Cleaning system and cleaning method

Abstract

Disclosed in the present invention are a cleaning system and a cleaning method. The main technical solution of the present invention is as follows: a cleaning system, comprising: a cleaning robot, wherein the cleaning robot comprises a first main control member and at least one functional member, the functional member comprising a sensing member; and a base device comprising a cleaning member and a characteristic member, wherein the sensing member is configured to sense the characteristic member; the first main control member is at least configured to determine whether any functional member meets a cleaning condition; when a target functional member meets the cleaning condition, the position of the base device is determined on the basis of a sensing result of the sensing member with respect to the characteristic member, and on the basis of the position of the target functional member on the cleaning robot and the position of the base device, the cleaning robot is controlled to move such that the target functional member interacts with the cleaning member, thereby cleaning the target functional member. By means of the provision of the cleaning member on the base device, the system can automatically determine whether a functional member needs to be cleaned. When cleaning is required, the position of the base device is identified, and the cleaning robot approaches the cleaning member to achieve automatic cleaning, thereby achieving timely cleaning without manual operation.

Description

A cleaning system and cleaning method Cross-reference to related applications

[0001] This application claims priority to Chinese patent application No. 202411448455.X, filed on October 16, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of smart home technology, and in particular to a cleaning system and cleaning method. Background Technology

[0003] With the increasing popularity of smart home technology, especially the gradual development of cleaning robots, home cleaning has become much easier and is increasingly popular with families. To make cleaning robots more versatile, in addition to basic functions such as sweeping, mopping, and motion mechanisms, they are also equipped with auxiliary components such as sensors and cameras, enabling human-computer interaction, image recognition, and obstacle detection.

[0004] Functional components are exposed on the robot's surface, and over time, dust and grease can accumulate, requiring regular cleaning. Current cleaning methods typically involve manually wiping the robot's surface, which cannot be adjusted based on the amount of dust accumulated. This can lead to poor cleaning results due to signal errors during the cleaning process, and manual cleaning also degrades the user experience. Summary of the Invention

[0005] In view of this, the present invention provides a cleaning system and cleaning method that automatically determines whether functional components need cleaning. When cleaning is required, the system identifies the location of the base equipment and moves it close to the cleaning component. By setting the cleaning component on the base equipment, automatic cleaning is achieved, which is timely and requires no manual operation.

[0006] On one hand, the present invention provides a cleaning system, comprising:

[0007] A cleaning robot, comprising a first main control unit and at least one functional component, wherein the at least one functional component includes a sensing component.

[0008] Basic equipment, which includes cleaning components and feature components, and sensing components are used to sense the feature components;

[0009] The first main control is used to determine at least whether a functional component meets the cleaning conditions. When the target functional component meets the cleaning conditions, the cleaning robot is controlled to move to the target functional component and the cleaning component to interact with the cleaning component based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, so as to clean the target functional component.

[0010] In some embodiments, the sensing element includes an image acquisition element, which is used to acquire image information.

[0011] In some embodiments, the feature includes a specific pattern, which may include a pattern of a specific color, a pattern of a specific shape, and / or a pattern of a specific arrangement.

[0012] In some embodiments, the feature includes a signal transmitter for transmitting an identification signal of a specific wavelength, and the sensing element includes a signal receiver for receiving the identification signal.

[0013] In some embodiments, at least one functional component further includes at least one of a functional sensor and a charging component.

[0014] In some embodiments, the cleaning robot includes a bottom surface and a surrounding surface, the surrounding surface encircling the bottom surface and extending to one side of the bottom surface;

[0015] Functional components are provided on the enclosure surface, and the cleaning components include side cleaning components, which are used to contact the functional components on the enclosure surface.

[0016] And / or, a functional component is provided on the bottom surface, and the cleaning component includes a bottom cleaning component, which is used to contact the functional component on the bottom surface.

[0017] In some embodiments, the basic device further includes a second main control and a moving component, the second main control being connected to the moving component, the moving component being connected to the cleaning component, and the moving component being used to drive the cleaning component to move in order to clean the functional component;

[0018] Alternatively, the cleaning robot may also include a motion mechanism, and the first main control is also used to drive the cleaning robot to move by controlling the motion mechanism, so that the functional parts move relative to the cleaning parts for cleaning.

[0019] In some embodiments, the basic equipment also includes a device body;

[0020] Both the cleaning components and the feature components are connected to the main body of the equipment;

[0021] Alternatively, the main body of the equipment includes a docking space, where the cleaning robot can selectively dock, the cleaning components are located in the docking space, and the feature components are set on the main body of the equipment.

[0022] On the other hand, the present invention also provides a cleaning method for a cleaning system, the cleaning system including a cleaning robot and basic equipment, the method comprising:

[0023] Determine whether the functional components of the cleaning robot meet the cleaning conditions, and use the functional components that meet the cleaning conditions as the target functional components.

[0024] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the cleaning robot is controlled to move until the target functional component comes into contact with the cleaning component of the base equipment.

[0025] The control function and the cleaning function move relative to each other to clean the function.

[0026] In some embodiments, the step of determining whether the functional components of the cleaning robot meet the cleaning conditions specifically includes:

[0027] Determine whether the time elapsed since the last cleaning of the functional component meets the preset time limit, or determine whether the cleaning robot has completed a cleaning cycle since the last cleaning of the functional component, or determine whether cleaning work needs to be performed.

[0028] In some embodiments, the step of determining whether the cleaning conditions are met specifically includes:

[0029] The system determines whether a functional component meets the cleaning requirements based on the signals from that component.

[0030] In some embodiments, the step of determining whether cleaning conditions are met based on signals from functional components specifically includes:

[0031] Determine whether the data missing rate of the functional component reaches the first preset threshold;

[0032] Alternatively, determine whether the area of ​​the stain on the image acquired by the functional component reaches a second preset threshold;

[0033] Alternatively, determine whether the voltage signal of the functional component is less than a third preset threshold.

[0034] In some embodiments, the feature includes a specific pattern, and the sensing element includes an image acquisition element;

[0035] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the steps for controlling the cleaning robot to move until the target functional component contacts the cleaning component are as follows:

[0036] Determine whether the image information acquired by the image acquisition device matches the stored specific pattern. If so, determine the location of the basic device based on the image information.

[0037] Determine the relative position of the target functional component to the basic equipment based on the position of the target functional component on the cleaning robot;

[0038] The cleaning robot moves according to the relative position of the target functional component and the base equipment, so that the target functional component comes into contact with the cleaning component of the base equipment.

[0039] In some embodiments, the feature includes a signal transmitter for transmitting a specific signal, and the sensing element includes a signal receiver;

[0040] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the steps for controlling the cleaning robot to move until the target functional component contacts the cleaning component are as follows:

[0041] The cleaning robot moves to the base equipment based on the signal received by the signal receiver;

[0042] Based on the position of the target functional component on the cleaning robot, rotate the cleaning robot to move it until the target functional component comes into contact with the cleaning component of the base equipment.

[0043] In some embodiments, the step of cleaning the target functional component by controlling the relative movement of the target functional component and the cleaning component specifically includes:

[0044] Control the movement of the cleaning robot to move the target functional component and the cleaning component relative to each other, thereby cleaning the target functional component;

[0045] And / or, control the movement of the cleaning component to move the target functional component and the cleaning component relative to each other, thereby cleaning the target functional component.

[0046] The cleaning system and method proposed in this invention actively determine whether functional components need to be cleaned, thereby achieving timely cleaning of functional components and avoiding the impact of dirt accumulation on the functionality of functional components, which would affect the cleaning effect of the robot. When a functional component needs cleaning, the system automatically locates the position of the cleaning component and moves it to interact with the functional component, achieving fully automatic cleaning without human intervention. This avoids the burden of manual cleaning and improves the user experience. Attached Figure Description

[0047] Figure 1 is a structural schematic diagram of a cleaning robot and basic equipment in a relative position according to an embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of a cleaning robot and basic equipment in two relative positions according to an embodiment of the present invention;

[0049] Figure 3 is a schematic diagram of the structure of a basic device provided in an embodiment of the present invention;

[0050] Figure 4 is a flowchart of a cleaning method provided by an embodiment of the present invention. Detailed Implementation

[0051] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of the specific implementation, structure, features and effects of a cleaning system proposed according to the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0052] On one hand, as shown in Figures 1-3, the present invention provides a cleaning system, including a cleaning robot 100. The cleaning robot 100 is used for mobile cleaning and can also be called an intelligent cleaning device, a sweeping robot, a mopping robot, etc., capable of autonomously moving and cleaning without user control. The cleaning robot 100 includes a shell 120, a first main control unit, a motion mechanism 130, a cleaning mechanism, and other mechanisms. The cleaning robot 100 can have various shapes. In some embodiments, to balance stability and applicability to various scenarios, such as cleaning areas under beds, the outer contour of the cleaning robot 100 is typically a flat cylindrical structure. The shell 120 of the cleaning robot 100 mainly includes a chassis and an outer cover connected to the chassis and forming a receiving cavity. The shape of the chassis can be set according to actual needs. In some embodiments, the chassis is approximately disc-shaped. In other embodiments, the shape of the chassis can be adapted to components such as water tanks to form an irregular shape. The first main control unit controls the motion mechanism 130 of the cleaning robot 100, enabling it to move towards the base equipment 200 to clean functional components, or to move away from the base equipment 200 to perform floor cleaning. The cleaning mechanism may include a roller brush and a dustbin, etc. The first main control unit controls the cleaning mechanism to collect dust and debris during the movement of the cleaning robot 100, thus cleaning the floor. The motion mechanism 130 may include moving wheels 131 and auxiliary steering wheels 132. The moving wheels 131 protrude entirely or partially from under the chassis to contact the ground, and are driven by a drive motor in the internal cavity, causing the moving wheels to rotate and propel the cleaning robot 100. The auxiliary steering wheels 132 can be omnidirectional wheels fixed under the chassis; the rotation and stopping of the moving wheels 131, in conjunction with the auxiliary steering wheels 132, enables the cleaning robot 100 to turn.

[0053] The cleaning robot 100 also includes at least one functional component, which includes a sensing component 110. In some embodiments, the functional component may be a single component, namely, the sensing component 110. The sensing component 110 may be a component used only for sensing the feature 220, or it may have multiple functions in different scenarios. When not sensing the feature 220, the sensing component 110 may be used to sense the environment for obstacle avoidance, mapping, etc., while when a functional component needs cleaning, the sensing component 110 may be used to sense the feature 220. The sensing component 110 may be a camera, a signal receiver, etc. In other embodiments, there may be multiple functional components, including not only the sensing component 110 but also other components, such as at least one functional component including a functional sensor and a charging component 140. The functional sensor is used to provide various position information, motion state information, communication information, and obstacle information to the first main control of the cleaning robot 100, so that the first main control can adjust the movement of the cleaning robot 100, avoid obstacles, and communicate with the outside world. The functional sensors may specifically include at least one of a communication sensor 150, a wall-following sensor 160, an obstacle avoidance sensor 170, and a cliff sensor 180. As shown in Figure 1, the communication sensor 150, the wall-following sensor 160, and the obstacle avoidance sensor 170 are disposed on the side wall of the outer casing, while the cliff sensor 180 is disposed on the chassis. The wall-following sensor 160, the obstacle avoidance sensor 170, the cliff sensor 180, as well as the aforementioned charging component 140, the communication sensor 150, and the sensing component 110, are all exposed on the surface or outer side of the housing 120, thus requiring cleaning due to dust accumulation.

[0054] The cleaning system also includes a base device 200, which includes a cleaning component 210 and a feature component 220, and a sensing component 110 for sensing the feature component 220.

[0055] The cleaning component 210 is used to clean the functional component. The cleaning method aims to ensure relative movement between the cleaning component 210 and the functional component. The cleaning component 210 can take various forms, which will be described in detail below with reference to more specific embodiments. The feature component 220 is a symbol representing the basic device 200. The sensing component 110 and the feature component 220 are mutually cooperating devices that can realize the positioning of the basic device 200. The feature component 220 is a signal or pattern in the environment that can uniquely represent the basic device 200.

[0056] The first main control is used to determine at least whether a functional component meets the cleaning conditions. When the target functional component meets the cleaning conditions, based on the sensing result of the sensor 110 on the feature 220 and the position of the target functional component on the cleaning robot 100, the cleaning robot 100 is controlled to move to the point where the target functional component interacts with the cleaning component 210, and the target functional component is cleaned.

[0057] The first main control unit stores cleaning conditions and the position information of functional components on the cleaning robot 100. The cleaning conditions are used to determine whether the functional components need to be cleaned, thereby automatically confirming the cleaning needs of the components. When it is confirmed that the components need to be cleaned, the cleaning robot 100 is moved by controlling the motion mechanism 130. When the sensor 110 senses the feature 220, the position of the base device 200, or the cleaning component 210, is determined according to the sensing result. Based on the position of the functional components on the cleaning robot 100, the cleaning robot 100 is moved so that it moves to the point where the target functional component to be cleaned comes into contact with the cleaning component 210. The functional component and the cleaning component 210 move relative to each other to perform cleaning.

[0058] The cleaning system and method proposed in this invention actively determine whether functional components need to be cleaned, thereby achieving timely cleaning of functional components and avoiding the impact of dirt accumulation on the functionality of functional components, which would affect the cleaning effect of the robot. When a functional component needs cleaning, the system automatically locates the position of the cleaning component and moves it to interact with the functional component, achieving fully automatic cleaning without human intervention. This avoids the burden of manual cleaning and improves the user experience.

[0059] In one embodiment, the cleaning robot 100 includes a bottom surface and a surrounding surface, the surrounding surface encircling the bottom surface and extending to one side of the bottom surface. The bottom surface is the side facing the ground during the use of the cleaning robot 100, and the surrounding surface is the side profile of the cleaning robot 100.

[0060] Functional components are provided on the enclosure surface and / or on the bottom surface. For example, the aforementioned wall-following sensor 160, obstacle avoidance sensor 170, charging component 140, communication sensor 150, and sensing component 110 are disposed on the side wall of the outer casing, while the cliff sensor 180 is disposed on the chassis. As shown in Figures 1-2, the cleaning component 210 includes a side cleaning component 211 for contacting the functional components on the enclosure surface, and the cleaning component 210 also includes a bottom cleaning component 212 for contacting the functional components on the bottom surface.

[0061] The cleaning component 210 can be at least one or a combination of a brush, wool felt, soft rubber, and foam. In some embodiments, different materials and shapes of cleaning components 210 can be used in different locations. For example, in the side cleaning component 211, a portion of the side cleaning component 211 at the height corresponding to the communication sensor 150 is a brush, while a portion of the side cleaning component 211 at the height corresponding to the charging component 140 is foam. The front end of the foam near the charging component 140 protrudes more than the brush, so that the foam can be inserted into the port of the charging component 140 for wiping and cleaning, while the brush can scrape and clean the surface of the communication sensor 150.

[0062] In some embodiments, the base device 200 may be used solely for cleaning functional components, i.e., the base device 200 may be set up independently and fixed to the ground; in other embodiments, the base device 200 may be fixed to a base station. In some embodiments, the base device 200 also includes a device body, which may be an L-shaped bracket for bonding or adhering to the ground. Side cleaning components 211 and bottom cleaning components 212 are disposed on the L-shaped bracket, and feature 220 is connected to the device body. In some embodiments, feature 220 may be disposed below the side cleaning component 211 of the L-shaped bracket and above the bottom cleaning component 212 in the horizontal direction, and thus be sensed by the sensing component 110.

[0063] The bottom cleaning component 212 can be configured as shown in Figure 3 with a notch A in the middle. The notch A is used to make way for the auxiliary steering wheel 132 of the motion mechanism 130, so that the bottom cleaning component 212 can clean the functional components on both sides of the auxiliary steering wheel 132.

[0064] In another embodiment, the basic equipment 200 is a cleaning base station, or a partial structure of a cleaning base station. The main body of the equipment includes a docking space. The cleaning robot 100 is used to selectively dock in the docking space of the cleaning base station. The cleaning robot 100 cooperates with the cleaning base station, which can perform operations such as charging, water replenishment, cleaning, and dust collection on the docked cleaning robot 100. The cleaning component 210 is located in the docking space, and the feature component 220 is disposed on the main body of the equipment. This allows the cleaning robot 100 to perform operations such as charging and water replenishment while located in the docking space, while the functional components are being cleaned.

[0065] On the other hand, as shown in Figure 4, the present invention also provides a cleaning method for the aforementioned cleaning system, which includes the aforementioned cleaning robot 100 and basic equipment 200. In the following text, the implementation of the cleaning method will be described in detail in conjunction with the structure of the cleaning system. It can be understood that the description of the cleaning system in the following text can be regarded as the features and implementation of the cleaning system.

[0066] The cleaning method includes the following steps.

[0067] Step S1: Determine whether the functional components of the cleaning robot 100 meet the cleaning conditions, and take the functional components that meet the cleaning conditions as the target functional components.

[0068] Cleaning functional components can be done by cleaning all components at once. In one embodiment, the step of determining whether a component of the cleaning robot meets the cleaning conditions specifically involves: determining whether a preset time has elapsed since the last cleaning, such as whether the time elapsed since the last cleaning process exceeds one hour or one day. Alternatively, in another embodiment, the step of determining whether a component of the cleaning robot meets the cleaning conditions can also involve: determining whether the cleaning robot 100 has completed a cleaning cycle since the last cleaning. If a cleaning cycle has been completed, then after the cleaning work is completed, the component is considered to meet the cleaning conditions, ensuring that functional components are cleaned after each cleaning cycle. In yet another embodiment, the step of determining whether a component of the cleaning robot meets the cleaning conditions can also involve determining whether cleaning work is about to begin. If cleaning work is about to begin, then the component is considered to meet the cleaning conditions, ensuring that functional components are cleaned before cleaning begins, guaranteeing the smooth progress of each cleaning cycle. In the embodiment of cleaning all functional components at once, if the cleaning conditions are met, then each functional component is sequentially defined as a target functional component; that is, after the current functional component is cleaned, the next functional component is designated as the target functional component.

[0069] In another implementation, the cleaning conditions are pre-stored conditions that correspond one-to-one with each functional component. The cleaning conditions vary depending on the type of functional component. Determining whether a functional component of the cleaning robot meets the cleaning conditions can be done by sequentially checking each functional component at preset time intervals, and designating the functional component that meets the cleaning conditions as the target functional component. The target functional component refers to the cleaning component that meets the cleaning conditions and needs to be cleaned. In some implementations, the step of determining whether the cleaning conditions are met specifically involves: determining whether a functional component meets the cleaning conditions based on its signal.

[0070] The following are examples of specific types of functional components and their corresponding cleaning conditions. It should be understood that the functional components are not limited to the following implementation methods:

[0071] In one implementation, the step of determining whether the cleaning conditions are met based on the signal of the functional component specifically involves determining whether the data missing ratio of the functional component reaches a first preset threshold.

[0072] The functional components can be the aforementioned communication sensor 150, wall-following sensor 160, obstacle avoidance sensor 170, and cliff sensor 180, or they can be sensing components 110. This allows for the determination of whether a functional component is attached to debris based on the amount of data loss in the received signal. The specific value of the first preset threshold can be the same or different for different functional components. More specifically, the first main controller stores a first preset threshold corresponding to each of the communication sensor 150, wall-following sensor 160, obstacle avoidance sensor 170, and cliff sensor 180. The controller then sequentially checks whether the data loss ratio of the communication sensor 150, wall-following sensor 160, obstacle avoidance sensor 170, and cliff sensor 180 reaches the corresponding first preset threshold. Sensors with a data loss ratio exceeding the first threshold are designated as target sensors. The data loss ratio refers to the difference between the theoretically acquired data amount and the actual acquired data amount within a preset time, divided by the theoretically acquired data amount. The preset time can be set as needed.

[0073] In another implementation, the step of determining whether the cleaning conditions are met based on the signal from the functional component specifically involves determining whether the area of ​​the stain on the image acquired by the functional component reaches a second preset threshold.

[0074] The functional component is an image acquisition component, specifically a camera. This camera can be different from the sensing component 110, or the image acquisition component can be the same as the sensing component 110. Determining whether the stain area in the image acquired by the functional component reaches a second preset threshold specifically involves extracting the stain outline from the image acquired by the functional component and calculating whether the proportion of the stain outline to the image reaches the second preset threshold. The determination of the stain outline can be achieved by driving the cleaning robot 100 to move, and identifying areas in the image whose outlines remain unchanged within a preset time period as the stain area.

[0075] In another embodiment, the step of determining whether the cleaning conditions are met based on the signal of the functional component specifically involves determining whether the voltage signal of the functional component is less than a third preset threshold.

[0076] The functional component is a charging component 140. During charging, the charging component 140 will generate a voltage of a third preset threshold. When dust accumulates inside the charging component 140, the voltage will drop. Before determining whether the voltage signal of the functional component is less than the third preset threshold, the process also includes driving the cleaning robot 100 to move to the charging device, such as driving the cleaning robot 100 to move to the cleaning base station and position it in a designated location, so that the charging component 140 docks with the charging device for charging. Then, it is determined whether the voltage signal of the functional component is less than the third preset threshold. If it is less than the third preset threshold, the charging component 140 is used as the target functional component.

[0077] Step S2: Based on the sensing results of the sensor 110 on the feature 220 and the position of the target functional component on the cleaning robot 100, control the cleaning robot 100 to move until the target functional component contacts the cleaning component 210.

[0078] The sensor 110 can be used to locate the basic equipment 200 in a variety of ways:

[0079] In one embodiment, feature 220 includes a specific pattern, which may include a pattern of a specific color, a pattern of a specific shape, and / or a pattern of a specific arrangement. In some embodiments, the specific pattern may be a QR code, etc. Sensing element 110 includes an image acquisition element, which may be a camera in some embodiments. Sensing element 110 is used to acquire image information, and the first main control is used to determine the position of the base device 200 based on the image information.

[0080] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the steps for controlling the cleaning robot to move until the target functional component contacts the cleaning component are as follows:

[0081] First, determine whether the image information acquired by the image acquisition device matches the stored specific pattern. If so, determine the location of the basic device based on the image information.

[0082] Users can first specify the approximate location of the basic equipment on the map, and then move the cleaning robot 100 to the vicinity of the basic equipment to acquire images. In the implementation where the feature 220 is a QR code, the system determines whether there is information matching the QR code in the image information acquired by the image acquisition unit. If a match is successful, the feature 220 is successfully identified. Then, based on the edge information of the QR code area in the image information, such as feature points of the QR code area, such as the distance and angle information between the two ends or vertices of the QR code area and the sensing unit 110, the position of the basic equipment 200 is determined.

[0083] Secondly, based on the position of the target functional component on the cleaning robot, determine the relative position of the target functional component and the basic equipment.

[0084] In some implementations, the first master control can store the relative positions of each functional component and the sensing component 110. The relative position of the target functional component and the basic device 200 can be obtained based on the relative positions of the feature component 220 and the sensing component 110 and the relative positions of the target functional component and the sensing component 110.

[0085] Finally, the cleaning robot 200 is moved according to the relative position of the target functional component and the base equipment 200 so that the target functional component comes into contact with the cleaning component 210 of the base equipment 200.

[0086] The cleaning robot 200 can be moved according to the relative position of the target functional component and the base device 200 to bring the target functional component into contact with the cleaning component 210 of the base device 200. This can be achieved through the following path: controlling the cleaning robot 100 to move perpendicular to the central axis of the base device 200; or, specifying a point on the central axis of the base device 200, controlling the cleaning robot 100 to move to that point, then adjusting the robot's posture so that the target functional component is directly facing the base device 200, and then moving it parallel to the central axis. The path can be flexibly adjusted to ensure that the target functional component can move to contact the cleaning component 210 of the base device 200.

[0087] Alternatively, in another embodiment, feature 220 includes a signal transmitter for emitting an identification signal of a specific wavelength, such as an infrared signal. Sensing element 110 includes a signal receiver, such as an infrared receiver, for receiving the identification signal. A first main control is used to determine the position of the base device 200 based on the identification signal. Feature 220 may have multiple signal transmitters for emitting multiple sets of infrared signals with different codes, which are used to divide the base device 200 into multiple areas. Multiple signal receivers are also present, located on different sides of the cleaning robot 100.

[0088] Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the steps for controlling the cleaning robot to move until the target functional component contacts the cleaning component are as follows:

[0089] First, based on the signals obtained by the signal receiver, the cleaning robot 100 is moved to the basic equipment 200.

[0090] According to the stored strategy of rotating and moving cleaning robot 100, the movement of cleaning robot 100 is dynamically adjusted based on the different encoded infrared signals received by the signal receiver until cleaning robot 100 reaches base device 200.

[0091] More specifically, feature 220 consists of three infrared emitters mounted on the base device 200. The first, second, and third infrared emitters divide the front of the base device 200 into a central area, a left front area, and a right front area. The cleaning robot 100 is equipped with three infrared sensors: a first infrared sensor located directly in front of the cleaning robot 100 along its axis, and a second and third infrared sensor symmetrically arranged relative to the first infrared sensor.

[0092] First, control the cleaning robot 100 to move to a preset distance in front of the base equipment 200 marked on the map. Then, rotate the cleaning robot 100 in place. Determine which area (left front zone, center zone, or right front zone) the cleaning robot 100 is in based on the signals received from the three infrared transmitters by the first, second, and third infrared sensors. If the cleaning robot 100 is in the center zone, adjust its position until the first infrared sensor receives the infrared signal from the first infrared transmitter, and then move it in a straight line to the base equipment 200. If the cleaning robot 100 is in the left front zone, turn it right. When the second infrared sensor receives the signal from the second infrared transmitter, the cleaning robot 100 moves straight until the second infrared sensor receives the signal from the first infrared transmitter. It then stops moving and rotates to the left until the first infrared sensor receives the infrared signal from the first infrared transmitter, and then moves in a straight line to the base equipment 200. If the cleaning robot 100 is in the right front zone, a similar control process is used, which will not be described further. That's understandable; there could be many other control strategies as well, which I won't list here.

[0093] Secondly, based on the position of the target functional component on the cleaning robot 100, the cleaning robot 100 is rotated and moved until the target functional component comes into contact with the cleaning component 210 of the base equipment 200.

[0094] When the cleaning robot 100 reaches the base equipment 200, the first infrared sensor in the above embodiment faces the cleaning component 210. Based on the relative position of the first infrared sensor and the target functional component, the cleaning robot 100 is rotated to make contact between the target functional component and the cleaning component 210 of the base equipment 200.

[0095] Step S3: Control the relative movement of the target functional component and the cleaning component 210 to clean the target functional component.

[0096] The relative movement between the target functional component and the cleaning component can be a process where the target functional component moves actively while the cleaning component remains stationary. Specifically, the cleaning process involves controlling the target functional component to move relative to the cleaning component. This includes: the first main control unit driving the cleaning robot 100 to move via the motion mechanism 130, thereby moving the target functional component relative to the cleaning component 210 for cleaning. For example, controlling the cleaning robot 100 to rotate left or right allows it to move relative to the cleaning component 210 in a twisting manner.

[0097] Alternatively, in some other embodiments, the base device 200 further includes a second main control and a moving component. The second main control is connected to the moving component, and the moving component is connected to the cleaning component 210. The moving component is used to drive the cleaning component 210 to move, thereby cleaning the functional component. Specifically, the step of controlling the relative movement of the target functional component and the cleaning component to clean the target functional component includes: controlling the movement of the cleaning component 210 to cause relative movement between the target functional component and the cleaning component 210, thereby cleaning the target functional component.

[0098] The moving part can be a combination of a motor and a lead screw. The lead screw is connected to the cleaning part 210. The cleaning part 210 is slidably connected to the main body of the basic equipment 200 in the aforementioned embodiment. By driving the lead screw to rotate, the threaded part pushes the cleaning part 210 to move back and forth, thereby achieving the cleaning of the target functional part.

[0099] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A cleaning system, characterized in that, include: A cleaning robot (100) includes a first main control and at least one functional component, the at least one functional component including a sensing element (110); as well as The basic device (200) includes a cleaning component (210) and a feature component (220), and the sensing component (110) is used to sense the feature component (220); The first main control is used at least to determine whether the target functional component meets the cleaning conditions. When the target functional component meets the cleaning conditions, the cleaning robot (100) is controlled to move to the target functional component and interact with the cleaning component (210) based on the sensing result of the sensing component (110) on the feature component (220) and the position of the target functional component on the cleaning robot (100) to perform cleaning of the target functional component.

2. The cleaning system according to claim 1, characterized in that, The sensing element (110) includes an image acquisition element, which is used to acquire image information.

3. The cleaning system according to claim 2, characterized in that, The feature (220) includes a specific pattern, which includes a pattern of a specific color, a pattern of a specific shape, and / or a pattern of a specific arrangement.

4. The cleaning system according to claim 1, characterized in that, The feature (220) includes a signal transmitter for transmitting an identification signal of a specific wavelength, and the sensing element (110) includes a signal receiver for receiving the identification signal.

5. The cleaning system according to claim 1, characterized in that, The at least one functional component further includes at least one of a functional sensor and a charging component (140).

6. The cleaning system according to claim 1, characterized in that, The cleaning robot (100) includes a bottom surface and a surrounding surface, the surrounding surface surrounding the bottom surface and extending to one side of the bottom surface; The functional component is provided on the enclosure surface, and the cleaning component (210) includes a side cleaning component (211), which is used to contact the functional component on the enclosure surface; And / or, the functional component is provided on the bottom surface, and the cleaning component (210) includes a bottom cleaning component (212) for contacting the functional component on the bottom surface.

7. The cleaning system according to claim 1, characterized in that, The basic equipment (200) also includes a second main control and a moving component. The second main control is connected to the moving component, and the moving component is connected to the cleaning component (210). The moving component is used to drive the cleaning component (210) to move in order to clean the functional component. Alternatively, the cleaning robot (100) may further include a motion mechanism (130), and the first main control is also configured to drive the cleaning robot (100) to move by controlling the motion mechanism (130) so that the functional component moves relative to the cleaning component (210) for cleaning.

8. The cleaning system according to claim 1, characterized in that, The basic equipment (200) also includes the main body of the equipment; Both the cleaning component (210) and the feature component (220) are connected to the main body of the device; Alternatively, the main body of the equipment includes a docking space, in which the cleaning robot (100) can selectively dock, the cleaning component (210) is located in the docking space, and the feature (220) is disposed on the main body of the equipment.

9. A cleaning method for a cleaning system comprising a cleaning robot and basic equipment, characterized in that, The method includes: Determine whether the functional components of the cleaning robot meet the cleaning conditions, and take the functional components that meet the cleaning conditions as the target functional components; Based on the sensing results of the sensor on the feature and the position of the target functional component on the cleaning robot, the cleaning robot is controlled to move until the target functional component contacts the cleaning component; The target functional component and the cleaning component are moved relative to each other to clean the target functional component.

10. The cleaning method according to claim 9, characterized in that, The step of determining whether the functional components of the cleaning robot meet the cleaning conditions specifically includes: Determine whether the time elapsed since the last cleaning of the functional component meets a preset time limit, or determine whether the cleaning robot has completed a cleaning cycle since the last cleaning of the functional component, or determine whether the cleaning robot needs to perform cleaning work.

11. The cleaning method according to claim 9, characterized in that, The step of determining whether the cleaning conditions are met is as follows: The signal from the functional component determines whether the functional component meets the cleaning conditions.

12. The cleaning method according to claim 11, characterized in that, The step of determining whether the cleaning conditions are met based on the signal from the functional component specifically involves: Determine whether the data missing ratio of the functional component reaches a first preset threshold; Alternatively, determine whether the area of ​​the stain on the image acquired by the functional component reaches a second preset threshold; Alternatively, determine whether the voltage signal of the functional component is less than a third preset threshold.

13. The cleaning method according to claim 9, characterized in that, The feature includes a specific pattern, and the sensing element includes an image acquisition element; The step of controlling the cleaning robot to move until the target functional component contacts the cleaning component, based on the sensing result of the sensing element on the feature element and the position of the target functional component on the cleaning robot, specifically includes: Determine whether the image information acquired by the image acquisition device matches the stored specific pattern; if so, determine the location of the basic device based on the image information. Based on the position of the target functional component on the cleaning robot, determine the relative position of the target functional component and the basic equipment; The cleaning robot is moved according to the relative position of the target functional component and the base equipment so that the target functional component comes into contact with the cleaning component of the base equipment.

14. The cleaning method according to claim 9, characterized in that, The feature includes a signal transmitter for transmitting a specific signal, and the sensing element includes a signal receiver; The step of controlling the cleaning robot to move until the target functional component contacts the cleaning component, based on the sensing result of the sensing element on the feature element and the position of the target functional component on the cleaning robot, specifically includes: The cleaning robot is moved to the base equipment according to the signal obtained by the signal receiver; Rotate the cleaning robot according to the position of the target functional component on the cleaning robot until the target functional component contacts the cleaning component of the base equipment.

15. The cleaning method according to claim 9, characterized in that, The step of controlling the relative movement of the target functional component and the cleaning component to clean the target functional component specifically includes: The cleaning robot is controlled to move so that the target functional component and the cleaning component move relative to each other, thereby cleaning the target functional component; And / or, control the movement of the cleaning component to move the target functional component and the cleaning component relative to each other, thereby cleaning the target functional component.

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