CN108968818B - Storage method, system, device and storable medium for cleaning appliances - Google Patents

Abstract

The invention relates to a storage method, system, equipment and storable medium for cleaning electrical appliances, belonging to the technical field of cleaning. A first activation signal is sent to a first positioning sensor, and a first response signal returned by the first positioning sensor is used to locate the The sensor performs positioning. Since the first positioning sensor is set on the object to be stored in the current working area, the current position of the object to be stored can be obtained. When the current position is different from the preset position, it indicates that the object to be stored is not in the original position. The object to be stored can be moved to a preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

Description

Storage method, system, device and storable medium for cleaning appliances

technical field

The present invention relates to the field of cleaning technology, and in particular, to a storage method, system, device and storage medium for cleaning electrical appliances.

Background technique

With the continuous improvement of living standards and scientific and technological level, people are more and more like to pursue a convenient and intelligent life, which has spawned many automation products that can bring convenience to people's lives, and cleaning appliances have also emerged as the times require, such as sweepers. , sweeping robot, etc.

Taking the sweeper as an example, at present, the sweeper on the market completes the sweeping function through the running trajectory generated by the back-and-forth collision, and generally only can achieve the sweeping function. During the cleaning process, due to the continuous collision, the objects are placed in a mess, affecting the impact. The cleaning effect of the sweeper.

Cleaning appliances will generally make objects cluttered, affecting the cleaning effect of cleaning appliances.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a storage method, system, device and storable medium for cleaning electrical appliances in order to solve the problems that the traditional cleaning electrical appliances make objects cluttered and the cleaning effect of the cleaning electrical appliances is poor during the cleaning process.

A storage method for cleaning electrical appliances, comprising the following steps:

Send the first activation signal to the first positioning sensor, and receive the first response signal returned by the first positioning sensor, wherein the first positioning sensor is arranged on the object to be stored in the current working area, and the first activation signal is generated by the cleaning appliance ;

The current position of the object to be accommodated is determined according to the first response signal, and if the current position is different from the preset position, the object to be accommodated is moved to the preset position.

According to the above-mentioned storage method for cleaning appliances, it sends the first activation signal to the first positioning sensor, and uses the first response signal returned by the first positioning sensor to position the first positioning sensor. Since the first positioning sensor is set in the current working area Therefore, the current position of the object to be stored can be obtained. When the current position is different from the preset position, it indicates that the object to be stored is not in the original position, and the object to be stored can be moved to the preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

In one of the embodiments, the storage method of the cleaning appliance further comprises the following steps:

sending a second activation signal to the second positioning sensor, and receiving a second response signal returned by the second positioning sensor, wherein the second positioning sensor is set at a specified position, and the second activation signal is generated by the cleaning appliance;

The preset position is determined according to the second response signal.

In one of the embodiments, the storage method of the cleaning appliance further comprises the following steps:

Send a third activation signal to each third positioning sensor, and receive a third response signal returned by each third positioning sensor, wherein each third positioning sensor is arranged in each working area of the cleaning appliance, and the third activation signal is generated by the cleaning appliance. produce;

Acquiring the initial position of the cleaning appliance according to the third activation signal, each third response signal and the position of each third positioning sensor;

The step of moving the object to be stored to the preset position includes the following steps:

The first movement route is acquired according to the initial position, the current position of the object to be stored, and the preset position, and the object to be stored is moved to the preset position according to the first movement route.

In one embodiment, the object to be stored includes a garbage storage device, and the storage method further includes the following steps:

After the cleaning of the current work area is completed, the cleaning waste is packaged in a garbage bag, and the garbage bag is transferred to the garbage storage device.

In one of the embodiments, the storage method of the cleaning appliance further comprises the following steps:

Determine the current working area of the cleaning appliance and the working area to be accommodated according to each third response signal;

After the storage of the current work area is completed, the exit position of the current work area is obtained, the entrance position of the work area to be stored is obtained, the second movement route is obtained according to the preset position, the exit position and the entrance position, and the cleaning appliance is driven to move along the second Route into the work area to be stored.

In one of the embodiments, the step of determining the current working area of the cleaning appliance and the working area to be accommodated according to each third response signal includes the following steps:

Sort each third positioning sensor according to each third response signal to obtain a sorting sequence, obtain the sorting relationship of each working area according to the relationship between the third positioning sensor and the working area and the sorting sequence, and determine the current work of the cleaning appliance according to the sorting relationship area and the work area to be accommodated.

In one of the embodiments, the step of sorting the third positioning sensors according to the third response signals includes the following steps:

Sort each third positioning sensor according to the signal property of each third response signal; wherein, the signal property includes signal strength or signal reception time;

The step of determining the current working area of the cleaning appliance and the working area to be accommodated according to the sorting relationship includes the following steps:

The first-ranked work area is used as the current work area of the cleaning appliance, and the second-ranked work area is used as the work area to be accommodated.

In one of the embodiments, the step of determining the current working area of the cleaning appliance and the working area to be accommodated according to the sorting relationship includes the following steps:

If the determined work area to be accommodated has been accommodated, the next work area in the ranking is selected as the work area to be accommodated.

In one of the embodiments, the step of obtaining the exit position of the current working area includes the following steps:

acquiring the position of the fourth positioning sensor, wherein the fourth positioning sensor is located at the exit of the current working area of the cleaning appliance;

Determine the exit position according to the position of the fourth positioning sensor;

The step of obtaining the entrance location of the work area to be accommodated includes the following steps:

acquiring the position of the fifth positioning sensor, wherein the fifth positioning sensor is located at the entrance of the work area to be accommodated;

The location of the entrance is determined based on the location of the fifth positioning sensor.

In one of the embodiments, the storage method of the cleaning appliance further comprises the following steps:

Record the work area that has been accommodated, and judge whether the current work area is the last work area to be accommodated according to the work area that has been accommodated;

If so, after the storage of the current work area is completed, a fourth activation signal is sent to each third positioning sensor, and each fourth response signal is received, and each fourth response signal is a signal returned by each third positioning sensor according to the fourth activation signal;

Acquire the current position of the cleaning appliance according to the fourth activation signal, the fourth response signal and the position of each third positioning sensor;

The preset position of the charging pile is acquired, the third moving route is acquired according to the current position of the cleaning appliance and the preset position of the charging pile, and the cleaning appliance is driven to move along the third moving route to the position of the charging interface of the charging pile.

A storage system for cleaning electrical appliances, comprising:

a signal sending unit, configured to send a first activation signal to the first positioning sensor, wherein the first positioning sensor is arranged on the object to be stored in the current working area, and the first activation signal is generated by the cleaning appliance;

a signal receiving unit, configured to receive the first response signal returned by the first positioning sensor;

a signal processing unit, configured to determine the current position of the object to be accommodated according to the first response signal;

The movement control unit is used for moving the object to be stored to the preset position when the current position is different from the preset position.

According to the above storage system for cleaning appliances, the signal sending unit sends the first activation signal to the first positioning sensor, the signal receiving unit receives the first response signal returned by the first positioning sensor, and the signal processing unit uses the first response signal to respond to the first positioning sensor. For positioning, since the first positioning sensor is set on the object to be stored in the current working area, the current position of the object to be stored can be obtained. When the current position is different from the preset position, it indicates that the object to be stored is not in the original position, and the moving The control unit can move the object to be stored to a preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

In one of the embodiments, the signal sending unit sends a second activation signal to the second positioning sensor, wherein the second positioning sensor is arranged at a specified position, and the second activation signal is generated by the cleaning appliance;

a signal receiving unit, configured to receive the second response signal returned by the second positioning sensor;

The signal processing unit is configured to determine the preset position according to the second response signal.

In one of the embodiments, the signal sending unit sends a third activation signal to each third positioning sensor, wherein each third positioning sensor is arranged in each working area of the cleaning appliance, and the third activation signal is generated by the cleaning appliance;

The signal receiving unit receives the third response signal returned by each third positioning sensor;

The signal processing unit obtains the initial position of the cleaning appliance according to the third activation signal, each third response signal and the position of each third positioning sensor;

The movement control unit acquires a first movement route according to the initial position, the current position of the object to be accommodated and the preset position; and moves the object to be accommodated to the preset position according to the first movement route.

In one embodiment, the object to be accommodated includes a garbage storage device, and the storage system of the cleaning appliance further includes a garbage transfer unit, which is used to encapsulate the cleaning garbage in a garbage bag after completing the cleaning of the current work area, and transfer the garbage bag. into the garbage storage device.

In one of the embodiments, the signal processing unit determines the current working area of the cleaning appliance and the working area to be accommodated according to each third response signal;

After completing the storage of the current working area, the mobile control unit obtains the exit position of the current working area, obtains the entrance position of the working area to be stored, obtains the second moving route according to the preset position, the exit position and the entrance position, and drives the cleaning appliance along the The second movement route enters the work area to be accommodated.

In one embodiment, the signal processing unit sorts each third positioning sensor according to each third response signal to obtain a sorting sequence, and obtains the sorting relationship of each working area according to the association relationship between the third positioning sensor and the working area and the sorting sequence , and determine the current working area of the cleaning appliance and the working area to be accommodated according to the sorting relationship.

In one of the embodiments, the signal processing unit sorts the third positioning sensors according to the signal properties of the third response signals; the first-ranked working area is used as the current working area of the cleaning appliance, and the second-ranked working area is used as the current working area of the cleaning appliance. As a work area to be accommodated; wherein, the signal properties include signal strength or signal reception time.

In one of the embodiments, when the determined work area to be accommodated has been accommodated, the signal processing unit selects the next ranked work area as the work area to be accommodated.

In one of the embodiments, the mobile control unit obtains the position of the fourth positioning sensor, and determines the exit position according to the position of the fourth positioning sensor; obtains the position of the fifth positioning sensor, and determines the entrance position according to the position of the fifth positioning sensor; wherein, The fourth positioning sensor is located at the exit of the current working area of the cleaning appliance, and the fifth positioning sensor is located at the entrance of the working area of the cleaning appliance to be accommodated.

In one of the embodiments, the storage system of the cleaning appliance further includes a running recording unit for recording the stored working area;

The signal processing unit judges whether the current working area is the last working area to be accommodated according to the accommodated working area;

When the signal processing unit determines that the current work area is the last work area to be accommodated, the signal transmission unit sends a fourth activation signal to each of the third positioning sensors after the cleaning appliance completes the accommodation of the current work area, and the signal reception unit receives each Four response signals, each fourth response signal is a signal returned by each third positioning sensor according to the fourth activation signal;

The signal processing unit acquires the current position of the cleaning appliance according to the fourth activation signal, the fourth response signal and the position of each third positioning sensor;

The mobile control unit acquires the preset position of the charging pile, acquires a third movement route according to the current position of the cleaning appliance and the preset position of the charging pile, and drives the cleaning appliance to move along the third movement route to the position of the charging interface of the charging pile.

A cleaning device includes a cleaning appliance and a first positioning sensor;

The cleaning appliance sends the first activation signal to the first positioning sensor, and receives the first response signal returned by the first positioning sensor, wherein the first positioning sensor is arranged on the object to be stored in the current working area;

The cleaning appliance determines the current position of the object to be accommodated according to the first response signal, and moves the object to be accommodated to the preset position if the current position is different from the preset position.

In the above cleaning equipment, the cleaning appliance sends the first activation signal to the first positioning sensor, and uses the first response signal returned by the first positioning sensor to position the first positioning sensor. Therefore, the current position of the object to be stored can be obtained. When the current position is different from the preset position, it indicates that the object to be stored is not in the original position, and the object to be stored can be moved to the preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

A readable storage medium on which an executable program is stored, when the program is executed by a processor, implements the steps of the above method for moving a cleaning appliance.

The above-mentioned readable storage medium, through the executable program stored therein, realizes the acquisition of the current position of the object to be accommodated, and when the current position is different from the preset position, it indicates that the object to be accommodated is not in the original position, and the object to be accommodated can be moved to Preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

Description of drawings

Fig. 1 is the application scene diagram of the storage method of the cleaning appliance in one embodiment;

2 is a schematic flowchart of a storage method for cleaning electrical appliances in one embodiment;

3 is a schematic flowchart of a method for storing a cleaning appliance in another embodiment;

4 is a schematic diagram of a cleaning appliance entering a work area to be accommodated from a current work area in an embodiment;

FIG. 5 is a schematic diagram of a cleaning appliance moving from a current working area to a charging pile in one embodiment;

6 is a schematic structural diagram of a storage system for cleaning appliances in one embodiment;

7 is a schematic structural diagram of a storage system for cleaning electrical appliances in another embodiment;

8 is a schematic structural diagram of a storage system for cleaning electrical appliances in yet another embodiment;

FIG. 9 is a schematic structural diagram of a cleaning device in one embodiment;

Figure 10 is a schematic structural diagram of a cleaning device in another embodiment;

11 is a schematic structural diagram of a cleaning device in yet another embodiment;

Fig. 12 is a schematic diagram of a control flow for storage of the sweeper in one embodiment.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and do not limit the protection scope of the present invention.

It should be noted that the term "first\second\third" involved in the embodiments of the present invention is only to distinguish similar objects, and does not represent a specific ordering of objects. It is understandable that "first\second\" "Third" may interchange a specific order or sequence where permitted. It should be understood that the "first\second\third" distinctions may be interchanged under appropriate circumstances to enable the embodiments of the invention described herein to be practiced in sequences other than those illustrated or described herein.

The steps in the embodiments of the present invention are not necessarily executed in sequence, unless there is an explicit description in the text, the execution of these steps is not strictly limited in sequence, and these steps may be executed in other sequences. Moreover, at least a part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution order of these sub-steps or stages is also different. It is necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a portion of sub-steps or stages of other steps.

The storage method of the cleaning appliance provided by the present application can be applied to the application environment shown in FIG. 1 , wherein the cleaning appliance communicates with the positioning sensor through a wireless signal, and the cleaning appliance sends a first activation signal to the first positioning sensor, using The first response signal returned by the first positioning sensor locates the first positioning sensor. Since the first positioning sensor is set on the object to be stored in the current working area, the current position of the object to be stored can be obtained. When the positions are different, it indicates that the object to be stored is not in the original position, and the object to be stored can be moved to the preset position. Among them, the cleaning appliances can be various types and functions of cleaning appliances, such as sweepers, intelligent cleaning robots, etc., the signal is processed by the processor on it, and the signal is transmitted and received through the signal transceiver device; the first positioning The sensor can be, but is not limited to, various sensors that are triggered by wireless signals and feed back the first response signal. The first positioning sensor can be an active or passive sensor, etc. In order to reduce energy consumption and cost, passive sensors can be preferred.

Referring to FIG. 2 , it is a schematic flowchart of the storage method of the cleaning appliance of the present invention. The storage method of the cleaning appliance in this embodiment includes the following steps:

Step S110: Send the first activation signal to the first positioning sensor, and receive the first response signal returned by the first positioning sensor, wherein the first positioning sensor is arranged on the object to be stored in the current working area, and the first activation signal is composed of Clean electrical production;

In this step, the first activation signal is an excitation signal, which is used to trigger the first positioning sensor to enter the working state. After being triggered by the first activation signal, the first positioning sensor can respond immediately, generate a first response signal and return ; The objects to be stored can be objects that are easy to change their position under the collision of cleaning appliances, such as small chairs, plastic stools, trash cans, etc.;

Step S120: determining the current position of the object to be accommodated according to the first response signal;

In this step, the first positioning sensor can be positioned by using the first response signal. Since the first positioning sensor is arranged on the object to be stored in the current working area, the current position of the object to be stored can be obtained;

Step S130: if the current position is different from the preset position, move the object to be stored to the preset position;

In this step, the cleaning appliance can carry the object to be stored for movement.

In this embodiment, the first activation signal is sent to the first positioning sensor, and the first response signal returned by the first positioning sensor is used to position the first positioning sensor. Therefore, the current position of the object to be stored can be obtained. When the current position is different from the preset position, it indicates that the object to be stored is not in the original position, and the object to be stored can be moved to the preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

In one embodiment, as shown in FIG. 3 , the storage method of the cleaning appliance further includes the following steps:

sending a second activation signal to the second positioning sensor, and receiving a second response signal returned by the second positioning sensor, wherein the second positioning sensor is set at a specified position, and the second activation signal is generated by the cleaning appliance;

The preset position is determined according to the second response signal.

In this embodiment, a second positioning sensor may be set at a designated position, and a second response signal may be obtained through a second activation signal, so that a preset position may be determined for comparison with the current position of the object to be accommodated.

In one embodiment, the storage method of the cleaning appliance further comprises the following steps:

Send a third activation signal to each third positioning sensor, and receive a third response signal returned by each third positioning sensor, wherein each third positioning sensor is arranged in each working area of the cleaning appliance, and the third activation signal is generated by the cleaning appliance. produce;

Acquiring the initial position of the cleaning appliance according to the third activation signal, each third response signal and the position of each third positioning sensor;

The step of moving the object to be stored to the preset position includes the following steps:

The first movement route is acquired according to the initial position, the current position of the object to be stored, and the preset position, and the object to be stored is moved to the preset position according to the first movement route.

In this embodiment, a third activation signal can be sent to a third positioning sensor disposed in each working area of the cleaning appliance, and the cleaning appliance can be obtained by using the returned third response signals, the third activation signal, and the position of the third positioning sensor the initial position, and then obtain the first moving route according to the initial position, the current position of the object to be stored and the preset position, the cleaning appliance can smoothly move the object to be stored to the preset position along the first moving route, and solve the problem of cluttered objects. problems, thereby improving the cleaning efficiency of cleaning appliances.

Specifically, along the first movement route, the cleaning appliance may first move from the initial position to the current position of the object to be accommodated, and then transport the object to be accommodated to the preset position.

Optionally, when the initial position of the cleaning appliance is obtained according to the third activation signal, each third response signal and the position of each third positioning sensor, the cleaning appliance and the third positioning can be determined first according to the third activation signal and the third response signal. The relative positional relationship of the sensors, such as the distance value between the cleaning appliance and the third positioning sensor, can be calculated by using the signal transmission time of the third activation signal and the third response signal, or the third activation signal and The distance value is calculated by the signal strength difference of the third response signal. The relationship between the signal strength difference and the distance value can be detected and recorded in advance, and recorded in the relationship table. In practical application, the table is looked up according to the signal strength difference to obtain the distance value; The distance value and the like between the cleaning appliance and the third positioning sensor may also be determined in other different ways. The cleaning appliance is positioned in combination with the position of the third positioning sensor to obtain the initial position.

In one embodiment, the object to be stored includes a garbage storage device, and the storage method further includes the following steps:

After the cleaning of the current work area is completed, the cleaning waste is packaged in a garbage bag, and the garbage bag is transferred to the garbage storage device.

In this embodiment, the object to be accommodated may be a garbage storage device, such as a trash can, etc. Since the garbage storage device moves frequently, it can be stored in a designated position by the cleaning appliance, and the workplace can be cleaned by the cleaning appliance. In the process of cleaning, the collected clean garbage can be packaged with garbage bags and transferred to the garbage storage device, so as to realize the automatic cleaning of garbage by the cleaning appliance.

In one embodiment, the storage method of the cleaning appliance further comprises the following steps:

Determine the current working area of the cleaning appliance and the working area to be accommodated according to each third response signal;

After the storage of the current work area is completed, the exit position of the current work area is obtained, the entrance position of the work area to be stored is obtained, the second movement route is obtained according to the preset position, the exit position and the entrance position, and the cleaning appliance is driven to move along the second Route into the work area to be stored.

In this embodiment, after the storage of the current work area is completed, the work area can be transferred. Determine the current working area of the cleaning appliance and the working area to be accommodated according to each third response signal, and obtain the exit position of the current working area and the entrance position of the working area to be accommodated, so as to obtain the second movement route. The second moving route smoothly enters the working area to be stored. Compared with the random operation mode, the solution of the present invention can solve the problem that the cleaning appliance is difficult to transfer to the working area, thereby storing multiple different working areas and improving the cleaning efficiency of the cleaning appliance.

Further, when the second movement route is obtained from the preset position, the exit position of the current work area, and the entrance position of the work area to be accommodated, a reasonable second movement route can be generated with the help of the plan view information of each work area.

Further, after entering the working area to be accommodated, the working area to be accommodated is the current working area, and the storage process can be performed again on the current working area.

In one embodiment, the step of determining the current working area of the cleaning appliance and the working area to be accommodated according to each third response signal includes the following steps:

Sort each third positioning sensor according to each third response signal to obtain a sorting sequence, obtain the sorting relationship of each working area according to the relationship between the third positioning sensor and the working area and the sorting sequence, and determine the current work of the cleaning appliance according to the sorting relationship area and the work area to be accommodated.

In this embodiment, since the third positioning sensors are arranged in different working areas, the received third response signals will be different. All third positioning sensors can be sorted by using the third response signals. The sensor has an association relationship with the working area, and the sorting relationship of the working area can be obtained through the association relationship, and then the current working area and the working area to be stored of the cleaning appliance can be quickly determined.

In order to distinguish all the third positioning sensors, when the third positioning sensor feeds back the third response signal, the number corresponding to the third positioning sensor may be attached to the third response signal to facilitate identification when calculating the position.

In a specific application, if there are three working areas, namely A, B, and C, there are three third positioning sensors in each working area, namely A1, A2, A3, B1, B2, B3, C1, C2, C3, when all third positioning sensors can be sorted by using each third response signal, the possible sorting sequence is B1, B2, B3, C2, C1, C3, A3, A2, A1, thus the working area can be obtained The sorting relationship is B, C, A, then the current work area is B, and the work area to be stored is C.

In one embodiment, the step of sorting the third positioning sensors according to the third response signals includes the following steps:

Sort each third positioning sensor according to the signal property of each third response signal; wherein, the signal property includes signal strength or signal reception time;

The step of determining the current working area of the cleaning appliance and the working area to be accommodated according to the sorting relationship includes the following steps:

The first-ranked work area is used as the current work area of the cleaning appliance, and the second-ranked work area is used as the work area to be accommodated.

In this embodiment, since the third positioning sensors are arranged in different working areas, the received third response signals will be different, and their signal properties will also be different. Sorting, the higher the sorting, the closer the positioning sensor is to the cleaning appliance, and the closer the corresponding working area is to the cleaning appliance, so that the current working area and the working area to be accommodated can be determined.

Specifically, the signal properties may be, but are not limited to, signal strength, signal reception time, and the like.

Taking the signal strength as an example, the signal strength returned by the third positioning sensor in the same working area is similar, and the signal strength returned by the third positioning sensor in different working areas is quite different. The signal strength can be used to distinguish the third positioning sensor, and then distinguish In the working area, the higher the signal strength, the closer the distance between the third positioning sensor and the cleaning appliance, and the closer the corresponding working area is to the cleaning appliance. The third positioning sensor with the highest signal strength is located in the current working area of the cleaning appliance, sorted in After the current working area is the working area closest to the cleaning appliance, that is, the working area to be accommodated, and the cleaning appliance can perform cleaning work nearby.

Taking the signal receiving time as an example, the signal receiving time returned by the third positioning sensor in the same working area is similar, and the signal receiving time returned by the third positioning sensor in different working areas is quite different. Distinguish, and then distinguish the work area, the earlier the signal reception time, the closer the distance between the third positioning sensor and the cleaning appliance, the closer the corresponding work area and the cleaning appliance, the positioning sensor with the earliest signal reception time is located in the current work of the cleaning appliance The area that is sorted after the current work area is the work area closest to the cleaning appliance, that is, the work area to be accommodated, and the cleaning appliance can perform cleaning work nearby.

In one embodiment, the step of determining the current working area of the cleaning appliance and the working area to be accommodated according to the sorting relationship includes the following steps:

If the determined work area to be accommodated has been accommodated, the next work area in the ranking is selected as the work area to be accommodated.

In this embodiment, when the cleaning appliance enters multiple work areas, it may happen that the work area to be accommodated has already been accommodated. In this case, the work area to be accommodated can be selected as the work area to be accommodated. , so that the cleaning of all work areas can be successfully completed, avoiding repeated storage and saving resources.

In one embodiment, as shown in FIG. 4 , the step of obtaining the exit position of the current working area includes the following steps:

acquiring the position of the fourth positioning sensor, wherein the fourth positioning sensor is located at the exit of the current working area of the cleaning appliance;

Determine the exit position according to the position of the fourth positioning sensor;

The step of obtaining the entrance location of the work area to be accommodated includes the following steps:

acquiring the position of the fifth positioning sensor, wherein the fifth positioning sensor is located at the entrance of the work area to be accommodated;

The location of the entrance is determined based on the location of the fifth positioning sensor.

In this embodiment, the position of the exit is determined by the fourth positioning sensor disposed at the exit of the current work area, and the position of the entrance is determined by the fifth positioning sensor disposed at the entrance of the work area to be stored, and the fourth positioning sensor is used to determine the position of the exit. The position of the fifth positioning sensor and the position of the fifth positioning sensor can be saved in advance, and the second movement route of the cleaning appliance transfer working area can be specifically planned through the exit position, the entrance position and the preset position of the object to be stored. Moving along the second moving route can smoothly leave the current work area and enter the work area to be accommodated, thereby ensuring that the cleaning appliance transfers the work area.

Specifically, the fourth positioning sensor can be set on the ground at the exit of the current working area, or on both sides of the exit. When set on both sides of the exit, the center position of the exit can be determined according to the positions of the fourth positioning sensors on both sides, and the The center position is used as the exit position; the fifth positioning sensor can be set on the ground at the entrance of the work area to be stored, or on both sides of the entrance. When set on both sides of the entrance, the position of the entrance can be determined according to the positions of the fifth positioning sensors on both sides. The center position, which is used as the entrance position. When generating the second movement route, the shortest second movement route may be used to shorten the movement time. Both the fourth positioning sensor and the fifth positioning sensor belong to the third positioning sensor in the working area.

In one embodiment, as shown in FIG. 5 , the storage method of the cleaning appliance further includes the following steps:

Record the work area that has been accommodated, and judge whether the current work area is the last work area to be accommodated according to the work area that has been accommodated;

If so, after the storage of the current work area is completed, a fourth activation signal is sent to each third positioning sensor, and each fourth response signal is received, and each fourth response signal is a signal returned by each third positioning sensor according to the fourth activation signal;

Acquire the current position of the cleaning appliance according to the fourth activation signal, the fourth response signal and the position of each third positioning sensor;

The preset position of the charging pile is acquired, the third moving route is acquired according to the current position of the cleaning appliance and the preset position of the charging pile, and the cleaning appliance is driven to move along the third moving route to the position of the charging interface of the charging pile.

In this embodiment, after the cleaning appliance completes the storage of the working area, the stored working area is recorded. Since the total number of working areas is generally fixed, the current work can be judged according to the recorded stored working area during the moving process. Whether the area is the last work area to be stored, if so, the cleaning appliance can be positioned after the storage work is completed, and the third moving route can be obtained according to the preset position of the charging pile, and the cleaning appliance can be driven to move along the third moving route to The position of the charging interface of the charging pile enables the cleaning appliance to be charged in time after the cleaning work is completed for the next use.

Specifically, the fourth activation signal is sent to the positioning sensor, the fourth response signal is received, and the current position of the cleaning appliance is obtained according to the fourth activation signal, the fourth response signal and the position of the third positioning sensor; The current position of the electrical appliance obtains a third moving route, and along the third moving route, the cleaning electrical appliance can be moved to the charging pile for charging, and the charging pile can use the contact wireless charging method to charge the cleaning electrical appliance.

Further, the position of the fourth positioning sensor arranged at the exit of the current working area can also be obtained, the exit position of the current working area can be determined according to the position, and the exit route can be obtained in combination with the current position of the cleaning appliance, so that the cleaning appliance can be cleaned after the cleaning is completed. , you can leave the current working area first, and then combine the exit position and the preset position of the charging pile to get the forward route, so that the cleaning appliance can smoothly go to the charging pile for charging.

It should be noted that the fourth positioning sensor disposed at the exit of the current working area can be used not only to locate the cleaning appliance, but also to determine the position of the exit of the current working area; the fourth positioning sensor may be disposed on both sides of the exit , when the exit position is actually determined, the midpoint of the line connecting the positions of the fourth positioning sensors on both sides of the exit can be used as the exit position, or the position at 1/3 of the line can be set as the exit position. Storage is required.

According to the above-mentioned storage method for cleaning electrical appliances, an embodiment of the present invention further provides a storage system for cleaning electrical appliances. The following describes the embodiments of the storage system for cleaning electrical appliances in detail.

Referring to FIG. 6 , it is a schematic structural diagram of a storage system of a cleaning appliance according to an embodiment. The storage system of the cleaning appliance in this embodiment includes:

a signal sending unit 210, configured to send a first activation signal to a first positioning sensor, wherein the first positioning sensor is arranged on the object to be stored in the current working area, and the first activation signal is generated by the cleaning appliance;

a signal receiving unit 220, configured to receive the first response signal returned by the first positioning sensor;

a signal processing unit 230, configured to determine the current position of the object to be accommodated according to the first response signal;

The movement control unit 240 is configured to move the object to be stored to the preset position when the current position is different from the preset position.

In this embodiment, the signal sending unit 210 sends the first activation signal to the first positioning sensor, the signal receiving unit 220 receives the first response signal returned by the first positioning sensor, and the signal processing unit 230 uses the first response signal to perform the first positioning The sensor performs positioning. Since the first positioning sensor is set on the object to be stored in the current working area, the current position of the object to be stored can be obtained. When the current position is different from the preset position, it indicates that the object to be stored is not in the original position. The movement control unit 240 may move the object to be accommodated to a preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

In one embodiment, the signal sending unit 210 sends a second activation signal to the second positioning sensor, wherein the second positioning sensor is set at a specified position, and the second activation signal is generated by the cleaning appliance;

a signal receiving unit 220, configured to receive a second response signal returned by the second positioning sensor;

The signal processing unit 230 is configured to determine the preset position according to the second response signal.

In one embodiment, the signal sending unit 210 sends a third activation signal to each third positioning sensor, wherein each third positioning sensor is arranged in each working area of the cleaning appliance, and the third activation signal is generated by the cleaning appliance;

The signal receiving unit 220 receives the third response signal returned by each third positioning sensor;

The signal processing unit 230 obtains the initial position of the cleaning appliance according to the third activation signal, each third response signal and the position of each third positioning sensor;

The movement control unit 240 acquires a first movement route according to the initial position, the current position of the object to be accommodated and the preset position; and moves the object to be accommodated to the preset position according to the first movement route.

In one embodiment, as shown in FIG. 7 , the object to be accommodated includes a garbage storage device, and the storage system of the cleaning appliance further includes a garbage transfer unit 250 for packaging the cleaning garbage in a garbage bag after the cleaning of the current work area is completed. , transfer the garbage bag to the garbage storage device.

In one embodiment, the signal processing unit 230 determines the current working area of the cleaning appliance and the working area to be accommodated according to each third response signal;

After completing the storage of the current work area, the movement control unit 240 obtains the exit position of the current work area, obtains the entrance position of the work area to be stored, obtains the second movement route according to the preset position, the exit position and the entrance position, and drives the cleaning appliance. Enter the work area to be stored along the second movement route.

In one embodiment, the signal processing unit 230 sorts each third positioning sensor according to each third response signal to obtain a sorting sequence, and obtains the sorting relationship of each working area according to the association relationship between the third positioning sensor and the working area and the sorting sequence , and determine the current working area of the cleaning appliance and the working area to be accommodated according to the sorting relationship.

In one embodiment, the signal processing unit 230 sorts the third positioning sensors according to the signal properties of the third response signals; the first-ranked working area is used as the current working area of the cleaning appliance, and the second-ranked working area is used as the current working area of the cleaning appliance. As a work area to be accommodated; wherein, the signal properties include signal strength or signal reception time.

In one embodiment, when the determined work area to be accommodated has been accommodated, the signal processing unit 230 selects the next ranked work area as the work area to be accommodated.

In one embodiment, the mobile control unit 240 obtains the position of the fourth positioning sensor, and determines the exit position according to the position of the fourth positioning sensor; obtains the position of the fifth positioning sensor, and determines the entrance position according to the position of the fifth positioning sensor; wherein, The fourth positioning sensor is located at the exit of the current working area of the cleaning appliance, and the fifth positioning sensor is located at the entrance of the working area of the cleaning appliance to be accommodated.

In one embodiment, as shown in FIG. 8 , the storage system for cleaning appliances further includes an operation recording unit 260 for recording the stored working area;

The signal processing unit 230 judges whether the current work area is the last work area to be accommodated according to the accommodated work area;

When the signal processing unit 230 determines that the current work area is the last work area to be accommodated, the signal transmission unit 210 transmits a fourth activation signal to each third positioning sensor after the cleaning appliance completes the accommodation of the current work area, and the signal reception unit 220 receiving each fourth response signal, where each fourth response signal is a signal returned by each third positioning sensor according to the fourth activation signal;

The signal processing unit 230 obtains the current position of the cleaning appliance according to the fourth activation signal, the fourth response signal and the position of each third positioning sensor;

The movement control unit 240 obtains the preset position of the charging pile, obtains a third movement route according to the current position of the cleaning appliance and the preset position of the charging pile, and drives the cleaning appliance to move to the charging interface position of the charging pile along the third movement route.

The storage system for cleaning appliances in the embodiment of the present invention corresponds to the storage method for cleaning appliances above. The technical features and beneficial effects described in the embodiments of the storage method for cleaning appliances are all applicable to the embodiments of the storage system for cleaning appliances. middle.

According to the above-mentioned storage method of a cleaning appliance, an embodiment of the present invention further provides a cleaning device, and embodiments of the cleaning device are described in detail below.

Referring to FIG. 9 , it is a schematic structural diagram of a cleaning device according to an embodiment. The cleaning device in this embodiment includes a cleaning appliance 310 and a first positioning sensor 320;

The cleaning appliance 310 sends the first activation signal to the first positioning sensor 320, and receives the first response signal returned by the first positioning sensor 320, wherein the first positioning sensor 320 is arranged on the object to be stored in the current working area;

The cleaning appliance 310 determines the current position of the object to be accommodated according to the first response signal, and moves the object to be accommodated to the preset position if the current position is different from the preset position.

In the above cleaning equipment, the cleaning appliance 310 sends the first activation signal to the first positioning sensor 320, and uses the first response signal returned by the first positioning sensor 320 to position the first positioning sensor 320. Since the first positioning sensor 320 is set in the current working Therefore, the current position of the object to be stored can be obtained. When the current position is different from the preset position, it indicates that the object to be stored is not in the original position, and the object to be stored can be moved to the preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

In one embodiment, as shown in FIG. 10 , the cleaning device further includes a second positioning sensor 330;

The cleaning appliance 310 sends a second activation signal to the second positioning sensor 330, and receives a second response signal returned by the second positioning sensor 330, wherein the second positioning sensor 330 is set at a specified position, and the second activation signal is generated by the cleaning appliance;

The preset position is determined according to the second response signal.

In one embodiment, as shown in FIG. 11 , the cleaning device further includes a second positioning sensor 340;

Send a third activation signal to each third positioning sensor 340, and receive a third response signal returned by each third positioning sensor 340, wherein each third positioning sensor 340 is arranged in each working area of the cleaning appliance, and the third activation signal is produced by cleaning appliances;

Acquiring the initial position of the cleaning appliance according to the third activation signal, each third response signal and the preset position of each third positioning sensor 340;

The step of moving the object to be stored to the preset position includes the following steps:

The first movement route is acquired according to the initial position, the current position of the object to be stored, and the preset position, and the object to be stored is moved to the preset position according to the first movement route.

In one embodiment, the object to be accommodated includes a garbage storage device. After cleaning the current work area, the cleaning appliance 310 encapsulates the cleaning garbage in a garbage bag, and transfers the garbage bag to the garbage storage device.

In one embodiment, the cleaning appliance 310 determines the current working area and the working area to be accommodated according to each third response signal; after completing the accommodation of the current working area, obtains the exit position of the current working area, and obtains the location of the exit of the working area to be accommodated. For the entrance position, the second moving route is obtained according to the preset position, the exit position and the entrance position, and the working area to be stored is entered along the second moving route.

In one embodiment, the cleaning appliance 310 sorts each third positioning sensor according to each third response signal to obtain a sorting sequence, and obtains the sorting relationship of each working area according to the association relationship between the third positioning sensor 340 and the working area and the sorting sequence , and determine the current working area of the cleaning appliance and the working area to be accommodated according to the sorting relationship.

In one embodiment, the cleaning appliance 310 sorts the third positioning sensors 340 according to the signal properties of the third response signals; the first-ranked working area is used as the current working area of the cleaning appliance, and the second-ranked working area is used as the current working area of the cleaning appliance. As a work area to be accommodated; wherein, the signal properties include signal strength or signal reception time.

In one embodiment, when the determined work area to be accommodated has been accommodated, the cleaning appliance 310 selects the next ranked work area as the work area to be accommodated.

In one embodiment, the cleaning appliance 310 obtains the position of the fourth positioning sensor, and determines the exit position according to the position of the fourth positioning sensor; wherein, the fourth positioning sensor is located at the exit of the current working area of the cleaning appliance;

The cleaning appliance 310 acquires the position of the fifth positioning sensor, and determines the position of the entrance according to the position of the fifth positioning sensor; wherein, the fifth positioning sensor is located at the entrance of the working area to be stored.

In one embodiment, the cleaning appliance 310 records the accommodated work area, and judges whether the current work area is the last work area to be accommodated according to the accommodated work area; The activation signal is sent to each third positioning sensor 340, and each fourth response signal is received, and each fourth response signal is a signal returned by each third positioning sensor 340 according to the fourth activation signal; The position of the third positioning sensor obtains the current position of the cleaning appliance; obtains the preset position of the charging pile, obtains the third moving route according to the current position of the cleaning appliance and the preset position of the charging pile, and moves to the charging pile along the third moving route The location of the charging port.

The cleaning device of the embodiment of the present invention corresponds to the above-mentioned storage method of the cleaning appliance, and the technical features and beneficial effects described in the above-mentioned embodiments of the storage method of the cleaning appliance are applicable to the embodiment of the cleaning device.

A readable storage medium having an executable program stored thereon, when the program is executed by a processor, implements the steps of the above method for storing a cleaning appliance.

The above-mentioned readable storage medium, through the executable program stored therein, realizes the acquisition of the current position of the object to be accommodated, and when the current position is different from the preset position, it indicates that the object to be accommodated is not in the original position, and the object to be accommodated can be moved to Preset position. Through the solution of the present application, the objects whose positions are changed during the cleaning process can be stored and returned, the problem that the objects are placed in disorder during the cleaning process can be solved, and the cleaning effect of the cleaning appliance can be improved.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium, In an embodiment, the program may be stored in a storage medium of a computer system, and executed by at least one processor in the computer system, to implement the processes including the above-described method embodiments. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

In one embodiment, the solution of the present invention can be applied to scenarios such as various types of sweepers, intelligent sweeping robots, and the like. The following takes a general round cake-shaped sweeper as an example for description. The control flow of storage is shown in Figure 12, and the details are as follows:

The first positioning sensor is pre-installed on the object to be stored, the second positioning sensor is pre-installed in the designated position, and the third positioning sensor is pre-installed in the wall in the corner of the room to be stored, in the walls on both sides of the room door, and in the sweeper. The floor plan data of the room to be stored is pre-stored, and the processor of the sweeper can obtain the floor plan information such as walls, door openings, and third positioning sensors of all rooms from it. The sweeper is also provided with a signal transmitter and a signal receiver.

After the sweeper is turned on, the processor of the sweeper controls the signal transmitting device to transmit the first activation signal to the first positioning sensor, and after receiving the first response signal through the signal receiving device, the first positioning sensor is positioned according to the first response signal. , obtain the position of the object to be accommodated; the processor of the sweeper controls the signal transmitter to transmit the second activation signal to the second positioning sensor, and after receiving the second response signal through the signal receiver, the second positioning sensor is sent to the second positioning sensor according to the second response signal. Perform positioning to obtain a preset position;

The processor of the sweeper controls the signal transmitting device to transmit the third activation signal, and the third positioning sensor immediately feeds back the third response signal after receiving the third activation signal. After the processor of the sweeper receives the third response signal through the signal receiving device, Calculate the distance between the initial position of the sweeper and the corresponding positioning sensor according to the time difference between the third activation signal and the third response signal, and obtain the position of the positioning sensor by reading the pre-stored building plan data, thereby obtaining the initial position of the sweeper;

If the position of the object to be stored is different from the preset position, the sweeper moves from the initial position to the position of the object to be stored, and moves the object to be stored to the preset position;

The processor of the sweeper sorts the third positioning sensors according to the signal strength of the third response signal to obtain a sorting sequence, and obtains the relationship between the third positioning sensor and the room by reading the pre-stored building plan data. The relationship between the positioning sensor and the room and the sorting sequence to obtain the sorting relationship of each room, the first one is the current room, and the second one is the room to be stored;

After the storage of the current work area is completed, the position of the positioning sensor located at the exit of the current room of the cleaning appliance is obtained, and the exit position is obtained accordingly; the position of the positioning sensor at the entrance of the room to be stored is obtained, and the entrance position is obtained accordingly ; Obtain the shortest second movement route according to the preset position, the exit position and the entrance position, and the cleaning appliance enters the room to be stored along the second movement route, and performs the next storage.

The sweeper performs the above process repeatedly, records the rooms that have been stored, and judges whether the current room is the last room to be stored according to the rooms that have been stored; if so, after completing the storage of the current room, it sends a fourth activation signal to each third The positioning sensor receives each fourth response signal, locates the current position of the sweeper, obtains the preset position of the charging pile, plans a third moving route, and moves the sweeper along the third moving route to the position of the charging interface of the charging pile. Charge it for reuse.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

Those of ordinary skill in the art can understand that all or part of the steps in the method of the above embodiments can be implemented by instructing the relevant hardware through a program. The described program can be stored in a readable storage medium. When the program is executed, the steps described in the above method are included. The storage medium includes: ROM/RAM, magnetic disk, optical disk and so on.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims (12)

1. A method for containing a cleaning appliance is characterized by comprising the following steps:

sending a first activation signal to a first positioning sensor, and receiving a first response signal returned by the first positioning sensor, wherein the first positioning sensor is arranged on an object to be received in a current working area, and the first activation signal is generated by the cleaning electric appliance; the object to be received is an object that changes position under the collision of the cleaning appliance;

sending a second activation signal to a second positioning sensor, and receiving a second response signal returned by the second positioning sensor, wherein the second positioning sensor is arranged at a specified position, and the second activation signal is generated by the cleaning electric appliance;

determining a preset position according to the second response signal;

determining the current position of the object to be stored according to the first response signal, and if the current position is different from the preset position, moving the object to be stored to the preset position.

2. The method for housing a cleaning appliance according to claim 1, further comprising the steps of:

sending a third activation signal to each third positioning sensor, and receiving a third response signal returned by each third positioning sensor, wherein each third positioning sensor is arranged in each working area of the cleaning electric appliance, and the third activation signal is generated by the cleaning electric appliance;

acquiring an initial position of the cleaning appliance according to the third activation signal, each third response signal and the position of each third positioning sensor;

the step of moving the object to be received to the preset position includes the steps of:

and obtaining a first moving route according to the initial position, the current position of the object to be stored and the preset position, and moving the object to be stored to the preset position according to the first moving route.

3. The storage method of the cleaning appliance according to claim 1 or 2, wherein the object to be stored includes a garbage storage device, the storage method further comprising the steps of:

after the cleaning of the current working area is completed, the cleaning garbage is packaged in a garbage bag, and the garbage bag is transferred to the garbage storage device.

4. The method for housing a cleaning appliance according to claim 2, further comprising the steps of:

determining the current working area of the cleaning electric appliance and the working area to be stored according to the third response signals;

after the storage of the current working area is completed, the exit position of the current working area is obtained, the entrance position of the working area to be stored is obtained, a second moving route is obtained according to the preset position, the exit position and the entrance position, and the cleaning electric appliance is driven to enter the working area to be stored along the second moving route.

5. The method for housing a cleaning appliance according to claim 4, wherein the step of determining the current working area of the cleaning appliance and the working area to be housed according to each of the third response signals comprises the steps of:

and sequencing the third positioning sensors according to the third response signals to obtain a sequencing sequence, obtaining the sequencing relation of each working area according to the incidence relation between the third positioning sensors and the working area and the sequencing sequence, and determining the current working area of the cleaning electric appliance and the working area to be stored according to the sequencing relation.

6. The method for housing a cleaning appliance according to claim 5, wherein the step of sequencing each third positioning sensor according to each third response signal comprises the steps of:

sequencing each third positioning sensor according to the signal attribute of each third response signal; wherein the signal attribute comprises a signal strength or a signal reception time;

the step of determining the current working area of the cleaning appliance and the working area to be stored according to the sequencing relationship comprises the following steps:

and taking the first sorted working area as the current working area of the cleaning electric appliance, and taking the second sorted working area as the working area to be stored.

7. The method for housing a cleaning appliance according to claim 6, wherein the step of determining the current working area of the cleaning appliance and the working area to be housed according to the sorting relationship comprises the steps of:

and if the determined work area to be stored is stored, selecting the next work area in the sequence as the work area to be stored.

8. The storage method of the cleaning appliance according to claim 4, wherein the step of acquiring the exit position of the current working area comprises the steps of:

acquiring the position of a fourth positioning sensor, wherein the fourth positioning sensor is positioned at an outlet of a current working area of the cleaning appliance;

determining an exit position from the position of the fourth positioning sensor;

the step of acquiring the entrance position of the work area to be stored comprises the steps of:

acquiring the position of a fifth positioning sensor, wherein the fifth positioning sensor is positioned at the entrance of the working area to be stored;

determining the entry location based on the location of the fifth position sensor.

9. The method for housing a cleaning appliance according to claim 4, further comprising the steps of:

recording the accommodated working area, and judging whether the current working area is the last working area to be accommodated according to the accommodated working area;

if yes, after the storage of the current working area is finished, sending a fourth activation signal to each third positioning sensor, and receiving each fourth response signal, wherein each fourth response signal is a signal returned by each third positioning sensor according to the fourth activation signal;

acquiring the current position of the cleaning electric appliance according to the fourth activation signal, the fourth response signal and the position of each third positioning sensor;

the method comprises the steps of obtaining a preset position of a charging pile, obtaining a third moving route according to the current position of the cleaning electric appliance and the preset position of the charging pile, and driving the cleaning electric appliance to move to a charging interface position of the charging pile along the third moving route.

10. A storage system for a cleaning appliance, comprising:

the signal transmitting unit is used for transmitting a first activation signal to a first positioning sensor, wherein the first positioning sensor is arranged on an object to be received in a current working area, and the first activation signal is generated by the cleaning electric appliance; the object to be received is an object that changes position under the collision of the cleaning appliance;

the signal receiving unit is used for receiving a first response signal returned by the first positioning sensor;

the signal processing unit is used for determining the current position of the object to be received according to the first response signal;

the signal sending unit is also used for sending a second activation signal to a second positioning sensor, wherein the second positioning sensor is arranged at a specified position, and the second activation signal is generated by the cleaning electric appliance;

the signal receiving unit is also used for receiving a second response signal returned by the second positioning sensor;

the signal processing unit is further used for determining a preset position according to the second response signal;

and the movement control unit is used for moving the object to be received to the preset position when the current position is different from the preset position.

11. A cleaning device is characterized by comprising a cleaning electric appliance, a first positioning sensor and a second positioning sensor;

the cleaning electric appliance is used for sending a first activation signal to a first positioning sensor and receiving a first response signal returned by the first positioning sensor, wherein the first positioning sensor is arranged on an object to be received in the current working area; the object to be received is an object that changes position under the collision of the cleaning appliance;

the cleaning electric appliance is also used for sending a second activation signal to the second positioning sensor, receiving a second response signal returned by the second positioning sensor, and determining a preset position according to the second response signal, wherein the second positioning sensor is arranged at a specified position, and the second activation signal is generated by the cleaning electric appliance;

the cleaning electric appliance is further used for determining the current position of the object to be stored according to the first response signal, and if the current position is different from the preset position, the object to be stored is moved to the preset position.

12. A readable storage medium, on which an executable program is stored, characterized in that the program, when executed by a processor, implements the steps of the method for housing a cleaning appliance according to any one of claims 1 to 9.

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