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

Abstract

Disclosed in the present application are a cleaning control method, a cleaning control apparatus, a cleaning base station and a cleaning system. The cleaning control method comprises: when a scraping and cleaning member (30) executes a cleaning task, determining whether the scraping and cleaning member (30) performs an action according to a preset method of the cleaning task; when the scraping and cleaning member (30) does not perform an action according to the preset method of the cleaning task, controlling the scraping and cleaning member (30) to execute a retraction according to a first preset amplitude; and controlling the scraping and cleaning member (30) to perform an action again according to the preset method of the cleaning task.

Description

Cleaning control method, cleaning control device, cleaning base station and cleaning system CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to the application number 202410346175.1 filed with the State Intellectual Property Office of China on March 25, 2024, entitled “Cleaning Control Method, Cleaning Control Device, Cleaning Base Station and Cleaning System,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application belongs to the field of electrical appliance technology, and specifically relates to a cleaning control method, a cleaning control device, a cleaning base station and a cleaning system. Background Art

[0003] Existing intelligent cleaning devices are all equipped with a cleaning base station. After the intelligent cleaning device returns to the base station, it can clean the cleaning parts in the cleaning tray of the base station. In order to clean the dirt in the cleaning tray, the stains in the cleaning tray will be removed by the scraping parts. Summary of the Invention

[0004] In a first aspect of the present application, a cleaning control method is provided, which is applied to a cleaning base station, wherein the cleaning base station includes a cleaning tray and a scraping cleaning member movably arranged in the cleaning tray, and the scraping cleaning member is used to clean the cleaning tray. The cleaning control method includes: when the scraping cleaning member performs a cleaning task, determining whether the scraping cleaning member performs an action according to a preset method of the cleaning task; when the scraping cleaning member does not perform an action according to the preset method of the cleaning task, controlling the scraping cleaning member to perform a retraction according to a first preset amplitude; and controlling the scraping cleaning member to perform an action according to the preset method of the cleaning task again.

[0005] In some embodiments, the cleaning method further includes: when the scraping cleaning element performs the cleaning task again, determining whether the scraping cleaning element performs the action according to the preset method of the cleaning task; when the scraping cleaning element does not perform the action according to the preset method of the cleaning task, controlling the scraping cleaning element to perform a retreat according to a second preset amplitude; controlling the scraping cleaning element to perform the action according to the preset method of the cleaning task again.

[0006] In some embodiments, the scraping cleaning element fails to perform actions according to the preset method of the cleaning task, and counts are performed to obtain a count value; it is determined whether the count value is greater than or equal to a set value; if the count value is greater than or equal to the set value, an alarm signal is output.

[0007] In some embodiments, the scraping and cleaning element is rotatably disposed in the cleaning tray, and the first preset amplitude includes a preset angle value; controlling the scraping and cleaning element to retract according to the first preset amplitude includes: controlling the scraping and cleaning element to rotate according to the preset angle value.

[0008] In some embodiments, the scraping and cleaning element is swingably arranged in the cleaning tray, and the first preset amplitude includes a preset swing value; controlling the scraping and cleaning element to retract according to the first preset amplitude includes: controlling the scraping and cleaning element to swing back according to the preset swing value.

[0009] In some embodiments, the scraping and cleaning element is movably disposed in the cleaning tray, and the first preset amplitude includes a preset movement value; controlling the scraping and cleaning element to retract according to the first preset amplitude includes: controlling the scraping and cleaning element to retract according to the preset movement value.

[0010] In some embodiments, determining whether the scraping and cleaning element performs an action according to a preset method of the cleaning task includes: obtaining a driving current of the driving component when the driving component drives the scraping and cleaning element to act; when the driving current is greater than a set current value, determining that the scraping and cleaning element does not perform an action according to the preset method of the cleaning task.

[0011] In some embodiments, the cleaning base station includes a triggering member, a detection member and a cleaning rib, one of the triggering member and the detection member is provided on the scraping cleaning member, and the other is provided on the cleaning tray or the cleaning rib. When the scraping cleaning member performs a cleaning task, determining whether the scraping cleaning member performs an action according to a preset method of the cleaning task includes: when the scraping cleaning member performs a cleaning task, determining whether the detection member senses the triggering member within a preset time; when the detection member does not sense the triggering member, determining that the scraping cleaning member does not perform an action according to the preset method of the cleaning task.

[0012] In some embodiments, the cleaning base station includes a driver for driving the scraping cleaning element to move and a counter for counting the number of rotations of the driver. When the scraping cleaning element performs a cleaning task, determining whether the scraping cleaning element performs the action according to the preset method of the cleaning task includes: when the driver drives the scraping cleaning element to move, the counter obtains the number of rotations of the driver; determines whether the number of rotations of the driver increases within a preset time; when the number of rotations of the driver does not increase, it is determined that the scraping cleaning element does not perform the action according to the preset method of the cleaning task.

[0013] In some embodiments, the cleaning base station includes a cleaning rib and a light-interruption sensor, and the light-interruption sensor includes a light emitter and a light receiver; the light emitter is provided on one of the cleaning tray and the cleaning rib, and the light receiver is provided on the other of the cleaning tray and the cleaning rib, and the light emitter and the light receiver are arranged opposite to each other, and the scraping cleaning element may pass through the optical path between the light emitter and the light receiver during the action process. When the scraping cleaning element performs the cleaning task, determining whether the scraping cleaning element performs the action according to the preset method of the cleaning task includes: when the scraping cleaning element performs the cleaning task, within a preset time, determining whether the light-interruption sensor generates a sensing signal; when the light-interruption sensor does not generate a sensing signal, determining that the scraping cleaning element does not perform the action according to the preset method of the cleaning task.

[0014] In the second aspect of the present application, a cleaning control device is provided, which is applied to a cleaning base station. The cleaning base station includes a cleaning tray and a scraping cleaning member movably arranged in the cleaning tray, and the scraping cleaning member is used to clean the cleaning tray. The cleaning control device includes: a judgment module, which determines whether the scraping cleaning member performs an action according to a preset method of the cleaning task when the scraping cleaning member performs a cleaning task; a first control module, which controls the scraping cleaning member to perform a backoff according to a first preset amplitude when the scraping cleaning member does not perform an action according to the preset method of the cleaning task; and a second control module, which controls the scraping cleaning member to perform an action according to the preset method of the cleaning task again.

[0015] In a third aspect of the present application, a cleaning base station is provided, comprising a controller, wherein the controller is configured to execute the cleaning control method.

[0016] In the fourth aspect of the present application, a cleaning base station is provided, comprising: a cleaning tray; a scraping and cleaning member movably arranged on the cleaning tray, for cleaning the cleaning tray; a driving assembly, connected to the scraping and cleaning member, for driving the scraping and cleaning member to operate; wherein, the driving assembly is used to drive the scraping and cleaning member to retract according to a first preset amplitude when the scraping and cleaning member fails to perform the operation according to the preset method of the cleaning task, so that the scraping and cleaning member can perform the operation according to the preset method of the cleaning task again.

[0017] In some embodiments, under the condition that the scraping cleaning element does not perform the action according to the preset method of the cleaning task, the scraping cleaning element can retreat according to the second preset amplitude and can act according to the preset method of the cleaning task.

[0018] In some embodiments, the cleaning base station further includes a controller; when the count value is greater than or equal to the set value, the controller outputs an alarm signal; wherein, the count value is obtained by counting when the scraping cleaning component fails to perform the action according to the preset method of the cleaning task.

[0019] In some embodiments, the controller is communicatively connected to a smart terminal so that the smart terminal can receive the alarm signal output by the controller.

[0020] In some embodiments, the scraping and cleaning element is rotatably disposed in the cleaning tray, and the first preset amplitude includes a preset angle value. Under the condition that the scraping and cleaning element does not perform the action according to the preset method of the cleaning task, the scraping and cleaning element can rotate according to the preset angle value.

[0021] In some embodiments, the scraping and cleaning element can be swingably arranged in the cleaning tray, and the first preset amplitude includes a preset swing value. Under the condition that the scraping and cleaning element does not perform the action according to the preset method of the cleaning task, the scraping and cleaning element can swing back according to the preset swing value.

[0022] In some embodiments, the scraping and cleaning element is movably disposed in the cleaning tray, and the first preset amplitude includes a preset movement value. Under the condition that the scraping and cleaning element does not perform the action according to the preset method of the cleaning task, the scraping and cleaning element can move back according to the preset movement value.

[0023] In some embodiments, under the condition that the driving current of the driving component is greater than a set current value, the scraping and cleaning element can retreat according to the first preset amplitude.

[0024] In some embodiments, the cleaning base station includes a trigger member, a detection member and a cleaning rib, one of the trigger member and the detection member is provided on the scraping cleaning member, and the other is provided on the cleaning tray or the cleaning rib; wherein, under the condition that the detection member does not sense the trigger member within a preset time, the scraping cleaning member can retreat according to the first preset amplitude.

[0025] In some embodiments, the drive assembly includes a driver for driving the scraping and cleaning element to move, and the cleaning base station includes a counter for counting the number of rotations of the driver; wherein, under the condition that the number of rotations of the driver does not increase within a preset time, the scraping and cleaning element can retreat according to the first preset amplitude.

[0026] In some embodiments, the cleaning base station includes a cleaning rib and a light-interruption sensor, and the light-interruption sensor includes a light emitter and a light receiver; the light emitter is arranged on one of the cleaning tray and the cleaning rib, and the light receiver is arranged on the other of the cleaning tray and the cleaning rib, and the light emitter and the light receiver are arranged opposite to each other, and the scraping cleaning element can pass through the optical path between the light emitter and the light receiver during the action; wherein, under the condition that the light-interruption sensor does not generate a sensing signal, the scraping cleaning element can retreat according to the first preset amplitude.

[0027] In a fifth aspect of the present application, a cleaning system is provided, comprising a cleaning device and a cleaning base station, wherein the cleaning device may be located on a cleaning tray of the cleaning base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] FIG1 shows a schematic flow chart of a cleaning control method in one or more embodiments of the present application.

[0030] FIG2 shows a schematic structural diagram of a cleaning base station in one or more embodiments of the present application.

[0031] FIG3 shows a schematic diagram of the arrangement of the triggering component and the detecting component of the cleaning base station in FIG2 .

[0032] FIG. 4 shows a schematic diagram of the arrangement of light-interruption sensors of the cleaning base station in FIG. 2 .

[0033] Description of reference numerals:

[0034] 10-base; 20-cleaning tray; 30-scraping cleaning member; 40-triggering member; 50-detection member; 60-light interruption sensor, 601-light emitter, 602-light receiver; 70-driver; 80-speed reducer; 90-cleaning rib; 1000-cleaning base station. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0036] In addition, this application may repeat reference numbers and / or reference letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials, but those of ordinary skill in the art will recognize the application of other processes and / or the use of other materials.

[0037] Referring to FIG. 1 , a first embodiment of the present application provides a cleaning control method, which is applied to a cleaning base station 1000 . The cleaning base station 1000 includes a cleaning tray 20 and a scraping cleaning member 30 movably disposed within the cleaning tray 20 . The scraping cleaning member 30 is used to clean the cleaning tray 20 . The cleaning control method includes:

[0038] When the scraping and cleaning member 30 performs a cleaning task, it is determined whether the scraping and cleaning member 30 performs an action according to a preset method of the cleaning task.

[0039] When the scraping and cleaning member 30 does not perform the action according to the preset method of the cleaning task, the scraping and cleaning member 30 is controlled to retract according to the first preset amplitude.

[0040] The scraping and cleaning element 30 is controlled to perform actions again according to the preset method of the cleaning task.

[0041] The preset method can be a scraping action such as rotation, movement, and swinging.

[0042] When the scraping and cleaning member 30 is performing a cleaning task, it is determined whether the scraping and cleaning member 30 is performing an action according to the preset method of the cleaning task. That is, when the scraping and cleaning member is performing an action to clean the washing tray, if the scraping and cleaning member is stuck by a foreign object in the stain, causing the scraping and cleaning member to be unable to operate normally, it is determined that the scraping and cleaning member 30 is not performing an action according to the preset method of the cleaning task, and the scraping and cleaning member 30 is controlled to retract according to the first preset amplitude, and the scraping and cleaning member 30 is controlled to perform an action according to the preset method of the cleaning task again. That is, when the scraping and cleaning member is stuck by the foreign object, the scraping and cleaning member is controlled to retract according to the first preset amplitude, and then perform an action according to the preset method of the cleaning task again. Under the action of friction, the foreign object is separated from the scraping and cleaning member 30, so that the foreign object no longer gets stuck in the scraping and cleaning member 30, ensuring that the scraping and cleaning member 30 can operate normally to clean the washing tray, thereby ensuring the cleaning effect of the washing tray 20.

[0043] While the scraping and cleaning element 30 is retracting according to the set threshold, the foreign object may still get stuck in the scraping and cleaning element 30, causing the scraping and cleaning element 30 to be unable to operate normally. In certain embodiments, in order to separate the foreign object from the scraping and cleaning element 30, the cleaning method further includes: when the scraping and cleaning element 30 performs the cleaning task again, determining whether the scraping and cleaning element 30 is performing the action according to the preset method of the cleaning task. If the scraping and cleaning element 30 does not perform the action according to the preset method of the cleaning task, controlling the scraping and cleaning element 30 to retract according to the second preset amplitude. Controlling the scraping and cleaning element 30 to perform the action according to the preset method of the cleaning task again.

[0044] In some embodiments, when the scraping and cleaning member 30 performs the cleaning task again, if the foreign object still jams the scraping and cleaning member 30, the scraping and cleaning member 30 does not perform the action according to the preset method of the cleaning task, the scraping and cleaning member 30 is controlled to retreat according to the second preset amplitude, and the scraping and cleaning member 30 is controlled to perform the action according to the preset method of the cleaning task again. Under the action of friction, the foreign object is separated from the scraping and cleaning member 30, so that the foreign object no longer jams the scraping and cleaning member 30, ensuring that the scraping and cleaning member 30 can operate normally, so that the scraping and cleaning member 30 can perform the cleaning task again, so as to achieve the cleaning of the cleaning tray, thereby ensuring the cleaning effect of the cleaning tray 20.

[0045] In some embodiments, the second preset amplitude may be the same as or different from the first preset amplitude. If the second preset amplitude is different from the first preset amplitude, the second preset amplitude may be greater than the first preset amplitude to increase the escape action and the probability of escape.

[0046] When the scraping and cleaning member 30 retracts a certain number of times according to the second preset amplitude, the foreign object still blocks the scraping and cleaning member 30, causing the scraping and cleaning member 30 to not function properly. In some embodiments, the number of times the scraping and cleaning member 30 fails to perform the action according to the preset method for the cleaning task is counted to obtain a count value. It is determined whether the count value is greater than or equal to a preset value. If the count value is greater than or equal to the preset value, an alarm signal is output.

[0047] In some embodiments, each time the scraping and cleaning component 30 fails to perform an action according to the preset method of the cleaning task is counted, that is, each time the scraping and cleaning component 30 fails to perform an action according to the preset method of the cleaning task, the count value is increased by one each time, and when the count value is greater than or equal to the set value, an alarm signal is output, and according to the alarm signal, human intervention is performed, and the foreign matter is separated from the scraping and cleaning component 30 through manual operation, so that the foreign matter no longer gets stuck in the scraping and cleaning component 30, ensuring that the scraping and cleaning component 30 can operate normally, so that the scraping and cleaning component 30 can perform the cleaning task again, so as to achieve the cleaning of the cleaning tray, thereby ensuring the cleaning effect of the cleaning tray 20.

[0048] In some embodiments, the cleaning base station 1000 further includes an alarm. The alarm can receive an alarm signal and, upon receiving the alarm signal, sound an alarm to inform the user or staff that a foreign object has jammed the scraping and cleaning element 30. The alarm can be a buzzer and / or a flashing light.

[0049] In some embodiments, the alarm signal can be received by a smart terminal. The cleaning base station 1000 further includes a wireless transmission module. The wireless transmission module can receive the alarm signal and transmit it to the smart terminal. The user is notified via an app (application) on the smart terminal, thereby notifying the user or staff that a foreign object has jammed the scraping and cleaning element 30. The smart terminal can be a mobile phone, tablet computer, laptop computer, etc.

[0050] In certain embodiments, to enable the scraping and cleaning member 30 to clean the washing tray 20, the scraping and cleaning member 30 is rotatably disposed within the washing tray 20, and the first preset amplitude includes a preset angle value. Controlling the scraping and cleaning member 30 to retract according to the first preset amplitude includes: controlling the scraping and cleaning member 30 to rotate according to the preset angle value, so that the scraping and cleaning member 30 can again perform the operation according to the preset method of the cleaning task; when the scraping and cleaning member 30 rotates according to the preset angle value, the foreign matter is separated from the scraping and cleaning member 30 under the action of friction, so that the foreign matter no longer gets stuck in the scraping and cleaning member 30, thereby ensuring that the scraping and cleaning member 30 can operate normally to clean the washing tray, thereby ensuring the cleaning effect of the washing tray 20.

[0051] In certain embodiments, to enable the scraping and cleaning member 30 to clean the washing tray 20, the scraping and cleaning member 30 is swingably disposed within the washing tray 20, and the first preset amplitude includes a preset swing value. Controlling the scraping and cleaning member 30 to retract according to the first preset amplitude includes: controlling the scraping and cleaning member 30 to swing back according to the preset swing value, so that the scraping and cleaning member 30 can again perform the operation according to the preset method of the cleaning task; when the scraping and cleaning member 30 swings back according to the preset swing value, the foreign matter is separated from the scraping and cleaning member 30 under the action of friction, so that the foreign matter no longer gets stuck in the scraping and cleaning member 30, thereby ensuring that the scraping and cleaning member 30 can operate normally to clean the washing tray, thereby ensuring the cleaning effect of the washing tray 20.

[0052] In certain embodiments, in order to enable the scraping and cleaning member 30 to clean the washing tray 20, the scraping and cleaning member 30 is movably disposed within the washing tray 20, and the first preset amplitude includes a preset movement value. Controlling the scraping and cleaning member 30 to retract according to the first preset amplitude includes: controlling the scraping and cleaning member 30 to retract according to the preset movement value, so that the scraping and cleaning member 30 can again perform an action according to a preset method for the cleaning task; when the scraping and cleaning member 30 retracts according to the preset movement value, the foreign matter is separated from the scraping and cleaning member 30 under the action of friction, so that the foreign matter no longer gets stuck in the scraping and cleaning member 30, thereby ensuring that the scraping and cleaning member 30 can operate normally to clean the washing tray, thereby ensuring the cleaning effect of the washing tray 20.

[0053] In certain embodiments, to determine whether the scraping and cleaning element 30 is stuck by a foreign object, the cleaning base station 1000 includes a drive assembly for driving the scraping and cleaning element 30. When the scraping and cleaning element 30 is performing a cleaning task, determining whether the scraping and cleaning element 30 is performing according to the preset method for the cleaning task includes obtaining a driving current of the drive assembly while the drive assembly is driving the scraping and cleaning element 30. If the driving current is greater than a set current value, it is determined that the scraping and cleaning element 30 is not performing according to the preset method for the cleaning task. The set current value is 400mA.

[0054] Referring to FIG. 3 , in certain embodiments, in order to determine whether the scraping and cleaning member 30 is stuck by a foreign object, the cleaning base station 1000 includes a triggering member 40 , a detecting member 50 , and a cleaning rib 90 . One of the triggering member 40 and the detecting member 50 is disposed on the scraping and cleaning member 30 , and the other is disposed on the cleaning tray 20 or the cleaning rib 90 . When the scraping and cleaning member 30 performs a cleaning task, determining whether the scraping and cleaning member 30 performs an action according to a preset method of the cleaning task includes:

[0055] When the scraping and cleaning element 30 performs a cleaning task, it is determined whether the detection element 50 senses the trigger element 40 within a preset time, that is, whether the number of times the detection element 50 senses the trigger element 40 increases within the preset time. If the detection element 50 does not sense the trigger element 40, that is, the number of times the detection element 50 senses the trigger element 40 does not increase, it is determined that the scraping and cleaning element 30 has not performed the action according to the preset method of the cleaning task.

[0056] In some embodiments, the detection element 50 may be a Hall sensor, and the trigger element 40 may be a magnet.

[0057] In some embodiments, the detection member 50 can be disposed on the cleaning rib 90 or in the cleaning tray 20, and the trigger member 40 can be disposed on the scraping cleaning member 30. In other embodiments, the trigger member 40 can be disposed on the cleaning rib 90 or in the cleaning tray 20, and the detection member 50 can be disposed on the scraping cleaning member 30.

[0058] In certain embodiments, to determine whether the scraping and cleaning element 30 is stuck by a foreign object, the cleaning base station 1000 includes a driver for driving the scraping and cleaning element 30 and a counter for counting the number of rotations of the driver. When the scraping and cleaning element 30 performs a cleaning task, determining whether the scraping and cleaning element 30 performs according to the preset method of the cleaning task includes: while the driver drives the scraping and cleaning element 30, the counter obtains the number of rotations of the driver. Determining whether the number of rotations of the driver increases within a preset time. If the number of rotations of the driver does not increase, it is determined that the scraping and cleaning element 30 does not perform according to the preset method of the cleaning task.

[0059] Please refer to Figure 4. In some embodiments, in order to determine whether the scraping cleaning element 30 is stuck by foreign objects, the cleaning base station 1000 includes a cleaning rib 90 and a light-interruption sensor 60. The light-interruption sensor 60 includes a light emitter 601 and a light receiver 602. The light emitter is provided on one of the cleaning tray 20 and the cleaning rib 90, and the light receiver 602 is provided on the other of the cleaning tray 20 and the cleaning rib 90. The light emitter 601 and the light receiver 602 are arranged opposite to each other. The scraping cleaning element may pass through the optical path between the light emitter 601 and the light receiver 602 during the operation. When the scraping cleaning element 30 performs the cleaning task, determining whether the scraping cleaning element 30 performs the action according to the preset method of the cleaning task includes: when the scraping cleaning element 30 performs the cleaning task, within a preset time, determining whether the light-interruption sensor 60 generates a sensing signal, that is, determining whether the number of times the sensing signal generated by the light-interruption sensor 60 is received increases. When the light-interruption sensor does not generate a sensing signal, that is, the number of times the sensing signal generated by the light-interruption sensor 60 is received does not increase, it is determined that the scraping cleaning member 30 does not perform the action according to the preset method of the cleaning task.

[0060] The second embodiment of the present application provides a cleaning control device, which is applied to a cleaning base station 1000. The cleaning base station 1000 includes a cleaning tray 20 and a scraping cleaning member 30 movably arranged in the cleaning tray 20. The scraping cleaning member 30 is used to clean the cleaning tray 20. The cleaning control device includes: a judgment module, a first control module, and a second control module. When the scraping cleaning member 30 performs a cleaning task, the judgment module determines whether the scraping cleaning member 30 performs an action according to a preset method of the cleaning task. When the scraping cleaning member 30 does not perform an action according to the preset method of the cleaning task, the first control module controls the scraping cleaning member 30 to perform a fallback according to a first preset amplitude. The second control module controls the scraping cleaning member 30 to perform an action according to the preset method of the cleaning task again.

[0061] In certain embodiments, when the scraping and cleaning element 30 is performing a cleaning task, it is determined whether the scraping and cleaning element 30 is performing actions according to the preset method of the cleaning task. That is, when the scraping and cleaning element is performing actions to clean the washing tray, if the scraping and cleaning element is stuck by a foreign object in the stain, causing the scraping and cleaning element to be unable to operate normally, it is determined that the scraping and cleaning element 30 is not performing actions according to the preset method of the cleaning task, and the scraping and cleaning element 30 is controlled to retract according to a first preset amplitude, and the scraping and cleaning element 30 is controlled to perform actions according to the preset method of the cleaning task again. That is, when the scraping and cleaning element is stuck by a foreign object, the scraping and cleaning element is controlled to retract according to the first preset amplitude and perform actions according to the preset method of the cleaning task again. Under the action of friction, the foreign object is separated from the scraping and cleaning element 30, so that the foreign object no longer gets stuck in the scraping and cleaning element 30, ensuring that the scraping and cleaning element 30 can operate normally to clean the washing tray, thereby ensuring the cleaning effect of the washing tray 20.

[0062] According to a third embodiment of the present application, a cleaning base station 1000 is provided, including a controller, and the controller is used in a cleaning control method.

[0063] Referring to FIG. 1 , an embodiment of the fourth aspect of the present application includes a cleaning base station 1000 comprising: a cleaning tray 20, a scraping and cleaning member 30, and a drive assembly. The scraping and cleaning member 30 is movably mounted on the cleaning tray 20 for cleaning the cleaning tray 20. The drive assembly is connected to the scraping and cleaning member 30 and is configured to drive the scraping and cleaning member 30 to operate. The drive assembly is configured to drive the scraping and cleaning member 30 to retract according to a first preset amplitude when the scraping and cleaning member 30 fails to perform an operation according to a preset method for a cleaning task, so that the scraping and cleaning member 30 can again perform an operation according to the preset method for the cleaning task.

[0064] In certain embodiments, when the scraping and cleaning member 30 is performing a cleaning task, it is determined whether the scraping and cleaning member 30 is performing actions according to the preset method of the cleaning task. That is, when the scraping and cleaning member is performing actions to clean the washing tray, if the scraping and cleaning member is stuck by a foreign object in the stain, causing the scraping and cleaning member to be unable to operate normally, it is determined that the scraping and cleaning member 30 is not performing actions according to the preset method of the cleaning task, and the driving component controls the scraping and cleaning member 30 to retract according to a first preset amplitude, and controls the scraping and cleaning member 30 to perform actions according to the preset method of the cleaning task again. That is, when the scraping and cleaning member is stuck by the foreign object, the driving component controls the scraping and cleaning member 30 to retract according to the first preset amplitude, and controls the scraping and cleaning member 30 to perform actions according to the preset method of the cleaning task again. Under the action of friction, the foreign object is separated from the scraping and cleaning member 30, so that the foreign object no longer gets stuck in the scraping and cleaning member 30, ensuring that the scraping and cleaning member 30 can operate normally to clean the washing tray, thereby ensuring the cleaning effect of the washing tray 20.

[0065] In certain embodiments, to further ensure the cleaning effect of the cleaning tray 20, the cleaning tray 20 is detachably connected to the base 10. By removing the cleaning tray 20 from the base 10, the cleaning tray 20 can be deeply cleaned in a location with ample operating space, further ensuring the cleanliness of the cleaning tray 20. Moreover, after the cleaning tray 20 is removed from the base 10, the components within the base 10 that were hidden by the cleaning tray 20 are exposed, facilitating maintenance and improving work efficiency.

[0066] In some embodiments, in order to reduce costs, the cleaning tray 20 and the base 10 are integrally formed, which reduces the number of processing steps and improves processing efficiency. At the same time, it also ensures the stability of the connection between the cleaning tray 20 and the base 10.

[0067] In some embodiments, in order to achieve power transmission, the cleaning base station 1000 also includes a transmission device, which is at least partially installed on the cleaning tray 20. The transmission device is connected to the drive assembly and the scraping and cleaning component 30. The transmission device can transmit the power of the drive assembly to the scraping and cleaning component 30 to drive the scraping and cleaning component 30 to rotate.

[0068] Referring to Figure 1 , in some embodiments, the drive assembly includes a driver 70 and a speed reducer 80. The speed reducer 80 is connected to the driver 70 and the transmission device to transmit the power of the driver 70 to the scraping and cleaning member 30 through the speed reducer 80 and the transmission device, thereby driving the scraping and cleaning member 30 to move, so that the scraping and cleaning member 30 can clean the cleaning tray.

[0069] In some embodiments, when the scraping and cleaning member 30 performs the cleaning task again, if the foreign matter still jams the scraping and cleaning member 30, that is, the scraping and cleaning member does not perform the action according to the preset method of the cleaning task, the scraping and cleaning member 30 can retreat according to the second preset amplitude and can act according to the preset method of the cleaning task. Under the action of friction, the foreign matter is separated from the scraping and cleaning member 30, so that the foreign matter no longer jams the scraping and cleaning member 30, ensuring that the scraping and cleaning member 30 can operate normally, so that the scraping and cleaning member 30 can perform the cleaning task again, so as to achieve the cleaning of the cleaning tray, thereby ensuring the cleaning effect of the cleaning tray 20.

[0070] In some embodiments, the second preset amplitude may be the same as or different from the first preset amplitude. If the second preset amplitude is different from the first preset amplitude, the second preset amplitude may be greater than the first preset amplitude to increase the escape action and the probability of escape.

[0071] When the scraping and cleaning element 30 retracts a certain number of times according to the second preset amplitude, the foreign object still blocks the scraping and cleaning element 30, causing the scraping and cleaning element 30 to not function properly. In some embodiments, the cleaning base station further includes a controller. When the count value is greater than or equal to a set value, the controller outputs an alarm signal. The count value is calculated by counting the number of times the scraping and cleaning element 30 fails to perform according to the preset method for the cleaning task.

[0072] In some embodiments, each time the scraping and cleaning component 30 fails to perform an action according to the preset method of the cleaning task is counted, that is, each time the scraping and cleaning component 30 fails to perform an action according to the preset method of the cleaning task, the count value is increased by one each time, and when the count value is greater than or equal to the set value, an alarm signal is output, and according to the alarm signal, human intervention is performed, and the foreign matter is separated from the scraping and cleaning component 30 through manual operation, so that the foreign matter no longer gets stuck in the scraping and cleaning component 30, ensuring that the scraping and cleaning component 30 can operate normally, so that the scraping and cleaning component 30 can perform the cleaning task again, so as to achieve the cleaning of the cleaning tray, thereby ensuring the cleaning effect of the cleaning tray 20.

[0073] In some embodiments, the controller is communicatively connected to a smart terminal so that the smart terminal can receive an alarm signal output by the controller. The cleaning base station 1000 further includes a wireless transmission module. The wireless transmission module can receive the alarm signal and transmit it to the smart terminal, which then notifies the user or staff via an app (application) on the smart terminal that a foreign object has jammed the scraping and cleaning element 30. The smart terminal can be a mobile phone, tablet computer, laptop, or the like.

[0074] In some embodiments, the scraping and cleaning member 30 is rotatably provided in the cleaning tray 20, and the first preset amplitude includes a preset angle value. Under the condition that the scraping and cleaning member 30 does not perform the action according to the preset method of the cleaning task, the scraping and cleaning member 30 can rotate according to the preset angle value. When the scraping and cleaning member 30 rotates according to the preset angle value, under the action of friction, foreign matter is separated from the scraping and cleaning member 30, so that the foreign matter no longer gets stuck in the scraping and cleaning member 30, thereby ensuring that the scraping and cleaning member 30 can operate normally to achieve cleaning of the cleaning tray, thereby ensuring the cleaning effect of the cleaning tray 20.

[0075] In some embodiments, the scraping and cleaning member 30 can be swingably arranged in the cleaning tray 20, and the first preset amplitude includes a preset swing value. Under the condition that the scraping and cleaning member 30 does not perform the action according to the preset method of the cleaning task, the scraping and cleaning member 30 can swing back according to the preset swing value. When the scraping and cleaning member 30 swings back according to the preset swing value, under the action of friction, foreign matter is separated from the scraping and cleaning member 30, so that the foreign matter no longer gets stuck in the scraping and cleaning member 30, thereby ensuring that the scraping and cleaning member 30 can operate normally to achieve cleaning of the cleaning tray, thereby ensuring the cleaning effect of the cleaning tray 20.

[0076] In some embodiments, the scraping cleaning member 30 is movably provided in the cleaning tray 20, and the first preset amplitude includes a preset movement value. Under the condition that the scraping cleaning member 30 does not perform the action according to the preset method of the cleaning task, the scraping cleaning member 30 can move back according to the preset movement value. When the scraping cleaning member 30 moves back according to the preset movement value, under the action of friction, the foreign matter is separated from the scraping cleaning member 30, so that the foreign matter no longer gets stuck in the scraping cleaning member 30, thereby ensuring that the scraping cleaning member 30 can operate normally to achieve the cleaning of the cleaning tray, thereby ensuring the cleaning effect of the cleaning tray 20.

[0077] In some embodiments, in order to determine whether the scraping and cleaning member 30 is stuck by foreign matter, the scraping and cleaning member 30 can retreat according to a first preset amplitude under the condition that the driving current of the driving component is greater than a set current value.

[0078] In certain embodiments, to determine whether the scraping and cleaning member 30 is stuck by a foreign object, the cleaning base station 1000 includes a trigger member 40, a detection member 50, and a cleaning rib 90. One of the trigger member 40 and the detection member 50 is disposed on the scraping and cleaning member 30, and the other is disposed on the cleaning tray 20 or the cleaning rib 90. If the detection member 50 does not sense the trigger member 40 within a preset time, the scraping and cleaning member 30 can retract according to a first preset amplitude.

[0079] In certain embodiments, to determine whether the scraping and cleaning element 30 is stuck by a foreign object, the drive assembly includes a driver for driving the scraping and cleaning element 30, and the cleaning base station 1000 includes a counter for counting the number of driver rotations. If the number of driver rotations does not increase within a preset time, the scraping and cleaning element 30 can retract according to a first preset amplitude.

[0080] In certain embodiments, to determine whether the scraping and cleaning element 30 is stuck by foreign matter, the cleaning base station 1000 includes a cleaning rib 90 and a light-interruption sensor 60. The light-interruption sensor 60 includes a light emitter 601 and a light receiver 602. The light emitter 601 is located on one of the cleaning tray 20 and the cleaning rib 90, and the light receiver 602 is located on the other of the cleaning tray 20 and the cleaning rib 90. The light emitter 601 and the light receiver 602 are positioned opposite each other. During operation, the scraping and cleaning element 30 may pass through the optical path between the light emitter 601 and the light receiver 602. If the light-interruption sensor 60 does not generate a sensing signal, the scraping and cleaning element 30 may retract according to a first predetermined amplitude.

[0081] The fifth embodiment of the present application provides a cleaning system, including a cleaning device and a cleaning base station 1000 . The cleaning device can be located on a cleaning tray 20 of the cleaning base station 1000 .

[0082] In some embodiments, the cleaning device may be a floor scrubber, a sweeping robot, a sweeping machine, etc., which is not limited in the embodiments of the present application.

[0083] According to the cleaning control method provided by one or more embodiments of the present application, when the scraping and cleaning member performs a cleaning task, it is determined whether the scraping and cleaning member performs an action according to the preset method of the cleaning task. That is, when the scraping and cleaning member is in action to clean the washing tray, when the scraping and cleaning member is stuck by a foreign object in the stain, causing the scraping and cleaning member to be unable to operate normally, it is determined that the scraping and cleaning member is not performing an action according to the preset method of the cleaning task, and the scraping and cleaning member is controlled to retract according to a first preset amplitude, and the scraping and cleaning member is controlled to perform an action according to the preset method of the cleaning task again. That is, when the scraping and cleaning member is stuck by a foreign object, the scraping and cleaning member is controlled to retract according to the first preset amplitude, and to perform an action according to the preset method of the cleaning task again, so that under the action of friction, the foreign object is separated from the scraping and cleaning member, so that the foreign object no longer gets stuck in the scraping and cleaning member, and the scraping and cleaning member is ensured to operate normally to clean the washing tray, thereby ensuring the cleaning effect of the washing tray.

[0084] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0085] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise" and "counterclockwise" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present 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, and therefore should not be understood as a limitation on the present application.

[0086] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0087] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0088] In addition, the terms "first," "second," and so on, used in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0089] 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.

[0090] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0091] 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 control method, applied to a cleaning base station (1000), wherein the cleaning base station (1000) comprises a cleaning tray (20) and a scraping cleaning member (30) movably arranged in the cleaning tray (20), wherein the scraping cleaning member (30) is used to clean the cleaning tray (20), and the cleaning control method comprises: When the scraping and cleaning member (30) performs a cleaning task, determining whether the scraping and cleaning member (30) performs an action according to a preset method of the cleaning task; When the scraping and cleaning element (30) fails to perform an action according to a preset method of the cleaning task, controlling the scraping and cleaning element (30) to perform a retraction according to a first preset amplitude; as well as The scraping and cleaning element (30) is controlled to perform actions again according to the preset method of the cleaning task.

2. The cleaning control method according to claim 1, further comprising: When the scraping and cleaning member (30) performs the cleaning task again, determining whether the scraping and cleaning member (30) performs an action according to a preset method of the cleaning task; When the scraping and cleaning element (30) fails to perform an action according to a preset method of the cleaning task, controlling the scraping and cleaning element (30) to perform a retraction according to a second preset amplitude; The scraping and cleaning element (30) is controlled to perform actions again according to the preset method of the cleaning task.

3. The cleaning control method according to claim 2, wherein: Counting the number of times the scraping and cleaning member (30) fails to perform actions according to a preset method of the cleaning task to obtain a count value; Determine whether the count value is greater than or equal to a set value; If the count value is greater than or equal to the set value, an alarm signal is output.

4. The cleaning control method according to claim 3, wherein: The alarm signal can be received by a smart terminal.

5. The cleaning control method according to any one of claims 1 to 4, wherein: The scraping and cleaning member (30) is rotatably disposed in the cleaning tray (20), and the first preset amplitude includes a preset angle value; The controlling the scraping and cleaning member (30) to retract according to a first preset amplitude comprises: The scraping and cleaning member (30) is controlled to rotate according to a preset angle value.

6. The cleaning control method according to any one of claims 1 to 4, wherein: The scraping and cleaning member (30) is swingably arranged in the cleaning tray (20), and the first preset amplitude includes a preset swing value; The controlling the scraping and cleaning member (30) to retract according to a first preset amplitude comprises: The scraping and cleaning element (30) is controlled to perform backswing according to a preset swing value.

7. The cleaning control method according to any one of claims 1 to 4, wherein: The scraping and cleaning member (30) is movably arranged in the cleaning tray (20), and the first preset amplitude includes a preset movement value; The controlling the scraping and cleaning member (30) to retract according to a first preset amplitude comprises: The scraping and cleaning member (30) is controlled to move back according to a preset movement value.

8. The cleaning control method according to any one of claims 1 to 4, wherein: The cleaning base station (1000) comprises a driving component for driving the scraping and cleaning member (30) to move. When the scraping and cleaning member (30) performs a cleaning task, determining whether the scraping and cleaning member (30) performs an action according to a preset method of the cleaning task comprises: When the drive component drives the scraping and cleaning member (30) to move, obtaining the drive current of the drive component; When the driving current is greater than a set current value, it is determined that the scraping cleaning element (30) does not perform an action according to a preset method of the cleaning task.

9. The cleaning control method according to any one of claims 1 to 4, wherein: The cleaning base station (1000) comprises a triggering member (40), a detecting member (50) and a cleaning rib (90), wherein one of the triggering member (40) and the detecting member (50) is arranged on the scraping cleaning member (30), and the other of the triggering member (40) and the detecting member (50) is arranged on the cleaning tray (20) or the cleaning rib (90). When the scraping cleaning member (30) performs a cleaning task, determining whether the scraping cleaning member (30) performs an action according to a preset method of the cleaning task comprises: When the scraping cleaning member (30) performs a cleaning task, determining whether the detection member (50) senses the trigger member (40) within a preset time; When the detection member (50) does not sense the trigger member (40), it is determined that the scraping and cleaning member (30) does not perform an action according to a preset method of the cleaning task.

10. The cleaning control method according to any one of claims 1 to 4, wherein: The cleaning base station (1000) comprises a driver for driving the scraping and cleaning member (30) to move and a counter for counting the number of rotations of the driver. When the scraping and cleaning member (30) performs a cleaning task, determining whether the scraping and cleaning member (30) performs an action according to a preset method of the cleaning task comprises: When the driver drives the scraping and cleaning member (30) to move, the counter obtains the number of rotations of the driver; determining whether the number of rotations of the driver increases within a preset time; When the number of rotations of the driver does not increase, it is determined that the scraping cleaning element (30) does not perform an action according to a preset method of the cleaning task.

11. The cleaning control method according to any one of claims 1 to 4, wherein: The cleaning base station (1000) comprises a cleaning rib (90) and a light-interruption sensor (60), wherein the light-interruption sensor (60) comprises a light emitter and a light receiver; the light emitter is arranged on one of the cleaning tray (20) and the cleaning rib (90), and the light receiver is arranged on the other of the cleaning tray (20) and the cleaning rib (90); the light emitter and the light receiver are arranged opposite to each other, and the scraping cleaning element can pass through the light path between the light emitter and the light receiver during the operation process; when the scraping cleaning element (30) performs a cleaning task, determining whether the scraping cleaning element (30) performs the action according to the preset method of the cleaning task includes: When the scraping and cleaning member (30) performs a cleaning task, determining whether the light-interrupting sensor generates a sensing signal within a preset time; When the light-interrupting sensor (60) does not generate a sensing signal, it is determined that the scraping cleaning member (30) does not perform an action according to a preset method of the cleaning task.

12. A cleaning control device, applied to a cleaning base station (1000), the cleaning base station (1000) comprising a cleaning tray (20) and a scraping cleaning member (30) movably arranged in the cleaning tray (20), the scraping cleaning member (30) being used to clean the cleaning tray (20), the cleaning control device comprising: a judgment module, which, when the scraping and cleaning member (30) performs a cleaning task, determines whether the scraping and cleaning member (30) performs an action according to a preset method of the cleaning task; a first control module, which controls the scraping and cleaning element (30) to retract according to a first preset amplitude when the scraping and cleaning element (30) fails to perform an action according to a preset method of the cleaning task; as well as The second control module controls the scraping and cleaning element (30) to perform an action again according to a preset method of the cleaning task.

13. A cleaning base station (1000), comprising a controller, wherein the controller is configured to execute the cleaning control method according to any one of claims 1 to 11.

14. A cleaning base station (1000), comprising: cleaning tray (20); a scraping cleaning member (30) movably disposed on the cleaning tray (20) for cleaning the cleaning tray (20); as well as a driving assembly connected to the scraping and cleaning member (30) and used to drive the scraping and cleaning member (30) to move; Wherein, the driving component is used for driving the scraping and cleaning member (30) to retract according to a first preset amplitude when the scraping and cleaning member (30) does not perform an action according to a preset method of the cleaning task, so that the scraping and cleaning member (30) performs an action according to the preset method of the cleaning task again.

15. The cleaning base station (1000) according to claim 13, wherein: Under the condition that the scraping and cleaning element does not perform an action according to the preset method of the cleaning task, the scraping and cleaning element (30) can retreat according to a second preset amplitude and can act according to the preset method of the cleaning task.

16. The cleaning base station (1000) according to claim 15, wherein: The cleaning base station further includes a controller; When the count value is greater than or equal to the set value, the controller outputs an alarm signal; The count value is obtained by counting when the scraping and cleaning member (30) fails to perform an action according to a preset method of the cleaning task.

17. The cleaning base station (1000) according to claim 16, wherein: The controller is communicatively connected to the smart terminal so that the smart terminal can receive the alarm signal output by the controller.

18. The cleaning base station (1000) according to any one of claims 14 to 17, wherein: The scraping and cleaning member (30) is rotatably arranged in the cleaning tray (20), and the first preset amplitude includes a preset angle value. Under the condition that the scraping and cleaning member (30) does not perform an action according to the preset method of the cleaning task, the scraping and cleaning member (30) can rotate according to the preset angle value.

19. The cleaning base station (1000) according to any one of claims 14 to 17, wherein: The scraping and cleaning member (30) is swingably arranged in the cleaning tray (20), the first preset amplitude includes a preset swing value, and under the condition that the scraping and cleaning member (30) does not perform an action according to the preset method of the cleaning task, the scraping and cleaning member (30) can rotate according to the preset swing value.

20. The cleaning base station (1000) according to any one of claims 14 to 17, wherein: The scraping and cleaning member (30) is movably arranged in the cleaning tray (20), and the first preset amplitude includes a preset movement value. Under the condition that the scraping and cleaning member (30) does not perform an action according to the preset method of the cleaning task, the scraping and cleaning member (30) can rotate according to the preset movement value.

21. The cleaning base station (1000) according to any one of claims 14 to 17, wherein: Under the condition that the driving current of the driving component is greater than a set current value, the scraping and cleaning member (30) can retreat according to the first preset amplitude.

22. The cleaning base station (1000) according to any one of claims 14 to 17, wherein: The cleaning base station (1000) comprises a triggering member (40), a detecting member (50) and a cleaning rib (90); one of the triggering member (40) and the detecting member (50) is arranged on the scraping cleaning member (30), and the other of the triggering member (40) and the detecting member (50) is arranged on the cleaning tray (20) or the cleaning rib (90); Wherein, under the condition that the detection member (50) does not sense the trigger member (40) within a preset time, the scraping and cleaning member (30) can retreat according to the first preset amplitude.

23. The cleaning base station (1000) according to any one of claims 14 to 17, wherein: The driving assembly comprises a driver for driving the scraping cleaning member (30) to move, and the cleaning base station (1000) comprises a counter for counting the number of rotations of the driver; Wherein, under the condition that the number of rotations of the driver does not increase within a preset time, the scraping and cleaning member (30) can retreat according to the first preset amplitude.

24. The cleaning base station (1000) according to any one of claims 14 to 17, wherein: The cleaning base station (1000) comprises a cleaning rib (90) and a light-interruption sensor (60), wherein the light-interruption sensor (60) comprises a light emitter (601) and a light receiver (602); the light emitter (601) is arranged on one of the cleaning tray (20) and the cleaning rib (90), and the light receiver (602) is arranged on the other of the cleaning tray (20) and the cleaning rib (90); the light emitter (601) and the light receiver (602) are arranged opposite to each other, and the scraping cleaning element can pass through the optical path between the light emitter (601) and the light receiver (602) during operation; Wherein, under the condition that the light-interrupting sensor (60) does not generate a sensing signal, the scraping and cleaning member (30) can retreat according to the first preset amplitude.

25. A cleaning system, comprising a cleaning device and a cleaning base station (1000) according to any one of claims 13 to 24, wherein the cleaning device can be located on a cleaning tray (20) of the cleaning base station (1000).

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