WO2024140713A1

WO2024140713A1 - Water supply and drainage module state checking method, system, base, and storage medium

Info

Publication number: WO2024140713A1
Application number: PCT/CN2023/142036
Authority: WO
Inventors: 单建强
Original assignee: 北京石头世纪科技股份有限公司
Priority date: 2022-12-30
Filing date: 2023-12-26
Publication date: 2024-07-04
Also published as: CN117007852A

Abstract

A water supply and drainage module state checking method, a system, a base, and a storage medium. The method comprises acquiring a first current value of a base (32) for supplying power to a water supply and drainage module (33) (S101); and, on the basis of the first current value, determining the working state of the water supply and drainage module (33) (S102). On the basis of the first current value, the present disclosure checks the working state of the water supply and drainage module (33) by means of the first current value. Thus, without an additional communication module between the water supply and drainage module (33) and a base station, the base checks the working state of the water supply and drainage module (33) by means of the original power supply line, thus saving the device communication cost and avoiding communication faults caused by poor contacts.

Description

上下水模块状态的检测方法、***、基座及存储介质Method, system, base and storage medium for detecting status of water supply and drainage modules

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本公开要求于2022年12月30日提交的申请号为202211729473.6，名称为“上下水模块状态的检测方法、***、基座及存储介质”的中国专利申请的优先权，该中国专利申请的全部内容通过引用全部并入本文。This disclosure claims priority to Chinese patent application number 202211729473.6, filed on December 30, 2022, and entitled “Method, system, base and storage medium for detecting the status of water supply and drainage modules”, and the entire contents of the Chinese patent application are incorporated herein by reference.

技术领域Technical Field

本公开涉及自动清洁设备技术领域，具体而言，涉及一种上下水模块状态的检测方法、***、基座及存储介质。The present disclosure relates to the technical field of automatic cleaning equipment, and in particular to a method, system, base and storage medium for detecting the status of a water inlet and outlet module.

背景技术Background technique

随着智能技术的发展，自动清洁设备的应用越来越广泛，比如扫地机器人。With the development of intelligent technology, the application of automatic cleaning equipment, such as sweeping robots, is becoming more and more widespread.

当前，自动清洁设备主要通过充电电池维持工作状态。当充电电池缺电时，需要回到基座进行充电。当基座与上下水模块配套后，由基座为上下水模块供电，且基座与上下水模块之间通过串口(比如金手指)进行通信连接。但是，金手指成本高且接触片易氧化，从而导致接触不良，出现通信故障。At present, automatic cleaning equipment mainly maintains working status through rechargeable batteries. When the rechargeable battery is out of power, it needs to return to the base for charging. When the base is matched with the upper and lower water modules, the base supplies power to the upper and lower water modules, and the base and the upper and lower water modules communicate through a serial port (such as a gold finger). However, the gold finger is expensive and the contact piece is easily oxidized, resulting in poor contact and communication failure.

因此，本公开提供了一种上下水模块状态的检测方法，以解决上述技术问题之一。Therefore, the present disclosure provides a method for detecting the status of a water supply and drainage module to solve one of the above-mentioned technical problems.

发明内容Summary of the invention

本公开的目的在于提供一种上下水模块状态的检测方法、***、基座及存储介质。具体方案如下：The purpose of the present disclosure is to provide a method, system, base and storage medium for detecting the status of a water supply and discharge module. The specific scheme is as follows:

根据本公开的具体实施方式，第一方面，本公开提供一种上下水模块状态的检测方法，应用于自动清洁设备的基座，所述基座为配套安装的所述上下水模块供电，包括：According to a specific embodiment of the present disclosure, in a first aspect, the present disclosure provides a method for detecting the status of a water up/down module, which is applied to a base of an automatic cleaning device, wherein the base is powered by the water up/down module installed in a matching manner, and comprises:

获取基座为上下水模块供电的第一电流值；Obtain a first current value of the base supplying power to the water supply and drainage modules;

基于所述第一电流值确定所述上下水模块的工作状态。The working state of the water supply and drainage module is determined based on the first current value.

可选的，所述基于所述第一电流值确定所述上下水模块的工作状态，包括：Optionally, determining the working state of the water supply and discharge module based on the first current value includes:

当所述第一电流值在预设第一限制值范围内时，确定所述上下水模块处于第一工作状态的进排水状态。When the first current value is within a preset first limit value range, it is determined that the water supply and discharge module is in a first working state.

可选的，所述方法还包括：Optionally, the method further includes:

当确定所述上下水模块处于所述第一工作状态的进排水状态之后获得的第一电流值在预设第二限制值范围内时，确定所述上下水模块处于所述第一工作状态的进水状态，其中，预设第二限制值范围的最大值小于预设第一限制值范围的最小值。When it is determined that the first current value obtained after the water supply and discharge state of the water supply and discharge module is in the first working state is within the preset second limit value range, it is determined that the water supply and discharge module is in the water supply state of the first working state, wherein the maximum value of the preset second limit value range is less than the minimum value of the preset first limit value range.

可选的，所述方法还包括：Optionally, the method further includes:

当确定所述上下水模块处于所述第一工作状态的进水状态之后获得的第一电流值在预设第三限制值范围内时，确定所述上下水模块处于所述第一工作状态的加清洁液状态，其中，预设第三限制值范围的最大值小于预设第二限制值范围的最小值。When it is determined that the first current value obtained after the water supply and drainage module is in the water intake state of the first working state is within the preset third limit value range, it is determined that the water supply and drainage module is in the cleaning liquid adding state of the first working state, The maximum value of the preset third limit value range is smaller than the minimum value of the preset second limit value range.

当确定所述上下水模块未处于所述第一工作状态时，当所述第一电流值在预设第四限制值范围内时，确定所述上下水模块处于第二工作状态的排污状态，其中，预设第四限制值范围的最大值小于预设第一限制值范围的最小值。When it is determined that the water supply and drainage module is not in the first working state, and when the first current value is within the preset fourth limit value range, it is determined that the water supply and drainage module is in the sewage discharge state of the second working state, wherein the maximum value of the preset fourth limit value range is less than the minimum value of the preset first limit value range.

可选的，所述方法还包括：Optionally, the method further includes:

当所述第一电流值在预设第五限制值范围内时，确定所述上下水模块处于待机状态，其中，预设第五限制值范围的最大值小于预设第三限制值范围的最小值，且小于预设第四限制值范围的最小值。When the first current value is within a preset fifth limit value range, it is determined that the water supply and drainage module is in standby mode, wherein the maximum value of the preset fifth limit value range is less than the minimum value of the preset third limit value range and less than the minimum value of the preset fourth limit value range.

可选的，所述方法还包括：Optionally, the method further includes:

获取预设时间段内基座为上下水模块供电的第二电流值；Obtain a second current value of the base supplying power to the water supply and drainage module within a preset time period;

基于所述第二电流值确定所述上下水模块是否处于报错状态。Based on the second current value, it is determined whether the water supply and drainage module is in an error state.

可选的，所述方法还包括：Optionally, the method further includes:

基于所述上下水模块的工作状态和所述上下水模块处于报错状态，确定所述上下水模块处于对应工作状态的报错状态。Based on the working state of the water supply and drainage module and the water supply and drainage module being in an error state, it is determined that the water supply and drainage module is in an error state corresponding to the working state.

可选的，所述基于所述上下水模块的工作状态和所述上下水模块处于报错状态，确定所述上下水模块处于对应工作状态的报错状态，包括：Optionally, based on the working state of the water supply and drainage module and the water supply and drainage module being in an error state, determining that the water supply and drainage module is in an error state corresponding to the working state includes:

当检测到所述上下水模块处于所述第一工作状态的进水状态时，并进一步确认所述上下水模块处于报错状态时，确定所述上下水模块处于与所述进水状态相关联的所述第一工作状态的第一报错状态。When it is detected that the water supply and drainage module is in the water inflow state of the first working state, and it is further confirmed that the water supply and drainage module is in an error state, it is determined that the water supply and drainage module is in the first error state of the first working state associated with the water inflow state.

当检测到所述上下水模块处于第二工作状态的排污状态时，并进一步确认所述上下水模块处于报错状态时，确定所述上下水模块处于与所述排污状态相关联的所述第二工作状态的第二报错状态。When it is detected that the water supply and drainage module is in the sewage discharge state of the second working state, and it is further confirmed that the water supply and drainage module is in the error state, it is determined that the water supply and drainage module is in the second error state of the second working state associated with the sewage discharge state.

可选的，所述确定所述上下水模块是否处于报错状态，包括：所述第二电流值为多个；当所述多个第二电流值均小于预设限值时，当任一第二电流值大于预设超常阈值时，确定所述任一第二电流值为超常电流值；当所述多个第二电流值中超常电流值的数量大于预设超常数量阈值时，确定所述上下水模块处于报错状态。Optionally, determining whether the water supply and drainage module is in an error state includes: there are multiple second current values; when the multiple second current values are all smaller than a preset limit value, when any second current value is larger than a preset abnormal threshold, determining that any second current value is an abnormal current value; when the number of abnormal current values among the multiple second current values is larger than a preset abnormal number threshold, determining that the water supply and drainage module is in an error state.

可选的，所述方法还包括：Optionally, the method further includes:

当检测到所述上下水模块首次进入待机状态时，将调整信号发送至自动清洁设备，触发所述自动清洁设备调整控制基座的洗布策略，以适应配套新装的上下水模块。When it is detected that the water up/down water module enters the standby state for the first time, an adjustment signal is sent to the automatic cleaning device, triggering the automatic cleaning device to adjust the cloth washing strategy of the control base to adapt to the newly installed water up/down water module.

可选的，所述方法还包括：Optionally, the method further includes:

响应于接收到自动清洁设备的自检信号，基于上下模块的状态对所述上下水模块进行自检。 In response to receiving a self-check signal from the automatic cleaning device, the upper and lower water modules are self-checked based on the status of the upper and lower modules.

可选的，所述方法还包括：Optionally, the method further includes:

响应于接收到所述自动清洁设备的自检信号，触发所述上下水模块进入初始化状态。In response to receiving the self-test signal of the automatic cleaning device, the water supply and drainage module is triggered to enter an initialization state.

可选的，所述初始化状态包括所述上下水模块中的清水箱处于注满状态；Optionally, the initialization state includes that the clean water tank in the water supply and discharge module is in a full state;

所述方法还包括：The method further comprises:

当所述上下水模块中的清水箱处于注满状态后，响应于接收到所述自动清洁设备的供水信号，控制所述上下水模块的清水箱向清水仓供水；When the clean water tank in the water up/down module is filled, in response to receiving a water supply signal from the automatic cleaning device, the clean water tank in the water up/down module is controlled to supply water to the clean water tank;

在供水量达到第一预设水量后，当检测到所述上下水模块进入第一工作状态时，确定所述清水箱内的缺水浮球工作正常。After the water supply reaches the first preset water volume, when it is detected that the water supply and discharge modules enter the first working state, it is determined that the water shortage float in the clean water tank is working normally.

可选的，所述初始化状态还包括所述上下水模块中的污水箱处于排空状态；Optionally, the initialization state also includes that the sewage tank in the upper and lower water modules is in an empty state;

所述方法还包括：The method further comprises:

当所述上下水模块中的污水箱处于排空状态后，响应于接收到所述自动清洁设备的排污信号，将所述清水仓中的污水排入所述污水箱；When the sewage tank in the upper and lower water modules is in an empty state, in response to receiving a sewage discharge signal from the automatic cleaning device, the sewage in the clean water tank is discharged into the sewage tank;

在排污量达到第二预设水量后，当检测到所述上下水模块进入第二工作状态时，确定所述污水箱内的第一水满浮球工作正常。After the sewage discharge volume reaches the second preset water volume, when it is detected that the water inlet and outlet modules enter the second working state, it is determined that the first water-full float in the sewage tank is working normally.

可选的，所述方法还包括：在确认所述清水箱内的缺水浮球工作正常，所述污水箱内的第一水满浮球工作正常，以及上下水模块未处于报错状态时，确定所述上下水模块进行自检通过。Optionally, the method further includes: upon confirming that the water-deficient float in the clean water tank is operating normally, the first water-full float in the sewage tank is operating normally, and the upper and lower water modules are not in an error state, determining that the upper and lower water modules have passed self-inspection.

可选的，所述方法还包括：Optionally, the method further includes:

将所述工作状态传送至自动清洁设备。The working status is transmitted to the automatic cleaning device.

根据本公开的具体实施方式，第二方面，本公开提供一种清洗***，包括：自动清洁设备、基座和上下水模块；基座为配套安装的所述上下水模块供电；According to a specific embodiment of the present disclosure, in a second aspect, the present disclosure provides a cleaning system, including: an automatic cleaning device, a base and a water inlet and outlet module; the base supplies power to the water inlet and outlet module installed in a matching manner;

所述基座，配置为：The base is configured as follows:

可选的，所述基座配置为所述基于所述第一电流值确定所述上下水模块的工作状态，包括：Optionally, the base is configured to determine the working state of the water supply and discharge module based on the first current value, including:

可选的，所述基座还配置为：Optionally, the base is further configured as:

可选的，所述基座还配置为Optionally, the base is also configured as

可选的，所述基座配置为所述基于所述上下水模块的工作状态和所述上下水模块处于报错状态，确定所述上下水模块处于对应工作状态的报错状态，包括：Optionally, the base is configured to determine that the water supply and drainage module is in an error state corresponding to the working state based on the working state of the water supply and drainage module and the water supply and drainage module is in an error state, including:

可选的，所述基座配置为所述确定所述上下水模块是否处于报错状态，包括：Optionally, the base is configured to determine whether the water supply and discharge module is in an error state, including:

所述第二电流值为多个；当所述多个第二电流值均小于预设限值时，当任一第二电流值大于预设超常阈值时，确定所述任一第二电流值为超常电流值；当所述多个第二电流值中超常电流值的数量大于预设超常数量阈值时，确定所述上下水模块处于报错状态。There are multiple second current values; when the multiple second current values are all smaller than the preset limit value, when any second current value is greater than the preset abnormal threshold value, it is determined that any second current value is an abnormal current value; when the number of abnormal current values among the multiple second current values is greater than the preset abnormal number threshold, it is determined that the water supply and drainage module is in an error state.

响应于接收到自动清洁设备的自检信号，基于上下模块的状态对所述上下水模块进行自检。In response to receiving a self-test signal from the automatic cleaning device, the upper and lower water modules are cleaned based on the status of the upper and lower modules. Self-examination.

所述基座还配置为：The base is also configured as:

当所述上下水模块中的清水箱处于注满状态后，响应于接收到所述自动清洁设备的供水信号，控制所述上下水模块的清水箱向所述清水仓供水；When the clean water tank in the water up/down module is filled, in response to receiving a water supply signal from the automatic cleaning device, the clean water tank in the water up/down module is controlled to supply water to the clean water tank;

所述基座还配置为：The base is also configured as:

在确认所述清水箱内的缺水浮球工作正常，所述污水箱内的第一水满浮球工作正常，以及上下水模块未处于报错状态时，确定所述上下水模块进行自检通过。When it is confirmed that the water shortage float in the clean water tank works normally, the first water full float in the sewage tank works normally, and the upper and lower water modules are not in an error state, it is determined that the upper and lower water modules have passed the self-inspection.

根据本公开的具体实施方式，第三方面，本公开提供一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现如上任一项所述上下水模块状态的检测方法。According to a specific embodiment of the present disclosure, in a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method for detecting the status of the upper and lower water modules as described in any one of the above items is implemented.

根据本公开的具体实施方式，第四方面，本公开提供一种自动清洁设备的基座，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如上任一项所述上下水模块状态的检测方法。According to the specific implementation of the present disclosure, in a fourth aspect, the present disclosure provides a base for an automatic cleaning device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method for detecting the status of the upper and lower water modules as described in any of the above items.

本公开实施例的上述方案与现有技术相比，至少具有以下有益效果：Compared with the prior art, the above solution of the embodiment of the present disclosure has at least the following beneficial effects:

本公开提供了一种上下水模块状态的检测方法、***、基座及存储介质。本公开通过检测基座为上下水模块供电的电流值，通过电流值的变化对上下水模块的工作状态进行监控。本公开以第一电流值为依据，通过第一电流值检测上下水模块的工作状态。本公开在不增加上下水模块与基站之间的通信模块的情况下，利用原有的供电线路便实现了基座对上下水模块的工作状态的检测。节省了设备的通信成本，避免了接触不良导致通信故障。The present disclosure provides a method, system, base and storage medium for detecting the status of a water supply and drainage module. The present disclosure monitors the working status of the water supply and drainage module by detecting the current value of the water supply and drainage module supplied by the base, and by the change of the current value. The present disclosure detects the working status of the water supply and drainage module by the first current value based on the first current value. The present disclosure realizes the detection of the working status of the water supply and drainage module by the base using the original power supply line without adding a communication module between the water supply and drainage module and the base station. The communication cost of the equipment is saved, and communication failures caused by poor contact are avoided.

附图说明 BRIEF DESCRIPTION OF THE DRAWINGS

图1示出了本公开的一些实施例的自动清洁设备整体结构示意图；FIG1 is a schematic diagram showing the overall structure of an automatic cleaning device according to some embodiments of the present disclosure;

图2示出了本公开的一些实施例的自动清洁设备仰视结构示意图；FIG2 is a schematic diagram showing a bottom-up structural view of an automatic cleaning device according to some embodiments of the present disclosure;

图3示出了本公开的一些实施例的清洗***的组成示意图；FIG3 is a schematic diagram showing the composition of a cleaning system according to some embodiments of the present disclosure;

图4示出了本公开的一些实施例的上下水模块的结构示意图；FIG4 shows a schematic structural diagram of a water supply and discharge module in some embodiments of the present disclosure;

图5示出了本公开的一些实施例的基座与上下水模块的工作关系示意图；FIG5 is a schematic diagram showing the working relationship between the base and the water supply and discharge modules in some embodiments of the present disclosure;

图6示出了根据本公开实施例的上下水模块状态的检测方法的流程图；FIG6 shows a flow chart of a method for detecting the status of a water supply and discharge module according to an embodiment of the present disclosure;

图7示出了本公开的一些实施例的第一工作状态的电流变化曲线图；FIG7 shows a current variation curve diagram of a first working state of some embodiments of the present disclosure;

图8示出了本公开的一些实施例的第二工作状态的排污状态的电流变化曲线图；FIG8 shows a current variation curve diagram of a sewage discharge state in a second working state of some embodiments of the present disclosure;

图9示出了本公开的一些实施例的第一工作状态的第一报错状态的电流变化曲线图；FIG9 shows a current variation curve diagram of a first error reporting state in a first working state of some embodiments of the present disclosure;

图10示出了本公开的另一些实施例的第一工作状态的第一报错状态的电流变化曲线图；FIG10 is a current variation curve diagram of a first error reporting state in a first working state of some other embodiments of the present disclosure;

图11示出了根据本公开实施例的一种清洗***的组成框图；FIG11 shows a block diagram of a cleaning system according to an embodiment of the present disclosure;

图12示出了根据本公开实施例提供的一种电子设备连接结构示意图。FIG. 12 shows a schematic diagram of a connection structure of an electronic device provided according to an embodiment of the present disclosure.

具体实施方式Detailed ways

为了使本公开的目的、技术方案和优点更加清楚，下面将结合附图对本公开作进一步地详细描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present disclosure.

在本公开实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said", and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the term "and/or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.

应当理解，尽管在本公开实施例中可能采用术语第一、第二、第三等来描述，但这些描述不应限于这些术语。这些术语仅用来将描述区分开。例如，在不脱离本公开实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。It should be understood that although the terms first, second, third, etc. may be used to describe in the disclosed embodiments, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the disclosed embodiments, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or device. In some cases, an element defined by the phrase "comprises a ..." does not exclude the existence of other identical elements in the product or device comprising the element.

特别需要说明的是，在说明书中存在的符号和/或数字，如果在附图说明中未被标记的，均不是附图标记。It should be particularly noted that any symbols and/or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

下面结合附图详细说明本公开的可选实施例。The optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

如图1和图2所示，自动清洁设备31可以是真空吸尘机器人、也可以是扫地/拖地/刷地/扫拖地机器人等等，该自动清洁设备31可以包含移动平台100、感知***120、处理器、驱动***140、清洁模组、能源***160和人机交互***170。其中：As shown in FIG. 1 and FIG. 2 , the automatic cleaning device 31 may be a vacuum cleaning robot, or a sweeping/mopping/brushing/sweeping and mopping robot, etc. The automatic cleaning device 31 may include a mobile platform 100, a sensing system 120, a processor, a driving system 140, a cleaning module, an energy system 160, and a human-computer interaction system 170. Among them:

移动平台100可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为自动清洁设备31待清洁的表面。在一些实施例中，自动清洁设备31可以为拖地机器人、扫地机器人、扫拖机器人等自移动机器人，则自动清洁设备31在地面上工作，所述地面也可以为任何的操作面，例如桌面、屋顶、平台等；自动清洁设备31也可以是擦窗机器人，则自动清洁设备31在建筑的玻璃外表面工作，所述玻璃为所述操作面；自动清洁设备31也可以是管道自移动机器人，则自动清洁设备31在管道的内表面工作，所述管道内表面为所述操作面。纯粹是为了展示的需要，本公开中下面的描述以拖地机器人为例进行说明。The mobile platform 100 can be configured to automatically move along the target direction on the operating surface. The operating surface can be the surface to be cleaned by the automatic cleaning device 31. In some embodiments, the automatic cleaning device 31 can be a self-moving robot such as a mopping robot, a sweeping robot, a sweeping and mopping robot, etc., then the automatic cleaning device 31 works on the ground, and the ground can also be any operating surface, such as a desktop, a roof, a platform, etc.; the automatic cleaning device 31 can also be a window cleaning robot, then the automatic cleaning device 31 works on the outer surface of the glass of the building, and the glass is the operating surface; the automatic cleaning device 31 can also be a pipeline self-moving robot, then the automatic cleaning device 31 works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface. Purely for the purpose of demonstration, the following description in this disclosure is explained by taking the mopping robot as an example.

在一些实施例中，移动平台100可以是自主移动平台100，也可以是非自主移动平台100。所述自主移动平台100是指移动平台100本身可以根据预料之外的环境输入自动地及适应性地做出操作决策；所述非自主移动平台100本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台100时，所述目标方向可以是自动清洁设备31自主决定的；当移动平台100为非自主移动平台100时，所述目标方向可以是***或人工设置的。当所述移动平台100是自主移动平台100时，所述移动平台100包括前向部分111和后向部分110。In some embodiments, the mobile platform 100 may be an autonomous mobile platform 100 or a non-autonomous mobile platform 100. The autonomous mobile platform 100 refers to the mobile platform 100 itself being able to automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform 100 itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform 100, the target direction may be determined autonomously by the automatic cleaning device 31; when the mobile platform 100 is a non-autonomous mobile platform 100, the target direction may be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform 100, the mobile platform 100 includes a forward portion 111 and a backward portion 110.

感知***120包括位于移动平台100上的位姿确定装置121、位于移动平台100的前向部分111的缓冲器122、位于移动平台100底部的悬崖传感器123、光检测组件180、颜色检测组件190以及磁力计、加速度计、陀螺仪、里程计等传感装置，向处理器提供机器的各种位置信息和运动状态信息。The perception system 120 includes a posture determination device 121 located on the mobile platform 100, a buffer 122 located on the forward part 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform 100, a light detection component 180, a color detection component 190, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer, which provide the processor with various position information and motion status information of the machine.

为了更加清楚地描述自动清洁设备31的行为，进行如下方向定义：自动清洁设备31可通过相对于由移动平台100界定的如下三个相互垂直轴的移动的各种组合在地面上行进：横向轴x、前后轴y及中心垂直轴z。沿着前后轴y的前向驱动方向标示为“前向”，且沿着前后轴y的后向驱动方向标示为“后向”。横向轴x实质上是沿着由驱动***140中的驱动轮组件141的中心点界定的轴心在自动清洁设备31的右轮与左轮之间延伸。其中，自动清洁设备31可以绕x轴转动。当自动清洁设备31的前向部分111向上倾斜，后向部分110向下倾斜时为“上仰”，且当自动清洁设备31的前向部分111向下倾斜，后向部分110向上倾斜时为“下俯”。另外，自动清洁设备31可以绕z轴转动。在自动清洁设备31 的前向方向上，当自动清洁设备31向y轴的右侧倾斜为“右转”，当自动清洁设备31向y轴的左侧倾斜为“左转”。In order to more clearly describe the behavior of the automatic cleaning device 31, the following directions are defined: the automatic cleaning device 31 can move on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, the front-to-back axis y, and the central vertical axis z. The forward drive direction along the front-to-back axis y is marked as "forward", and the rearward drive direction along the front-to-back axis y is marked as "backward". The lateral axis x essentially extends between the right wheel and the left wheel of the automatic cleaning device 31 along the axis defined by the center point of the drive wheel assembly 141 in the drive system 140. Among them, the automatic cleaning device 31 can rotate around the x-axis. When the forward portion 111 of the automatic cleaning device 31 is tilted upward and the rear portion 110 is tilted downward, it is "upward", and when the forward portion 111 of the automatic cleaning device 31 is tilted downward and the rear portion 110 is tilted upward, it is "downward". In addition, the automatic cleaning device 31 can rotate around the z-axis. In the automatic cleaning device 31 In the forward direction, when the automatic cleaning device 31 tilts to the right side of the y-axis, it is a “right turn”; and when the automatic cleaning device 31 tilts to the left side of the y-axis, it is a “left turn”.

如图2所示，在移动平台100底部上并且在驱动轮组件141的前方和后方设置有悬崖传感器123，该悬崖传感器123用于防止在自动清洁设备31前进或后退时发生跌落，从而能够避免自动清洁设备31受到损坏。前述的“前方”是指相对于自动清洁设备31行进方向相同的一侧，前述的“后方”是指相对于自动清洁设备31行进方向相反的一侧。As shown in FIG2 , cliff sensors 123 are provided on the bottom of the mobile platform 100 and in front of and behind the driving wheel assembly 141. The cliff sensors 123 are used to prevent the automatic cleaning device 31 from falling when it moves forward or backward, thereby preventing the automatic cleaning device 31 from being damaged. The aforementioned “front” refers to the side with the same direction of travel of the automatic cleaning device 31, and the aforementioned “rear” refers to the side opposite to the direction of travel of the automatic cleaning device 31.

位姿确定装置121包括但不限于摄像头、激光雷达(LDS)、线结构光装置、ODO传感器等能够确定自动清洁设备31位置或姿态的装置，位姿确定装置121也不限于位于自动清洁设备31的顶部，例如，摄像头和线结构光装置可以根据需要设置于自动清洁设备31的前面或侧面的任意位置；ODO传感器可以设置于自动清洁设备31的内部。The position determination device 121 includes but is not limited to devices such as cameras, laser radars (LDS), line structured light devices, ODO sensors, etc. that can determine the position or posture of the automatic cleaning device 31. The position determination device 121 is not limited to being located on the top of the automatic cleaning device 31. For example, cameras and line structured light devices can be set at any position on the front or side of the automatic cleaning device 31 as needed; the ODO sensor can be set inside the automatic cleaning device 31.

感知***120中的各个组件，既可以独立运作，也可以共同运作以更准确的实现目的功能。通过光检测组件180和颜色检测组件190接收的信号对待清洁表面进行识别，以确定待清洁表面的物理特性，包括表面的材质类型、颜色等级等等。从而确定自动清洁设备31的工作状态。Each component in the sensing system 120 can operate independently or together to achieve the intended function more accurately. The signal received by the light detection component 180 and the color detection component 190 is used to identify the surface to be cleaned to determine the physical characteristics of the surface to be cleaned, including the material type, color grade, etc. of the surface. Thus, the working state of the automatic cleaning device 31 is determined.

移动平台100的前向部分111设置有缓冲器122，在清洁过程中驱动轮组件141推进自动清洁设备31在地面行走时，缓冲器122经由传感器***，例如光检测组件180和颜色检测组件190，分别检测自动清洁设备31的行驶路径中的一或多个事件(或对象)，自动清洁设备31可通过由缓冲器122检测到的事件(或对象)，例如障碍物、墙壁，而控制驱动轮组件141使自动清洁设备31来对所述事件(或对象)做出响应，例如远离障碍物。The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly 141 propels the automatic cleaning device 31 to walk on the ground, the buffer 122 detects one or more events (or objects) in the driving path of the automatic cleaning device 31 via a sensor system, such as a light detection component 180 and a color detection component 190. The automatic cleaning device 31 can control the driving wheel assembly 141 through the events (or objects) detected by the buffer 122, such as obstacles and walls, so that the automatic cleaning device 31 responds to the events (or objects), such as staying away from the obstacles.

处理器设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器被配置为接收感知***120传来的所述多个传感器的感受到的环境信息，根据激光雷达反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备31所在环境中的即时地图，并根据所述环境信息和环境地图自主决定行驶路径，然后根据所述自主决定的行驶路径控制驱动***140进行前进、后退和/或转向等操作。进一步地，处理器还可以根据所述环境信息和环境地图决定是否启动清洁模组进行清洁操作。The processor is set on the circuit board in the mobile platform 100, including a computing processor that communicates with a non-temporary memory, such as a hard disk, a flash memory, and a random access memory, such as a central processing unit and an application processor. The application processor is configured to receive the environmental information sensed by the multiple sensors transmitted by the perception system 120, and use a positioning algorithm, such as SLAM, to draw a real-time map of the environment where the automatic cleaning device 31 is located according to the obstacle information fed back by the laser radar, and autonomously determine the driving path according to the environmental information and the environmental map, and then control the driving system 140 to move forward, backward and/or turn according to the autonomously determined driving path. Further, the processor can also decide whether to start the cleaning module to perform the cleaning operation according to the environmental information and the environmental map.

具体地，处理器可以结合缓冲器122、悬崖传感器123、光检测组件180、颜色检测组件190、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自动清洁设备31的工作更加符合主人的要求，有更好的用户体验。进一步地，处理器能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自动清洁设备31的清扫效率。Specifically, the processor can combine the distance information and speed information fed back by the sensor devices such as the buffer 122, the cliff sensor 123, the light detection component 180, the color detection component 190, the magnetometer, the accelerometer, the gyroscope, and the odometer to comprehensively judge the current working state of the sweeper, such as passing the threshold, getting on the carpet, being on the cliff, being stuck above or below, the dust box is full, being picked up, etc., and will also give specific next action strategies for different situations, so that the work of the automatic cleaning device 31 is more in line with the owner's requirements and has a better user experience. Furthermore, the processor can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of the automatic cleaning device 31.

驱动***140可基于具体的距离和角度信息，例如x、y及θ分量，执行驱动命令而操纵自动清洁设备31跨越地面行驶。驱动***140包含驱动轮组件141，驱动***140可以同时控制左轮和右轮。为了自动清洁设备31能够在地面上更为稳定地运动或者具有更强的运动能力，自动清洁设备31可以包括一个或者多个转向组件142，转向组件142可为从动轮，也可为驱动轮，其结构形式包括但不限于万向轮，转向组件142可以位于驱动轮组件141的前方。The drive system 140 can execute a drive command based on specific distance and angle information, such as x, y and θ components, to manipulate the automatic cleaning device 31 to travel across the ground. The drive system 140 includes a drive wheel assembly 141. The drive system 140 can In order to enable the automatic cleaning device 31 to move more stably on the ground or have stronger movement ability, the automatic cleaning device 31 may include one or more steering assemblies 142, which may be driven wheels or driving wheels, and whose structural forms include but are not limited to universal wheels, and the steering assembly 142 may be located in front of the driving wheel assembly 141.

能源***160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。自动清洁设备31通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。The energy system 160 includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit. The automatic cleaning device 31 is charged by connecting to a charging pile through a charging electrode arranged on the side or below the fuselage.

人机交互***170包括设置在自动清洁设备31面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前自动清洁设备31所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型的自动清洁设备31，在手机客户端可以向用户展示自动清洁设备31所在环境的地图，以及自动清洁设备31所处位置，可以向用户提供更为丰富和人性化的功能项，用户可以通过手机客户端对自动清洁设备31的清洁参数进行配置。The human-computer interaction system 170 includes buttons set on the panel of the automatic cleaning device 31, which are used by the user to select functions; it may also include a display screen and/or an indicator light and/or a speaker, which display the current state of the automatic cleaning device 31 or the function selection items to the user; it may also include a mobile client program. For a path navigation type automatic cleaning device 31, a map of the environment where the automatic cleaning device 31 is located and the location of the automatic cleaning device 31 can be displayed to the user on the mobile client, which can provide the user with more abundant and humanized function items, and the user can configure the cleaning parameters of the automatic cleaning device 31 through the mobile client.

清洁模组可包括干式清洁模组151和/或湿式清洁模组400。如图2所示，干式清洁模组151包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。自动清洁设备31的除尘能力可用垃圾的清扫效率DPU(Dust pickup efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个复杂的***设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的自动清洁设备31来说意义更大。因为除尘能力的提高直接有效降低了对于能源的要求，也就是说对于原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫180平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会相应减少。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁模组151还可包含具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到干式清洁模组151的滚刷区域中。The cleaning module may include a dry cleaning module 151 and/or a wet cleaning module 400. As shown in FIG2 , the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box. The dust removal ability of the automatic cleaning device 31 can be characterized by the garbage cleaning efficiency DPU (Dust pickup efficiency). The cleaning efficiency DPU is affected by the roller brush structure and material, the wind utilization rate of the air duct formed by the dust suction port, dust box, fan, air outlet and the connecting parts between the four, and the type and power of the fan. It is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal ability is more meaningful for automatic cleaning devices 31 with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, for a machine that can clean 80 square meters of the ground on a single charge, it can evolve to clean 180 square meters or even more on a single charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user battery replacement will also be reduced accordingly. More intuitively and importantly, the improvement of dust removal ability is the most obvious and important user experience, and the user will directly draw conclusions on whether the sweep/wipe is clean. The dry cleaning module 151 may also include a side brush 152 with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move debris into the roller brush area of the dry cleaning module 151.

本实施例提供的湿式清洁模组400，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组400包括清洁头410和驱动单元，其中，清洁头410用于清洁所述操作面的至少一部分，驱动单元用于驱动所述清洁头410沿着待清洁表面进行往复运动，所述待清洁表面为所述操作面的一部分。所述清洁头410沿待清洁表面做往复运动，清洁头410在与待清洁表面的接触面上设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。所述清洁头410包括活动区域412和固定区域411，活动区域412设置于清洁头410大致中央位置。The wet cleaning module 400 provided in this embodiment is configured to clean at least a portion of the operating surface by wet cleaning; wherein the wet cleaning module 400 includes a cleaning head 410 and a driving unit, wherein the cleaning head 410 is used to clean at least a portion of the operating surface, and the driving unit is used to drive the cleaning head 410 to reciprocate along the surface to be cleaned, and the surface to be cleaned is a portion of the operating surface. The cleaning head 410 reciprocates along the surface to be cleaned, and the cleaning head 410 is provided with a cleaning cloth or a cleaning plate on the contact surface with the surface to be cleaned, and high-frequency friction is generated with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned. The cleaning head 410 includes an active area 412 and a fixed area 411, and the active area 412 is arranged at a substantially central position of the cleaning head 410.

在相关技术中，自动清洁设备31主要通过充电电池维持工作状态。当充电电池缺电时，需要回到基座32进行充电。当基座32与上下水模块33配套后，由基座32为上下水模块33供电，且基座32与上下水模块33之间通过串口(比如金手指)进行通信连接，上下水模块33将其工作状态和异常信息传送给基座32，再由基座32将这些信息传无线传输给自动清洁设备31。In the related art, the automatic cleaning device 31 is mainly maintained in working state by a rechargeable battery. When the base 32 is matched with the water inlet and outlet module 33, the base 32 supplies power to the water inlet and outlet module 33, and the base 32 and the water inlet and outlet module 33 are connected by a serial port (such as a gold finger), and the water inlet and outlet module 33 transmits its working status and abnormal information to the base 32, and then the base 32 transmits this information to the automatic cleaning device 31 wirelessly.

但是，金手指成本高且接触片易氧化，从而导致接触不良，出现通信故障。However, gold fingers are expensive and the contact pieces are easily oxidized, which can lead to poor contact and communication failures.

为此，本公开提供的实施例，即一种清洗***的实施例。在所述清洗***中取消了基座32与上下水模块33之间的通信连接，比如取消了金手指。To this end, the present disclosure provides an embodiment, namely an embodiment of a cleaning system, in which the communication connection between the base 32 and the upper and lower water modules 33 is cancelled, for example, the gold finger is cancelled.

如图3所示，所述清洗***包括：自动清洁设备31、基座32和上下水模块33。As shown in FIG. 3 , the cleaning system includes: an automatic cleaning device 31 , a base 32 , and a water inlet and outlet module 33 .

所述自动清洁设备31，配置为控制所述基座32洗布和所述上下水模块33的自检。The automatic cleaning device 31 is configured to control the cloth washing of the base 32 and the self-inspection of the upper and lower water modules 33 .

如图4和图5所示，所述基座32，与所述自动清洁设备31无线通信连接，并分别为所述自动清洁设备31和配套安装的所述上下水模块33供电，所述基座32包括清洗仓321和抽水泵322，所述清洗仓321配置为接收抽水泵322从所述上下水模块33的清水箱331中抽取的清水。As shown in Figures 4 and 5, the base 32 is wirelessly connected to the automatic cleaning device 31, and supplies power to the automatic cleaning device 31 and the matching upper and lower water modules 33 respectively. The base 32 includes a cleaning chamber 321 and a water pump 322. The cleaning chamber 321 is configured to receive clean water extracted by the water pump 322 from the clean water tank 331 of the upper and lower water modules 33.

所述所述自动清洁设备31，是指自动清洁设备31进入基座32中。The automatic cleaning device 31 refers to the automatic cleaning device 31 entering the base 32 .

如图4所示，所述上下水模块33，包括清水箱331和污水箱332。As shown in FIG. 4 , the water supply and drainage module 33 includes a clean water tank 331 and a dirty water tank 332 .

所述清水箱331与所述清洗仓321管道连接，配置为储存清水且向所述清洗仓321供水，所述清水箱331内包括：清洁液仓3311、蠕动泵3313、第二水满浮球3314、进水阀3317、进水口3315、排水口3316和缺水浮球3312。所述清洁液仓3311配置为储存清洁液；所述蠕动泵3313配置为所述清水箱331水满时将清洁液仓3311中的清洁液泵入清水中；所述清水箱331的进水口3315配置为向所述清水箱331注水(比如接入自来水)；所述第二水满浮球3314配置为当所述清水箱331的清水水位大于或等于预设第二满水位时向所述进水阀3317发出所述清水箱331的满水信号；所述缺水浮球3312配置为当所述清水箱331的清水水位低于预设缺水位时向所述进水阀3317发出所述清水箱331的缺水信号；所述进水阀3317配置为当获得所述满水信号时关闭所述排水口3316，当获得所述缺水信号时打开所述排水口3316。The clean water tank 331 is connected to the cleaning bin 321 by a pipeline and is configured to store clean water and supply water to the cleaning bin 321 . The clean water tank 331 includes: a cleaning liquid bin 3311 , a peristaltic pump 3313 , a second full water float 3314 , a water inlet valve 3317 , a water inlet 3315 , a drain outlet 3316 and a water shortage float 3312 . The cleaning liquid tank 3311 is configured to store cleaning liquid; the peristaltic pump 3313 is configured to pump the cleaning liquid in the cleaning liquid tank 3311 into the clean water when the clean water tank 331 is full of water; the water inlet 3315 of the clean water tank 331 is configured to inject water into the clean water tank 331 (for example, connect to tap water); the second water full float 3314 is configured to send a full water signal of the clean water tank 331 to the water inlet valve 3317 when the clean water level of the clean water tank 331 is greater than or equal to a preset second full water level; the water shortage float 3312 is configured to send a water shortage signal of the clean water tank 331 to the water inlet valve 3317 when the clean water level of the clean water tank 331 is lower than a preset water shortage level; the water inlet valve 3317 is configured to close the drain port 3316 when the full water signal is obtained, and to open the drain port 3316 when the water shortage signal is obtained.

所述污水箱332与所述清洗仓321管道连接，配置为接收所述清洗仓332排出的污水且向外排污，所述污水箱332内包括：排污泵3321、排污阀3322、排污口3323、进污口3324和第一水满浮球3325。所述排污泵3321与所述排污阀3322相配合基于所述第一水满浮球3325发出的污满信号通过所述污水箱332的排污口3323向***外排出污水；所述污水箱332的进污口3324配置为接收所述清洗仓321排出的污水；所述第一水满浮球3325配置为当所述污水箱332的污水水位高于预设第一满水位时向所述排污泵3321和所述排污阀3322发出所述污水箱332的污满信号。The sewage tank 332 is connected to the cleaning chamber 321 by a pipeline, and is configured to receive the sewage discharged from the cleaning chamber 332 and discharge the sewage to the outside. The sewage tank 332 includes: a sewage pump 3321, a sewage valve 3322, a sewage outlet 3323, a sewage inlet 3324 and a first water-full float 3325. The sewage pump 3321 cooperates with the sewage valve 3322 to discharge sewage to the outside of the system through the sewage outlet 3323 of the sewage tank 332 based on the sewage full signal sent by the first water-full float 3325; the sewage inlet 3324 of the sewage tank 332 is configured to receive the sewage discharged from the cleaning chamber 321; the first water-full float 3325 is configured to send a sewage full signal of the sewage tank 332 to the sewage pump 3321 and the sewage valve 3322 when the sewage water level of the sewage tank 332 is higher than the preset first full water level.

进而，本公开提供的实施例，即一种上下水模块33状态的检测方法的实施例。Furthermore, the present disclosure provides an embodiment, namely, an embodiment of a method for detecting the status of a water supply and discharge module 33 .

下面结合附图对本公开实施例进行详细说明。The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

如图6所示，本公开提供了一种上下水模块33状态的检测方法，应用于基座32，所述基座32与所述自动清洁设备31无线通信连接，并分别为所述自动清洁设备31和配套安装的所述上下水模块33供电，包括如下方法步骤：As shown in FIG6 , the present disclosure provides a method for detecting the status of a water inlet and outlet module 33, which is applied to a base 32. The base 32 is wirelessly connected to the automatic cleaning device 31 and supplies power to the automatic cleaning device 31 and the supporting water supply module 33, respectively, including the following method steps:

步骤S101，获取基座32为上下水模块33供电的第一电流值。Step S101 , obtaining a first current value supplied by the base 32 to the water supply and drainage module 33 .

步骤S102，基于所述第一电流值确定所述上下水模块33的工作状态。Step S102: determining the working state of the water supply and discharge module 33 based on the first current value.

由于基座32为上下水模块33供电，本公开实施例在取消了基座32与上下水模块33之间的通信连接(比如取消了金手指)后，转而通过检测基座32为上下水模块33供电的电流值，通过电流值的变化对上下水模块33的工作状态进行监控。本公开实施例以第一电流值为依据，通过第一电流值检测上下水模块33的工作状态。本公开在不增加上下水模块33与基站之间的通信模块的情况下，利用原有的供电线路便实现了基座32对上下水模块33的工作状态的检测。节省了设备的通信成本，避免了接触不良导致通信故障。Since the base 32 supplies power to the water supply and drainage module 33, after canceling the communication connection between the base 32 and the water supply and drainage module 33 (for example, canceling the gold finger), the embodiment of the present disclosure detects the current value of the base 32 supplying power to the water supply and drainage module 33, and monitors the working state of the water supply and drainage module 33 through the change of the current value. The embodiment of the present disclosure is based on the first current value, and detects the working state of the water supply and drainage module 33 through the first current value. The present disclosure realizes the detection of the working state of the water supply and drainage module 33 by the base 32 using the original power supply line without adding a communication module between the water supply and drainage module 33 and the base station. The communication cost of the equipment is saved, and communication failures caused by poor contact are avoided.

基座32通过供电电流将检测到的所述上下水模块33的工作状态上报给自动清洁设备31。当出现故障时，自动清洁设备31结合所述上下水模块33的工作状态通过无线通信通知用户，使用户能够随时了解清洗***的状况，提高了用户体验。The base 32 reports the working status of the water inlet and outlet modules 33 to the automatic cleaning device 31 through the supply current. When a fault occurs, the automatic cleaning device 31 notifies the user through wireless communication in combination with the working status of the water inlet and outlet modules 33, so that the user can understand the status of the cleaning system at any time, thereby improving the user experience.

在一些具体实施例中，所述基于所述第一电流值确定所述上下水模块33的工作状态，包括以下步骤：In some specific embodiments, determining the working state of the water supply and discharge module 33 based on the first current value includes the following steps:

步骤S102a-1，当所述第一电流值在预设第一限制值范围内时，确定所述上下水模块33处于第一工作状态的进排水状态。Step S102a-1, when the first current value is within a preset first limit value range, it is determined that the water supply and discharge module 33 is in a first working state of water supply and discharge.

所述第一工作状态，是指与所述上下水模块33的清水箱331相关的工作状态。所述第一工作状态包括：进排水状态、进水状态和加清洁液状态。The first working state refers to the working state related to the clean water tank 331 of the water inlet and outlet module 33. The first working state includes: water inlet and outlet state, water inlet state and cleaning liquid adding state.

如图5所示，所述上下水模块33处于第一工作状态的进排水状态时，所述上下水模块33边向清水箱331注入清水(比如自来水)，而边将污水箱332中的污水排向下水道。因此，预设第一限制值由清水箱331中的进水阀3317及污水箱332中排污泵3321和排污阀3322的工作功率决定的，例如，如图7所示，预设第一限制值范围在[400mA，1100mA)。As shown in FIG5 , when the water inlet and outlet module 33 is in the first working state, the water inlet and outlet module 33 injects clean water (such as tap water) into the clean water tank 331 while discharging the sewage in the sewage tank 332 into the sewer. Therefore, the preset first limit value is determined by the working power of the water inlet valve 3317 in the clean water tank 331 and the sewage pump 3321 and the sewage valve 3322 in the sewage tank 332. For example, as shown in FIG7 , the preset first limit value range is [400mA, 1100mA).

在一些具体实施例中，所述方法还包括以下步骤：In some specific embodiments, the method further comprises the following steps:

步骤S102a-2，当确定所述上下水模块33处于所述第一工作状态的进排水状态之后获得的第一电流值在预设第二限制值范围内时，确定所述上下水模块33处于所述第一工作状态的进水状态。Step S102a-2, when the first current value obtained after determining that the water supply and drainage module 33 is in the first working state is within the preset second limit value range, determine that the water supply and drainage module 33 is in the first working state.

其中，预设第二限制值范围的最大值小于预设第一限制值范围的最小值。The maximum value of the preset second limit value range is smaller than the minimum value of the preset first limit value range.

如图5所示，所述上下水模块33处于所述第一工作状态的进水状态时，所述上下水模块33仅清水箱331注入清水，且污水箱332无污水排放。因此，预设第二限制值仅由清水箱331中的进水阀3317的工作功率决定的，例如，如图7所示，预设第二限制值范围在[200mA，400 mA)。As shown in FIG5 , when the water inlet and outlet modules 33 are in the water inlet state of the first working state, only the clean water tank 331 of the water inlet and outlet modules 33 inject clean water, and no sewage is discharged from the sewage tank 332. Therefore, the preset second limit value is determined only by the working power of the water inlet valve 3317 in the clean water tank 331. For example, as shown in FIG7 , the preset second limit value range is [200mA, 400 mA).

步骤S102a-3，当确定所述上下水模块33处于所述第一工作状态的进水状态之后获得的第一电流值在预设第三限制值范围内时，确定所述上下水模块33处于所述第一工作状态的加清洁液状态。Step S102a-3, after determining that the water inlet and outlet module 33 is in the first working state, obtain When the first current value is within the preset third limit value range, it is determined that the water supply and discharge module 33 is in the cleaning liquid adding state of the first working state.

其中，预设第三限制值范围的最大值小于预设第二限制值范围的最小值。The maximum value of the preset third limit value range is smaller than the minimum value of the preset second limit value range.

如图5所示，所述上下水模块33处于所述第一工作状态的加清洁液状态时，所述上下水模块33仅清水箱331中的蠕动泵3313在工作。因此，预设第三限制值主要由清水箱331中的蠕动泵3313的工作功率决定的，例如，如图7所示，预设第三限制值范围在[70mA，150 mA)。As shown in FIG5 , when the water up/down module 33 is in the first working state of adding cleaning liquid, only the peristaltic pump 3313 in the clean water tank 331 of the water up/down module 33 is working. Therefore, the preset third limit value is mainly determined by the working power of the peristaltic pump 3313 in the clean water tank 331. For example, as shown in FIG7 , the preset third limit value range is [70 mA, 150 mA).

步骤S102b-1，当确定所述上下水模块未处于所述第一工作状态时，当所述第一电流值在预设第四限制值范围内时，确定所述上下水模块33处于第二工作状态的排污状态。Step S102b-1, when it is determined that the water supply and drainage module is not in the first working state, and when the first current value is within a preset fourth limit value range, it is determined that the water supply and drainage module 33 is in the sewage discharge state of the second working state.

其中，预设第四限制值范围的最大值小于预设第一限制值范围的最小值。The maximum value of the preset fourth limit value range is smaller than the minimum value of the preset first limit value range.

所述第二工作状态，是指与所述上下水模块33的污水箱332相关的工作状态。所述第二工作状态包括排污状态。The second working state refers to a working state related to the sewage tank 332 of the water supply and drainage module 33. The second working state includes a sewage discharge state.

如图5所示，所述上下水模块33处于第二工作状态的排污状态时，所述上下水模块33仅污水箱332中的排污泵3321和排污阀3322在工作。因此，预设第四限制值范围主要由清水箱331中的排污泵3321和排污阀3322的工作功率决定的，例如，如图8所示，预设第四限制值范围在[150mA，400 mA)。As shown in FIG5 , when the water up/down module 33 is in the sewage discharge state of the second working state, only the sewage pump 3321 and the sewage valve 3322 in the sewage tank 332 of the water up/down module 33 are working. Therefore, the preset fourth limit value range is mainly determined by the working power of the sewage pump 3321 and the sewage valve 3322 in the clean water tank 331. For example, as shown in FIG8 , the preset fourth limit value range is [150mA, 400 mA).

步骤S102c，当所述第一电流值在预设第五限制值范围内时，确定所述上下水模块33处于待机状态。Step S102c: when the first current value is within a preset fifth limit value range, it is determined that the water supply and discharge module 33 is in a standby state.

其中，预设第五限制值范围的最大值小于预设第三限制值范围的最小值，且小于预设第四限制值范围的最小值。The maximum value of the preset fifth limit value range is smaller than the minimum value of the preset third limit value range, and smaller than the minimum value of the preset fourth limit value range.

所述上下水模块33处于待机状态时，清水箱331和污水箱332既不排水，也不排污，消耗的功率极低，例如，如图7所示，预设第五限制值范围在[10mA，40mA]。When the water up/down module 33 is in standby mode, the clean water tank 331 and the sewage tank 332 neither discharge water nor sewage, and the power consumption is extremely low. For example, as shown in FIG. 7 , the preset fifth limit value range is [10 mA, 40 mA].

在另一些具体实施例中，所述方法还包括以下步骤：In some other specific embodiments, the method further comprises the following steps:

步骤S102c-1，当检测到所述上下水模块33首次进入待机状态时，将调整信号发送至自动清洁设备31，触发所述自动清洁设备31调整控制基座32的洗布策略，以适应配套新装的上下水模块33。Step S102c-1, when it is detected that the water inlet and outlet module 33 enters the standby state for the first time, an adjustment signal is sent to the automatic cleaning device 31, triggering the automatic cleaning device 31 to adjust the cloth washing strategy of the control base 32 to adapt to the newly installed water inlet and outlet module 33.

当检测到所述上下水模块33首次进入待机状态时，也就是所述上下水模块33配套安装在了基座32上，上下水模块33增加了基座32洗布的供水量和清洗次数以及收集污水的能力，因此，基座32在所述上下水模块33首次进入待机状态时，通知所述自动清洁设备31调整控制基座32的洗布策略，提高洗布的清洗率。When it is detected that the upper and lower water modules 33 enter the standby state for the first time, that is, the upper and lower water modules 33 are installed on the base 32, the upper and lower water modules 33 increase the water supply and the number of washing times for cloth washing of the base 32 and the ability to collect sewage. Therefore, when the upper and lower water modules 33 enter the standby state for the first time, the base 32 notifies the automatic cleaning device 31 to adjust and control the cloth washing strategy of the base 32 to improve the cleaning rate of the cloth washing.

步骤S111，响应于接收到所述自动清洁设备31的自检信号，基于上下水模块33的状态对所述上下水模块33进行自检。Step S111, in response to receiving the self-test signal of the automatic cleaning device 31, based on the water supply and discharge module 33 The water supply and drainage module 33 is self-checked in the state.

自检的目的是能够及时发现上下水模块33的故障。自检信号由自动清洁设备31发出的，例如，手机的APP通过无线通信方式发出向所述自动清洁设备31发出自检指令，所述自动清洁设备31接到自检指令，通过一些列自检信号控制基座32检测所述上下水模块33的状态是否正常。The purpose of the self-check is to timely discover the fault of the water inlet and outlet module 33. The self-check signal is sent by the automatic cleaning device 31. For example, the APP of the mobile phone sends a self-check instruction to the automatic cleaning device 31 through wireless communication. The automatic cleaning device 31 receives the self-check instruction and controls the base 32 to detect whether the status of the water inlet and outlet module 33 is normal through a series of self-check signals.

步骤S111a，响应于接收到所述自动清洁设备31的自检信号，触发所述上下水模块33进入初始化状态。Step S111a, in response to receiving the self-test signal of the automatic cleaning device 31, triggering the water inlet and outlet module 33 to enter an initialization state.

基座32接收自检信号后，通过对上下水模块33断电再通电的过程触发上下水模块33重启进入初始化状态。After receiving the self-test signal, the base 32 triggers the water supply and drainage module 33 to restart and enter the initialization state by powering off and then powering on the water supply and drainage module 33 .

上下水模块33重启后进入初始化状态，即上下水模块33依靠自身的***功能将清水箱331注满(比如500毫升清水)，且排空所述污水箱332中的污水。After restarting, the water supply and drainage module 33 enters the initialization state, that is, the water supply and drainage module 33 relies on its own system function to fill the clean water tank 331 (for example, 500 ml of clean water) and drain the sewage in the sewage tank 332.

在一些具体实施例中，所述初始化状态包括所述上下水模块中的清水箱处于注满状态。In some specific embodiments, the initialization state includes that the clean water tank in the water supply and drainage module is filled.

所述方法还包括以下步骤：The method further comprises the following steps:

步骤S111b-1，当所述上下水模块33中的清水箱331处于注满状态后，响应于接收到所述自动清洁设备31的供水信号，控制所述上下水模块33的清水箱331向所述清水仓供水。Step S111b-1, when the clean water tank 331 in the water up/down module 33 is filled, in response to receiving a water supply signal from the automatic cleaning device 31, the clean water tank 331 of the water up/down module 33 is controlled to supply water to the clean water tank.

例如，通过基座32的抽水泵322将所述上下水模块33的清水箱331中的清水抽取至基座32的清水仓中。For example, the clean water in the clean water tank 331 of the water up/down module 33 is pumped into the clean water tank of the base 32 by the water pump 322 of the base 32 .

步骤S111b-2，在供水量达到第一预设水量后，当检测到所述上下水模块33进入第一工作状态时，确定所述清水箱331内的缺水浮球工作正常。Step S111b-2, after the water supply reaches the first preset water volume, when it is detected that the water supply module 33 enters the first working state, it is determined that the water shortage float in the clean water tank 331 is working normally.

在另一些具体实施例中，所述初始化状态还包括所述上下水模块中的污水箱处于排空状态。In some other specific embodiments, the initialization state also includes the sewage tank in the water supply and drainage module being in an empty state.

步骤S111c-1，当所述上下水模块33中的污水箱332处于排空状态后，响应于接收到所述自动清洁设备31的排污信号，将所述清水仓中的污水排入所述污水箱332。Step S111c-1, when the sewage tank 332 in the upper and lower water modules 33 is in an empty state, in response to receiving a sewage discharge signal from the automatic cleaning device 31, the sewage in the clean water tank is discharged into the sewage tank 332.

步骤S111c-2，在排污量达到第二预设水量后，当检测到所述上下水模块33进入第二工作状态时，确定所述污水箱332内的第一水满浮球工作正常。Step S111c-2, after the sewage discharge volume reaches the second preset water volume, when it is detected that the water inlet and outlet module 33 enters the second working state, it is determined that the first water full float in the sewage tank 332 is working normally.

步骤S111d，在确认所述清水箱内的缺水浮球工作正常，所述污水箱内的第一水满浮球工作正常，以及上下水模块33未处于报错状态时，确认所述上下水模块33进行自检通过。Step S111d, when it is confirmed that the water shortage float in the clean water tank is working normally, the first water full float in the sewage tank is working normally, and the water inlet and outlet module 33 is not in an error state, confirm that the water inlet and outlet module 33 has passed the self-inspection.

本具体实施例中的基座32通过检测基座32为上下水模块33供电的电流值能够完成对上下水模块33的自检，在不改变原有的供电线路的情况下实现了基座32对上下水模块33的自检。节省了设备的通信成本，避免了接触不良导致通信故障。 The base 32 in this specific embodiment can complete the self-check of the water supply and drainage module 33 by detecting the current value of the water supply and drainage module 33 supplied by the base 32, and realizes the self-check of the water supply and drainage module 33 by the base 32 without changing the original power supply line. This saves the communication cost of the equipment and avoids communication failure caused by poor contact.

步骤S121，获取预设时间段内基座32为上下水模块33供电的第二电流值。Step S121, obtaining a second current value supplied by the base 32 to the water supply and drainage module 33 within a preset time period.

例如，如图9和图10所示，预设时间段为35s。For example, as shown in FIG. 9 and FIG. 10 , the preset time period is 35 seconds.

步骤S122，基于所述第二电流值确定所述上下水模块是否处于报错状态。Step S122: determining whether the water supply and drainage module is in an error state based on the second current value.

进一步地，在一些具体实施例中，所述方法还包括以下步骤：Furthermore, in some specific embodiments, the method further comprises the following steps:

步骤S123，基于所述上下水模块33的工作状态和所述上下水模块33处于报错状态，确定所述上下水模块33处于对应工作状态的报错状态。Step S123, based on the working state of the water supply and drainage module 33 and the water supply and drainage module 33 being in an error state, determining that the water supply and drainage module 33 is in an error state corresponding to the working state.

在一些具体实施例中，所述基于所述上下水模块33的工作状态和所述上下水模块33处于报错状态，确定所述上下水模块33处于对应工作状态的报错状态，包括以下步骤：In some specific embodiments, based on the working state of the water supply and drainage module 33 and the water supply and drainage module 33 being in an error state, determining that the water supply and drainage module 33 is in an error state corresponding to the working state includes the following steps:

步骤S123a，当检测到所述上下水模块33处于所述第一工作状态的进水状态，进一步确认所述上下水模块33处于报错状态时，确定所述上下水模块33处于与所述进水状态相关联的所述第一工作状态的第一报错状态。Step S123a, when it is detected that the water supply and drainage module 33 is in the water inflow state of the first working state, and it is further confirmed that the water supply and drainage module 33 is in an error state, it is determined that the water supply and drainage module 33 is in the first error state of the first working state associated with the water inflow state.

第一报错状态与所述上下水模块33处于所述第一工作状态的进水状态相关联。可以理解为，第一报错状态是在所述上下水模块33处于所述第一工作状态的进水状态时发生的。The first error reporting state is associated with the water inflow state of the water inlet and outlet module 33 in the first working state. It can be understood that the first error reporting state occurs when the water inlet and outlet module 33 is in the water inflow state of the first working state.

所述上下水模块33处于所述第一工作模式的第一报错状态时，所述上下水模块33仅蜂鸣器在工作。因此，所述上下水模块33处于第一工作模式的第一报错状态的电流变化曲线是由蜂鸣器的工作功率决定的。When the water up/down module 33 is in the first error reporting state of the first working mode, only the buzzer of the water up/down module 33 is working. Therefore, the current variation curve of the water up/down module 33 in the first error reporting state of the first working mode is determined by the working power of the buzzer.

在另一些具体实施例中，所述基于所述上下水模块33的工作状态和所述上下水模块33处于报错状态，确定所述上下水模块33处于对应工作状态的报错状态，包括以下步骤：In some other specific embodiments, based on the working state of the water supply and drainage module 33 and the water supply and drainage module 33 being in an error state, determining that the water supply and drainage module 33 is in an error state corresponding to the working state includes the following steps:

步骤S123b，当检测到所述上下水模块33处于第二工作状态的排污状态时，进一步确认所述上下水模块33处于报错状态时，确定所述上下水模块33处于与所述排污状态相关联的所述第二工作状态的第二报错状态。Step S123b, when it is detected that the water supply and drainage module 33 is in the sewage discharge state of the second working state, and it is further confirmed that the water supply and drainage module 33 is in the error state, it is determined that the water supply and drainage module 33 is in the second error state of the second working state associated with the sewage discharge state.

第二报错状态与所述上下水模块33处于第二工作模式的排污状态相关联。可以理解为，第二报错状态是在所述上下水模块33处于所述第二工作模式的排污状态时发生的。The second error state is associated with the sewage discharge state of the water supply and drainage module 33 in the second working mode. It can be understood that the second error state occurs when the water supply and drainage module 33 is in the sewage discharge state of the second working mode.

所述上下水模块33处于所述第二工作模式的第二报错状态时，所述上下水模块33仅蜂鸣器在工作。因此，所述上下水模块33处于第二工作模式的第二报错状态的电流变化曲线是由蜂鸣器的工作功率决定的。When the water up/down module 33 is in the second error reporting state of the second working mode, only the buzzer of the water up/down module 33 is working. Therefore, the current variation curve of the water up/down module 33 in the second error reporting state of the second working mode is determined by the working power of the buzzer.

在另一些具体实施例中，所述确定所述上下水模块处于报错状态，包括以下步骤：In some other specific embodiments, the step of determining that the water supply and drainage module is in an error state comprises the following steps:

步骤S123-1，所述第二电流值为多个；当所述多个第二电流值均小于预设限值时，当任一第二电流值大于预设超常阈值时，确定所述任一第二电流值为超常电流值。Step S123-1, there are multiple second current values; when the multiple second current values are all smaller than a preset limit value, when any second current value is greater than a preset abnormal threshold value, determine that any second current value is an abnormal current value.

步骤S123-2，当所述多个第二电流值中超常电流值的数量大于预设超常数量阈值时，确定所述上下水模块处于报错状态。Step S123-2: when the number of abnormal current values among the plurality of second current values is greater than a preset abnormal number threshold, it is determined that the water supply and drainage module is in an error state.

例如，如图9和图10所示，预设时间段为35s，预设超常数量阈值为3，如果在35s内出现3次超常电流值，则确定所述上下水模块33处于报错状态。 For example, as shown in FIG. 9 and FIG. 10 , the preset time period is 35 seconds, and the preset abnormal number threshold is 3. If abnormal current values appear 3 times within 35 seconds, it is determined that the water supply and drainage module 33 is in an error state.

当报错时，自动清洁设备31结合所述上下水模块33的工作状态通过无线通信通知用户，使用户能够随时了解清洗***的状况，提高了用户体验。When an error occurs, the automatic cleaning device 31 notifies the user through wireless communication in combination with the working status of the water inlet and outlet modules 33, so that the user can understand the status of the cleaning system at any time, thereby improving the user experience.

步骤S103，将所述工作状态传送至自动清洁设备31。Step S103 , transmitting the working status to the automatic cleaning device 31 .

自动清洁设备31将所述上下水模块33的工作状态通过无线通信传送至手机APP中，使用户随时能够了解所述上下水模块33的工作状态，提高了用户体验。The automatic cleaning device 31 transmits the working status of the water supply and drainage module 33 to the mobile phone APP via wireless communication, so that the user can understand the working status of the water supply and drainage module 33 at any time, thereby improving the user experience.

本公开实施例通过检测基座32为上下水模块33供电的电流值，通过电流值的变化对上下水模块33的工作状态进行监控。本公开以第一电流值为依据，通过第一电流值检测上下水模块33的工作状态。在不增加上下水模块33与基站之间的通信模块的情况下，利用原有的供电线路便实现了基座32对上下水模块33的工作状态的检测。节省了设备的通信成本，避免了接触不良导致通信故障。The embodiment of the present disclosure monitors the working state of the water supply module 33 by detecting the current value of the water supply module 33 supplied by the base 32 through the change of the current value. The present disclosure is based on the first current value and detects the working state of the water supply module 33 through the first current value. Without adding a communication module between the water supply module 33 and the base station, the base 32 detects the working state of the water supply module 33 by using the original power supply line. The communication cost of the equipment is saved and communication failures caused by poor contact are avoided.

本公开还提供了与上述实施例承接的清洗***实施例，用于实现如上实施例所述的方法步骤，基于相同的名称含义的解释与如上实施例相同，具有与如上实施例相同的技术效果，此处不再赘述。The present disclosure also provides a cleaning system embodiment that is consistent with the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

如图11所示，本公开提供一种清洗***，包括：自动清洁设备31、基座32和上下水模块33；As shown in FIG11 , the present disclosure provides a cleaning system, including: an automatic cleaning device 31 , a base 32 , and a water inlet and outlet module 33 ;

所述自动清洁设备31，配置为控制所述基座32洗布和所述上下水模块33的自检；The automatic cleaning device 31 is configured to control the cloth washing of the base 32 and the self-test of the upper and lower water modules 33;

所述基座32，与所述自动清洁设备31无线通信连接，并分别为所述自动清洁设备31和配套安装的所述上下水模块33供电，所述基座32包括清洗仓321和抽水泵322，所述清洗仓321配置为接收抽水泵322从所述上下水模块33的清水箱331中抽取；The base 32 is wirelessly connected to the automatic cleaning device 31 and supplies power to the automatic cleaning device 31 and the matching water supply module 33. The base 32 includes a cleaning chamber 321 and a water pump 322. The cleaning chamber 321 is configured to receive the clean water pump 322 to extract from the clean water tank 331 of the water supply module 33.

所述上下水模块33，包括清水箱331和污水箱332，所述清水箱331与所述清洗仓321管道连接，配置为储存清水且向所述清洗仓321供水，所述清水箱331内包括缺水浮球3312和进水阀3317，所述缺水浮球3312配置为当所述清水箱331的清水水位低于预设缺水位时向所述进水阀3317发出所述清水箱331的缺水信号，所述污水箱332与所述清洗仓321管道连接，配置为接收所述清洗仓321排出的污水且向外排污，所述污水箱332内包括：第一水满浮球3325、排污泵3321和排污阀3322，所述第一水满浮球3325配置为当所述污水箱332的污水水位高于预设第一满水位时向所述排污泵3321和所述排污阀3322发出所述污水箱332的满水信号；The water up and down module 33 includes a clean water tank 331 and a sewage tank 332. The clean water tank 331 is connected to the cleaning bin 321 by a pipeline and is configured to store clean water and supply water to the cleaning bin 321. The clean water tank 331 includes a water shortage float 3312 and a water inlet valve 3317. The water shortage float 3312 is configured to send a water shortage signal of the clean water tank 331 to the water inlet valve 3317 when the clean water level of the clean water tank 331 is lower than a preset water shortage level. The sewage tank 332 is connected to the cleaning chamber 321 by a pipeline, and is configured to receive the sewage discharged from the cleaning chamber 321 and discharge the sewage to the outside. The sewage tank 332 includes: a first full water float 3325, a sewage pump 3321 and a sewage valve 3322. The first full water float 3325 is configured to send a full water signal of the sewage tank 332 to the sewage pump 3321 and the sewage valve 3322 when the sewage water level of the sewage tank 332 is higher than a preset first full water level;

所述基座32，配置为：The base 32 is configured as follows:

获取基座32为上下水模块33供电的第一电流值；Obtain a first current value of the base 32 supplying power to the water supply and discharge module 33;

基于所述第一电流值确定所述上下水模块33的工作状态。The working state of the water supply and discharge module 33 is determined based on the first current value.

可选的，所述基座32配置为所述基于所述第一电流值确定所述上下水模块33的工作状态，包括：Optionally, the base 32 is configured to determine the working state of the water supply and discharge module 33 based on the first current value, including:

当所述第一电流值在预设第一限制值范围内时，确定所述上下水模块33处于第一工作状态的进排水状态。When the first current value is within the preset first limit value range, it is determined that the water supply and discharge module 33 is in the first working state. The water inlet and outlet status of the working state.

可选的，所述基座32还配置为：Optionally, the base 32 is further configured as:

当确定所述上下水模块33处于所述第一工作状态的进排水状态之后获得的第一电流值在预设第二限制值范围内时，确定所述上下水模块33处于所述第一工作状态的进水状态，其中，预设第二限制值范围的最大值小于预设第一限制值范围的最小值。When it is determined that the first current value obtained after the water supply and discharge state of the water supply and discharge module 33 is in the first working state is within the preset second limit value range, it is determined that the water supply and discharge module 33 is in the water supply state of the first working state, wherein the maximum value of the preset second limit value range is less than the minimum value of the preset first limit value range.

当确定所述上下水模块33处于所述第一工作状态的进水状态之后获得的第一电流值在预设第三限制值范围内时，确定所述上下水模块33处于所述第一工作状态的加清洁液状态，其中，预设第三限制值范围的最大值小于预设第二限制值范围的最小值。When it is determined that the first current value obtained after the water inlet and outlet modules 33 are in the first working state is within the preset third limit value range, it is determined that the water inlet and outlet modules 33 are in the cleaning liquid adding state of the first working state, wherein the maximum value of the preset third limit value range is less than the minimum value of the preset second limit value range.

当确定所述上下水模块33未处于所述第一工作状态时，当所述第一电流值在预设第四限制值范围内时，确定所述上下水模块33处于第二工作状态的排污状态，其中，预设第四限制值范围的最大值小于预设第一限制值范围的最小值。When it is determined that the water supply and drainage module 33 is not in the first working state, and when the first current value is within the preset fourth limit value range, it is determined that the water supply and drainage module 33 is in the sewage discharge state of the second working state, wherein the maximum value of the preset fourth limit value range is less than the minimum value of the preset first limit value range.

当所述第一电流值在预设第五限制值范围内时，确定所述上下水模块33处于待机状态，其中，预设第五限制值范围的最大值小于预设第三限制值范围的最小值，且小于预设第四限制值范围的最小值。When the first current value is within a preset fifth limit value range, it is determined that the water supply and drainage module 33 is in a standby state, wherein the maximum value of the preset fifth limit value range is less than the minimum value of the preset third limit value range, and less than the minimum value of the preset fourth limit value range.

获取预设时间段内基座32为上下水模块33供电的第二电流值；Obtain a second current value of the base 32 supplying power to the water supply and discharge module 33 within a preset time period;

可选的，所述基座32还配置为：基于所述上下水模块33的工作状态和所述上下水模块33处于报错状态，确定所述上下水模块33处于对应工作状态的报错状态。Optionally, the base 32 is further configured to determine that the water supply and drainage module 33 is in an error state corresponding to the working state based on the working state of the water supply and drainage module 33 and the water supply and drainage module 33 is in an error state.

可选的，所述基座32配置为所述基于所述上下水模块33的工作状态和所述上下水模块33处于报错状态，确定所述上下水模块33处于对应工作状态的报错状态，包括：Optionally, the base 32 is configured to determine that the water supply and drainage module 33 is in an error state corresponding to the working state based on the working state of the water supply and drainage module 33 and the water supply and drainage module 33 is in an error state, including:

当检测到所述上下水模块33处于所述第一工作状态的进水状态，进一步确认所述上下水模块33处于报错状态时，确定所述上下水模块33处于与所述进水状态相关联的所述第一工作状态的第一报错状态。When it is detected that the water supply and drainage module 33 is in the water inflow state of the first working state, and it is further confirmed that the water supply and drainage module 33 is in the error state, it is determined that the water supply and drainage module 33 is in the first error state of the first working state associated with the water inflow state.

当检测到所述上下水模块33处于第二工作状态的排污状态时，进一步确认所述上下水模块33处于报错状态时，确定所述上下水模块33处于与所述排污状态相关联的所述第二工作状态的第二报错状态。When it is detected that the water supply and drainage module 33 is in the sewage discharge state of the second working state, and it is further confirmed that the water supply and drainage module 33 is in the error state, it is determined that the water supply and drainage module 33 is in the second error state of the second working state associated with the sewage discharge state.

可选的，所述基座32配置为所述确定所述上下水模块33处于报错状态，包括：Optionally, the base 32 is configured to determine that the water inlet and outlet module 33 is in an error state, including:

所述第二电流值为多个；当所述多个第二电流值均小于预设限值时，当任一第二电流值大于预设超常阈值时，确定所述任一第二电流值为超常电流值；The second current value is multiple; when the multiple second current values are all less than the preset limit value, when any second current When the value is greater than a preset abnormal threshold, determining any second current value as an abnormal current value;

当所述多个第二电流值中超常电流值的数量大于预设超常数量阈值时，确定所述上下水模块33处于报错状态。When the number of abnormal current values among the plurality of second current values is greater than a preset abnormal number threshold, it is determined that the water supply and discharge module 33 is in an error state.

当检测到所述上下水模块33首次进入待机状态时，将调整信号发送至自动清洁设备31，触发所述自动清洁设备31调整控制基座32的洗布策略，以适应配套新装的上下水模块33。When it is detected that the water inlet and outlet modules 33 enter the standby state for the first time, an adjustment signal is sent to the automatic cleaning device 31, triggering the automatic cleaning device 31 to adjust the cloth washing strategy of the control base 32 to adapt to the newly installed water inlet and outlet modules 33.

响应于接收到所述自动清洁设备31的自检信号，基于上下水模块33的状态对所述上下水模块33进行自检。In response to receiving the self-check signal of the automatic cleaning device 31 , the water supply and drainage module 33 is self-checked based on the state of the water supply and drainage module 33 .

响应于接收到所述自动清洁设备31的自检信号，触发所述上下水模块33进入初始化状态。In response to receiving the self-test signal of the automatic cleaning device 31, the water inlet and outlet module 33 is triggered to enter an initialization state.

可选的，所述初始化状态包括所述上下水模块33中的清水箱331处于注满状态；Optionally, the initialization state includes that the clean water tank 331 in the water supply and discharge module 33 is in a full state;

所述基座32还配置为：The base 32 is also configured as:

当所述上下水模块33中的清水箱331处于注满状态后，响应于接收到所述自动清洁设备31的供水信号，控制所述上下水模块33的清水箱331向所述清水仓供水；When the clean water tank 331 in the water up/down module 33 is filled, in response to receiving a water supply signal from the automatic cleaning device 31, the clean water tank 331 in the water up/down module 33 is controlled to supply water to the clean water tank;

在供水量达到第一预设水量后，当检测到所述上下水模块33进入第一工作状态时，确定所述清水箱331内的缺水浮球3312工作正常。After the water supply reaches the first preset water volume, when it is detected that the water supply module 33 enters the first working state, it is determined that the water shortage float 3312 in the clean water tank 331 is working normally.

可选的，所述初始化状态包括所述上下水模块33中的污水箱332处于排空状态；Optionally, the initialization state includes that the sewage tank 332 in the water supply and drainage module 33 is in an empty state;

所述基座32还配置为：The base 32 is also configured as:

当所述上下水模块33中的污水箱332处于排空状态后，响应于接收到所述自动清洁设备31的排污信号，将所述清水仓中的污水排入所述污水箱332；When the sewage tank 332 in the water up/down module 33 is in an empty state, in response to receiving a sewage discharge signal from the automatic cleaning device 31, the sewage in the clean water tank is discharged into the sewage tank 332;

在排污量达到第二预设水量后，当检测到所述上下水模块33进入第二工作状态时，确定所述污水箱332内的第一水满浮球3325工作正常。After the sewage discharge volume reaches the second preset water volume, when it is detected that the water inlet and outlet module 33 enters the second working state, it is determined that the first water full float 3325 in the sewage tank 332 is working normally.

在确认所述清水箱331内的缺水浮球工作正常，所述污水箱332内的第一水满浮球工作正常，以及上下水模块33未处于报错状态时，确认所述上下水模块33进行自检通过。When it is confirmed that the water shortage float in the clean water tank 331 is working properly, the first water full float in the sewage tank 332 is working properly, and the water supply and drainage module 33 is not in an error state, it is confirmed that the water supply and drainage module 33 has passed the self-inspection.

将所述工作状态传送至自动清洁设备31。The working status is transmitted to the automatic cleaning device 31 .

本公开实施例通过检测基座32为上下水模块33供电的电流值，通过电流值的变化对上下水模块33的工作状态进行监控。本公开实施例以第一电流值为依据，通过第一电流值检测上下水模块33的工作状态。在不增加上下水模块33与基站之间的通信模块的情况下，利用原有的供电线路便实现了基座32对上下水模块33的工作状态的检测。节省了设备的通信成本，避免了接触不良导致通信故障。 The disclosed embodiment detects the current value of the water supply module 33 supplied by the base 32, and monitors the working state of the water supply module 33 through the change of the current value. The disclosed embodiment detects the working state of the water supply module 33 based on the first current value. Without adding a communication module between the water supply module 33 and the base station, the base 32 detects the working state of the water supply module 33 by using the original power supply line. The communication cost of the equipment is saved, and communication failures caused by poor contact are avoided.

本公开实施例提供一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如上任一所述的方法步骤。An embodiment of the present disclosure provides a non-transitory computer-readable storage medium storing computer program instructions, wherein the computer program instructions implement any of the above method steps when called and executed by a processor.

本公开实施例提供一种基座，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现前述任一实施例的方法步骤。An embodiment of the present disclosure provides a base, including a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the method steps of any of the above embodiments are implemented.

如图12所示，自动清洁设备可以包括处理装置(例如中央处理器、图形处理器等)1201，其可以根据存储在只读存储器(ROM)1202中的程序或者从存储装置1208加载到随机访问存储器(RAM)1203中的程序而执行各种适当的动作和处理。在RAM 1203中，还存储有自动清洁设备操作所需的各种程序和数据。处理装置1201、ROM 1202以及RAM1203通过总线1204彼此相连。输入/输出(I/O)接口1205也连接至总线1204。As shown in FIG. 12 , the automatic cleaning device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1201, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1202 or a program loaded from a storage device 1208 to a random access memory (RAM) 1203. Various programs and data required for the operation of the automatic cleaning device are also stored in RAM 1203. The processing device 1201, ROM 1202, and RAM 1203 are connected to each other via a bus 1204. An input/output (I/O) interface 1205 is also connected to the bus 1204.

通常，以下装置可以连接至I/O接口1205：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置1206；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置1207；包括例如硬盘等的存储装置1208；以及通信装置1209。通信装置1209可以允许电子设备与其他设备进行无线或有线通信以交换数据。虽然图12示出了具有各种装置的电子设备，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。Typically, the following devices may be connected to the I/O interface 1205: input devices 1206 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 1207 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1208 including, for example, a hard disk, etc.; and communication devices 1209. The communication device 1209 may allow the electronic device to communicate wirelessly or wired with other devices to exchange data. Although FIG. 12 shows an electronic device with various devices, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices may be implemented or have alternatively.

附图中的流程图和框图，图示了按照本公开各种实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and/or flow chart, and the combination of the square boxes in the block diagram and/or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的***或装置而言，由于其与实施例公开的方法相对应，所以描述比较简单，相关之处参见方法部分说明即可。Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。 The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit the same. Although the present disclosure is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements are The essence of the corresponding technical solution does not deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

一种上下水模块状态的检测方法，应用于自动清洁设备的基座，所述基座为配套安装的所述上下水模块供电，包括：A method for detecting the status of a water inlet and outlet module is applied to a base of an automatic cleaning device, wherein the base supplies power to the water inlet and outlet modules installed therein, comprising:

获取基座为上下水模块供电的第一电流值；Obtain a first current value of the base supplying power to the water supply and drainage modules;

基于所述第一电流值确定所述上下水模块的工作状态。The working state of the water supply and drainage module is determined based on the first current value.
根据权利要求1所述的方法，其中，所述基于所述第一电流值确定所述上下水模块的工作状态，包括：The method according to claim 1, wherein determining the working state of the water supply and drainage module based on the first current value comprises:

当所述第一电流值在预设第一限制值范围内时，确定所述上下水模块处于第一工作状态的进排水状态。When the first current value is within a preset first limit value range, it is determined that the water supply and discharge module is in a first working state.
根据权利要求2所述的方法，所述方法还包括：The method according to claim 2, further comprising:

当确定所述上下水模块处于所述第一工作状态的进排水状态之后获得的第一电流值在预设第二限制值范围内时，确定所述上下水模块处于所述第一工作状态的进水状态，其中，预设第二限制值范围的最大值小于预设第一限制值范围的最小值。When it is determined that the first current value obtained after the water supply and discharge state of the water supply and discharge module is in the first working state is within the preset second limit value range, it is determined that the water supply and discharge module is in the water supply state of the first working state, wherein the maximum value of the preset second limit value range is less than the minimum value of the preset first limit value range.
根据权利要求3所述的方法，所述方法还包括：The method according to claim 3, further comprising:

当确定所述上下水模块处于所述第一工作状态的进水状态之后获得的第一电流值在预设第三限制值范围内时，确定所述上下水模块处于所述第一工作状态的加清洁液状态，其中，预设第三限制值范围的最大值小于预设第二限制值范围的最小值。When it is determined that the first current value obtained after the water supply and drainage module is in the water filling state of the first working state is within the preset third limit value range, it is determined that the water supply and drainage module is in the cleaning liquid adding state of the first working state, wherein the maximum value of the preset third limit value range is less than the minimum value of the preset second limit value range.
根据权利要求2所述的方法，其中，所述基于所述第一电流值确定所述上下水模块的工作状态，包括：The method according to claim 2, wherein determining the working state of the water supply and drainage module based on the first current value comprises:

当确定所述上下水模块未处于所述第一工作状态时，当所述第一电流值在预设第四限制值范围内时，确定所述上下水模块处于第二工作状态的排污状态，其中，预设第四限制值范围的最大值小于预设第一限制值范围的最小值。When it is determined that the water supply and drainage module is not in the first working state, and when the first current value is within the preset fourth limit value range, it is determined that the water supply and drainage module is in the sewage discharge state of the second working state, wherein the maximum value of the preset fourth limit value range is less than the minimum value of the preset first limit value range.
根据权利要求2至5中任一项所述的方法，所述方法还包括：The method according to any one of claims 2 to 5, further comprising:

当所述第一电流值在预设第五限制值范围内时，确定所述上下水模块处于待机状态，其中，预设第五限制值范围的最大值小于预设第三限制值范围的最小值，且小于预设第四限制值范围的最小值。When the first current value is within a preset fifth limit value range, it is determined that the water supply and drainage module is in standby mode, wherein the maximum value of the preset fifth limit value range is less than the minimum value of the preset third limit value range and less than the minimum value of the preset fourth limit value range.
根据权利要求2至6中任一项所述的方法，所述方法还包括：The method according to any one of claims 2 to 6, further comprising:

获取预设时间段内基座为上下水模块供电的第二电流值；Obtain a second current value of the base supplying power to the water supply and drainage module within a preset time period;

基于所述第二电流值确定所述上下水模块是否处于报错状态。Based on the second current value, it is determined whether the water supply and drainage module is in an error state.
根据权利要求7所述的方法，所述方法还包括：The method according to claim 7, further comprising:

基于所述上下水模块的工作状态和所述上下水模块处于报错状态，确定所述上下水模块处于对应工作状态的报错状态。Based on the working state of the water supply and drainage module and the water supply and drainage module being in an error state, it is determined that the water supply and drainage module is in an error state corresponding to the working state.
根据权利要求8所述的方法，其中，所述基于所述上下水模块的工作状态和所述上下水模块处于报错状态，确定所述上下水模块处于对应工作状态的报错状态，包括：The method according to claim 8, wherein the water supply and drainage module is determined to be in an error state corresponding to the working state based on the working state of the water supply and drainage module and the water supply and drainage module being in an error state, include:

当检测到所述上下水模块处于所述第一工作状态的进水状态时，并进一步确认所述上下水模块处于报错状态时，确定所述上下水模块处于与所述进水状态相关联的所述第一工作状态的第一报错状态。When it is detected that the water supply and drainage module is in the water inflow state of the first working state, and it is further confirmed that the water supply and drainage module is in an error state, it is determined that the water supply and drainage module is in the first error state of the first working state associated with the water inflow state.
根据权利要求8所述的方法，其中，所述基于所述上下水模块的工作状态和所述上下水模块处于报错状态，确定所述上下水模块处于对应工作状态的报错状态，包括：The method according to claim 8, wherein, based on the working state of the water supply and drainage module and the water supply and drainage module being in an error state, determining that the water supply and drainage module is in an error state corresponding to the working state comprises:

当检测到所述上下水模块处于第二工作状态的排污状态时，并进一步确认所述上下水模块处于报错状态时，确定所述上下水模块处于与所述排污状态相关联的所述第二工作状态的第二报错状态。When it is detected that the water supply and drainage module is in the sewage discharge state of the second working state, and it is further confirmed that the water supply and drainage module is in the error state, it is determined that the water supply and drainage module is in the second error state of the second working state associated with the sewage discharge state.
根据权利要求9或10所述的方法，其中，所述确定所述上下水模块是否处于报错状态，包括：The method according to claim 9 or 10, wherein determining whether the water supply and discharge module is in an error state comprises:

所述第二电流值为多个；当所述多个第二电流值均小于预设限值时，当任一第二电流值大于预设超常阈值时，确定所述任一第二电流值为超常电流值；当所述多个第二电流值中超常电流值的数量大于预设超常数量阈值时，确定所述上下水模块处于报错状态。There are multiple second current values; when the multiple second current values are all smaller than the preset limit value, when any second current value is greater than the preset abnormal threshold value, it is determined that any second current value is an abnormal current value; when the number of abnormal current values among the multiple second current values is greater than the preset abnormal number threshold, it is determined that the water supply and drainage module is in an error state.
根据权利要求6所述的方法，所述方法还包括：The method according to claim 6, further comprising:

当检测到所述上下水模块首次进入待机状态时，将调整信号发送至自动清洁设备，触发所述自动清洁设备调整控制基座的洗布策略，以适应配套新装的上下水模块。When it is detected that the water up/down water module enters the standby state for the first time, an adjustment signal is sent to the automatic cleaning device, triggering the automatic cleaning device to adjust the cloth washing strategy of the control base to adapt to the newly installed water up/down water module.
根据权利要求7所述的方法，所述方法还包括：The method according to claim 7, further comprising:

响应于接收到自动清洁设备的自检信号，基于上下模块的状态对所述上下水模块进行自检。In response to receiving a self-check signal from the automatic cleaning device, the upper and lower water modules are self-checked based on the status of the upper and lower modules.
根据权利要求13所述的方法，所述方法还包括：The method according to claim 13, further comprising:

响应于接收到所述自动清洁设备的自检信号，触发所述上下水模块进入初始化状态。In response to receiving the self-test signal of the automatic cleaning device, the water supply and drainage module is triggered to enter an initialization state.
根据权利要求14所述的方法，其中，The method according to claim 14, wherein

所述初始化状态包括所述上下水模块中的清水箱处于注满状态；The initialization state includes the clean water tank in the water supply and discharge module being filled;

所述方法还包括：The method further comprises:

当所述上下水模块中的清水箱处于注满状态后，响应于接收到所述自动清洁设备的供水信号，控制所述上下水模块的清水箱向清水仓供水；When the clean water tank in the water up/down module is filled, in response to receiving a water supply signal from the automatic cleaning device, the clean water tank in the water up/down module is controlled to supply water to the clean water tank;

在供水量达到第一预设水量后，当检测到所述上下水模块进入第一工作状态时，确定所述清水箱内的缺水浮球工作正常。After the water supply reaches the first preset water volume, when it is detected that the water supply and discharge modules enter the first working state, it is determined that the water shortage float in the clean water tank is working normally.
根据权利要求15所述的方法，其中，The method according to claim 15, wherein

所述初始化状态还包括所述上下水模块中的污水箱处于排空状态； The initialization state also includes the sewage tank in the upper and lower water modules being in an empty state;

所述方法还包括：The method further comprises:

当所述上下水模块中的污水箱处于排空状态后，响应于接收到所述自动清洁设备的排污信号，将所述清水仓中的污水排入所述污水箱；When the sewage tank in the upper and lower water modules is in an empty state, in response to receiving a sewage discharge signal from the automatic cleaning device, the sewage in the clean water tank is discharged into the sewage tank;

在排污量达到第二预设水量后，当检测到所述上下水模块进入第二工作状态时，确定所述污水箱内的第一水满浮球工作正常。After the sewage discharge volume reaches the second preset water volume, when it is detected that the water inlet and outlet modules enter the second working state, it is determined that the first water-full float in the sewage tank is working normally.
根据权利要求16所述的方法，所述方法还包括：在确认所述清水箱内的缺水浮球工作正常，所述污水箱内的第一水满浮球工作正常，以及上下水模块未处于报错状态时，确定所述上下水模块进行自检通过。According to the method of claim 16, the method further comprises: upon confirming that the water shortage float in the clean water tank is operating normally, the first water full float in the sewage tank is operating normally, and the upper and lower water modules are not in an error state, determining that the upper and lower water modules have passed self-inspection.
根据权利要求1所述的方法，所述方法还包括：The method according to claim 1, further comprising:

将所述工作状态传送至自动清洁设备。The working status is transmitted to the automatic cleaning device.
一种清洗***，包括：自动清洁设备、基座和上下水模块，所述基座为配套安装的所述上下水模块供电；A cleaning system, comprising: an automatic cleaning device, a base and a water up/down module, wherein the base supplies power to the water up/down module;

所述基座，配置为：The base is configured as follows:

获取基座为上下水模块供电的第一电流值；Obtain a first current value of the base supplying power to the water supply and drainage modules;

基于所述第一电流值确定所述上下水模块的工作状态。The working state of the water supply and drainage module is determined based on the first current value.
根据权利要求19所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 19, wherein the base is further configured as:

当所述第一电流值在预设第一限制值范围内时，确定所述上下水模块处于第一工作状态的进排水状态。When the first current value is within a preset first limit value range, it is determined that the water supply and discharge module is in a first working state.
根据权利要求20所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 20, wherein the base is further configured as:

当确定所述上下水模块处于所述第一工作状态的进排水状态之后获得的第一电流值在预设第二限制值范围内时，确定所述上下水模块处于所述第一工作状态的进水状态，其中，预设第二限制值范围的最大值小于预设第一限制值范围的最小值。When it is determined that the first current value obtained after the water supply and discharge state of the water supply and discharge module is in the first working state is within the preset second limit value range, it is determined that the water supply and discharge module is in the water supply state of the first working state, wherein the maximum value of the preset second limit value range is less than the minimum value of the preset first limit value range.
根据权利要求21所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 21, wherein the base is further configured as:

当确定所述上下水模块处于所述第一工作状态的进水状态之后获得的第一电流值在预设第三限制值范围内时，确定所述上下水模块处于所述第一工作状态的加清洁液状态，其中，预设第三限制值范围的最大值小于预设第二限制值范围的最小值。When it is determined that the first current value obtained after the water supply and drainage module is in the water filling state of the first working state is within the preset third limit value range, it is determined that the water supply and drainage module is in the cleaning liquid adding state of the first working state, wherein the maximum value of the preset third limit value range is less than the minimum value of the preset second limit value range.
根据权利要求20所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 20, wherein the base is further configured as:

当确定所述上下水模块未处于所述第一工作状态时，当所述第一电流值在预设第四限制值范围内时，确定所述上下水模块处于第二工作状态的排污状态，其中，预设第四限制值范围的最大值小于预设第一限制值范围的最小值。When it is determined that the water supply and drainage module is not in the first working state, and when the first current value is within the preset fourth limit value range, it is determined that the water supply and drainage module is in the sewage discharge state of the second working state, wherein the maximum value of the preset fourth limit value range is less than the minimum value of the preset first limit value range.
根据权利要求20至23中任一项所述的清洗***，其中，所述基座还被配置为：The cleaning system according to any one of claims 20 to 23, wherein the base is further configured as:

当所述第一电流值在预设第五限制值范围内时，确定所述上下水模块处于待机状态，其中，预设第五限制值范围的最大值小于预设第三限制值范围的最小值，且小于预设第四限制值范围的最小值。When the first current value is within a preset fifth limit value range, it is determined that the water supply and discharge module is in a standby state, wherein the maximum value of the preset fifth limit value range is less than the minimum value of the preset third limit value range, and is smaller than the minimum value of the preset fourth limit value range.
根据权利要求20至24中任一项所述的清洗***，其中，所述基座还被配置为：The cleaning system according to any one of claims 20 to 24, wherein the base is further configured as:

获取预设时间段内基座为上下水模块供电的第二电流值；Obtain a second current value of the base supplying power to the water supply and drainage module within a preset time period;

基于所述第二电流值确定所述上下水模块是否处于报错状态。Based on the second current value, it is determined whether the water supply and drainage module is in an error state.
根据权利要求25所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 25, wherein the base is further configured as:

基于所述上下水模块的工作状态和所述上下水模块处于报错状态，确定所述上下水模块处于对应工作状态的报错状态。Based on the working state of the water supply and drainage module and the water supply and drainage module being in an error state, it is determined that the water supply and drainage module is in an error state corresponding to the working state.
根据权利要求26所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 26, wherein the base is further configured as:

当检测到所述上下水模块处于所述第一工作状态的进水状态时，并进一步确认所述上下水模块处于报错状态时，确定所述上下水模块处于与所述进水状态相关联的所述第一工作状态的第一报错状态。When it is detected that the water supply and drainage module is in the water inflow state of the first working state, and it is further confirmed that the water supply and drainage module is in an error state, it is determined that the water supply and drainage module is in the first error state of the first working state associated with the water inflow state.
根据权利要求26所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 26, wherein the base is further configured as:

当检测到所述上下水模块处于第二工作状态的排污状态时，并进一步确认所述上下水模块处于报错状态时，确定所述上下水模块处于与所述排污状态相关联的所述第二工作状态的第二报错状态。When it is detected that the water supply and drainage module is in the sewage discharge state of the second working state, and it is further confirmed that the water supply and drainage module is in the error state, it is determined that the water supply and drainage module is in the second error state of the second working state associated with the sewage discharge state.
根据权利要求27或28所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 27 or 28, wherein the base is further configured as:

所述第二电流值为多个；当所述多个第二电流值均小于预设限值时，当任一第二电流值大于预设超常阈值时，确定所述任一第二电流值为超常电流值；当所述多个第二电流值中超常电流值的数量大于预设超常数量阈值时，确定所述上下水模块处于报错状态。There are multiple second current values; when the multiple second current values are all smaller than the preset limit value, when any second current value is greater than the preset abnormal threshold value, it is determined that any second current value is an abnormal current value; when the number of abnormal current values among the multiple second current values is greater than the preset abnormal number threshold, it is determined that the water supply and drainage module is in an error state.
根据权利要求24所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 24, wherein the base is further configured as:

当检测到所述上下水模块首次进入待机状态时，将调整信号发送至自动清洁设备，触发所述自动清洁设备调整控制基座的洗布策略，以适应配套新装的上下水模块。When it is detected that the water up/down water module enters the standby state for the first time, an adjustment signal is sent to the automatic cleaning device, triggering the automatic cleaning device to adjust the cloth washing strategy of the control base to adapt to the newly installed water up/down water module.
根据权利要求25所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 25, wherein the base is further configured as:

响应于接收到自动清洁设备的自检信号，基于上下模块的状态对所述上下水模块进行自检。In response to receiving a self-check signal from the automatic cleaning device, a self-check is performed on the upper and lower water modules based on the status of the upper and lower modules.
根据权利要求31所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 31, wherein the base is further configured as:

响应于接收到所述自动清洁设备的自检信号，触发所述上下水模块进入初始化状态。In response to receiving the self-test signal of the automatic cleaning device, the water supply and drainage module is triggered to enter an initialization state.
根据权利要求32所述的清洗***，其中，所述初始化状态包括所述上下水模块中的清水箱处于注满状态，所述基座还被配置为：The cleaning system according to claim 32, wherein the initialization state includes the clean water tank in the upper and lower water modules being filled, and the base is further configured as:

当所述上下水模块中的清水箱处于注满状态后，响应于接收到所述自动清洁设备的供水信号，控制所述上下水模块的清水箱向清水仓供水； When the clean water tank in the water up/down module is filled, in response to receiving a water supply signal from the automatic cleaning device, the clean water tank in the water up/down module is controlled to supply water to the clean water tank;

在供水量达到第一预设水量后，当检测到所述上下水模块进入第一工作状态时，确定所述清水箱内的缺水浮球工作正常。After the water supply reaches the first preset water volume, when it is detected that the water supply and discharge modules enter the first working state, it is determined that the water shortage float in the clean water tank is working normally.
根据权利要求33所述的清洗***，其中，所述初始化状态还包括所述上下水模块中的污水箱处于排空状态，所述基座还被配置为：The cleaning system according to claim 33, wherein the initialization state further comprises the sewage tank in the upper and lower water modules being in an empty state, and the base is further configured as:

当所述上下水模块中的污水箱处于排空状态后，响应于接收到所述自动清洁设备的排污信号，将所述清水仓中的污水排入所述污水箱；When the sewage tank in the upper and lower water modules is in an empty state, in response to receiving a sewage discharge signal from the automatic cleaning device, the sewage in the clean water tank is discharged into the sewage tank;

在排污量达到第二预设水量后，当检测到所述上下水模块进入第二工作状态时，确定所述污水箱内的第一水满浮球工作正常。After the sewage discharge volume reaches the second preset water volume, when it is detected that the water inlet and outlet modules enter the second working state, it is determined that the first water-full float in the sewage tank is working normally.
根据权利要求34所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 34, wherein the base is further configured as:

在确认所述清水箱内的缺水浮球工作正常，所述污水箱内的第一水满浮球工作正常，以及上下水模块未处于报错状态时，确定所述上下水模块进行自检通过。When it is confirmed that the water shortage float in the clean water tank works normally, the first water full float in the sewage tank works normally, and the upper and lower water modules are not in an error state, it is determined that the upper and lower water modules have passed the self-inspection.
根据权利要求19所述的清洗***，其中，所述基座还被配置为：The cleaning system according to claim 19, wherein the base is further configured as:

将所述工作状态传送至自动清洁设备。The working status is transmitted to the automatic cleaning device.
一种自动清洁设备的基座，包括处理器和存储器，其中，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现如权利要求1至18中任一所述的方法步骤。A base for an automatic cleaning device comprises a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the method steps described in any one of claims 1 to 18 are implemented.
一种非瞬时性计算机可读存储介质，其中，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如权利要求1至18中任一所述的方法步骤。 A non-transitory computer-readable storage medium, wherein computer program instructions are stored, and when the computer program instructions are called and executed by a processor, the method steps according to any one of claims 1 to 18 are implemented.