Control method, cleaning robot and storage medium

Abstract

The invention provides a control method, a cleaning robot and a storage medium, and the control method comprises the steps: obtaining the remaining capacity of a battery if the cleaning robot meets a preset battery capacity detection condition; and on the basis of the residual capacity, a state-of-charge threshold value of the battery is adjusted, and the state-of-charge threshold value is used for determining whether to control the cleaning robot to return to the base station for charging or not under the condition that the cleaning robot is located outside the base station.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control, and in particular to a control method, a cleaning robot and a storage medium. Background Art

[0002] When the cleaning robot is performing tasks outside the base station, it needs to determine when to return to the base station for charging based on the battery's state of charge (SOC) strategy. Therefore, the SOC strategy affects the cleaning robot's battery life and whether the cleaning robot can return to the base station for charging normally. Summary of the invention

[0003] The disclosed embodiments provide a control method, a cleaning robot, and a storage medium, which are beneficial for reducing the risk of the cleaning robot being unable to return to a base station for charging due to insufficient power while ensuring the battery life as much as possible, thereby improving the reliability of charging control.

[0004] In a first aspect of the present disclosure, a control method for a cleaning robot is provided, wherein the cleaning robot is provided with a battery, and the method comprises: if the cleaning robot meets a preset battery capacity detection condition, obtaining the remaining capacity of the battery; and based on the remaining capacity, adjusting a charge state threshold of the battery, wherein the charge state threshold is used to determine whether to control the cleaning robot to return to a base station for charging when the cleaning robot is located outside the base station.

[0005] In some embodiments, the above control method also includes: obtaining the charge state value of the battery while the cleaning robot is performing tasks outside the base station; and determining whether to control the cleaning robot to return to the base station for charging based on the charge state value and the charge state threshold.

[0006] In some embodiments, after adjusting the state of charge threshold of the battery, determining whether to control the cleaning robot to return to the base station for charging is based on the state of charge value and the state of charge threshold, including: determining whether to control the cleaning robot to return to the base station for charging is based on the state of charge value, the state of charge threshold and the distance between the cleaning robot and the base station.

[0007] In some embodiments, based on the state of charge value, the state of charge threshold and the distance between the cleaning robot and the base station, it is determined whether to control the cleaning robot to return to the base station for charging, including: if the state of charge value reaches the state of charge threshold, the distance between the cleaning robot and the base station is obtained; if the distance exceeds a preset distance range, the cleaning robot is controlled to return to the base station for charging; if the distance is within the preset distance range, the cleaning robot is controlled to perform a task within the area corresponding to the preset distance range, and during the process of the cleaning robot performing the task, based on the state of charge value of the battery and the distance between the cleaning robot and the base station, it is determined whether to control the cleaning robot to return to the base station for charging.

[0008] In some embodiments, adjusting the state of charge threshold of the battery based on the remaining capacity includes: determining an adjustment reference value based on the remaining capacity, the adjustment reference value being used to characterize the degree of attenuation of the capacity of the battery; and adjusting the state of charge threshold of the battery based on the adjustment reference value and a preset range.

[0009] In some embodiments, determining an adjustment reference value based on the remaining capacity includes: obtaining a ratio of the remaining capacity to a preset initial capacity, and using the ratio as the adjustment reference value; or, obtaining a difference between a preset initial capacity and the remaining capacity, and using a ratio of the difference to the initial capacity as the adjustment reference value; or, using the difference between a preset initial capacity and the remaining capacity as the adjustment reference value; or, using the remaining capacity as the adjustment reference value.

[0010] In some embodiments, the battery capacity detection condition includes: a first detection condition, which is a condition that the cleaning robot needs to meet when performing the remaining capacity detection on the battery for the first time since it starts to be used. If the cleaning robot meets the preset battery capacity detection condition, the remaining capacity of the battery is obtained, and an adjustment reference value is determined based on the remaining capacity, including: if the cleaning robot meets the first detection condition, a remaining capacity detection step is performed, and the remaining capacity detection step includes: obtaining the remaining capacity of the battery, and determining an adjustment reference value based on the remaining capacity. And in the case where the adjustment reference value is negatively correlated with the attenuation degree of the capacity of the battery, the state of charge threshold of the battery is adjusted based on the adjustment reference value and a preset range, including: if the adjustment reference value determined when the first detection condition is met is less than the lower limit of the first preset range, the state of charge threshold is adjusted from the initial value to the first characteristic value, and the first characteristic value is greater than the initial value.

[0011] In some embodiments, when the adjustment reference value is negatively correlated with the degree of attenuation of the capacity of the battery, the charge state threshold of the battery is adjusted based on the adjustment reference value and a preset range, and also includes: if the adjustment reference value determined when the first detection condition is met is within the first preset range, the charge state threshold is maintained at the initial value unchanged until the adjustment reference value is less than the lower limit of the first preset range.

[0012] In some embodiments, the battery capacity detection condition further includes: a second detection condition, if the cleaning robot meets the preset battery capacity detection condition, the remaining capacity of the battery is obtained, and an adjustment reference value is determined based on the remaining capacity, and further includes: after adjusting the state of charge threshold from the initial value to the first threshold, if the cleaning robot meets the second detection condition, the remaining capacity detection step is performed again to perform the next round of remaining capacity detection on the battery. And in the case where the adjustment reference value is negatively correlated with the attenuation degree of the capacity of the battery, the state of charge threshold of the battery is adjusted based on the adjustment reference value and the preset range, and further includes: in the process of detecting the remaining capacity of the battery, if the determined adjustment reference value is within the second preset range, the state of charge threshold is increased to a second characteristic value, wherein the lower limit value of the second preset range is less than the lower limit value of the first preset range.

[0013] In some embodiments, when the adjustment reference value is negatively correlated with the degree of attenuation of the capacity of the battery, adjusting the charge state threshold of the battery based on the adjustment reference value and a preset range also includes: during the process of detecting the remaining capacity of the battery, if the determined adjustment reference value is less than the lower limit value of the second preset range, increasing the charge state threshold to a third characteristic value, and the third characteristic value is greater than the second characteristic value.

[0014] In some embodiments, if the cleaning robot meets the preset battery capacity detection condition, the remaining capacity of the battery is obtained, and an adjustment reference value is determined based on the remaining capacity, and the method further includes: after increasing the state of charge threshold to a third characteristic value, if the cleaning robot meets the second detection condition, the remaining capacity detection step is performed again to perform the next round of remaining capacity detection on the battery. In the case where the adjustment reference value is negatively correlated with the attenuation degree of the capacity of the battery, the state of charge threshold of the battery is adjusted based on the adjustment reference value and the preset range, and the method further includes: in the process of detecting the remaining capacity of the battery, if the determined adjustment reference value is within the third preset range, the state of charge threshold is increased to a fourth characteristic value, wherein the lower limit value of the third preset range is less than the lower limit value of the second preset range.

[0015] In some embodiments, the control method further includes: during the process of detecting the remaining capacity of the battery, if the determined adjustment reference value is less than the lower limit of the third preset range, a battery abnormality alarm is issued to prompt the user to replace the battery.

[0016] In some embodiments, the first detection condition includes: a first reference factor and a first reference threshold, the second detection condition includes a second reference factor and a second reference threshold, the first reference factor and the second reference factor are associated with the capacity decay of the battery, and the first reference factor and the second reference factor include one or more of the following factors: number of charge and discharge cycles, usage duration, number of times used, and frequency of use. The first reference factor and the second reference factor include the same factors, or at least one of them is different.

[0017] In some embodiments, when the first reference factor and the second reference factor include the same factor, the first reference threshold is greater than the second reference threshold.

[0018] In some embodiments, obtaining the remaining capacity of the battery includes: obtaining log information of the battery, the log information including at least one target historical record of the battery being fully charged and then discharged; and determining the remaining capacity of the battery based on the discharge amount of the battery recorded in the target historical record.

[0019] In a second aspect of the present disclosure, a control method for a cleaning robot is provided, wherein a battery is provided in the cleaning robot, and the method comprises: while the cleaning robot is performing a task outside a base station, obtaining a state of charge value of the battery; if the state of charge value reaches a state of charge threshold, obtaining the distance between the cleaning robot and the base station; if the distance exceeds a preset distance range, controlling the cleaning robot to return to the base station for charging; if the distance is within the preset distance range, controlling the cleaning robot to perform the task within an area corresponding to the preset distance range, and determining whether to control the cleaning robot to return to the base station for charging based on the state of charge value of the battery and the distance between the cleaning robot and the base station during the cleaning robot performing the task.

[0020] In some embodiments, the preset distance range includes a first sub-range and a second sub-range, the upper limit value of the first sub-range is the upper limit value of the preset distance range, the lower limit value of the first sub-range is greater than the upper limit value of the second sub-range, and the lower limit value of the second sub-range is the lower limit value of the preset distance range. Based on the state of charge value of the battery and the distance between the cleaning robot and the base station, determining whether to control the cleaning robot to return to the base station for charging includes: obtaining the distance between the cleaning robot and the base station in real time; when the current distance is within the first sub-range, if the state of charge value of the battery is less than or equal to a first reference value, then controlling the cleaning robot to return to the base station for charging, and if the state of charge value of the battery is greater than the first reference value, then controlling the cleaning robot to continue to perform the task in the area within the current distance, wherein the first reference value is less than the state of charge threshold.

[0021] In some embodiments, determining whether to control the cleaning robot to return to the base station for charging is based on the state of charge value of the battery and the distance between the cleaning robot and the base station, and also includes: when the current distance is within the second sub-range, if the state of charge value of the battery is greater than a second reference value, controlling the cleaning robot to continue performing the task in the area within the current distance; if the state of charge value of the battery is less than or equal to the second reference value, controlling the cleaning robot to return to the base station for charging, wherein the second reference value is less than the first reference value.

[0022] In a third aspect of the present disclosure, a cleaning robot is provided, comprising a processor and a memory, wherein the memory stores a computer program that can be run on the processor, and when the computer program is executed by the processor, the steps of the control method described in the first aspect or the second aspect are implemented.

[0023] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the steps of the control method described in the first aspect or the second aspect are implemented.

[0024] The control method of the cleaning robot provided in some embodiments of the present disclosure pre-sets the battery capacity detection conditions, obtains the remaining capacity of the battery when the cleaning robot meets the battery capacity detection conditions, and adjusts the SOC threshold of the battery based on the remaining capacity, so as to flexibly adjust the SOC threshold of the SOC strategy when the battery capacity decays, thereby reducing the impact of battery capacity decay on the SOC strategy. Compared with setting the SOC threshold to a fixed lower value or a relatively high value, it is beneficial to reduce the risk of the cleaning robot being unable to return to the base station for charging normally due to insufficient actual remaining power while ensuring the battery life as much as possible, thereby improving the reliability of charging control.

[0025] The above description is only an overview of the technical solution provided by the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented according to the contents of the specification. In order to make the above and other features and effects of the present disclosure more obvious and easy to understand, the implementation methods of the present disclosure are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram showing the structure of a cleaning system according to some embodiments of the present disclosure is shown;

[0027] Figure 2 A flow chart of adjusting the SOC threshold value of the control method of some embodiments of the present disclosure is shown;

[0028] Figure 3 A flowchart showing step S102 of some embodiments of the present disclosure is shown;

[0029] Figure 4 An exemplary SOC threshold adjustment flow chart of some embodiments of the present disclosure is shown;

[0030] Figure 5 A charging control flow chart of a control method according to some embodiments of the present disclosure is shown;

[0031] Figure 6 An exemplary charging control flow chart of some embodiments of the present disclosure is shown

[0032] Figure 7 A flowchart showing a control method of some other embodiments of the present disclosure is shown;

[0033] Figure 8 A schematic structural diagram of a cleaning robot according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0034] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It should be noted that in the accompanying drawings, the size of the components may be exaggerated for clarity of illustration. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0035] It should be noted that the term "and / or" appearing in this article is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The term "at least one" includes one or more situations, and the term "plurality" includes two or more situations. The terms "first", "second", etc. are only used for distinction, and are not restrictions on the number of their objects and the order of their relationship. The terms "front", "back", "upper", "lower", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0036] Figure 1 Schematic diagram of the structure of the cleaning system of some embodiments of the present disclosure is shown. Figure 1 As shown, the cleaning system 1 includes: a cleaning robot 10 and a base station 20 for docking with the cleaning robot 10. The cleaning robot 10 is an intelligent cleaning device with a self-moving function, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, a floor polishing robot or a weeding robot.

[0037] The cleaning robot 10 is provided with a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. For example, a charging electrode is provided on the side or below the cleaning robot 10. When the cleaning robot 10 returns to the base station 20 and the charging electrode docks with the electrode on the base station 20, the battery can be charged through the base station 20.

[0038] The base station 20 at least has a charging function, so as to provide charging services to the cleaning robot 10. In some application scenarios, the base station 20 may also be referred to as a "charging pile" or a "charging base". Of course, in some embodiments, in addition to the charging function, the base station 20 may also have other functions, such as dust collection function, mop cleaning function, and drying function, etc., which are determined according to the actual needs of the product.

[0039] In order to ensure the normal use of the cleaning robot, it is necessary to set the battery's SOC (State Of Charge) strategy to control the charging of the cleaning robot. In the related art, the SOC strategy of the cleaning robot's battery includes: in the process of performing tasks outside the base station, if the battery's SOC value reaches the SOC threshold, the cleaning robot is controlled to return to the base station for charging. The SOC threshold is fixed after leaving the factory, and in order to ensure the battery life of the cleaning robot, the SOC threshold is usually set to a lower value, for example, it can be 14% to 19%. Exemplarily, the SOC threshold can be set to 14%, 16% or 19%.

[0040] However, in actual applications, it is found that after a long period of use (such as two years or more), the cleaning robot may shut down or stop on the way back to the base station for charging. At this time, the user needs to manually put the cleaning robot back to the base station for charging, which is not conducive to the user's experience. Analysis of the reasons for the above situation of the cleaning robot may be that: as the frequency of use of the cleaning robot increases, the capacity of the battery will inevitably decay accordingly. Correspondingly, the calculation method of the battery SOC will also be biased. When the battery capacity decays to a certain extent, if the cleaning robot is still controlled to return to the base station for charging according to the original SOC threshold, the actual remaining power may not be enough to support the return to the base station, resulting in the cleaning robot stopping on the way back to the base station. In addition, when the cleaning robot has been used for a long time, the battery capacity has decayed, and the consistency of the battery cells inside the battery is also poor, if the battery power is too low, the cleaning robot is still working or on the way back to the base station for charging, a cell with poor performance will drop sharply at the end of the discharge until it drops to the over-discharge protection voltage, which will trigger the over-discharge protection of the battery, causing the cleaning robot to be directly powered off and unable to work.

[0041] However, in order to avoid the risk of the cleaning robot shutting down or stopping on the way back to the base station due to battery capacity degradation, if the SOC threshold for returning to the base station for charging is set too high, the battery life of the cleaning robot will be sacrificed, causing the cleaning robot to frequently return to the base station for charging before completing the task.

[0042] In view of this, some embodiments of the present disclosure provide a control method for a cleaning robot, which pre-sets battery capacity detection conditions, obtains the remaining capacity of the battery when the cleaning robot meets the battery capacity detection conditions, and adjusts the SOC threshold of the battery based on the remaining capacity, so that the SOC threshold of the SOC strategy can be flexibly adjusted when the battery capacity decays, thereby reducing the impact of battery capacity decay on the SOC strategy. Compared with setting the SOC threshold to a fixed lower value or a relatively high value, it is beneficial to reduce the risk of the cleaning robot being unable to return to the base station for charging normally due to insufficient actual remaining power while ensuring the battery life as much as possible, thereby improving the reliability of charging control.

[0043] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0044] Some embodiments of the present disclosure provide a control method for a cleaning robot, which can be applied to the cleaning robot in the above cleaning system 1. The control method includes an SOC threshold adjustment process for adjusting the SOC threshold of the battery's SOC strategy to adapt to the attenuation of the battery capacity. Figure 2 The SOC threshold adjustment flow chart of the control method of some embodiments of the present disclosure is shown as follows: Figure 2 As shown, the SOC threshold adjustment process may include at least the following steps:

[0045] Step S101, if the cleaning robot meets the preset battery capacity detection conditions, the remaining capacity of the battery is obtained;

[0046] Step S102: adjusting the SOC threshold of the battery based on the remaining capacity. The SOC threshold is used to determine whether to control the cleaning robot to return to the base station for charging when the cleaning robot is outside the base station.

[0047] The battery capacity detection condition is a condition for triggering the execution of the remaining capacity detection step, which can be set according to the needs of the application scenario. The cleaning robot meets the battery capacity detection condition, which means that it is affected by the battery capacity attenuation. The SOC threshold adopted by the current SOC strategy may be at risk of being inapplicable, that is, if the SOC threshold is continued, the actual remaining power may not be enough to support the return to the base station for charging. Therefore, it is necessary to further determine whether the SOC threshold needs to be adjusted based on the actual remaining battery capacity obtained, and to adjust the SOC threshold to an appropriate value in time when adjustment is required, that is, to flexibly adjust the SOC threshold according to the attenuation of the battery capacity to compensate for the impact of the battery capacity attenuation on the recharging control (that is, controlling the cleaning robot to return to the base station for charging). This is conducive to ensuring the battery life as much as possible while reducing the risk of the cleaning robot being unable to return to the base station for charging due to insufficient power, improving the reliability of charging control, and thus improving the user experience.

[0048] In some embodiments, the process of obtaining the remaining capacity of a battery may include: obtaining log information of the battery, the log information including at least one target historical record of the battery being fully charged and then discharged; and determining the remaining capacity of the battery based on the discharge amount of the battery recorded in the target historical record.

[0049] For example, in some application scenarios, a cleaning robot is provided with a mainboard and a battery management system (BMS). The battery management system can be provided on a battery protection board outside the mainboard, and the battery protection board can read the battery log information and feed it back to the mainboard, so that the mainboard can obtain the remaining capacity of the battery according to the target history records contained in the log information, and thus adjust the SOC threshold of the SOC strategy according to the remaining capacity. In other application scenarios, the BMS can also be provided on the mainboard, and the mainboard can read the battery log information.

[0050] The discharge capacity of the battery recorded in the target history record is the capacity that can be discharged when the fully charged battery is emptied. In some optional implementations, the discharge capacity of the battery recorded in the target history record can be used as the remaining capacity of the battery. For example, if the discharge capacity of the battery recorded in the target history record is M milliampere hours (mAh), then the remaining capacity of the battery obtained is M milliampere hours (mAh).

[0051] It should be noted that in addition to the discharge amount, the target history record may also include other charge and discharge related information, for example, it may also include but is not limited to one or more of the charging start time, charging start power, charging end time, charging end power, charged power, discharge start time, discharge start power, discharge end time and discharge end power, etc., which can be set according to the actual product needs.

[0052] In some optional implementations, if the log information includes multiple target historical records of fully charging and then discharging the battery, the remaining capacity of the battery can be determined based on the discharge amount of the battery recorded in the most recent target historical record.

[0053] After the remaining capacity of the battery is obtained, step S102 may be executed to adjust the SOC threshold of the battery based on the remaining capacity. Figure 3 FIG. 4 is a flowchart showing step S102 of some embodiments of the present disclosure. Figure 3 As shown, the above step S102 may include: step S201, determining an adjustment reference value based on the remaining capacity, the adjustment reference value being used to characterize the attenuation degree of the battery capacity; step S202, adjusting the SOC threshold of the battery based on the adjustment reference value and a preset range.

[0054] For example, the process of determining the adjustment reference value based on the remaining capacity may include: obtaining the ratio of the remaining capacity to the preset initial capacity, and using the ratio as the adjustment reference value; or obtaining the difference between the preset initial capacity and the remaining capacity, and using the ratio of the difference to the initial capacity as the adjustment reference value; or using the difference between the preset initial capacity and the remaining capacity as the adjustment reference value; or using the remaining capacity as the adjustment reference value. The initial capacity is the capacity of the battery before capacity decay, for example, it can be the capacity of the battery when it leaves the factory, which can be provided by the battery manufacturer.

[0055] The adjustment reference value may be positively correlated with the attenuation degree of the battery capacity, that is, the larger the adjustment reference value, the more the battery capacity is attenuated. Alternatively, the adjustment reference value may be negatively correlated with the attenuation degree of the battery capacity, that is, the larger the adjustment reference value, the less the battery capacity is attenuated. The following mainly takes the negative correlation between the adjustment reference value and the attenuation degree of the battery capacity as an example for explanation.

[0056] In step S202, there may be one or more preset ranges, which are set according to the needs of the actual product. When multiple preset ranges are set, multi-level adjustment of the SOC threshold can be achieved to adapt to different degrees of battery capacity attenuation. It should be noted that multiple preset ranges can be distinguished by "first", "second", "third", etc.

[0057] In some embodiments, the battery capacity detection condition may include: a first detection condition, which is a condition that needs to be met when the cleaning robot detects the remaining capacity of the battery for the first time since it was used. It should be noted that if the cleaning robot has been used for a short time, the battery capacity can basically maintain the initial capacity or there is a slight attenuation. There is no need to detect the remaining capacity of the battery too early, resulting in unnecessary waste of computing resources. Therefore, the first detection condition is set as the judgment condition for the first remaining capacity detection of the battery.

[0058] The first detection condition may be set according to the decay law of the battery capacity. In some embodiments, the first detection condition may include a first reference factor and a first reference threshold. The first reference factor is associated with the capacity decay of the battery, and may include, for example, but is not limited to, one or more of the number of charge and discharge cycles, usage duration, number of uses, and frequency of use of the cleaning robot. The first reference threshold is set according to the association between the first reference factor and the battery capacity decay.

[0059] In the case where the first reference factor includes the usage time of the cleaning robot, the first reference threshold may include a first preset time. Then, the first detection condition may include: the cumulative usage time of the cleaning robot after leaving the factory reaches the first preset time. The calculation rules for the cumulative usage time can be set according to actual needs. For example, the time when the cleaning robot is turned on for the first time after leaving the factory can be used as the starting time point of the cumulative usage time, and the time interval between the current time point and the starting time point can be used as the cumulative usage time. The first preset time can be set according to the relationship between the attenuation of the battery capacity and the usage time. For example, it can be set to two years, two and a half years or three years, etc., and the present disclosure does not impose any restrictions on this.

[0060] In the case where the first reference factor includes the number of charge and discharge cycles of the cleaning robot, the first reference threshold may include the first preset number of cycles. Then, the first detection condition may include: the cumulative number of charge and discharge cycles of the cleaning robot after leaving the factory reaches the first preset number of cycles. The charge and discharge cycle includes a charging process and a discharging process. For example, a full charge and a full discharge, that is, a full charge and then an empty charge, can be recorded as a charge and discharge cycle. Full charge and empty charge here can be understood in a broad sense. Full charge can include full charge (i.e., charging to 100%) and basically full charge, and empty charge can include full empty (i.e., discharging to 0%) and basically empty. "Basically" here can be understood as the difference between the target value and the target value is within an acceptable error range, such as the difference is within 2%. Accordingly, the first preset number of cycles can be configured according to the relationship between the battery capacity decay and the number of full charge and discharge cycles. For example, the first preset number of cycles can be set to 250 to 350 times, for example, it can be set to 250 times, 280 times, 300 times or 350 times, etc., and the present disclosure will not list them one by one. Of course, in other embodiments, the charge and discharge amounts may not be limited, and a charge followed by a discharge may be recorded as a charge and discharge cycle. In this case, compared with a full charge and discharge situation, the first preset number of cycles may be relatively set larger.

[0061] In the case where the first reference factor includes the number of times the cleaning robot is used, the first reference threshold may include a first preset number of times of use. Then, the first detection condition may include: the cumulative number of times the cleaning robot is used after leaving the factory reaches the first preset number of times of use. For example, the number of uses can be counted according to the types of tasks that the cleaning robot can perform and the needs of the actual application scenarios. In some application scenarios, the number of uses can be the number of times the cleaning robot performs tasks that consume more power, for example, it can be the number of times the cleaning robot performs cleaning tasks; for another example, it can also be the number of times the cleaning robot goes out of the base station to perform tasks. Among them, the tasks performed out of the base station may include cleaning tasks and non-cleaning tasks. For example, non-cleaning tasks may include tasks such as cruising, finding pets, remote control, and going to a fixed point, which are determined according to the functions of the actual product. The first preset number of uses can be configured according to the relationship between battery capacity decay and the number of uses.

[0062] It should be noted that the above-mentioned first reference factor may include a single factor, or may include multiple factors. For example, the first reference factor may include usage duration and usage frequency, so as to set the first detection condition in combination with usage duration and usage frequency. It can actually be determined according to the needs of the application scenario, and the present disclosure does not impose any restrictions on this.

[0063] Based on this, if the cleaning robot meets the preset battery capacity detection condition, the process of obtaining the remaining capacity of the battery and determining the adjustment reference value based on the remaining capacity may include: if the cleaning robot meets the first detection condition, obtaining the remaining capacity of the battery and determining the adjustment reference value based on the remaining capacity. For ease of description, the step of obtaining the remaining capacity of the battery and determining the adjustment reference value based on the remaining capacity is referred to as the remaining capacity detection step below.

[0064] After determining the adjustment reference value, step S202 may be performed to adjust the SOC threshold of the battery based on the adjustment reference value and the preset range. In some embodiments, a first preset range may be set as a measurement range of the attenuation degree of the battery capacity.

[0065] In the case where the adjustment reference value is negatively correlated with the degree of attenuation of the battery's capacity, adjusting the battery's state of charge threshold based on the adjustment reference value and the preset range may include: comparing the adjustment reference value determined when the above-mentioned first detection condition is met with the first preset range, and if the adjustment reference value is less than the lower limit of the first preset range, adjusting the state of charge threshold from the initial value to a first characteristic value, the first characteristic value being greater than the initial value.

[0066] In this process, the adjustment reference value is less than the lower limit of the first preset range, indicating that the battery capacity detected when the first detection condition is met has decayed a lot, and the original SOC strategy will be used without sufficient remaining power to support the cleaning robot to return to the base station for charging. The original SOC strategy refers to the SOC strategy that comes with the cleaning robot when it leaves the factory. The SOC threshold used by the original SOC strategy is called the initial value. In actual implementation, the first preset range can be determined based on the adopted adjustment reference value and the approximate degree of battery attenuation when the above-mentioned first detection condition is usually met.

[0067] The state of charge threshold is adjusted from the initial value to the first characteristic value, that is, the SOC threshold of the SOC strategy is increased to adapt to the battery capacity after attenuation, to ensure that when the measured SOC value reaches the adjusted SOC threshold, the actual remaining power of the battery is sufficient to support the cleaning robot to return to the base station for charging, thereby improving the reliability of charging control. For example, the first characteristic value can be pre-configured, and the initial value can be replaced with the preset first characteristic value; or, the adjustment increment can be pre-configured, and the initial value plus the adjustment increment can be obtained to obtain the first characteristic value, and then the initial value can be replaced with the first characteristic value.

[0068] For example, in some application scenarios, the main board can obtain the remaining capacity of the battery, determine an adjustment reference value based on the remaining capacity, and compare the adjustment reference value with a first preset range. If it is determined that the adjustment reference value is less than the lower limit of the first preset range, a first adjustment instruction is sent to the battery protection board, and the battery protection board adjusts the SOC threshold of the SOC strategy from the initial value to the first characteristic value, and feeds back the adjustment of the SOC threshold to the main board through log information for recording.

[0069] In addition, if the adjustment reference value is within the first preset range, it means that the battery capacity has decayed less, and the original SOC strategy can still be applied. It will not temporarily affect the normal return of the cleaning robot to the base station for charging. The SOC threshold can be kept unchanged at the initial value, that is, there is no need to adjust the SOC threshold until the adjustment reference value is less than the lower limit value of the first preset range.

[0070] Taking the adjustment reference value as the ratio of the remaining capacity to the preset initial capacity as an example, the first preset range may be greater than or equal to X. X is the lower limit of the first preset range, for example, it may be 75% to 85%, and exemplarily, it may be 75%, 80% or 85%, etc., determined according to the needs of the actual application scenario. For example, the initial value of the SOC threshold may be 14% to 19%, and exemplarily, it may be 14%, 16% or 19%, etc. For example, the first characteristic value may be 20% to 25%, and exemplarily, it may be 20%, 22% or 25%, etc., determined according to the needs of the actual product.

[0071] In some embodiments, after determining that the adjustment reference value is within the first preset range, it also includes: repeatedly executing the above-mentioned remaining capacity detection step according to a preset detection strategy, and comparing the adjustment reference value obtained by each detection with the first preset range, until the obtained adjustment reference value is less than the lower limit value of the first preset range, then stopping this round of remaining capacity detection, and executing the above-mentioned step of adjusting the SOC threshold from the initial value to the first characteristic value.

[0072] In some embodiments, the process of repeatedly executing the above-mentioned remaining capacity detection step according to the preset detection strategy may include: obtaining the remaining capacity of the battery in real time according to a preset time interval, or obtaining the remaining capacity of the battery once every N charge and discharge cycles; and determining an adjustment reference value based on the remaining capacity each time the remaining capacity is obtained. For example, when the above-mentioned first reference factor includes the usage time, and the preset detection strategy adopts the method of obtaining the remaining capacity of the battery in real time according to the preset time interval, the duration of the preset time interval is much shorter than the first preset duration. For example, the first preset duration is two years, and the preset time interval can be 10 days or one month. For another example, when the above-mentioned first reference factor includes the number of charge and discharge cycles, and the preset detection strategy adopts the method of obtaining the remaining capacity of the battery once every N charge and discharge cycles, N is much smaller than the first preset number of cycles.

[0073] Taking into account that after the SOC threshold is adjusted to the first characteristic value, the battery capacity will continue to decay further with the use of the cleaning robot, in order to further ensure the battery life while reducing the risk of the SOC threshold being too low, causing the cleaning robot to shut down or stop on the way back to the base station, in addition to the above-mentioned first detection condition, the battery capacity detection condition may also include: a second detection condition, to realize multiple rounds of remaining capacity detection of the battery, thereby realizing multi-level adjustment of the SOC threshold to adapt to different degrees of battery capacity decay.

[0074] The second detection condition is a judgment condition for starting the next round of remaining capacity detection. In some embodiments, similar to the first detection condition, the second detection condition may also include a second reference factor and a second reference threshold. The second reference factor is associated with the capacity decay of the battery, for example, it may include but is not limited to one or more of the number of charge and discharge cycles, usage time, number of uses, and frequency of use of the cleaning robot. The factors included in the first reference factor and the second reference factor may be the same, or there may be at least one difference. It should be noted that, unlike the first detection condition, the number of charge and discharge cycles, usage time, number of uses, and frequency of use here are all counted from the completion of the last round of adjustment of the SOC threshold, for example, counting starts after the SOC threshold is adjusted to the first characteristic value.

[0075] In the case where the second reference factor includes the usage time, the second reference threshold includes the second preset time. Then the second detection condition includes: since the last round of adjustment of the SOC threshold, the cumulative usage time of the cleaning robot reaches the second preset time.

[0076] When the second reference factor includes the number of charge and discharge cycles, the second reference threshold includes the second preset number of cycles. Then, the second detection condition includes: since the last round of adjustment of the SOC threshold, the cumulative number of charge and discharge cycles of the cleaning robot reaches the second preset number of cycles.

[0077] In the case where the second reference factor includes the number of uses, the second reference threshold includes a preset number of uses. Then, the second detection condition includes: since the last round of adjustment of the SOC threshold, the cumulative number of uses of the cleaning robot reaches the preset number of uses.

[0078] It should also be noted that, considering that as the battery capacity decays more and more, the same amount of decay has an increasingly greater impact on whether the cleaning robot can return to the base station for charging normally, after completing the first round of SOC threshold adjustment, the interval period of the next round of battery capacity detection can be smaller than the interval period of the first round of battery capacity detection, which is conducive to timely adjustment of the SOC threshold and reducing the risk of the cleaning robot being unable to return to the base station for charging normally due to insufficient actual remaining power.

[0079] Thus, when the first reference factor and the second reference factor include the same factors, the first reference threshold is greater than the second reference threshold. For example, when both the first reference factor and the second reference factor include the duration of use, the second preset duration is less than the first preset duration. For example, the first preset duration may be two to three years, and the second preset duration may be half a year to one year. When both the first reference factor and the second reference factor include the number of charge and discharge cycles, the second preset number of cycles may be less than the first preset number of cycles. For example, the first preset number of cycles may be 250 to 350 times, and the second preset number of cycles may be 80 to 120 times. When both the first reference factor and the second reference factor include the number of uses, the second preset number of uses is less than the first preset number of uses.

[0080] Based on this, if the cleaning robot meets the preset battery capacity detection conditions, the remaining capacity of the battery is obtained, and the process of determining the adjustment reference value based on the remaining capacity may also include: after adjusting the SOC threshold from the initial value to the first threshold, if the cleaning robot meets the second detection conditions, the above-mentioned remaining capacity detection step is executed again to perform the next round of remaining capacity detection on the battery.

[0081] Accordingly, in the case where the adjustment reference value is negatively correlated with the attenuation degree of the battery capacity, the process of adjusting the SOC threshold of the battery based on the adjustment reference value and the preset range further includes: in the process of detecting the remaining capacity of the battery, if the determined adjustment reference value is within the second preset range, the SOC threshold is increased to a second characteristic value. The lower limit value of the second preset range is less than the lower limit value of the first preset range, and the second characteristic value is greater than the first characteristic value.

[0082] In some embodiments, during the process of detecting the remaining capacity of the battery, if the determined adjustment reference value is less than the lower limit of the second preset range, the SOC threshold is increased to a third characteristic value which is greater than the second characteristic value.

[0083] It should be noted that after the SOC threshold is increased to the second characteristic value, the remaining capacity of the battery can continue to be detected and the adjustment reference value can be determined according to the above-mentioned preset detection strategy until the determined adjustment reference value is less than the lower limit value of the second preset range, stop this round of remaining capacity detection, increase the SOC threshold to the third characteristic value, and complete this round of SOC threshold adjustment.

[0084] Still taking the adjustment reference value as the ratio of the remaining capacity to the preset initial capacity as an example, the second preset range may be greater than or equal to Y, and Y is less than the lower limit value X of the above-mentioned first preset range. For example, Y may be 65% to 75%, and may be 65%, 70% or 75% for example, and may be determined according to the needs of the actual application scenario. For example, the difference between X and Y may be 5% to 20%, and may be 5%, 10% or 20% for example. For example, the second characteristic value may be 25% to 30%, and may be 25%, 28% or 30% for example. For example, the third characteristic value may be 30% to 35%, and may be 30%, 33% or 35% for example. In some embodiments, the difference between the third characteristic value and the second characteristic value, and between the second characteristic value and the first characteristic value may be 5%, for example, the first characteristic value is 20%, the second characteristic value may be 25%, and the third characteristic value may be 30%; for another example, the first characteristic value is 25%, the second characteristic value may be 30%, and the third characteristic value may be 35%.

[0085] In some embodiments, after the SOC threshold is increased to the third characteristic value, another round of battery capacity detection can be performed if the cleaning robot meets the second detection condition to further adjust the SOC threshold. That is to say, if the cleaning robot meets the preset battery capacity detection condition, the remaining capacity of the battery is obtained, and the process of determining the adjustment reference value based on the remaining capacity also includes: after the SOC threshold is increased to the third characteristic value, if the cleaning robot meets the second detection condition, the remaining capacity detection step is performed again to perform another round of remaining capacity detection on the battery. For the sake of distinction, this round of remaining capacity detection is referred to as the third round of remaining capacity detection hereinafter.

[0086] Accordingly, in the case where the adjustment reference value is negatively correlated with the attenuation degree of the battery capacity, the process of adjusting the SOC threshold of the battery based on the adjustment reference value and the preset range may also include: in the process of detecting the remaining capacity of the battery, if the determined adjustment reference value is within the third preset range, the SOC threshold is increased to a fourth characteristic value. The lower limit value of the third preset range is less than the lower limit value of the second preset range. The fourth characteristic value is greater than the third characteristic value.

[0087] Still taking the adjustment reference value as the ratio of the remaining capacity to the preset initial capacity as an example, the third preset range may be greater than or equal to Z, and Z may be less than the lower limit value Y of the above-mentioned second preset range. For example, Z may be 55% to 65%, and may be 55%, 60% or 70% by way of example, etc., determined according to the needs of the actual application scenario. For example, the difference between Y and Z may be 5% to 20%, and may be 5%, 10% or 20% by way of example. For example, the fourth characteristic value may be 35% to 40%, and may be 35%, 38% or 40% by way of example. In some embodiments, the difference between the fourth characteristic value and the third characteristic value may also be 5%, for example, the third characteristic value is 30%, and the fourth characteristic value is 35%; for another example, the third characteristic value is 35%, and the fourth characteristic value may be 40%.

[0088] In some embodiments, if the adjustment reference value is less than the lower limit of the third preset range, it means that the remaining capacity of the battery is too low. In this case, if the cleaning robot and other devices in the base station can be used normally, it is usually recommended to replace the battery before continuing to use the cleaning robot. Therefore, in some embodiments, the control method further includes: during the process of detecting the remaining capacity of the battery, if the determined adjustment reference value is less than the lower limit of the third preset range, a battery abnormality alarm is issued to prompt the user to replace the battery.

[0089] It should be noted that the number of rounds of remaining capacity detection and SOC threshold adjustment can be set according to the needs of the actual product. For example, in some application scenarios, one round of remaining capacity detection and SOC threshold adjustment can be performed, that is, when the first detection condition is met, the remaining capacity detection and SOC threshold adjustment are performed; in other application scenarios, two rounds of remaining capacity detection and SOC threshold adjustment can be performed, that is, when the first detection condition is met, one round of remaining capacity detection and SOC threshold adjustment is performed, after adjusting the SOC to the first characteristic value, when the second detection condition is met, another round of remaining capacity detection and SOC threshold adjustment is performed; in some other application scenarios, three rounds of remaining capacity detection and SOC threshold adjustment can also be performed, that is, after adjusting the SOC threshold to the third characteristic value in the second round, when the second detection condition is met, another round of remaining capacity detection and SOC threshold adjustment is performed. Of course, in other embodiments, more rounds of remaining capacity detection and SOC threshold adjustment can also be performed according to the needs of the product, and the present disclosure does not limit this.

[0090] Figure 4 An exemplary SOC threshold adjustment flow chart of some embodiments of the present disclosure is shown. Figure 4 The following is an exemplary adjustment process using three rounds of remaining capacity detection and SOC threshold adjustment as an example. Figure 4 In the corresponding exemplary adjustment process, the first detection condition is that the cleaning robot has been used for two years, the second detection condition is that the number of charge and discharge cycles reaches 100 times, the adjustment reference value is the ratio of the remaining capacity to the initial capacity, the lower limit value X of the first preset range is 80%, the lower limit value Y of the second preset range is 70%, the lower limit value Z of the third preset range is 60%, the first characteristic value is 20%, the second characteristic value is 25%, the third characteristic value is 30%, and the fourth characteristic value is 35%.

[0091] like Figure 4 As shown, starting from the first use of the cleaning robot after it leaves the factory, it is determined whether the use time of the cleaning robot reaches two years (step S1). If so, the first round of remaining capacity detection is performed (step S2): the remaining capacity of the battery is obtained, and each time the remaining capacity is obtained, the ratio of the remaining capacity to the initial capacity is calculated. It is determined whether the obtained ratio is greater than or equal to 80% (step S3). If it is greater than or equal to 80%, there is no need to adjust the SOC threshold, that is, the charging control is performed according to the original SOC strategy, and the remaining capacity detection of this round is continued according to the preset detection strategy until the ratio of the remaining capacity to the initial capacity obtained is less than 80%; if it is less than 80%, the SOC threshold is adjusted from the initial value to 20% (step S4).

[0092] After adjusting the SOC threshold to 20%, start counting the number of charge and discharge cycles of the battery of the cleaning robot to determine whether the battery of the cleaning robot has completed 100 charge and discharge cycles (step S5). If so, the second detection condition is met, and the second round of remaining capacity detection is started (step S6). Determine whether the above ratio obtained in the second round of remaining capacity detection is greater than or equal to 70% (step S7). If it is greater than or equal to 70%, adjust the SOC threshold to 25% (step S8), and continue the remaining capacity detection of this round according to the preset detection strategy until the ratio obtained is less than 70%; if it is less than 70%, adjust the SOC threshold to 30% (step S9).

[0093] After adjusting the SOC threshold to 30%, start counting the number of charge and discharge cycles of the battery of the cleaning robot again to determine whether the battery of the cleaning robot has completed 100 charge and discharge cycles (step S10), that is, the second detection condition is met again, and the third round of remaining capacity detection is started (step S11). Determine whether the above ratio obtained in the second round of remaining capacity detection is greater than or equal to 60% (step S12). If it is greater than or equal to 60%, adjust the SOC threshold to 35% (step S13), and continue the remaining capacity detection of this round according to the preset detection strategy until the obtained ratio is less than 60%; if it is less than 60%, issue a battery abnormality alarm (step S14) to prompt the user that the remaining capacity of the battery is too low. If the cleaning robot and other devices in the base station can be used normally, it is recommended to replace the battery before continuing to use the cleaning robot.

[0094] The above process can gradually adjust the SOC threshold as the remaining battery capacity decays, so as to ensure the battery life as much as possible while allowing the cleaning robot to retain sufficient remaining power to return to the base station for charging when working outside the base station, which is beneficial to improving the reliability of the cleaning robot's charging control.

[0095] In some embodiments, in addition to the SOC threshold adjustment process, the control method further includes: a charging control process. Figure 5 A charging control flow chart of a control method according to some embodiments of the present disclosure is shown. Figure 5 As shown, the charging control process may include: step S301, obtaining the SOC value of the battery when the cleaning robot is performing a task outside the base station; step S302, determining whether to control the cleaning robot to return to the base station for charging based on the SOC value and the SOC threshold.

[0096] In step S301, there are many methods for calculating the SOC of the battery, such as the ampere-hour integration method, the open circuit voltage method, the Kalman filter method or the neural network method, etc., which are not limited in the present disclosure.

[0097] In step S302, the SOC threshold value can be adjusted according to the above-mentioned SOC threshold value adjustment process to adapt to the attenuation of the remaining capacity of the battery. For example, before the first detection condition is met, the SOC threshold value in step S302 can be a preset initial value, after the first detection condition is met and the first round of SOC threshold value adjustment is completed, the SOC threshold value in step S302 can be a first characteristic value, and after the second round of SOC threshold value adjustment is completed, the SOC threshold value in step S302 can be a third characteristic value. In some embodiments, when the SOC value of the battery reaches the SOC threshold value, the cleaning robot can be controlled to end the task being executed (such as a cleaning task) and return to the base station for charging.

[0098] In other embodiments, after the SOC threshold of the battery is adjusted according to the above-mentioned SOC threshold adjustment process, the distance between the cleaning robot and the base station can be combined with the SOC value and the adjusted SOC threshold to jointly determine whether to control the cleaning robot to return to the base station for charging, which is conducive to better utilizing the remaining power of the cleaning robot's battery and improving the battery life of the cleaning robot. That is to say, after adjusting the SOC threshold of the battery, the above-mentioned process of determining whether to control the cleaning robot to return to the base station for charging based on the SOC value and the SOC threshold can include: determining whether to control the cleaning robot to return to the base station for charging based on the SOC value, the SOC threshold and the distance between the cleaning robot and the base station.

[0099] It should be noted that in the case of multi-level adjustment of the SOC threshold, for each adjusted SOC threshold, it can be determined whether to control the cleaning robot to return to the base station for charging based on the SOC value, the SOC threshold and the distance between the cleaning robot and the base station. Alternatively, for some of the adjusted SOC thresholds, the method of determining whether to control the cleaning robot to return to the base station for charging based on the SOC value, the SOC threshold and the distance between the cleaning robot and the base station can be adopted. For another part of the adjusted SOC thresholds, the method of controlling the cleaning robot to return to the base station for charging when the SOC value of the battery reaches the SOC threshold can be set according to the needs of the actual application scenario.

[0100] In some embodiments, based on the SOC value, the SOC threshold and the distance between the cleaning robot and the base station, the process of determining whether to control the cleaning robot to return to the base station for charging may include: if the SOC value of the battery reaches the SOC threshold, obtaining the distance between the cleaning robot and the base station; if the distance exceeds a preset distance range, controlling the cleaning robot to return to the base station for charging; if the distance is within the preset distance range, controlling the cleaning robot to perform the task within the area corresponding to the preset distance range, and in the process of the cleaning robot performing the task, determining whether to control the cleaning robot to return to the base station for charging based on the SOC value of the battery and the distance between the cleaning robot and the base station.

[0101] There are many ways to obtain the distance between the cleaning robot and the base station. For example, the position of the cleaning robot can be determined by the distance measurement function of the line laser module on the top of the cleaning robot. If the cleaning robot has pre-built a map of the working area and the location of the base station is marked on the map, the distance between the two can be calculated based on their positions. For another example, if the cleaning robot has not built a map of the working area or there is no location of the base station on the map, the base station can be identified by the laser point cloud measured by the line laser module, and the distance between the cleaning robot and the base station can be measured. This disclosure does not limit this.

[0102] For example, the SOC threshold value that needs to be further combined with the distance between the cleaning robot and the base station to determine whether to control the cleaning robot to return to the base station for charging can be pre-configured to correspond to the SOC threshold value and the preset distance range. Figure 4 Take the corresponding embodiment as an example, assuming that for each adjusted SOC threshold, it is necessary to further combine the distance between the cleaning robot and the base station to determine whether to control the cleaning robot to return to the base station for charging, then it is necessary to configure the preset distance ranges corresponding to the first characteristic value, the second characteristic value, the third characteristic value, and the fourth characteristic value respectively. For example, when the SOC threshold is adjusted to the first characteristic value, the corresponding preset distance range is within a1 meters; when the SOC threshold is adjusted to the second characteristic value, the corresponding preset distance range is within a2 meters, and a2 is less than a1; when the SOC threshold is adjusted to the third characteristic value, the corresponding preset distance range is within a3 meters, and a3 is less than a2; when the SOC threshold is adjusted to the fourth characteristic value, the corresponding preset distance range is within a4 meters, and a4 is less than a3. For example, a1 can be 5 meters, a2 can be 4 meters, a3 can be 3 meters, and a4 can be 2 meters. It can actually be configured according to the needs of the application scenario.

[0103] Therefore, the preset distance range corresponding to the current SOC threshold can be determined according to the above correspondence, so that after the SOC value of the battery reaches the SOC threshold and the distance between the cleaning robot and the base station is obtained, it is determined whether the obtained distance exceeds the preset distance range corresponding to the current SOC threshold.

[0104] When the battery's SOC value reaches the current SOC threshold and the distance between the cleaning robot and the base station is within the preset distance range, the cleaning robot can continue to perform tasks within the area corresponding to the preset distance range, that is, perform tasks near the base station, and is not allowed to move farther away from the base station.

[0105] In some embodiments, the preset distance range may include a first sub-range and a second sub-range, the upper limit value of the first sub-range is the upper limit value of the preset distance range, the lower limit value is greater than the upper limit value of the second sub-range, and the lower limit value of the second sub-range is the lower limit value of the preset distance range.

[0106] Based on this, based on the SOC value of the battery and the distance between the cleaning robot and the base station, the process of determining whether to control the cleaning robot to return to the base station for charging may include: obtaining the distance between the cleaning robot and the base station in real time; when the current distance is within the first sub-range, if the SOC value of the battery is less than or equal to the first reference value, the cleaning robot is controlled to stop performing the task and return to the base station for charging; if the SOC value of the battery is greater than the first reference value, the cleaning robot is controlled to continue performing the task in the area within the current distance, and it is not allowed to move farther from the base station; when the current distance is within the second sub-range, if the SOC value of the battery is greater than the second reference value, the cleaning robot is controlled to continue performing the task in the area within the current distance, and it is not allowed to move farther from the base station; if the SOC value of the battery is less than or equal to the second reference value, the cleaning robot is controlled to return to the base station for charging.

[0107] Among them, the first reference value is less than the current SOC threshold, the second reference value is less than the first reference value, and is greater than or equal to the initial value of the SOC threshold. It should be noted that the "real time" in the above process can be understood as executing the step of obtaining the distance between the cleaning robot and the base station according to the preset sampling time interval, and each time the distance is obtained, it is used as the current distance to determine whether it is in the first sub-range or the second sub-range. Among them, the sampling time interval can be set to be shorter, so that when the SOC value of the cleaning robot's battery is already low and continues to perform tasks near the base station, the current distance between the cleaning robot and the base station is updated in time, so as to stop performing tasks in time and return to the base station for charging.

[0108] For example, the current SOC threshold, the first reference value, and the second reference value may decrease in a gradient, and the decreasing gradient may be 2%. Taking the current SOC threshold as 20% as an example, the first reference value may be 18%, and the second reference value may be 16%.

[0109] Figure 6 An exemplary charging control flow chart of some embodiments of the present disclosure is shown. Figure 6 In the figure, the SOC threshold has been adjusted to the first characteristic value, and the first characteristic value is 20%, the preset distance range corresponding to the first characteristic value is within 5 meters (that is, greater than 0 and less than 5 meters), the first sub-range is greater than or equal to 3 meters, and less than 5 meters, the second sub-range is within 3 meters (that is, greater than 0 and less than 3 meters), the first reference value is 18%, and the second reference value is 16%. For example, the charging control process after adjusting the SOC threshold is described.

[0110] like Figure 6 As shown, after the SOC threshold is adjusted to 20% (step S4), when the cleaning robot is located outside the base station to perform a task, it is determined whether the SOC value of the battery reaches 20% (step S21). If so, the distance between the cleaning robot and the base station is obtained (step S22), and it is determined whether the distance between the cleaning robot and the base station is ≥5 meters (step S23). If so, the cleaning robot is controlled to return to the base station for charging (step S24). If not, the cleaning robot is controlled to perform the task within 5 meters of the base station (step S25), and the distance between the cleaning robot and the base station continues to be obtained during the execution of the task. Determine whether the distance between the cleaning robot and the base station is ≥3 meters and <5 meters (step S26). If the distance between the cleaning robot and the base station is ≥3 meters and <5 meters, determine whether the SOC value of the battery is ≤18% (step S27). If the SOC value of the battery is ≤18%, control the cleaning robot to return to the base station for charging (step S24). If the SOC value of the battery is >18%, continue to control the cleaning robot to perform tasks within the current distance range near the base station (step S28), and do not allow it to move to a position farther than the current distance. For example, if the current distance is 4 meters, control the cleaning robot to continue to perform tasks within a range of 4 meters near the base station. When the distance between the cleaning robot and the base station is less than 3 meters, determine whether the battery SOC value is ≤16% (step S29). If the battery SOC value is >16%, continue to control the cleaning robot to perform the task within the current distance range near the base station (step S30). For example, if the current distance is 2 meters, control the cleaning robot to continue performing the task within 2 meters near the base station; if the battery SOC value is ≤16%, control the cleaning robot to return to the base station to charge (step S24).

[0111] Figure 7 Flowcharts showing control methods of other embodiments of the present disclosure are shown. Figure 7 As shown, the control method may at least include the following steps:

[0112] Step S401, when the cleaning robot is outside the base station and performs a task, obtaining the SOC value of the battery;

[0113] Step S402, if the SOC value reaches the SOC threshold, the distance between the cleaning robot and the base station is obtained;

[0114] Step S403, if the distance exceeds the preset distance range, the cleaning robot is controlled to return to the base station for charging;

[0115] Step S404, if the distance is within the preset distance range, the cleaning robot is controlled to perform the task within the area corresponding to the preset distance range, and during the process of the cleaning robot performing the task, based on the SOC value of the battery and the distance between the cleaning robot and the base station, it is determined whether to control the cleaning robot to return to the base station for charging.

[0116] After the SOC value reaches the SOC threshold, the distance between the cleaning robot and the base station and the SOC value of the battery are further combined to determine whether to continue to perform tasks near the base station or return to the base station for charging. This is beneficial for ensuring that the cleaning robot has enough remaining power to return to the base station for charging, while making better use of the remaining power of the cleaning robot's battery and increasing the battery life of the cleaning robot.

[0117] It should be noted that the implementation process of the above steps S401 to S404 can refer to the relevant description in the above embodiments, and will not be repeated here. The SOC threshold refers to the SOC threshold adopted by the SOC strategy of the battery of the cleaning robot. For example, the SOC threshold in step S402 can be a pre-configured fixed value. For another example, the SOC threshold in step S402 can also be the SOC threshold adjusted by the SOC threshold adjustment process in the above embodiments, that is, after adjusting the SOC threshold, the charging control is performed according to the above steps S401 to S404. Before adjusting the SOC threshold, if the SOC value reaches the SOC threshold, the cleaning robot can be controlled to return to the base station for charging control.

[0118] In some embodiments, the preset distance range may include a first sub-range and a second sub-range, the upper limit of the first sub-range is the upper limit of the preset distance range, the lower limit of the first sub-range is greater than the upper limit of the second sub-range, and the lower limit of the second sub-range is the lower limit of the preset distance range. In the above step S504, based on the SOC value of the battery and the distance between the cleaning robot and the base station, the process of determining whether to control the cleaning robot to return to the base station for charging may include: obtaining the distance between the cleaning robot and the base station in real time; when the current distance is in the first sub-range, if the SOC value of the battery is less than or equal to the first reference value, then the cleaning robot is controlled to return to the base station for charging, and if the SOC value of the battery is greater than the first reference value, then the cleaning robot is controlled to continue to perform the task in the area within the current distance, wherein the first reference value is less than the SOC threshold. The specific implementation process can refer to the relevant description in the above embodiment, which will not be repeated here.

[0119] In some embodiments, based on the SOC value of the battery and the distance between the cleaning robot and the base station, the process of determining whether to control the cleaning robot to return to the base station for charging may also include: when the current distance is within the second sub-range, if the SOC value of the battery is greater than the second reference value, then the cleaning robot is controlled to continue to perform the task in the area within the current distance; if the SOC value of the battery is less than or equal to the second reference value, then the cleaning robot is controlled to return to the base station for charging, wherein the second reference value is less than the first reference value. The specific implementation process can refer to the relevant description in the above embodiment, which will not be repeated here.

[0120] Figure 8 The schematic diagram of the structure of the cleaning robot in some embodiments of the present disclosure is shown. Figure 8 As shown, some embodiments of the present disclosure further provide a cleaning robot 10, which includes a processor 101 and a memory 102, and the memory 102 stores a computer program that can be run on the processor 101. When the computer program is executed by the processor 101, the steps of the control method of the cleaning robot provided in any of the above method embodiments are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0121] Some embodiments of the present disclosure also provide a computer-readable storage medium. The computer-readable storage medium stores computer instructions. When the computer instructions are executed by the processor, the steps of the control method of the cleaning robot provided in any of the above method embodiments are implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0122] Some embodiments of the present disclosure also provide a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the cleaning robot control method provided by any of the method embodiments above and can achieve the same technical effect. To avoid repetition, they are not described here.

[0123] It should be noted that each embodiment in the present disclosure focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. In the absence of conflict, the features in the same embodiment and different embodiments of the present disclosure can be combined with each other.

[0124] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0125] Although the exemplary embodiments of the present disclosure have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the exemplary embodiments and all changes and modifications falling within the scope of the present disclosure.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot is provided with a battery, and the method comprises: If the cleaning robot meets the preset battery capacity detection condition, obtaining the remaining capacity of the battery; and Based on the remaining capacity, a charge state threshold of the battery is adjusted, and the charge state threshold is used to determine whether to control the cleaning robot to return to the base station for charging when the cleaning robot is located outside the base station.

2. The method according to claim 1, characterized in that: Also includes: When the cleaning robot is outside the base station and performs a task, obtaining a state of charge value of the battery; Based on the state of charge value and the state of charge threshold, it is determined whether to control the cleaning robot to return to a base station for charging.

3. The method according to claim 2, characterized in that After adjusting the state of charge threshold of the battery, determining whether to control the cleaning robot to return to a base station for charging based on the state of charge value and the state of charge threshold includes: Based on the state of charge value, the state of charge threshold, and the distance between the cleaning robot and the base station, it is determined whether to control the cleaning robot to return to the base station for charging.

4. The method according to claim 3, characterized in that Determining whether to control the cleaning robot to return to the base station for charging based on the state of charge value, the state of charge threshold, and the distance between the cleaning robot and the base station includes: If the state of charge value reaches the state of charge threshold, obtaining the distance between the cleaning robot and the base station; If the distance exceeds a preset distance range, controlling the cleaning robot to return to the base station for charging; If the distance is within a preset distance range, the cleaning robot is controlled to perform a task in an area corresponding to the preset distance range, and during the process of the cleaning robot performing the task, based on the charge state value of the battery and the distance between the cleaning robot and the base station, it is determined whether to control the cleaning robot to return to the base station for charging.

5. The method according to any one of claims 1 to 4, characterized in that Adjusting the state of charge threshold of the battery based on the remaining capacity includes: determining an adjustment reference value based on the remaining capacity, wherein the adjustment reference value is used to characterize a degree of attenuation of the capacity of the battery; Based on the adjustment reference value and a preset range, the state of charge threshold of the battery is adjusted.

6. The method according to claim 5, characterized in that The battery capacity detection condition includes: a first detection condition, which is a condition that needs to be met when the cleaning robot detects the remaining capacity of the battery for the first time since it is used; If the cleaning robot meets the preset battery capacity detection condition, the remaining capacity of the battery is obtained, and an adjustment reference value is determined based on the remaining capacity, including: if the cleaning robot meets the first detection condition, a remaining capacity detection step is performed, and the remaining capacity detection step includes: obtaining the remaining capacity of the battery, and determining an adjustment reference value based on the remaining capacity; and In the case where the adjustment reference value is negatively correlated with the degree of attenuation of the capacity of the battery, the state of charge threshold of the battery is adjusted based on the adjustment reference value and a preset range, including: if the adjustment reference value determined when the first detection condition is met is less than a lower limit of a first preset range, the state of charge threshold is adjusted from an initial value to a first characteristic value, and the first characteristic value is greater than the initial value.

7. The method according to claim 6, characterized in that The battery capacity detection condition further includes: a second detection condition, if the cleaning robot meets the preset battery capacity detection condition, obtaining the remaining capacity of the battery, and determining an adjustment reference value based on the remaining capacity, and further includes: after adjusting the state of charge threshold from the initial value to the first threshold, if the cleaning robot meets the second detection condition, executing the remaining capacity detection step again to perform the next round of remaining capacity detection on the battery; and In a case where the adjustment reference value is negatively correlated with the attenuation degree of the capacity of the battery, adjusting the state of charge threshold of the battery based on the adjustment reference value and a preset range, further comprising: During the remaining capacity detection of the battery, if the determined adjustment reference value is within a second preset range, the state of charge threshold is increased to a second characteristic value, wherein the lower limit value of the second preset range is smaller than the lower limit value of the first preset range.

8. A control method for a cleaning robot, characterized in that: The cleaning robot is provided with a battery, and the method comprises: When the cleaning robot is outside the base station and performs a task, obtaining a state of charge value of the battery; If the state of charge value reaches the state of charge threshold, obtaining the distance between the cleaning robot and the base station; If the distance exceeds a preset distance range, controlling the cleaning robot to return to the base station for charging; If the distance is within a preset distance range, the cleaning robot is controlled to perform a task in an area corresponding to the preset distance range, and during the process of the cleaning robot performing the task, based on the charge state value of the battery and the distance between the cleaning robot and the base station, it is determined whether to control the cleaning robot to return to the base station for charging.

9. A cleaning robot, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program that can be run on the processor, and when the computer program is executed by the processor, the steps of the control method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the steps of the control method described in any one of claims 1 to 8 are implemented.

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