Control method, device, equipment, system of cleaning robot and storage medium

Abstract

This application discloses a control method for a cleaning robot, including controlling the cleaning robot to move towards a base station from a preset starting position with a first driving parameter; during the movement towards the base station, controlling the cleaning robot to move towards the base station with a second driving parameter at a preset position to enter the base station, wherein the preset position is the location where the cleaning robot requires the maximum kinetic energy to enter the base station. The driving power at the preset position is not less than the preset driving power required for the robot to successfully enter the base station under normal conditions, providing the robot with greater kinetic energy to overcome potential environmental factors, improve the success rate of entering the base station, and also reduce the power consumption of the cleaning robot to a certain extent, completing the entry with lower power consumption. In addition, it can also reduce the length of the base station transition area, making the overall shape of the base station more aesthetically pleasing, effectively saving costs and space.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method, control device, cleaning robot, cleaning system, and computer-readable storage medium for a cleaning robot. Background Technology

[0002] Base stations used with mopping robots or integrated sweeping and mopping robots typically have a cleaning trough at the bottom to allow the robot to return to the base station to clean its cleaning components after completing a cleaning task. For this purpose, the base station needs a transition area, usually with a slope, to allow the robot to climb over the cleaning trough for cleaning. However, due to the slope, the robot may fail to enter the base station upon return. To address this, related technologies have incorporated longer transition areas to reduce the slope and improve the success rate. However, this results in an excessively large base station, increasing packaging size during transport and floor space required during use, and is also aesthetically unappealing. Therefore, how to improve the robot's success rate in entering the base station while controlling the length of the transition area has become a pressing issue. Summary of the Invention

[0003] This application provides a control method, control device, cleaning robot, cleaning system, and computer-readable storage medium for a cleaning robot.

[0004] The control method for the cleaning robot in this application includes:

[0005] The cleaning robot is controlled to move from a preset starting position toward the base station with the first driving parameters;

[0006] During the movement towards the base station, when the cleaning robot reaches the preset position, it is controlled to move towards the base station with the second driving parameter to enter the base station. The preset position is the location where the cleaning robot has the maximum kinetic energy required to enter the base station. The cleaning robot can successfully enter the base station by passing through the preset position with the preset driving power. The driving power of the cleaning robot moving through the preset position with the second driving parameter is not less than the maximum driving power in the first driving parameter and not less than the preset driving power.

[0007] Thus, the solution provided in this application can control the cleaning robot to move towards the base station with a first driving parameter and to enter the station with a second driving parameter. Specifically, during the cleaning robot's entry into the station with the second driving parameter, the driving power at the preset position requiring maximum kinetic energy is not less than the preset driving power at the preset position for successful entry, providing the robot with greater kinetic energy to overcome potential environmental factors and improve the success rate of entry. Simultaneously, it can also reduce the cleaning robot's power consumption to a certain extent, completing the entry with lower power consumption. Furthermore, it can effectively control the length of the base station transition zone, resulting in a more aesthetically pleasing overall base station design and effectively saving costs and space.

[0008] In some embodiments, before controlling the cleaning robot to move towards the base station from a preset starting position with a first driving parameter, the method further includes:

[0009] The cleaning robot is controlled to move towards the base station from the preset starting position at a constant speed with preset driving parameters to enter the base station, wherein the driving power of the cleaning robot during the movement with the preset driving parameters is not less than the preset driving power;

[0010] If the cleaning robot successfully enters the base station, control the cleaning robot to end the operation; or,

[0011] If the cleaning robot fails to enter the base station, control the cleaning robot to proceed to the next step.

[0012] In this way, controlling the robot to move at a constant speed into the base station can ensure the overall stability of the robot while reducing the impact on the base station during the entry process.

[0013] In some embodiments, the control method further includes:

[0014] If the cleaning robot fails to enter the base station within a predetermined time or number of attempts, the cleaning robot is controlled to move from a preset starting position towards the base station using a first driving parameter; or...

[0015] If the cleaning robot fails to enter the base station within a predetermined time or number of attempts, the robot will be controlled to stop moving and report a return-to-base error to the base station and / or terminal.

[0016] In this way, the cleaning robot can send back abnormal information to notify the user of the abnormal return situation if it fails to enter the base station within a certain time or number of times, or fails to enter the base station for a certain period of time or more than a certain number of times, so that the user can handle the abnormal situation in a timely manner.

[0017] In some embodiments, the method further includes:

[0018] Control the cleaning robot to move to the preset starting position;

[0019] During the process of the cleaning robot moving from the preset starting position to the base station, the correspondence between the driving power of the cleaning robot and the distance is determined based on the distance between the first marker point on the cleaning robot and the second marker point inside the base station to determine the first driving parameter and the second driving parameter.

[0020] Based on the aforementioned correspondence, the cleaning robot is controlled to enter the base station.

[0021] In this way, based on the correspondence between distance changes and robot motion states, the robot can be controlled to change its motion state according to the changes in the distance between itself and the base station, thereby realizing the robot's speed change and improving the success rate of the robot crossing the preset position and returning to the station.

[0022] In some implementations, controlling the cleaning robot to enter the base station according to the correspondence includes:

[0023] According to the correspondence, the driving power of the cleaning robot is controlled to change from the first driving parameter to the second driving parameter so that the cleaning robot accelerates from the preset starting position to the preset position;

[0024] According to the correspondence, the cleaning robot is controlled by the second driving parameters so that the cleaning robot decelerates after passing the preset position and moves until the cleaning robot enters the base station.

[0025] Thus, this application can control the robot to accelerate before the preset position and decelerate after the preset position to improve the success rate of entering the base station and the stability of the base station operation.

[0026] In some embodiments, controlling the driving power of the cleaning robot to change from the first driving parameter to the second driving parameter according to the correspondence, so that the cleaning robot accelerates from the preset starting position to the preset position, includes:

[0027] According to the correspondence, the cleaning robot is controlled to increase the driving power of the first driving parameter from the preset starting position, so as to satisfy the second driving parameter when it moves to the preset position.

[0028] Thus, this application can control the robot to accelerate under the first driving parameter or the second driving parameter, thereby improving the success rate of the robot returning to the station after crossing the preset position.

[0029] In some embodiments, controlling the cleaning robot with the second driving parameters according to the correspondence to cause the cleaning robot to decelerate after passing the preset position until the robot enters the base station includes:

[0030] Based on the aforementioned correspondence, the driving power of the cleaning robot is reduced after passing the preset position until the robot enters the base station.

[0031] Thus, this application can control the robot to decelerate under the second driving parameters, reduce the impact of the robot on the base station after entering the base station, and improve the stability of the base station's working state.

[0032] In some embodiments, the control method for the cleaning robot of this application further includes:

[0033] If an obstacle exists at the preset starting position, the cleaning robot is controlled to collide with the obstacle.

[0034] If the obstacle leaves the preset starting position after a collision, the cleaning robot is controlled to move back to the preset starting position; or...

[0035] If the obstacle does not leave the preset starting position after being collided with, a first position is determined on the line connecting the preset starting position and the second marker point of the base station as the preset starting position;

[0036] Control the cleaning robot to move to the preset starting position.

[0037] Thus, this application can control the robot to clear obstacles when there are obstacles at the preset starting position, and can control the robot to reselect the preset starting position if the obstacle clearing fails, so as to improve the robot's return efficiency and reduce the interference of obstacles on the return process.

[0038] This application also provides a control device for a cleaning robot, including:

[0039] The first control module is used to control the cleaning robot to move from a preset starting position toward the base station with first driving parameters;

[0040] The second control module is used to control the cleaning robot to move towards the base station with a second driving parameter when the cleaning robot reaches a preset position during the movement towards the base station. The preset position is the location where the cleaning robot needs the maximum kinetic energy to enter the base station. The cleaning robot can successfully enter the base station by passing through the preset position with a preset driving power. The driving power of the cleaning robot moving through the preset position with the second driving parameter is greater than the maximum driving power in the first driving parameter and is also greater than the preset driving power.

[0041] This application also provides a cleaning robot, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it implements the above-described control method for the cleaning robot.

[0042] This application also provides a cleaning system, including a base station and a cleaning robot as described in the above embodiments.

[0043] The computer-readable storage medium of this application stores a computer program that, when executed by one or more processors, implements the above-described control method for the cleaning robot.

[0044] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0045] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0046] Figure 1 This is a flowchart illustrating the control method for the cleaning robot provided in this application;

[0047] Figure 2 This is a schematic diagram of the control method for the cleaning robot provided in this application;

[0048] Figure 3 This is a schematic diagram illustrating an application scenario of the control method for the cleaning robot provided in this application;

[0049] Figure 4 This is a flowchart illustrating the control method for the cleaning robot provided in this application;

[0050] Figure 5 This is a flowchart illustrating the control method for the cleaning robot provided in this application.

[0051] Figure 6 This is a flowchart illustrating the control method for the cleaning robot provided in this application.

[0052] Figure 7 This is a schematic diagram illustrating the relationship between the robot's movement speed and position in the control method for the cleaning robot provided in this application;

[0053] Figure 8 This is a flowchart illustrating the control method for the cleaning robot provided in this application;

[0054] Figure 9 This is a flowchart illustrating the control method for the cleaning robot provided in this application. Detailed Implementation

[0055] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0057] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0058] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0059] In the description of the embodiments in this application, 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 existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0060] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0061] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0062] In related technologies, base stations used with mopping robots or cleaning robots integrating sweeping and mopping functions typically have a cleaning trough at their bottom to allow the robot to return to the base station to clean its cleaning components after completing its cleaning task. To allow the robot to climb over the cleaning trough via a transition area, the base station generally needs a transition area, which is usually designed with a slope. In this case, the robot may be unable to pass through the uphill slope of the transition area when returning to the base station, resulting in a failed entry. To solve this problem, a longer transition area can be used to reduce the slope and improve the success rate of entry. However, this would result in a relatively large base station, increasing the packaging size during transportation and the floor space required during use. Furthermore, if the robot cannot return to the base station normally and cannot clean its cleaning components in time, remaining on the ground will also obstruct other moving objects.

[0063] Therefore, as Figure 1 As shown, this application provides a control method for a cleaning robot, including:

[0064] 01: Control the cleaning robot to move towards the base station from the preset starting position with the first driving parameters;

[0065] 02: During the movement towards the base station, when the cleaning robot reaches the preset position, control the cleaning robot to move towards the base station with the second driving parameters to enter the base station.

[0066] like Figure 2As shown, this application also provides a control device 10 for a cleaning robot. The control method of the cleaning robot in this application can be implemented by the control device 10 of the cleaning robot in this application. Specifically, the control device 10 of the cleaning robot includes a first control module 11 and a second control module 12. The first control module 11 is used to control the cleaning robot to move towards the base station from a preset starting position with a first driving parameter, and the second control module 12 is used to control the cleaning robot to move towards the base station with a second driving parameter to enter the base station when the cleaning robot reaches the preset position during the movement towards the base station.

[0067] This application also provides a cleaning robot, which includes a memory and a processor. The control method of the cleaning robot of this application can be implemented by the cleaning robot of this application. Specifically, the memory stores a computer program, and the processor is used to control the cleaning robot to move towards the base station from a preset starting position with a first driving parameter, and during the movement towards the base station, to control the cleaning robot to move towards the base station with a second driving parameter at the preset position to enter the base station.

[0068] Specifically, to ensure the cleaning robot returns to the base station with the correct posture, a preset starting position is typically set outside the base station to allow the robot to correct its posture and direction of movement. This preset starting position can be considered the preset starting point for the robot's return motion. The first and second driving parameters are a set of data parameters describing the current motion state of the cleaning robot (hereinafter referred to as "the robot"), including the robot's current driving power, motion angle, motion speed, motor speed, and traction force. This data is generally acquired in real-time by multiple parameter sensors installed on the robot. Furthermore, the driving power can be controlled through communication between the base station and the robot, and through hardware and software support, thereby indirectly controlling parameters such as motion angle, motion speed, motor speed, and traction force based on kinematic and dynamic principles.

[0069] In some examples, after completing a cleaning task, the robot starts from any position and moves to a preset starting position in any motion state. It adjusts its motion angle and other parameters relative to the base station to align with it. Then, the robot moves towards the base station using a first driving parameter. Before reaching a preset position on the base station where the cleaning robot needs maximum kinetic energy, a second driving parameter is used to increase the robot's kinetic energy at the preset position to ensure successful entry. In some embodiments, the preset position can be the edge of the base station's cleaning tray, the base station's water-blocking strip, the highest point of the base station's bottom, or the point of maximum frictional or gravitational resistance. The robot needs a maximum kinetic energy to overcome these resistances. The preset position can be the robot's geometric center, the edge of the base station's cleaning tray, the water-blocking strip, or the highest point of the base station's bottom where the robot's brush or mop reaches. Other methods can also be used to define the preset position and the robot's passage through the preset position; this application does not impose specific limitations on these methods.

[0070] For a robot to successfully pass through a preset location and enter the base station, there needs to be a preset driving power for its movement at that location. This preset driving power is typically measured in a laboratory environment, representing the robot's driving power when it moves at a constant speed and just manages to pass through the preset location; in other words, it's the driving power when the robot has maximum kinetic energy in a constant-speed state. To achieve the aforementioned technical effect, assuming the surrounding environment and the robot's initial motion state are consistent, the driving power at the preset location in the second driving parameter should not be less than the preset driving power, and it should also not be less than the maximum driving power in the first driving parameter. Based on the relationship between power and speed and Newton's second law, the robot's speed at the preset location under the second driving parameter should not be less than the robot's speed at the preset location under the first driving parameter. That is, by increasing power to increase speed, the robot's kinetic energy is increased, thereby improving the probability of the robot successfully entering the base station.

[0071] In some examples, such as Figure 3In the scenario shown, the robot starts from a preset starting position and returns to the base station. The robot's geometric center projection on the ground can be aligned with the preset starting position, or other methods can be used; this application does not impose specific limitations. The base station has a receiving cavity where the robot performs maintenance (including but not limited to charging, dust collection, mop washing, wastewater drainage, and water replenishment). Below the receiving cavity is a cleaning disc for cleaning the robot's cleaning components (e.g., the mop). The edge of the cleaning disc has a water-blocking strip (used to prevent water from being carried out of the mop when the robot exits the base station after washing the mop). A transition area is provided in front of the entrance to the receiving cavity. The connection point between the transition area and the cleaning disc, or the water-blocking strip, can be a preset position with the greatest resistance. At this point, the robot needs a maximum kinetic energy to overcome the resistance and pass through; for example, this could be the robot's geometric center, the roller brush located in the middle of the robot, or the mop located at the tail of the robot passing through the preset position. In this case, the robot is controlled to move towards the base station from the preset starting position with the first driving parameter. Before reaching the preset position, the robot is driven towards the base station with the second driving parameter to increase the robot's kinetic energy at the preset position, thereby increasing the success rate of the robot returning to the station.

[0072] Thus, the solution provided in this application can control the cleaning robot to move towards the base station with a first driving parameter and to enter the station with a second driving parameter. Specifically, during the cleaning robot's entry into the station with the second driving parameter, the driving power at the preset position requiring maximum kinetic energy is not less than the preset driving power at the preset position for successful entry, providing the robot with greater kinetic energy to overcome potential environmental factors and improve the success rate of entry. Simultaneously, it can also reduce the cleaning robot's power consumption to a certain extent, completing the entry with lower power consumption. Furthermore, it can effectively control the length of the transition zone, resulting in a more aesthetically pleasing overall base station design, effectively saving costs and space.

[0073] In some implementations, such as Figure 4 As shown, the steps preceding step 01 include:

[0074] 011: Control the cleaning robot to move at a constant speed from the preset starting position to the base station so as to enter the base station.

[0075] In some implementations, such as Figure 2 As shown, the control device 10 also includes a default state control module 13, which controls the cleaning robot to move at a constant speed from a preset starting position to the base station to enter the base station.

[0076] In some implementations, the processor controls the cleaning robot to move at a constant speed from a preset starting position toward the base station with preset driving parameters so as to enter the base station.

[0077] Specifically, during the robot's normal operation and return to the base station, in order to ensure the stability of the robot's working state and reduce the impact of the robot on the base station as a whole during the return, and to ensure the robot can return to the base station smoothly, the robot is set to move at a constant speed according to preset driving parameters. The driving power of the robot during the movement at the preset driving parameters is not less than the preset driving power. In this case, the robot's motor speed is first controlled under the preset driving parameters, which indirectly controls the robot's traction force, so that the traction force is kept in balance with the resistance during the robot's movement, avoiding changes in movement speed, maintaining the stability of the robot's movement and operation relative to the surrounding environment, and reducing the risk of the base station being impacted by the robot's speed changes. This maintains the operational stability of the base station and allows the robot to cross the preset position at a constant speed, returning to the base station with a high probability of success.

[0078] When the robot moves towards the base station from the preset starting position at a constant speed with preset driving parameters and successfully enters the base station, the robot stops its operation and does not proceed to the next step. If it fails to enter the base station, the robot proceeds to the next step, that is, it moves to the preset starting position and then moves towards the base station with the first driving parameter. During the movement towards the base station, when the robot reaches the preset position, it moves towards the base station with the second driving parameter to enter the base station.

[0079] Thus, this application enables the robot to enter the base station at a constant speed, ensuring the overall stability of the robot while reducing the impact on the base station. If the robot fails to enter the base station while moving at a constant speed, it can then be controlled to enter the base station at a different speed.

[0080] In some implementations, such as Figure 5 As shown, the control method also includes:

[0081] 001: If the cleaning robot fails to enter the base station within a predetermined time or number of attempts, control the cleaning robot to move towards the base station from a preset starting position using the first driving parameters; or,

[0082] 002: If the cleaning robot fails to enter the base station within the predetermined time or number of attempts, control the cleaning robot to stop moving and report the abnormal return information to the base station and / or terminal.

[0083] In some implementations, such as Figure 2As shown, the control device 10 also includes a limiting module 14, which is used to control the cleaning robot to move towards the base station from a preset starting position with a first driving parameter if the cleaning robot fails to enter the base station within a predetermined time or a predetermined number of times, and to control the cleaning robot to stop moving and report the return-to-base station abnormal information to the base station and / or the terminal if the cleaning robot fails to enter the base station after a predetermined time or a predetermined number of times.

[0084] In some implementations, the processor is configured to control the cleaning robot to move towards the base station from a preset starting position with a first driving parameter if the cleaning robot fails to enter the base station within a predetermined time or a predetermined number of times, and to control the cleaning robot to stop moving and report a return-to-base station abnormality information to the base station and / or the terminal if the cleaning robot fails to enter the base station after a predetermined time or a predetermined number of times.

[0085] Specifically, to prevent the cleaning robot from repeatedly returning to the station without success, thus creating a dead loop, time or number of attempts are limited during the robot's entry into the station. For example, the return loop time is 1 minute, or the maximum number of unsuccessful returns is 3. Successful return can be determined by whether the robot connects to the corresponding charging pad in the base station or whether the distance between the robot's bottom and the reflective strip of the base station is no greater than a threshold. If neither of these conditions is met, the return is considered unsuccessful. Other criteria can also be used; this application does not impose any restrictions.

[0086] Taking a 1-minute time limit as an example, the 1-minute timer starts when the robot reaches the preset starting position. In the next 1 minute, if the robot attempts to return to the station but is deemed unsuccessful, it continues to repeat the return-to-station loop. If the return-to-station attempt is deemed unsuccessful again, the timer ends, and the robot stops moving and no longer attempts to return to the station. At the same time, the return-to-station error information is reported to the base station or the terminal device associated with the base station or robot, such as a smartphone, tablet, or smartwatch, so that the user is aware of the current error and is reminded to manually adjust the robot's position so that the robot can eventually return to the station.

[0087] Taking the maximum of 3 unsuccessful return attempts as another example, when the robot reaches the preset starting position, it starts counting. Then, before each cycle of return to the station, the count is checked. If the count is less than or equal to 3, the cycle continues to try to return to the station. If the count is greater than 3, the robot is controlled to stop moving and no longer attempt to return to the station.

[0088] In this way, the cleaning robot can send back abnormal information to notify the user of the abnormal return situation if it fails to enter the base station within a certain time or number of times, or fails to enter the base station for a certain period of time or more than a certain number of times, so that the user can handle the abnormal situation in a timely manner.

[0089] In some implementations, such as Figure 6 As shown, the control method also includes:

[0090] 003: Control the cleaning robot to move to the preset starting position;

[0091] 004: During the process of the cleaning robot moving from the preset starting position to the base station, the correspondence between the driving power of the cleaning robot and the distance is determined based on the distance between the first marker point on the cleaning robot and the second marker point inside the base station to determine the first driving parameter and the second driving parameter.

[0092] 005: Based on the corresponding relationship, control the cleaning robot to enter the base station.

[0093] In some implementations, such as Figure 2 As shown, the control device 10 also includes a drive parameter control module 15, which is used to control the cleaning robot to move to a preset starting position, and to determine the correspondence between the driving power of the cleaning robot and the distance based on the distance between the first marker point on the cleaning robot and the second marker point inside the base station during the process of the cleaning robot moving from the preset starting position to the base station, so as to determine the first drive parameter and the second drive parameter, and to control the cleaning robot to enter the base station according to the correspondence.

[0094] In some implementations, the processor is used to control the cleaning robot to move to a preset starting position, and to determine the correspondence between the driving power of the cleaning robot and the distance based on the distance between a first marker point on the cleaning robot and a second marker point inside the base station during the process of the cleaning robot moving from the preset starting position to the base station, thereby determining a first driving parameter and a second driving parameter, and to control the cleaning robot to enter the base station based on the correspondence.

[0095] Specifically, regarding the robot's motion process, assuming a correct posture, the success rate of returning to its original position is directly related to the relationship between the robot's kinetic energy at the preset position with the greatest resistance and its kinetic energy under a preset driving power. It is independent of the velocity change pattern from the preset starting position to the preset position with the greatest resistance. Therefore, the changing trends of the first and second driving parameters do not need to be fixed; it is sufficient to ensure that the kinetic energy at the preset position with the greatest resistance meets the conditions. Thus, the changes in the first and second driving parameters (and the resulting velocity changes) can be arbitrarily determined.

[0096] To ensure the stability and controllability of robot motion, in some examples, the changes in motion speed in the first and second driving parameters are directly related to the distance between the robot and the base station. This allows for real-time adjustment of the motion parameters to achieve changes in motion speed based on the robot's movement. Regarding the distance between the robot and the base station, it is necessary to determine the endpoints of the line segment corresponding to this distance. In some examples, one endpoint of this line segment (i.e., the first marker point) can be set as the geometric center point of the robot, and the other endpoint (i.e., the second marker point) can be set as the geometric center point of the bottom of the base station. The selection of endpoints can also be adjusted according to requirements, and this application does not impose specific limitations.

[0097] For example, in some examples Figure 7 This diagram illustrates the relationship between the robot's velocity and the base station's bottom geometric center, along a line connecting the robot's geometric center and the base station's bottom geometric center. The origin of the horizontal axis represents the base station's bottom geometric center, and the origin of the vertical axis represents a velocity of 0. The robot starts from a preset starting position and moves in a straight line towards the center of the base station's bottom surface. After starting from the preset starting position, the robot's velocity is approximately increased suddenly by increasing the drive power once during its journey. Near the preset position where resistance is greatest, the robot again increases the drive power to achieve a sudden increase in velocity, reaching its maximum velocity at the preset position. Then, the robot's velocity is approximately decreased twice by reducing the drive power twice, in conjunction with frictional resistance, until the robot successfully enters the base station.

[0098] In this way, based on the correspondence between distance changes and robot motion states, the robot can be controlled to change its motion state according to the changes in the distance between itself and the base station, thereby realizing the robot's speed change and improving the success rate of the robot crossing the preset position and returning to the station.

[0099] In some implementations, such as Figure 8 As shown, step 005 includes:

[0100] 0051: According to the corresponding relationship, the driving power of the cleaning robot is controlled to change from the first driving parameter to the second driving parameter so that the cleaning robot accelerates from the preset starting position to the preset position;

[0101] 0052: According to the corresponding relationship, the cleaning robot is controlled by the second driving parameter so that the cleaning robot decelerates after passing the preset position and moves until the cleaning robot enters the base station.

[0102] In some embodiments, the drive parameter control module 15 is further configured to control the drive power of the cleaning robot to change from the first drive parameter to the second drive parameter according to the correspondence, so that the cleaning robot accelerates from the preset starting position to the preset position, and to control the cleaning robot with the second drive parameter according to the correspondence, so that the cleaning robot decelerates after passing the preset position until the cleaning robot enters the base station.

[0103] In some embodiments, the processor is configured to control the driving power of the cleaning robot to change from a first driving parameter to a second driving parameter according to a correspondence, so that the cleaning robot accelerates from a preset starting position to a preset position, and to control the cleaning robot with the second driving parameter according to the correspondence, so that the cleaning robot decelerates after passing the preset position until the cleaning robot enters the base station.

[0104] Specifically, to maintain the robot's stability and environmental adaptability during movement, as well as the user experience, the relationship between the distance between the robot and the base station and its movement speed should generally be simplified to avoid excessive speed changes affecting the efficiency of entry into the station. In some examples, the relationship between the distance between the robot and the base station and its movement speed is determined as follows: Figure 7 As shown by the curve, the robot's speed reaches its maximum value near the preset position where resistance is greatest. Before reaching the preset position (i.e., the portion of the curve to the right of the preset position), the robot changes from the first driving parameter to the second driving parameter. During this process, the robot is in an acceleration state, and the speed change method can be as follows: Figure 7 The abrupt change shown can be used, but acceleration can also be achieved in other ways (e.g., uniform acceleration, variable acceleration) until the robot's speed reaches the maximum value indicated on the curve. After passing the preset position with the greatest resistance, the robot is close to the marker indicating successful return to the station, requiring deceleration to avoid collisions with the robot's high kinetic energy and ensure operational stability. Therefore, in some examples, such as... Figure 7 As shown, after reaching the preset position (i.e., the part of the curve to the left of the preset position), the robot still decelerates under the second drive parameter state. The speed change method can be as follows: Figure 7 The robot's speed can be reduced by a sudden change, or it can be reduced in other ways (e.g., uniform deceleration, variable deceleration) until the robot's speed is reduced to the minimum value or 0 indicated on the curve.

[0105] Thus, this application can control the robot to accelerate before the preset position and decelerate after the preset position to improve the success rate of entering the base station and the stability of the base station operation.

[0106] In some implementations, step 0051 includes:

[0107] Based on the corresponding relationship, the cleaning robot is controlled to increase the driving power of the first driving parameter from the preset starting position, so as to satisfy the second driving parameter when it moves to the preset position.

[0108] In some embodiments, the drive parameter control module 15 is further configured to control the cleaning robot to increase the drive power of the first drive parameter from the preset starting position according to the correspondence, so as to satisfy the second drive parameter when it moves to the preset position.

[0109] In some implementations, the processor is used to control the cleaning robot to increase the driving power of the first driving parameter from a preset starting position according to the correspondence, so as to satisfy the second driving parameter when it moves to the preset position.

[0110] Specifically, since the robot's speed cannot be directly controlled while its power can be directly adjusted, to accelerate the robot under the first driving parameter, it is necessary to control the robot's driving power under the first driving parameter state. From the relationship between power, speed, and traction force, it is known that increasing power while keeping the instantaneous speed constant results in increased traction force. Furthermore, according to Newton's second law, increased traction force leads to increased acceleration, and increased acceleration leads to increased speed over time. Since the robot is in motion states under the first and second driving parameters before and after the preset position, respectively, to maintain the continuity of motion, the robot's motion state at the preset position can satisfy both the first and second driving parameters, or it can accelerate to its maximum speed based on the second driving parameter while maintaining the first driving parameter. The above driving strategy can be adjusted according to the actual situation.

[0111] Thus, this application can control the robot to accelerate under the first driving parameter or the second driving parameter, thereby improving the success rate of the robot returning to the station after crossing the preset position.

[0112] In some implementations, step 0052 includes:

[0113] Based on the corresponding relationship, the driving power of the second driving parameter is reduced after the cleaning robot passes through the preset position until the robot enters the base station.

[0114] In some embodiments, the drive parameter control module 15 is also used to control the cleaning robot to reduce the drive power of the second drive parameter after passing through the preset position so that the robot enters the base station, according to the correspondence.

[0115] In some implementations, the processor is used to control the cleaning robot to reduce the driving power of the second driving parameter after passing through a preset position, so that the robot enters the base station, according to the correspondence.

[0116] Specifically, since the robot's speed cannot be directly controlled while its power can be directly adjusted, to make the robot decelerate under the second driving parameter, it is necessary to control the robot's driving power under the second driving parameter state. From the relationship between power, speed, and traction force, it is known that decreasing power while maintaining the instantaneous speed results in a decrease in traction force. Given the presence of frictional resistance, according to Newton's second law, during the decrease in traction force, acceleration will experience a process from decreasing to increasing in the opposite direction, and speed will gradually decrease after the acceleration reverses. Since the robot is in the motion state under the second driving parameter after reaching the preset position, to maintain the continuity of the motion state, the robot's motion state after passing the preset position should satisfy the second driving parameter, gradually decelerating until reaching the position where successful entry into the station is determined.

[0117] Thus, this application can control the robot to decelerate under the second driving parameters, reduce the impact of the robot on the base station after entering the base station, and improve the stability of the base station's working state.

[0118] In some implementations, such as Figure 9 As shown, the control method also includes:

[0119] 006: If there is an obstacle at the preset starting position, control the cleaning robot to collide with the obstacle;

[0120] 007: Determine whether the obstacle has left the preset starting position after the collision. If yes, proceed to step 0071; otherwise, proceed to step 0072.

[0121] 0071: Control the cleaning robot to move to the preset starting position;

[0122] 0072: Determine a first position on the line connecting the preset starting position and the second marker point of the base station as the preset starting position, and then proceed to step 0071.

[0123] In some implementations, such as Figure 2 As shown, the control device 10 also includes a clearing module 16, which is used to control the cleaning robot to collide with the obstacle when there is an obstacle at the preset starting position, and to determine whether the obstacle leaves the preset starting position after the collision, and to control the cleaning robot to move to the preset starting position, and to determine a first position on the line connecting the preset starting position and the second marker point of the base station as the preset starting position.

[0124] In some embodiments, the processor is configured to control the cleaning robot to collide with the obstacle when there is an obstacle at the preset starting position, and to determine whether the obstacle leaves the preset starting position after the collision, and to control the cleaning robot to move to the preset starting position, and to determine a first position as the preset starting position on the line connecting the preset starting position and the second marker point of the base station.

[0125] Specifically, in a home environment, the preset starting position is highly likely to be obstructed by obstacles, making it essential to clear these obstacles or redesignate the preset starting position. The criteria for determining if there are obstacles at the preset starting position can be adjusted based on the robot's size, shape, and other factors.

[0126] In some examples, the robot is cylindrical. The criterion for determining the robot's preset starting position is that the robot's geometric center and the preset starting position point are on the same straight line orthogonal to the ground. Therefore, if any other object intrudes within the circle centered on the preset starting position and with the robot's radius as the radius, the preset starting position is considered an obstacle. In this case, the robot is controlled to gently bump into the obstacle at a certain speed to knock it away from the area. If, after the preset collision process, there are no obstacles within the area, the robot is controlled to start moving from the preset starting position according to the normal return-to-base procedure. If, after the preset collision process, there are still obstacles within the area, the current preset starting position is considered unusable. Since the robot's normal return-to-base trajectory is the line segment connecting the preset initial position and the geometric center point at the bottom of the base station, to improve the robot's return-to-base efficiency, a point on this line segment that satisfies the condition that no other object intrudes within the circle centered on the robot and with the robot's radius as the radius can be selected as the new preset starting position. The robot is then controlled to move back to the base station from the new preset starting position. In some implementations, the newly selected preset starting position is closer to the base station than the previous preset starting position.

[0127] Thus, this application can control the robot to clear obstacles when there are obstacles at the preset starting position, and can control the robot to reselect the preset starting position if the obstacle clearing fails, so as to improve the robot's return efficiency and reduce the interference time of obstacles on the return process.

[0128] This application also provides a cleaning system, including a base station and a cleaning robot as described in the above embodiments.

[0129] This application also provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the above-described method.

[0130] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited thereto.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that, The method includes: After the cleaning robot is controlled to correct its posture at a preset starting position with the base station as a reference, the cleaning robot is controlled to move towards the base station from the preset starting position with a first driving parameter. During the movement toward the base station, when the cleaning robot reaches the preset position, the cleaning robot is controlled to move toward the base station with the second driving parameters to enter the base station. The preset position is the position where the cleaning robot has the maximum kinetic energy required to enter the base station. The cleaning robot can successfully enter the base station by passing through the preset position with the preset driving power. The driving power of the cleaning robot moving through the preset position with the second driving parameters is not less than the maximum driving power in the first driving parameters and is not less than the preset driving power.

2. The method according to claim 1, characterized in that, Before controlling the cleaning robot to move towards the base station from a preset starting position with a first driving parameter, the method further includes: The cleaning robot is controlled to move towards the base station from the preset starting position at a constant speed with preset driving parameters to enter the base station, wherein the driving power of the cleaning robot during the movement with the preset driving parameters is not less than the preset driving power; If the cleaning robot successfully enters the base station, control the cleaning robot to end the operation; or, If the cleaning robot fails to enter the base station, control the cleaning robot to proceed to the next step.

3. The method according to claim 1 or 2, characterized in that, The method further includes: If the cleaning robot fails to enter the base station within a predetermined time or number of attempts, the cleaning robot is controlled to move from a preset starting position towards the base station using a first driving parameter; or... If the cleaning robot fails to enter the base station within a predetermined time or number of attempts, the robot will be controlled to stop moving and report a return-to-base error to the base station and / or terminal.

4. The method according to claim 1, characterized in that, The method further includes: Control the cleaning robot to move to the preset starting position; During the process of the cleaning robot moving from the preset starting position to the base station, the correspondence between the driving power of the cleaning robot and the distance is determined based on the distance between the first marker point on the cleaning robot and the second marker point inside the base station to determine the first driving parameter and the second driving parameter. Based on the aforementioned correspondence, the cleaning robot is controlled to enter the base station.

5. The method according to claim 4, characterized in that, The step of controlling the cleaning robot to enter the base station according to the correspondence includes: According to the correspondence, the driving power of the cleaning robot is controlled to change from the first driving parameter to the second driving parameter so that the cleaning robot accelerates from the preset starting position to the preset position; According to the correspondence, the cleaning robot is controlled by the second driving parameters so that the cleaning robot decelerates after passing the preset position and moves until the cleaning robot enters the base station.

6. The method according to claim 5, characterized in that, The step of controlling the driving power of the cleaning robot to change from the first driving parameter to the second driving parameter according to the correspondence, so that the cleaning robot accelerates from the preset starting position to the preset position, includes: According to the correspondence, the cleaning robot is controlled to increase the driving power of the first driving parameter from the preset starting position, so as to satisfy the second driving parameter when it moves to the preset position.

7. The method according to claim 6, characterized in that, The step of controlling the cleaning robot with the second driving parameters according to the correspondence to make the cleaning robot decelerate after passing the preset position until the robot enters the base station includes: Based on the aforementioned correspondence, the driving power of the cleaning robot is reduced after passing the preset position until the robot enters the base station.

8. The method according to claim 1 or 2, characterized in that, The method further includes: If an obstacle exists at the preset starting position, the cleaning robot is controlled to collide with the obstacle. If the obstacle leaves the preset starting position after a collision, the cleaning robot is controlled to move back to the preset starting position; or... If the obstacle does not leave the preset starting position after being collided with, a first position is determined on the line connecting the preset starting position and the second marker point of the base station as the preset starting position; Control the cleaning robot to move to the preset starting position.

9. A control device for a cleaning robot, characterized in that, The control device includes: The first control module is used to control the cleaning robot to move towards the base station from the preset starting position with the base station as a reference after the robot has corrected its posture at the preset starting position. The second control module is used to control the cleaning robot to move towards the base station with a second driving parameter when the cleaning robot reaches a preset position during the movement towards the base station. The preset position is the location where the cleaning robot has the maximum kinetic energy required to enter the base station. The cleaning robot can successfully enter the base station by passing through the preset position with a preset driving power. The driving power of the cleaning robot moving through the preset position with the second driving parameter is greater than the maximum driving power in the first driving parameter and is also greater than the preset driving power.

10. A cleaning robot, characterized in that, It includes a memory and a processor; the memory stores a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-8.

11. A cleaning system, characterized in that, The system includes a base station and a cleaning robot as described in claim 10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method as described in any one of claims 1-8.

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