Recharging method for cleaning robot, cleaning robot and recharging system

Abstract

The present invention relates to the field of smart home technology, and discloses a recharging and charging method for a cleaning robot, a cleaning robot, and a recharging system. The recharging and charging method comprises: scanning an identification area of a recharging seat to obtain identification information, wherein the recharging seat is provided with a power supply component, and the cleaning robot is provided with a charging component; and according to the identification information, controlling the charging posture of the cleaning robot so that when the cleaning robot is charging, it carries the charging component and docks with the power supply component under the instruction of the identification information. Therefore, even if the cleaning robot deviates from the correct position when charging, the present embodiment can control the charging posture of the cleaning robot according to the identification information until the charging component docks with the power supply component, thereby achieving reliable alignment of the charging component and the power supply component, thereby improving the charging success rate and recharging efficiency.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a recharging method for a cleaning robot, a cleaning robot, and a recharging system. Background Art

[0002] With the development of robotics technology, cleaning robots have gradually entered ordinary households, gradually liberating people from heavy and trivial housework, thus providing great convenience to people. At present, indoor households are equipped with recharging stations. When charging, cleaning robots are connected to the recharging stations through charging electrodes.

[0003] Typically, a cleaning robot's housing is equipped with charging pads facing away from its forward direction. To charge, the robot needs to back up and place itself on the charging pads, connecting the charging pads on the charging pads to the robot's charging pads. While backing up and placing itself on the charging pads, the robot may slip or other factors may cause it to deviate from the correct charging position, resulting in inaccurate alignment and reduced charging efficiency. Summary of the Invention

[0004] An object of an embodiment of the present invention is to provide a recharging method for a cleaning robot, a cleaning robot, and a recharging system, which can improve the recharging efficiency.

[0005] In a first aspect, an embodiment of the present invention provides a recharging and charging method for a cleaning robot, comprising:

[0006] Scanning the identification area of the recharging station to obtain identification information, the recharging station is provided with a power supply component, and the cleaning robot is provided with a charging component;

[0007] According to the identification information, the pile-mounting posture of the cleaning robot is controlled so that when the cleaning robot is on the pile, it carries the charging component and docks with the power supply component under the instruction of the identification information.

[0008] Optionally, the power supply component forms a side charging area on the recharging seat, and the charging component is arranged toward the side charging area. When the cleaning robot is on the pile, the charging component and the power supply component remain facing each other.

[0009] Optionally, the cleaning robot includes a lateral wall, and the charging component is arranged on the lateral wall. When the cleaning robot is on the pile, the charging component and the power supply component remain facing each other.

[0010] Optionally, controlling the pile-mounting posture of the cleaning robot according to the identification information includes:

[0011] Determining whether the identification information of the cleaning robot when it is on the pile continues to be the specified identification information;

[0012] If yes, controlling the cleaning robot to pile up under the instruction of the identification information;

[0013] If not, the pile-mounting posture of the cleaning robot is adjusted so that the identification information continues to be the designated identification information.

[0014] Optionally, the cleaning robot includes at least two sensor units for detecting identification information, and the determining whether the identification information of the cleaning robot when it is on the pile continues to be the specified identification information includes:

[0015] When the cleaning robot is on the pile, it is determined whether the identification information of each sensor unit is continuously the designated identification information.

[0016] Optionally, each of the sensing units includes at least two sensors arranged in a preset layout, and the at least two sensors are capable of determining identification information.

[0017] Optionally, at least part of the sensing units are also used to detect ground detection information.

[0018] Optionally, each of the sensing units matches a corresponding information priority, and adjusting the pile-mounting posture of the cleaning robot so that the identification information of the cleaning robot when it is piled up continues to be designated identification information includes:

[0019] Adjusting the position of the first sensor unit with the highest information priority relative to the identification area in descending order of information priority, so that the identification information of the first sensor unit is the designated identification information;

[0020] When the identification information of the first sensor unit is the specified identification information, adjust the position of the second sensor unit relative to the identification area so that the identification information of the second sensor unit is the specified identification information, until the identification information of all sensor units is adjusted to the specified identification information, and the information priority of the second sensor unit is closest to and lower than the information priority of the first sensor unit.

[0021] Optionally, each of the sensing units includes a right sensor and a left sensor with the same information priority, and the right sensor and the left sensor are respectively arranged on both sides of the forward axis of the cleaning robot, and adjusting the position of each sensing unit relative to the identification area includes:

[0022] Determining whether the identification information collected by the right sensor or the left sensor is designated identification information;

[0023] If the identification information collected by the right sensor is the designated identification information, and the identification information collected by the left sensor is not the designated identification information, the cleaning robot is rotated in a first circumferential direction with the right traveling wheel on the same side as the right sensor as the center to drive the left sensor, so that the identification information collected by the left sensor is the designated identification information;

[0024] If the identification information collected by the right sensor is not the specified identification information, the identification information collected by the left sensor is the specified identification information, and the cleaning robot is rotated in a second circumferential direction with the left walking wheel on the same side as the left sensor as the center to drive the right sensor, so that the identification information collected by the right sensor is the specified identification information, and the first circumferential direction is opposite to the second circumferential direction.

[0025] Optionally, the identification area includes a first identification area and a second identification area having different information feedback types and arranged alternately, and the sensing unit scans different types of identification areas to obtain different identification information.

[0026] Optionally, the first identification area is a white identification area, and the second identification area is a black identification area;

[0027] The sensor is an infrared transceiver, the identification information is the signal strength received by the sensor, and the designated identification information is information that the signal strength is less than a preset signal strength.

[0028] Optionally, the method further includes:

[0029] When a charging failure signal is detected, the cleaning robot is controlled to return to the starting position of the pile;

[0030] The cleaning robot is controlled to retreat and pile up at the pile-up starting position.

[0031] Optionally, the method further includes:

[0032] Accumulating the number of charging failures according to the charging failure signal;

[0033] When the number of charging failures is greater than a preset threshold, a prompt message is generated.

[0034] In a second aspect, an embodiment of the present invention provides a cleaning robot, comprising:

[0035] chassis;

[0036] a charging assembly, mounted on the housing;

[0037] A travel wheel assembly is mounted on the housing;

[0038] A sensing component, installed on the housing, is configured to scan an identification area of the charging dock to obtain identification information;

[0039] A controller, electrically connected to the charging component, the walking wheel component, and the sensing component respectively, is configured to execute the method for the cleaning robot to recharge and dock as described above.

[0040] Optionally, the identification area includes a first identification area and a second identification area with different information feedback types arranged alternately;

[0041] The sensing component includes at least two sensing units configured to scan the first identification area or the second identification area. Each sensing unit includes a right sensor and a left sensor. Taking the forward axis of the cleaning robot as a boundary, the right sensor and the left sensor are respectively arranged on both sides of the forward axis.

[0042] Optionally, the at least two sensing units include a first sensing unit and a second sensing unit;

[0043] The first right sensor and the first left sensor of the first sensing unit form a first straight line, the second right sensor and the second left sensor of the second sensing unit form a second straight line, and the second straight line is parallel to the first straight line and perpendicular to the forward axis.

[0044] Optionally, the identification area includes at least one of the first identification areas and at least two of the second identification areas, and two of the second identification areas are respectively located on the left and right sides of the first identification area;

[0045] The first distance between the first right sensor and the first left sensor, and the second distance between the second right sensor and the second left sensor satisfy the following conditions: W1 + d1 + d2 < L 12 <W1 + 2 * W2 + d1 + d2, W1 < L 34 <W1 + 2 * W2, where W1 is the width of the first identification area, L 12 is the first distance, L 34 is the second distance, W2 is the width of the second identification area, d1 is the distance between the first identification area and one of the second identification areas, and d2 is the distance between the first identification area and the other second identification area.

[0046] Optionally, the first identification area is a white bar code area, and the second identification area is a black identification area;

[0047] Each of the sensors is an infrared transceiver.

[0048] Optionally, the identification area is arranged on the surface of the bottom of the charging dock facing the cleaning robot;

[0049] Each of the sensors is mounted on a surface of the bottom of the housing facing the recharging seat.

[0050] Optionally, the charging assembly includes a first charging electrode and a second charging electrode, and the first charging electrode and the second charging electrode are respectively installed on a side of the housing away from the forward direction of the cleaning robot.

[0051] Optionally, the first charging electrode is located between the first left sensor and the first right sensor, and a first projection length of a third distance between the first charging electrode and the first left sensor in the horizontal longitudinal direction is less than or equal to a second projection length of the second identification area in the horizontal longitudinal direction;

[0052] and / or,

[0053] The second charging electrode is located between the first right sensor and the first left sensor, and the fourth distance between the second charging electrode and the first right sensor, the third projection length in the horizontal longitudinal direction is less than or equal to the fourth projection length of the second identification area in the horizontal longitudinal direction.

[0054] Optionally, the sensor of each sensing unit is arranged around the edge of the housing.

[0055] Optionally, each of the sensing units includes at least two sensors arranged in a preset layout, and the at least two sensors are capable of determining identification information.

[0056] In a third aspect, an embodiment of the present invention provides a recharge system, including:

[0057] The cleaning robot mentioned above; and

[0058] A recharging seat is communicatively connected to the cleaning robot.

[0059] Compared with the prior art, the embodiments of the present invention have at least the following beneficial effects: relative to the prior art, first, the identification area of the recharging seat is scanned to obtain identification information, the recharging seat is provided with a power supply, and the cleaning robot is provided with a charging component. Finally, according to the identification information, the pile-mounting posture of the cleaning robot is controlled, so that when the cleaning robot is on the pile, it carries the charging component and docks with the power supply component under the instruction of the identification information. Therefore, even if the cleaning robot deviates from the correct position when charging on the pile, this embodiment can control the pile-mounting posture of the cleaning robot according to the identification information until the charging component docks with the power supply component, thereby achieving reliable alignment of the charging component and the power supply component, thereby improving the success rate of pile mounting and the recharging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0061] Figure 1 A schematic structural diagram of a recharging system provided in an embodiment of the present invention;

[0062] Figure 2a A circuit block diagram of a cleaning robot provided by an embodiment of the present invention;

[0063] Figure 2b A schematic diagram of a cleaning robot in a marked area according to an embodiment of the present invention;

[0064] Figure 2c A schematic diagram of the layout of various sensors and charging electrodes in a cleaning robot provided by an embodiment of the present invention;

[0065] Figure 3 A circuit diagram of a recharging station provided in an embodiment of the present invention;

[0066] Figure 4 A schematic diagram of the cleaning robot provided by an embodiment of the present invention starting to move backwards and pile up from the starting position;

[0067] Figure 5 A schematic flow chart of a recharging and charging method for a cleaning robot provided in an embodiment of the present invention;

[0068] Figure 6a for Figure 5 The schematic flow chart of S52 shown;

[0069] Figure 6b for Figure 6a The flowchart of S523 is shown;

[0070] Figure 7a A schematic flow chart of a recharging and charging method for a cleaning robot provided in another embodiment of the present invention;

[0071] Figures 7b to 7d A schematic diagram of a scenario in which a cleaning robot fails to charge after backing up to a charging station according to an embodiment of the present invention;

[0072] Figure 7e A schematic flow chart of a recharging and charging method for a cleaning robot provided in yet another embodiment of the present invention;

[0073] Figure 8 A circuit block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is 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 are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0075] It should be noted that, unless there is a conflict, the various features of the embodiments of the present invention may be combined with each other and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematics and the logical order is shown in the flow charts, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flow charts. Furthermore, the terms "first," "second," "third," etc. used in the present invention do not limit the data or execution order, but only distinguish between identical or similar items with substantially the same functions and effects.

[0076] The cleaning equipment provided by the embodiments of the present invention can be applied to any suitable business scenarios, such as sweeping, mopping, washing or vacuuming, and the cleaning equipment can be constructed into any suitable shape and function to adapt to the corresponding business scenarios, wherein the cleaning equipment includes but is not limited to a sweeping robot, a vacuuming robot, a mopping robot or a washing robot.

[0077] See also Figure 1 The recharging system 100 includes a cleaning robot 200 and a recharging station 300. The recharging station 300 is communicatively connected to the cleaning robot 200. The communication method includes wireless communication or wired communication. For example, the wireless communication may include any one of the following: Bluetooth, WI-FI, GSM (Global System for Mobile communications) communication, ZigBee (ZigBee, ZigBee protocol) communication, and cellular mobile communication.

[0078] See also Figure 2a The cleaning robot 200 includes a housing 20, a controller 21, a walking wheel assembly 22, a cleaning assembly 23, a sensor assembly 24 and a charging assembly 25.

[0079] The housing 20 is used to protect the cleaning robot 200 , and the above-mentioned components are installed inside the housing. The housing 20 can be configured into any suitable shape, such as a circular shape, an elliptical shape, or a D-shape.

[0080] The controller 21 serves as the control core of the cleaning robot 200 and is used to control the cleaning robot 200 to complete relevant logical operations.

[0081] The walking wheel assembly 22 is installed on the housing 20 and is electrically connected to the controller 21. In this embodiment, the walking wheel assembly 22 is controlled by the controller 21 to drive the cleaning robot 200 forward or backward to complete cleaning operations or recharging operations, etc.

[0082] In some embodiments, the travel wheel assembly 22 is divided into a left wheel drive unit and a right wheel drive unit. Taking the left wheel drive unit as an example, it includes a motor, a wheel drive mechanism, and a left wheel. The motor's shaft is connected to the wheel drive mechanism, and the left wheel is connected to the wheel drive mechanism. The motor is connected to the controller 21. The motor receives control commands from the controller 21 to rotate its shaft, and transmits torque to the left wheel through the wheel drive mechanism to achieve rotation of the left wheel. At the same time, it is combined with the right drive unit to drive the cleaning robot 200 forward or backward.

[0083] The cleaning component 23 is installed on the housing 20 and is electrically connected to the controller 21. The cleaning component 23 is used to clean the floor and can be configured into any cleaning structure. For example, in some embodiments, the cleaning component 23 includes a cleaning motor and a roller brush. The surface of the roller brush is provided with a cleaning portion. The roller brush is connected to the cleaning motor through a driving mechanism, and the cleaning motor is connected to the controller 21. The controller 21 can send instructions to the cleaning motor to control the cleaning motor to drive the roller brush to rotate, so that its cleaning portion can effectively clean the floor.

[0084] The sensor assembly 24 is mounted on the housing 20 and electrically connected to the controller 21. The sensor assembly 24 is controlled by the controller 21 to scan the identification area of the recharging station 300 and obtain identification information. It is understood that in order to scan the identification area of the recharging station 300, the installation position or number of the sensor assembly 24 on the cleaning robot 200 can vary according to the shape of the identification area.

[0085] In some embodiments, see Figure 2b The identification area 2b0 includes a first identification area 2b1 and a second identification area 2b2 having different information feedback types and arranged alternately. The sensor component 24 includes at least two sensor units for scanning the first identification area 2b1 or the second identification area 2b2.

[0086] In some embodiments, each sensing unit includes at least two sensors arranged in a preset layout, and the at least two sensors are capable of determining identification information, wherein the preset layout includes a layout obtained by at least two sensors using any suitable rules, for example, two or more sensors are arranged horizontally or vertically on the cleaning robot 200, and each sensor is spaced a preset distance apart, or three or more sensors are arranged in a triangular shape on the cleaning robot 200, or four or more sensors are arranged in a rectangular shape on the cleaning robot 200.

[0087] In some embodiments, each sensing unit includes a right sensor and a left sensor. The right and left sensors are positioned on either side of the forward axis 10 along which the cleaning robot travels. Each sensor can scan either the first identification area 2b1 or the second identification area 2b2. When scanning the first identification area 2b1, the sensor obtains first identification information; when scanning the second identification area 2b2, the sensor obtains second identification information. The forward axis 10 is centered on the cleaning robot and, with the forward direction of the cleaning robot as the front, divides the cleaning robot into left and right axes. Specifically, the cleaning robot can be symmetrically divided into left and right axes.

[0088] In this embodiment, since each sensor is fixedly mounted on the cleaning robot 200, if the cleaning robot deviates when it is piled, the corresponding sensor will also deviate along with the deviation of the cleaning robot. Therefore, the controller 21 can control the pile-up posture of the cleaning robot according to the first identification information or the second identification information. Assuming that the first identification information is used to indicate that the pile-up posture of the cleaning robot is in a misaligned state, and the second identification information is used to indicate that the pile-up posture of the cleaning robot is in a aligned state, when the sensor scans and obtains the first identification information, it means that the cleaning robot deviates when it is piled and needs to be calibrated. When the sensor scans and obtains the second identification information, it means that the posture of the cleaning robot when it is piled is correct and it can continue to retreat.

[0089] Since each sensing unit includes a right sensor and a left sensor arranged on both sides of the forward axis as the boundary line l0, and if accurate climbing is required, the sensors on the left and right sides need to move on their respective corresponding second identification areas 2b2, constantly looking for the trails in the second identification area 2b2 to climb the pile, therefore, this approach adopts "determining the direction of movement at two points that continue to walk in a fixed area respectively", so that the cleaning robot 200 can climb the pile more reliably and accurately, thereby improving the charging efficiency.

[0090] In some embodiments, the first identification area 2b1 and the second identification area 2b2 can define the shape and material selection according to design requirements. For example, the first identification area 2b1 and the second identification area 2b2 are both rectangular, and materials with large differences in light absorption or reflection coefficients are selected. For example, the first identification area 2b1 is a white identification area, and the second identification area 2b2 is a black identification area. The identification area 2b0 includes the first identification area 2b1-1, the second identification area 2b2-1, the first identification area 2b1-2, the second identification area 2b2-2 and the first identification area 2b1-3 arranged in sequence. It can be understood that the horizontal widths of different first identification areas can be the same or different. Similarly, the horizontal widths of different second identification areas can be the same or different.

[0091] To accommodate scanning and detection of the identification area, in some embodiments, the sensor component 24 includes any suitable type of sensor, such as a camera, a Hall sensor, a tag reader / writer, an infrared transceiver, an ultrasonic transceiver, or a lidar. For example, when the sensor component 24 is an infrared transceiver, the identification information is the signal strength received by the sensor. When scanning a white identification area, the signal strength received by the infrared transceiver is stronger; when scanning a black identification area, the signal strength received by the infrared transceiver is weaker. When the sensor component 24 is a camera, when scanning a white identification area, the identification information is the grayscale value of the white pixel. When scanning a black identification area, the identification information is the grayscale value of the black pixel.

[0092] Usually, when the cleaning robot chooses to move backward or forward to get on the pile, it adopts a straight-line movement mode, that is, it moves straight backward or forward. If the cleaning robot needs to make multiple turns or bends before it can successfully get on the pile, this method is more cumbersome, which is not conducive to simplifying the control logic and will increase the design difficulty when laying out various sensors in the later stage.

[0093] In some embodiments, please refer to Figure 2b , at least two sensing units include a first sensing unit 241 and a second sensing unit 242, the first right sensor 2411 and the first left sensor 2412 of the first sensing unit 241 form a first straight line l1, the second right sensor 2421 and the second left sensor 2422 of the second sensing unit 242 form a second straight line l2, the second straight line l2 is parallel to the first straight line l1, and the second straight line l2 and the first straight line l1 are both perpendicular to the forward axis l0.

[0094] When it is put on the pile in the later stage, the cleaning robot 200 only needs to move straight back or forward to ensure that the left and right side sensors in the first sensor unit 241 and the second sensor unit 242 move straight. As long as the identification information collected by the straight-moving sensors is the second identification information, it can ensure that the cleaning robot 200 can successfully align with the charging base for charging. The use of this structure is conducive to reducing the difficulty of logical control and sensor layout.

[0095] In some embodiments, the identification area 2b0 includes at least one first identification area 2b1 and at least two second identification areas 2b2. The width of each first identification area 2b1 is W1, the width of each second identification area 2b2 is W2, and the first identification area 2b1 and the second identification area 2b2 are arranged alternately. The values of W1 and W2 can be equal or different.

[0096] The first distance between the first right sensor 2411 and the first left sensor 2412, and the second distance between the second right sensor 2421 and the second left sensor 2422 satisfy the following condition: W1+d1+d2 <L 12<W1 + 2*W2 + d1 + d2, W1 < L 34 <W1 + 2*W2, where W1 is the width of the first identification area 2b1, L 12 is the first distance, L 34 is the second distance, W2 is the width of the second identification area 2b2, d1 is the distance between the first identification area 2b1 and one second identification area 2b2, and d2 is the distance between the first identification area 2b1 and the other second identification area 2b2. Among them, when the first identification area 2b1 is adjacent to each second identification area 2b2, both d1 and d2 are 0. For example, the distance d1 between the first identification area 2b1-2 and the second identification area 2b2-1 is 0, and the distance d2 between the first identification area 2b1-2 and the second identification area 2b2-2 is 0.

[0097] When the cleaning robot 200 is in the correct posture for docking, when the above constraint relationship is satisfied, both the first right sensor 2411 and the second right sensor 2421 can face the same second identification area 2b2, and both the first left sensor 2412 and the second left sensor 2422 can face the other same second identification area 2b2, so that the cleaning robot 200 can successfully dock and charge with the charging base 300. Of course, in other embodiments, the widths of the second identification areas 2b2 can also be different.

[0098] In some embodiments, one of the first identification area 2b1 or the second identification area 2b2 on the recharging seat 300 can be removed, and the number of the identification area can be single. The cleaning robot includes a sensing unit, and the sensing unit includes a sensor, which can identify a single identification area through a single sensor. For example, the sensor is arranged on the left-right symmetrical central axis of the cleaning robot. The sensor and the first charging electrode 251 on the cleaning robot are adapted to the distance between the identification area and the corresponding charging electrode on the recharging seat 300. The sensor and the second charging electrode 252 on the cleaning robot are adapted to the distance between the identification area and the corresponding charging electrode on the recharging seat 300, so as to realize the recognition of a single identification area recharging seat by a single sensor. Of course, it is also possible to jointly identify a single identification area and a recharge seat by setting at least two sensors in a sensor unit instead of a single sensor; or, it is also possible to set at least two sensor units instead of a single sensor unit, and the two sensor units jointly determine a single identification area and a recharge seat. In this case, each sensor unit can include a single sensor or two or more sensors; or, a single number of identification areas can be replaced by two intervals of the identification areas. In this case, the cleaning robot includes at least one sensor unit, each sensor unit includes at least two sensors, and each of the identification areas can be determined by at least one sensor. As mentioned above, the installation position of the sensor can change with the change of the identification area. For example, the identification area 2b0 is set on the left side plate, right side plate, top or bottom of the recharge seat 300, and each sensor can be installed on the side of the cleaning robot 200 facing the identification area. Taking into account the compact and simplified design of the recharging seat and the cleaning robot, in some embodiments, the identification area 2b0 is set on the surface of the bottom of the recharging seat 300 facing the cleaning robot 200, and each sensor is installed on the surface of the bottom of the housing 20 facing the recharging seat 300. Therefore, with this structure, it fully utilizes the free area at the bottom of the recharging seat to set the identification area, and also takes advantage of the convenience of more installation space remaining at the bottom of the cleaning robot, thereby achieving the purpose of saving product costs and reducing design difficulty. For example, the identification area 2b0 can be arranged along regular paths such as arcs and bends, or can be arranged along regular shapes such as fans and trapezoids, or can be arranged along other irregular paths or shapes, as long as its path or shape can form a preset path to guide the cleaning robot to eventually recharge the upper seat.

[0099] In some embodiments, in order to achieve a more simplified design, the sensor of each sensing unit is arranged around the edge of the housing 20. For example, the housing 20 is circular, and the sensor of each sensing unit is arranged around the circumferential edge of the housing 20. Therefore, this structural layout can ensure that the sensor can successfully scan the identification area while avoiding occupying too much design space of the cleaning robot 100 as much as possible, which is conducive to reducing the volume of the cleaning robot 100.

[0100] In some embodiments, the sensing unit can not only scan the identification area to provide identification information, but also, among the sensing units described above, at least part of the sensing units are also used to detect ground detection information, that is, at least part of the sensing units can be used as ground detection sensors, and the controller 21 performs preset operations based on the ground detection information. For example, the sensing unit is an infrared transceiver, and the ground detection information is the intensity of the infrared signal emitted by the sensing unit to the ground and reflected back by the ground. When the infrared signal intensity is less than the preset intensity threshold, the controller 21 determines that the cleaning robot is located in an abnormal critical area based on the ground detection information. For example, the cleaning robot runs to the cliff boundary or runs out of the boundary of the designated area, wherein the cliff boundary includes the step boundary or other boundary with a height difference, and the designated area includes the area specified by the user for the cleaning robot and different from the surrounding area. Therefore, the controller 21 controls the cleaning robot to perform a U-turn operation to prevent the cleaning robot from falling or crossing the boundary.

[0101] At least some of the sensing units may be a single sensing unit or all of the sensing units. For example, if the cleaning robot includes three right-side sensors and three left-side sensors separated by the forward axis 10 of the cleaning robot, at least some of the sensing units used to detect ground detection information may be at least one left-side sensor and / or at least one right-side sensor.

[0102] It can be understood that the sensor unit provided in this article can not only scan the identification area to instruct the cleaning robot to adjust the pile-mounting posture, but also realize the ground inspection function. Therefore, the sensor unit has multiple uses and high functional integration, which also reduces the setting of other detection modules added to realize other functions, thereby reducing costs.

[0103] The charging assembly 22 is used to receive power provided by the recharging station 300 and provide power to the cleaning robot 200. In this embodiment, the charging assembly 22 is installed in the housing 20 and is electrically connected to the controller 21. The controller 21 controls the charging assembly 22 to charge and provide power to the cleaning robot 200.

[0104] It is understandable that the charging component 22 can be set at any suitable position of the housing 20 in the cleaning robot 200, and accordingly, the power supply component can also be set at any suitable position of the recharging base 300.

[0105] In some embodiments, the charging assembly 22 is disposed on the lower side of the housing 20 facing the ground, and the power supply assembly is disposed on the surface of the recharging station 300 with the base facing the cleaning robot 200. Alternatively, the charging assembly 22 is disposed on the top side of the housing 20, and the power supply assembly is disposed on the side of the recharging station 300 with the body facing the cleaning robot 200. The cleaning robot 200 can carry the charging assembly 22 and dock with the power supply assembly under the instruction of the identification information.

[0106] In some embodiments, the power supply component forms a side charging area on the recharging seat 300, and the charging component 22 is arranged toward the side charging area. When the cleaning robot 200 is mounted, the charging component 22 and the power supply component remain facing each other. For example, the power supply component is arranged on the left side or right side of the recharging seat 300, and the charging component 22 is arranged on the housing 20 facing the left side or right side of the recharging seat 300. Under the instruction of the identification information, the cleaning robot 200 can carry the charging component 22 and the power supply component and remain facing each other until the two are finally docked.

[0107] In some embodiments, the charging component 22 can be installed on the side of the housing 20 facing the forward direction of the cleaning robot 200, or installed on the side of the housing 20 away from the forward direction of the cleaning robot 200. Therefore, the cleaning robot 200 can carry the charging component 22 to charge on the charging pile forward or backward.

[0108] In some embodiments, the charging component 25 includes a first charging electrode 251 and a second charging electrode 252. The first charging electrode 251 and the second charging electrode 252 are respectively installed on the side of the housing 20 away from the forward direction of the cleaning robot 200. Therefore, the cleaning robot 200 can climb onto the recharging seat 300 for charging by retreating and climbing onto the pile.

[0109] As the functions of cleaning robots become more diverse, the front part of the cleaning robot often undertakes important functions. For example, the cleaning robot has a mopping function, and the mop is installed at the bottom of the cleaning robot. The installation of the mop has occupied most of the space at the bottom of the cleaning robot, and the charging component cannot be effectively installed. Therefore, in this embodiment, the charging component 25 is installed in this way, which enables the cleaning robot 200 to be effectively and reliably charged while integrating more functions, thereby reducing the design difficulty.

[0110] In some embodiments, see Figure 2c The first charging electrode 251 is located between the first right sensor 2411 and the first left sensor 2412, and the third distance L between the first charging electrode 251 and the first left sensor 2412 is 01 , the third distance L 01The first projection length h1 in the horizontal longitudinal direction is less than or equal to the second projection length h2 of the second identification area in the horizontal longitudinal direction. When the second identification area is rectangular, the second projection length h2 is the width of the second identification area in the horizontal longitudinal direction. Figure 2c The direction indicated by the center forward axis.

[0111] In some embodiments, please refer to Figure 2c The second charging electrode 252 is located between the first right sensor 2411 and the first left sensor 2412, and the fourth distance L between the second charging electrode 252 and the first right sensor 2411 is 02 , the fourth distance L 02 The third projection length h3 in the horizontal longitudinal direction is less than or equal to the fourth projection length h4 of the second identification area in the horizontal longitudinal direction. When the second identification area is rectangular, the fourth projection length h4 is the width of the second identification area in the horizontal longitudinal direction.

[0112] For example, when the cleaning robot 200 enters the marked area 2b0, it is assumed that the cleaning robot is in the correct pile-mounting posture, such as Figure 2c As shown, the first right sensor 2411 and the second right sensor 2421 are located in the second identification area 2b2-1, and the first left sensor 2412 and the second left sensor 2422 are located in the second identification area 2b2-2.

[0113] Because the first projected length h1 is smaller than the second projected length h2, the movement trajectory of the first charging electrode 251 is also confined within the second identification area 2b2-2. Similarly, because the third projected length h3 is smaller than the fourth projected length h4, the movement trajectory of the second charging electrode 252 is also confined within the second identification area 2b2-1.

[0114] Since the front of one supply electrode sheet of the recharging seat coincides with the direction of the second identification area 2b2-1, and the front of the other supply electrode sheet coincides with the direction of the second identification area 2b2-1, the moving trajectory of the first charging electrode sheet 251 follows the second identification area 2b2-2, and the moving trajectory of the second charging electrode sheet 252 follows the second identification area 2b2-1. Naturally, the first charging electrode sheet 251 and the second charging electrode sheet 252 respectively dock with the corresponding supply electrode sheets in the recharging seat 300 for charging.

[0115] As mentioned above, the recharging station 300 can provide power for the cleaning robot 200. Figure 3 The recharging station 300 includes a base 30 , a microcontroller 31 and a power supply component 32 .

[0116] The base 30 serves as the main structure of the recharging station 300 , and its interior is used to accommodate various components.

[0117] The microcontroller 31 serves as the core control logic of the recharging station 300 , and is programmed with control logic corresponding to various working modes and other business logic.

[0118] The power supply component 32 is mounted on the base 30 and electrically connected to the microcontroller 31, and is used to dock with the charging component of the cleaning robot 200 to provide electrical energy. In some embodiments, the power supply component 32 includes two power supply electrode sheets, both of which are mounted on the side of the base 30 facing the cleaning robot 200, and one power supply electrode sheet is facing the second identification area 2b2-1, and the other power supply electrode sheet is facing the second identification area 2b2-2, that is, the orthographic projection of the power supply electrode sheet on the plane where the identification area is located falls within the area extending in the length direction of the second identification area 2b2-1 or the second identification area 2b2-2. Subsequently, as long as the first charging electrode sheet 251 of the cleaning robot 200 walks along the second identification area 2b2-2 and the second charging electrode sheet 252 walks along the second identification area 2b2-1, the two charging electrode sheets will dock with the two power supply electrode sheets respectively.

[0119] It is understandable that the width and length of the electrode sheet are adapted to the width of the identification area and can be customized by the user, and no limitation is imposed on its specific size.

[0120] In some embodiments, see Figure 4 In order to more effectively help the cleaning robot 200 to accurately pile up the charging seat 300, this embodiment can set a pile starting position 30a in front of the charging seat 300. Subsequently, the cleaning robot 200 uses the pile starting position 30a as the pile starting point and starts to retreat and pile up.

[0121] Therefore, in some embodiments, the cleaning robot 200 further includes a first infrared receiver, a partition, and a second infrared receiver, and the recharging station 300 further includes a first infrared transmitter and a second infrared transmitter. The transmission distance of the first infrared transmitter is a first preset distance between the cleaning robot 200 and the recharging station 300. For example, the first preset distance is 1 meter, which means that the distance between the cleaning robot 200 and the recharging station 300 is 1 meter. The transmission distance of the second infrared transmitter is a second preset distance between the cleaning robot 200 and the recharging station 300. For example, the second preset distance is 0.5 meter, which means that the distance between the cleaning robot 200 and the recharging station 300 is 1 meter.

[0122] In the cleaning robot, the first infrared receiver, the partition and the second infrared receiver are all installed in the front of the housing, and the first infrared receiver and the second infrared receiver are respectively arranged on both sides of the partition for receiving infrared signals.

[0123] In the recharging station 300, the first infrared emitter and the second infrared emitter are installed in sequence along a vertical longitudinal direction on the side of the recharging station 300 facing the cleaning robot 200, and are also located directly in front of the identification area 2b0. In some embodiments, the recharging station 300 controls the first infrared emitter and the second infrared emitter to emit infrared signals at a preset frequency.

[0124] When the infrared signal emitted by the recharging station 300 is received by the first infrared receiver and / or the second infrared receiver, but the partition partially or completely blocks the infrared signal from being received by one of the infrared receivers, resulting in different infrared signal strengths received by the first infrared receiver and the second infrared receiver, it means that the cleaning robot is not facing the recharging station. If the infrared signal strengths received by the first infrared receiver and the second infrared receiver are the same, it means that the cleaning robot is facing the recharging station. The distance between the cleaning robot and the recharging station can be determined based on the first infrared signal emitted by the first infrared transmitter or the second infrared signal emitted by the second infrared transmitter.

[0125] When the infrared signal strengths received by the first infrared receiver and the second infrared receiver are different, assuming that the signal strength of the first infrared receiver is greater than that of the second infrared receiver, the cleaning robot will gradually deflect toward the direction of the first infrared receiver until the signal strengths of the first infrared receiver and the second infrared receiver are the same. Similarly, assuming that the signal strength of the first infrared receiver is less than that of the second infrared receiver, the cleaning robot will gradually deflect toward the direction of the second infrared receiver until the signal strengths of the first infrared receiver and the second infrared receiver are the same.

[0126] In this embodiment, assuming that the signal strengths of the first infrared receiver and the second infrared receiver are the same, when the first infrared signal emitted by the first infrared transmitter is received by the first infrared receiver, the controller 21 determines, based on the first infrared signal, that the distance between the cleaning robot 200 and the recharging station 300 is 1 meter, and can control the cleaning robot 200 to move slowly at a low speed. When the second infrared signal emitted by the second infrared transmitter is received by the second infrared receiver, the controller 21 determines, based on the second infrared signal, that the distance between the cleaning robot 200 and the recharging station 300 is 0.5 meters, and can determine that the cleaning robot has reached the pile starting position 30a.

[0127] Next, the cleaning robot rotates 180 degrees with the starting position 30a of the pile as the rotation center point, and then the cleaning robot can start to move back to the pile for charging.

[0128] As another aspect of the present invention, the present invention provides a method for charging and recharging a cleaning robot. Figure 5 The recharging method S500 of the cleaning robot includes:

[0129] S51. Scan the identification area of the recharging station to obtain identification information. The recharging station is provided with a power supply component, and the cleaning robot is provided with a charging component.

[0130] In this embodiment, the identification area can be customized in shape and material based on design requirements. For example, the identification area includes a first identification area and a second identification area with different information feedback types, arranged alternately. The sensing unit scans the different identification areas to obtain different identification information. Each identification area is rectangular, and the materials used for different identification areas vary significantly in light absorption or reflection coefficient. The first identification area can be white or red, for example, and the second identification area can be black or green, for example.

[0131] S52. Control the posture of the cleaning robot when it is on the pile according to the identification information, so that when the cleaning robot is on the pile, it carries the charging component and docks with the power supply component under the instruction of the identification information.

[0132] In this embodiment, when the cleaning robot is on the pile and under the instruction of the identification information, the charging component and the power supply component may always remain facing each other, or they do not have to always remain facing each other. As long as the cleaning robot finally carries the charging component and docks with the power supply component under the instruction of the identification information, for example, as mentioned above, the power supply component forms a side charging area on the recharging seat, and the charging component is arranged toward the side charging area. When the cleaning robot is on the pile, the charging component and the power supply component remain facing each other.

[0133] In some embodiments, the charging component and the power supply component remain facing each other, which can be understood as the charging component and the power supply component remain directly opposite each other, or it can be that part of the charging component and the power supply component are directly opposite each other, or it can be that the charging component and the power supply component are directly opposite each other. As mentioned above, the size of the charging electrode in the charging component or the power supply electrode in the power supply component can be customized by the user. As long as the identification information meets the preset mounting conditions, the cleaning robot can dock with the power supply component when carrying the charging component on the pile. Whether it is partial docking or full docking is not limited in this article.

[0134] In general, even if the cleaning robot deviates from the correct position when charging on the charging pile, this embodiment can control the charging posture of the cleaning robot according to the identification information until the charging component and the power supply component are docked, so that the charging component and the power supply component can be reliably aligned, thereby improving the charging success rate and recharging efficiency.

[0135] In some embodiments, see Figure 6a , S52 includes:

[0136] S521, determining whether the identification information of the cleaning robot when it is on the pile is continuously the designated identification information;

[0137] S522: If yes, control the cleaning robot to pile up according to the instruction of the identification information;

[0138] S523: If not, adjust the pile-mounting posture of the cleaning robot so that the identification information continues to be the designated identification information.

[0139] In this embodiment, when the sensor is an infrared transceiver, the identification information is the signal strength received by the infrared transceiver, and the designated identification information is information indicating that the signal strength is less than a preset signal strength. When the sensor is a camera, the identification information is the grayscale value of a pixel captured by the camera, and the designated identification information is the grayscale value of a specified pixel, for example, the grayscale value of a black pixel.

[0140] In this embodiment, “continuously using designated identification information” includes that the identification information detected each time by the cleaning robot when it is on the pile is designated identification information.

[0141] In this embodiment, the identification information may be acquired by one sensor or two or more sensors, wherein the two or more sensors may constitute a corresponding sensor array.

[0142] Therefore, adopting this approach can ensure that the cleaning robot can be piled reliably and effectively.

[0143] In some embodiments, the cleaning robot includes at least two sensor units for detecting identification information. It is understandable that the identification information detection areas of different sensor units may at least partially overlap. Figure 2b It can be seen that in the correct pile-mounting posture, the identification information detection areas of different sensor units, that is, the identification areas corresponding to different sensor units, at least partially overlap. The first right sensor 2411 and the second right sensor 2421 overlap the second identification area 2b2-1, and the first left sensor 2412 and the second left sensor 2422 overlap the second identification area 2b2-2.

[0144] In S521, the cleaning robot can determine whether the identification information of each sensor unit continues to be the specified identification information when the cleaning robot is on the pile. Therefore, by adopting this approach, it combines the identification information scanned by multiple sensor units from point to surface to comprehensively judge whether the cleaning robot's pile-mounting posture is correct. Therefore, the reliability of this approach is relatively high.

[0145] In some embodiments, each sensor unit is matched with a corresponding information priority, see Figure 6b , S523 includes:

[0146] S5230: Adjust the position of the first sensor unit with the highest information priority relative to the identification area in descending order of information priority, so that the identification information of the first sensor unit is the designated identification information;

[0147] S5231. When the identification information of the first sensor unit is the designated identification information, adjust the position of the second sensor unit relative to the identification area so that the identification information of the second sensor unit is the designated identification information, until the identification information of all sensor units is adjusted to the designated identification information.

[0148] In this embodiment, the information priority of the second sensor unit is closest to and lower than the information priority of the first sensor unit.

[0149] For example, assuming the sensor unit is an infrared transceiver, please combine Figure 2b , the information priority of the first sensing unit 241 is higher than the information priority of the second sensing unit 242 , and the information priority of the second sensing unit 241 is closest to the information priority of the first sensing unit 241 .

[0150] Since the information priority of the first sensor unit 241 is higher than the information priority of the second sensor unit 242, when the cleaning robot 200 is on the pile, when the first sensor unit 241 is in the white recognition area, it is first necessary to control the first sensor unit 241 to enter the black recognition area. Since the infrared signal emitted by the first sensor unit 241 is almost absorbed by the black recognition area, the signal strength obtained by the first sensor unit 241 is less than the preset signal strength, that is, the identification information of the first sensor unit is the specified identification information.

[0151] Since the identification information of the first sensor unit 241 is already the designated identification information, the cleaning robot 200 needs to adjust the position of the second sensor unit 242 relative to the identification area so that the identification information of the second sensor unit is the designated identification information. If the cleaning robot 200 is adjusting the position of the second sensor unit 242 relative to the identification area and the identification information of the first sensor unit 241 is not the designated identification information, the cleaning robot 200 needs to interrupt the position adjustment of the second sensor unit 242 and re-enter the operation of adjusting the position of the first sensor unit 241 relative to the identification area. This approach can reliably and effectively adjust the identification information of all sensor units to the designated identification information, thereby ensuring that the pile-mounting posture of the cleaning robot 200 is correct.

[0152] In some embodiments, each sensing unit includes a right sensor and a left sensor with the same information priority. The right sensor and the left sensor are respectively arranged on both sides of the forward axis of the cleaning robot. Adjusting the position of each sensing unit relative to the marked area includes:

[0153] Determine whether the identification information collected by the right sensor or the left sensor is the specified identification information;

[0154] If the identification information collected by the right sensor is the designated identification information, and the identification information collected by the left sensor is not the designated identification information, the cleaning robot is rotated in a first circumferential direction with the right traveling wheel on the same side as the right sensor as the center, driving the left sensor so that the identification information collected by the left sensor is the designated identification information;

[0155] If the identification information collected by the right sensor is not the designated identification information, and the identification information collected by the left sensor is the designated identification information, the cleaning robot is rotated in a second circumferential direction with the left travel wheel on the same side as the left sensor as the center, driving the right sensor so that the identification information collected by the right sensor is the designated identification information, and the first circumferential direction is opposite to the second circumferential direction;

[0156] If the identification information collected by the right sensor and the left sensor is not the specified identification information, the pile-mounting posture of the cleaning robot is controlled so that the identification information collected by any one or both of the right sensor and the left sensor is the specified identification information.

[0157] For example, in the first sensing unit 241, since the first right sensor 2411 and the first left sensor 2412 have the same information priority, the cleaning robot does not currently know which sensor enters the black recognition area first when backing up the pile.

[0158] If the first right sensor 2411 enters the second identification area 2b2-1 and the first left sensor 2412 does not enter the second identification area 2b2-2, that is, the identification information collected by the first right sensor 2411 is the designated identification information, and the identification information collected by the first left sensor 2412 is not the designated identification information. Therefore, the cleaning robot 200 rotates the cleaning robot 200 in the first circumferential direction (clockwise direction) with the right walking wheel on the same side as the first right sensor 2411 as the center, driving the first left sensor 2412, so that the identification information collected by the first left sensor 2412 is the designated identification information.

[0159] If the first right sensor 2411 does not enter the second identification area 2b2-1, and the first left sensor 2412 enters the second identification area 2b2-2, that is, the identification information collected by the first right sensor 2411 is not the designated identification information, and the identification information collected by the first left sensor 2412 is the designated identification information, the cleaning robot is rotated in the second circular direction (counterclockwise) with the left walking wheel on the same side as the first left sensor 2412 as the center, driving the first right sensor 2411, so that the identification information collected by the first right sensor 2411 is the designated identification information.

[0160] If the identification information collected by the first right sensor 2411 and the first left sensor 2412 is not the specified identification information, the cleaning robot 200 needs to control the pile-mounting posture of the cleaning robot 200 so that the identification information collected by any one or both of the first right sensor 2411 and the first left sensor 2412 is the specified identification information.

[0161] Next, assuming that when the identification information of the first right sensor 2411 and the first left sensor 2412 in the first sensing unit 241 are both specified identification information, the cleaning robot starts to adjust the positions of the second right sensor 2421 and the second left sensor 2422 of the second sensing unit 242. The adjustment principle is as described above and will not be repeated here.

[0162] When the cleaning robot 200 places the left and right sensors of the first sensor unit 241 and the second sensor unit 242 directly above the corresponding identification area, the cleaning robot 200 continues to walk in a straight-ahead posture, and the first charging electrode 251 and the second charging electrode 252 are respectively docked with the corresponding supply electrode in the recharging seat 300 for charging.

[0163] Considering that even if the cleaning robot starts to move backwards and mounts on the pile from the starting position, some factors may cause the cleaning robot to not be able to charge normally. Therefore, in some embodiments, in order to improve the charging reliability of the cleaning robot, please refer to Figure 7a The recharging method S500 of the cleaning robot further includes:

[0164] S53, when a charging failure signal is detected, the cleaning robot is controlled to return to the starting position of the pile;

[0165] S54, controlling the cleaning robot to retreat and pile up at the pile-up starting position.

[0166] In this embodiment, the charging failure signal has multiple manifestations, for example, please refer to Figure 7b and Figure 7c Even if the cleaning robot continues to move backwards straight or turns, the cleaning robot's charging component cannot dock with the power supply component of the recharging station. When the cleaning robot starts to pile up at the starting position, the timer starts. When the timer duration is greater than or equal to the preset time threshold, the cleaning robot automatically generates a charging failure signal, where the preset time threshold = L / V, L is the vertical distance from the power supply electrode of the recharging station to the starting position of the pile, and V is the backward speed of the cleaning robot when it starts to pile up. Alternatively, please refer to Figure 7d ,exist Figure 7dIn the state shown (the probability of this state occurring is extremely low), even if the cleaning robot is in the identification area and the identification information detected by each sensor unit meets the specified identification information, it still cannot charge normally. Therefore, as mentioned above, when the timing duration is greater than or equal to the preset duration threshold, the cleaning robot automatically generates a charging failure signal.

[0167] In this embodiment, if the cleaning robot fails to charge when it moves backward onto the charging pile, the cleaning robot can return to the charging pile starting position and move backward onto the charging pile again. Therefore, this approach is conducive to increasing the probability of successful charging when moving backward onto the charging pile.

[0168] Usually, some factors may cause the cleaning robot to fail to charge even if it is repeatedly backed up and re-stacked. Therefore, in some embodiments, please refer to Figure 7e The recharging method S500 of the cleaning robot further includes:

[0169] S55, accumulating the number of charging failures according to the charging failure signal;

[0170] S56: When the number of charging failures exceeds a preset threshold, a prompt message is generated.

[0171] In this embodiment, each time the cleaning robot fails to charge and needs to be re-connected, the cleaning robot accumulates the number of charging failures. When the number of charging failures exceeds a preset threshold, the cleaning robot can announce the charging failure to the user by voice, push a notification to the user's designated terminal, or emit a flashing light. Once the user is aware of the situation, they can remove the charging problem and manually help the cleaning robot charge. This approach ensures that the cleaning robot can reliably charge.

[0172] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present invention, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, or may be executed interchangeably, etc.

[0173] See also Figure 8 , Figure 8 This is a circuit principle block diagram of an electronic device provided by an embodiment of the present invention. Figure 8 As shown, the electronic device 800 includes one or more processors 81 and a memory 82. Figure 8 A processor 81 is taken as an example.

[0174] The processor 81 and the memory 82 may be connected via a bus or other means. Figure 8 The bus connection is taken as an example.

[0175] Memory 82, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as the program instructions / modules corresponding to the foreign object contact control method in the embodiments of the present invention. Processor 81 executes the recharging and recharging method for the cleaning robot provided in the above method embodiments by running the non-volatile software programs, instructions, and modules stored in memory 82.

[0176] The memory 82 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 82 may optionally include a memory remotely located relative to the processor 81, and such remote memory may be connected to the processor 81 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0177] The program instructions / modules are stored in the memory 82 , and when executed by the one or more processors 81 , the recharging and recharging method of the cleaning robot in any of the above method embodiments is executed.

[0178] An embodiment of the present invention further provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are executed by one or more processors, for example Figure 8 A processor 81 in the embodiment may enable the one or more processors to execute the recharging and pile-up method of the cleaning robot in any of the above method embodiments.

[0179] An embodiment of the present invention also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by an electronic device, the electronic device executes any one of the methods for recharging the cleaning robot.

[0180] The above-described device or apparatus embodiments are merely illustrative. The unit modules described as separate components may or may not be physically separate, and the components shown as module units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network module units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment.

[0181] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, or of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiment.

[0182] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for recharging a cleaning robot, characterized in that: Including: Scanning the identification area of the charging dock to obtain identification information. The charging dock is provided with a power supply component, and the cleaning robot is provided with a charging component and a sensing component. The identification area includes at least one first identification area and at least two second identification areas. Two of the second identification areas are respectively located on the left and right sides of the first identification area. The sensing component includes a first sensing unit and a second sensing unit for scanning the first identification area or the second identification area. The first sensing unit includes a first right sensor and a first left sensor, and the second sensing unit includes a second right sensor and a second left sensor. Taking the forward axis of the cleaning robot as a boundary, the first right sensor and the first left sensor are respectively arranged on both sides of the forward axis, and the second right sensor and the second left sensor are respectively arranged on both sides of the forward axis. The first distance between the first right sensor and the first left sensor and the second distance between the second right sensor and the second left sensor satisfy the following conditions: W1 + d1 + d2 < L12 < W1 + 2 * W2 + d1 + d2, W1 < L34 < W1 + 2 * W2, where W1 is the width of the first identification area, L12 is the first distance, L34 is the second distance, W2 is the width of the second identification area, d1 is the distance between the first identification area and one of the second identification areas, and d2 is the distance between the first identification area and the other second identification area; According to the identification information, controlling the docking posture of the cleaning robot so that when the cleaning robot docks, under the indication of the identification information, the charging component is docked with the power supply component; The controlling the docking posture of the cleaning robot according to the identification information includes: Judging whether the identification information when the cleaning robot docks is continuously the specified identification information; If so, controlling the cleaning robot to dock under the indication of the identification information; If not, adjusting the docking posture of the cleaning robot so that the identification information is continuously the specified identification information.

2. The method according to claim 1, characterized in that The power supply component forms a side charging area on the charging dock, and the charging component is arranged facing the side charging area. When the cleaning robot docks, the charging component and the power supply component face each other.

3. The method according to claim 1, characterized in that The cleaning robot includes at least two sensing units for detecting identification information. The judging whether the identification information when the cleaning robot docks is continuously the specified identification information includes: Judging whether the identification information of each sensing unit is continuously the specified identification information when the cleaning robot docks.

4. The method according to claim 3, characterized in that Each sensing unit includes at least two sensors arranged in a preset layout manner, and the at least two sensors can all determine the identification information.

5. The method according to claim 3, characterized in that At least part of the sensing units are also used for detecting ground inspection information.

6. The method according to claim 3, characterized in that Each sensing unit is matched with a corresponding information priority level. The adjusting the docking posture of the cleaning robot so that the identification information when the cleaning robot docks is continuously the specified identification information includes: Adjusting the position of the first sensor unit with the highest information priority relative to the identification area in descending order of information priority, so that the identification information of the first sensor unit is the designated identification information; When the identification information of the first sensor unit is the specified identification information, adjust the position of the second sensor unit relative to the identification area so that the identification information of the second sensor unit is the specified identification information, until the identification information of all sensor units is adjusted to the specified identification information, and the information priority of the second sensor unit is closest to and lower than the information priority of the first sensor unit.

7. The method according to claim 6, characterized in that Each of the sensing units includes a right sensor and a left sensor with the same information priority, with the cleaning robot's forward axis as the boundary, and the right sensor and the left sensor are respectively arranged on both sides of the forward axis. Adjusting the position of each sensing unit relative to the marked area includes: Determining whether the identification information collected by the right sensor or the left sensor is designated identification information; If the identification information collected by the right sensor is the designated identification information, and the identification information collected by the left sensor is not the designated identification information, the cleaning robot is rotated in a first circumferential direction with the right traveling wheel on the same side as the right sensor as the center to drive the left sensor, so that the identification information collected by the left sensor is the designated identification information; If the identification information collected by the right sensor is not the specified identification information, the identification information collected by the left sensor is the specified identification information, and the cleaning robot is rotated in a second circumferential direction with the left walking wheel on the same side as the left sensor as the center to drive the right sensor, so that the identification information collected by the right sensor is the specified identification information, and the first circumferential direction is opposite to the second circumferential direction.

8. The method according to claim 3, characterized in that The identification area includes a first identification area and a second identification area having different information feedback types and arranged alternately. The sensing unit scans different types of identification areas to obtain different identification information.

9. The method according to claim 8, characterized in that The first identification area is a white identification area, and the second identification area is a black identification area; The sensor is an infrared transceiver, the identification information is the signal strength received by the sensor, and the designated identification information is information that the signal strength is less than a preset signal strength.

10. A cleaning robot, characterized in that: include: chassis; a charging assembly, mounted on the housing; A travel wheel assembly is mounted on the housing; A sensor component is installed in the housing and is used to scan the identification area of the recharging station to obtain identification information; The controller is electrically connected to the charging component, the walking wheel component and the sensor component respectively, and is used to execute the recharging and pile-mounting method of the cleaning robot as described in any one of claims 1 to 9.

11. The cleaning robot according to claim 10, characterized in that: The first identification area and the second identification area have different information feedback types and are arranged alternately.

12. The cleaning robot according to claim 11, characterized in that: The first right sensor and the first left sensor of the first sensing unit form a first straight line, and the second right sensor and the second left sensor of the second sensing unit form a second straight line. The second straight line is parallel to the first straight line and perpendicular to the forward axis.

13. The cleaning robot according to claim 11, characterized in that: The first identification area is a white identification area, and the second identification area is a black identification area; Each sensor is an infrared transceiver.

14. The cleaning robot according to claim 10, characterized in that: The charging assembly includes a first charging electrode and a second charging electrode. The first charging electrode and the second charging electrode are respectively installed on a side of the housing away from the forward direction of the cleaning robot.

15. The cleaning robot according to claim 14, characterized in that: The first charging electrode is located between the first left sensor and the first right sensor, and a first projection length of a third distance between the first charging electrode and the first left sensor in the horizontal longitudinal direction is less than or equal to a second projection length of the second identification area in the horizontal longitudinal direction; and / or, The second charging electrode is located between the first right sensor and the first left sensor, and the fourth distance between the second charging electrode and the first right sensor, the third projection length in the horizontal longitudinal direction is less than or equal to the fourth projection length of the second identification area in the horizontal longitudinal direction.

16. The cleaning robot according to claim 10, characterized in that: Each sensing unit includes at least two sensors arranged in a preset layout, and the at least two sensors are capable of determining identification information.

17. A recharging system, characterized in that: include: The cleaning robot according to any one of claims 10 to 16; and A recharging seat is communicatively connected to the cleaning robot.

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