Control method of cleaning robot

Abstract

The invention discloses a control method of a cleaning robot, which comprises the following steps that the cleaning robot travels to a destination where a user is located, and a cover turning step is carried out: a sensor acquires a cover opening signal of the user; the garbage collection module drives a cover plate to be opened through a cover turning mechanism so as to open a garbage can. The garbage collection module flip mechanism drives a cover plate to close so as to close a garbage can; and after the cover plate is opened for a first preset time, the garbage collection module judges whether the cover plate is closed or not, and if not, the garbage collection module drives the cover plate to be closed through a cover turning mechanism so as to close the garbage can. The user does not need to go to a fixed garbage throwing point, and the cleaning robot can directly travel to the destination where the user is located, so that the walking distance of the user is greatly reduced, and the cleaning robot is particularly convenient for old people with difficulty in walking and people with difficulty in moving. The cover plate is controlled to be closed through automatic detection, it is ensured that the garbage can is kept in a closed state without human intervention, dust and peculiar smell are prevented from being diffused, and the environment is kept clean and sanitary.

Description

Technical Field

[0001] The present invention relates to the field of garbage recycling, and in particular to a control method for a cleaning robot. Background Art

[0002] In the existing technology, the collection of domestic waste in residential areas usually adopts the method of fixed stations, that is, residents need to go to the designated location to dispose of garbage during specific time periods. This method has the following major problems:

[0003] Distance issue: Fixed garbage disposal points are often located far from residents’ homes, forcing them to walk a long distance to dispose of their garbage. This is extremely inconvenient for residents with mobility issues, especially the elderly, and increases their physical burden.

[0004] Poor user experience: Frequent trips to fixed sites to dispose of garbage are not only time-consuming and laborious, but may also cause additional inconvenience due to weather, traffic and other factors, reducing residents' life satisfaction. Summary of the Invention

[0005] Therefore, it is necessary to provide a control method for a cleaning robot to solve the problems raised in the background technology.

[0006] To achieve the above object, the inventor provides a control method for a cleaning robot, comprising the following steps:

[0007] Drive to the user's destination and perform the following steps:

[0008] The sensor obtains the user's cover opening signal;

[0009] The garbage collection module drives the cover to open through the flip mechanism to open the garbage bin;

[0010] The garbage collection module flip cover mechanism drives the cover to close to close the garbage bin;

[0011] After the cover is opened for a first preset time, the garbage collection module determines whether the cover is closed. If not, the garbage collection module drives the cover to close via the flip mechanism to close the garbage bin.

[0012] Furthermore, before the sensor obtains the user's lid opening signal, the method further includes the following steps:

[0013] The garbage collection module obtains the cover opening instruction sent by the robot domain controller.

[0014] Furthermore, the sensor obtaining the user's lid opening signal includes the following steps:

[0015] The capacitive button obtains a touch signal from a user, and the cover-opening signal includes the touch signal.

[0016] Furthermore, the sensor obtaining the user's lid opening signal includes the following steps:

[0017] The infrared sensor switch obtains a user's proximity signal, and the cover-opening signal includes the proximity signal.

[0018] Furthermore, the first preset time is 5s to 255s.

[0019] Furthermore, when driving to the user's destination, a reservation step is also included:

[0020] The robot domain controller receives the user's call request. If there are multiple call requests, it determines the distance between the robot and multiple users and arranges them one by one in order of distance from shortest to longest.

[0021] The MCU controls the robot to drive to the user's destination and reports the mission record to the telematics service provider platform.

[0022] Furthermore, after the MCU controls the robot to travel to the user's destination, the following steps are further included:

[0023] The robot domain controller sends a location request to the user.

[0024] Furthermore, the method further comprises the following steps:

[0025] The robot domain controller determines whether the user sends a garbage recycling request. If not, the robot domain controller sends a relocation request again. If so, the flipping step is performed.

[0026] Furthermore, when the robot domain controller sends a location request to the user, the following steps are included:

[0027] The robot domain controller reports the location request to the telematics service provider platform, and the telematics service provider platform calls the intercom at the user's destination. The telematics service provider platform includes an operation platform Web, a monitoring platform Web, a mini program, and a mobile app.

[0028] Furthermore, the method also includes the step of detecting whether the trash can is in place:

[0029] The location sensor obtains the location information of the trash can;

[0030] The garbage collection module determines whether the garbage bin is installed in place based on the location information of the garbage bin sent by the in-place sensor. If not, it reports the abnormal information to the remote information processing service provider platform.

[0031] Different from the existing technology, the above technical solution has the following beneficial effects:

[0032] Users do not need to go to fixed garbage disposal points. The cleaning robot can drive directly to the user's destination, greatly reducing the user's walking distance. It is especially convenient for the elderly with mobility problems and people with limited mobility.

[0033] Users can trigger the lid opening signal to dispose of garbage without being restricted by a fixed time period, which improves the flexibility and convenience of garbage disposal.

[0034] By automatically detecting and controlling the closing of the cover, the trash can is ensured to remain closed without human intervention, preventing the spread of dust and odor, and keeping the environment clean and hygienic. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a flow chart of the flipping steps in this embodiment;

[0036] Figure 2 This is an implementation method of the flipping step in this embodiment;

[0037] Figure 3 This is a flowchart of the reservation steps in this embodiment;

[0038] Figure 4 This is an implementation method of the reservation step in this embodiment;

[0039] Figure 5 This is the circuit structure of the cleaning robot in this embodiment;

[0040] Figure 6 Schematic diagram of the human body sensing module in this embodiment. DETAILED DESCRIPTION

[0041] In order to explain in detail the possible application scenarios, technical principles, specific solutions that can be implemented, and the purpose and effects of this application, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of this application and are therefore only examples and are not intended to limit the scope of protection of this application.

[0042] References to "embodiments" herein mean that the specific features, structures, or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the word "embodiment" in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the various technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution.

[0043] Unless otherwise defined, the technical terms used herein have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms herein is only for describing specific embodiments and is not intended to limit this application.

[0044] In the description of this application, the term "and / or" is used to describe a logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and both A and B exist. In addition, the character " / " in this document generally indicates that the objects before and after are in a logical "or" relationship.

[0045] In this application, terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantity, priority or sequence relationship between these entities or operations.

[0046] Without further limitations, in this application, the words "include", "comprise", "have" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those defined elements, but also other elements not explicitly listed, or elements inherent to such process, method or product.

[0047] Consistent with the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceed" are understood to exclude the number itself; expressions such as "above," "below," and "within" are understood to include the number itself. Furthermore, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this manner, such as "multiple groups," "multiple times," etc., unless otherwise specifically defined.

[0048] In the description of the embodiments of the present application, the space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be understood as a limitation on the embodiments of the present application.

[0049] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms "installed", "connected", "connected", "fixed", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art of the present application, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] See also Figures 1 to 5 , this embodiment provides a control method for a cleaning robot, comprising the following steps:

[0051] Step S101, driving to the user's destination;

[0052] To perform the flipping steps:

[0053] Step S103: The sensor obtains the user's cover opening signal;

[0054] Step S104: The Garbage Collection Module (GCM) drives the cover to open via the flip mechanism to open the trash can.

[0055] Step S105: The garbage collection module flip cover mechanism drives the cover to close to close the garbage bin;

[0056] In step S106, after the cover is opened for the first preset time, the garbage collection module determines whether the cover is closed. If not, in step S107, the garbage collection module drives the cover to close through the flip mechanism to close the trash can. If so, the cover is closed and no operation is required.

[0057] The above technical solution has the following beneficial effects:

[0058] Users do not need to go to fixed garbage disposal points. The cleaning robot can drive directly to the user's destination, greatly reducing the user's walking distance. It is especially convenient for the elderly with mobility problems and people with limited mobility.

[0059] Users can trigger the lid opening signal to dispose of garbage without being restricted by a fixed time period, which improves the flexibility and convenience of garbage disposal.

[0060] By automatically detecting and controlling the closing of the cover, the trash can is ensured to remain closed without human intervention, preventing the spread of dust and odor, and keeping the environment clean and hygienic.

[0061] See also Figure 1and Figure 2 In this embodiment, before the sensor obtains the user's cover-opening signal, the following steps are also included:

[0062] In step S102, the garbage collection module receives a cover opening instruction from the Robot Control Unit (RCU). This instruction is used to confirm whether the cover opening is allowed under the current task status. The RCU determines whether to issue the cover opening instruction based on the current task status, environmental conditions, and other safety factors. For example, if the robot is performing a cleaning task or in maintenance mode, the RCU may prohibit the cover from opening to avoid interfering with the current task or creating a safety hazard.

[0063] In this embodiment, the sensor acquires the user's lid opening signal including the following steps:

[0064] The capacitive button receives the user's touch signal, and the lid-opening signal includes this touch signal. When the robot reaches the user's destination, the user can trigger the lid-opening signal by touching the capacitive button. Capacitive buttons are contactless sensors. When a user's finger approaches or touches the button, the capacitance value changes. The capacitive button detects this change and generates a touch signal. The touch signal is transmitted to the waste collection module via internal communication lines. Upon receiving the signal, the waste collection module flips the lid open.

[0065] In this embodiment, the sensor acquires the user's lid opening signal including the following steps:

[0066] The infrared sensor switch receives a user's proximity signal, which is also included in the lid opening signal. The infrared sensor is a contactless sensor. When a user's hand or object approaches the switch, the infrared sensor detects this movement and generates a proximity signal. This proximity signal is transmitted via internal communication lines to the waste collection module, which then initiates the lid opening.

[0067] In this embodiment, the first preset time is 5s to 255s (seconds), which is long enough to ensure that the user has enough time to put out the garbage, but not too long to cause the garbage can to be open for a long time and affect the environment. Preferably, the first preset time is 90s.

[0068] See also Figure 2 In this embodiment, after the button panel triggers the door opening and closing signal, if there is no feedback after 3S (according to the opening and closing cover time setting), the garbage cover is abnormally in place, and the abnormal state of the cover switch is recorded and sent to the robot domain controller through CAN.

[0069] In this embodiment, the garbage collection module receives a signal and can execute the opening and closing of the garbage cover after a delay of 1S (after receiving the signal, the motor rotates forward and reverse according to the cover's position), and can synchronously feedback the cover's position to the robot domain controller.

[0070] In this embodiment, the flip mechanism includes a motor, which serves as a power source and is responsible for providing the mechanical energy required to flip the cover. The motor is connected to the cover plate via a transmission assembly. When the user sends a signal to open the cover via a capacitive button or infrared sensor switch, the signal is transmitted to the robot's garbage collection module. Upon receiving the signal, the garbage collection module sends a start command to the motor, and the motor begins operating. The rotational motion generated by the motor is transmitted to the cover via the transmission assembly to achieve flipping of the cover. The design of the transmission assembly can adopt different forms according to specific needs, such as direct gear drive, chain drive, or crank rocker mechanism.

[0071] In this embodiment, the garbage collection module must respond to the external switch state in no less than 2S (according to the switch cover time setting), and must input the switch door signal again after greater than or equal to 2S (according to the switch cover time setting) before it can respond to prevent rapid opening and closing of the cover.

[0072] See also Figure 3 and Figure 4 In this embodiment, when driving to the user's destination, a reservation step is also included:

[0073] Step S201: The robot domain controller obtains a user's call request. If there are multiple call requests, the robot domain controller determines the distance between the robot and the multiple users and processes them one by one in order of distance from shortest to longest.

[0074] In step S202 , the MCU (Microcontroller Unit) controls the robot to travel to the user's destination and reports the mission record to the telematics service provider platform.

[0075] Users can send call requests to the cleaning robot through mobile apps, intercoms, and other devices. After receiving the user's call request, the robot's domain controller records the request time and the user's location information. If the robot receives call requests from multiple users simultaneously, the robot's domain controller sorts them based on the distance between the robot and each user. Specifically, the robot's domain controller calculates the distance from the robot's current location to each user's location and arranges them in order of distance from shortest to longest. The robot's domain controller processes user call requests one by one, sorting them by distance. This ensures that the robot prioritizes requests from users closest to it, improving response speed and service efficiency.

[0076] See also Figure 3In this embodiment, after the MCU controls the robot to travel to the user's destination, the following steps are also included:

[0077] In step S203, the robot domain controller sends a request to the user. This allows the user to promptly notify the robot of its arrival at the designated location, avoiding unnecessary waiting and improving user convenience. After receiving and confirming the request, the user can use a capacitive button or infrared sensor to activate the robot's flip mechanism to open the trash can lid and then discard the trash. In some embodiments, the user can also choose not to confirm the request and directly open the trash can lid to discard the trash.

[0078] See also Figure 3 In this embodiment, the control method further includes the following steps:

[0079] In step S204, the robot domain controller determines whether the user has sent a request to collect garbage. If not, the robot domain controller sends another request to collect garbage. If so, the robot domain controller proceeds to the flipping step. By sending the request again or multiple times, the user is assured that the robot is ready to collect garbage, preventing the user from missing the opportunity to collect garbage due to unawareness of the notification. Preferably, the robot domain controller can notify the user three times, with an interval of 2 minutes. If there is an operational response, the robot domain controller delays the user's stay to prevent the robot from timing out and moving to the next location.

[0080] See also Figure 4 In this embodiment, when the robot domain controller sends a location request to the user, the following steps are included:

[0081] The robot's domain controller reports its arrival request to the Telematics Service Provider (TSP), which then calls the intercom at the user's destination. The TSP, which includes the operations platform (web), monitoring platform (web), mini-program, and mobile app, uses the network connection to call the intercom at the user's destination, notifying the user that the robot has arrived at the designated location.

[0082] See also Figure 4 In this embodiment, after the user receives the arrival request, the user can use the capacitive button or infrared sensor switch to make the robot's flip mechanism open the cover of the trash can. The control method also includes the following steps:

[0083] The garbage collection module determines the barrel closing information. If the cover is closed, it means the task is completed and a new call task can be performed and the call queue can be updated. If the cover is not closed and is still open, the cover is judged as abnormal. If an abnormality is found, the remote information processing service provider platform can be called to let the staff (administrator) handle it.

[0084] See also Figure 4 In this embodiment, the control method further includes the following steps:

[0085] When the robot completes its previous task, the lid is in good working order, and there are no new calls, it can return to its starting point. If there is a new call, the robot will respond to it promptly.

[0086] In this embodiment, the control method further includes a step of detecting the presence of a trash can:

[0087] The location sensor obtains the location information of the trash can;

[0088] The garbage collection module determines whether the garbage bin is installed in place based on the location information of the garbage bin sent by the in-place sensor. If not, it reports the abnormal information to the remote information processing service provider platform.

[0089] If the trash can is not installed in place, the garbage collection module will stop subsequent operations and report abnormal information. The platform can record the abnormal information to facilitate task management and troubleshooting, ensuring that the system can detect and handle problems in a timely manner.

[0090] In this embodiment, the in-place sensor is a magnetic switch. A magnetic plate is located at the bottom of the trash can, and each magnetic switch is connected to a GCM-W321 PIN port on the trash collection module. When the trash can is in place, the magnetic switch changes from normally open to normally closed, and the GCM-W321 PIN port receives a state change signal. Preferably, there are two trash cans, each equipped with a in-place sensor.

[0091] In this embodiment, the telematics service provider platform can schedule or manually dispatch the robot to the user's location to collect garbage. Manual triggering: After selecting the scheduled collection mode, a scheduled collection route will be displayed, and you can click to perform a single scheduled collection. Scheduled triggering: You can select the on / off state, timer duration, number of repetitions, number of executions, and task route.

[0092] In this embodiment, whether to play music during the garbage collection process can be set.

[0093] In this embodiment, if the target point cannot be reached, the process is skipped until the last point;

[0094] In this embodiment, if the cover is accidentally opened, the robot can pause and return to the workroom pre-set by the staff.

[0095] In this embodiment, the robot has a voice broadcast function. The robot domain processor is connected to the speaker via USB, and can broadcast through the speaker. The volume can be adjusted, and the host computer can display the current volume. Specifically, the broadcast content includes: 1. When the vehicle starts: Benben has received a new task and is ready to go now, please make way; 2. When the equipment arrives: Benben is in place, please open the door to put out the garbage; 3. When the equipment returns: Benben is leaving, 4. When the vehicle breaks down: Benben can't move, come and help me; 5. When colliding: Benben is too stupid, come and help me; 6. When encountering an obstacle: Benben is performing a task, please make way; 7. When the power is low: Benben is hungry, I want to go back to charge; 8. When the task is abnormal (emergency stop, brake release). It should be noted that the priority of the broadcast is: alarm signal > functional voice broadcast; the broadcast content is configurable.

[0096] In this embodiment, the announcement also includes music playback. Whether to enable music during a task is configurable. Music can be downloaded remotely and can be played in a loop.

[0097] In this embodiment, the robot has automatic charging and charging contact functions. For automatic charging control, a resettable switch is used. A key trigger signal is developed. Pin B23 on the GCM-W321 receives a low level and transmits this signal to the RCU (a 5-frame message). For charging contact, upon receiving a charge release command (local hardwired, issued by the platform (0x71)), the charge release command is triggered. The chassis interacts with the RCU to perform charging and release operations.

[0098] See also Figure 5 In this embodiment, the robot domain controller is connected to the Power Management System (PMS), which is in turn connected to the battery pack, charging board, infrared communication board, DC-DC converter, ambient light, temperature sensor, and self-resetting start switch. The infrared communication board connects to the charging station via infrared transceiver to communicate charging status. The start switch is self-resetting. Clicking the charge button once deactivates charging; clicking it twice cancels charging.

[0099] See also Figure 5 In this embodiment, the MCU is connected to the RCU via the CAN2 line. The RCU is also connected to the 4G antenna, WiFi antenna, front LiDAR, elevator controller (referred to as elevator control), touch switch, rear LiDAR, and depth camera light.

[0100] See also Figure 6In this embodiment, the cleaning robot is equipped with a human body sensing module. The human body sensing signal is negatively triggered and the detection distance is adjustable to 4-5 meters. When a person is detected passing by GCM-W321 PIN port A14 receives a low level and feeds back to the RCU. The cleaning robot can then broadcast a greeting.

[0101] In this embodiment, the cleaning robot can be configured with a return mission. This mission is a function setting that determines whether the robot will return to a specific location after completing a task. It supports setting a switch, a dwell time, and a return point. The return mission is activated when the task is completed or when the task cannot be continued.

[0102] In this embodiment, the cleaning robot's abnormal post-processing steps are:

[0103] Collision handling;

[0104] 1. Store fault status during collision;

[0105] 2. Do not drive in collision state;

[0106] 3. Detect collisions only when the task is running;

[0107] 4. After receiving hardware instructions (click the button four times), the collision state can be eliminated;

[0108] 5. Only local release is supported.

[0109] Brake release:

[0110] 1. RCU receives brake hardware signals and releases and pulls up the brakes;

[0111] 2. Pressing the button twice will be considered as releasing and pulling up the brake.

[0112] Administrator Phone Storage

[0113] 1. Store the administrator's phone number for making phone calls in case of business anomalies;

[0114] 2. Support revision and viewing.

[0115] When the garbage is full:

[0116] 1. Return to a specific point (when setting the point, there is a recycling point attribute, and return is based on this attribute);

[0117] 2. Phone notification

[0118] 3. Do not accept call tasks;

[0119] In this embodiment, the telematics service provider platform can view the robot's location and add new ones, and can turn on and off the chassis hotspot function.

[0120] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, based on the innovative concept of the present invention, changes and modifications to the embodiments described herein, or equivalent structural or equivalent process transformations made using the contents of the present invention's specification and drawings, and direct or indirect application of the above technical solutions to other related technical fields, are all included in the scope of patent protection of the present invention.

Claims

1. A control method for a cleaning robot, characterized in that: The steps include: Drive to the user's destination and perform the flipping steps: The sensor obtains the user's cover opening signal; The garbage collection module drives the cover plate to open through the flip mechanism to open the garbage bin; The cover flap mechanism of the garbage collection module drives the cover to close so as to close the garbage bin; After the cover is opened for a first preset time, the garbage collection module determines whether the cover is closed. If not, the garbage collection module drives the cover to close through the flip mechanism to close the garbage can.

2. The control method according to claim 1, characterized in that: Before the sensor obtains the user's cover opening signal, the following steps are also included: The garbage collection module obtains the cover opening instruction sent by the robot domain controller.

3. The control method according to claim 1, characterized in that: The sensor obtaining the user's cover opening signal comprises the following steps: The capacitive button obtains a touch signal from a user, and the cover opening signal includes the touch signal.

4. The control method according to claim 1, characterized in that: The sensor obtaining the user's cover opening signal comprises the following steps: The infrared induction switch acquires a user's approach signal, and the cover opening signal includes the approach signal.

5. The control method according to claim 1, characterized in that: The first preset time is 5s to 255s.

6. The control method according to any one of claims 1 to 5, characterized in that: When driving to the destination where the user is located, a reservation step is also included: The robot domain controller obtains the user's call request. If there are multiple call requests, it determines the distance between the robot and multiple users and arranges them one by one from short to long distances. The MCU controls the robot to drive to the user's destination and reports the mission record to the telematics service provider platform.

7. The control method according to claim 6, characterized in that: After the MCU controls the robot to travel to the destination where the user is located, the following steps are also included: The robot domain controller sends a location request to the user.

8. The control method according to claim 7, characterized in that: The following steps are also included: The robot domain controller determines whether the user sends a garbage recycling request. If not, the robot domain controller sends a relocation request again. If yes, the flipping step is performed.

9. The control method according to claim 8, characterized in that: When the robot domain controller sends a location request to the user, the following steps are included: The robot domain controller reports the arrival request to the telematics service provider platform, and the telematics service provider platform calls the intercom at the user's destination. The telematics service provider platform includes an operation platform Web, a monitoring platform Web, a mini program, and a mobile app.

10. The control method according to claim 1, characterized in that: It also includes the steps of detecting the presence of trash cans: The location sensor obtains the location information of the trash can; The garbage collection module determines whether the garbage bin is installed in place based on the location information of the garbage bin sent by the in-place sensor. If not, it reports abnormal information to the remote information processing service provider platform.

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