Method for recovering waste liquid, maintenance station, cleaning robot and system for recovering waste liquid

Abstract

A method for recovering waste liquid includes: obtaining a liquid usage amount of a cleaning robot, and controlling a maintenance station to recover the waste liquid collected by the cleaning robot according to the liquid usage amount.

What is claimed is: 
     
         1 . A method for recovering waste liquid, comprising:
 obtaining a liquid usage amount of a cleaning robot; and   controlling a maintenance station to recover the waste liquid collected by the cleaning robot according to the liquid usage amount.   
     
     
         2 . The method of  claim 1 , wherein the controlling a maintenance station to recover the waste liquid collected by the cleaning robot according to the liquid usage amount comprises:
 determining a recovery amount of the waste liquid according to the liquid usage amount; and   controlling the maintenance station to recover the waste liquid collected by the cleaning robot according to the recovery amount of the waste liquid.   
     
     
         3 . The method of  claim 2 , wherein before determining the recovery amount of the waste liquid according to the liquid usage amount, the method further comprises:
 obtaining a liquid loss coefficient;   correspondingly, determining the recovery amount of the waste liquid according to the liquid usage amount comprises:   determining the recovery amount of the waste liquid according to the liquid loss coefficient and the liquid usage amount.   
     
     
         4 . The method of  claim 3 , wherein the determining the recovery amount of the waste liquid according to the liquid loss coefficient and the liquid usage amount comprises:
 sending the liquid loss coefficient to the cleaning robot so that the cleaning robot corrects the liquid usage amount according to the liquid loss coefficient to obtain and return a correction amount of the waste liquid, and   determining the recovery amount of the waste liquid according to the correction amount of the waste liquid.   
     
     
         5 . The method of  claim 3 , wherein the determining the recovery amount of the waste liquid according to the liquid loss coefficient and the liquid usage amount comprises:
 calculating the correction amount of the waste liquid according to the liquid loss coefficient and the liquid usage amount, and   determining the recovery amount of the waster liquid according to the correction amount of the waste liquid.   
     
     
         6 . The method of  claim 5 , wherein the correction amount of the waste liquid is: Q=η*W, wherein Q is the correction amount of the waste liquid, T is the liquid loss coefficient, and W is the liquid usage amount. 
     
     
         7 . The method of  claim 3 , wherein the liquid loss coefficient is calculated according to a historical recovery amount when the maintenance station recovers the waste liquid of the cleaning robot and a historical liquid consumption when the cleaning robot performs the cleaning operation. 
     
     
         8 . The method of  claim 7 , wherein the liquid loss coefficient is: η=(M/N)*100%, where η is the liquid loss coefficient, M is the historical recovery amount, and N is the historical liquid consumption. 
     
     
         9 . The method of  claim 8  wherein:
 the historical recovery amount is calculated according to a historical recovery time when the maintenance station recovers the waste liquid of the cleaning robot and a unit recovery flow of the maintenance station; 
 the historical liquid consumption is calculated according to a unit liquid consumption flow and a historical liquid consumption time of the cleaning robot. 
 
     
     
         10 . The method of  claim 1 , wherein the controlling the maintenance station to recover the waste liquid collected by the cleaning robot according to the liquid usage amount comprises:
 calculating a current recovery time according to the liquid usage amount; and   controlling the maintenance station to recover the waste liquid collected by the cleaning robot according to the current recovery time and a designated recovery time.   
     
     
         11 . The method of  claim 1 , wherein the obtaining a liquid usage amount of a cleaning robot comprises:
 obtaining a waste liquid recovery instruction sent by the cleaning robot, the waste liquid recovery instruction packaging the liquid usage amount; and   extracting the liquid usage amount from the waste liquid recovery instruction.   
     
     
         12 . The method of  claim 1 , wherein a pressure sensor is provided at a bottom of a clean liquid tank of the cleaning robot, the obtaining a liquid usage amount of a cleaning robot comprises:
 obtaining an initial pressure sent by the pressure sensor when the cleaning operation is started;   obtaining the last pressure sent by the pressure sensor again when the cleaning robot drives back to the maintenance station;   subtracting the initial pressure from the last pressure to obtain a pressure difference; and   calculating the liquid usage amount according to the pressure difference.   
     
     
         13 . A method for recovering waste liquid, comprising:
 obtaining a liquid usage amount; and   sending the liquid usage amount to control a maintenance station to recover the waste liquid collected by a cleaning robot according to the liquid usage amount.   
     
     
         14 . The method of  claim 13 , wherein before sending the liquid usage amount, the method further comprises:
 correcting the liquid usage amount;   correspondingly, the sending the liquid usage amount to control a maintenance station to recover the waste liquid collected by a cleaning robot according to the liquid usage amount comprises:   sending the corrected liquid usage amount to control the maintenance station to recover the waste liquid collected by the cleaning robot according to the corrected liquid usage amount.   
     
     
         15 . The method of  claim 13 , wherein the correcting the liquid usage amount comprises:
 obtaining a liquid loss coefficient; and   correcting the liquid usage amount according to the liquid loss coefficient and the liquid usage amount.   
     
     
         16 . The method of  claim 15 , wherein the liquid loss coefficient is calculated according to a historical recovery amount when the maintenance station recovers the waste liquid of the cleaning robot and a historical liquid consumption when the cleaning robot performs the cleaning operation. 
     
     
         17 . The method of  claim 16 , wherein:
 the historical recovery amount is calculated according to a historical recovery time when the maintenance station recovers the waste liquid of the cleaning robot and a unit recovery flow of the maintenance station;   the historical liquid consumption is calculated according to a unit liquid consumption flow and a historical liquid consumption time of the cleaning robot.   
     
     
         18 . The method of  claim 13 , wherein the obtaining the liquid usage amount comprises:
 recording an actual liquid consumption time of the cleaning robot and the unit liquid consumption flow of the cleaning robot; and   determining the liquid usage amount according to the unit liquid consumption flow and the actual liquid consumption time of the cleaning robot.   
     
     
         19 . The method of  claim 13 , wherein the sending the liquid usage amount to control a maintenance station to recover the waste liquid collected by a cleaning robot according to the liquid usage amount comprises:
 packaging the liquid usage amount into a waste liquid recovery instruction; and   sending the waste liquid recovery instruction to the maintenance station, such that the maintenance station extracts the liquid usage amount from the waste liquid recovery instruction.   
     
     
         20 . A maintenance station, comprising:
 at least one processor; and   a memory communicatively connected with the at least one processor; wherein   the memory stores instructions capable of being executable by the at least one processor to enable the at least one processor to execute the method of  claim 1 .