Cleaning robot system working method and cleaning robot system

Abstract

The invention provides a cleaning robot system working method and a cleaning robot system, and belongs to the technical field of cleaning robots. The cleaning robot system comprises a cleaning robot and a base station, and the method comprises the steps that in the process that the cleaning robot executes a cleaning task and under the condition that a cleaning component of the cleaning robot needs to be cleaned, the cleaning robot is controlled to return to the base station, and the base station cleans the cleaning component; and in the process that the base station cleans the cleaning part, the cleaning robot is charged in a quick charging mode. According to the invention, the unlimited endurance in the cleaning task process is realized, the endurance capability can be improved without increasing the battery capacity, the battery cost is greatly reduced, and the occupied space of the whole machine is small. And the cleaning robot can be quickly charged within the backwashing time without needing to wait for charging additionally, so that the working efficiency of the cleaning robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a cleaning robot system working method, a cleaning robot system, a machine-readable storage medium and an electronic device. Background Art

[0002] With the development of artificial intelligence technology, cleaning robots have emerged. Cleaning robots are a type of smart home appliance that can automatically perform cleaning tasks with a certain degree of artificial intelligence. Cleaning robots have built-in rechargeable batteries. Before performing cleaning tasks, the rechargeable batteries need to be charged to ensure that the cleaning robots have enough power to drive and perform cleaning tasks.

[0003] The battery life of cleaning robots has always troubled engineers, especially for some cleaning robots equipped with functional modules that need to be driven by motors, such as cleaning robots equipped with multi-functional robotic arms. Since each joint of the multi-functional robotic arm requires a motor, the power consumption is very high, which seriously affects the battery life.

[0004] In order to solve the battery life problem, the existing method is to directly increase the size of the battery. However, if the battery is directly increased, the cost of the battery will increase significantly. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a cleaning robot system working method, a cleaning robot system, a machine-readable storage medium and an electronic device, wherein the cleaning robot system working method realizes unlimited endurance during the cleaning task, and the endurance can be improved without increasing the battery capacity, which greatly reduces the battery cost. Fast charging during the backwashing time does not require additional waiting for charging, which improves the operating efficiency of the cleaning robot.

[0006] In order to achieve the above-mentioned object, the first aspect of the present application provides a working method of a cleaning robot system, wherein the cleaning robot system comprises a cleaning robot and a base station, and the method comprises:

[0007] When the cleaning robot is performing a cleaning task and a cleaning component of the cleaning robot needs to be cleaned, controlling the cleaning robot to return to the base station so that the base station cleans the cleaning component;

[0008] During the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode.

[0009] In the embodiment of the present application, it also includes:

[0010] After the base station finishes cleaning the cleaning component, the cleaning robot is controlled to stop charging and leave the base station to continue to perform the cleaning task.

[0011] In the embodiment of the present application, it also includes:

[0012] During the process of the cleaning robot performing the cleaning task, the cleaning robot is charged only when the base station cleans the cleaning component, and the cleaning robot is controlled to continuously perform the cleaning task during the rest of the time until the cleaning task is completed.

[0013] In an embodiment of the present application, the time for charging the cleaning robot in the fast charging mode is less than or equal to the time for cleaning the cleaning component.

[0014] In an embodiment of the present application, the base station includes a charging power supply, and the charging power supply is provided with a fast charging mode;

[0015] The method of charging the cleaning robot in a fast charging mode includes:

[0016] The cleaning robot is charged by the charging power supply in the fast charging mode within a preset time range.

[0017] In an embodiment of the present application, the preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is the time for the base station to clean the cleaning component.

[0018] In an embodiment of the present application, the method further includes:

[0019] After the cleaning robot completes the cleaning task, the cleaning robot is charged in a conventional charging mode.

[0020] In the embodiment of the present application, in the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, including:

[0021] Acquire the amount of electricity to be replenished, and determine replenishment parameters according to the amount of electricity to be replenished;

[0022] During the process of cleaning the cleaning component by the base station, the cleaning robot is charged in a fast charging mode based on the supplementary parameters.

[0023] In an embodiment of the present application, the supplementary parameters include supplementary current and / or supplementary time.

[0024] In the embodiment of the present application, obtaining the amount of electricity to be replenished includes:

[0025] The amount of power to be replenished is determined based on the current remaining workload and the current power of the cleaning robot.

[0026] In the embodiment of the present application, determining the amount of power to be replenished according to the current remaining workload and the current power of the cleaning robot includes:

[0027] Determining whether the current power of the cleaning robot is insufficient according to the current remaining workload;

[0028] When it is determined that the current power of the cleaning robot is insufficient, the power to be replenished is determined according to the current power of the cleaning robot and the current remaining workload.

[0029] In the embodiment of the present application, the cleaning component is a rag and / or a cleaning brush.

[0030] In the embodiment of the present application, in the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, including:

[0031] When the base station starts to clean the cleaning component, the cleaning robot starts to be charged in a fast charging mode;

[0032] When the base station finishes cleaning the cleaning component, the fast charging mode is stopped to charge the cleaning robot.

[0033] In the embodiment of the present application, in the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, including:

[0034] During the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, and it is determined in real time whether the battery of the cleaning robot is fully charged. When it is determined that the battery is fully charged, the fast charging mode is stopped for charging the cleaning robot.

[0035] The second aspect of the present application is a cleaning robot system, comprising a cleaning robot, a base station and a control unit, the control unit being configured to execute the above method, the cleaning robot comprising at least a battery, a cleaning component and a driving unit, the battery being used to power the driving unit, the base station being used to charge the battery of the cleaning robot and to clean the cleaning component of the cleaning robot.

[0036] In an embodiment of the present application, the cleaning robot further includes an active obstacle surmounting device, and the active obstacle surmounting device is used to assist the cleaning robot to cross obstacles of a specific height.

[0037] In an embodiment of the present application, the active obstacle surmounting device comprises at least a driving motor and a supporting member, the driving motor is used to drive the supporting member to support the cleaning robot to a preset height, and the driving motor is powered by the battery.

[0038] In an embodiment of the present application, the cleaning robot further includes a robotic arm device, and the robotic arm device is used to assist in cleaning.

[0039] In the embodiment of the present application, the robotic arm device at least includes a joint drive motor, and the joint drive motor is used to drive each joint of the robotic arm device, and the joint drive motor is powered by the battery.

[0040] A third aspect of the present application provides an electronic device, the electronic device comprising:

[0041] at least one processor;

[0042] a memory connected to the at least one processor;

[0043] The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned cleaning robot system working method by executing the instructions stored in the memory.

[0044] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute the above-mentioned cleaning robot system working method.

[0045] Through the above technical solution, when the cleaning robot performs the cleaning task and the cleaning parts of the cleaning robot need to be cleaned, the cleaning robot is controlled to return to the base station, and the cleaning parts are cleaned by the base station; when the cleaning parts are cleaned by the base station, the cleaning robot is charged in a fast charging mode. Taking advantage of the fact that the cleaning parts need to return to the base station for cleaning regularly, during the backwashing time, a high-power fast charging technology is used to quickly replenish the power consumed in the previous work, so as to achieve unlimited endurance during the cleaning task, thereby greatly improving the endurance of the cleaning robot. Even when the replenished energy is equal to the energy consumed before, the battery capacity can be greatly reduced, as long as the power that can complete a backwashing cycle can meet the unlimited endurance characteristics. The endurance can be improved without increasing the battery capacity, which greatly reduces the battery cost and occupies less space for the whole machine. Fast charging during the backwashing time does not require additional waiting for charging, which improves the operating efficiency of the cleaning robot. Since the base station only charges the battery with high power for a short time and works intermittently, the power cost can be greatly reduced. At the same time, fast charging during the backwashing time will not cause too much heat accumulation and make heat dissipation easier.

[0046] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0048] Figure 1 A flowchart of a working method of a cleaning robot system according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0049] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0050] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0053] The present embodiment provides a working method for a cleaning robot system, which utilizes the short period of time when the cleaning robot is backwashing to quickly recharge the cleaning robot. After the cleaning is completed, the cleaning robot continues to work, which greatly reduces the cost, makes heat dissipation easier, and does not require waiting for charging.

[0054] It should be noted that the backwash mentioned in this embodiment refers to the cleaning robot returning to the base station to clean the cleaning parts.

[0055] Please see Figure 1 , Figure 1 The flowchart of a cleaning robot system working method according to an embodiment of the present application is schematically shown. This embodiment provides a cleaning robot system working method, the cleaning robot includes a cleaning robot and a base station, and the method includes the following steps:

[0056] Step 210: When the cleaning robot is performing a cleaning task and a cleaning component of the cleaning robot needs to be cleaned, control the cleaning robot to return to the base station, and the base station cleans the cleaning component;

[0057] In this embodiment, the cleaning robot needs to return to the base station regularly to clean the cleaning parts during the execution of the cleaning task. The above-mentioned cleaning parts may be rags, cleaning brushes and other parts that need to be returned to the base station regularly for processing. The battery on the cleaning robot may be a lithium-ion battery or a new type of battery, such as a lithium-ion supercapacitor or other battery with a long cycle life, which is not limited in this embodiment. The battery can provide electrical energy for the cleaning robot to perform cleaning operations. The base station is used to charge the battery of the cleaning robot and clean the cleaning parts of the cleaning robot. During the execution of the cleaning task by the cleaning robot, after a certain period of time or after cleaning a certain area, the cleaning parts need to be cleaned, and the cleaning robot can be controlled to return to the base station. The above-mentioned control may be controlled by the cleaning robot itself to return to the base station, or it may be controlled by the base station, or it may be controlled by a third party, etc., which is not limited in this embodiment.

[0058] Step 220: While the base station is cleaning the cleaning component, the cleaning robot is charged in a fast charging mode.

[0059] In this embodiment, the fast charging mode refers to a charging method in which the base station can replenish a large amount of power to the battery in a short period of time, thereby realizing high-power fast charging. Common technical modes include high-voltage fast charging, high-current fast charging, and multi-charging protocol fast charging. In specific implementation, the charging power can be adjusted by the base station or the cleaning robot to realize the fast charging mode.

[0060] For example: when the cleaning robot cleans 15 square meters at a time in standard gear and consumes 10% of the power, it uses the backwash time of about 2 minutes to quickly recharge 5%. This is equivalent to cleaning 15 square meters at a time and consuming only 5% of the power. The original 100% power can theoretically clean 10 cycles of 15 square meters, or 150 square meters. Using the backwash fast charging solution, it can clean 20 cycles of 15 square meters, or 300 square meters, and the battery life is directly doubled.

[0061] In some embodiments, the method further includes: after the base station completes cleaning of the cleaning component, controlling the cleaning robot to stop charging and leave the base station to continue performing the cleaning task.

[0062] In this embodiment, when the base station finishes cleaning the cleaning components, it stops charging the cleaning robot, and the cleaning robot continues to perform the cleaning task. Taking advantage of the fact that the cleaning robot needs to return to the base station for cleaning regularly, the battery is charged during a short period of time when it returns to the base station for cleaning. After the cleaning is completed, the cleaning robot continues to work without waiting for charging, thereby achieving fast charging when returning to the base station for cleaning. When performing the cleaning task, the cleaning robot will return to the base station for cleaning many times, so fast charging when returning to the base station for cleaning many times can be achieved.

[0063] In some embodiments, it also includes: during the process of the cleaning robot performing the cleaning task, the cleaning robot is charged only when the base station cleans the cleaning component, and the cleaning robot is controlled to continue to perform the cleaning task during the rest of the time until the cleaning task is completed.

[0064] In this embodiment, the cleaning robot is charged only when cleaning the cleaning parts during the cleaning task. The rest of the time it continues to perform the cleaning task and does not return to the base station for charging, thereby reducing the dedicated charging time during the cleaning task and improving the cleaning efficiency.

[0065] In some embodiments, the time for charging the cleaning robot using the fast charging mode is less than or equal to the time for cleaning the cleaning component.

[0066] In this embodiment, the cleaning robot can be charged in fast charging mode throughout the entire time range of cleaning the cleaning components, or it can be charged in fast charging mode within the time range of cleaning the cleaning components. The specific setting can be based on actual needs to suit different scenarios.

[0067] In some embodiments, the cleaning member may be a rag and / or a cleaning brush.

[0068] In this embodiment, the cleaning robot can be charged in fast charging mode while the base station is cleaning the rag, while the base station is cleaning the cleaning brush, or while the base station is cleaning the rag and the cleaning brush, thereby satisfying a variety of cleaning robot usage scenarios.

[0069] In some embodiments, the base station includes a charging power supply, and the charging power supply is provided with a fast charging mode; accordingly, charging the cleaning robot by adopting the fast charging mode includes:

[0070] The cleaning robot is charged by the charging power supply in the fast charging mode within a preset time range.

[0071] In this embodiment, the above-mentioned preset time range can be determined in advance based on experience, or it can be determined based on the time each time the base station cleans the cleaning components. When the cleaning robot returns to the base station to clean the cleaning components, the battery will be connected to the charging power supply in the base station. The technical standard of the charging power supply can be able to withstand fast charging within a preset time range. When fast charging, the charging power supply can fast charge the battery within the preset time range, so there is no need to use a power supply for continuous high-power charging, thereby reducing the power cost. At the same time, by fast charging during the backwashing time, there will not be too much heat accumulation, heat dissipation is easier, and the temperature is relatively controllable, so the cost of the charging power supply can be greatly reduced.

[0072] The preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is the time for the base station to clean the cleaning component.

[0073] In this embodiment, the preset cleaning time can be determined based on experience. For example, if the cleaning time is 2 minutes, the preset time range can be set to 2 minutes or within 2 minutes.

[0074] It should be noted that, in specific implementation, a charging power source that can withstand rapid charging within a preset time range may be selected.

[0075] In some embodiments, during the process of cleaning the cleaning component by the base station, charging the cleaning robot in a fast charging mode comprises the following steps:

[0076] First, the amount of electricity to be replenished is obtained, and replenishment parameters are determined according to the amount of electricity to be replenished;

[0077] In this embodiment, before charging, the cleaning robot may first obtain the amount of power to be replenished, which refers to the amount of power required to complete the remaining amount of work. The amount of power to be replenished may be calculated by an algorithm in the cleaning robot. After obtaining the amount of power to be replenished, the cleaning robot may send it to the base station, which may be executed before the cleaning robot returns to the base station, or after the cleaning robot returns to the base station and before the battery is charged in a fast charging mode.

[0078] In some embodiments, obtaining the amount of power to be replenished includes: determining the amount of power to be replenished based on a current remaining workload and a current power of the cleaning robot.

[0079] In this embodiment, the cleaning robot can determine the current remaining workload and the current power according to the current workload, and then estimate the amount of power required according to the power consumption during the cleaning process to obtain the amount of power to be replenished. By accurately determining the amount of power to be replenished based on the current remaining workload and the current power of the cleaning robot, the replenishment parameters can be more accurately calculated.

[0080] In some embodiments, determining the amount of power to be replenished based on the current remaining workload and the current power of the cleaning robot includes:

[0081] The first step is to determine whether the current power of the cleaning robot is insufficient according to the current remaining workload;

[0082] In the second step, when it is determined that the current power of the cleaning robot is insufficient, the power to be replenished is determined according to the current power of the cleaning robot and the current remaining workload.

[0083] In this embodiment, the amount of power required can be determined based on the current remaining workload, and compared with the current power to determine whether the current power is insufficient. If the current power is insufficient, the amount of power to be replenished is further determined. If not, there is no need to determine the amount of power to be replenished.

[0084] By judging whether the current power is insufficient, the power to be replenished is calculated only when it is insufficient, thus improving the calculation efficiency.

[0085] The above-mentioned supplementary parameters refer to the current or charging time at which the amount of electricity can be supplemented, that is, the supplementary parameters include supplementary current and / or supplementary time. The above-mentioned calculation of the supplementary time can be calculated by the amount of electricity to be supplemented and the charging amount per unit time, and the above-mentioned supplementary current can be calculated by the amount of electricity to be supplemented and the charging voltage. The supplementary current and the supplementary time can be calculated at the same time, or the supplementary current or the supplementary time can be calculated, which can be set specifically according to actual needs. The above-mentioned process of calculating the supplementary current and the supplementary time belongs to the prior art and will not be repeated here.

[0086] Then, during the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode based on the supplementary parameters.

[0087] In this embodiment, after calculating the supplementary parameters, the base station can quickly charge the cleaning robot according to the supplementary parameters during the cleaning process of the cleaning parts. For example, when the supplementary parameter is the supplementary current, the battery can be quickly charged according to the supplementary current.

[0088] By obtaining the amount of electricity to be replenished and determining the replenishment parameters based on the amount of electricity to be replenished, and then in the process of cleaning the cleaning parts by the base station, the cleaning robot is charged in a fast charging mode based on the replenishment parameters. During charging, the charging strategy can be adjusted according to the current power status of the battery to achieve fast charging, thereby protecting the cycle life of the battery.

[0089] It should be noted that if the energy to be replenished is equal to the energy previously consumed, the battery capacity can be greatly reduced. As long as the power can complete a backwash cycle, the unlimited battery life feature can be met.

[0090] In some embodiments, during the process of cleaning the cleaning component by the base station, charging the cleaning robot in a fast charging mode includes:

[0091] First, when the base station starts to clean the cleaning component, the cleaning robot starts to be charged in a fast charging mode;

[0092] Then, when the base station finishes cleaning the cleaning component, the fast charging mode is stopped for charging the cleaning robot.

[0093] In this embodiment, when the base station starts to clean the cleaning component, the fast charging mode is started to charge the cleaning robot; when the base station finishes cleaning the cleaning component, the fast charging mode is ended to charge the cleaning robot. The cleaning robot is charged during the entire cleaning process, so that the cleaning robot is charged more fully.

[0094] In some embodiments, during the process of cleaning the cleaning component by the base station, charging the cleaning robot in a fast charging mode includes:

[0095] During the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, and it is determined in real time whether the battery of the cleaning robot is fully charged. When it is determined that the battery is fully charged, the fast charging mode is stopped for charging the cleaning robot.

[0096] In this embodiment, the above-mentioned real-time determination of whether the battery is fully charged may be to obtain the battery power in real time and determine whether the battery capacity has been reached. If the battery capacity has been reached, it means that the battery is fully charged, otherwise, it means that the battery is not fully charged. If the battery is fully charged, the fast charging mode is terminated, otherwise, the fast charging mode is continued.

[0097] By charging the cleaning robot in fast charging mode during the cleaning process of the cleaning parts and judging in real time whether the battery is fully charged, the fast charging mode can be stopped when it is determined that the battery is fully charged, thereby avoiding overcharging of the cleaning robot battery and prolonging the battery life.

[0098] In the above implementation process, when the cleaning robot performs the cleaning task and the cleaning parts of the cleaning robot need to be cleaned, the cleaning robot is controlled to return to the base station, and the cleaning parts are cleaned by the base station; when the cleaning parts are cleaned by the base station, the cleaning robot is charged in a fast charging mode. Taking advantage of the fact that the cleaning parts need to return to the base station for cleaning regularly, high-power fast charging technology is used during the backwashing time to quickly replenish the power consumed in the previous work, so as to achieve unlimited endurance during the cleaning task, thereby greatly improving the endurance of the cleaning robot. Even when the replenished energy is equal to the energy consumed before, the battery capacity can be greatly reduced, as long as the power that can complete a backwashing cycle can meet the unlimited endurance characteristics. The endurance can be improved without increasing the battery capacity, which greatly reduces the battery cost and occupies less space for the whole machine. Fast charging during the backwashing time does not require additional waiting for charging, which improves the operating efficiency of the cleaning robot. Since the base station only charges the battery at high power for a short time and works intermittently, the power cost can be greatly reduced. At the same time, fast charging during the backwashing time will not cause too much heat accumulation and make heat dissipation easier.

[0099] In some embodiments, the method further comprises:

[0100] After the cleaning robot completes the cleaning task, the battery is charged in a conventional charging mode.

[0101] In this embodiment, the conventional charging mode refers to charging the battery in a relatively standard and gentle charging manner, and common charging modes include constant current charging, constant voltage charging, and constant current and constant voltage combined charging.

[0102] By using the fast charging mode to charge the battery while the base station is cleaning the cleaning parts, and using the conventional charging mode to charge the battery after the cleaning robot completes the cleaning work, the fast charging operation will be performed only during the backwashing interval of the cleaning robot. After the work is completed, the conventional charging mode is used. Combining the fast charging mode with the conventional charging mode can maintain the battery cycle life.

[0103] This embodiment provides a cleaning robot system, including a cleaning robot, a base station and a control unit, the control unit being configured to execute the above method, the cleaning robot at least including a battery, a cleaning component and a driving unit, the battery being used to power the driving unit, the base station being used to charge the battery of the cleaning robot and to clean the cleaning component of the cleaning robot.

[0104] In this embodiment, the control unit can be set at a base station or on a cleaning robot, which is not limited in this embodiment. The control unit uses the characteristic that the cleaning components need to return to the base station for cleaning regularly. During the backwashing time, high-power fast charging technology is used to quickly replenish the power consumed in the previous work, so as to achieve unlimited endurance during the cleaning task, thereby greatly improving the endurance of the cleaning robot. Even when the replenished energy is equal to the energy consumed before, the battery capacity can be greatly reduced. As long as the power can complete a backwashing cycle, the unlimited endurance characteristic can be met. The endurance can be improved without increasing the battery capacity, which greatly reduces the battery cost and occupies less space for the whole machine. Fast charging during the backwashing time, without the need to wait for charging, improves the operating efficiency of the cleaning robot. Since the base station only charges the battery at high power for a short time and works intermittently, the power cost can be greatly reduced. At the same time, fast charging during the backwashing time will not accumulate too much heat and dissipate heat more easily.

[0105] In some embodiments, the cleaning robot further includes an active obstacle surmounting device, and the active obstacle surmounting device is used to assist the cleaning robot to cross obstacles of a specific height.

[0106] In this embodiment, the active obstacle crossing device can be a functional module that needs motor drive, such as wheel-foot obstacle crossing, chassis lifting, etc. By setting the active obstacle crossing device, the cleaning robot can actively cross obstacles during the cleaning task, improve the cleaning coverage rate, and reduce the frequency of manual intervention.

[0107] In some embodiments, the active obstacle surmounting device comprises at least a driving motor and a supporting member, the driving motor is used to drive the supporting member to support the cleaning robot to a preset height, and the driving motor is powered by the battery.

[0108] In this embodiment, the above-mentioned preset height can be set based on experience, and the drive motor and the support member can be connected by a connecting rod mechanism or a lead screw. When the laser radar in the cleaning robot scans an obstacle, such as a threshold / carpet edge, the obstacle crossing mode is triggered, the cleaning motor is paused, and the battery power is concentrated on the drive motor. The drive motor drives the lead screw to rotate, pushes the support member to extend, and lifts the robot chassis to a preset height (for example, 20mm, 40mm, 50mm, 60mm, 80mm, etc.). The drive wheel accelerates in the lifted state and crosses the obstacle with the thrust of the support member. After crossing the obstacle, the support member shrinks to the storage position and resumes the normal cleaning mode.

[0109] Since the active obstacle crossing device has an additional drive motor, the cleaning robot will consume power faster and reduce its battery life. The above-mentioned cleaning robot system working method can support the robot equipped with an active obstacle crossing device to work continuously for a long time, so as to improve the obstacle crossing ability and cleaning efficiency of the cleaning robot.

[0110] In some embodiments, the cleaning robot further comprises a robotic arm device, and the robotic arm device is used to assist in cleaning.

[0111] In this embodiment, the robotic arm device can be a multifunctional robotic arm, for example, a 6-DOF robotic arm, which can be used to simulate manual wiping actions and cover vertical surfaces such as walls and glass. By setting up the robotic arm device, the cleaning robot can expand the spatial cleaning capability during the cleaning task, further improve the cleaning coverage rate, and reduce the frequency of manual intervention.

[0112] In some embodiments, the robotic arm device at least includes a joint drive motor, and the joint drive motor is used to drive each joint of the robotic arm device, and the joint drive motor is powered by the battery.

[0113] In this embodiment, since each joint of the robotic arm device requires a motor, the power consumption is very large, which seriously affects the battery life. The above-mentioned cleaning robot system working method is used for charging to support the cleaning components, drive unit and robotic arm device of the cleaning robot for a long time and continuously work, thereby improving the cleaning efficiency of garbage collection.

[0114] In some embodiments, the cleaning robot may further include a chassis lifting device, which may include at least a drive motor and a chassis support mechanism, wherein the drive motor is used to drive the chassis support mechanism to lift the body of the cleaning robot to a preset height relative to the drive wheels, so as to facilitate the cleaning robot to cross obstacles, and the drive motor is powered by the battery. Since the chassis lifting device has an additional drive motor, the cleaning robot will consume more power faster and reduce its battery life. The above-mentioned cleaning robot system working method can support a robot equipped with an active obstacle crossing device to work continuously for a long time, so as to improve the obstacle crossing ability and cleaning efficiency of the cleaning robot.

[0115] Of course, in some embodiments, the cleaning robot may also include one or more of a mechanical arm device, an active obstacle crossing device, and a chassis lifting device. The working method and system provided by the above embodiments can support the cleaning work of the cleaning robot and the power required by each device for a long time, and can effectively improve the endurance of the cleaning robot.

[0116] An embodiment of the present invention provides a machine-readable storage medium on which a program is stored. When the program is executed by a processor, the working method of the cleaning robot system is implemented.

[0117] An embodiment of the present invention provides a processor, which is used to run a program, wherein the cleaning robot system working method is executed when the program is running.

[0118] An embodiment of the present application provides an electronic device, which includes: at least one processor; a memory connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned cleaning robot system working method by executing the instructions stored in the memory, and the cleaning robot system includes a cleaning robot and a base station, and the processor implements the following steps when executing the instructions:

[0119] When the cleaning robot is performing a cleaning task and a cleaning component of the cleaning robot needs to be cleaned, controlling the cleaning robot to return to the base station so that the base station cleans the cleaning component;

[0120] During the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode.

[0121] In one embodiment, it further includes:

[0122] After the base station finishes cleaning the cleaning component, the cleaning robot is controlled to stop charging and leave the base station to continue to perform the cleaning task.

[0123] In one embodiment, it further includes:

[0124] During the process of the cleaning robot performing the cleaning task, the cleaning robot is charged only when the base station cleans the cleaning component, and the cleaning robot is controlled to continuously perform the cleaning task during the rest of the time until the cleaning task is completed.

[0125] In one embodiment, the time for charging the cleaning robot in the fast charging mode is less than or equal to the time for cleaning the cleaning component.

[0126] In one embodiment, the base station includes a charging power supply, and the charging power supply is provided with a fast charging mode;

[0127] The method of charging the cleaning robot in a fast charging mode includes:

[0128] The cleaning robot is charged by the charging power supply in the fast charging mode within a preset time range.

[0129] In one embodiment, the preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is the time for the base station to clean the cleaning component.

[0130] In one embodiment, it further includes:

[0131] After the cleaning robot completes the cleaning task, the cleaning robot is charged in a conventional charging mode.

[0132] In one embodiment, during the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, including:

[0133] Acquire the amount of electricity to be replenished, and determine replenishment parameters according to the amount of electricity to be replenished;

[0134] During the process of cleaning the cleaning component by the base station, the cleaning robot is charged in a fast charging mode based on the supplementary parameters.

[0135] In one embodiment, the supplementary parameters include a supplementary current and / or a supplementary time.

[0136] In one embodiment, obtaining the amount of electricity to be replenished includes:

[0137] The amount of power to be replenished is determined based on the current remaining workload and the current power of the cleaning robot.

[0138] In one embodiment, determining the amount of power to be replenished according to the current remaining workload and the current power of the cleaning robot includes:

[0139] Determining whether the current power of the cleaning robot is insufficient according to the current remaining workload;

[0140] When it is determined that the current power of the cleaning robot is insufficient, the power to be replenished is determined according to the current power of the cleaning robot and the current remaining workload.

[0141] In one embodiment, the cleaning component is a rag and / or a cleaning brush.

[0142] In one embodiment, during the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, including:

[0143] When the base station starts to clean the cleaning component, the cleaning robot starts to be charged in a fast charging mode;

[0144] When the base station finishes cleaning the cleaning component, the fast charging mode is stopped to charge the cleaning robot.

[0145] In one embodiment, during the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, including:

[0146] During the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, and it is determined in real time whether the battery of the cleaning robot is fully charged. When it is determined that the battery is fully charged, the fast charging mode is stopped for charging the cleaning robot.

[0147] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0148] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0149] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0150] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0151] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0152] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0153] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0154] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0155] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A cleaning robot system working method, characterized in that: The cleaning robot system comprises a cleaning robot and a base station, and the method comprises: When the cleaning robot is performing a cleaning task and a cleaning component of the cleaning robot needs to be cleaned, controlling the cleaning robot to return to the base station so that the base station cleans the cleaning component; During the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode.

2. The cleaning robot system working method according to claim 1, characterized in that: Also includes: After the base station finishes cleaning the cleaning component, the cleaning robot is controlled to stop charging and leave the base station to continue to perform the cleaning task.

3. The cleaning robot system working method according to claim 1 or 2, characterized in that: During the process of the cleaning robot performing the cleaning task, the cleaning robot is charged only when the base station cleans the cleaning component, and the cleaning robot is controlled to continuously perform the cleaning task during the rest of the time until the cleaning task is completed.

4. The cleaning robot system working method according to claim 1, characterized in that: The time for charging the cleaning robot in the fast charging mode is less than or equal to the time for cleaning the cleaning component.

5. The cleaning robot system working method according to claim 1, characterized in that: The base station includes a charging power supply, and the charging power supply is provided with a fast charging mode; The method of charging the cleaning robot in a fast charging mode includes: The cleaning robot is charged by the charging power supply in the fast charging mode within a preset time range.

6. The cleaning robot system working method according to claim 5, characterized in that: The preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is the time for the base station to clean the cleaning component.

7. The cleaning robot system working method according to claim 1, characterized in that: The method further comprises: After the cleaning robot completes the cleaning task, the cleaning robot is charged in a conventional charging mode.

8. The cleaning robot system working method according to claim 1, characterized in that: The method of charging the cleaning robot in a fast charging mode during the cleaning of the cleaning component by the base station includes: Acquire the amount of electricity to be replenished, and determine replenishment parameters according to the amount of electricity to be replenished; During the process of cleaning the cleaning component by the base station, the cleaning robot is charged in a fast charging mode based on the supplementary parameters.

9. The cleaning robot system working method according to claim 8, characterized in that: The supplementation parameters include a supplementation current and / or a supplementation time.

10. The cleaning robot system working method according to claim 8, characterized in that: The obtaining of the amount of electricity to be replenished includes: The amount of power to be replenished is determined based on the current remaining workload and the current power of the cleaning robot.

11. The cleaning robot system working method according to claim 10, characterized in that: The step of determining the amount of power to be replenished according to the current remaining workload and the current power of the cleaning robot includes: Determining whether the current power of the cleaning robot is insufficient according to the current remaining workload; When it is determined that the current power of the cleaning robot is insufficient, the power to be replenished is determined according to the current power of the cleaning robot and the current remaining workload.

12. The cleaning robot system working method according to claim 1, characterized in that: The cleaning component is a rag and / or a cleaning brush.

13. The cleaning robot system working method according to claim 1, characterized in that: The method of charging the cleaning robot in a fast charging mode during the cleaning of the cleaning component by the base station includes: When the base station starts to clean the cleaning component, the cleaning robot starts to be charged in a fast charging mode; When the base station finishes cleaning the cleaning component, the fast charging mode is stopped to charge the cleaning robot.

14. The cleaning robot system working method according to claim 1, characterized in that: The method of charging the cleaning robot in a fast charging mode during the cleaning of the cleaning component by the base station includes: During the process of the base station cleaning the cleaning component, the cleaning robot is charged in a fast charging mode, and it is determined in real time whether the battery of the cleaning robot is fully charged. When it is determined that the battery is fully charged, the fast charging mode is stopped for charging the cleaning robot.

15. A cleaning robot system, characterized in that: It comprises a cleaning robot, a base station and a control unit, the control unit being configured to execute the method as described in any one of claims 1 to 14, the cleaning robot comprising at least a battery, a cleaning component and a driving unit, the battery being used to power the driving unit, the base station being used to charge the battery of the cleaning robot and to clean the cleaning component of the cleaning robot.

16. The cleaning robot system according to claim 15, characterized in that: The cleaning robot further comprises an active obstacle surmounting device, and the active obstacle surmounting device is used to assist the cleaning robot to cross obstacles of a specific height.

17. The cleaning robot system according to claim 16, characterized in that: The active obstacle surmounting device at least comprises a driving motor and a supporting member, wherein the driving motor is used to drive the supporting member to support the cleaning robot to a preset height, and the driving motor is powered by the battery.

18. The cleaning robot system according to claim 15, characterized in that: The cleaning robot also includes a mechanical arm device, and the mechanical arm device is used for assisting cleaning.

19. The cleaning robot system according to claim 18, characterized in that: The robotic arm device at least comprises a joint drive motor, and the joint drive motor is used to drive each joint of the robotic arm device, and the joint drive motor is powered by the battery.

20. The cleaning robot system according to claim 15, characterized in that: The cleaning robot also includes a chassis lifting device, which includes at least a drive motor and a chassis support mechanism. The drive motor is used to drive the chassis support mechanism to lift the body of the cleaning robot to a preset height relative to the drive wheel, and the drive motor is powered by the battery.

21. An electronic device, characterized in that: The electronic device includes: at least one processor; a memory connected to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the cleaning robot system working method described in any one of claims 1 to 14 by executing the instructions stored in the memory.

22. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the cleaning robot system working method according to any one of claims 1 to 14.

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