Lifting control method of cleaning robot

Abstract

The invention provides a lifting control method for a cleaning robot, and relates to the technical field of information, and the lifting control method comprises the steps that cleaning modes of the cleaning robot are acquired, and the cleaning modes comprise a sweeping and sucking mode, a dust pushing mode, a sweeping and sucking pushing mode and a floor washing mode; if the cleaning mode is a cleaning mode, the cleaning robot is controlled to move to a cleaning starting point, a rolling brush assembly and a dust pushing assembly descend, cleaning operation is executed, and after cleaning is finished, the rolling brush assembly and the dust pushing assembly are lifted up, and the cleaning robot is controlled to return to the charging pile; in the process of descending the rolling brush assembly, a gentle descending mode is adopted, and hard collision between the rolling brush assembly and the ground is avoided; in the process of lifting the rolling brush assembly, a two-section type lifting mode is adopted, the rolling brush assembly is rapidly lifted firstly and then slowly lifted to the highest position, and violent shaking of the rolling brush assembly is avoided; in the process of descending the dust pushing assembly, the mode that the rear portion of the dust pushing assembly descends firstly and then the front portion of the dust pushing assembly descends is adopted, so that the dust pushing assembly is tightly attached to the ground, and the cleaning effect is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of information technology, and in particular to a method for controlling the lifting of a cleaning robot. Background Art

[0002] Intelligent cleaning robots face complex challenges in coordinated control of components when performing different cleaning modes. The cleaning robot needs to accurately control the lowering and lifting of the roller brush assembly, roller brush assembly and dust push assembly in multiple modes such as sweeping, vacuuming, dust pushing, sweeping, cleaning and floor washing. This involves how to achieve smooth switching of components between different cleaning tasks and how to avoid hard collisions between components and the ground. In particular, in the operation of the roller brush assembly, it is necessary to ensure that it is in full contact with the ground to improve the cleaning effect, and to prevent losses caused by violent shaking. These refined control requirements are not only related to the cleaning effect, but also directly affect the service life of the equipment. In addition, how to improve efficiency while ensuring cleaning quality, and how to intelligently select the most suitable cleaning mode according to different cleaning environments and requirements are key technical challenges faced by intelligent cleaning robots. Solving these problems is crucial to improving the cleaning performance and user experience of cleaning robots, but it also brings challenges of increased control system complexity. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a control method for lifting a cleaning robot, which mainly includes:

[0004] Get the cleaning mode of the cleaning robot;

[0005] Controlling the cleaning robot to move to a cleaning starting point according to the cleaning mode, and controlling the state of the cleaning component to perform a cleaning operation corresponding to the cleaning mode, wherein the control method for controlling the state of the cleaning component includes lifting and lowering;

[0006] After the cleaning operation is completed, the cleaning component is controlled to reset and the cleaning robot is controlled to return to the charging station.

[0007] Optionally, controlling the cleaning robot to move to a cleaning starting point according to the cleaning mode and controlling the state of a cleaning component includes:

[0008] If the cleaning mode is the sweeping, suction and pushing mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly and the dust pushing assembly are lowered, and the cleaning operation is performed;

[0009] After cleaning, reduce the speed of the cleaning robot, lift the roller brush assembly and dust pusher assembly, and return to the charging station. After the cleaning task is completed, lift the roller brush assembly to prevent the cleaning robot from getting stuck during the transition.

[0010] Optionally, controlling the cleaning robot to move to a cleaning starting point according to the cleaning mode and controlling the state of a cleaning component includes:

[0011] If the cleaning mode is the dust-pushing mode, the cleaning robot is controlled to move to the cleaning starting point, the dust-pushing assembly is lowered, the roller brush assembly is kept raised, and the cleaning operation is performed;

[0012] After cleaning, the cleaning robot is controlled to return to the charging station and lift the dust pusher assembly. Finally, the dust pusher assembly is lifted to avoid dropping garbage during the cleaning process.

[0013] Optionally, controlling the cleaning robot to move to a cleaning starting point according to the cleaning mode and controlling the state of a cleaning component includes:

[0014] If the cleaning mode is the floor scrubbing mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly and the dust pusher assembly are lowered, and the cleaning operation is performed;

[0015] After cleaning, lift the roller brush assembly and keep the dust pusher assembly lifted.

[0016] Optionally, after the dust pusher assembly is kept in the raised state, the method includes:

[0017] Control the cleaning robot to return to the charging station, lift the dust pusher assembly to absorb the remaining water stains on the ground. Finally, lift the dust pusher assembly again to help absorb the remaining water stains on the ground.

[0018] Optionally, controlling the cleaning robot to move to a cleaning starting point according to the cleaning mode and controlling the state of a cleaning component includes:

[0019] If the cleaning mode is the sweeping and suction mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly is lowered, the dust pusher assembly is kept raised, and the cleaning operation is performed;

[0020] After cleaning, lift the roller brush assembly and control the cleaning robot to return to the charging pile. After the cleaning task is completed, lift the roller brush assembly to prevent the cleaning robot from getting stuck during the transition movement.

[0021] Optionally, during the process of lowering the dust pusher assembly, the panel of the dust pusher assembly is lowered parallel to the ground, so that the dust pusher assembly is in face-to-face contact with the ground, thereby enhancing the cleaning effect.

[0022] Optionally, in the process of lifting the cleaning component, a two-stage lifting method is adopted, first lifting quickly, and then lifting slowly to the highest position to avoid violent shaking of the cleaning component.

[0023] Optionally, during the process of lowering the cleaning component, a gentle lowering method is adopted to avoid a hard collision between the cleaning component and the ground.

[0024] Optionally, the cleaning modes include a sweeping and suction mode, a dust pushing mode, a sweeping and suction pushing mode and a floor washing mode.

[0025] The technical solution provided by the embodiment of the present invention may have the following beneficial effects:

[0026] The present invention discloses a control method for the lifting of a cleaning robot. In view of the problem of coordinated control of cleaning robot components in different cleaning modes, the present invention controls the descent and lifting of a roller brush assembly, a roller brush assembly and a dust push assembly respectively according to modes such as sweeping, suction and pushing, dust pushing, sweeping and suction, cleaning and floor washing, so as to achieve precise cleaning operations. In particular, the present invention adopts a gentle descent method to avoid a hard collision between the roller brush assembly and the ground, uses a two-stage lifting method to reduce the violent shaking of the roller brush assembly, and successively lowers the rear and front parts of the dust push assembly to make it close to the ground. This refined component control not only improves the cleaning effect, but also extends the service life of the equipment. Through intelligent mode selection and precise component control, the present invention significantly improves the cleaning efficiency and quality of the cleaning robot, providing users with a more convenient and efficient cleaning experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The present invention is a flow chart of a method for controlling the lifting of a cleaning robot. DETAILED DESCRIPTION

[0028] The following will describe the technical solutions in the embodiments of the present invention in detail in conjunction with the accompanying drawings in the embodiments of the present invention. The described embodiments are only part of the embodiments of the present invention.

[0029] like Figure 1 In this embodiment, a method for controlling the lifting of a cleaning robot may specifically include:

[0030] S101, obtaining a cleaning mode of the cleaning robot;

[0031] S102, controlling the cleaning robot to move to a cleaning starting point according to the cleaning mode, and controlling the state of the cleaning component to perform a cleaning operation corresponding to the cleaning mode, wherein the control method of controlling the state of the cleaning component includes lifting and lowering;

[0032] S103: After the cleaning operation is completed, the cleaning component is controlled to reset, and the cleaning robot is controlled to return to the charging station.

[0033] The cleaning modes include sweeping and suction mode, dust pushing mode, sweeping and suction pushing mode and floor washing mode;

[0034] Furthermore, in the process of lowering the cleaning component, a gentle descent method is adopted to avoid a hard collision between the cleaning component and the ground. Specifically, according to the current position of the cleaning robot and the target cleaning area, the movement path of the cleaning robot is planned to obtain the position coordinates of the cleaning robot reaching the cleaning starting point. The cleaning robot chassis driving motor is used to control the cleaning robot to move along the planned path until it reaches the cleaning starting point. The current height of the cleaning component is obtained to determine whether it is higher than the set cleaning working height. If it is higher, the cleaning component driving motor is controlled to slowly lower the cleaning component at a preset descent speed and acceleration until the set cleaning working height is reached. Otherwise, according to the cleaning mode and the ground type, the speed and direction of the cleaning component are determined, the cleaning component motor is started, and the cleaning work is started. The cleaning component driving motor is controlled to slowly lower the cleaning component at a preset descent speed and acceleration until the set cleaning working height is reached. During the descent of the cleaning component, the distance between the cleaning component and the ground is detected in real time. If the distance is less than the safety threshold, the descent is stopped immediately, and the current height is recorded as the actual cleaning working height. According to the cleaning mode and the ground type, the speed and direction of the cleaning component are determined, the cleaning component motor is started, and the cleaning work is started. The gyroscope and odometer are used to obtain the speed and direction of the cleaning robot in real time. The visual sensor is used to identify obstacle information and dynamically adjust the cleaning robot's movement path to ensure cleaning effect and safety. When the cleaning robot completes the current cleaning area or is low on power, the cleaning component drive motor is controlled to slowly lift the cleaning component at a preset rising speed and acceleration until it reaches the set safe height. The cleaning robot's path back to the charging station is planned, and the cleaning robot chassis drive motor is controlled to move the cleaning robot along the path until it returns to the charging station and automatically docks for charging.

[0035] Exemplarily, the cleaning robot can use the A* algorithm to plan the optimal path from the current position (2.5m, 1.8m) to the cleaning starting point (6.2m, 3.4m), and control the chassis motor to move along the path at a speed of 0.3m / s. The current height of the cleaning component is 0.2m, which is higher than the set cleaning working height of 0.05m, so the cleaning component motor is controlled to descend at a speed of 0.02m / s and an acceleration of 0.005m / s0 until it reaches 0.05m. During the descent, the distance between the brush component and the ground is detected in real time by a laser rangefinder. When the distance is less than the safety threshold of 0.01m, the descent is stopped immediately, and the current height of 0.06m is recorded as the actual working height. According to the current dust push mode and wooden floor type, the cleaning speed is set to 200rpm and the direction is counterclockwise, and cleaning is started. The speed and direction of the cleaning robot are obtained every 0.1s through the MPU6050 gyroscope and encoder, and obstacles are identified at a frequency of 30FPS in combination with the Kinect depth camera, and the motion path is adjusted in real time using the dynamic window method. When the cleaning robot completes the cleaning area of ​​12m0, it controls the cleaning component motor to rise at a speed of 0.03m / s and an acceleration of 0.008m / s0 until it reaches a safe height of 0.25m. Finally, the RRT* algorithm is used to plan the path back to the charging pile, and the chassis motor is controlled to move at a speed of 0.25m / s until it returns to the charging pile at the coordinates (0.2m, 0.3m) and automatically docks for charging.

[0036] Furthermore, in the process of lifting the cleaning component, a two-stage lifting method is adopted, first lifting quickly, and then lifting slowly to the highest position to avoid violent shaking of the cleaning component. Specifically, according to the current cleaning mode of the cleaning robot, it is determined whether the cleaning brush component needs to be lifted. If it is a sweeping and suction mode or a sweeping and suction pushing mode, the cleaning brush component needs to be lifted. By controlling the motor of the cleaning brush component, the cleaning brush component is first lifted quickly, the lifting speed is set to the maximum value, and the lifting height is set to 50% of the highest position. The current height information of the cleaning brush component is obtained to determine whether it has reached 50% of the highest position. If it has reached, the lifting speed is reduced and the cleaning brush component is lifted slowly. In the process of slowly lifting, the height and speed information of the cleaning brush component are monitored in real time, and the output torque of the motor is dynamically adjusted through the PID control algorithm to ensure that the cleaning brush component is lifted smoothly. When the height of the cleaning brush component reaches the highest position, the motor output is stopped, and the position of the cleaning brush component is locked to prevent the cleaning brush component from falling. The motion state information of the cleaning robot is obtained to determine whether the cleaning robot is in a transition motion state. If so, the highest position of the cleaning brush component is maintained until the cleaning robot completes the transition motion. If the cleaning robot has completed the cleaning task, the cleaning brush assembly is controlled to slowly descend, and the descending speed is set to 50% of the lifting speed to avoid violent shaking of the cleaning brush assembly. During the descent process, the height information of the cleaning brush assembly is monitored in real time, and the output torque of the motor is dynamically adjusted through the PID control algorithm to ensure the smooth descent of the cleaning brush assembly. When the cleaning brush assembly is completely descended to the initial position, the motor output is stopped, and the locking state of the cleaning brush assembly is released, so that it can rotate freely with the movement of the cleaning robot.

[0037] Exemplarily, according to the current cleaning mode information of the cleaning robot, by analyzing the characteristic parameters of the sweeping and sucking mode and the sweeping and sucking and pushing mode, it is determined whether the cleaning component needs to be lifted. When it is determined that it needs to be lifted, the motor of the cleaning component is controlled, the lifting speed is set to 1.5m / s, and the lifting height is set to 50% of the highest position, that is, 0.3m. During the lifting process, the height information of the cleaning component is obtained with a period of 50ms. When the height reaches 0.3m, the lifting speed is reduced to 0.5m / s, and it is gently lifted to the highest position of 0.6m. During the gentle lifting process, the motor output torque is dynamically adjusted with a period of 0.01s through the PID control algorithm, the proportional coefficient is set to 2.5, the integral coefficient is set to 0.8, and the differential coefficient is set to 0.3 to ensure that the cleaning component is lifted smoothly. When the height reaches 0.6m, the motor output is stopped and the cleaning component position is locked. If the cleaning robot is in a transition motion state, the cleaning component position is continuously locked until the transition motion ends. When the cleaning robot completes the cleaning task, the cleaning component is controlled to slowly descend at a speed of 0.25m / s. The PID control algorithm is also used to dynamically adjust the motor output torque in a cycle of 0.01s to ensure a smooth descent process. When the cleaning component is completely lowered to the initial position, the motor output is stopped and the locking state is released, allowing it to rotate freely with the movement of the cleaning robot.

[0038] If the cleaning mode is the sweeping, sucking and pushing mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly and the dust push assembly are lowered, and the cleaning operation is performed; after the cleaning is completed, the speed of the cleaning robot is reduced, the roller brush assembly and the dust push assembly are lifted, and the cleaning operation is returned to the charging pile. Specifically, according to the cleaning mode, if the cleaning mode is the sweeping, sucking and pushing mode, the cleaning robot is controlled to move to the cleaning starting point. The control system issues an instruction to lower the roller brush assembly and the dust push assembly to prepare for the cleaning operation. The cleaning robot position information is obtained to determine whether it has reached the boundary of the cleaning area. If it has not reached, the cleaning operation is continued. The visual sensor is used to detect the ground stains in real time, and the roller brush speed and the dust push pressure are dynamically adjusted according to the degree of stains. When the cleaning robot completes the coverage of the cleaning area, the cleaning operation completion signal is obtained to determine that the cleaning operation is completed. According to the cleaning operation completion signal, the control system issues an instruction to reduce the speed of the cleaning robot, and gradually reduces the speed to stop. Through the control of the actuator, the roller brush assembly is lifted, and the dust push assembly is lifted at the same time to prevent the brush assembly and the dust push from hindering the movement of the cleaning robot. The charging pile position information is obtained, the return path is planned, and the cleaning robot is controlled to autonomously navigate back to the charging pile. Determine whether the cleaning robot is docked with the charging pile. If successfully docked, it enters the charging state; if not, it makes adjustments based on the position deviation information until the docking is completed.

[0039] Exemplarily, when the cleaning mode is set to the sweeping, suction, and pushing mode, the control system controls the cleaning robot to move to the point according to the preset cleaning starting coordinates (x0, y0). After reaching the starting point, the control system issues an instruction to drive the roller brush assembly and the dust pushing assembly to descend by 5 cm through the actuator, so that they are in contact with the ground and ready to start the cleaning operation. During the cleaning process, the cleaning robot obtains its own position coordinates (x, y) in real time through the odometer and the visual positioning algorithm, and compares them with the preset cleaning area boundary coordinates (xmax, ymax). If x < xmax and y < ymax, the cleaning operation continues. At the same time, the visual sensor equipped on the cleaning robot collects ground images at a frequency of 30 fps, detects the proportion of stain pixels through the image segmentation algorithm, and dynamically adjusts the roller brush rotation speed between 500 - 2000 rpm and the dust pushing pressure between 10 - 50 N according to the proportion. When the cleaning robot has covered the entire cleaning area, the control system receives the cleaning operation completion signal and starts to execute the operation end process. First, the control system gradually reduces the speed of the cleaning robot to 0 m / s with an acceleration of 0.2 m / s 2 , and then raises the roller brush assembly and the dust pushing assembly by 10 cm through the actuator to make them脱离 the ground. Then, the cleaning robot obtains the position coordinates (xc, yc) of the charging pile through the wireless communication module, generates a return path using the A* path planning algorithm, and autonomously navigates back according to the path. When the cleaning robot arrives near the charging pile, it judges whether it is aligned with the charging electrode through the infrared positioning device on the charging pile. If the deviation distance is less than 1 cm and the deviation angle is less than 5°, the cleaning robot is controlled to move forward at a speed of 1 cm / s for docking until the charging electrode spring switch is triggered to complete the charging docking.

[0040] If the cleaning mode is the dust-pushing mode, the robot is controlled to move to the cleaning starting point, the dust-pushing component is lowered, the roller brush component is kept in the lifted state, and the cleaning operation is performed; after the cleaning is completed, the robot is controlled to return to the charging pile and the dust-pushing component is lifted. Specifically, according to the user setting or the system judgment, the current cleaning mode is determined to be the dust-pushing mode, and the coordinates of the cleaning starting point are obtained. The optimal path from the current position to the cleaning starting point is calculated through the path planning algorithm, and the cleaning robot is controlled to move along this path. It is determined whether the cleaning robot has reached the cleaning starting point. If it has reached, the dust-pushing component is lowered, and the roller brush component is kept in the lifted state. According to the preset cleaning path and mode, the cleaning robot is controlled to perform the dust-pushing cleaning operation, and the sensor data is monitored in real time to determine the cleaning effect. By analyzing the data fed back by the sensor, it is determined whether the cleaning operation is completed. If it is completed, the cleaning robot is controlled to stop cleaning. The optimal path from the current position to the charging pile is calculated through the path planning algorithm, and the cleaning robot is controlled to move back along this path. It is determined whether the cleaning robot has reached the charging pile. If it has reached, the dust-pushing component is lifted, and the cleaning robot is controlled to dock with the charging pile and start automatic charging. According to the data of the battery management system, it is determined whether the battery is fully charged. If it is fully charged, the entire dust-pushing cleaning task is terminated.

[0041] Exemplarily, according to user settings or system judgment, the current cleaning mode is determined to be the dust-pushing mode, and the coordinates of the cleaning starting point (x0, y0) are obtained. Through the A* path planning algorithm, the current position of the cleaning robot (x1, y1) is used as the starting point and (x0, y0) is used as the end point to calculate the optimal path, and control the cleaning robot to move along the path at a speed of 0.2m / s. Obstacles are detected in real time using laser radar and visual sensors. When the Euclidean distance from the starting point coordinates is less than 0.1m, it is judged that the cleaning starting point has been reached, and the dust-pushing assembly is lowered to 20mm from the ground, while the roller brush assembly is kept lifted to 50mm from the ground. According to the room layout and cleaning area, based on the zigzag path, the cleaning robot is controlled to perform cleaning operations at a speed of 0.15m / s, and the amount of dust is detected in real time through the dust suction sensor. When the amount of dust detected for 1 consecutive minute is less than 10mg / m0, the cleaning is judged to be completed. Get the current position coordinates (x2, y2), take (x2, y2) as the starting point and the charging pile coordinates (x3, y3) as the end point, calculate the shortest path through the Dijkstra algorithm, and control the cleaning robot to move at a speed of 0.25m / s. Use the infrared positioning device of the charging pile to determine whether the cleaning robot is docked with the charging pile. If the docking is successful, control the dust pusher component to lift to 50mm from the ground and start charging at the same time. According to the data of the battery management system, when the power is charged from 20% to more than 95%, it is judged that the charging is complete and the cleaning task is ended.

[0042] If the cleaning mode is a sweeping and suctioning mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly is lowered, the dust push assembly is kept lifted, and the cleaning operation is performed; after the cleaning is completed, the roller brush assembly is lifted, and the cleaning robot is controlled to return to the charging pile. Specifically, the current cleaning mode is obtained to determine whether it is a sweeping and suctioning mode. If so, the subsequent steps are executed, otherwise the cleaning process ends. According to the preset coordinates of the cleaning starting point, the motion system of the cleaning robot is controlled to move the cleaning robot to the cleaning starting point. The roller brush assembly is lowered to the working position by controlling the driving motor of the roller brush assembly. The driving motor of the dust push assembly is used to control the dust push assembly to keep the dust push assembly lifted. The roller brush assembly is started, and the cleaning robot is controlled to move along the preset path to perform the cleaning operation. The completion of the cleaning operation is continuously monitored, and when the cleaning operation is completed, the operation of the roller brush assembly is stopped. The driving motor of the roller brush assembly is controlled to lift the roller brush assembly to the non-working position. The position coordinates of the charging pile are obtained, and the motion path of the cleaning robot returning to the charging pile is planned. The motion system of the cleaning robot is controlled to return the cleaning robot to the charging pile along the planned path to end the cleaning task.

[0043] Exemplarily, the current cleaning mode is obtained by reading the configuration file. If the cleaning mode is 2, it is determined to be a sweeping mode. According to the preset cleaning starting point coordinates (x0, y0), the cleaning robot motion system is controlled, and the wheeled odometer and inertial navigation algorithm are used to move the cleaning robot to the cleaning starting point, and the positioning error is controlled within ±2cm. By controlling the drive motor of the roller brush assembly, the roller brush assembly is lowered to a working position 5mm from the ground. The drive motor of the dust push assembly is controlled to keep the dust push assembly in a raised state and 10cm away from the ground. Start the roller brush assembly, set the speed to 500rpm, and control the cleaning robot to move along a preset Z-shaped path at a speed of 0.2m / s to perform cleaning operations. Continuously monitor the odometer data and lidar scanning results. When the cleaning area reaches the set value of 50m0 or the cleaning time exceeds 30min, stop the roller brush assembly. Control the drive motor of the roller brush assembly to lift the roller brush assembly to a non-working position 10cm from the ground. Get the position coordinates (x1, y1) of the charging pile, and use the A* algorithm to plan the shortest motion path for the cleaning robot to return to the charging pile. Control the cleaning robot motion system, use visual navigation and obstacle avoidance algorithms, and make the cleaning robot return to the charging pile along the planned path at a speed of 0.3m / s. The positioning error is controlled within ±1cm, and the cleaning task is completed.

[0044] If the cleaning mode is the floor washing mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly and the dust push assembly are lowered, and the cleaning operation is performed; after the cleaning is completed, the roller brush assembly is lifted, the dust push assembly is kept lifted, the cleaning robot is controlled to return to the charging pile, and the dust push assembly is lifted again to absorb the remaining water stains. Specifically, whether the cleaning mode is the floor washing mode is determined according to the cleaning mode. If it is the floor washing mode, the cleaning robot is controlled to move to the cleaning starting point. By controlling the roller brush assembly and the dust push assembly to fall, they are in a working state and ready to perform the cleaning operation. The motion trajectory and cleaning area information of the cleaning robot are obtained, and the cleaning robot is controlled to perform the cleaning operation according to the predetermined trajectory. The completion of the cleaning operation is monitored in real time to determine whether the preset cleaning effect standard is achieved. If the cleaning operation is completed, the roller brush assembly is controlled to be lifted and stopped, while the dust push assembly is kept lowered. According to the current position of the cleaning robot and the position of the charging pile, the return path is planned, and the cleaning robot is controlled to return to the charging pile along the path. After arriving at the charging pile, the dust push assembly is controlled to be lifted to absorb the water stains remaining during the cleaning process. By analyzing the amount of water stains absorbed, it is determined whether the water stains on the ground are completely removed to ensure that the ground is clean and dry. If the water stains are completely removed, the dust-pushing assembly is controlled to reset, the cleaning robot enters the standby state, and the floor scrubbing mode cleaning task is completed.

[0045] Exemplarily, by analyzing the cleaning mode parameters, if the cleaning mode is 2, it is determined to be a floor scrubbing mode. The cleaning robot is controlled to move to the cleaning starting point coordinate (2.5, 1.8) at a speed of 0.5m / s. The roller brush assembly and the dust push assembly are lowered, the roller brush speed is set to 300rpm, and the dust push assembly pressure is set to 10N, and ready to perform the cleaning operation. According to the preset Z-shaped cleaning path and the length and width dimensions of the cleaning area (5m×4m), the cleaning robot is controlled to perform the cleaning operation at a speed of 0.3m / s, and the cleaning coverage rate reaches more than 95%. The ground stains are detected in real time by a laser ranging sensor. When the amount of stains measured for 5 consecutive times is lower than the threshold of 10mg / m0, the cleaning operation is determined to be completed. The roller brush assembly is controlled to lift 50mm and stop rotating, and the dust push assembly remains in a lowered state. Plan the shortest path for the cleaning robot to return to the charging pile, and move along the path at a speed of 0.8m / s. After reaching the charging pile coordinates (0.5, 0.5), the dust pusher is controlled to lift 20mm and absorb the residual water stains on the ground with a suction force of 120W. The humidity of the ground is detected by the humidity sensor. When the humidity value measured for 10 consecutive times is less than 5%, it is determined that the water stains have been removed. The dust pusher is controlled to reset to the initial height, the cleaning robot enters the standby mode, and the cleaning task of the floor scrubbing mode is completed.

[0046] The components used in the dust push mode, the sweeping and suction push mode and the floor washing mode all include a dust push component. Optionally, the dust push component is lowered in such a way that the panel of the dust push component is lowered parallel to the ground, so that the dust push component is in face-to-face contact with the ground, thereby enhancing the cleaning effect. Specifically, the position information of the cleaning robot and the state information of the dust push component are obtained to determine whether the cleaning robot has reached the starting point of the cleaning task. If it has reached the starting point, the dust push component is controlled to start descending. According to the structural parameters of the dust push component, the target angle between the panel of the dust push component and the ground is calculated, and the target angle is set to 0 degrees, so that the panel of the dust push component remains parallel to the ground. The driving motor of the dust push component is controlled to adjust the posture of the panel of the dust push component so that its actual angle with the ground is constantly close to the target angle. The distance sensor on the dust push component is used to measure the distance between the panel of the dust push component and the ground in real time, and the descending speed of the dust push component is dynamically adjusted according to the change of the distance. When the distance between the panel of the dust push component and the ground is less than the set threshold, it is determined that the dust push component has been in contact with the ground, and the descending movement of the dust push component is stopped. Obtain data from the pressure sensor on the dust pusher assembly, and fine-tune the posture of the dust pusher assembly panel according to the pressure distribution to make it evenly contact with the ground and avoid local uneven force. Start the vibration motor of the dust pusher assembly to generate high-frequency micro-vibration, so that the contact between the dust pusher assembly and the ground is closer, improving the cleaning effect. According to the movement speed of the cleaning robot and the working state of the dust pusher assembly, dynamically adjust the relative position of the dust pusher assembly and the ground to keep the two in close contact. When the cleaning task is completed, control the drive motor of the dust pusher assembly so that the angle between its panel and the ground gradually increases, and finally returns to the initial state, completing the lifting process of the dust pusher assembly.

[0047] For example, the cleaning robot obtains its own position coordinates (x, y) and orientation angle θ through a laser radar and an odometer, and compares them with the preset cleaning starting point coordinates (x 0 ,y 0 ) comparison, when |(x, y)-(x 0 ,y 0 )|<5cm and|θ-θ 0 |<3°, it is determined that the starting point has been reached, and the linear motor of the dust pusher assembly is controlled to descend at a constant speed of 30rpm. The target angle between the dust pusher panel and the ground is set to 0°, and the actual angle α is measured in real time to control the motor speed v=k(0-α), where k is the proportional coefficient, and the descent speed is dynamically adjusted. The distance sensor stops descending when it detects that the distance to the ground is d<1cm. The pressure sensor detects the pressure value p of the four fulcrums. 1 ˉp 4 , if max(p i )-min(p i )>5N, pi is the pressure value of the ith fulcrum, then fine-tune the posture. If max(p 3 )-min(p 2)>5N, then fine-tune the posture until the pressure difference is <1N. Start the vibration motor with a vibration frequency of f=50Hz, and dynamically adjust the dust push height h=h according to the robot speed v1 0 -k 1 v 1 , where h 0 is the static height, k 1 After cleaning, the dust collector is lifted to the initial position at a constant speed of 30 rpm.

[0048] It should be noted that the above examples are only some specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and there are many variations. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. A method for controlling the lifting of a cleaning robot, characterized in that: include: Get the cleaning mode of the cleaning robot; Controlling the cleaning robot to move to a cleaning starting point according to the cleaning mode, and controlling the state of the cleaning component to perform a cleaning operation corresponding to the cleaning mode, wherein the control method for controlling the state of the cleaning component includes lifting and lowering; After the cleaning operation is completed, the cleaning component is controlled to reset and the cleaning robot is controlled to return to the charging station.

2. The method according to claim 1, characterized in that The controlling the cleaning robot to move to the cleaning starting point according to the cleaning mode and controlling the state of the cleaning component includes: If the cleaning mode is the sweeping, suction and pushing mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly and the dust pushing assembly are lowered, and the cleaning operation is performed; After cleaning, reduce the speed of the cleaning robot, lift the roller brush assembly and dust pusher assembly, and return to the charging station.

3. The method according to claim 1, characterized in that The controlling the cleaning robot to move to the cleaning starting point according to the cleaning mode and controlling the state of the cleaning component includes: If the cleaning mode is the dust-pushing mode, the cleaning robot is controlled to move to the cleaning starting point, the dust-pushing assembly is lowered, the roller brush assembly is kept raised, and the cleaning operation is performed; After cleaning, the cleaning robot is controlled to return to the charging station and lift the dust pusher assembly.

4. The method according to claim 1, characterized in that The controlling the cleaning robot to move to the cleaning starting point according to the cleaning mode and controlling the state of the cleaning component includes: If the cleaning mode is the floor scrubbing mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly and the dust pusher assembly are lowered, and the cleaning operation is performed; After cleaning, lift the roller brush assembly and keep the dust pusher assembly lifted.

5. The method according to claim 4, characterized in that After the dust pusher assembly is kept in the lifted state, the method comprises: Control the cleaning robot to return to the charging station and lift the dust pusher assembly.

6. The method according to claim 1, characterized in that The controlling the cleaning robot to move to the cleaning starting point according to the cleaning mode and controlling the state of the cleaning component includes: If the cleaning mode is the sweeping and suction mode, the cleaning robot is controlled to move to the cleaning starting point, the roller brush assembly is lowered, the dust pusher assembly is kept raised, and the cleaning operation is performed; After cleaning, lift the roller brush assembly and control the cleaning robot to return to the charging station.

7. The method according to any one of claims 2 to 5, characterized in that: The dust pusher assembly is lowered in such a manner that the panel of the dust pusher assembly is lowered parallel to the ground, so that the dust pusher assembly is in face-to-face contact with the ground.

8. The method according to claim 1, characterized in that In the process of lifting the cleaning component, a two-stage lifting method is adopted, first lifting quickly and then lifting slowly to the highest position.

9. The method according to claim 1, characterized in that When lowering the cleaning component, a gentle descent is adopted.

10. The method according to claim 1, characterized in that The cleaning modes include a sweeping and suction mode, a dust pushing mode, a sweeping and suction pushing mode, and a floor scrubbing mode.

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