Charging control method of cleaning equipment, controller, mobile robot and medium

Abstract

The invention discloses a charging control method of cleaning equipment, a controller, a mobile robot and a medium, and the method comprises the steps: determining the current power consumption level according to the working parameters of the cleaning equipment, and determining the area of an uncleaned area; determining a first target electric quantity according to the current power consumption level and the region area; if the residual electric quantity of the cleaning equipment is smaller than the first target electric quantity and larger than a preset electric quantity threshold value, a key area is determined in the non-cleaning area, and the cleaning equipment is controlled to adjust a cleaning path to preferentially clean the key area; if the residual electric quantity of the cleaning equipment is smaller than a preset electric quantity threshold value, determining the residual area of the key area which is not cleaned, and determining second target electric quantity according to the residual area and the current power consumption level; and controlling the cleaning equipment to return to the charging base for charging according to the second target electric quantity. In the embodiment of the invention, the key area can be cleaned preferentially under the condition that the electric quantity of the cleaning equipment is relatively low, and the charging amount can be adjusted according to actual requirements.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and in particular to a charging control method, controller, mobile robot and medium for a cleaning device. Background Technology

[0002] Robotic vacuum cleaners have become an essential cleaning tool in modern households, providing users with a convenient cleaning experience through autonomous navigation and cleaning functions. Currently, robotic vacuum cleaners on the market are typically equipped with various sensors for navigation, obstacle avoidance, and cleaning different types of floor surfaces, such as infrared sensors, ultrasonic sensors, and LiDAR. Regarding battery management, existing robotic vacuum cleaners generally employ a fixed charging strategy. When the robot's battery level drops to a predetermined level, it automatically returns to its charging dock to recharge until the battery reaches another predetermined level, at which point it resumes its previous cleaning task.

[0003] Areas where users frequently move around are more prone to getting dirty. If these areas are not cleaned promptly, dust, stains, and bacteria can accumulate, impacting the user experience. However, current charging strategies cannot adapt to dynamically changing cleaning needs, affecting the timeliness and efficiency of cleaning operations and ultimately reducing the user experience. Summary of the Invention

[0004] This application provides a charging control method, controller, mobile robot, and medium for cleaning equipment, which can prioritize cleaning key areas when the cleaning equipment has low battery power, thereby improving the user experience.

[0005] In a first aspect, embodiments of this application provide a charging control method for a cleaning device, the method comprising:

[0006] Determine the current power consumption level based on the operating parameters of the cleaning equipment, and determine the area of ​​the uncleaned area;

[0007] The first target power consumption is determined based on the current power consumption level and the area of ​​the uncleaned area;

[0008] If the remaining power of the cleaning equipment is less than the first target power but greater than the preset power threshold, a key area is identified in the uncleaned area, and the cleaning equipment is controlled to adjust the cleaning path to prioritize cleaning the key area.

[0009] If the remaining power of the cleaning equipment is less than the preset power threshold, the remaining area of ​​the key areas that have not been cleaned is determined, and a second target power is determined based on the remaining area and the current power consumption level.

[0010] The cleaning device is controlled to return to the charging dock and be charged according to the second target power level.

[0011] In some embodiments, determining the current power consumption level based on the operating parameters of the cleaning equipment includes:

[0012] Obtain the initial and current battery level of the cleaning device when it begins to perform the cleaning task;

[0013] The cleaning area that the cleaning equipment has completed cleaning before the current battery level is determined based on the operating parameters;

[0014] The current power consumption level is determined based on the initial power level, the current power level, and the cleaning area.

[0015] In some embodiments, determining the current power consumption level based on the operating parameters of the cleaning equipment includes:

[0016] The current gear of the cleaning equipment is determined based on the operating parameters, and the historical cleaning data of the cleaning equipment at the current gear is obtained.

[0017] The historical cleaning area and historical cleaning time are determined based on the historical cleaning data.

[0018] The current power consumption level is determined based on the historical cleaning area and the historical cleaning time.

[0019] In some embodiments, determining the area of ​​the uncleaned area includes:

[0020] Obtain the raster map generated by the cleaning equipment scanning the environment;

[0021] Based on a preset search algorithm, the raster map is subjected to connected component detection to obtain a connected component image, and the connected components in the connected component image are labeled with label values.

[0022] Determine the current position of the cleaning equipment in the grid map, and determine the location label value corresponding to the current position in the connected component image;

[0023] Traverse the connected component image, determine the label value that is consistent with the position label value, and determine the pixel corresponding to the label value to obtain the pixel set;

[0024] The area of ​​the uncleaned region is determined based on the number of pixels in the pixel set and the physical area corresponding to each pixel.

[0025] In some embodiments, the connected component detection of the raster map based on a preset search algorithm to obtain a connected component image includes:

[0026] Create a binary image corresponding to the grid map, wherein the grid positions of the binary image correspond to the grid positions of the grid map;

[0027] For each grid cell in the binary image, a target grid cell corresponding to the grid cell is determined in the grid map, and the grid state of the target grid cell is obtained. The grid state is used to characterize the cleanable state of the target grid cell.

[0028] Traverse the grids of the binary graph, mark the grids in the binary graph according to the grid state, and obtain the connected components;

[0029] The connected component image is obtained by labeling all pixels in the connected component using the search algorithm.

[0030] In some embodiments, the method further includes:

[0031] Receive editing instructions from the user;

[0032] The raster map is traversed according to the editing instructions to update the connected component image.

[0033] In some embodiments, the method further includes:

[0034] When a user's parameter adjustment instruction is received, determine the changes in the working parameters before and after receiving the parameter adjustment instruction;

[0035] Determine the power regulation coefficient based on the aforementioned changes;

[0036] The first target power level is updated according to the power adjustment coefficient, or the second target power level is updated according to the power adjustment coefficient.

[0037] In some embodiments, the operating parameters include the gear level corresponding to the operation of the cleaning equipment; determining the power adjustment coefficient based on the changes includes:

[0038] Determine the front and rear adjustment positions of the cleaning equipment;

[0039] The power adjustment coefficient is determined based on the relationship between the adjusted gear and the adjusted pre-gear.

[0040] Wherein, if the adjusted gear is lower than the original gear, the power adjustment coefficient is less than 1; if the adjusted gear is higher than the original gear, the power adjustment coefficient is greater than 1.

[0041] In some embodiments, after controlling the cleaning device to return to the charging dock and charge according to the second target power, the method further includes:

[0042] When the cleaning equipment reaches the second target charge level, the cleaning equipment is controlled to clean the uncleaned key areas.

[0043] When the cleaning equipment completes the cleaning task of the key areas that have not been cleaned, it determines the target area of ​​the remaining uncleaned areas, and determines the third target power consumption based on the current power consumption level and the target area;

[0044] The cleaning device is controlled to return to the charging dock and recharge according to the third target power level.

[0045] In a second aspect, embodiments of this application provide a controller including at least one processor and a memory for communicatively connecting to the at least one processor; the memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to perform the charging control method for the cleaning device as described in the first aspect.

[0046] Thirdly, embodiments of this application provide a mobile robot, including the controller of the second aspect.

[0047] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the charging control method for the cleaning device as described in the first aspect.

[0048] The charging control method, controller, mobile robot, and medium for cleaning equipment in this application embodiment have at least the following beneficial effects: First, the current power consumption level is determined based on the working parameters of the cleaning equipment, and the area of ​​the uncleaned area is determined. Then, the power required for the cleaning equipment to clean the area is determined based on the current power consumption level, i.e., the first target power. The remaining power of the cleaning equipment is compared with the first target power. If the remaining power is less than the first target power but greater than a preset power threshold, it indicates that the current power of the cleaning equipment cannot support the cleaning equipment to complete the cleaning task of the uncleaned area. There may be a situation where the cleaning equipment runs out of power halfway through cleaning. At this time, it is necessary to identify key areas in the uncleaned area and control the cleaning equipment accordingly. The cleaning equipment adjusts its cleaning path to prioritize cleaning key areas, ensuring timely cleaning of frequently used areas. When the remaining battery power is below a preset threshold, it indicates that the equipment has reached the set recharging threshold and needs to recharge. At this point, the remaining area of ​​the undisturbed key areas is determined, and a second target battery level is calculated based on the current power consumption. Finally, the equipment returns to its charging dock to recharge using this second target battery level. This allows for adjustments to the charging amount based on the actual needs of the remaining cleaning tasks, avoiding unnecessary long charging times. By optimizing the charging strategy while maintaining cleaning efficiency, the user experience is improved.

[0049] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description and the accompanying drawings. Attached Figure Description

[0050] Figure 1 This is a flowchart of a charging control method for a cleaning device provided in one embodiment of this application;

[0051] Figure 2 This is a flowchart provided in one embodiment of the present application for determining the current power consumption level based on the operating parameters of the cleaning equipment;

[0052] Figure 3 This is a flowchart of determining the current power consumption level based on the operating parameters of the cleaning equipment, provided in another embodiment of this application;

[0053] Figure 4 This is a flowchart illustrating the determination of the area of ​​an uncleaned region according to one embodiment of this application;

[0054] Figure 5 This is a flowchart of obtaining a connected component image provided in one embodiment of this application;

[0055] Figure 6 This is a flowchart illustrating the process of identifying key areas in an uncleaned area, as provided in one embodiment of this application.

[0056] Figure 7 This is a flowchart of a charging control method for a cleaning device provided in another embodiment of this application;

[0057] Figure 8 This is a flowchart of a charging control method for a cleaning device provided in another embodiment of this application;

[0058] Figure 9 This is a flowchart of determining the power regulation coefficient based on changes, provided in one embodiment of this application;

[0059] Figure 10 This is a flowchart of a charging control method for a cleaning device provided in another embodiment of this application;

[0060] Figure 11 This is a schematic diagram of a controller provided in one embodiment of this application. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various implementations. Simultaneously, the steps or actions described in the method description can be rearranged or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0062] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0063] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0064] Robotic vacuum cleaners have become an essential cleaning tool in modern households, providing users with a convenient cleaning experience through autonomous navigation and cleaning functions. Currently, robotic vacuum cleaners on the market are typically equipped with various sensors for navigation, obstacle avoidance, and cleaning different types of floor surfaces, such as infrared sensors, ultrasonic sensors, and LiDAR. Regarding battery management, existing robotic vacuum cleaners generally employ a fixed charging strategy. When the robot's battery level drops to a predetermined level, it automatically returns to its charging dock to recharge until the battery reaches another predetermined level, at which point it resumes its previous cleaning task.

[0065] Areas where users frequently move around are more prone to getting dirty. If these areas are not cleaned promptly, dust, stains, and bacteria can accumulate, impacting the user experience. However, current charging strategies cannot adapt to dynamically changing cleaning needs, affecting the timeliness and efficiency of cleaning operations and ultimately reducing the user experience.

[0066] Based on this, embodiments of this application provide a charging control method, controller, mobile robot, and medium for a cleaning device. First, the current power consumption level is determined based on the operating parameters of the cleaning device, and the area of ​​the uncleaned region is determined. Then, the power required for the cleaning device to clean the area is determined based on the current power consumption level, i.e., a first target power level. The remaining power of the cleaning device is compared with the first target power level. If the remaining power is less than the first target power level but greater than a preset power threshold, it indicates that the current power of the cleaning device cannot support the cleaning device to complete the cleaning task of the uncleaned area, and the cleaning device may run out of power midway through cleaning. In this case, it is necessary to identify key areas in the uncleaned area and control the cleaning... The cleaning equipment adjusts its cleaning path to prioritize cleaning key areas, ensuring timely cleaning of frequently used areas. When the remaining battery power of the cleaning equipment falls below a preset threshold, it indicates that the equipment has reached the set recharging threshold and needs to recharge. At this point, the remaining area of ​​the undisturbed key areas is determined, and a second target battery level is calculated based on the current power consumption to complete the cleaning of the remaining area. Finally, the cleaning equipment returns to the charging dock to recharge according to the second target battery level. This allows for adjustments to the charging amount based on the actual needs of the remaining cleaning tasks, avoiding unnecessary long charging times. This optimizes the charging strategy while maintaining cleaning efficiency, improving the user experience.

[0067] The following description, in conjunction with the accompanying drawings, explains the charging control method, controller, mobile robot, and medium of the cleaning equipment.

[0068] Reference Figure 1 As shown, Figure 1 This is a flowchart of a charging control method for a cleaning device according to an embodiment of this application. The charging control method includes, but is not limited to, steps S101 to S105.

[0069] Step S101: Determine the current power consumption level based on the working parameters of the cleaning equipment, and determine the area of ​​the uncleaned area.

[0070] In some embodiments, the operating parameters of a cleaning device are directly related to its efficiency and energy consumption. Different cleaning modes affect the power consumption rate of the cleaning device. Taking a robotic vacuum cleaner as an example, when the suction power of the robotic vacuum cleaner is high, its power increases, resulting in better cleaning performance, but also faster power consumption. During prolonged use, the robotic vacuum cleaner needs to be recharged promptly. Therefore, this embodiment first determines the current power consumption level of the cleaning device based on its operating parameters, enabling reasonable scheduling of the charging time and determination of the area of ​​uncleaned areas. This allows for the determination of the area of ​​uncleaned areas within the cleaning device's location, facilitating subsequent adjustments to the cleaning task based on the power consumption of the cleaning device.

[0071] It should be noted that the cleaning equipment in this application embodiment includes, but is not limited to, robotic vacuum cleaners, carpet cleaners, mopping robots, etc. The operating parameters of the cleaning equipment include, but are not limited to, suction power parameters, battery capacity, cleaning mode, filter status, running time, etc. This embodiment does not impose specific limitations.

[0072] Step S102: Determine the first target power consumption based on the current power consumption level and the area of ​​the uncleaned area.

[0073] In some embodiments, the existing charging mode of cleaning equipment directly charges the cleaning equipment to a fixed power level. The embodiments of this application can determine the power required to complete the cleaning of the uncleaned area, i.e., the first target power level, based on the current power consumption level of the cleaning equipment, so as to determine the required power level according to the actual needs of the cleaning task.

[0074] Step S103: If the remaining power of the cleaning equipment is less than the first target power but greater than the preset power threshold, identify key areas in the uncleaned areas and control the cleaning equipment to adjust the cleaning path to prioritize cleaning the key areas.

[0075] In some embodiments, the remaining power of the cleaning device is compared with the first target power required to complete the cleaning task of the area. If the remaining power of the cleaning device is less than the first target power but greater than a preset power threshold, it means that the current power of the cleaning device is insufficient to support the cleaning device to complete the cleaning of the entire area. However, the automatic recharging mechanism is not triggered, meaning that the cleaning device can continue the cleaning task. In order to improve the cleaning efficiency of the cleaning device and enhance the user experience, this embodiment of the application will identify key areas where the user frequently moves in the uncleaned area and control the cleaning device to adjust the cleaning path to prioritize cleaning key areas. This ensures that the areas where the user frequently moves can be cleaned in a timely manner. In the case of limited power, energy can be consumed where it is most needed, improving user satisfaction and product usability. At the same time, it can avoid cleaning interruption caused by the cleaning device running out of power.

[0076] It should be noted that the preset power threshold is the power level that triggers the cleaning device to recharge. When the power level of the cleaning device reaches the preset power threshold, a charging operation is required. The preset power threshold can be set by the user according to the working parameters of the cleaning device or the actual needs of the user. This embodiment does not impose any specific restrictions.

[0077] Step S104: If the remaining power of the cleaning equipment is less than the preset power threshold, determine the remaining area of ​​the key areas that have not been cleaned, and determine the second target power based on the remaining area and the current power consumption level.

[0078] In some embodiments, during the cleaning of key areas by the cleaning equipment, the cleaning may be interrupted due to low battery power, resulting in an excessively long cleaning cycle. To avoid this interruption due to insufficient battery power, this embodiment compares the remaining battery power of the cleaning equipment with a preset battery power threshold. If the remaining battery power is less than the preset battery power threshold, it indicates that the cleaning equipment needs to be recharged. At this time, the remaining area of ​​the undisturbed key areas is determined, and a second target battery power is determined based on the current power consumption level to complete the cleaning task of the remaining area. This ensures that the cleaning equipment has sufficient power after charging to complete the remaining cleaning task in the key areas.

[0079] Understandably, during the cleaning process of key areas, when the cleaning equipment completes the cleaning of these areas and its remaining battery power exceeds a preset threshold, it can directly update the uncleaned areas, determine the remaining uncleaned areas, identify the remaining target area after cleaning the key areas, and calculate the amount of electricity required to complete the cleaning of the remaining uncleaned areas based on the current power consumption level. The cleaning equipment is then controlled to return to the charging dock and recharge according to the required amount of electricity. This allows for adjustments to the charging amount based on the actual needs of the remaining cleaning tasks, avoiding unnecessary long charging times, thereby improving overall charging efficiency and enhancing the intelligence level of the cleaning equipment, enabling it to better adapt to different home environments and user needs.

[0080] Step S105: Control the cleaning equipment to return to the charging dock and charge it according to the second target power level.

[0081] In some embodiments, after determining the amount of electricity required for the cleaning device to complete the cleaning task of the remaining area, it is only necessary to control the cleaning device to return to the charging dock and charge it according to the second target power level. That is, the power of the cleaning device is charged to the second target power level, without having to charge it to a fixed power level, thereby reducing the user's waiting time and improving cleaning efficiency.

[0082] It should be noted that in existing cleaning equipment charging modes, when the remaining cleaning area is very small, the cleaning equipment still needs to be charged to a fixed power level, which causes unnecessary waiting time. The embodiments of this application can adjust the charging strategy according to the actual needs and dynamic changes of the remaining cleaning tasks of the cleaning equipment. It is not necessary to charge the cleaning equipment to a fixed power level, but only to charge it to the power required to complete the remaining tasks. This allows the cleaning equipment to complete charging faster and continue to perform cleaning tasks, thereby improving cleaning efficiency.

[0083] Reference Figure 2 As shown, Figure 2 This is a flowchart illustrating the determination of the current power consumption level based on the operating parameters of a cleaning device, according to one embodiment of this application. The method includes, but is not limited to, steps S201 to S203.

[0084] Step S201: Obtain the initial battery level and current battery level of the cleaning equipment when it starts performing the cleaning task.

[0085] Step S202: Determine the cleaning area that the cleaning equipment has already cleaned before the current battery level, based on the working parameters.

[0086] Step S203: Determine the current power consumption level based on the initial power level, current power level, and cleaning area.

[0087] In steps S201 to S203 of some embodiments, in determining the current power consumption level, firstly, the initial power level of the cleaning device when it starts performing the cleaning task is obtained, and the current power level of the cleaning device at the current moment is obtained. Then, based on the working parameters, the area that the cleaning device has completed cleaning before the current power level is determined, and the cleaning area of ​​the area that has been cleaned is determined. Finally, the difference between the initial power level and the current power level is determined, so that the power consumed by the cleaning device from the start of the cleaning task to the current moment can be obtained. Then, the power difference between the initial power level and the current power level is divided by the cleaning area to obtain the current power consumption level of the cleaning device. Thus, the power consumed by the cleaning device to complete the cleaning task of the cleaning area can be obtained, which facilitates the subsequent power management of the cleaning device, so that the user can optimize the use of the cleaning device based on the power consumption level of the cleaning device.

[0088] It should be noted that, in determining the cleaning area that the cleaning equipment has already cleaned before the current battery level based on the working parameters, the moving speed of the cleaning equipment, the power consumption of the cleaning equipment from the initial battery level to the current battery level, and the cleaning time from the start of the cleaning task to the current moment can be determined based on the working parameters. Then, the cleaning area that has been cleaned can be determined based on the moving speed, power consumption, and cleaning time.

[0089] Reference Figure 3 As shown, Figure 3 This is a flowchart illustrating the determination of the current power consumption level based on the operating parameters of the cleaning equipment, provided in another embodiment of this application. The method includes, but is not limited to, steps S204 to S206.

[0090] Step S204: Determine the current gear of the cleaning equipment based on the working parameters, and obtain the historical cleaning data of the cleaning equipment at the current gear.

[0091] Step S205: Determine the historical cleaning area and historical cleaning time based on historical cleaning data.

[0092] Step S206: Determine the current power consumption level based on the historical cleaning area and historical cleaning time.

[0093] In steps S204 to S206 of some embodiments, during the process of determining the current power consumption level, this embodiment of the application can also obtain the historical cleaning area and historical cleaning time from the cleaning records of historical cleaning data to determine the current power consumption level. Specifically, this embodiment of the application first determines the current gear of the cleaning equipment according to the working parameters, and obtains the historical cleaning data of the cleaning equipment under the current gear. The historical cleaning data includes at least one cleaning record under the current gear. Then, the historical cleaning area and historical cleaning time are determined according to the historical cleaning data, and the current power consumption level is determined according to the historical cleaning area and historical cleaning time, thereby obtaining the power required by the cleaning equipment to clean a unit area under the current gear.

[0094] It should be noted that changes in the home environment directly affect the cleaning efficiency and energy consumption of cleaning equipment. For example, moving furniture, adding new obstacles on the floor, or laying carpets or flooring can all alter the difficulty and cleaning path of the cleaning equipment. Therefore, this embodiment can obtain the cleaning records of the cleaning equipment within a preset period before the current moment based on historical cleaning data, and determine the average power consumption required to clean a unit area at the current setting. Using cleaning records from the period most recent to the current moment allows for a more accurate assessment of the cleaning equipment's performance in the current environment, and further enables a precise determination of the cleaning equipment's current power consumption level.

[0095] Specifically, the first target power can be calculated using the following formula.

[0096]

[0097] Among them, C o C1 represents the initial battery level, C1 represents the current battery level, and S1 represents the area that has been cleaned. Δ S2 represents the area of ​​the uncleaned area, which is a margin of power. This represents the current power consumption level of the cleaning equipment.

[0098] It's understandable that the reserve power in the above formula refers to a portion of the cleaning equipment's power that it holds back during cleaning tasks. This reserve power ensures that the cleaning equipment won't stop working due to insufficient power during the task. Typically, the cleaning equipment will return to its charging dock when the battery level drops to a certain point, and the reserve power ensures that the current task is completed before returning to the charging dock.

[0099] Reference Figure 4 As shown, Figure 4 This is a flowchart illustrating the determination of the area of ​​an uncleaned region according to an embodiment of this application. The method includes, but is not limited to, steps S301 to S305.

[0100] Step S301: Obtain the raster map generated by the cleaning equipment scanning the environment.

[0101] In some embodiments, during the process of determining the area of ​​the uncleaned area in the region where the cleaning equipment is located, some areas are not reachable by the cleaning equipment. Therefore, this embodiment of the application needs to determine the uncleaned areas that the cleaning equipment can reach. Specifically, the cleaning equipment will collect information about the surrounding environment during its movement, and at this time, multiple grid maps will be obtained, such as SLAM (Simultaneous Localization and Mapping) grid maps, cleaning mark grid maps, no-go zone grid maps, virtual wall grid maps, partition grid maps, etc. In the grid map, each grid can be regarded as a node in the graph. If two grids are physically connected, there is an edge between them. The process of determining the connected domain will be described in detail below, and will not be repeated here in this embodiment.

[0102] Specifically, in a SLAM grid map, a grid cell can be in one of three states: occupied, idle, or unknown. Occupied indicates the presence of an obstacle, idle indicates no obstacle, and unknown indicates an area not detected by the cleaning device's sensors. In a cleaning marker grid map, a grid cell can be in one of two states: cleaned or uncleaned. In a no-go zone grid map, a grid cell can be in one of two states: no-go zone or non-no-go zone. In a virtual wall grid map, a grid cell can be in one of two states: virtual wall or non-virtual wall. In a zone grid map, a grid cell can be in one of two states: working area or non-working area. A working area represents the area where the user has assigned a cleaning task, while a non-working area represents the area where the user has not assigned a cleaning task.

[0103] It is worth noting that the grid maps in this application embodiment include SLAM grid maps, cleaning mark grid maps, restricted area grid maps, virtual wall grid maps, and zone grid maps, and the size and resolution of the above maps are exactly the same.

[0104] It should be noted that the cleaning equipment in this embodiment is equipped with a camera and sensors, which can collect environmental information, such as ground information, wall information, etc., during the movement of the cleaning equipment.

[0105] In some embodiments, the type of grid map can be adjusted according to the function of the cleaning equipment. For example, if the cleaning equipment has a mopping function, a carpet map also needs to be considered. Specifically, the state of the grid in the carpet grid map can be either carpet or non-carpet. In the process of determining the area of ​​the uncleaned area, it is necessary to supplement the conditions of the carpet grid map, which will not be elaborated here.

[0106] Step S302: Based on a preset search algorithm, perform connected component detection on the raster map to obtain a connected component image.

[0107] It should be noted that the connected components in the connected component image are labeled with label values.

[0108] In some embodiments, users may set up virtual walls or restricted areas, which cleaning equipment may be unable to clean. After obtaining the grid map, this embodiment of the application needs to traverse each grid on the grid map using a search algorithm, that is, traverse each pixel in the binary image. When a foreground pixel in the binary image is not visited, a connected component labeling process begins. During the traversal, the search algorithm assigns a unique label value to each connected component, thereby obtaining a connected component image.

[0109] It should be noted that each pixel in a connected component image is labeled with the label of the connected component it belongs to. If the connected component image has multiple connected components, there will be multiple label values, which enables the distinction of connected components and facilitates the subsequent determination of the connected component where the cleaning device is located based on different label values.

[0110] Step S303: Determine the current location of the cleaning equipment in the grid map and determine the location label value corresponding to the current location in the connected component image.

[0111] In some embodiments, since the cleaning equipment moves in real time, it is necessary to determine the specific location of the cleaning equipment in the grid map. Specifically, the current location of the cleaning equipment in the grid map is determined, and the location label value corresponding to the current location is determined in the connected component image, so as to obtain the connected component where the cleaning equipment is currently located, which facilitates the subsequent determination of the uncleaned area of ​​the connected component where the cleaning equipment is located.

[0112] Step S304: Traverse the connected component image, determine the label value that is consistent with the position label value, and determine the pixel corresponding to the label value to obtain the pixel set.

[0113] In some embodiments, the entire connected component image is traversed to determine the label value that matches the location label value, thereby finding all pixels with the same label value and obtaining a pixel set.

[0114] Step S305: Determine the area of ​​the uncleaned region based on the number of pixels in the pixel set and the physical area corresponding to each pixel.

[0115] In some embodiments, after obtaining the pixel set, the number of all pixels in the pixel set is determined, i.e., the number of pixels, and then the physical area corresponding to each pixel is determined. Finally, the area of ​​the uncleaned area is obtained by multiplying the number of pixels by the physical area represented by each pixel, thereby determining the uncleaned area within the connected domain where the cleaning device is located, which facilitates subsequent adjustment of the cleaning task of the cleaning device.

[0116] It should be noted that in this embodiment of the application, the grid map and connected domain image are updated in real time as the cleaning equipment moves and cleans.

[0117] Reference Figure 5 As shown, Figure 5 This is a flowchart illustrating the process of obtaining a connected component image according to an embodiment of this application. The method includes, but is not limited to, steps S401 to S404.

[0118] Step S401: Create a binary image corresponding to the raster map.

[0119] It should be noted that the grid positions in the binary image correspond to the grid positions in the raster map.

[0120] In some embodiments, a binary map of the same size and resolution as the raster map is created, and by default, all pixels in the binary map are initialized to 0.

[0121] Step S402: For each grid cell in the binary map, determine the target grid cell corresponding to the grid cell in the grid map and obtain the grid state of the target grid cell.

[0122] It should be noted that the grid state is used to characterize the cleanability of the target grid.

[0123] In some embodiments, regardless of whether the cleaning equipment is reachable, the states of all grids in the binary map corresponding to the same grid position are traversed sequentially. That is, the target grid corresponding to the grid is determined in the grid map, and the grid state of the target grid is obtained. The grid state is used to characterize whether the grid can be cleaned, that is, whether the grid is occupied, whether it has been cleaned, whether it is a virtual wall area or a restricted area, etc.

[0124] Step S403: Traverse the grids of the binary graph, mark the grids in the binary graph according to the grid state, and obtain the connected components.

[0125] In some embodiments, the grids of the binary image are traversed by a search algorithm, and the grids in the binary image are marked according to their grid states. Specifically, when the grid state meets the following conditions: the grid state in the SLAM grid map is idle, the grid state in the sweep marker grid map is not swept, the grid state in the restricted area grid map is not a restricted area, the grid state in the virtual wall grid map is not a virtual wall, and the grid state in the partition grid map is a working area, the grid state of the binary image is marked as 1. Otherwise, the initial value of the grid remains 0 until all the grids of the binary image have been traversed to obtain the connected components. In this embodiment, there may be one or more connected components.

[0126] Step S404: All pixels in the connected component are labeled using a search algorithm to obtain the connected component image.

[0127] In some embodiments, when the foreground pixels of the binary image are not visited, a connected component labeling process is initiated. During the traversal, the search algorithm assigns a unique label value to each connected component to label all pixels in that connected component, so that each pixel is labeled with the label value of the connected component to which it belongs, thus obtaining a connected component image.

[0128] It is worth noting that the search algorithm in the embodiments of this application can be either a depth-first search (DFS) algorithm or a breadth-first search (BFS) algorithm.

[0129] Reference Figure 6 As shown, Figure 6 This is a flowchart illustrating the process of identifying key areas in an uncleaned area, according to one embodiment of this application. The method includes, but is not limited to, steps S501 to S503.

[0130] Step S501: Monitor the location information of the human body through the cleaning equipment, mark the location corresponding to the location information on the grid map, and record the duration for which the human body occupies the location corresponding to the location information.

[0131] In some embodiments, by monitoring users' actual activities, cleaning equipment can prioritize cleaning the most critical areas, thereby completing more effective cleaning in the same or shorter time. Specifically, the cleaning equipment monitors the location information of a person and marks the corresponding location on a grid map, recording the duration the person occupies that location, facilitating subsequent identification of areas where people frequently stay or are active.

[0132] It should be noted that the cleaning equipment's camera continuously captures image data and uses computer vision algorithms for human detection and tracking. The detected human location information is stored in the cleaning equipment's internal memory or a cloud database for subsequent analysis and evaluation.

[0133] Step S502: Calculate the marking frequency of the location corresponding to the location information and determine the cumulative duration of the human body occupying the location corresponding to the location information.

[0134] In some embodiments, the marking frequency of the location corresponding to the location information is counted, that is, the number of times the location corresponding to the location information is marked within a fixed period of time, and the cumulative time the human body occupies the location corresponding to the location information is determined, that is, the cumulative time the human body stays at the location corresponding to the location information is determined. This allows us to understand the human activity patterns and trends, which is convenient for subsequent improvements to the design and algorithms of the cleaning equipment, making it more intelligent and adaptable to user needs.

[0135] Step S503: When the marking frequency meets the preset frequency and / or the cumulative duration is greater than the preset duration, the area corresponding to the location information is designated as the key area.

[0136] In some embodiments, if a person stays in a certain place for a long time or frequently passes through a certain place, it indicates that this location is a hotspot area for human activity. Specifically, when the marking frequency meets a preset frequency and / or the cumulative duration is greater than a preset duration, it indicates that the area corresponding to the location information is an area where the user frequently goes. The area corresponding to the location information is designated as a key area, realizing intelligent judgment of key cleaning areas. This facilitates subsequent optimization of the cleaning strategy of the cleaning equipment, improves cleaning efficiency, ensures that these areas remain clean, and increases user satisfaction with the cleaning effect.

[0137] It should be noted that the preset frequency and preset duration in this embodiment can be set according to the user's needs. For example, the preset frequency can be set to the same location being marked three times within five minutes, four times within ten minutes, etc., and the preset duration can be the cumulative stay time of the person reaching twenty minutes, thirty minutes, fifty minutes, etc. This embodiment does not impose specific limitations.

[0138] In some embodiments, during the process of determining the remaining area of ​​the key areas that have not been cleaned, this application embodiment determines the key areas and non-key areas in the grid map through steps S501 to S503. When the grid map status in the SLAM grid map is idle, the grid map status in the cleaning mark grid map is not cleaned, the grid map status in the restricted area grid map is not restricted area, the grid map status in the virtual wall grid map is not virtual wall, and the grid map status in the partition grid map is a working area, and the grid is in a key area, then the grid status of the binary map is marked as 1, that is, steps S303 to S305 are repeated to determine the remaining area of ​​the key areas that the cleaning equipment has not cleaned.

[0139] Reference Figure 7 As shown, Figure 7 This is a flowchart of a charging control method for a cleaning device provided in another embodiment of this application. The charging control method includes, but is not limited to, steps S601 to S602.

[0140] Step S601: Receive the user's editing instructions.

[0141] Step S602: Traverse the raster map according to the editing instructions to update the connected component image.

[0142] In some embodiments, during steps S601 to S602, the user may edit virtual walls or no-go zones. In this case, it is necessary to redetermine the uncleaned area of ​​the connected domain where the cleaning device is located. Specifically, the user's editing of the virtual walls or no-go zones is determined according to the editing instructions. For example, deleting virtual walls, expanding the no-go zone area, shrinking the no-go zone area, adding virtual walls or no-go zones, etc. Then, the grids in the adjusted grid map are retraced through the search algorithm to update the connected domain, which facilitates the subsequent re-estimation of the power required to complete the remaining cleaning tasks.

[0143] It should be noted that, in this embodiment of the application, after traversing the grids in the adjusted grid map through the search algorithm, steps S303 to S305 can be repeated to redetermine the uncleaned area and avoid the situation of untimely information updates.

[0144] Reference Figure 8 As shown, Figure 8 This is a flowchart of a charging control method for a cleaning device provided in another embodiment of this application. The charging control method includes, but is not limited to, steps S701 to S703.

[0145] Step S701: When a parameter adjustment instruction from the user is received, determine the changes in the working parameters before and after receiving the parameter adjustment instruction.

[0146] Step S702: Determine the power regulation coefficient based on the changes.

[0147] Step S703: Update the first target power level according to the power level adjustment coefficient, or update the second target power level according to the power level adjustment coefficient.

[0148] In steps S701 to S703 of some embodiments, the power required by the cleaning equipment varies depending on its operating mode, and the user may adjust the operating parameters during operation, such as changing the cleaning mode, cleaning level, cleaning intensity, etc. When a user's parameter adjustment instruction is received, the changes in the operating parameters before and after receiving the instruction are determined, thereby identifying which parameters of the cleaning equipment have changed. Based on these changes, a power adjustment coefficient is determined. Finally, the first target power is updated based on the power adjustment coefficient, or the second target power is updated based on the power adjustment coefficient. This allows the charging strategy of the cleaning equipment to be adjusted according to different task power requirements, improving adaptability to changes in user cleaning needs. It also avoids overcharging and discharging, helping to extend battery life and reduce maintenance costs and the frequency of battery replacement.

[0149] Reference Figure 9 As shown, Figure 9 This is a flowchart illustrating the determination of the power regulation coefficient based on changes, provided in one embodiment of this application. The method includes, but is not limited to, steps S801 to S802.

[0150] It should be noted that the working parameters include the corresponding gears when the cleaning equipment is running. Different gears of the cleaning equipment correspond to different cleaning intensities. Among them, the gears include, but are not limited to, standard gear, strong gear, gentle gear, and super strong gear, etc. This embodiment does not impose specific limitations.

[0151] Step S801: Determine the front and rear adjustment positions of the cleaning equipment.

[0152] Step S802: Determine the power adjustment coefficient based on the relationship between the adjusted rear gear and the adjusted front gear.

[0153] It should be noted that if the adjusted gear is lower than the original gear, the power adjustment coefficient is less than 1; if the adjusted gear is higher than the original gear, the power adjustment coefficient is greater than 1.

[0154] In steps S801 to S802 of some embodiments, during the process of determining the cleaning system, the pre-adjustment and post-adjustment gears of the cleaning equipment are first determined. Then, the pre-adjustment and post-adjustment gears are compared to determine the relationship between the pre-adjustment and post-adjustment gears, i.e., whether the cleaning equipment is increasing or decreasing its gear. The power adjustment coefficient is determined based on the relationship between the gears, so that different power adjustment coefficients can be set according to the energy consumption of different gears. Specifically, if the post-adjustment gear is lower than the pre-adjustment gear, it means that the user has adjusted the high gear to the low gear, and the power adjustment coefficient is less than 1. If the post-adjustment gear is higher than the pre-adjustment gear, it means that the user has adjusted the low gear to the high gear, and the power adjustment coefficient is greater than 1, which facilitates the subsequent determination of different power requirements based on different gear changes.

[0155] It is understandable that when the user adjusts the super strong setting to the strong setting, the power adjustment coefficient can be 0.95; when the user adjusts the super strong setting to the standard setting, the power adjustment coefficient can be 0.95; when the user adjusts the gentle setting to the standard setting, the power adjustment coefficient can be 1.05; and when the user adjusts the gentle setting to the strong setting, the power adjustment coefficient can be 1.1. This embodiment does not impose specific restrictions on the adjustment of the setting and the determination of the power adjustment coefficient.

[0156] Specifically, if the user adjusts the operating parameters of the cleaning equipment, a power adjustment coefficient needs to be added to the formula. The specific formula is as follows:

[0157]

[0158] Among them, C o C1 represents the initial battery level, C1 represents the current battery level, and S1 represents the area that has been cleaned. Δ S2 represents the margin of power, S2 represents the area of ​​the uncleaned area, and k represents the power adjustment coefficient.

[0159] Considering the upper limit threshold C min and lower limit threshold C max The final required power C object It can be represented as follows:

[0160]

[0161] Reference Figure 10 As shown, Figure 10 This is a flowchart of a charging control method for a cleaning device provided in another embodiment of this application. The method includes, but is not limited to, steps S901 to S903.

[0162] It should be noted that steps S901 to S903 occur after the cleaning equipment is controlled to return to the charging dock and be charged according to the second target power.

[0163] Step S901: When the charging power of the cleaning equipment reaches the second target power, control the cleaning equipment to clean the key areas that have not been cleaned.

[0164] Step S902: When the cleaning equipment completes the cleaning task of the key areas that have not been cleaned, the target area of ​​the remaining uncleaned area is determined, and the third target power consumption is determined based on the current power consumption level and the target area.

[0165] Step S903: Control the cleaning equipment to return to the charging dock and charge it according to the third target power level.

[0166] In steps S901 to S903 of some embodiments, after controlling the cleaning device to return to the charging dock and charge according to the second target power, when the charging power of the cleaning device reaches the second target power, it indicates that the current power of the cleaning device can support the cleaning device to complete the cleaning of the remaining key areas. At this time, the cleaning device is controlled to clean the uncleaned key areas. When the cleaning device completes the cleaning task of the uncleaned key areas, the uncleaned areas are updated to obtain the remaining uncleaned areas. The target area of ​​the remaining uncleaned areas is determined, and the power required to complete the cleaning task of the remaining uncleaned areas is determined according to the current power consumption level. That is, the third target power required to clean the target area is determined. Finally, the cleaning device is controlled to return to the charging dock and charge according to the third target power. This can adjust the charging amount according to the actual needs of the remaining cleaning tasks, avoid unnecessary long-term charging, thereby improving the overall charging efficiency and enhancing the intelligence level of the cleaning device, enabling it to better adapt to different home environments and user needs.

[0167] like Figure 11 As shown, Figure 11 This is a schematic diagram of a controller 1000 provided in one embodiment of this application.

[0168] The controller 1000 in this embodiment includes one or more processors 1001 and a memory 1002. Figure 11 The example uses a processor 1001 and a memory 1002.

[0169] Processor 1001 and memory 1002 can be connected via a bus or other means. Figure 11 Taking the example of a connection between China and Israel via a bus.

[0170] Memory 1002, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory 1002 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 1002 may optionally include memory 1002 remotely located relative to processor 1001, and these remote memories can be connected to controller 1000 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0171] Those skilled in the art will understand that Figure 11 The device structure shown does not constitute a limitation on the controller 1000 and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0172] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0173] The non-transient software program and instructions required to implement the charging control method of the cleaning device in the above embodiments are stored in memory and executed by the processor, thus executing the above embodiments.

[0174] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network nodes. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0175] In some embodiments, this application also provides a mobile robot, including a camera and such as Figure 11 The controller shown in this application embodiment has the control device of the above embodiment, and the control device of the above embodiment can execute the charging control method of the above embodiment. Therefore, the specific implementation method and technical effect of the mobile robot of this application embodiment can refer to the specific implementation method and technical effect of the charging control method of any of the above embodiments. This embodiment will not be repeated here.

[0176] Furthermore, one embodiment of this application provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or controller 1000.

[0177] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0178] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0179] In the several embodiments provided in this application, it should be understood that the disclosed systems, instruments, and methods can be implemented in other ways. For example, the instrument embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between instruments or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0180] It should also be understood that the various implementation methods provided in this application can be combined arbitrarily to achieve different technical effects.

[0181] The above is a detailed description of the preferred embodiments of this application. However, this application is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A charging control method of a cleaning device, characterized by, The method comprises: determining a current power consumption level according to a working parameter of the cleaning device, and determining an area of the unswept area; determining a first target power according to the current power consumption level and the area of the unswept area; if the remaining power of the cleaning device is less than the first target power and greater than a preset power threshold, determining a key area in the unswept area, and controlling the cleaning device to adjust a sweeping path to preferentially sweep the key area; if the remaining power of the cleaning device is less than the preset power threshold, determining a remaining area of the unswept key area, and determining a second target power according to the remaining area and the current power consumption level; controlling the cleaning device to return to a charging base to charge according to the second target power.

2. The charge control method according to claim 1, characterized by, The method comprises: obtaining an initial power and a current power of the cleaning device when starting to perform a sweeping task; determining a swept area that has been swept by the cleaning device before the current power according to the working parameter; determining a current power consumption level according to the initial power, the current power and the swept area.

3. The charge control method according to claim 1, characterized by, The method comprises: determining a current gear of the cleaning device according to the working parameter, and obtaining historical sweeping data of the cleaning device in the current gear; determining a historical swept area and a historical sweeping time according to the historical sweeping data; determining a current power consumption level according to the historical swept area and the historical sweeping time.

4. The charge control method according to claim 1, characterized by, The method comprises: obtaining a grid map generated by the cleaning device scanning an environment; performing connected domain detection on the grid map based on a preset search algorithm to obtain a connected domain image, and connected domains in the connected domain image are marked with label values; determining a current position of the cleaning device in the grid map, and determining a position label value corresponding to the current position in the connected domain image; traversing the connected domain image, determining a label value consistent with the position label value, and determining pixels corresponding to the label value to obtain a pixel set; determining an area of the unswept area according to a number of pixels in the pixel set and a physical area corresponding to each pixel.

5. The charge control method according to claim 4, characterized by, The method comprises: creating a binary image corresponding to the grid map, wherein a grid position of the binary image corresponds to a grid position of the grid map; for each grid in the binary image, determining a target grid corresponding to the grid in the grid map, and obtaining a grid state of the target grid, the grid state being used to represent a sweepable state of the target grid; traversing the grids of the binary image, marking the grids in the binary image according to the grid state to obtain a connected domain; marking all pixels in the connected domain by the search algorithm to obtain a connected domain image.

6. The charge control method according to claim 4, characterized by, The method comprises: The cleaning device monitors position information of the human body, marks a position corresponding to the position information on the grid map, and records a time length during which the human body occupies the position corresponding to the position information; The method further comprises: receiving an editing instruction of a user; 7. The charge control method according to claim 4, characterized by, traversing the grid map according to the editing instruction to update the connected domain image. The method further comprises: receiving a parameter adjustment instruction of a user, determining a change of the working parameter before and after the parameter adjustment instruction is received; 8. The charge control method according to claim 1, characterized by, determining an electric quantity adjustment coefficient according to the change; updating the first target electric quantity according to the electric quantity adjustment coefficient, or updating the second target electric quantity according to the electric quantity adjustment coefficient. The working parameter includes a corresponding gear when the cleaning device is running; and the determination of the electric quantity adjustment coefficient according to the change comprises: determining a gear before adjustment and a gear after adjustment of the cleaning device; 9. The charge control method according to claim 8, characterized by, determining an electric quantity adjustment coefficient according to a size relationship between the gear after adjustment and the gear before adjustment; wherein the electric quantity adjustment coefficient is less than 1 if the gear after adjustment is lower than the gear before adjustment, and the electric quantity adjustment coefficient is greater than 1 if the gear after adjustment is higher than the gear before adjustment. After the cleaning device returns to the charging base to charge according to the second target electric quantity, the method further comprises: controlling the cleaning device to clean the unswept key area when a charging electric quantity of the cleaning device reaches the second target electric quantity; 10. The charge control method according to claim 1, characterized by, determining a target area of a remaining unswept area and determining a third target electric quantity according to a current electric consumption level and the target area when the cleaning device completes the cleaning task of the unswept key area; and controlling the cleaning device to return to the charging base to charge according to the third target electric quantity. The controller comprises at least one processor and a memory connected in communication with the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the charging control method of the cleaning device. The controller comprises a camera and the controller as claimed in claim 11.

11. A controller characterized by comprising: The computer readable storage medium stores computer executable instructions for causing a computer to perform the charging control method of the cleaning device as claimed in any one of claims 1 to 10.

12. A mobile robot, characterized by ​ 13. A computer-readable storage medium, characterized in that, ​

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