0047] FIG3 is a structural block diagram of a cleaning robot according to an embodiment of the present application;

[0048] FIG4 is a structural block diagram of a cleaning system according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to better understand the above technical solution, the technical solution of the embodiment of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present application and the specific features in the embodiment are detailed descriptions of the technical solution of the embodiment of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiment of the present application and the technical features in the embodiment can be combined with each other.

[0050] As shown in FIG1 , according to a first aspect of an embodiment of the present application, a control method for a cleaning robot is proposed. The control method includes:

[0051] Step 101: When the cleaning robot is in a charging position, obtain the charging status information of the first charging terminal of the cleaning robot. It is understandable that in order to ensure the smooth charging of the cleaning robot when the cleaning robot is in a charging position, the charging status of the first charging terminal can be detected. If the first charging terminal is charged, it means that the cleaning robot can be charged. If the first charging terminal is not charged, it means that the cleaning robot cannot be charged in the current state. It may be that the first charging terminal of the cleaning robot is not firmly connected to the second charging terminal of the cleaning base station, or there is debris between the first charging terminal and the second charging terminal, which affects the conductivity of the first charging terminal and the second charging terminal, or the cleaning base station itself may be powered off.

[0052] Step 102: When the first charging terminal is in an uncharged state, obtain the docking status of the first charging terminal and the second charging terminal of the cleaning base station. It is understandable that when the first charging terminal is in an uncharged state, the docking status of the first charging terminal and the second charging terminal can be detected to determine whether the first charging terminal is connected to the second charging terminal. If the two are not connected, then it means that the first charging terminal is not charged, which may be caused by a virtual connection. If the two are connected, then the first charging terminal is not charged due to the cleaning base station. It is understandable that a sensor can be installed on the cleaning robot. When the sensor is triggered, it is considered that the first charging terminal is docked with the second charging terminal. On the contrary, if the sensor is not triggered, it is considered that the first charging terminal is not docked with the second charging terminal. It is understandable that the first charging terminal can be in a charged state or an uncharged state. When the first charging terminal is in an uncharged state, the cleaning robot cannot be charged.

[0053] Step 103: When the first charging terminal and the second charging terminal are connected, the cleaning robot's operating mode is determined based on the power status of the cleaning base station. After determining that the first charging terminal and the second charging terminal are connected, the power status information of the cleaning base station can be further determined. Based on this, the cleaning robot's operating mode can be determined based on the power status information of the cleaning base station. Specifically, the cleaning robot can be determined whether it needs to leave the cleaning base station and then reset. For example, if the cleaning base station is powered, it indicates that the first charging terminal and the second charging terminal are not accurately aligned, and the cleaning robot needs to leave the cleaning base station and then reset. If the cleaning base station is also powered, it may be powered off. In this case, the cleaning robot does not need to leave the cleaning base station. This can reduce the frequency of the cleaning robot's docking and reduce the probability of the cleaning robot misjudging, thereby preventing the user from perceiving that the cleaning robot is frequently docking. This can improve the user experience, save the cleaning robot's power, reduce the probability of wear and tear on the first and second charging terminals, and increase the cleaning robot's service life. It is understood that the power status information of the cleaning base station includes: whether the second charging terminal is powered or whether the cleaning base station itself is powered off.

[0054] The control method of the cleaning robot provided in the embodiment of the present application first obtains the docking status of the first charging end and the second charging end when the cleaning robot is in a charging position but the first charging end of the cleaning robot is not charged. If the first charging end and the second charging end are docked, the charging status information of the cleaning base station is further obtained, and then the operation mode of the cleaning robot is determined based on the charging status information of the cleaning base station. This replaces the technical solution in traditional technology that controls the cleaning robot to stay away from the cleaning base station as long as the first charging end is not charged. It can reduce the frequency of the cleaning robot going down and improve user experience.

[0055] In a feasible embodiment, when the first charging end and the second charging end are docked, the step of determining the operating mode of the cleaning robot based on the charging status information of the cleaning base station includes at least one of the following: when the first charging end and the second charging end are docked and the second charging end is charged, the cleaning robot is controlled to move away from the cleaning base station and then return to the charging position; when the first charging end and the second charging end are docked and the second charging end is not charged, the cleaning robot is controlled to maintain the current state.

[0056] In this technical solution, specific steps for determining the operating mode of the cleaning robot are further provided. If the first charging end is docked with the second charging end, and the second charging end is charged, it means that there may be a problem with the position of the cleaning robot, or conductivity cannot be achieved between the first charging end and the second charging end. For example, there is debris between the first charging end and the second charging end, or there is oxidation at the contact point, which makes it impossible for them to conduct electricity to each other. In this case, the cleaning robot needs to be controlled away from the cleaning base station, and then return to the charging position and repositioned. This can restore the connection between the first charging end and the second charging end, and the cleaning robot can be charged.

[0057] In this technical solution, specific steps for determining the operating mode of the cleaning robot are further provided. If the first charging terminal is docked with the second charging terminal, and the second charging terminal is not charged, it means that the cleaning base station may be in a power-off state. In this case, there is no need to control the cleaning robot to move away from the cleaning base station. Instead, the cleaning robot is controlled to maintain its current state. This can reduce the frequency of the cleaning robot going down the pile, reduce the probability of the cleaning robot making misjudgments, and thus avoid the user's perception that the cleaning robot is frequently going down the pile, which can improve the user experience, save the cleaning robot's electric energy, reduce the probability of the first charging terminal and the second charging terminal being worn, and increase the service life of the cleaning robot.

[0058] In a feasible embodiment, the step of determining the operating mode of the cleaning robot includes at least one of the following: when the first charging end is docked with the second charging end and the power-off information of the cleaning base station is received, the cleaning robot is controlled to maintain the current position; when the first charging end is docked with the second charging end and the information related to the power-on status sent by the cleaning base station is not received, the cleaning robot is controlled to maintain the current position; when the first charging end is docked with the second charging end and the power-on information of the cleaning base station is received, the cleaning robot is controlled to move away from the cleaning base station and then return to the charging position.

[0059] In this technical solution, the specific communication method between the cleaning robot and the cleaning base station is taken into account. The cleaning robot communicates with the cleaning base station to determine the charged state information of the cleaning base station. It is further considered that the cleaning base station may be equipped with a capacitor or other energy storage device. Even if the cleaning base station is powered off (such as the user unplugs the cleaning base station), the cleaning base station can also communicate briefly with the cleaning robot. Therefore, when the cleaning base station is powered off, the cleaning robot may receive the power-off information of the cleaning base station. When the energy in the capacitor or energy storage device is insufficient, the cleaning base station may not have time to issue an instruction. Therefore, when the cleaning robot receives the power-off information of the cleaning base station or does not receive any response from the cleaning base station, it can be considered that the second charging end of the cleaning base station is not charged. In this case, the first charging end is not charged because of the cleaning base station. The cleaning robot does not need to leave the cleaning base station and can maintain its current state.

[0060] In this technical solution, if the cleaning base station is always charged, the cleaning robot can communicate with the cleaning base station, and then the cleaning robot can obtain information that the cleaning base station is not powered off. This situation indicates that the cleaning base station is normally charged, but the first charging end is not charged. Therefore, there may be a problem with the position of the cleaning robot. The cleaning robot can be controlled to move away from the cleaning base station, and then return to the charging position and reposition it. The connection between the first charging end and the second charging end can be restored, and the cleaning robot can be charged.

[0061] In a feasible implementation manner, the charging status information of the cleaning base station is obtained by the cleaning robot polling the cleaning base station body.

[0062] In this technical solution, the cleaning robot can send polling information. After receiving the polling information, the cleaning base station can send the power status information of the cleaning base station to the cleaning robot. This setting can reasonably control the frequency of information collection and save more energy.

[0063] It is understandable that a time interval may be set, and a polling message is sent every time a time interval is reached.

[0064] In a feasible implementation manner, the charging status information of the cleaning base station is sent to the cleaning robot via the cleaning base station.

[0065] In this technical solution, the cleaning base station can also actively send the charging status information of the cleaning base station to the cleaning robot. With this setting, the cleaning robot does not need to actively inquire the cleaning base station, making the communication between the cleaning robot and the cleaning base station more convenient.

[0066] In a feasible implementation manner, the charging status information of the cleaning base station is obtained by the cleaning robot from the cleaning base station via infrared communication.

[0067] In this technical solution, a communication method between the cleaning robot and the cleaning base station is further provided. The charging status information of the cleaning base station is obtained through infrared communication. This setting ensures the timeliness of information acquisition, and makes the communication between the cleaning base station and the cleaning robot more convenient, while reducing the cost of the cleaning robot.

[0068] In a feasible embodiment, the control method of the cleaning robot further includes: when the first charging end and the second charging end are not docked, controlling the cleaning robot to move away from the cleaning base station and then returning to the charging position.

[0069] In this technical solution, when the first charging end and the second charging end are not docked, it means that the first charging end is not charged, which may be caused by a virtual connection. Therefore, the cleaning robot can be controlled to leave the cleaning base station and then reset to re-establish the connection relationship between the first charging end and the second charging end, so that the cleaning robot can be charged normally.

[0070] In a feasible implementation, when the cleaning robot returns to the charging position, the second charging end is charged, and the first charging end is still in an uncharged state, a prompt message is generated.

[0071] In this technical solution, after the cleaning robot leaves the cleaning base station and resets, if the first charging end is still in an uncharged state, it means that the first charging end or the second charging end may be contaminated, or there is debris on the contact side of the first charging end and the second charging end. In this case, a prompt message can be generated to prompt the user to perform maintenance.

[0072] As shown in FIG2 , according to the second aspect of an embodiment of the present application, a computer-readable storage medium 201 is proposed. The computer-readable storage medium 201 stores a computer program 202 for implementing a control method according to any of the above technical solutions.

[0073] The computer-readable storage medium 201 provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the computer-readable storage medium 201 has all the beneficial effects of the control method of the above technical solutions.

[0074] The computer-readable storage medium 201 provided in the embodiment of the present application first obtains the docking status of the first charging end and the second charging end when the cleaning robot is in a charging position but the first charging end of the cleaning robot is not charged. If the first charging end and the second charging end are docked, the charging status information of the cleaning base station is further obtained, and then the operation mode of the cleaning robot is determined based on the charging status information of the cleaning base station. This replaces the technical solution in traditional technology that controls the cleaning robot to stay away from the cleaning base station as long as the first charging end is not charged, which can reduce the frequency of the cleaning robot going down and improve user experience.

[0075] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0076] As shown in Figure 3, according to the third aspect of an embodiment of the present application, a cleaning robot is proposed, including: a memory 301, which stores a computer program 202; a processor 302, which executes the computer program 202; wherein, when the processor 302 executes the computer program 202, it implements a control method such as any of the above technical solutions.

[0077] The cleaning robot provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the cleaning robot has all the beneficial effects of the control method of the above technical solutions.

[0078] The cleaning robot provided in the embodiment of the present application first obtains the docking status of the first charging end and the second charging end when the cleaning robot is in a charging position but the first charging end of the cleaning robot is not charged. If the first charging end and the second charging end are docked, the charging status information of the cleaning base station is further obtained, and then the operation mode of the cleaning robot is determined based on the charging status of the second charging end. This replaces the traditional technical solution of controlling the cleaning robot to stay away from the cleaning base station as long as the first charging end is not charged, which can reduce the frequency of the cleaning robot going down and improve user experience.

[0079] In some examples, the cleaning robot may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0080] In an exemplary embodiment, the cleaning robot may further include an input / output interface and a display device, wherein the various functional units may communicate with each other via a bus. The memory 301 stores a computer program 202, and the processor 302 is configured to execute the program stored in the memory 301 and perform the method in the above embodiment.

[0081] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device used in the above method, supporting the execution of the information processing program and other software and / or programs. The network communication module is used to enable communication between components within the storage medium and with other hardware and software within the physical information processing device.

[0082] According to a fourth aspect of an embodiment of the present application, a cleaning system is proposed, including: a cleaning base station 420; and a cleaning robot 410 such as the above technical solution, wherein the cleaning base station 420 is used to charge the cleaning robot 410.

[0083] The cleaning robot provided in the embodiment of the present application includes the cleaning robot according to the above technical solution, so all the beneficial effects of the cleaning robot according to the above technical solution will not be described here in detail.

[0084] In a feasible embodiment, the cleaning system further includes: a sensor 411, which is provided on the cleaning robot 410 and is used to obtain the docking status of the first charging end and the second charging end.

[0085] In this technical solution, the cleaning robot 410 can be equipped with a sensor 411. Through the setting of the sensor 411, the cleaning robot 410 can obtain the docking status of the first charging end and the second charging end of the cleaning base station 420 through the trigger state of the sensor 411 when the first charging end is in an uncharged state, making the execution of the control method more convenient.

[0086] In a feasible embodiment, the cleaning system further includes: an infrared communication module 430 , which is provided on the cleaning robot 410 and the cleaning base station 420 ; and an energy storage module 421 , which is connected to the cleaning base station 420 and the infrared communication module 430 .

[0087] In this technical solution, the cleaning system may further include an infrared communication module 430. With the infrared communication module 430, the cleaning robot 410 can transmit signals to the cleaning base station 420 via infrared communication, thereby ensuring the timeliness of information acquisition, making communication between the cleaning base station 420 and the cleaning robot 410 more convenient, and reducing the cost of the cleaning robot. It is understood that the infrared communication module 430 may be disposed on both the cleaning robot 410 and the cleaning base station 420.

[0088] In this technical solution, an energy storage module 421 can also be installed on the cleaning base station 420. Through the setting of the energy storage module 421, even if the cleaning base station 420 is powered off, the cleaning base station 420 can communicate with the cleaning robot 410, so that the cleaning robot 410 can know the status of the cleaning base station 420.

[0089] In some examples, the energy storage module 421 may include a capacitor.

[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware.

[0091] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program 202 products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by the computer program 202 instructions. These computer program 202 instructions can be provided to a processor 302 of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor 302 of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0092] In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0093] In the description of this application, it should be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0094] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0095] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A control method for a cleaning robot, comprising: When the cleaning robot is in a charging position, obtaining charging state information of a first charging terminal of the cleaning robot; When the first charging end is in an uncharged state, obtaining a docking state between the first charging end and a second charging end of the cleaning base station; When the first charging end is docked with the second charging end, the operation mode of the cleaning robot is determined based on the charging state information of the cleaning base station.

2. The control method of the cleaning robot according to claim 1, wherein: The step of docking the first charging terminal with the second charging terminal and determining the operation mode of the cleaning robot based on the charging state information of the cleaning base station comprises at least one of the following: When the first charging end is docked with the second charging end and the second charging end is charged, the cleaning robot is controlled to move away from the cleaning base station and then return to the charging position; When the first charging end is docked with the second charging end and the second charging end is not charged, the cleaning robot is controlled to maintain a current state.

3. The control method of the cleaning robot according to claim 1, wherein: The step of docking the first charging terminal with the second charging terminal and determining the operation mode of the cleaning robot based on the charging state information of the cleaning base station comprises at least one of the following: When the first charging end is docked with the second charging end and the power-off information of the cleaning base station is received, controlling the cleaning robot to maintain the current position; When the first charging end is docked with the second charging end and no information related to the power-on state sent by the cleaning base station is received, controlling the cleaning robot to maintain the current position; When the first charging end is docked with the second charging end and the cleaning base station is not powered off, the cleaning robot is controlled to move away from the cleaning base station and then return to the charging position.

4. The control method of the cleaning robot according to any one of claims 1 to 3, wherein: The charging state information of the cleaning base station is obtained by the cleaning robot polling the cleaning base station; or The charging state information of the cleaning base station is sent to the cleaning robot via the cleaning base station.

5. The control method of the cleaning robot according to any one of claims 1 to 3, wherein: The charging state information of the cleaning base station is obtained by the cleaning robot from the cleaning base station through infrared communication.

6. The control method of the cleaning robot according to any one of claims 1 to 3, further comprising: When the first charging end is not docked with the second charging end, the cleaning robot is controlled to move away from the cleaning base station and then return to the charging position.

7. The control method of the cleaning robot according to claim 6, wherein: When the cleaning robot returns to the charging position, the second charging end is charged, and the first charging end is still in an uncharged state, a prompt message is generated.

8. The control method of the cleaning robot according to any one of claims 1 to 3, wherein: The step of obtaining the docking status of the first charging end and the second charging end of the cleaning base station includes: Based on the triggering state of the sensor on the cleaning robot, the docking state of the first charging end and the second charging end is determined.

9. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program for implementing the control method according to any one of claims 1 to 8.

10. A cleaning robot, comprising: a memory storing a computer program; A processor, configured to execute the computer program; Wherein, when the processor executes the computer program, it implements the control method as claimed in any one of claims 1 to 8.

11. A cleaning system comprising: Clean the base station; The cleaning robot as described in claim 10, wherein the cleaning base station is used to charge the cleaning robot.

12. The cleaning system according to claim 11, wherein: The cleaning robot also includes: The sensor is used to obtain the docking status of the first charging end and the second charging end.

13. The cleaning system of claim 11, wherein: The cleaning base station also includes: The energy storage module is used to provide electrical energy to the infrared communication module in the cleaning base station.

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