Recharging detection method of cleaning robot and cleaning robot

Abstract

The application discloses a kind of back charging detection method of cleaning robot and cleaning robot, the back charging detection method of cleaning robot includes when cleaning robot is in back charging state, judge whether the communication information of base station can be received, if the communication information can be received, judge base station is in normal working state according to communication information, then judge whether the back charging area corresponding to base station is blocked by obstacle, if back charging area is blocked by obstacle, then the obstacle is moved to outside back charging area, enter back charging area, to charge, by judging whether base station is in normal working state, it can avoid cleaning robot to continue to waste time and energy to try to enter this base station, by judging back charging area is blocked by obstacle and the obstacle is removed from back charging area, it can make cleaning robot smoothly realize charging, obviously improve back charging efficiency, save back charging time, improve the intelligence of cleaning robot back charging.

Description

Technical Field

[0001] This invention relates to the field of robot recharging technology, and in particular to a recharging detection method for a cleaning robot and the cleaning robot itself. Background Technology

[0002] When the cleaning robot finishes its cleaning task or runs out of power, it can return to the base station to recharge, ensuring that it has enough power before performing the next cleaning task or successfully completing the current cleaning task, thereby improving cleaning efficiency.

[0003] Currently, during the recharging process, cleaning robots may encounter situations where they cannot receive the recharging signal from the base station or cannot receive a complete recharging signal. In such cases, the cleaning robot cannot determine the cause and will abandon the charging work at the current base station after multiple unsuccessful attempts to receive the recharging signal, which significantly affects the charging efficiency of the cleaning robot. Summary of the Invention

[0004] This invention provides a recharging detection method for a cleaning robot and a cleaning robot in order to solve the technical problem in the prior art that the cleaning robot cannot determine the cause and solve the problem after it fails to receive the recharging signal from the base station.

[0005] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is to provide a recharging detection method for a cleaning robot, comprising:

[0006] When the cleaning robot is in recharging mode, it determines whether it can receive communication information from the base station;

[0007] If the communication information can be received, then based on the communication information, it is determined that the base station is in normal working condition.

[0008] Determine whether the recharge area corresponding to the base station is blocked by an obstacle;

[0009] If the recharge area is blocked by an obstacle, the obstacle shall be moved outside the recharge area;

[0010] Enter the recharge area to charge.

[0011] In one specific embodiment, the method for determining whether the recharge area is obstructed by an obstacle includes:

[0012] Determine whether the recharge signal sent by the base station can be obtained;

[0013] If the cleaning robot can obtain the complete recharge signal, it is determined that the recharge area is not blocked by obstacles, and the cleaning robot directly enters the recharge area;

[0014] If the cleaning robot obtains an incomplete recharge signal or fails to obtain the recharge signal, then during the process of the cleaning robot moving towards the base station or the recharge area, it is determined whether the cleaning robot collides with the obstacle.

[0015] If the cleaning robot collides with the obstacle, it is determined that the recharging area is blocked by the obstacle;

[0016] If the cleaning robot does not collide with the obstacle, it will directly enter the recharging area.

[0017] In one specific embodiment, the recharge signal includes a first side recharge signal, a first intermediate recharge signal, a second intermediate recharge signal, and a second side recharge signal. The first side recharge signal, the first intermediate recharge signal, the second intermediate recharge signal, and the second side recharge signal continuously cover an area from the first side of the base station, through the front side of the base station, to the second side of the base station. The first intermediate recharge signal and the second intermediate recharge signal cover the recharge area. If the recharge area is blocked by an obstacle, the method of moving the obstacle to outside the recharge area corresponding to the base station includes:

[0018] If the cleaning robot does not receive the recharge signal, the cleaning robot moves to one side of the obstacle and moves the obstacle to the other side.

[0019] Determine whether the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal;

[0020] If the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, it is determined that the obstacle has been moved outside the recharge area.

[0021] If the cleaning robot cannot simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the cleaning robot continues to move the obstacle until it simultaneously acquires the first intermediate recharge signal and the second intermediate recharge signal.

[0022] In one specific embodiment, if the cleaning robot cannot obtain the recharge signal, the cleaning robot moves to one side of the base station and then moves the obstacle to the other side of the base station, further including:

[0023] During the process of the cleaning robot moving from one side of the obstacle to the other side, it is determined whether the cleaning robot has obtained the first side recharge signal or the second side recharge signal;

[0024] If the cleaning robot receives the first side recharge signal, the cleaning robot moves the obstacle from the first side to the second side of the obstacle until it receives both the first intermediate recharge signal and the second intermediate recharge signal simultaneously.

[0025] If the cleaning robot receives the second side recharge signal, the cleaning robot moves the obstacle from the second side of the obstacle to the first side of the obstacle until it receives both the first intermediate recharge signal and the second intermediate recharge signal.

[0026] In one specific embodiment, if the recharge area is blocked by an obstacle, the method of moving the obstacle to outside the recharge area corresponding to the base station further includes:

[0027] If the cleaning robot receives a preset number of recharge signals, the cleaning robot moves to the side where the recharge signals were received and moves the obstacle to the other side of the base station.

[0028] Determine whether the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal;

[0029] If the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, it is determined that the obstacle has been moved outside the recharge area.

[0030] If the cleaning robot cannot simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the cleaning robot continues to move the obstacle until it simultaneously acquires the first intermediate recharge signal and the second intermediate recharge signal.

[0031] In one specific embodiment,

[0032] The process of determining whether communication information from the base station can be received also includes:

[0033] Obtain a map containing the first location point of the base station;

[0034] After determining that the cleaning robot cannot obtain the recharge signal, the following steps are also included:

[0035] A second location point is determined on the map, wherein the straight-line distance between the second location point and the first location point is less than or equal to a distance threshold.

[0036] The cleaning robot moves to the second location point and then moves from the second location point to the first location point along a preset path;

[0037] During the movement of the cleaning robot, the changes in the communication signal strength between the cleaning robot and the base station are determined based on the communication information between the cleaning robot and the base station.

[0038] Determine whether the changes in communication signal strength conform to a preset pattern.

[0039] If the change pattern is consistent with the preset pattern, it is determined that the base station has not been moved.

[0040] If the change does not conform to the preset pattern, it is determined that the base station has been moved.

[0041] In one specific embodiment, the method of moving the obstacle outside the recharge area further includes:

[0042] Identify the material of the obstacle;

[0043] Determine whether the material of the obstacle conforms to the preset material type;

[0044] If the material of the obstacle matches the preset material type, then the obstacle is moved according to the preset action;

[0045] If the material of the obstacle does not match the preset material type, then the obstacle is determined to be immovable.

[0046] In one specific embodiment, the method of moving the obstacle outside the recharge area further includes:

[0047] During the process of the cleaning robot moving the obstacle, it is determined whether the cleaning robot's speed or acceleration changes while its displacement remains unchanged;

[0048] If the speed or acceleration of the cleaning robot changes, but the displacement of the cleaning robot does not change, it is determined that the cleaning robot cannot move the obstacle.

[0049] Otherwise, the cleaning robot continues to move the obstacle.

[0050] In one specific embodiment, after the cleaning robot collides with the obstacle, it further includes:

[0051] The cleaning robot moves around the obstacle to obtain the size and position of the obstacle;

[0052] Based on the size and location of the obstacle and whether the recharge signal is received, the obstruction of the recharge area by the obstacle is determined, and the direction of moving the obstacle is determined based on the obstruction.

[0053] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is to provide a cleaning robot, characterized in that it includes:

[0054] Robot body;

[0055] A processor, located on the robot body, is used to determine whether the cleaning robot can receive communication information from the base station when it is in the recharging state.

[0056] A wireless transceiver is mounted on the robot body and is communicatively connected to the processor. It is used to receive communication information from the base station. The processor is also used to determine whether the charging area corresponding to the base station is blocked by an obstacle after determining that the base station is in normal working condition based on the communication information.

[0057] A controller, mounted on the robot body and communicatively connected to the processor, is used to control the robot body to move the obstacle to outside the charging area when the charging area is blocked by an obstacle, and to control the robot body to enter the charging area for charging.

[0058] The recharging detection method for the cleaning robot of the present invention includes determining whether the cleaning robot can receive communication information from the base station when it is in the recharging state. If the communication information can be received, the base station is determined to be in normal working condition based on the communication information. Then, the recharging area corresponding to the base station is determined to be blocked by an obstacle. If the recharging area is blocked by an obstacle, the obstacle is moved out of the recharging area and the robot enters the recharging area to charge. By determining whether the base station is in normal working condition, the cleaning robot can avoid wasting time and energy trying to enter the base station. By determining that the recharging area is blocked by an obstacle and moving the obstacle out of the recharging area, the cleaning robot can successfully charge, significantly improving recharging efficiency, saving recharging time, and improving the intelligence of the cleaning robot's recharging. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0060] Figure 1 This is a flowchart illustrating an embodiment of the recharging detection method for the cleaning robot of the present invention;

[0061] Figure 2 This is a flowchart illustrating another embodiment of the recharging detection method for the cleaning robot of the present invention;

[0062] Figure 3 This is a schematic diagram of the base station structure in another embodiment of the recharging detection method for the cleaning robot of the present invention;

[0063] Figure 4 This is a schematic diagram of the structure of the base station, the cleaning robot, and the obstacle in another embodiment of the recharging detection method for the cleaning robot of the present invention;

[0064] Figure 5 This is a schematic diagram of the structure of the base station, the cleaning robot, and the obstacle in another embodiment of the recharging detection method for the cleaning robot of the present invention;

[0065] Figure 6 This is a flowchart illustrating another embodiment of the recharging detection method for the cleaning robot of the present invention;

[0066] Figure 7 This is a schematic diagram of the base station and the cleaning robot in an embodiment of the present invention;

[0067] Figure 8 This is a structural schematic diagram of an embodiment of the cleaning robot of the present invention;

[0068] Figure 9 This is a schematic diagram of an embodiment of the device with storage function according to the present invention. Detailed Implementation

[0069] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] The terms "first" and "second" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly defined. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0071] See Figure 1 An embodiment of the recharging detection method for the cleaning robot of the present invention includes:

[0072] S110. When the cleaning robot is in recharging mode, determine whether it can receive communication information from the base station.

[0073] In this embodiment, the cleaning robot can receive communication information from the base station through a wireless transceiver. The wireless transceiver can use Wi-Fi wireless signals, Bluetooth wireless signals, 4G and 5G signals, etc., which have a large signal coverage area indoors and are less affected by obstacles.

[0074] S120. If the communication information can be received, determine whether the base station is in normal working condition based on the communication information.

[0075] By determining whether the base station is in normal working condition, the cleaning robot can stop attempting to enter the base station when it determines that the base station is not in normal working condition, and instead look for other base stations or report the problem of the base station not working properly. This can prevent the cleaning robot from continuing to waste time and energy trying to enter the base station, improve recharging efficiency, save recharging time, and enhance the intelligence of the cleaning robot's recharging.

[0076] S130. If the base station is in normal working condition, determine whether the recharge area corresponding to the base station is blocked by an obstacle.

[0077] In this embodiment, the cleaning robot can determine whether the recharge area is blocked by an obstacle based on whether it collides with the obstacle.

[0078] In other embodiments, the cleaning robot can also determine whether there are obstacles in the recharge area by means of images acquired by the image sensor, distance measured by the range sensor, etc., without limitation.

[0079] S140. If the recharge area is blocked by an obstacle, move the obstacle outside the recharge area.

[0080] In this embodiment, the cleaning robot can move obstacles outside the recharge area by directly acting on them. The methods of acting on the obstacles include collision, pushing, or a combination of both.

[0081] S150, enter the charging area to charge.

[0082] Currently, cleaning robots typically detour around obstacles to continue searching for a charging signal, abandoning charging if no signal is found. This doesn't account for situations where obstacles completely block the charging signal or where the robot can move the obstacle. This results in the robot wasting significant time and energy searching for the signal and necessitates manual removal of obstacles, impacting its overall intelligence. However, this embodiment, by determining if the charging area is blocked by an obstacle and removing it, allows the robot to charge smoothly, further improving charging efficiency, saving time, and enhancing the robot's charging intelligence.

[0083] See Figure 2 Another embodiment of the recharging detection method for the cleaning robot of the present invention includes:

[0084] S210. When the cleaning robot is in recharging mode, determine whether it can receive communication information from the base station.

[0085] S221. If the communication information can be received, determine whether the base station is in normal working condition based on the communication information.

[0086] Among them, the communication information can represent the communication status between the cleaning robot and the base station. Once the cleaning robot receives the communication information, it can be said that the base station is in normal working condition.

[0087] In some embodiments, determining whether a base station is in normal working condition based on communication information may include:

[0088] S2211. If the communication information received by the cleaning robot does not contain any information about any problems with the base station, then the base station is judged to be in normal working condition.

[0089] S2212. If the communication information received by the cleaning robot contains information about a problem with the base station, it is determined that the base station is in an abnormal working state.

[0090] The communication information includes details about a problem with the base station. This problem could be that the base station is not operational, unable to provide power to the cleaning robot, or experiencing a malfunction. In this embodiment, once the base station is determined to be in an abnormal operating state, the cleaning robot will no longer attempt to enter it, eliminating the need for subsequent obstacle detection.

[0091] S222. If the cleaning robot cannot receive communication information from the base station, the cleaning robot moves toward the base station until it can receive communication information from the base station.

[0092] In this embodiment, the cleaning robot can store a map of the work area and the first location point of the base station on the map. After the cleaning robot enters the recharging state, it can move towards the base station. When the cleaning robot moves to a distance from the base station that is less than or equal to the communication distance (i.e., the distance at which the cleaning robot can receive communication information sent by the base station), it can establish a communication connection with the base station. This can avoid the inability to establish a communication connection between the cleaning robot and the base station due to excessive distance, walls or obstacles, etc., and can reduce the number of times the cleaning robot sends a communication connection request to the base station.

[0093] S231. If the base station is in normal working condition, determine whether the recharge signal sent by the base station can be obtained.

[0094] In this embodiment, if the base station is in normal working condition, the cleaning robot can continue to move towards the first location point of the base station on the map without waiting in place, which can improve the recharging efficiency.

[0095] In this embodiment, the recharge signal can be an infrared signal, which can cover a portion of the area.

[0096] Please see also Figure 3 In this embodiment, the base station 10 can be equipped with four infrared emitting lights to emit infrared recharge signals. The cleaning robot adjusts its movements based on the received infrared recharge signals and then enters the base station 10 to recharge. Specifically, it can include a first infrared emitting light 101, a second infrared emitting light 102, a third infrared emitting light 103, and a fourth infrared emitting light 104. The first infrared emitting light 101 is located on the first side of the base station 10 (which can be...). Figure 3 The base station 10 shown is located on the right side, and is used to transmit the first side recharge signal. The second infrared emitting lamp 102 and the third infrared emitting lamp 103 are located in the middle of the base station 10 and are used to transmit the first middle recharge signal and the second middle recharge signal, respectively. The fourth infrared emitting lamp 104 is located on the second side of the base station 10 and is used to transmit the second side recharge signal.

[0097] The recharge signal may include a first side recharge signal, a first intermediate recharge signal, a second intermediate recharge signal, and a second side recharge signal that are sequentially covered. The first side recharge signal, the first intermediate recharge signal, the second intermediate recharge signal, and the second side recharge signal continuously cover the area from the first side of the base station 10 through the front side of the base station 10 to the second side of the base station 10 (the shaded area shown in the figure). The first intermediate recharge signal and the second intermediate recharge signal cover the recharge area (the area where the charging connector 105 of the base station 10 is located). At the same time, there may be signal overlap between the first intermediate recharge signal and the second intermediate recharge signal.

[0098] S232. If the base station is not in normal working condition, then abandon charging at this base station.

[0099] S241. If the cleaning robot can obtain a complete recharge signal, it is determined that the recharge area is not blocked by obstacles, and the cleaning robot directly enters the recharge area.

[0100] In this embodiment, the cleaning robot can obtain complete recharge signals, that is, the cleaning robot can obtain the first side recharge signal, the first middle recharge signal, the second middle recharge signal and the second side recharge signal.

[0101] S242. If the cleaning robot obtains an incomplete recharge signal or fails to obtain a recharge signal, then during the cleaning robot's movement toward the base station or recharge area, it is determined whether the cleaning robot has collided with an obstacle.

[0102] In this embodiment, if the cleaning robot receives an incomplete recharge signal, it can determine the approximate location of the recharge area and can then move directly towards the recharge area or towards the base station. If the cleaning robot does not receive a recharge signal, it cannot determine the location of the recharge area and can move towards the base station based on map information.

[0103] In this embodiment, the cleaning robot can determine whether it has collided with an obstacle using collision sensors, pressure sensors, etc.

[0104] S250. If the cleaning robot collides with an obstacle, it is determined that the recharge area is blocked by the obstacle.

[0105] In this embodiment, when the cleaning robot determines whether it can receive the recharge signal, it is very close to the recharge area. If it receives an incomplete recharge signal or no recharge signal and collides with an obstacle, it can be determined that the recharge area is blocked by an obstacle.

[0106] S241. If the cleaning robot does not collide with any obstacle, it is determined that the recharge area is not blocked by any obstacle, and the cleaning robot directly enters the recharge area.

[0107] In this embodiment, if the cleaning robot does not collide with an obstacle, the obstacle may not be blocking the recharge area, but rather blocking other areas covered by the recharge signal (e.g., areas covered by the first side recharge signal and / or the second side recharge signal). In this case, the cleaning robot can obtain the first intermediate recharge signal and the second intermediate recharge signal, and the obstacle does not affect the cleaning robot's entry into the recharge area. The cleaning robot can directly enter the recharge area without needing to perform obstacle detection again, thus improving recharge efficiency.

[0108] In this embodiment, determining that the recharge area is blocked by an obstacle further includes:

[0109] S261. If the cleaning robot does not receive a return-to-charge signal, the cleaning robot moves to one side of the obstacle and moves the obstacle to the other side.

[0110] Please see Figure 4 In this embodiment, if the cleaning robot 20 cannot obtain a recharge signal, the obstacle 30 will completely block the first side recharge signal, the first middle recharge signal, the second middle recharge signal, and the second side recharge signal. It can be determined that the obstacle 30 is located in front of the base station 10. Therefore, the cleaning robot 20 will move to one side of the obstacle 30, along the width direction of the base station 10 (e.g., ...). Figure 4 Move obstacle 30 to the other side of obstacle 30 in the left and right directions shown.

[0111] Please see Figure 5 In some embodiments, the cleaning robot 20 can also move the obstacle 30 to the other side of the obstacle 30, in a direction inclined with respect to the width direction of the base station 10, to the outside of the recharge area.

[0112] In other embodiments, the direction of moving the obstacle 30 is not limited to the two directions described above. It only requires ensuring that the cleaning robot 20 can move the obstacle 30 and receive the required recharge signal. The specific direction of movement is determined based on whether the cleaning robot 20 can move the obstacle 30 (affected by the placement, shape, and size of the obstacle 30 around the base station 10, etc.). During the movement, the cleaning robot 20 can determine the movement of the obstacle 30 by attempting to move it, and thus determine the required direction of movement. Similarly... Figure 4 As shown, the cleaning robot 20 can be positioned to the left of the obstacle 30 and move from left to right. Additionally, the cleaning robot 20 moves in a similar manner... Figure 4 When moving in the direction of movement, the direction of movement can be changed to a similar direction depending on the movement situation. Figure 5 The direction of movement.

[0113] In this embodiment, the cleaning robot can collide with obstacles multiple times by moving forward and backward, thereby applying multiple intervals of force to the obstacles.

[0114] In other embodiments, the cleaning robot may also push against the obstacle in a continuously advancing manner to apply a continuous force to the obstacle; in other embodiments, the two situations described above may coexist.

[0115] S262. Determine whether the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal.

[0116] S263. If the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the obstacle is moved outside the recharge area.

[0117] S264. If the cleaning robot cannot simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the cleaning robot continues to move the obstacle until it simultaneously acquires the first intermediate recharge signal and the second intermediate recharge signal.

[0118] In this embodiment, the cleaning robot gradually removes the obstruction of the recharge signal by the obstacle while moving the obstacle, and the recharge area can only be fully exposed after the obstacle is completely removed from the first intermediate recharge signal and the second intermediate recharge signal.

[0119] In this embodiment, the cleaning robot may further include the following during the process of moving obstacles:

[0120] S310. Determine whether the cleaning robot has received the first side recharge signal or the second side recharge signal.

[0121] S320. If the cleaning robot receives the first side recharge signal, the cleaning robot moves the obstacle from the first side to the second side of the obstacle until it receives both the first intermediate recharge signal and the second intermediate recharge signal.

[0122] S330. If the cleaning robot receives the second side recharge signal, the cleaning robot moves the obstacle from the second side of the obstacle to the first side of the obstacle until it receives both the first intermediate recharge signal and the second intermediate recharge signal.

[0123] In this embodiment, the cleaning robot starts from the first side of the obstacle (which can be...). Figure 4 The obstacle shown is on the right side, towards the second side (which could be...). Figure 4 To illustrate the movement of the obstacle (shown on the left side), the cleaning robot typically receives a first-side recharge signal during the obstacle-moving process. The robot can then continue moving the obstacle from the first side to the second side. However, due to the obstacle's shape, size, placement, stress points, stress magnitude, and collisions with other objects, the cleaning robot may receive a second-side signal first. In this case, the robot can move to the second side of the obstacle and then move it from the second side back to the first side, thus fully exposing the recharge area and improving the efficiency of the robot in removing obstacles.

[0124] In this embodiment, determining that the recharge area is blocked by an obstacle further includes:

[0125] S270. If the cleaning robot receives a preset number of recharge signals, the cleaning robot moves to the side where the recharge signals were received and moves the obstacle to the other side of the obstacle.

[0126] In this embodiment, the preset quantity can be 1, 2, 3, or 4. Based on the recharge signal obtained by the cleaning robot, the following situations can be identified:

[0127] S271. If the cleaning robot receives the first side recharge signal, the cleaning robot moves to the first side of the obstacle and moves the obstacle to the second side of the obstacle.

[0128] S272. If the cleaning robot receives the second side recharge signal, the cleaning robot moves to the second side of the obstacle and moves the obstacle to the first side of the obstacle.

[0129] In this embodiment, if the cleaning robot can obtain the first side recharge signal or the second side recharge signal, but cannot obtain the first intermediate recharge signal or the second intermediate recharge signal, it can be determined that the obstacle is located in front of the base station and does not block at least one side of the base station. Then the cleaning robot can move to the side of the base station that is not blocked to move the obstacle, which can improve the efficiency of the cleaning robot in removing the obstacle.

[0130] S273. If the cleaning robot can simultaneously acquire the first side recharge signal and the second side recharge signal, the cleaning robot can move to the first or second side of the obstacle to move the obstacle.

[0131] S274. If the cleaning robot obtains the first intermediate recharge signal or the second intermediate recharge signal, the cleaning robot moves to the area covered by the obtained recharge signal and moves the obstacle to the side of the base station.

[0132] In this embodiment, if the cleaning robot can only obtain the first intermediate recharge signal or the second intermediate recharge signal, but cannot obtain the first side recharge signal or the second side recharge signal, it can be determined that the obstacle is located on both sides of the base station and blocks part of the recharge area. Then the cleaning robot can move to the area covered by the first intermediate recharge signal or the second intermediate recharge signal and move the obstacle to both sides of the base station, which can improve the efficiency of the cleaning robot in removing the obstacle.

[0133] S275. If the cleaning robot obtains the first side recharge signal and the first middle recharge signal, the cleaning robot moves the first side of the base station and moves the obstacle to the second side of the base station.

[0134] S276. If the cleaning robot obtains the second side recharge signal and the second middle recharge signal, the cleaning robot moves the second side of the base station and moves the obstacle towards the first side of the base station.

[0135] In this embodiment, if the cleaning robot can only obtain the first side recharge signal and the first middle recharge signal, or only obtain the second side recharge signal and the second middle recharge signal, it can be determined that the obstacle is located on one side of the base station and blocks part of the recharge area. Then the cleaning robot can move to the side of the base station that is not blocked to move the obstacle away, which can improve the efficiency of the cleaning robot in moving the obstacle.

[0136] In steps S271 to S276 above, the method by which the cleaning robot moves obstacles can be referred to in step S261 above, and will not be repeated here.

[0137] In steps S271 to S276 above, the process of moving the obstacle may further include:

[0138] S262. Determine whether the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal.

[0139] S263. If the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the obstacle is moved outside the recharge area.

[0140] S264. If the cleaning robot cannot simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the cleaning robot continues to move the obstacle until it simultaneously acquires the first intermediate recharge signal and the second intermediate recharge signal.

[0141] S280, Enter the recharge area to charge.

[0142] In this embodiment, the method for the cleaning robot to move obstacles outside the recharging area may further include:

[0143] S410, Material for identifying obstacles.

[0144] S420: Determine whether the material of the obstacle matches the preset material type.

[0145] S430. If the material of the obstacle matches the preset material type, then move the obstacle using the preset action.

[0146] S440. If the material of the obstacle does not match the preset material type, then the obstacle cannot be moved.

[0147] In this embodiment, the preset material type can be a light and soft material such as cardboard or rubber. When such an obstacle collides with the cleaning robot, it will cause little or no damage to the cleaning robot. The obstacle can be moved by preset actions such as collision or pushing.

[0148] In this embodiment, the preset material type can also be plastic, hollow metal, or other materials with a certain weight and hardness. This allows the obstacle to be moved by pushing, reducing the burden on the cleaning robot.

[0149] If the material of the obstacle does not match the preset material type, and the obstacle is a heavy or hard material such as solid metal, then the obstacle is determined to be immovable and can send a signal that it cannot be moved, which can protect the cleaning robot.

[0150] In this embodiment, the cleaning robot can identify the material of obstacles using ultrasonic sensors, image sensors, and pressure sensors.

[0151] In this embodiment, the method for the cleaning robot to move obstacles outside the recharging area further includes:

[0152] S510. During the process of the cleaning robot moving the obstacle, determine whether the cleaning robot's speed or acceleration changes, but its displacement does not change.

[0153] S520. If the speed or acceleration of the cleaning robot changes, but the displacement of the cleaning robot does not change, it is determined that the cleaning robot cannot move the obstacle.

[0154] S530, otherwise the cleaning robot continues to move the obstacle.

[0155] In this embodiment, for example, the cleaning robot can be equipped with an inertial measurement unit (IMU) and a ranging sensor. The IMU can be used to detect the cleaning robot's acceleration, and the ranging sensor can be used to detect the cleaning robot's displacement distance. If the acceleration data detected by the IMU changes, but the displacement distance detected by the ranging sensor does not change, it can be determined that the cleaning robot cannot move the obstacle. The cleaning robot can then search for another base station to recharge or report an error.

[0156] In this embodiment, the process after the cleaning robot collides with an obstacle may further include:

[0157] S610, the cleaning robot moves around the obstacle to obtain the obstacle's size and location.

[0158] S620. Based on the size and location of the obstacle and whether a recharge signal is received, determine the extent to which the obstacle obstructs the recharge area, and determine the direction to move the obstacle based on the obstruction.

[0159] In this embodiment, by obtaining the size and location of obstacles, the accuracy of the cleaning robot's judgment on the obstruction of the recharging area can be further improved.

[0160] In this embodiment, before determining whether communication information from the base station can be received, the method may further include: obtaining a map containing a first location point of the base station.

[0161] In this embodiment, the first location point of the base station can be manually input, or it can be sent to the cleaning robot by setting a locator on the base station, or it can be the first location point recorded by the cleaning robot during the mapping process.

[0162] See Figure 6 In this embodiment, after determining in step S231 that the cleaning robot cannot obtain a recharging signal, the process may further include:

[0163] S710. Determine a second location point on the map, where the straight-line distance between the second location point and the first location point is less than or equal to a distance threshold.

[0164] S720, the cleaning robot moves to the second position point and then moves from the second position point to the first position point along a preset path.

[0165] In this embodiment, the preset path can refer to a straight path from the second location point to the first location point, or a path where the communication signal strength varies with distance. The distance threshold can be less than or equal to the communication distance between the cleaning robot and the base station, so that the communication signal remains stable as the cleaning robot moves from the second location point to the first location point.

[0166] S730. During the movement of the cleaning robot, the change in the communication signal strength r between the cleaning robot and the base station is determined based on the communication information between the cleaning robot and the base station.

[0167] In this embodiment, the communication information may include the transmit power PT of the base station's wireless signal and the receive power PR of the cleaning robot's wireless signal, r = (PR*n) / PT, where n is the propagation factor of the wireless signal.

[0168] S740. Determine whether the change in communication signal strength r conforms to the preset change pattern.

[0169] S750. If the change pattern conforms to the preset pattern, it is determined that the base station has not been moved.

[0170] S760. If the change does not conform to the preset pattern, it is determined that the base station has been moved.

[0171] For example, in this embodiment, if the communication signal strength r gradually increases as the cleaning robot moves toward the first location point, it indicates that the cleaning robot is indeed moving toward the base station and the location of the base station has not been moved; otherwise, the base station is no longer at the first location point.

[0172] Because the distance between the cleaning robot and the first location point may be relatively far, the communication signal strength may be weak, and obstacles on the movement path may affect the communication signal strength. If the cleaning robot moves directly to the first location point, it may cause communication signal instability, affecting the judgment of changes in communication signal strength. By having the cleaning robot move to the second location point first, and then move along a preset path to the first location point, the robot can avoid detours or zigzag movements during its movement. This results in a more stable communication signal during the movement and a more accurate judgment of changes in communication signal strength.

[0173] See Figure 7 and Figure 8 The cleaning robot 20 embodiment of the present invention includes a robot body 201, a wireless transceiver 202, a processor 203, and a controller 204. The processor 203 is disposed on the robot body 201 and is used to determine whether the cleaning robot can receive communication information from the base station when it is in the recharging state. The wireless transceiver 202 is disposed on the robot body 201 and is communicatively connected to the processor 203 for communication information. The processor 203 is also used to determine whether the recharging area corresponding to the base station 10 is blocked by an obstacle after determining that the base station 10 is in normal working state based on the communication information. The controller 204 is disposed on the robot body and is communicatively connected to the processor 203. When the recharging area is blocked by an obstacle, the controller controls the robot body 201 to move the obstacle to the outside of the recharging area and controls the robot body 201 to enter the recharging area for charging.

[0174] By determining whether the base station is in normal working condition, the cleaning robot can avoid wasting time and energy trying to enter the base station. By determining that the recharge area is blocked by an obstacle and moving the obstacle out of the recharge area, the cleaning robot can successfully recharge, significantly improving recharge efficiency, saving recharge time, and enhancing the intelligence of the cleaning robot's recharge.

[0175] See Figure 9 The device 40 of the present invention has a storage function and stores program data 401. The program data 301 can be executed to implement the recharging detection method of the cleaning robot as described above.

[0176] By determining whether the base station is in normal working condition, the cleaning robot can avoid wasting time and energy trying to enter the base station. By determining that the recharge area is blocked by an obstacle and moving the obstacle out of the recharge area, the cleaning robot can successfully recharge, significantly improving recharge efficiency, saving recharge time, and enhancing the intelligence of the cleaning robot's recharge.

[0177] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for detecting the recharging of a cleaning robot, characterized in that, include: When the cleaning robot is in recharging mode, it determines whether it can receive communication information from the base station; If the communication information can be received, then after determining that the base station is in normal working condition based on the communication information, it is determined whether the charging area corresponding to the base station is blocked by an obstacle. If the recharge area is blocked by an obstacle, the obstacle shall be moved outside the recharge area; Enter the recharge area to charge; The method for determining whether the recharge area is blocked by an obstacle includes: determining whether the recharge signal emitted by the base station can be obtained; The recharge signal includes a first side recharge signal, a first intermediate recharge signal, a second intermediate recharge signal, and a second side recharge signal. The first side recharge signal, the first intermediate recharge signal, the second intermediate recharge signal, and the second side recharge signal continuously cover an area from the first side of the base station, through the front side of the base station, to the second side of the base station. The first intermediate recharge signal and the second intermediate recharge signal cover the recharge area. If the recharge area is blocked by an obstacle, the method of moving the obstacle to outside the corresponding recharge area of ​​the base station includes: If the cleaning robot does not receive the recharge signal, the cleaning robot moves to one side of the obstacle and moves the obstacle to the other side. Determine whether the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal; If the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, it is determined that the obstacle has been moved outside the recharge area. If the cleaning robot cannot simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the cleaning robot continues to move the obstacle until it acquires both the first intermediate recharge signal and the second intermediate recharge signal simultaneously.

2. The method according to claim 1, characterized in that, The method for determining whether the recharge area is blocked by an obstacle further includes: If the cleaning robot can obtain the complete recharge signal, it is determined that the recharge area is not blocked by obstacles, and the cleaning robot directly enters the recharge area; If the cleaning robot receives an incomplete recharge signal or fails to receive the recharge signal, then during the process of the cleaning robot moving towards the base station or the recharge area, it is determined whether the cleaning robot collides with the obstacle. If the cleaning robot collides with the obstacle, it is determined that the recharging area is blocked by the obstacle; If the cleaning robot does not collide with the obstacle, it will directly enter the recharging area.

3. The method according to claim 1, characterized in that, If the cleaning robot does not receive the recharge signal, the cleaning robot moves to one side of the obstacle and then moves to the other side of the obstacle. After moving the obstacle, the process further includes: During the process of the cleaning robot moving from one side of the obstacle to the other side, it is determined whether the cleaning robot has obtained the first side recharge signal or the second side recharge signal; If the cleaning robot receives the first side recharge signal, the cleaning robot moves the obstacle from the first side to the second side of the obstacle until it receives both the first intermediate recharge signal and the second intermediate recharge signal simultaneously. If the cleaning robot receives the second side recharge signal, the cleaning robot moves the obstacle from the second side of the obstacle to the first side of the base station until it receives both the first intermediate recharge signal and the second intermediate recharge signal.

4. The method according to claim 1, characterized in that, If the recharge area is blocked by an obstacle, the method of moving the obstacle to outside the recharge area corresponding to the base station further includes: If the cleaning robot receives a preset number of recharge signals, the cleaning robot moves to the side where the recharge signals were received and moves the obstacle to the other side of the obstacle. Determine whether the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal; If the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, it is determined that the obstacle has been moved outside the recharge area. If the cleaning robot cannot simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the cleaning robot continues to move the obstacle until it simultaneously acquires the first intermediate recharge signal and the second intermediate recharge signal.

5. The method according to claim 2, characterized in that, The process of determining whether communication information from the base station can be received also includes: Obtain a map containing the first location point of the base station; After determining that the cleaning robot cannot obtain the recharge signal, the following steps are also included: A second location point is determined on the map, wherein the straight-line distance between the second location point and the first location point is less than or equal to a distance threshold. The cleaning robot moves to the second location point and then moves from the second location point to the first location point along a preset path; During the movement of the cleaning robot, the changes in the communication signal strength between the cleaning robot and the base station are determined based on the communication information between the cleaning robot and the base station. Determine whether the changes in communication signal strength conform to a preset pattern. If the change pattern is consistent with the preset pattern, it is determined that the base station has not been moved. If the change does not conform to the preset pattern, it is determined that the base station has been moved.

6. The method according to claim 1, characterized in that, The method of moving the obstacle outside the recharge area further includes: Identify the material of the obstacle; Determine whether the material of the obstacle conforms to the preset material type; If the material of the obstacle matches the preset material type, then the obstacle is moved according to the preset action; If the material of the obstacle does not match the preset material type, then the obstacle is determined to be immovable.

7. The method according to claim 1, characterized in that, The method of moving the obstacle outside the recharge area further includes: During the process of the cleaning robot moving the obstacle, it is determined whether the cleaning robot's speed or acceleration changes while its displacement remains unchanged; If the speed or acceleration of the cleaning robot changes, but the displacement of the cleaning robot does not change, it is determined that the cleaning robot cannot move the obstacle. Otherwise, the cleaning robot continues to move the obstacle.

8. The method according to claim 2, characterized in that, After the cleaning robot collides with the obstacle, it also includes: The cleaning robot moves around the obstacle to obtain the size and position of the obstacle; Based on the size and location of the obstacle and whether the recharge signal is received, the obstruction of the recharge area by the obstacle is determined, and the direction of moving the obstacle is determined based on the obstruction.

9. A cleaning robot, characterized in that, include: Robot body; A processor, located on the robot body, is used to determine whether the cleaning robot can receive communication information from the base station when it is in the recharging state. A wireless transceiver is mounted on the robot body and is communicatively connected to the processor. It is used to receive the communication information. The processor is also used to determine whether the charging area corresponding to the base station is blocked by an obstacle after determining that the base station is in normal working condition based on the communication information. A controller, mounted on the robot body and communicatively connected to the processor, is used to control the robot body to move the obstacle to outside the charging area when the charging area is blocked by an obstacle, and to control the robot body to enter the charging area for charging. The processor's determination of whether the recharge area is blocked by an obstacle includes: the processor determining whether it can obtain the recharge signal sent by the base station; The recharge signals include a first side recharge signal, a first intermediate recharge signal, a second intermediate recharge signal, and a second side recharge signal. The first side recharge signal, the first intermediate recharge signal, the second intermediate recharge signal, and the second side recharge signal continuously cover an area from the first side of the base station, through the front of the base station, to the second side of the base station. The first intermediate recharge signal and the second intermediate recharge signal cover the recharge area. If the recharge area is blocked by an obstacle, moving the obstacle outside the corresponding recharge area of ​​the base station includes: if the cleaning robot cannot obtain the recharge signal, the controller controls the... The cleaning robot moves to one side of the obstacle and then moves the obstacle to the other side. The processor determines whether the cleaning robot can simultaneously acquire a first intermediate recharge signal and a second intermediate recharge signal. If the cleaning robot can simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, it is determined that the obstacle has been moved outside the recharge area. If the cleaning robot cannot simultaneously acquire the first intermediate recharge signal and the second intermediate recharge signal, the controller controls the cleaning robot to continue moving the obstacle until it simultaneously acquires the first intermediate recharge signal and the second intermediate recharge signal.

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