Charging control method and device, storage medium and cleaning robot

Abstract

Embodiments of the present application provide a charging control method and device, a storage medium and a cleaning robot. The method comprises: detecting a charging state of the cleaning robot; when it is detected that the cleaning robot is in the charging state, performing a brake lock action to make a driving wheel of the cleaning robot enter an electromagnetic lock state; monitoring a preset unlocking trigger operation, the unlocking trigger operation including rotation of the driving wheel caused by the cleaning robot being pushed by an external force, the cleaning robot completing charging, and the cleaning robot receiving an instruction to start a cleaning mode; and when the unlocking trigger operation is monitored, performing an unlocking action to make the driving wheel of the cleaning robot enter an unlocked state. The present application can, during charging of the cleaning robot, perform an unlocking action to make the driving wheel of the cleaning robot enter an unlocked state when a preset unlocking trigger operation is monitored. Subsequent cleaning work can then be successfully completed, and user experience is improved.

Description

[0001] This application is a divisional application of the China Patent Application No. 202010266733.5, with the title of "Charging Control Method, Device and Storage Medium, and Cleaning Robot", filed on April 7, 2020. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning robot control, and particularly relates to a charging control method, device and storage medium, and cleaning robot. BACKGROUND

[0003] With the development of robot technology, robots can replace humans to complete some indoor work, for example, automatic cleaning devices (such as sweeping robots) are gradually applied and popularized.

[0004] At present, during the charging process of the automatic cleaning device, the automatic cleaning device will automatically enter the active wheel lock state, and the system usually only monitors the charging condition of the cleaning robot, and will be unlocked only when it is monitored that the charging is completed, which is not convenient for the user to use. SUMMARY

[0005] In view of the above problems, the present application is proposed in order to provide a charging control method, device and storage medium, and cleaning robot which can overcome the above problems or at least partially solve the above problems.

[0006] In one aspect of the present application, a charging control method is provided, applied to a cleaning robot end, and the method comprises:

[0007] detecting a charging state of the cleaning robot;

[0008] when it is detected that the cleaning robot is in the charging state, performing a brake lock action to make the active wheel of the cleaning robot enter an electromagnetic lock state;

[0009] monitoring a preset unlocking trigger operation, the unlocking trigger operation including rotation of the driving wheel of the cleaning robot caused by external force, completion of charging of the cleaning robot, and receiving of an instruction indicating starting of a cleaning mode by the cleaning robot;

[0010] when the unlocking trigger operation is monitored, performing an unlocking action to make the active wheel of the cleaning robot enter an unlocked state.

[0011] Optionally, the monitoring of the preset unlocking trigger operation comprises:

[0012] monitoring a state of the driving wheel of the cleaning robot;

[0013] when it is monitored that the driving wheel of the cleaning robot rotates, it is determined that the unlocking trigger operation is monitored.

[0014] Optionally, the monitoring of the preset unlocking trigger operation comprises:

[0015] monitoring the charging progress of the cleaning robot;

[0016] when it is monitored that the cleaning robot completes charging, it is determined that the unlocking trigger operation is monitored.

[0017] Optionally, the monitoring of the preset unlocking trigger operation comprises:

[0018] monitoring the operation instruction received by the cleaning robot;

[0019] when it is monitored that the cleaning robot receives an instruction indicating to start the cleaning mode, it is determined that the unlocking trigger operation is monitored.

[0020] Optionally, the method further comprises:

[0021] after the driving wheel of the cleaning robot enters the unlocking state, it is determined whether the cleaning robot completes charging;

[0022] if the cleaning robot does not complete charging, a pile returning charging action is performed, and when it is detected that the cleaning robot charges, a brake locking action is performed, if the cleaning robot completes charging, it waits for the issuance of a work instruction, or performs a corresponding cleaning action according to the instruction indicating to start the cleaning mode received before.

[0023] Another aspect of the application provides a charging control device, the device comprises:

[0024] a detection module for detecting the charging state of the cleaning robot;

[0025] an execution module for, when it is detected that the cleaning robot is in the charging state, performing a brake locking action to make the driving wheel of the cleaning robot enter an electromagnetic locking state;

[0026] a monitoring module for, after the driving wheel of the cleaning robot enters the electromagnetic locking state, monitoring a preset unlocking trigger operation, the unlocking trigger operation comprising that the driving wheel is rotated due to the cleaning robot being pushed by an external force, the cleaning robot completes charging, and the cleaning robot receives an instruction indicating to start the cleaning mode;

[0027] the execution module is further used for, when the unlocking trigger operation is monitored, performing an unlocking action to make the driving wheel of the cleaning robot enter an unlocking state.

[0028] Optionally, the monitoring module is specifically configured to monitor the state of the drive wheel of the cleaning robot, and when it is monitored that the drive wheel of the cleaning robot rotates, it is determined that the unlocking trigger operation is monitored.

[0029] Optionally, the monitoring module is specifically configured to monitor the charging progress of the cleaning robot, and when it is monitored that the cleaning robot completes charging, it is determined that the unlocking trigger operation is monitored.

[0030] Optionally, the monitoring module is specifically configured to monitor the operation instruction received by the cleaning robot, and when it is monitored that the cleaning robot receives an instruction indicating that the cleaning mode is started, it is determined that the unlocking trigger operation is monitored.

[0031] In addition, the present application also provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize the steps of the above method.

[0032] In addition, the present application also provides a cleaning robot, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the steps of the above method.

[0033] The charging control method, device and storage medium, and the cleaning robot provided by the embodiments of the present application can make the cleaning robot perform the brake locking action when the cleaning robot enters the charging state, so that the driving wheel of the cleaning robot enters the electromagnetic locking state, avoid the accidental off-piling caused by the misalignment of the piling position and the like during the charging process, and monitor the preset unlocking trigger operation, and when the preset unlocking trigger operation is monitored, perform the unlocking action to make the driving wheel of the cleaning robot enter the unlocking state. Further, the subsequent cleaning work is successfully completed, and the user experience is improved.

[0034] The above description is only a summary of the technical solutions of the present application, in order to enable the technical means of the present application to be more clearly understood, and to be implemented according to the content of the specification, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0035] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered as limiting the present application. Moreover, the same reference numerals are used to represent the same components throughout the drawings. In the drawings:

[0036] Figure 1 A flowchart of a charging control method according to an embodiment of the present application;

[0037] Figure 2 A structure block diagram of a charging control device according to an embodiment of the present application;

[0038] Figure 3 A schematic diagram of a cleaning robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0039] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0040] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be interpreted as having a meaning consistent with the context of the related art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0041] The cleaning robot to which the technical solution of the present application is applicable can be (but is not limited to) an automatic cleaning device such as a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot, etc. The robot can include a robot body, a perception system, a control system, a driving system, a cleaning system, an energy system, and a human-machine interaction system.

[0042] Figure 1 A flowchart of a charging control method according to an embodiment of the present application is schematically shown. Referring to Figure 1 The charging control method according to an embodiment of the present application is applied to a cleaning robot, and specifically includes the following steps:

[0043] Step S11, detecting a charging state of the cleaning robot.

[0044] Step S12, when it is detected that the cleaning robot is in the charging state, performing a brake lock action to make the driving wheel of the cleaning robot enter an electromagnetic lock state.

[0045] Step S13, monitoring a preset unlocking trigger operation.

[0046] When the unlocking trigger operation is monitored, step S14 is performed, otherwise, the electromagnetic lock state of the driving wheel of the cleaning robot is continuously maintained until the charging is completed.

[0047] Step S14, performing an unlocking action to make the driving wheel of the cleaning robot enter an unlocked state.

[0048] In actual application, the cleaning robot is provided with an automatic charging system. In use, when the power is almost exhausted or the current cleaning work is completed, the cleaning robot will automatically return to the charging pile for charging. However, during the charging process of the automatic cleaning device, the active wheel will automatically enter the locked state, and the system usually only monitors the charging condition of the cleaning robot, and will be unlocked only when the charging is completed, which is not convenient for the user. Therefore, the technical scheme of the present application monitors in real time during the charging process of the cleaning robot, and when the preset unlocking trigger operation is monitored, the unlocking action is performed to make the active wheel of the cleaning robot enter the unlocked state.

[0049] In the brake locking action, the specific implementation is to control the active wheel motor to brake and lock with a certain torque, so that the active wheel enters the electromagnetic locking state.

[0050] The charging control method provided by the embodiment of the present application can make the cleaning robot execute the brake locking action when the cleaning robot enters the charging state, so that the active wheel of the cleaning robot enters the electromagnetic locking state, avoids the accidental dismounting due to the misalignment of the mounting position during the charging process, and ensures that the cleaning robot can complete normal charging. Further, after the active wheel of the cleaning robot enters the electromagnetic locking state, the active wheel of the cleaning robot may enter the unlocked state due to some trigger operations, for example, the cleaning robot is pushed by external force, the cleaning robot completes charging, receives the "start cleaning" command, etc. Therefore, the preset unlocking trigger operation needs to be monitored, and when the above unlocking trigger operation is monitored, the unlocking action is performed to make the active wheel of the cleaning robot enter the unlocked state. Further, the subsequent cleaning work is smoothly completed, and the user experience is improved.

[0051] In one specific embodiment, the preset unlocking trigger operation is monitored, specifically including monitoring the state of the driving wheel of the cleaning robot, and when the driving wheel of the cleaning robot is monitored to rotate, it is determined that the unlocking trigger operation is monitored.

[0052] In the embodiment, when the cleaning robot is pushed by external force, the driving wheel will be rotated under the action of external force, the driving wheel motor actively unlocks the active wheel, the rotation of the electromagnetic brake of the active wheel generates current by cutting the magnetic induction line passively, and the control chip of the cleaning robot actively unlocks the electromagnetic brake of the active wheel after monitoring the abnormal current.

[0053] In the embodiment of the present application, the charging control method further comprises: after the driving wheel of the cleaning robot enters the unlocked state, judging whether the cleaning robot has completed charging; if the cleaning robot has not completed charging, performing a pile returning charging action, and when it is detected that the cleaning robot is charging, performing a brake locking action; if the cleaning robot has completed charging, performing a corresponding cleaning action according to the previously received instruction indicating the start of the cleaning mode, or waiting for the issuance of a work instruction.

[0054] In the embodiment, after the cleaning robot is unlocked, it is judged whether the unlocking reason is that the robot has normally completed charging; if the cleaning robot has not completed charging, it will search for a pile again until the driving wheel is locked again after normal charging, so as to ensure the smooth completion of subsequent cleaning work and further improve the user experience; if the cleaning robot has completed charging, it waits for the issuance of a work instruction to complete a new cleaning task, or, if an instruction indicating the start of the cleaning mode has been received, it performs a corresponding cleaning action according to the previously received instruction indicating the start of the cleaning mode.

[0055] In one specific embodiment, the monitoring of the preset unlocking trigger operation specifically comprises monitoring the charging progress of the cleaning robot, and when it is monitored that the cleaning robot has completed charging, it is determined that the unlocking trigger operation is monitored.

[0056] In one specific embodiment, the monitoring of the preset unlocking trigger operation specifically comprises monitoring the operation instruction received by the cleaning robot, and when it is monitored that the cleaning robot has received an instruction indicating the start of the cleaning mode, it is determined that the unlocking trigger operation is monitored.

[0057] In the embodiment, when the cleaning robot has completed charging or received an instruction indicating the start of the cleaning mode, such as a "start cleaning" instruction, the host control chip of the cleaning robot will also actively unlock the electromagnetic brake of the driving wheel.

[0058] For the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited to the action sequence described, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0059] Figure 2 The structure of the charging control device of one embodiment of the present application is schematically shown. Referring to Figure 2 The charging control device of the embodiment of the present application specifically comprises a detection module 201, an execution module 202 and a monitoring module 203, wherein:

[0060] The detection module 201 is configured to detect a charging state of the cleaning robot.

[0061] The execution module 202 is configured to perform a brake lock action to make a driving wheel of the cleaning robot enter an electromagnetic lock state when it is detected that the cleaning robot is in the charging state.

[0062] The monitoring module 203 is configured to monitor a preset unlocking trigger operation after the driving wheel of the cleaning robot enters the electromagnetic lock state.

[0063] Further, the execution module 202 is further configured to perform an unlocking action to make the driving wheel of the cleaning robot enter an unlocking state when the monitoring module 203 monitors the unlocking trigger operation.

[0064] In one specific embodiment of the present application, the monitoring module 203 is specifically configured to monitor a state of the driving wheel of the cleaning robot, and when it is monitored that the driving wheel of the cleaning robot rotates, it is determined that the unlocking trigger operation is monitored.

[0065] In the embodiment of the present application, the charging control device further comprises a judging module not shown in the drawings.

[0066] The judging module is configured to judge whether the cleaning robot completes charging after the driving wheel of the cleaning robot enters the unlocking state.

[0067] Correspondingly, the execution module 202 is further configured to perform a back-to-pile charging action when the judging result of the judging module is that the cleaning robot does not complete charging, and perform the brake lock action when it is detected that the cleaning robot charges.

[0068] Further, if the judging result of the judging module is that the cleaning robot completes charging, the execution module 202 is configured to perform a corresponding cleaning action according to a received instruction indicating to start a cleaning mode, or wait for the issuance of a work instruction.

[0069] In one specific embodiment of the present application, the monitoring module 203 is specifically configured to monitor a charging progress of the cleaning robot, and when it is monitored that the cleaning robot completes charging, it is determined that the unlocking trigger operation is monitored.

[0070] In one specific embodiment of the present application, the monitoring module 203 is specifically configured to monitor an operation instruction received by the cleaning robot, and when it is monitored that the cleaning robot receives an instruction indicating to start the cleaning mode, it is determined that the unlocking trigger operation is monitored.

[0071] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts are described in the method embodiment.

[0072] The device embodiment described above is only illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0073] The charging control method and device provided by the embodiment of the application can make the cleaning robot perform a brake locking action when the cleaning robot enters a charging state, so that the driving wheel of the cleaning robot enters an electromagnetic locking state, avoid unexpected de-staking caused by misalignment of a staking position and the like during charging, ensure that the cleaning robot can complete normal charging, and then smoothly complete subsequent cleaning work, and improve user experience.

[0074] In addition, the embodiment of the application further provides a computer readable storage medium, which stores a computer program. The program is executed by a processor to implement the steps of the method described above.

[0075] In the embodiment, the modules / units of the charging control device integrated in the form of software function units and sold or used as independent products can be stored in a computer readable storage medium. Based on such understanding, the computer program can be used to instruct related hardware to complete all or part of the processes of the above-mentioned embodiment methods. The computer program can be stored in a computer readable storage medium. The computer program is executed by a processor to implement the steps of the above-mentioned method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the computer readable medium can include or exclude contents according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0076] Figure 3 A schematic diagram of a cleaning robot is provided for the embodiments of the present application. The cleaning robot provided by the embodiments of the present application comprises a memory 301, a processor 302, and a computer program stored in the memory 301 and capable of running on the processor 302, wherein the processor 302 implements the steps of each of the charging control methods described above when executing the computer program, such as the steps shown in FIG. 2. Figure 1 Alternatively, the processor 302 implements the functions of each of the modules / units in each of the charging control devices described above when executing the computer program, such as the detection module 201, the execution module 202, and the monitoring module 203 shown in FIG. 3. Figure 2

[0077] For example, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the charging control device. For example, the computer program can be divided into the detection module 201, the execution module 202, and the monitoring module 203.

[0078] Those skilled in the art can understand that the schematic diagram Figure 3 is merely an example of a cleaning robot and does not constitute a limitation on the cleaning robot, which can include more or fewer components than those shown, or combine certain components, or different components, for example, the cleaning robot can also include an input / output device, a network access device, a bus, etc.

[0079] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like, which is the control center of the cleaning robot and connects all parts of the cleaning robot through various interfaces and lines.

[0080] ​The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the cleaning robot by running or executing the computer program and / or modules stored in the memory, and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a nonvolatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0081] Those skilled in the art will appreciate that a combination of features of different embodiments means within the scope of the application and forms different embodiments, although some embodiments herein include certain features rather than other features included in other embodiments. For example, in the appended claims, any one of the claimed embodiments can be used in any combination.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A charging control method applied to a cleaning robot terminal, characterized by, The method comprises: detecting a charging state of the cleaning robot; when detecting that the cleaning robot is in the charging state, performing a brake lock action to make a driving wheel of the cleaning robot enter an electromagnetic lock state; monitoring a preset unlocking trigger operation, the unlocking trigger operation comprising driving wheel rotation caused by the cleaning robot being pushed by external force, the cleaning robot completing charging, and the cleaning robot receiving an instruction indicating that a cleaning mode is started; when monitoring the unlocking trigger operation, performing an unlocking action to make the driving wheel of the cleaning robot enter an unlocked state; the monitoring of the preset unlocking trigger operation comprises: monitoring a state of the driving wheel of the cleaning robot; when monitoring driving wheel rotation of the cleaning robot, it is determined that the unlocking trigger operation is monitored.

2. The method of claim 1, wherein, the monitoring of the preset unlocking trigger operation comprises: monitoring charging progress of the cleaning robot; when monitoring that the cleaning robot completes charging, it is determined that the unlocking trigger operation is monitored.

3. The method of claim 1, wherein, the monitoring of the preset unlocking trigger operation comprises: monitoring an operation instruction received by the cleaning robot; when monitoring that the cleaning robot receives an instruction indicating that a cleaning mode is started, it is determined that the unlocking trigger operation is monitored.

4. The method of claim 1, wherein, The method further comprises: after the driving wheel of the cleaning robot enters the unlocked state, determining whether the cleaning robot completes charging; if the cleaning robot does not complete charging, performing a pile charging action, and when detecting that the cleaning robot charges, performing the brake lock action, if the cleaning robot completes charging, waiting for a work instruction to be issued, or performing a corresponding cleaning action according to the instruction indicating that the cleaning mode is started received previously.

5. A charge control device, characterized by comprising: The device comprises: a detection module configured to detect a charging state of the cleaning robot; an execution module configured to, when detecting that the cleaning robot is in the charging state, perform a brake lock action to make a driving wheel of the cleaning robot enter an electromagnetic lock state; a monitoring module configured to, after the driving wheel of the cleaning robot enters the electromagnetic lock state, monitor a preset unlocking trigger operation, the unlocking trigger operation comprising driving wheel rotation caused by the cleaning robot being pushed by external force, the cleaning robot completing charging, and the cleaning robot receiving an instruction indicating that a cleaning mode is started; the execution module is further configured to, when monitoring the unlocking trigger operation, perform an unlocking action to make the driving wheel of the cleaning robot enter an unlocked state; the monitoring module is specifically configured to monitor a state of the driving wheel of the cleaning robot, and when monitoring driving wheel rotation of the cleaning robot, it is determined that the unlocking trigger operation is monitored.

6. The apparatus of claim 5, wherein, the monitoring module is specifically configured to monitor charging progress of the cleaning robot, and when monitoring that the cleaning robot completes charging, it is determined that the unlocking trigger operation is monitored.

7. The apparatus of claim 5, wherein, the monitoring module is specifically configured to monitor an operation instruction received by the cleaning robot, and when monitoring that the cleaning robot receives an instruction indicating that a cleaning mode is started, it is determined that the unlocking trigger operation is monitored.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program, when executed by the processor, implements the steps of the method according to any one of claims 1-4.

9. A cleaning robot comprising a memory, a processor and a computer program stored on the memory and running on the processor, characterized in that, The processor, when executing the program, implements the steps of the method according to any one of claims 1-4.

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