Control method and control device of cleaning robot and cleaning robot system

Abstract

The present invention discloses a control method and a control device for a cleaning robot and a cleaning robot system. The disclosed control method comprises: controlling an infrared receiving module to receive an actual infrared signal; determining the actual location of the cleaning robot corresponding to the actual infrared signal according to the corresponding relationship between the infrared signal and the infrared light radiation area, wherein the actual location is one of a plurality of infrared light radiation areas, and the infrared signal is related to the type combination of the infrared light; judging whether the actual location is an intermediate zone; if the actual location is an intermediate zone, controlling the cleaning robot to move toward a station entrance; if the actual location is not an intermediate zone, detecting the actual distance between the cleaning robot and a cleaning base station; determining the actual station entrance path of the cleaning robot according to the actual distance and the actual location; and controlling the cleaning robot to move according to the actual station entrance path.

Description

Technical Field

[0001] The present invention relates to the technical field of household intelligent devices, and in particular to a control method and a control device of a cleaning robot and a cleaning robot system. Background Art

[0002] Home smart devices are playing an increasingly important role in people's lives. As a result, more and more home smart devices are appearing in people's lives. Among them, cleaning robots are a relatively common type of home smart device. The cleaning robot is equipped with a cleaning base station, which has a robot docking space. The cleaning robot can dock in the robot docking space to perform operations such as charging, cleaning the mop, and replacing the mop tray.

[0003] In the specific working process, the cleaning robot will frequently return to the cleaning base station to perform corresponding operations. In the related art, the cleaning robot frequently searches for the recall signal sent by the cleaning base station, thereby aligning with the entrance of the cleaning base station and entering the station. This process takes a lot of time, which leads to low efficiency of the cleaning robot entering the station. Summary of the invention

[0004] The invention discloses a control method and a control device of a cleaning robot and a cleaning robot system, so as to solve the problem of low station entry efficiency of the cleaning robot.

[0005] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0006] In a first aspect, the present application discloses a control method for a cleaning robot, wherein the cleaning robot is wirelessly connected to a cleaning base station, the cleaning base station is provided with a plurality of infrared lamps distributed at intervals, the plurality of infrared lamps are oriented in different directions and emit different types of infrared light, the infrared light emitted by the plurality of infrared lamps forms a plurality of infrared light radiation areas, the plurality of infrared light radiation areas include a middle zone area facing the entrance of the cleaning base station, the cleaning robot includes an infrared receiving module, and the control method includes:

[0007] Controlling the infrared receiving module to receive actual infrared signals;

[0008] According to the corresponding relationship between the infrared signal and the infrared light radiation area, determining the actual area of ​​the cleaning robot corresponding to the actual infrared signal, the actual area is one of the multiple infrared light radiation areas, and the infrared signal is related to the type combination of the infrared light;

[0009] Determining whether the actual area is the middle zone;

[0010] When the actual area is the middle zone, controlling the cleaning robot to move toward the station entrance;

[0011] In a case where the actual area is not the middle zone, detecting the actual distance between the cleaning robot and the cleaning base station;

[0012] Determine the actual entry path of the cleaning robot according to the actual distance and the actual area;

[0013] The cleaning robot is controlled to move according to the actual station entry path.

[0014] In a second aspect, the present application further discloses a control device for a cleaning robot, wherein the cleaning robot is wirelessly connected to a cleaning base station, wherein the cleaning base station is provided with a plurality of infrared lamps distributed at intervals, wherein the plurality of infrared lamps have different directions and emit different types of infrared light, and the infrared light emitted by the plurality of infrared lamps forms a plurality of infrared light radiation areas, wherein the plurality of infrared light radiation areas include a middle zone area directly opposite to the entrance of the cleaning base station, wherein the cleaning robot includes an infrared receiving module, and the control device includes:

[0015] A first control module, used for controlling the infrared receiving module to receive an actual infrared signal;

[0016] A first determination module is used to determine the actual area of ​​the cleaning robot corresponding to the actual infrared signal according to the corresponding relationship between the infrared signal and the infrared light radiation area, wherein the actual area is one of the multiple infrared light radiation areas, and the infrared signal is related to the type combination of the infrared light;

[0017] A first judging module is used to judge whether the actual area is the middle zone area;

[0018] A second control module, when the actual area is the middle zone, is used to control the cleaning robot to move toward the station entrance;

[0019] A first detection module, for detecting the actual distance between the cleaning robot and the cleaning base station when the actual area is not the middle zone;

[0020] A second determination module is used to determine the actual entry path of the cleaning robot according to the actual distance and the actual area;

[0021] The second control module is used to control the cleaning robot to move according to the actual entry path.

[0022] In the third aspect, the present application also discloses a cleaning robot system, comprising a cleaning robot and a cleaning base station, wherein the cleaning robot is wirelessly connected to the cleaning base station, the cleaning base station is provided with a plurality of infrared lamps distributed at intervals, the plurality of infrared lamps have different directions and emit different types of infrared light, the infrared light emitted by the plurality of infrared lamps forms a plurality of infrared light radiation areas, the plurality of infrared light radiation areas include a middle belt area directly opposite to the entrance of the cleaning base station, the cleaning robot comprises an infrared receiving module and the control device of the cleaning robot described in the second aspect.

[0023] The technical solution adopted by the present invention can achieve the following technical effects:

[0024] The embodiment of the present application controls the infrared receiving module to receive the actual infrared signal, so that the actual area of ​​the cleaning robot can be confirmed through the actual infrared signal, and then when it is detected that the cleaning robot is in the middle belt area, the cleaning robot can be directly controlled to move to the entrance. When it is detected that the cleaning robot is not in the middle belt area, the actual distance between the cleaning robot and the cleaning base station is detected, and the actual entrance path of the cleaning robot is determined according to the actual distance and the actual area, so that the cleaning robot can move according to the actual entrance path. Since the actual entrance path is relatively clear, the cleaning robot can enter the cleaning base station more smoothly, so that the cleaning robot does not need to rely on frequently searching for the infrared signal emitted by the cleaning base station to align with the entrance of the cleaning base station and enter the station, thereby alleviating the time-consuming problem caused by frequently searching for infrared signals, and compared with the method in which the cleaning robot only receives the infrared light in the middle belt area of ​​the cleaning base station to determine the return to the base station, the cleaning robot reduces the time to search for the middle belt area, thereby making it faster for the cleaning robot to return to the cleaning base station, and also alleviates the energy consumption problem caused by searching for the middle belt area, thereby improving the efficiency of the cleaning robot returning to the cleaning base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a cleaning robot and a cleaning base station;

[0026] Figure 2 This is a flow chart of a first method for controlling a cleaning robot disclosed in an embodiment of the present invention;

[0027] Figure 3 This is a flow chart of a second method for controlling a cleaning robot disclosed in an embodiment of the present invention;

[0028] Figure 4 This is a flow chart of a third cleaning robot control method disclosed in an embodiment of the present invention;

[0029] Figure 5It is a schematic diagram of the structure of the control device of the cleaning robot disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0031] The technical solutions disclosed in various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0032] Please refer to Figures 1 to 5 The embodiment of the present invention discloses a control method of a cleaning robot. The cleaning robot disclosed is wirelessly connected to a cleaning base station, and the cleaning robot and the cleaning base station form a cleaning robot system. The cleaning base station has a robot docking space, and the cleaning robot can dock in the robot docking space to perform operations such as charging, cleaning the mop, and replacing the mop plate. The robot docking space has an entrance, and the cleaning robot can enter and exit the robot docking space through the entrance.

[0033] The cleaning base station is provided with a plurality of infrared lamps distributed at intervals. The plurality of infrared lamps are arranged on the entrance side of the cleaning base station. The plurality of infrared lamps face different directions and emit different types of infrared light. The infrared light emitted by the plurality of infrared lamps may be infrared light of different wavelengths, frequencies, etc., thereby achieving the purpose of being able to distinguish.

[0034] Different types of infrared light emitted by multiple infrared lamps form multiple infrared light radiation areas. The multiple infrared light radiation areas can cover all areas that the cleaning robot may pass through on the side of the entrance of the cleaning base station. These areas can be called entrance side areas. Since each infrared lamp radiates a different type of light, the entrance side area can be divided by the infrared light of multiple infrared lamps, thereby forming multiple infrared light radiation areas. Each infrared light radiation area can be formed by one type of infrared light emitted by one infrared lamp, or by a combination of different types of infrared light emitted by two adjacent infrared lamps.

[0035] For example, Figure 1The cleaning base station is provided with infrared lamp 100, infrared lamp 200, infrared lamp 300, infrared lamp 400, etc. Infrared lamp 100 emits infrared light H1, infrared lamp 200 emits infrared light H2, infrared lamp 300 emits infrared light H3, and infrared lamp 400 emits infrared light H4. The multiple infrared light radiation areas may be infrared light radiation area M1, infrared light radiation area M1M2, infrared light radiation area M2, infrared light radiation area M2M3, infrared light radiation area M3, infrared light radiation area M3M4, and infrared light radiation area M4. The infrared signal L1 of the infrared light radiation area M1 includes infrared light H1, the infrared signal L2 of the infrared light radiation area M1M2 includes infrared light H1 and infrared light H2, the infrared signal L3 of the infrared light radiation area M2 includes infrared light H2, the infrared signal L4 of the infrared light radiation area M2M3 includes infrared light H2 and infrared light H3, the infrared signal L5 of the infrared light radiation area M3 includes infrared light H3, the infrared signal L6 of the infrared light radiation area M3M4 includes infrared light H3 and infrared light H4, and the infrared signal L7 of the infrared light radiation area M4 includes infrared light H4.

[0036] The multiple infrared light radiation areas include the middle zone area directly opposite to the entrance of the cleaning base station, e.g. Figure 1 In the infrared light radiation area M2M3 in the embodiment, the middle zone area can be an arc area formed with the entrance as the center, that is, the middle zone area is an area located in the middle of multiple infrared light radiation areas. The cleaning robot includes an infrared receiving module, which is used to receive infrared light emitted by the infrared lamp of the cleaning base station.

[0037] The control method of the cleaning robot disclosed in the present application includes:

[0038] S101, controlling the infrared receiving module to receive the actual infrared signal.

[0039] The method of receiving infrared signals by the infrared receiving module is already a prior art and will not be described in detail here.

[0040] S102, determining the actual area where the cleaning robot is located corresponding to the actual infrared signal according to the corresponding relationship between the infrared signal and the infrared light radiation area.

[0041] It should be noted that the actual area is one of a plurality of infrared light radiation areas, and the infrared signal is related to the type combination of infrared light.

[0042] For example, if the actual infrared signal L1 is received, the actual area can be determined to be the infrared light radiation area M1M2; if the actual infrared signal L3 is received, the actual area can be determined to be the infrared light radiation area M2. The correspondence between the infrared signal and the infrared light radiation area can be preset in the cleaning robot system.

[0043] Specifically, the types of infrared light emitted by multiple infrared lamps are different, and the types of infrared light combinations corresponding to each infrared light radiation area are different. The infrared signal is related to the type combination of infrared light. In different infrared light radiation areas, the infrared signal is different, that is, the type combination of infrared light in different infrared light radiation areas is different. One type combination determines an infrared signal and also determines a specific infrared light radiation area. After the infrared signal is determined, the infrared light radiation area corresponding to the infrared signal is also determined. For example, when the actual infrared signal received by the infrared receiving module is the infrared signal L1, it can be confirmed that the cleaning robot is located in the infrared light radiation area M1M2. The correspondence between the infrared signal and the infrared light radiation area can be preset in the cleaning robot system, that is, the correspondence between the infrared signal and the infrared light radiation area can be preset in the cleaning robot system, and the infrared light radiation area corresponding to the actual infrared signal can be directly determined when the actual infrared signal is detected.

[0044] S103, determining whether the actual area is a middle zone area.

[0045] Since the correspondence between the infrared signal and the infrared light radiation area is preset in the cleaning robot system, the infrared signal corresponding to the middle zone area is determined, for example Figure 1 In the figure, the infrared light radiation area M2M3 is the middle zone, and the infrared light type combination of the infrared signal L4 in the middle zone includes infrared light H2 and infrared light H3. After determining the actual infrared signal, it is possible to determine whether the actual infrared signal is consistent with the infrared signal of the preset middle zone to determine whether the cleaning robot is in the middle zone. Of course, it is also possible to determine the infrared light radiation area corresponding to the actual infrared signal, that is, the actual area, based on the correspondence between the infrared signal and the infrared light radiation area, and then determine whether the infrared light radiation area corresponding to the actual area is the middle zone. In some embodiments, the cleaning robot may further include a visual module, and the cleaning robot may also determine the actual area of ​​the cleaning robot by visual judgment.

[0046] When the cleaning robot is not in the middle zone, the cleaning robot is not opposite to the station entrance. At this time, if the cleaning robot moves directly toward the station entrance, the cleaning robot will be blocked by the edge of the station entrance and cannot enter the cleaning base station. When the cleaning robot is in the middle zone, the cleaning robot is opposite to the station entrance, and the cleaning robot can return to the cleaning base station smoothly.

[0047] S104, when the actual area is the middle zone, control the cleaning robot to move toward the station entrance.

[0048] S105, when the actual area is not the middle zone, detecting the actual distance between the cleaning robot and the cleaning base station.

[0049] The actual distance between the cleaning robot and the cleaning base station can be detected by a distance detection module. The distance detection module can measure the distance by infrared ranging. When the cleaning robot is wirelessly connected to the cleaning base station, the distance detection module can also confirm the distance between the cleaning robot and the cleaning base station by detecting the wireless signal strength between the cleaning robot and the cleaning base station. Of course, the distance detection module can also detect the distance in other ways, which is not limited here.

[0050] S106, determining the actual entry path of the cleaning robot according to the actual distance and the actual area.

[0051] When it is detected that the distance between the cleaning robot and the cleaning base station is close, if the cleaning robot moves directly to the entrance of the cleaning base station, the cleaning robot will be misaligned with the entrance when it moves to the entrance, which makes it inconvenient for the cleaning robot to smoothly enter the cleaning base station from the entrance. The cleaning robot system is preset with an entrance path corresponding to the distance between the cleaning robot and the cleaning base station and the area where the cleaning robot is located. The entrance path can be an arc trajectory or a straight line trajectory, which is set here according to actual conditions without specific restrictions. After confirming the actual distance between the cleaning robot and the cleaning base station and the actual area where the cleaning robot is located, the actual entrance path of the cleaning robot can be determined from the preset entrance path. The actual distance between the cleaning robot and the cleaning base station and the actual area where the cleaning robot is located form a parameter combination, and the parameter combination corresponds one-to-one to the actual entrance path of the cleaning robot.

[0052] S107, controlling the cleaning robot to move according to the actual entry path.

[0053] S106 After the actual entry path is determined, the power part of the cleaning robot will finally enter the station according to the actual entry path. Specifically, the cleaning robot may be provided with a navigation module, and the navigation module may control the cleaning robot to enter the station according to the actual entry path.

[0054] The embodiment of the present application controls the infrared receiving module to receive the actual infrared signal, so that the actual area of ​​the cleaning robot can be confirmed through the actual infrared signal, and then when it is detected that the cleaning robot is in the middle belt area, the cleaning robot can be directly controlled to move to the station entrance. When it is detected that the cleaning robot is not in the middle belt area, the actual distance between the cleaning robot and the cleaning base station is detected, and the actual station entrance path of the cleaning robot is determined according to the actual distance and the actual area, so that the cleaning robot can directly move according to the actual station entrance path. Since the actual station entrance path is relatively clear, the cleaning robot can enter the cleaning base station more smoothly, so that the cleaning robot does not need to rely on frequently searching for the infrared signal emitted by the cleaning base station to align with the station entrance of the cleaning base station and enter the station, thereby alleviating the time-consuming problem caused by frequently searching for infrared signals, and compared with the cleaning robot only receiving the infrared light in the middle belt area of ​​the cleaning base station to determine the return to the base station, the cleaning robot reduces the time of searching the middle belt area, thereby making the cleaning robot return to the cleaning base station faster, and also alleviates the energy consumption problem caused by searching the middle belt area, thereby improving the efficiency of the cleaning robot returning to the cleaning base station.

[0055] In the disclosed control method, controlling the infrared receiving module to receive the actual infrared signal, that is, S101 may include:

[0056] S201, controlling the cleaning robot to drive the infrared receiving module to rotate, so that the infrared receiving module receives the actual infrared signal.

[0057] Specifically, controlling the cleaning robot to rotate at the current position means: controlling the cleaning robot to rotate around its own center. The implementation method of the cleaning robot rotating around itself is already a prior art and will not be described here. During the process of the cleaning robot rotating at the current position, the cleaning robot can rotate at most one circle. During the process of rotating one circle, it stops rotating as long as it receives an infrared signal, thereby avoiding useless rotation caused by continuing to rotate after receiving the infrared signal. Of course, the cleaning robot can also rotate multiple circles. Rotating multiple circles can avoid the problem of poor infrared signal reception and no infrared signal reception during the process of rotating one circle relative to rotating at most one circle, and it can also realize multiple confirmations of the received infrared signals, thereby more accurately judging the actual area of ​​the cleaning robot.

[0058] Of course, in other embodiments, a plurality of infrared receiving modules can be configured for the cleaning robot, and the plurality of infrared receiving modules are distributed at the edge of the cleaning robot. In this case, by designing the infrared receiving field of view of the infrared receiving module and the number of infrared receiving modules, it is possible to ensure that no matter which direction the cleaning robot faces, at least one infrared receiving module is in a position where it can receive actual infrared signals. Of course, in this case, there is no need to control the cleaning robot to drive the infrared receiving module to rotate. The cleaning robot involved in this embodiment needs to be configured with a plurality of infrared receiving modules, which is more likely to lead to a higher cost of the cleaning robot. The way in which S201 controls the cleaning robot to drive the infrared receiving module to rotate can undoubtedly enable the cleaning robot to be configured with fewer infrared receiving modules, which is conducive to reducing the cost of the cleaning robot. Preferably, when S201 is implemented, the cleaning robot can be configured with one infrared receiving module.

[0059] In the disclosed control method, detecting the actual distance between the cleaning robot and the cleaning base station, that is, S105 may include:

[0060] S301, controlling the cleaning robot to send a first control instruction to the cleaning base station, where the first control instruction is used to control the infrared lamp corresponding to the actual area to gradually reduce the light brightness at preset intervals.

[0061] The luminous brightness of the infrared lamp can be divided into a plurality of different brightness levels, and the division of the different brightness levels of the infrared lamp can be achieved by dividing the current flowing through the infrared lamp, the actual working power of the infrared lamp, and other means. The infrared lamp can gradually reduce the luminous brightness at preset intervals from a preset luminous brightness, and the irradiation distance of infrared light of different luminous brightness is not equal, that is, the luminous brightness corresponds to the irradiation distance one by one. For example, the infrared light of the first level of luminous brightness can irradiate to a position 0.3 meters away from the cleaning base station, and the infrared light of the second level of luminous brightness can irradiate to a position 0.4 meters away from the cleaning base station.

[0062] S302, detecting a first luminous brightness corresponding to a change from the cleaning robot being able to receive an actual infrared signal to being unable to receive an actual infrared signal.

[0063] In the process of gradually reducing the brightness of the infrared lamp in the actual area where the cleaning robot is located, when the brightness of the infrared lamp is reduced to a certain brightness, the cleaning robot will not be able to receive the infrared signal. The brightness of the infrared lamp when the cleaning robot can receive the infrared signal and cannot receive the infrared signal after reducing the brightness of the infrared lamp once more at a preset interval is the first brightness. For example, at the second level of brightness, the infrared receiving module can receive the infrared signal. When the brightness drops by one level and drops to the first level of brightness, if the infrared receiving module cannot receive the infrared signal, then the second level of brightness is the first brightness. The smaller the brightness interval between different brightness levels, the more conducive it is to more accurately determine the first irradiation distance described in S303.

[0064] S303: Determine, according to the relationship between the luminous brightness and the irradiation distance, a first irradiation distance corresponding to the first luminous brightness as the actual distance.

[0065] Through experiments, we can obtain the maximum distance between the cleaning robot and the cleaning base station when the cleaning robot corresponding to each level can receive the infrared light emitted by the infrared lamp, and then preset it in the cleaning robot system. Since the cleaning robot takes the brightness of the infrared signal as the first luminous brightness during the process from being able to receive the actual infrared signal to being unable to receive the actual infrared signal, the actual distance between the cleaning robot and the cleaning base station is confirmed, thereby making full use of the existing structure to detect the actual distance and achieving the effect of one object with multiple uses.

[0066] After each detection of the actual distance between the cleaning robot and the cleaning base station, the infrared receiving module can gradually increase the luminous brightness to a preset luminous brightness at preset intervals, so that the infrared receiving module can continue to receive infrared signals, and the cleaning robot can also confirm the actual distance again by gradually reducing the luminous brightness.

[0067] In the disclosed control method, after controlling the infrared receiving module to receive the actual infrared signal, the control method may further include:

[0068] Step A1, controlling the infrared lamps other than the infrared lamp corresponding to the actual infrared signal to be turned off.

[0069] By controlling the infrared receiving module to receive the actual infrared signal and then turning off the infrared lights other than the infrared light corresponding to the actual infrared signal, energy consumption can be reduced, and interference caused by the cleaning robot receiving other infrared signals after receiving the actual infrared signal can be avoided.

[0070] For example, when the cleaning robot receives the infrared signal L3, the infrared lamp 100, the infrared lamp 300 and the infrared lamp 400 can be controlled to be turned off. When the cleaning robot receives the infrared signal L4, the infrared lamp 100 and the infrared lamp 400 can be controlled to be turned off.

[0071] Specifically, the actual entry path of the cleaning robot is determined according to the actual distance and the actual area, including:

[0072] Step B1, when the actual distance is greater than the preset distance, construct a first straight line path between the current position of the cleaning robot and the preset position A.

[0073] It should be noted that the preset position A is the center of the middle zone area which is a preset distance away from the station entrance.

[0074] The preset distance may be a preset distance, and the preset position A may be a preset position. The preset distance and the preset position A may be adjusted according to actual conditions. When the actual distance is greater than the preset distance, the current position of the cleaning robot is constructed ( Figure 1 The cleaning robot moves along the first straight path to the preset position A. The preset position A is a position where the cleaning robot can smoothly enter the cleaning base station from the entrance without being blocked by the edge of the entrance.

[0075] Step B2, constructing a second straight path a between the preset position A and the station entrance, the actual station entrance path includes the first straight path b and the second straight path a.

[0076] By constructing a first straight line path b between the current position of the cleaning robot and the preset position A, and constructing a second straight line path a between the preset position A and the station entrance when the actual distance is greater than the preset distance, the cleaning robot can avoid being misaligned with the station entrance when moving toward the station entrance, which causes the cleaning robot to be unable to smoothly enter the cleaning base station. Moreover, the preset position A is the center of the area in the middle belt area which is a preset distance away from the station entrance, so that the cleaning robot first moves to the preset position A and then moves toward the station entrance, thereby improving the base station success rate of the cleaning base station.

[0077] Of course, the actual entry path can also be other, not limited to including the first straight path b and the second straight path a. For example, please refer to Figure 1 , the cleaning robot can also take the preset position A as the center and walk a section of arc path (or a straight path) to move to the middle belt area (the position of the cleaning robot is the middle position at this time), and then follow the middle belt area through the preset position A and enter the second straight path a. Of course, the current position ( Figure 1The position of the cleaning robot in the middle), the middle position and the preset position A can form a triangle. According to the fact that the sum of the lengths of the two sides of the triangle is greater than the length of the third side, it can be concluded that the actual entry path formed by the first straight path b and the second straight path a is shorter, which is more conducive to the cleaning robot's rapid return to the station.

[0078] In other embodiments, when the actual distance is less than the preset distance, it means that the cleaning robot is relatively close to the cleaning base station. In this case, the actual entry path may be a path around the front edge of the cleaning base station. The cleaning robot may transfer to the entrance along the front edge of the cleaning base station and then enter the robot docking space.

[0079] In an optional embodiment, determining whether the actual area is a middle zone area includes:

[0080] Step C1, determining whether the actual infrared signal is a preset infrared signal, the preset infrared signal being an infrared signal corresponding to the middle band area. For example, the preset infrared signal may be infrared signal L4.

[0081] In some other embodiments, a portion of the middle belt area adjacent to the cleaning base station may be a middle belt blind area without infrared signals. When the cleaning robot is located in the middle belt blind area, the cleaning robot will not receive infrared signals. At this time, it can also be determined that the cleaning robot is in the front area of ​​the entrance to the cleaning base station, that is, in the middle belt area. Specifically, when it is confirmed that the cleaning robot is in the middle belt area and moves toward the entrance, when it moves to an area where the infrared signal cannot be received, it is confirmed that the cleaning robot is in the middle belt blind area. The middle belt blind area can be formed by the intersection of infrared light emitted by two adjacent infrared lamps forming the middle belt area in the vicinity of the adjacent cleaning base station.

[0082] Of course, by designing the number and distribution interval of infrared lamps, and even controlling the light-emitting field angle of the infrared lamps, it is possible to adjust the signal blind spots between multiple infrared radiation areas, or even eliminate the signal blind spots.

[0083] Step C2: when the actual infrared signal is a preset infrared signal, the actual area is the middle zone area.

[0084] Step C3: when the actual infrared signal is not the preset infrared signal, the actual area is not the middle zone area.

[0085] For example, when the preset infrared signal is infrared signal L4, when the actual infrared signal received is infrared signal L4, it can be confirmed that the cleaning robot is in the middle zone area; when the actual infrared signal is not infrared signal L4, it can be confirmed that the cleaning robot is not in the middle zone area.

[0086] By judging whether the actual infrared signal is the preset infrared signal, it is judged whether the actual area where the cleaning robot is located is the middle zone area, so that the existing structure can be fully utilized to achieve the purpose of multiple uses of one object.

[0087] The present application also discloses a control device for a cleaning robot. The cleaning robot is wirelessly connected to a cleaning base station. The cleaning base station is provided with a plurality of infrared lamps distributed at intervals. The plurality of infrared lamps face different directions and emit different types of infrared light. The infrared light emitted by the plurality of infrared lamps forms a plurality of infrared light radiation areas. The plurality of infrared light radiation areas include a middle zone area facing the entrance of the cleaning base station. The cleaning robot includes an infrared receiving module.

[0088] Please refer to Figure 5 , the disclosed control device of the cleaning robot comprises:

[0089] The first control module 401 is used to control the infrared receiving module to receive the actual infrared signal.

[0090] The first determination module 402 is used to determine the actual area of ​​the cleaning robot corresponding to the actual infrared signal based on the correspondence between the infrared signal and the infrared light radiation area. The actual area is one of multiple infrared light radiation areas, and the infrared signal is related to the type combination of infrared light.

[0091] The first judgment module 403 is used to judge whether the actual area is a middle zone area.

[0092] The second control module 404 is used to control the cleaning robot to move toward the station entrance when the actual area is the middle zone.

[0093] The first detection module 405 is used to detect the actual distance between the cleaning robot and the cleaning base station when the actual area is not the middle zone.

[0094] The second determination module 406 is used to determine the actual entry path of the cleaning robot according to the actual distance and the actual area.

[0095] The second control module 404 is used to control the cleaning robot to move according to the actual entry path.

[0096] The functions implemented by the control device of the cleaning robot disclosed in the embodiment of the present application are the same or similar to the control method of the cleaning robot disclosed in the above embodiment, and they can be referenced to each other and will not be repeated here.

[0097] Specifically, the first control module 401 includes a first control submodule, and the first control submodule is used to control the cleaning robot to drive the infrared receiving module to rotate, so that the infrared receiving module receives the actual infrared signal.

[0098] Specifically, the first detection module includes: an instruction transmission module, a first detection submodule and a first determination submodule, wherein:

[0099] The instruction transmitting module is used to send a first control instruction to the cleaning base station, and the first control instruction is used to control the infrared lamp corresponding to the actual area to gradually reduce the light brightness at a preset interval.

[0100] The first detection submodule is used to detect a first luminous brightness corresponding to a change from the cleaning robot being able to receive an actual infrared signal to being unable to receive an actual infrared signal.

[0101] The first determination submodule is used to determine, according to the relationship between the luminous brightness and the irradiation distance, a first irradiation distance corresponding to the first luminous brightness as the actual distance.

[0102] Optionally, the disclosed control device further includes a third control module, and the third control module is used to control the infrared lamps other than the infrared lamp corresponding to the actual infrared signal to be turned off after controlling the infrared receiving module to receive the actual infrared signal.

[0103] The second determination module 406 includes: a first construction submodule and a second construction submodule, wherein:

[0104] The first construction submodule is used to construct a first straight line path between the current position of the cleaning robot and the preset position when the actual distance is greater than the preset distance. The preset position is the center of the middle belt area with a preset distance from the entrance.

[0105] The second construction submodule is used to construct a second straight path between the preset position and the station entrance, and the actual station entrance path includes the first straight path and the second straight path.

[0106] Optionally, the first judgment module includes: a first judgment submodule, a fourth determination submodule and a fifth determination submodule, wherein:

[0107] The first judgment submodule is used to judge whether the actual infrared signal is a preset infrared signal, and the preset infrared signal is an infrared signal corresponding to the middle band area.

[0108] The fourth determination submodule is used to determine that the actual area is the middle zone area when the actual infrared signal is the preset infrared signal.

[0109] The fifth determination submodule is used to determine that the actual area is not the middle zone area when the actual infrared signal is not the preset infrared signal.

[0110] The functions implemented by the control device of the cleaning robot disclosed in the embodiment of the present application are the same or similar to the control method of the cleaning robot disclosed in the above embodiment, and they can be referenced to each other and will not be repeated here.

[0111] The present application also discloses a cleaning robot system, the disclosed cleaning robot system includes a cleaning robot and a cleaning base station, and the cleaning robot is wirelessly connected to the cleaning base station. The cleaning base station is provided with a plurality of infrared lamps distributed at intervals, the plurality of infrared lamps are oriented in different directions, and the types of infrared light emitted are different. The infrared light emitted by the plurality of infrared lamps forms a plurality of infrared light radiation areas, and the plurality of infrared light radiation areas include a middle zone area facing the entrance of the cleaning base station, and the cleaning robot includes an infrared receiving module and the control device of the cleaning robot disclosed in the above embodiment.

[0112] The above embodiments of the present invention focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0113] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot is wirelessly connected to a cleaning base station, the cleaning base station is provided with a plurality of infrared lamps distributed at intervals, the plurality of infrared lamps are oriented in different directions and emit different types of infrared light, the infrared light emitted by the plurality of infrared lamps forms a plurality of infrared light radiation areas, the plurality of infrared light radiation areas include a middle zone area facing the entrance of the cleaning base station, the cleaning robot includes an infrared receiving module, and the control method includes: Controlling the infrared receiving module to receive actual infrared signals; According to the corresponding relationship between the infrared signal and the infrared light radiation area, determining the actual area of ​​the cleaning robot corresponding to the actual infrared signal, the actual area is one of the multiple infrared light radiation areas, and the infrared signal is related to the type combination of the infrared light; Determine whether the actual area is the middle zone; When the actual area is the middle zone, controlling the cleaning robot to move toward the station entrance; In a case where the actual location is not the middle zone, controlling the cleaning robot to send a first control instruction to the cleaning base station, wherein the first control instruction is used to control the infrared lamp corresponding to the actual location to gradually reduce the light brightness at a preset interval; Detecting a first luminous brightness corresponding to a change from the cleaning robot being able to receive the actual infrared signal to being unable to receive the actual infrared signal; According to the relationship between the luminous brightness and the irradiation distance, determining the first irradiation distance corresponding to the first luminous brightness as the actual distance between the cleaning robot and the cleaning base station; After detecting the actual distance between the cleaning robot and the cleaning base station, gradually increasing the light brightness at the preset intervals to a preset light brightness; Determine the actual entry path of the cleaning robot according to the actual distance and the actual area; The cleaning robot is controlled to move according to the actual station entry path.

2. The control method according to claim 1, characterized in that: The controlling the infrared receiving module to receive the actual infrared signal comprises: The cleaning robot is controlled to drive the infrared receiving module to rotate, so that the infrared receiving module receives the actual infrared signal.

3. The control method according to claim 1, characterized in that: After controlling the infrared receiving module to receive the actual infrared signal, the control method further includes: The infrared lamps other than the infrared lamp corresponding to the actual infrared signal are controlled to be turned off.

4. The control method according to claim 1, characterized in that: The determining the actual entry path of the cleaning robot according to the actual distance and the actual area includes: In the case where the actual distance is greater than the preset distance, constructing a first straight line path between the current position of the cleaning robot and the preset position, wherein the preset position is the center of the area of ​​the middle belt area at a distance of the preset distance from the station entrance; A second straight path is constructed between the preset position and the station entrance, and the actual station entrance path includes the first straight path and the second straight path.

5. The control method according to claim 1, characterized in that: The determining whether the actual area is the middle zone area includes: Determining whether the actual infrared signal is a preset infrared signal, the preset infrared signal being an infrared signal corresponding to the middle band area; In the case where the actual infrared signal is the preset infrared signal, the actual area is the middle zone; In the case that the actual infrared signal is not the preset infrared signal, the actual area is not the middle zone.

6. A control device for a cleaning robot, characterized in that: The cleaning robot is wirelessly connected to the cleaning base station, the cleaning base station is provided with a plurality of infrared lamps distributed at intervals, the plurality of infrared lamps are oriented in different directions and emit different types of infrared light, the infrared light emitted by the plurality of infrared lamps forms a plurality of infrared light radiation areas, the plurality of infrared light radiation areas include a middle zone area facing the entrance of the cleaning base station, the cleaning robot includes an infrared receiving module, and the control device includes: A first control module, used for controlling the infrared receiving module to receive an actual infrared signal; A first determination module is used to determine the actual area of ​​the cleaning robot corresponding to the actual infrared signal according to the corresponding relationship between the infrared signal and the infrared light radiation area, wherein the actual area is one of the multiple infrared light radiation areas, and the infrared signal is related to the type combination of the infrared light; A first judging module is used to judge whether the actual area is the middle zone area; A second control module, when the actual area is the middle zone, is used to control the cleaning robot to move toward the station entrance; A first detection module, for detecting the actual distance between the cleaning robot and the cleaning base station when the actual area is not the middle zone; A second determination module is used to determine the actual entry path of the cleaning robot according to the actual distance and the actual area; A second control module, used to control the cleaning robot to move according to the actual entry path; The first detection module includes: An instruction transmitting module, used for sending a first control instruction to the cleaning base station, wherein the first control instruction is used for controlling the infrared lamp corresponding to the actual area to gradually reduce the light brightness at a preset interval; A first detection submodule, used for detecting a first luminous brightness corresponding to a change from the cleaning robot being able to receive the actual infrared signal to being unable to receive the actual infrared signal; The first determination submodule is used to determine, according to the relationship between the luminous brightness and the irradiation distance, a first irradiation distance corresponding to the first luminous brightness as the actual distance.

7. The control device according to claim 6, characterized in that: The second determining module includes: A first construction submodule, configured to construct a first straight line path between the current position of the cleaning robot and a preset position when the actual distance is greater than a preset distance, wherein the preset position is the center of an area of ​​the middle belt area at a distance of the preset distance from the station entrance; The second construction submodule is used to construct a second straight path between the preset position and the station entrance, and the actual station entrance path includes the first straight path and the second straight path.

8. A cleaning robot system, comprising a cleaning robot and a cleaning base station, characterized in that: The cleaning robot is wirelessly connected to the cleaning base station. The cleaning base station is provided with a plurality of infrared lamps distributed at intervals. The plurality of infrared lamps have different directions and emit different types of infrared light. The infrared light emitted by the plurality of infrared lamps forms a plurality of infrared light radiation areas. The plurality of infrared light radiation areas include a middle belt area facing the entrance of the cleaning base station. The cleaning robot includes an infrared receiving module and the control device of the cleaning robot according to any one of claims 6 to 7.

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