Cleaning device control method, docking station control method, computer program product, computer-readable storage medium, cleaning device, docking station, and cleaning system

Abstract

A cleaning device control method, a docking station control method, an apparatus, and a cleaning system. The method comprises: after a cleaning device (101) has successfully docked, controlling the cleaning device (101) to execute a squeezing action inside of a docking station (102) in a docking direction, so as to correct the pose of the cleaning device (101) inside of the docking station (102).

Description

Cleaning device control method, base control method, computer program product, computer readable storage medium, cleaning device, base and cleaning system

[0001] Cleaning device control method, base control method, computer program product, computer readable storage medium, cleaning device, base and cleaning system

[0002] Cross-reference to related applications

[0003] This application claims priority to the Chinese patent application No. 2024112454583, filed on September 5, 2024, and entitled “Cleaning device control method, base control method, apparatus and cleaning system”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0004] The present application relates to the technical field of cleaning system control, and in particular to a cleaning device control method, a base control method, a computer program product, a computer readable storage medium, a cleaning device, a base and a cleaning system. BACKGROUND

[0005] Cleaning devices (such as floor sweeping machines, floor mopping machines) are generally configured with a base (which can also be referred to as a base station). After the cleaning device completes a cleaning task, it will return to the inside of the base for charging, water refilling, or disassembly and assembly of cleaning components. This process of the cleaning device returning to the inside of the base is referred to as a base-up process. In the base-up process, the cleaning device first moves in the direction of the base according to the base position information on the cleaning map; when the cleaning device moves to the vicinity of the base, the cleaning device can receive the infrared signal emitted by the base through the infrared sensor installed on itself, and correct the relative position of the cleaning device and the base entrance according to the received infrared signal, so that the cleaning device is aligned with the base entrance; the cleaning device will further enter the inside of the base from the base entrance, thereby completing the base-up. SUMMARY

[0006] The present application provides a cleaning device control method, a base control method, a computer program product, a computer readable storage medium, a cleaning device, a base and a cleaning system.

[0007] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0008] According to a first aspect of an embodiment of the present application, a cleaning device control method is provided, comprising: after the cleaning device successfully bases up, controlling the cleaning device to perform a squeezing action inside the base in the base-up direction to correct the attitude of the cleaning device inside the base.

[0009] In some embodiments of the present application, the cleaning device control method further comprises: if it is detected that the first charging component on the cleaning device contacts the second charging component inside the foundation pile, determining that the cleaning device is successfully on the pile.

[0010] In some embodiments of the present application, the control of the cleaning device to perform the extrusion action in the foundation pile in the pile-up direction comprises: controlling the cleaning device to perform a preset number of extrusion actions in the pile-up direction in the foundation pile.

[0011] In some embodiments of the present application, the preset number is 1-10 times.

[0012] In some embodiments of the present application, the cleaning device control method further comprises: controlling the duration of each extrusion action performed by the cleaning device to be 0.1-5 seconds.

[0013] In some embodiments of the present application, the cleaning device control method further comprises: controlling the speed of the cleaning device to decrease over time during each extrusion action performed by the cleaning device.

[0014] In some embodiments of the present application, the control of the speed of the cleaning device to decrease over time comprises: controlling the speed of the cleaning device to decrease linearly over time.

[0015] In some embodiments of the present application, the control of the speed of the cleaning device to decrease over time comprises: controlling the speed of the cleaning device to decrease stepwise over time.

[0016] In some embodiments of the present application, the control of the speed of the cleaning device to decrease stepwise over time comprises: controlling the cleaning device to decrease the speed every 40-500 ms.

[0017] In some embodiments of the present application, the cleaning device control method further comprises: controlling the starting speed of the cleaning device to be 0.02-0.6 m / s during each extrusion action performed by the cleaning device.

[0018] In some embodiments of the present application, the cleaning device is provided with a first limiting part, and the foundation pile is provided with a second limiting part, and before the step of controlling the cleaning device to perform the extrusion action in the foundation pile in the pile-up direction, the position of the cleaning device in the foundation pile is limited by the first limiting part and the second limiting part.

[0019] According to a second aspect of embodiments of the present application, a pile control method is provided, comprising: after the attitude of the cleaning device inside the pile is corrected by the cleaning device control method according to any one of the first aspect embodiments, controlling the pile to supply water to the cleaning device.

[0020] According to a third aspect of embodiments of the present application, a pile control method is provided, comprising: after the attitude of the cleaning device inside the pile is corrected by the cleaning device control method according to any one of the first aspect embodiments, disassembling and assembling the cleaning part of the cleaning device.

[0021] According to a fourth aspect of embodiments of the present application, a computer program product is provided, comprising computer instructions stored in a computer readable storage medium, and adapted to be read and executed by a processor, so that a computer device with the processor performs the operations performed by the method according to any one of the first to third aspects.

[0022] According to a fifth aspect of embodiments of the present application, a computer readable storage medium is provided, at least one computer program instruction is stored in the computer readable storage medium, and the at least one computer program instruction is loaded and executed by a processor, so as to realize the operations performed by the method according to any one of the first to third aspects.

[0023] According to a sixth aspect of embodiments of the present application, a cleaning device is provided, comprising one or more processors and one or more memories, and the one or more memories store at least one computer program instruction, and the at least one computer program instruction is loaded and executed by the one or more processors, so as to realize the operations performed by the method according to the first aspect.

[0024] According to a seventh aspect of embodiments of the present application, a pile is provided, comprising one or more processors and one or more memories, and the one or more memories store at least one computer program instruction, and the at least one computer program instruction is loaded and executed by the one or more processors, so as to realize the operations performed by the method according to any one of the second to third aspects.

[0025] According to an eighth aspect of embodiments of the present application, a cleaning system is provided, comprising the cleaning device according to the sixth aspect and the pile according to the seventh aspect, and the cleaning device is detachably connected with the pile.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application. It is to be understood that the drawings are designed solely for purposes of illustration to be used in conjunction with the description in

[0028] Fig. 1 shows a schematic diagram of an up-staking scenario of a cleaning device to which embodiments of the present application can be applied.

[0029] Fig. 2 shows a schematic diagram of an up-staking scenario of a cleaning device to which embodiments of the present application can be applied.

[0030] Fig. 3 shows a flow chart of a method for controlling a cleaning device according to some embodiments of the present application.

[0031] Fig. 4 shows a schematic diagram of an up-staking scenario of a cleaning device to which embodiments of the present application can be applied.

[0032] Fig. 5 shows a schematic diagram of a cleaning system according to some embodiments of the present application.

[0033] Fig. 6 shows a flow chart of a method for controlling a pile according to some embodiments of the present application.

[0034] Fig. 7 shows a flow chart of a method for controlling a pile according to some other embodiments of the present application.

[0035] Legend of reference signs:

[0036] 100 - cleaning system; 101 - cleaning device; 102 - pile; A - first charging assembly; C - first limiting part; F - driving wheel; E - first water injection assembly; B - second charging assembly; D - second limiting part; G - second water injection assembly. Embodiments of the present application

[0037] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without any creative effort fall within the protection scope of the present application.

[0038] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

[0039] The block diagrams in the drawings show only the functionality of the features and can not imply that the functions must be implemented in the particular order presented or by the illustrated components. In some embodiments, the functionality of two or more blocks can be performed by the same component or by different components. In some embodiments, the functionality of one or more blocks can be performed by a single component. In some embodiments, the functionality of one or more blocks can be performed by different components.

[0040] The flow diagrams in the drawings show example processes. The processes can not include all operations that are necessary for the practice of the application. One or more operations in the processes can be combined, eliminated or performed in other sequences. For example, operations can be combined or partially combined, and the actual order of execution can vary.

[0041] In the description of the application, it should be understood that the terms "first", "second", etc. are used only to describe the purpose and are not to be construed as indicating or implying relative importance or implying the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0042] In order for those skilled in the art to better understand the application, first, the application scenario involved in the application will be briefly described in conjunction with FIG. 1 and FIG. 2.

[0043] In some embodiments, the cleaning device involved can be a sweeper, a mop, or a sweeper-mop combination, which is not limited in the application.

[0044] In some embodiments, after the cleaning device completes the cleaning task, it generally needs to perform a homing action to return to the base for charging, or water replenishment, or disassembly and assembly of cleaning components (such as mop, cleaning brush) and other maintenance work.

[0045] It needs to be explained that the cleaning device replenishes water inside the foundation pile, or the process of disassembling and assembling the cleaning part is generally assisted by the functional assembly installed inside the foundation pile. For example, the second water injection assembly (such as a water injection nozzle) installed inside the foundation pile automatically injects water to the first water injection assembly (water injection hole) of the cleaning device. For another example, the disassembling assembly installed inside the foundation pile automatically disassembles and assembles the cleaning key of the cleaning device (it needs to be explained that in some other embodiments, the cleaning device can also disassemble and assemble the cleaning part by itself). If the first water injection assembly of the cleaning device is not aligned with the second water injection assembly inside the foundation pile, it will be difficult to achieve the water replenishment of the cleaning device inside the foundation pile. Similarly, if the cleaning part of the cleaning device is not aligned with the disassembling assembly inside the foundation pile, it will be difficult to achieve the disassembling and assembling of the cleaning part of the cleaning device inside the foundation pile. Therefore, ensuring the accuracy of the position and posture of the cleaning device inside the foundation pile is an important prerequisite for the cleaning device to replenish water or disassemble and assemble the cleaning part inside the foundation pile.

[0046] It also needs to be explained that in the process of the cleaning device returning to the inside of the foundation pile, first, the position information of the foundation pile on the cleaning map is used to control the movement of the cleaning device in the direction of the foundation pile. When the cleaning device moves to the vicinity of the foundation pile, the cleaning device and the entrance of the foundation pile may not be aligned, and there may be some errors (here, the error is generally 5 cm). At this time, the cleaning device can receive the infrared signal emitted by the foundation pile through the infrared sensor installed on the cleaning device, and correct the alignment error between the cleaning device and the entrance of the foundation pile according to the received infrared signal, so that the cleaning device is aligned with the entrance of the foundation pile. After the cleaning device is aligned with the entrance of the foundation pile, the cleaning device will further enter the inside of the foundation pile from the entrance of the foundation pile, thereby completing the pile-up. The cleaning map refers to an electronic map containing spatial information of each region in the working environment and accurate position information of key facilities such as foundation piles, which is generated by scanning and mapping the working area by the sensors (such as lidar, camera, etc.) carried by the cleaning device when performing the cleaning task. The map not only records the outline of the cleaning area, indoor obstacles, path planning information, but also accurately marks the geographic coordinates, orientation, etc. of the foundation pile, so that the cleaning device can automatically plan the path and accurately navigate to the foundation pile area, realize the precise docking of the foundation pile and the pile charging function, etc.

[0047] Referring to FIG. 1, an up-pile scenario of a cleaning device to which the embodiments of the present application can be applied is shown.

[0048] As shown in FIG. 1, the cleaning device 101 can include a first charging assembly A (such as a charging spring), a first limiting part C (such as a limiting hole), a driving wheel F, a first water injection assembly E (such as a water injection hole); the foundation pile 102 can include a second charging assembly B (such as a charging spring), a second limiting part D (such as a limiting column), a second water injection assembly G (such as a water injection nozzle).

[0049] It should be noted that the shape and structure of each component in the drawings of the present application are only illustrative, and the purpose is to help those skilled in the art better understand the present application. In some embodiments, as shown in FIG. 1, the chassis shape of the cleaning device 101 can be circular, but in other embodiments, the chassis shape of the cleaning device can also be rectangular, trapezoidal, or other irregular shapes. The present application does not make specific limitations.

[0050] During the process of the cleaning device performing the upper pile action, in an ideal case, as shown in FIG. 1, the cleaning device 101 will enter the inside of the pile 102 in the upper pile direction, the first charging component A of the cleaning device 101 and the second charging component B of the pile 102 are in contact with each other, the first limiting part C and the second limiting part D define the position of the cleaning device 101 inside the pile 102, and the first water injection component E of the cleaning device 101 is aligned with the second water injection component G of the pile 102. In turn, the cleaning device 101 will be in a relatively accurate position and posture inside the pile 102.

[0051] However, in actual cases, during the process of the cleaning device entering the inside of the pile, due to the existence of a certain width of the infrared signal emitted by the pile, it is possible that the posture of the cleaning device inside the pile will have a certain error when it enters the inside of the pile. Next, the present application will explain this situation in conjunction with FIG. 2.

[0052] Referring to FIG. 2, an upper pile scene schematic diagram of a cleaning device capable of applying the embodiments of the present application is shown.

[0053] As shown in FIG. 2, the posture of the cleaning device 101 inside the pile 102 has a certain deflection (i.e. error), which is not accurate enough, resulting in that the first water injection component E of the cleaning device 101 is not aligned with the second water injection component G of the pile 102, which in turn will affect the process of the cleaning device replenishing water inside the pile. Similarly, in this case, the cleaning component of the cleaning device and the disassembly component inside the pile will not be aligned, which in turn will affect the process of the cleaning device disassembling and assembling the cleaning component inside the pile.

[0054] Based on the above-mentioned technical problems, the present application proposes a cleaning device control scheme to improve the accuracy of the posture of the cleaning device inside the pile. Next, the present application will elaborate on the proposed cleaning device control scheme.

[0055] Referring to FIG. 3, a flowchart of a cleaning device control method in the embodiments of the present application is shown, which can be executed by a device with computing processing function. Referring to FIG. 3, the cleaning device control method at least includes step 300, which is described in detail as follows.

[0056] At step 300, after the cleaning device is successfully piled, the cleaning device is controlled to perform an extrusion action in the piling direction inside the pile to correct the attitude of the cleaning device inside the pile.

[0057] In some embodiments, whether the cleaning device is successfully piled can be determined by detecting whether a first charging component on the cleaning device contacts a second charging component inside the pile. If it is detected that the first charging component on the cleaning device contacts the second charging component inside the pile, it is determined that the cleaning device is successfully piled.

[0058] If the first charging component contacts the second charging component, it means that the cleaning device is in a relatively accurate position inside the pile at this time, which provides a better basis for subsequent correction of the attitude of the cleaning device inside the pile. In addition, since the first charging component (generally a charging spring) and the second charging component (generally a charging spring) have a certain elasticity, it can ensure that the cleaning device has a certain extrusion space during subsequent extrusion action, thereby providing a certain adjustment space for the cleaning device to further correct its attitude inside the pile, and thus the accuracy of the attitude of the cleaning device inside the pile can be improved.

[0059] In some embodiments, controlling the cleaning device to perform an extrusion action in the piling direction inside the pile actually means controlling the cleaning device to continue walking in the piling direction inside the pile, so as to correct the attitude of the cleaning device inside the pile through the extrusion action.

[0060] In order for those skilled in the art to better understand this process, a specific embodiment is described below in conjunction with FIG. 4.

[0061] Referring to FIG. 4, an upper piling scene of a cleaning device to which the embodiments of the present application can be applied is shown.

[0062] As shown in Fig. 4(a), the posture of the cleaning device inside the pile has a certain deflection, which causes the first water injection assembly E of the cleaning device to be misaligned with the second water injection assembly G of the pile. In this case, the cleaning device can be controlled to perform the extrusion action in the pile-up direction. In this process, the driving wheels F1 and F2 drive the cleaning device to continue walking in the pile-up direction. Since the driving friction forces f1 and f2 provided by the driving wheels F1 and F2 for the cleaning device are equal, but the posture of the cleaning device inside the pile has a certain deflection, the deformation degrees of the charging assemblies in contact with each other on both sides of the cleaning device are different, so that the elastic forces received by the cleaning device on both sides of the body are different. As shown in Fig. 4(a), f2 < f4. Through the mutual offset of the driving friction and the elastic force received by the cleaning device, the forces finally received by the cleaning device on both sides are f1-f2 and f3-f4, respectively. It can be understood that f1-f2 > f3-f4. In this way, the cleaning device swings in the swing direction H, and the posture of the cleaning device inside the pile is corrected, and the posture of the cleaning device shown in Fig. 4(b) is obtained.

[0063] It can be seen that, based on the technical scheme proposed in the present application, after the pile-up of the cleaning device is successful, the posture of the cleaning device inside the pile is corrected by controlling the cleaning device to perform the extrusion action in the pile-up direction inside the pile, so that the accuracy of the posture of the cleaning device inside the pile can be improved. In addition, under the requirement of ensuring the accuracy of the posture of the cleaning device, based on the technical scheme proposed in the present application, it is not necessary to install a device (such as a home switch) for detecting whether the posture of the cleaning device is in place inside the pile, thereby reducing the production cost. In general, the technical scheme proposed in the present application can reduce the production cost while ensuring the accuracy of the posture of the cleaning device inside the pile.

[0064] Next, the present application will describe the control details of the cleaning device performing the extrusion action in the pile-up direction inside the pile.

[0065] In some embodiments, the control of the cleaning device to perform the extrusion action in the pile-up direction inside the pile can be performed according to the following step 201:

[0066] Step 201, controlling the cleaning device to perform a preset number of extrusion actions in the pile-up direction inside the pile.

[0067] In some embodiments, the cleaning device is controlled to perform the extrusion action for a preset number of times in the pile-up direction inside the pile. For example, in some embodiments, the preset number of times can be greater than or equal to 2, so that the situation that the cleaning device cannot be completely corrected in the pose inside the pile due to only a single control of the cleaning device to perform the extrusion action can be avoided to some extent, thereby enhancing the reliability of the pose correction of the cleaning device inside the pile and improving the accuracy of the pose of the cleaning device inside the pile.

[0068] In some embodiments, the preset number of times can also be 1-10, such as 2. In this way, by limiting the preset number of times to 1-10, the situation that the cleaning device performs the extrusion action inefficiently due to too many times of performing the extrusion action can be avoided, thereby improving the efficiency of the cleaning device performing the extrusion action.

[0069] It should be noted that the preset number of times is limited to 1-10, which is a relatively optimal preset number of times range found by the inventors of the present application during product development. It can be understood that in other embodiments, the preset number of times can also be limited to other preset number of times ranges.

[0070] In some embodiments, the duration of each time the cleaning device performs the extrusion action can be controlled to be 0.1-5 seconds, such as 1 second.

[0071] By limiting the duration of each time the cleaning device performs the extrusion action to a certain range, the situation that the cleaning device performs the extrusion action insufficiently due to the duration being too short can be avoided. In addition, the situation that the cleaning device appears to be weak and is stuck in a certain fixed pose during the performance of the extrusion action due to the duration being too long can also be avoided. In this way, the accuracy of the pose of the cleaning device inside the pile can be improved.

[0072] It should be noted that the duration is limited to 0.1-5 seconds, which is a relatively optimal duration range found by the inventors of the present application during product development. It can be understood that in other embodiments, the duration can also be limited to other duration ranges.

[0073] Overall, in some embodiments, by controlling the cleaning device to perform the extrusion action for a preset number of times in the pile-up direction inside the pile and limiting the duration of each time the cleaning device performs the extrusion action to a certain range, the cleaning device can perform the extrusion action at a certain extrusion frequency. That is, the cleaning device can perform the extrusion action at a certain rhythm, thereby improving the efficiency of the pose correction of the cleaning device inside the pile and enhancing the pose correction effect.

[0074] In some embodiments, during each time the cleaning device performs the extrusion action, the speed of the cleaning device can be controlled to decrease over time.

[0075] In some embodiments, during each time the cleaning device performs the extrusion action, by controlling the speed of the cleaning device to decrease over time, the noise generated between the driving wheel of the cleaning device and the ramp plate inside the foundation pile during the extrusion action can be weakened, so as to avoid affecting the user experience. Meanwhile, the efficiency of correcting the posture of the cleaning device inside the foundation pile can be improved, and the posture correction effect can be enhanced.

[0076] In an embodiment of the present application, the controlling the speed of the cleaning device to decrease over time can be controlling the speed of the cleaning device to linearly decrease over time.

[0077] In another embodiment of the present application, the controlling the speed of the cleaning device to decrease over time can also be controlling the speed of the cleaning device to decrease in steps over time.

[0078] In the present embodiment, the controlling the speed of the cleaning device to decrease in steps over time can be controlling the cleaning device to decrease the speed every 40-500 ms. For example, the cleaning device can be controlled to decrease the speed every 100 ms.

[0079] It should be noted that the cleaning device is limited to decrease the speed every 40-500 ms, which is a relatively optimal interval range found by the inventors of the present application in the product development process. It can be understood that in other embodiments, the interval time can also be limited to other interval ranges.

[0080] In some embodiments, during each time the cleaning device performs the extrusion action, the initial speed of the cleaning device can be controlled to be 0.02-0.6 m / s, such as 0.1 m / s.

[0081] It should be noted that the initial speed is limited to 0.02-0.6 m / s, which is a relatively optimal initial speed range found by the inventors of the present application in the product development process. It can be understood that in other embodiments, the initial speed can also be limited to other initial speed ranges.

[0082] In some embodiments, the cleaning device can be provided with a first limiting part, and the pile interior can be provided with a second limiting part. Before the step of controlling the cleaning device to perform the extrusion action in the pile interior in the pile-up direction, the position of the cleaning device in the pile interior can be limited by the first limiting part and the second limiting part. In this way, before the step of controlling the cleaning device to perform the extrusion action in the pile interior in the pile-up direction, the cleaning device can be positioned in a relatively accurate position in the pile interior, providing a better basis for subsequent attitude correction of the cleaning device in the pile interior, thereby ensuring the accuracy of the attitude of the cleaning device in the pile interior.

[0083] In some embodiments, based on the cleaning device control scheme as described above, the present application further proposes a pile control method, which can be executed by a device with computing processing function, as shown in FIG. 6, at least including the following step 400:

[0084] Step 400, after correcting the attitude of the cleaning device in the pile interior based on the cleaning device control method as described above, controlling the pile to replenish water for the cleaning device.

[0085] It can be understood that, based on the cleaning device control method as described above, the accuracy of the position and attitude of the cleaning device in the pile interior can be ensured, thereby ensuring the reliability and safety of the replenishment of water for the cleaning device in the pile interior.

[0086] In some embodiments, based on the cleaning device control scheme as described above, the present application further proposes a pile control method, which can be executed by a device with computing processing function, as shown in FIG. 7, at least including the following step 500:

[0087] Step 500, after correcting the attitude of the cleaning device in the pile interior based on the cleaning device control method as described above, disassembling the cleaning part of the cleaning device. It should be noted that the cleaning part of the cleaning device can be disassembled by the pile or by the cleaning device itself.

[0088] It can be understood that, based on the cleaning device control method as described above, the accuracy of the position and attitude of the cleaning device in the pile interior can be ensured, thereby ensuring the reliability and safety of the disassembly of the cleaning part of the cleaning device in the pile interior.

[0089] Based on the same inventive concept, the embodiments of the present application further provide a computer program product, comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the operations performed by the cleaning device control method and / or the pile control method as described above.

[0090] Based on the same inventive concept, the embodiments of the present application further provide a computer readable storage medium, wherein at least one computer program instruction is stored in the computer readable storage medium, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the cleaning device control method and / or the pile control method as described above.

[0091] Based on the same inventive concept, the embodiments of the present application further provide a cleaning device and a pile, both of which comprise one or more memories, one or more processors, and at least one computer program (computer program instructions) stored in the memories and executable on the processors, and the processors implement the cleaning device control method and the pile control method as described above when executing the computer program.

[0092] In some embodiments, the bus architecture of the cleaning device and the pile can each comprise any number of interconnected buses and bridges, which connect various circuits including one or more processors and one or more memories together. The bus architecture can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art. Therefore, they will not be further described herein. The bus interface provides an interface between the bus architecture and the receiver and transmitter. The receiver and transmitter can be the same element, i.e., a transceiver, which provides a unit for communicating with various other devices over a transmission medium. The processor is responsible for managing the bus architecture and general processing, while the memory can be used to store data used by the processor in performing operations.

[0093] Based on the same inventive concept, the embodiments of the present application further provide a cleaning system 100 as shown in FIG. 5, which can comprise the cleaning device 101 as described above and the pile 102 as described above, and the cleaning device 101 is detachably connected with the pile 102.

[0094] According to some embodiments of the present application, after the cleaning device is successfully piled, the cleaning device performs a pressing action in the piling direction inside the pile to correct the posture of the cleaning device inside the pile, thereby improving the accuracy of the posture of the cleaning device inside the pile. In addition, according to some embodiments of the present application, without the need to install a device (such as a home switch) for detecting whether the posture of the cleaning device is in place inside the pile, the production cost can be reduced. In general, according to some embodiments of the present application, the accuracy of the posture of the cleaning device inside the pile can be ensured while reducing the production cost.

[0095] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. When implemented in software, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these. Features implementing functions can also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations. Also, as used herein, including in the claims, "or" as used in a list of items prefaced by "comprising" to indicate a disjunctive list means each single item in the list has been recited individually. Thus, such term refers only to a single member of each listed class.

[0096] According to some embodiments of the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and when actually implemented, there can be another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between units or modules, which can be electrical or other forms.

[0097] The units described as separate components can or can not be physically separated, and the components of the control device can or can not be physical units, i.e. they can be located in one place or distributed on multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the technical solutions of the present embodiment.

[0098] When the integrated unit is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer program instructions.

[0099] The above only describes the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for controlling a cleaning device, comprising: controlling the cleaning device to perform a pressing action in a direction of docking inside a base after the cleaning device is successfully docked. 2.The method of claim 1, further comprising: determining that the cleaning device is successfully docked if a first charging component on the cleaning device is detected to contact a second charging component inside the base.

3. The method of claim 1, wherein, controlling the cleaning device to perform a preset number of pressing actions in the direction of docking inside the base. The preset number is 1-10.

4. The method of claim 3, wherein, 5.The method of claim 3, further comprising: controlling a duration of each pressing action performed by the cleaning device to be 0.1-5 seconds. 6.The method of claim 3, further comprising: controlling a speed of the cleaning device to decrease over time during each pressing action performed by the cleaning device. controlling the speed of the cleaning device to decrease linearly over time.

7. The method of claim 6, wherein, controlling the speed of the cleaning device to decrease stepwise over time. controlling the speed of the cleaning device to decrease stepwise over time comprises:

8. The method of claim 6, wherein, controlling the cleaning device to decrease the speed every 40-500 ms. 10.The method of claim 3, further comprising:

9. The method of claim 8, wherein, controlling a starting speed of the cleaning device to be 0.02-0.6 m / s during each pressing action performed by the cleaning device. The cleaning device is provided with a first limiting part, and the base is provided with a second limiting part, and the position of the cleaning device inside the base is limited by the first limiting part and the second limiting part before the step of controlling the cleaning device to perform a pressing action in the direction of docking inside the base. 12.A method for controlling a base, comprising: controlling the base to replenish water for the cleaning device after the position of the cleaning device inside the base is corrected based on the method for controlling a cleaning device according to any one of claims 1-11.

11. The method of claims 1-10, wherein, 13.A method for controlling a base, comprising: disassembling and assembling a cleaning component of the cleaning device after the position of the cleaning device inside the base is corrected based on the method for controlling a cleaning device according to any one of claims 1-11. 14.A computer program product, comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method according to any one of claims 1-13. At least one program code is stored in the computer readable storage medium and loaded and executed by the processor to implement the operations performed by the method according to any one of claims 1-13. ​ ​ 15. A computer readable storage medium, wherein, ​ 16. A cleaning device comprising one or more processors and one or more memories having stored therein at least one program code, the at least one program code being loaded and executed by the one or more processors to implement the method of any one of claims 1 to 11.

17. A base comprising one or more processors and one or more memories having stored therein at least one program code, the at least one program code being loaded and executed by the one or more processors to implement the method of any one of claims 12 to 13.

18. A cleaning system comprising the cleaning device of claim 16 and the base of claim 17, the cleaning device being detachably connectable with the base.

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