Patent Publication Number: US-2022218170-A1

Title: Robot, robot system, dust box, and control method

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     The present disclosure refers to Chinese Patent Application No. 201910431089X, filed on May 22, 2019 and entitled “Robot, Robot System, Dust Box, and Control Method”, which is hereby incorporated by reference in its entirety. 
     TECHNICAL FIELD 
     The present disclosure relates to the technical field of robots, and in particular to a robot, a robot system, a dust box, and a control method. 
     BACKGROUND 
     While a floor treatment robot (e.g., a sweeping robot) automatically moves on a floor, sundries such as dust and loose debris on the floor may be sucked into a dust box of the robot through an air duct. Accordingly, the area where the robot walks is cleaned. The robot has been fully developed and widely applied due to use convenience. 
     In order to avoid frequent dust dumping by a user, a dust collector and a suction unit of a large size are added to a charging base matched with the robot. When a cleaning robot returns to charging base to get recharge, the suction unit sucks dust in the dust box of the robot into the dust collector of the charging base, which is also called dust back-suction. It has now been found that some dust remains in the dust box of the robot after the dust back-suction. 
     SUMMARY 
     Embodiments of the present disclosure provide a robot, a robot system, a dust box, and a control method, which may solve or partially solve the problems of the prior art. 
     Some embodiments of the present provide a robot. The robot includes: 
     a body, provided with a suction port and a dust box; where, 
     the suction port and the dust box are fluid communicated, and the dust box is provided with a plurality of dust outlets and a dust inlet communicated with the suction port; 
     and where, 
     all of the plurality of dust outlets are closed when the body is in a first mode, and dust on a surface where the body being located is collected into the dust box through the suction port; and 
     the plurality of dust outlets work cooperatively to discharge the dust stored in the dust box under an action of a suction airflow when the body is in a second mode. 
     Some embodiments of the present disclosure provide a robot system including a robot and a base, where, 
     the robot includes: 
     a body, provided with a suction port and a dust box; wherein the suction port and the dust box are fluid communicated, and the dust box is provided with a plurality of dust outlets and a dust inlet communicated with the suction port; 
     the base includes a dust collection chamber and a vacuum source; 
     and where, 
     all of the plurality of dust outlets are closed when the body is in a first mode, and dust on a surface where the body being located is collected into the dust box through the suction port; and 
     the body and the base are docked when the body is in a second mode, and the plurality of dust outlets work cooperatively to discharge the dust stored in the dust box to the dust collection chamber under an action of a suction airflow generated by the vacuum source. 
     Some embodiments of the present disclosure provide a dust box applied to a cleaning device including a dust inlet; 
     where the dust box is provided with a first dust outlet and a second dust outlet, and the first dust outlet and the second dust outlet are arranged on two sides of the dust inlet respectively. 
     Some embodiments of the present disclosure provide a robot control method. The method includes: 
     performing a set action in a first mode to collect dust on a surface where a robot being located into a dust box; 
     switching to a second mode when an amount of the dust stored in the dust box of the robot satisfies a dumping condition; and 
     controlling a plurality of dust outlets on the dust box to work cooperatively to discharge the dust stored in the dust box under an action of a suction airflow in the second mode. 
     Some embodiments of the present disclosure provide a base control method. The method includes: 
     after detecting that a robot completes a docking action, determining a cooperative mode of a plurality of dust outlets on a dust box of the robot; and 
     controlling a suction force generated by a vacuum source, based on the cooperative mode, so that dust stored in the dust box is discharged to a dust collection chamber through the plurality of dust outlets working cooperatively under an action of a suction airflow generated by the vacuum source. 
     According to the technical solution provided by the embodiments of the present disclosure, a plurality of dust outlets are provided on a dust box, and when a body is in a second mode, the plurality of dust outlets work cooperatively to discharge dust stored in the dust box under the action of a suction airflow. Compared with the prior art in which a single dust outlet is provided, the technical solution can effectively reduce the amount of dust residue in the dust box. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The example embodiments of the present disclosure and the descriptions thereof are used to explain the present disclosure, and do not constitute an improper limitation on the present disclosure. In the drawings: 
         FIG. 1  is a schematic view showing an internal airflow of a conventional dust box during a dust discharge process; 
         FIG. 2  is a schematic structure view of a robot provided by an embodiment of the present disclosure; 
         FIG. 3  is a schematic view of an implementable structure of a dust box provided by an embodiment of the present disclosure; 
         FIG. 4  is a top view of the schematic view shown in  FIG. 3 ; 
         FIG. 5  is a schematic view showing an internal airflow after two dust outlets being provided on a dust box according to a solution provided by an embodiment of the present disclosure; 
         FIG. 6  is a schematic view of two dust outlets provided above a dust inlet; 
         FIG. 7  is a schematic view of two dust outlets provided above and below a dust inlet respectively; 
         FIG. 8  is a schematic view showing a dust outlet provided on a side surface; 
         FIG. 9  is a schematic view showing a dust outlet having a concave structure; 
         FIG. 10  is a schematic structure view of a sealing device; 
         FIG. 11  is a schematic structure view of a robot system; 
         FIG. 12  shows a flow chart of a robot control method provided by an embodiment of the present disclosure; and 
         FIG. 13  is a flow chart of a base control method provided by an embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS 
     An automatic dust discharge device of a robot, such as a sweeping robot, discharges a medium such as dust in a dust box of the robot from the dust box by making use of a wind field to drive a movement of the medium. At present, dust is discharged from a single outlet of the dust box. That is, only one dust outlet is provided on the dust box. In the process of dust discharge from a single dust outlet, the wind field inside the dust box will generate a swirl at which dust is mainly accumulated. The dust trapped in the swirl cannot be discharged from the dust box. With reference to an airflow analysis diagram shown in  FIG. 1 , it can be seen that a part of dust is swirled at a swirl formed in area  1  of the dust box and thus trapped. Therefore, after a dust back-suction of the existing robot, some dust may always remain in the dust box and cannot be discharged. 
     To this end, the present disclosure provides the following embodiments to solve or improve the problems of the prior art. In order to enable those skilled in the prior art to better understand the present disclosure, the technical solution provided by various embodiments of the present disclosure are illustrated in detail and completely in conjunction with the drawings. 
     For making the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in combination with the drawings in the embodiments of the present disclosure. It is apparent that the described embodiments are not all embodiments but part of embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art on the basis of the embodiments in the present disclosure without creative work shall fall within the scope of protection of the present disclosure. 
       FIG. 2  shows a schematic structure view of a robot provided by an embodiment of the present disclosure.  FIG. 3  shows a schematic view of an implementable structure of a dust box provided by an embodiment of the present disclosure. As shown in  FIG. 2 , the robot includes a body  2 . The body  2  is provided with a suction port  3  and a dust box  4 . The suction port  3  and the dust box  4  are fluid communicated. As shown in  FIG. 3 , the dust box  4  is provided with a plurality of dust outlets  6  and a dust inlet  5  in fluid communication with the suction port  3 . The body  2  of the robot may include at least two modes. All of the plurality of dust outlets  6  are closed when the body  2  is in a first mode, and dust on a surface where the body  2  being located is collected into the dust box  4  through the suction port  3 . The plurality of dust outlets  6  work cooperatively to discharge the dust stored in the dust box  4  under the action of a suction airflow when the body  2  is in a second mode. It is to be noted that a suction force forming the suction airflow is generated by a vacuum source on the robot or a base. 
     According to the technical solution provided by the present embodiment, a plurality of dust outlets are provided on a dust box, and when a body is in a second mode, the plurality of dust outlets work cooperatively to discharge the dust stored in the dust box under the action of a suction airflow. Compared with the prior art in which a single dust outlet is provided, the technical solution may effectively reduce the amount of dust residue in the dust box. 
       FIG. 3  shows an example in which two dust outlets are provided on a dust box. In a specific implementation, the dust box may be provided three or more dust outlets. The quantity of the dust outlet is certainly determined according to an actual size of the dust box, the structure of the dust box, specific requirements in actual design, etc. 
     Taking the dust box being provided with two dust outlets as an example, namely a first dust outlet  61  and a second dust outlet  62 . The first dust outlet  61  and the second dust outlet  62  are arranged on two sides of the dust inlet  5  respectively, as shown in  FIG. 3 . The first dust outlet  61  and the second dust outlet  62  are provided at positions shown in  FIG. 3 , i.e., at two ends of the dust box in a length direction (y direction in  FIG. 3 ). Referring to  FIG. 4 ,  FIG. 5  shows an airflow analysis diagram in the dust box  4  when both of the first dust outlet  61  and the second dust outlet  62  are opened. It can be seen from  FIG. 5  that both of the first dust outlet  61  and the second dust outlet  62  are opened when the body  2  is in the second mode. The suction airflow flows from the dust inlet  5  to the dust box  4  and then disperses to form multi-flow airflows respectively flowing from the dust inlet  5  to the first dust outlet  61  and the second dust outlet  62 , so that the dust stored in the dust box  4  is discharged through the first dust outlet  61  and the second dust outlet  62  under the action of the suction airflow. It can be seen therefrom that compared with a single dust outlet, both of the first dust outlet  61  and the second dust outlet  62  are opened, which is more favorable for improving the dust discharge efficiency of the robot and reducing the amount of dust residue in the dust box. 
     Generally speaking, an airflow whirling region is disposed in the dust box. For example, an airflow swirl is likely to form in an area near side walls of two sides of the dust inlet of the dust box, such as area  1  shown in  FIG. 1 . In order to better understand the airflow whirling region, only one dust outlet may be preferably provided. In the mode of dust discharge, an area where dust is likely to remain in the dust box is usually the airflow whirling region. By adding a dust outlet in the airflow whirling region, the dust discharge efficiency of the dust box can be obviously improved, and the dust residue can be reduced. That is, in the above example of providing two dust outlets, an airflow whirling region is disposed in the dust box, in which the first dust outlet or the second dust outlet is provided. 
     In a specific implementation example, as shown in  FIGS. 3 and 4 , the dust box  5  is in a plane symmetrical structure. A symmetrical plane  50  of the dust box  5  is located at a middle portion. The dust inlet  5  is provided in the middle portion. The first dust outlet  61  and the second dust outlet  62  are symmetrically provided with respect to the symmetrical plane  50 . In the present embodiment, two dust outlets are symmetrically arranged in the dust box, and vortex is dispersed at the dust outlets. That is, the dust outlet is provided in an area where an airflow swirl is likely to form in the dust box. The problem of incomplete dust discharge existing in the prior art may be effectively solved or improved. Meanwhile, the symmetrical arrangement also has an aesthetic effect. 
     In an implementable technical solution, both of the first dust outlet  61  and the second dust outlet  62  are located below the dust inlet  5 , as shown in  FIG. 3 . Alternatively, as shown in  FIG. 6 , both of the first dust outlet  61  and the second dust outlet  62  are located above the dust inlet  5 . Alternatively, as shown in  FIG. 7 , one of the first dust outlet and the second dust outlet is located above the dust inlet while the other dust outlet is located below the dust inlet. 
     Further, as shown in  FIGS. 3, 6, and 7 , the dust box  5  is in a hexahedral structure. The hexahedral structure includes: a top surface  51 , a bottom surface  52 , and four side surfaces connecting the top surface  51  and the bottom surface  52 . The four side surfaces include: a first side surface  55  and a second side surface (not numbered), which are opposite, and a third side surface  53  and a fourth side surface  54 , which are opposite. In a specific implementation, the dust inlet  5  may be provided on the first side surface  55  or the second side surface. The first dust outlet  61  may be provided on the bottom surface  52  or the third side surface  53 . The second dust outlet  62  is provided on the bottom surface  52  or the fourth side surface  54 . 
       FIG. 8  shows a schematic structure view of a dust outlet provided on a side surface of a dust box. Referring to  FIG. 8 , the second dust outlet  62  is provided on the fourth side surface  54 . Alternatively, the dust outlet is in a concave structure, as shown in  FIG. 9 . 
     Further, a sealing device is provided at each of the plurality of dust outlets. The sealing devices block the dust outlets when the body is in the first mode. A vacuum is formed on one side of the dust outlets when the body is in the second mode, and the sealing devices act to open the dust outlets when an acting force of an air pressure difference formed by the degree of vacuum acting on the sealing devices satisfies a first preset condition. 
       FIG. 10  shows a schematic view of a specific implementation structure of a sealing device. As shown in  FIG. 10 , the sealing device includes: a sealing door  71 , a rotary shaft  73 , and a torsion spring  72 . The rotary shaft  73  is provided at a port edge of the dust outlet. The torsion spring  72  is sleeved on the rotary shaft  73 . One end of the torsion spring is connected to the sealing door  71 , and the other end of the torsion spring is fixed. An initial installation angle of the torsion spring  72  forms an initial torsion force to keep the sealing door closed under a normal state. A certain vacuum is formed in a dust discharge channel (i.e., one side of the dust box  4 ) during dust discharge. When a force formed by the degree of vacuum is greater than a torsion force of the torsion spring  72 , the sealing door  71  is opened, and the dust discharge channel may discharge dust smoothly. It may be additionally noted that the plurality of dust outlets of the dust box will be docked with a docking port in the base during dust discharge. The docking port of the base may be coated with flexible glue, thus having a better air tightness. 
     In another implementable technical solution, the robot further includes: a plurality of closing doors, a driving device, and a first controller. The plurality of closing doors is configured to close or open the plurality of dust outlets respectively. The driving device is configured to provide motion power to the plurality of closing doors. The first controller is connected to the driving device for controlling the driving device to output a corresponding driving force to drive the plurality of closing doors to work cooperatively when the body is in the second mode. 
     In a specific implementation, the driving device may be implemented by means of a motor and a transmission assembly. The motor outputs power, and the transmission assembly drives the corresponding closing door to act under the drive of the motor, so as to realize the cooperative work of the plurality of dust outlets. 
     The plurality of dust outlets may have several cooperative modes as follows: 
     Mode I: Mode of Opening All 
     All of the plurality of dust outlets are opened when the body is in the second mode. For example, there are two dust outlets. That is, both of the first dust outlet and the second dust outlet are opened. Meanwhile, the efficiency of opening dust discharge is high. However, since there are two dust outlets, if the output power of a power source generating the suction airflow (such as the vacuum source on the base providing a charging function for the robot) is the same as that in the case of a single dust outlet, the flow rate of the suction airflow in the dust box will be reduced, which is not conducive to the discharge of large particulate solids. At this moment, a high-power power source needs to be configured to increase the flow rate of the suction airflow in the dust box. 
     Mode II: Mode of Switching Opened Dust Outlet 
     A part of the plurality of dust outlets is opened when the body is in the second mode, and the opened dust outlet is closed and the other part of the plurality of dust outlets is opened when a second preset condition is satisfied. For example, there are two dust outlets. The mode of switching opened dust outlet may be simply understood as: when the first dust outlet is opened for dust discharge, the second dust outlet is closed, and when the first dust outlet is closed, the second dust outlet is opened for dust discharge. 
     In a specific implementation, time may be used as a basis for judging whether to switch. For example, after the first dust outlet is opened for a first preset duration, the first dust outlet is closed, and the second dust outlet is switched to be opened. Alternatively, the residual amount of the dust stored in the dust box is used as a basis for judging whether to switch. For example, the body is provided with a sensor for detecting the amount of the dust stored in the dust box. When it is determined that the residual amount of the dust stored in the dust box is lower than a first preset amount based on a real-time sensing signal of the sensor, the first dust outlet is closed, and the second dust outlet is switched to be opened. 
     Compared with Mode I, Mode II has low dust discharge efficiency, but a high-power power source is not needed. 
     Mode III: Mode of Dynamically Adding Opened Dust Outlet 
     A part of the plurality of dust outlet is opened when the body is in the second mode, and the other part of the plurality of dust outlets is opened when a third preset condition is satisfied. For example, there are two dust outlets. The mode of dynamically adding opened dust outlet may be simply understood as: the first dust outlet is first opened, and the second dust outlet is then opened when a condition is satisfied. 
     The above satisfied condition may be: whether an opening duration of the first dust outlet reaches a second preset duration; or whether the residual amount of the dust stored in the dust box is lower than a second preset amount, etc. 
     It should be supplemented here that the above first preset duration, second preset duration, first preset amount, and second preset amount may be obtained based on experience or through experiments, calculations, etc. The specific values thereof are not limited in the present embodiment. 
       FIG. 11  shows a schematic structure view of a robot system provided by an embodiment of the present disclosure. As shown in the drawings, the robot system includes a robot and a base. The robot includes a body  2 . The body  2  is provided with a suction port  3  and a dust box  4 . The suction port  3  and the dust box  4  are in fluid communication. The dust box  4  is provided with a plurality of dust outlets  6  and a dust inlet  5  in fluid communication with the suction port  3 . The base  8  includes a dust collection chamber  9  and a vacuum source (not explicitly shown). All of the plurality of dust outlets  6  are closed when the body  2  is in a first mode, and the dust on a surface where the body  2  being located is collected into the dust box  4  through the suction port  3 . The body  2  and the base  8  are docked when the body  2  is in a second mode. The plurality of dust outlets  6  work cooperatively to discharge the dust stored in the dust box  4  to the dust collection chamber  9  under the action of a suction airflow generated by the vacuum source. In a specific implementation, one or more docking ports may be provided on the base  8  for docking the dust outlets. For example, when the plurality of dust outlets  6  on the dust box is gathered to form one outlet at the bottom of the robot, the one outlet may be docked with a docking port provided on the base. When the plurality of dust outlets  6  on the dust box respectively correspond to a plurality of outlets at the bottom of the robot, each outlet may be respectively docked with the docking port at a docking position on the base. 
     It should be noted here that the robot in the present embodiment may be implemented by using the technical solution provided in the above embodiment, and a specific implementation structure may be seen in the above embodiment and will not be described in detail herein. 
     Further, the base  8  may further include a second controller. 
     The second controller is connected to the vacuum source, for controlling, based on a cooperative mode of the plurality of dust outlets  6 , the vacuum source to generate a suction force adapted to the cooperative mode. 
     The cooperative mode includes at least one of: a mode of opening all of the plurality of dust outlets, a mode of switching opened dust outlet, and a mode of dynamically adding opened dust outlet. With regard to the contents of each mode, reference may be made to the corresponding contents in the above embodiments, and the description thereof will be omitted herein. 
     In a specific implementation, an aperture size of the dust outlet is set corresponding to that of a suction end of the vacuum source, and the suction end (also referred to as a docking port) of the vacuum source may be coated with flexible glue so as to have a better air tightness after docking. 
     For the sweeping robot, the first mode is a sweeping mode, and the second mode is a dust discharge mode. In the sweeping mode, a rechargeable battery in the body of the robot acts as an energy source to power a driving unit and a controller. Through the energy supply of the rechargeable battery, the driving unit drives the body of the robot to move on a floor to be treated, while dust particles on the floor to be treated enter the dust box through the suction port. During sweeping, a sensor provided on the robot may detect the amount of dust and debris accumulated in the dust box, and detected data is transmitted to the controller. In operation, the controller determines from the data whether the amount of dust and debris accumulated in the dust box exceeds a standard value. 
     When it is determined in operation that the amount of dust and debris accumulated in the dust box exceeds the standard value, the robot stops an automatic cleaning operation, moves toward the base until the robot reaches the base, and is docked with the base. 
     In the dust discharge mode, the dust outlet at the bottom of the body of the robot is connected to a suction channel of a dust collection box in the base. When the robot returns to the base for charging, the rechargeable battery of the body of the robot is successfully docked with a charging electrode of a charging base. After the suction channel of the base is in fluid communication with the dust outlet of the body of the robot, the robot enters a charging and dust discharge mode, and the vacuum source in the base starts to work. Under the suction force of the vacuum source, air enters the dust box from the dust inlet, and an airflow passes through the dust box in the body of the robot to drive dust particles in the dust box to flow out into the suction channel of the base through an air duct, and finally enters the dust collection box of the base. 
     A user may set the cooperative mode of the plurality of dust outlets in the dust discharge mode of the robot through a client application (such as a mobile phone APP) or an operation panel on the robot, etc. For example, the user completes the setting of the cooperative mode through a cooperative mode selection control on a client interface. Alternatively, the user completes the setting of the cooperative mode through a control corresponding to a corresponding mode on a touch operation panel. 
     After completion of the setting, when the robot is in the dust discharge mode, the controller of the robot controls the plurality of dust outlets to work according to a preset cooperative mode. For example, all of the dust outlets are opened, or a part of the dust outlet is opened and the other part of the dust outlet is then opened, or a part of the dust outlet is opened and the other part of the dust outlet is switched to be opened, etc. 
     For the base, the base may control the vacuum source to generate a corresponding magnitude of suction force corresponding to different cooperative modes. For example, if the cooperative mode is a mode of opening all of a plurality of dust outlets, the vacuum source is controlled to work at a high power so as to generate a large suction force. If the cooperative mode is a mode of switching opened dust outlet, the vacuum source is controlled to work at a low power. 
       FIG. 12  shows a flow chart of a robot control method provided by an embodiment of the present disclosure. An execution subject of the method provided by the present embodiment may be a controller of a robot. Specifically, as shown in  FIG. 12 , the robot control method includes the following steps: 
       101 , performing a set action in a first mode to collect dust on a surface where a robot being located into a dust box; 
       102 , switching to a second mode when an amount of the dust stored in the dust box of the robot satisfies a dumping condition; and 
       103 , controlling a plurality of dust outlets on the dust box to work cooperatively to discharge the dust stored in the dust box under the action of a suction airflow in the second mode. 
     In  102 , it may be determined that the amount of the dust stored in the dust box of the robot satisfies the dumping condition based on a sensing signal sent by a sensor. It should be supplemented here that the base also has a function of charging the robot. Therefore, it is possible that the robot is docked with the base when needing to be charged. The first mode may be switched to a second mode even if the amount of the dust stored in the dust box does not satisfy the dumping condition at this moment. 
     In  103 , the operation that “controlling the plurality of dust outlets on the dust box to work cooperatively to discharge the dust stored in the dust box under the action of a suction airflow in the second mode” may be specifically achieved by the following steps: 
       1031 , controlling all of the plurality of dust outlets to be opened; or 
       1032 , opening a part of the plurality of dust outlets, and closing the opened dust outlet and opening the other part of the plurality of dust outlets, to switch the opened dust outlet when a second preset condition is satisfied; or 
       1033 , opening a part of the plurality of dust outlets, and opening the other part of the plurality of dust outlets, to dynamically add the opened dust outlet when a third preset condition is satisfied. 
     In  1032 , the operation that “opening a part of the plurality of dust outlets, and closing the opened dust outlet and opening the other part of the plurality of dust outlets, to switch the opened dust outlet when a second preset condition is satisfied” may specifically include the following steps: 
     opening a part of the plurality of dust outlets, and closing the opened dust outlet and opening the other part of the plurality of dust outlets, when an opening duration of the opened dust outlet is greater than a first preset duration; or 
     opening a part of the plurality of dust outlets, and closing the opened dust outlet and opening the other part of the plurality of dust outlets, when it is determined that the amount of the dust stored in the dust box is lower than a first preset amount based on a sensing signal sent by a sensor. 
     In  1033 , the operation that “opening a part of the plurality of dust outlets, and opening the other part of the plurality of dust outlets, to dynamically add the opened dust outlet when a third preset condition is satisfied” may specifically include the following steps: 
     opening a part of the plurality of dust outlets, and opening the other part of the plurality of dust outlets, when an opening duration of the opened dust outlet is greater than a second preset duration; or 
     opening a part of the plurality of dust outlets, and opening the other part of the plurality of dust outlets, when it is determined that the amount of the dust stored in the dust box is lower than a second preset amount based on a sensing signal sent by a sensor. 
       FIG. 13  shows a flow chart of a base control method provided by an embodiment of the present disclosure. An execution subject of the method provided by the present embodiment may be a controller of a base. Specifically, the method includes the following steps: 
       201 , after detecting that a robot completes a docking action, determining a cooperative mode of a plurality of dust outlets on a dust box of the robot; and 
       202 , controlling a suction force generated by a vacuum source, based on the cooperative mode, so that dust stored in the dust box is discharged to a dust collection chamber through the plurality of dust outlets working cooperatively under an action of a suction airflow generated by the vacuum source. 
     The cooperative mode includes at least one of a mode of: opening all of the plurality of dust outlets, a mode of switching opened dust outlet, and a mode of dynamically adding opened dust outlet. Accordingly, “controlling a suction force generated by a vacuum source, based on the cooperative mode” in  201 , the operation that may be achieved by the following method. 
     The operation that a suction force generated by a vacuum source is controlled based on the cooperative mode includes the following steps: 
     controlling the vacuum source to work at a first power when the cooperative mode is a mode of opening all of the plurality of dust outlets; 
     controlling the vacuum source to work at a second power when the cooperative mode is a mode of switching opened dust outlet; 
     controlling the vacuum source to work at a third power when the cooperative mode is a mode of dynamically adding opened dust outlet. 
     The first power is greater than the second power. The third power may be equal to the first power or may be a value greater than the first power, which is not particularly limited in the present embodiment. 
     In order to facilitate an understanding of the technical solutions provided by the present disclosure, the following description is made in conjunction with specific application scenarios. 
     Application Scenario 1 
     A user uses a sweeping robot at home and turns on the sweeping robot in a first mode, i.e., a sweeping mode. A driving unit (driver) of the sweeping robot drives a body of the robot to move on a floor, and sucks dust particles on the floor into a dust box through a suction port. During sweeping, a sensor on the robot detects that the amount of dust and debris accumulated in the dust box exceeds a standard value. The standard value is a set value, which may be set in advance when the sweeping robot leaves the factory. At this moment, the sweeping robot stops an automatic cleaning operation, moves toward a base installed in the room in advance, and is docked with the base after reaching the base. After the docking is successful, dust outlets on the dust box of the sweeping robot are connected to a suction channel of a dust collection box in the base. The sweeping robot enters a second mode, i.e., a dust discharge mode. Meanwhile, a vacuum source of the base starts to work. Under a suction force of the vacuum source, all of a plurality of dust outlets, such as a first dust outlet and a second dust outlet, on the dust box are opened, and dust particles in the dust box enter the dust collection box of the base through a communication channel. 
     Application Scenario 2 
     A sweeping robot moves and sweeps in a living room and detects that a rechargeable battery has insufficient power. The sweeping robot stops an automatic cleaning operation, moves toward a base, and is docked with the base after reaching the base. The charging battery of the sweeping robot is docked with a charging electrode of the base, and a dust outlet of a dust box is docked with a port of the base. After detecting the successful docking of the sweeping robot, the base is started to supply power to the sweeping robot, and a vacuum source is started to work. The sweeping robot enters a dust discharge mode, and under a suction force of the vacuum source, dust particles in the dust box of the sweeping robot enter a dust collection box of the base through a communication channel. 
     Through the description of the above implementation modes, those skilled in the art can clearly understand that various implementation modes may be implemented by means of software and a necessary general hardware platform, and of course, by hardware. Based on such understanding, the essence of the foregoing technical solutions or portions making contribution to the prior art may be embodied in the form of software products. The computer software products may be stored in a computer-readable storage medium such as a ROM/RAM, a magnetic disk and an optical disc, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or portions of the embodiments. 
     Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, and are not limited thereto. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that the technical solutions described in the foregoing embodiments can be still modified, or some technical features are equivalently replaced. These modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions in various embodiments of the present disclosure.