Cleaning robot control method and device, cleaning robot and storage medium

Abstract

The invention is suitable for the field of intelligent cleaning equipment, and provides a control method and device of a cleaning robot, the cleaning robot and a storage medium, and the method comprises the steps: obtaining the workload data of the cleaning robot; based on the workload data, adjusting the remaining capacity of a battery in the cleaning robot from a current available range to a target available range; and the cleaning robot is controlled to execute cleaning operation within the target available range of the battery remaining capacity. According to the scheme, capacity attenuation caused by frequent full charging and discharging of the battery in the cleaning robot can be improved, and the health state of the battery is maintained.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent cleaning equipment, and particularly relates to a control method and device of a cleaning robot, the cleaning robot and a storage medium. BACKGROUND

[0002] Cleaning robots are increasingly common, and currently the battery charging strategy of most cleaning robots is to charge to 100% state of charge after completing a cleaning task, and then continue to wait for the next cleaning instruction from the user. Although this battery charging strategy can ensure the normal use of the cleaning robot, the battery in the cleaning robot will also be frequently fully charged and fully discharged, which, in addition to increasing the risk of overcharging the battery, can also cause the battery to be falsely charged in a high-temperature environment, accelerate the performance degradation of the battery, and is not conducive to maintaining the health status of the battery. SUMMARY

[0003] Embodiments of the present application provide a control method and device of a cleaning robot, the cleaning robot and a storage medium to solve the problem that the battery in the cleaning robot is frequently fully charged and fully discharged, which is not conducive to maintaining the health status of the battery.

[0004] A first aspect of embodiments of the present application provides a control method of a cleaning robot, comprising: obtaining work amount data of the cleaning robot; adjusting the remaining battery capacity in the cleaning robot from a current available range to a target available range based on the work amount data; controlling the cleaning robot to perform cleaning work in the target available range of the remaining battery capacity.

[0005] Optionally, the obtaining of the work amount data of the cleaning robot comprises: after the cleaning robot constructs a cleaning map, counting the total work amount of the cleaning robot in the cleaning map for setting a cleaning frequency; based on the total work amount for setting the cleaning frequency, calculating the single work amount of the cleaning robot as the work amount data.

[0006] Optionally, the counting of the total work amount of the cleaning robot in the cleaning map for setting a cleaning frequency comprises: counting the total cleaning area of the cleaning robot in the cleaning map for setting a cleaning frequency, and / or counting the total cleaning time of the cleaning robot in the cleaning map for setting a cleaning frequency; the calculation of the single work amount of the cleaning robot as the work amount data based on the total work amount for setting the cleaning frequency comprises: The total cleaning area of the set number of cleaning times is used to calculate a single cleaning area of the cleaning robot as the workload data, and / or the total cleaning time of the set number of cleaning times is used to calculate a single cleaning time of the cleaning robot as the workload data.

[0007] Optionally, the adjusting of the remaining battery power of the cleaning robot from the current available range to the target available range based on the workload data comprises: determining a target workload interval in which the workload data falls among a plurality of set workload intervals; determining a target available range of the remaining battery power adapted for the target workload interval based on a mapping relationship between different workload intervals and available ranges of the remaining battery power; adjusting the remaining battery power of the cleaning robot from the current available range to the target available range.

[0008] Optionally, the adjusting of the remaining battery power of the cleaning robot from the current available range to the target available range comprises: adjusting the remaining battery power of the cleaning robot from a preconfigured fixed available range to the target available range in a case where a cumulative usage amount of the cleaning robot does not exceed a threshold.

[0009] Optionally, the adjusting of the remaining battery power of the cleaning robot from the current available range to the target available range comprises: adjusting the remaining battery power of the cleaning robot from an available range of the remaining battery power in a case where a cumulative usage amount of the cleaning robot does not exceed a threshold to the target available range in a case where the cumulative usage amount of the cleaning robot exceeds the threshold.

[0010] Optionally, the method further comprises: dividing the remaining battery power of the cleaning robot into a plurality of available ranges with different interval sizes; determining battery endurance amounts of the available ranges; establishing a mapping relationship between the available ranges and different workload intervals based on the battery endurance amounts.

[0011] A second aspect of the embodiments of the present application provides a control device of a cleaning robot, comprising: an acquisition module configured to acquire workload data of the cleaning robot; an adjustment module configured to adjust a remaining battery power of the cleaning robot from a current available range to a target available range based on the workload data; The control module is configured to control the cleaning robot to perform a cleaning task within a target available range of the remaining battery power.

[0012] Optionally, the obtaining module is specifically configured to: After the cleaning robot constructs a cleaning map, count a total workload of the cleaning robot in setting a cleaning number in the cleaning map; Based on the total workload of the cleaning number, calculate a single workload of the cleaning robot as the workload data.

[0013] Optionally, the obtaining module is specifically configured to: Count a total cleaning area of the cleaning robot in setting a cleaning number in the cleaning map, and / or count a total cleaning duration of the cleaning robot in setting a cleaning number in the cleaning map; Based on the total cleaning area of the cleaning number, calculate a single cleaning area of the cleaning robot as the workload data, and / or based on the total cleaning duration of the cleaning number, calculate a single cleaning duration of the cleaning robot as the workload data.

[0014] Optionally, the adjusting module is specifically configured to: Determine a target workload interval in which the workload data falls in a plurality of set workload intervals; Based on a mapping relationship between different workload intervals and available ranges of the remaining battery power, determine a target available range of the remaining battery power adapted to the target workload interval; Adjust the remaining battery power in the cleaning robot from a current available range to the target available range.

[0015] Optionally, the adjusting module is specifically configured to: In a case where a cumulative usage amount of the cleaning robot does not exceed a threshold, adjust the remaining battery power in the cleaning robot from a preconfigured fixed available range to the target available range.

[0016] Optionally, the adjusting module is specifically configured to: In a case where the cumulative usage amount of the cleaning robot exceeds a threshold, adjust the remaining battery power in the cleaning robot from an available range of the remaining battery power in the case where the cumulative usage amount does not exceed a threshold to the target available range.

[0017] Optionally, the apparatus further comprises: The relationship construction module is configured to: Divide the battery remaining capacity of the cleaning robot into a plurality of available ranges with different interval sizes; determine the battery endurance of each available range; Based on the battery endurance, establish a mapping relationship between each available range and different work load intervals.

[0018] The third aspect of the embodiments of the present application provides a cleaning robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to the first aspect when executing the computer program.

[0019] The fourth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method according to the first aspect.

[0020] The fifth aspect of the embodiments of the present application provides a computer program product, which, when executed on a control device of a cleaning robot, causes the control device of the cleaning robot to perform the steps of the method according to the first aspect.

[0021] The beneficial effects of the present application are: The present application provides a way to dynamically adjust the available range of the battery remaining capacity of the cleaning robot, which can effectively dynamically adjust the available range of the battery SOC according to the work load data of the cleaning robot, so that the battery in the cleaning robot is not limited to a fixed SOC available range. While considering the endurance of the cleaning robot, the available range of the battery remaining capacity is more suitable for supporting the normal use of the cleaning robot, effectively improving the capacity decay caused by the full charging and discharging of the battery in the cleaning robot, and maintaining the health status of the battery. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a flow of a control method of a cleaning robot provided by the embodiments of the present application Figure 1 ; Figure 2 is a flow of a control method of a cleaning robot provided by the embodiments of the present application Figure 2 ; Figure 3A flow of a control method of a cleaning robot provided by an embodiment of the present application Figure 3 ; Figure 4 A flow of a control method of a cleaning robot provided by an embodiment of the present application Figure 4 ; Figure 5 A flow of a control method of a cleaning robot provided by an embodiment of the present application Figure 5 ; Figure 6 A module schematic diagram of a control device of a cleaning robot provided by an embodiment of the present application Figure 7 A structural diagram of a cleaning robot provided by an embodiment of the present application DETAILED DESCRIPTION

[0024] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular sequences of acts, techniques, etc., in order to provide a thorough understanding of the present embodiments. However, it will be apparent to those skilled in the art that the present embodiments can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present embodiments.

[0025] It is to be understood that the terminology "includes", "has", "holds", "contains" and / or "comprising", "comprised of", "comprising", "comprises" when used in this specification and in the following claims, specifies the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0026] It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0027] It will be further understood that the terms "and", "or", as used herein, refer to a "and / or", unless otherwise indicated by context. In other words, the conjunction "and" is used to indicate the inclusion of one or more of the conjuncted items, and the conjunction "or" is used to indicate the inclusion of at least one of the conjuncted items, unless otherwise indicated by context.

[0028] As used in the specification and the appended claims, the term "if' can be interpreted as meaning "when" or "upon" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determining" or "in response to determining" or "upon detecting [described condition or event]" or "in response to detecting [described condition or event]" depending on the context.

[0029] In a particular implementation, the apparatuses / devices described in the embodiments of the present application include, but are not limited to, scrubbers, mops, and the like having touch-sensitive surfaces (e.g., touch screen displays and / or touchpads).

[0030] Various application programs that can be executed on the apparatuses / devices can use at least one common physical user interface device, such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the apparatuses / devices can be adjusted and / or changed between application programs and / or within a respective application program. In this way, the common physical architecture (e.g., touch-sensitive surface) of the apparatuses / devices can support a variety of application programs with intuitive and transparent user interfaces for the user.

[0031] It should be understood that the size of the serial number of each step in the embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0032] The cleaning robot is a cleaning device with self-moving function, for example, a scrubber, a mop, a sweeper, etc.

[0033] SOC (State of Charge, state of charge) refers to the remaining available power in the current battery, which accounts for a percentage of the total capacity when fully charged. The SOC calculation method of the cleaning robot battery generally has the following methods: ampere-hour integration method, open circuit voltage method, Kalman filter method, neural network method.

[0034] In some ways, the available SOC range of the cleaning robot battery is fixedly configured before leaving the factory, and is usually set to about 20-100% when leaving the factory.

[0035] This range can ensure the normal use of the cleaning robot, but this use method will make the battery in the cleaning robot often fully charged, and there will be a risk of overcharging for the damaged battery protection board, and it may also cause the problem of false charging for the battery in a high temperature environment, which is not conducive to the maintenance of the SOH (State of Health, state of health) of the battery.

[0036] And as the service life of the cleaning robot increases, the capacity of the battery also decreases, especially for some batteries with inconsistent internal cells, the endurance of the cleaning robot will naturally decrease, and the battery SOC strategy set at the factory is no longer suitable for the old battery that has been working for two or three years, which may cause the cleaning robot to appear in a coma on the way back to the base station, affecting the user's experience.

[0037] The application provides a way to dynamically adjust the available range of the battery remaining capacity of the cleaning robot, which can customize the available SOC range of the battery according to the cleaning workload of the cleaning robot, dynamically adjust the SOC strategy, effectively maintain the battery performance, and maintain the battery health status of the cleaning robot.

[0038] On this basis, the application embodiment provides a control method of a cleaning robot, the execution subject of which can be a control device outside the cleaning robot, such as a mobile phone, a watch, a tablet computer, a personal computer, and other electronic devices capable of communicating with the cleaning robot, or a control device inside the cleaning robot.

[0039] Optionally, the control device can be, but is not limited to: a micro control unit integrated on the mainboard of the cleaning robot; or, a control program running on the internal computing module of the cleaning robot; or, a dedicated system on a chip; or, an embedded system including a processor (such as a CPU) and a memory (such as a ROM and a RAM).

[0040] Optionally, the control device can establish a connection with the following modules and interact with them through the internal bus or communication interface of the cleaning robot: 1. Perception system: used to obtain the state of the cleaning robot itself and the surrounding environment information, such as a camera, a laser radar, an ultrasonic sensor, an inertial measurement unit, a gyroscope, a GPS module, etc.

[0041] 2. Decision system: used to process perception information and make path planning, task scheduling and behavior decision, such as a path planner, a task management module, etc.

[0042] 3. Drive system: used to drive the cleaning robot to perform mechanical movement, such as a motor driver, a steering servo controller, an actuator, etc.

[0043] The specific steps of the control method of the cleaning robot are realized by the control device of the cleaning robot calling its computing resources and executing the instructions stored in its memory, and by coordinating the perception system, the decision system and the drive system, the autonomous control of the cleaning robot is completed.

[0044] In order to illustrate the technical solutions described in the present application, specific embodiments are described below.

[0045] Referring to Figure 1 , Figure 1 is a flow of a control method of a cleaning robot provided by an embodiment of the present application Figure 1 . As shown in Figure 1 , a control method of a cleaning robot includes the following steps: Step 101, obtaining work amount data of the cleaning robot.

[0046] The work amount data includes, for example, a cleaning area, a cleaning time length, a cleaning path length, etc.

[0047] The work amount data can be obtained as a single work amount, a total work amount of a set number of times, a total work amount in a set period, etc.

[0048] The work amount data is used to represent the size of the cleaning work amount to be performed by the cleaning robot.

[0049] The work amount data can be determined based on historical cleaning work amount of the cleaning robot, or determined by real-time statistics of the current cleaning work amount of the cleaning robot.

[0050] The work amount data can be determined based on the work characteristics of the cleaning robot in the cleaning area, such as a user's house, a playground, etc., and the work characteristics include, for example, the area of the cleaning area, the dirtiness of the cleaning area, the cleaning mode of the cleaning robot, the cleaning time length, etc.

[0051] Step 102, based on the work amount data, adjusting the remaining battery capacity in the cleaning robot from a current available range to a target available range.

[0052] The cleaning robot can adaptively adjust the remaining battery capacity based on the work amount data.

[0053] The current available range of the remaining battery capacity can be a fixed available range preconfigured in the cleaning robot, such as a fixed available range preconfigured when the cleaning robot is shipped.

[0054] Alternatively, the current available range of the remaining battery capacity can be a target available range of the remaining battery capacity to which the cleaning robot is adjusted last time.

[0055] The control device of the cleaning robot can adjust the remaining battery capacity from the current available range to the target available range based on the size of the cleaning work amount to be performed by the cleaning robot, so as to adjust the available range of the remaining battery capacity based on the dynamically obtained work amount data of the cleaning robot.

[0056] Optionally, the size of the target available range of the battery remaining capacity positively correlates with the size of the workload data, and the greater the obtained workload data value, the greater the target available range that can be adjusted to.

[0057] In which, the greater the target available range can be the greater the available range value in the target available range, or the wider the range interval of the target available range.

[0058] For example, different target available ranges of the battery remaining capacity can be set according to the amount of workload, such as 25%-85%, 20%-95%, 20%-100%, etc., to achieve dynamic matching adjustment.

[0059] In this process, the available capacity based on workload data and battery remaining capacity is used to dynamically adjust the available use range of the battery remaining capacity, and the adjustment of the battery SOC strategy is realized.

[0060] Step 103, control the cleaning robot to perform cleaning work within the target available range of the battery remaining capacity.

[0061] After realizing the dynamic adjustment of the available range of the battery remaining capacity in the cleaning robot, the cleaning robot will need to perform cleaning work within the adjusted available range of the battery remaining capacity.

[0062] The above processing process, combined with the workload data of the cleaning robot, realizes the effective automatic adjustment of the battery SOC strategy, so that the battery in the cleaning robot is not limited to a fixed SOC available range. While taking into account the endurance of the cleaning robot, the cleaning robot can also be supported by a more suitable available range of the battery remaining capacity for normal use, effectively improving the capacity decay caused by the full charging and discharging of the battery in the cleaning robot, and maintaining the battery health state.

[0063] In an optional embodiment, step 101 obtains workload data of the cleaning robot, including: After the cleaning robot constructs a cleaning map, the total workload of the cleaning robot in the cleaning map is counted, and the single workload of the cleaning robot is calculated as the workload data based on the total workload of the set cleaning times.

[0064] In the optional implementation process, the cleaning robot moves along the planned work path according to the cleaning map to perform self-moving cleaning work.

[0065] The construction of the cleaning map can be performed when the cleaning robot is used for the first time, or the map can be reconstructed under the set trigger condition when it is not used for the first time.

[0066] Optionally, the cleaning robot needs to be mapped, and cleaning is performed according to the built map. The cleaning map can be stored on the mainboard, and the cleaning area, cleaning time and other workload data of the cleaning robot after each work can be displayed on the application client.

[0067] The mapping method of the cleaning robot can be that the user operates in the application client interface to control the cleaning robot to start mapping. Alternatively, the cleaning robot maps while cleaning along with the cleaning task. In this way, the mapping time is longer than the daily cleaning time.

[0068] After the cleaning robot constructs the cleaning map, when the total workload of the cleaning robot in the cleaning map set for the cleaning times is counted, the workload data of special or abnormal cleaning tasks can be excluded from the cleaning tasks first, and the total workload set for the cleaning times is counted from the remaining cleaning tasks. The set cleaning times are, for example, 4 times, 5 times, etc.

[0069] In some cases, for example, after the cleaning map is initially constructed or the map is reconstructed, the first cleaning based on the constructed cleaning map is a virgin cleaning, which requires a longer cleaning time, and some heavily soiled key areas also need to be cleaned repeatedly to ensure that the house is thoroughly cleaned. Virgin cleaning tasks can be identified as special or abnormal cleaning tasks, so virgin cleaning tasks are excluded, and the sum of the workload data of the second to fifth cleaning tasks is divided by four to calculate the workload data of each cleaning task of the cleaning robot.

[0070] Optionally, the sum of the cleaning areas of the second to fifth cleaning tasks can be divided by four to calculate the cleaning area of each cleaning task of the cleaning robot. Alternatively, the sum of the cleaning time of the second to fifth cleaning tasks can be divided by four to calculate the cleaning time of each cleaning task of the cleaning robot.

[0071] The above process, after the cleaning robot constructs the cleaning map, counts the total workload of the cleaning robot in the cleaning map for a specific cleaning times, to calculate the single workload based on this, and uses the single workload as the data for measuring the cleaning workload of the cleaning robot in the cleaning map. The accuracy of the cleaning workload data is effectively ensured.

[0072] In an optional embodiment, the aforementioned counting of the total workload of the cleaning robot in the cleaning map set for the cleaning times includes: Counting the total cleaning area of the cleaning robot in the cleaning map set for the cleaning times, and / or counting the total cleaning time of the cleaning robot in the cleaning map set for the cleaning times.

[0073] Correspondingly, the aforementioned calculation of the single workload of the cleaning robot as the workload data based on the total workload set for the cleaning times includes: The single cleaning area of the cleaning robot is calculated as the workload data based on the total cleaning area of the set cleaning times, and / or the single cleaning time length of the cleaning robot is calculated as the workload data based on the total cleaning time length of the set cleaning times.

[0074] That is, the workload data can be the single cleaning area, the single cleaning time length, or a combination of the two.

[0075] When the single cleaning area is calculated based on the total cleaning area, it can be that the total cleaning area is divided by the set cleaning times to obtain an average value as the single workload. When the single cleaning time length is calculated based on the total cleaning time length, it can be that the total cleaning time length is divided by the set cleaning times to obtain an average value as the single workload. Or it can be that the result value is obtained by other mathematical calculation processing based on the workload sum as the single workload.

[0076] Based on the total cleaning area and the total cleaning time length of the cleaning robot in the cleaning map for the set cleaning times, the single cleaning area and the single cleaning time length are calculated based thereon as the single workload, and the area of the to-be-cleaned region and the actual required cleaning time length are considered, so that the battery SOC available range can be adjusted in combination with the cleaning area and the cleaning time length, and the data processing efficiency and data processing accuracy are improved.

[0077] In an optional embodiment, step 102, based on the workload data, adjusting the remaining battery power in the cleaning robot from the current available range to the target available range, comprising: determining a target workload interval in which the workload data falls in the set plurality of workload intervals; determining the target available range of the remaining battery power adapted by the target workload interval based on the mapping relationship between different workload intervals and the available range of the remaining battery power; adjusting the remaining battery power in the cleaning robot from the current available range to the target available range.

[0078] Optionally, the size of the target available range of the remaining battery power is positively correlated with the size of the workload interval, and the greater the value of the target workload interval in which the obtained workload data falls, the greater the target available range that can be adjusted to.

[0079] Among them, the greater the target workload interval can be the greater the workload value in the target workload interval.

[0080] The set plurality of workload intervals and the target workload interval in which the workload data falls can be a cleaning area interval, a cleaning time length interval, etc., which is determined according to the specific data content of the workload data.

[0081] Different work load intervals can be set according to the amount of work. For example, the set multiple cleaning area intervals can be less than 50 square meters, greater than 50 square meters but less than 80 square meters, greater than 80 square meters, etc. The set multiple cleaning time intervals can be less than 20 min, greater than 20 min but less than 40 min, greater than 40 min, etc. Based on this, the target work load interval into which the work load data falls is determined.

[0082] The mapping relationship between different work load intervals and the available range of battery remaining capacity can be pre-set. After determining the target work load interval into which the work load data falls, the target available range of battery remaining capacity adapted to the target work load interval can be determined based on the mapping relationship.

[0083] The above implementation process provides multiple different work load intervals and the mapping relationship between different work load intervals and the available range of battery remaining capacity. Based on this, the target available range of battery capacity adapted to the work load data of the cleaning robot is effectively and quickly determined, the efficient dynamic matching of the available use range of battery remaining capacity is realized, and the adjustment of the battery SOC strategy is realized.

[0084] In an optional implementation, the method further includes a mapping relationship construction process, specifically including: The battery remaining capacity of the cleaning robot is divided into multiple available ranges with different interval sizes. The battery endurance of each available range is determined. Based on the battery endurance, the mapping relationship between each available range and different work load intervals is established.

[0085] Optionally, the multiple available ranges of battery remaining capacity with different interval sizes have a range width containing relationship.

[0086] For example, the multiple available ranges divided are 25%-85%, 20%-95%, and 20%-100%. Among them, the available range with a wide interval range contains the available range with a narrow interval range.

[0087] The size of the battery endurance is positively correlated with the width of the divided available range. The wider the interval range is, the wider the playback interval can be provided, the longer the battery endurance can be provided, and the more cleaning work load can be supported.

[0088] This process realizes the construction of the mapping relationship between the available ranges of different interval sizes of battery remaining capacity and different work load intervals, can meet the battery endurance requirements under different cleaning work loads, and effectively meets the application requirements of the work load data of the cleaning robot to the target available range of battery capacity.

[0089] In the use process of the cleaning robot, the capacity of the battery decreases with the increase of the service life. If the new and old batteries use the same SOC strategy, it cannot guarantee that the cleaning robot can complete all cleaning tasks and can normally return to the pile charging, which affects the endurance of the cleaning robot and the SOH of the battery.

[0090] In the embodiments of the present application, in order to further solve the above problems, the new and old states of the battery in the cleaning robot are distinguished, and the available range adjustment of the remaining battery capacity is performed based on different adjustment bases for new and old batteries, so as to automatically realize the fine adaptive adjustment of the available range of the remaining battery capacity and meet the battery SOC strategy adjustment demand of the cleaning robot under different use degrees.

[0091] In an optional embodiment, step 102 adjusts the remaining battery capacity in the cleaning robot from the current available range to the target available range, including: In the case that the cumulative use amount of the cleaning robot does not exceed the threshold, the remaining battery capacity in the cleaning robot is adjusted from the preconfigured fixed available range to the target available range.

[0092] Among them, by judging the cumulative use amount of the cleaning robot, the use state of the battery of the cleaning robot is determined, that is, the new battery or the old battery.

[0093] The preconfigured fixed available range can be an available range configured when the cleaning robot is shipped or an available range configured by the user.

[0094] In the embodiments, in the case that the cumulative use amount of the cleaning robot does not exceed the threshold, it can be considered that the battery of the cleaning robot is a relatively new battery, and the battery has good charging and discharging performance.

[0095] The process, for the new battery in the target available range adjustment, adjusts the available range of the remaining battery capacity based on the preconfigured fixed available range, realizes the fine adaptive adjustment of the available range of the remaining battery capacity, solves the available range adjustment of the remaining battery capacity of the cleaning robot under the condition that the battery capacity does not decrease, effectively maintains the health state of the battery, slows down the capacity attenuation of the battery, and meets the battery SOC strategy adjustment demand of the cleaning robot under different use degrees.

[0096] In an optional embodiment, step 102 adjusts the remaining battery capacity in the cleaning robot from the current available range to the target available range, including: In the case that the cumulative use amount of the cleaning robot exceeds the threshold, the remaining battery capacity in the cleaning robot is adjusted from the available range of the remaining battery capacity in the case that the cumulative use amount does not exceed the threshold to the target available range.

[0097] The target available range is greater than or equal to the available range of the battery remaining power when the cumulative usage of the cleaning robot does not exceed the threshold.

[0098] The battery usage state of the cleaning robot is determined to be a new battery or an old battery through the determination of the cumulative usage of the cleaning robot.

[0099] The cumulative usage is, for example, cumulative usage time, cumulative cleaning area, cumulative factory time, etc. The threshold can be a time threshold (for example, two years, etc.), an area threshold (for example, 10,000 square meters, etc.), etc.

[0100] In this embodiment, when the cumulative usage of the cleaning robot exceeds the threshold, the battery of the cleaning robot is a relatively old battery, and the battery charging and discharging performance is reduced.

[0101] The available range of the battery remaining power when the cumulative usage of the cleaning robot does not exceed the threshold can be a fixed available range preconfigured in the cleaning robot, or the target available range obtained by adjusting the available range of the battery remaining power from the fixed available range preconfigured in the cleaning robot when the cumulative usage of the cleaning robot does not exceed the threshold.

[0102] This process, for old batteries, adjusts the available range of the battery remaining power based on the available range of the battery remaining power when the cumulative usage of the cleaning robot does not exceed the threshold, realizes fine adaptation and adjustment of the available range of the battery remaining power, solves the problem of battery capacity decay caused by long-term use of the cleaning robot, and meets the battery SOC strategy adjustment needs of the cleaning robot under different usage levels.

[0103] In some optional embodiments, the workload data of the cleaning robot can be cleaning area or cleaning time data. The following will take this as an example to explain how to implement battery SOC strategy adjustment under new and old battery conditions.

[0104] As shown in Figure 2 When the cleaning robot is a newly purchased machine, the cumulative usage of the cleaning robot does not exceed the threshold (for example, two years), and the batteries inside can be identified as new batteries. The average cleaning area of the cleaning robot in the house can be calculated, and when the average cleaning area is less than 50 square meters, the battery of the cleaning robot can complete the cleaning task in a relatively narrow SOC available range because the cleaning area of the cleaning robot in this case is small. Therefore, the available range of the SOC can be adjusted to 30%-80% (adjustable) based on the original strategy preconfigured in the SOC available range.

[0105] When the average cleaning area of the cleaning robot in the house is greater than 50 square meters but less than 80 square meters, the corresponding available battery capacity in the 30%-80% battery SOC available range cannot complete all cleaning tasks in the area to be cleaned, so the battery SOC available range needs to be adjusted to 25%-90% (adjustable).

[0106] For larger houses, when the average cleaning area of the cleaning robot in the house is greater than 80 square meters, the corresponding available battery capacity in the 25%-90% battery SOC available range cannot complete all cleaning tasks in the area to be cleaned, so the battery SOC available range needs to be adjusted to 20%-100% (adjustable).

[0107] As shown in Figure 3 For cleaning robots that have been in use for more than two years, their cumulative usage exceeds the threshold, and the internal battery can be identified as an old battery. Since the dischargeable capacity of an old battery is always lower than that of a new battery, in order to prevent the battery's available capacity from being unable to complete the cleaning task in the area to be cleaned in a relatively narrow SOC available range, or the robot from failing to return to the base station due to insufficient battery capacity after completing the cleaning task, the SOC usage strategy for old batteries needs to be redefined.

[0108] The average cleaning area of the cleaning robot in the house can be calculated, and the smaller the average cleaning area, the smaller the area to be cleaned. When the average cleaning area is less than 50 square meters, if it is a new battery, it can complete the cleaning task in a relatively narrow SOC available range, but for an old battery, it needs to be adjusted to an SOC available range of 25%-85% (adjustable) to adapt to the old battery based on the battery remaining capacity available range after the aforementioned SOC available range adjustment for new batteries.

[0109] When the average cleaning area of the cleaning robot in the house is greater than 50 square meters but less than 80 square meters, the corresponding available battery capacity in the 25%-90% SOC available range for new batteries cannot support the old battery to complete all cleaning tasks in the area to be cleaned, so the 25%-90% battery SOC available range needs to be adjusted to 20%-95% (adjustable).

[0110] For larger houses, when the average cleaning area of the cleaning robot in the house is greater than 80 square meters, the battery SOC available range can also be 20%-100% (adjustable).

[0111] In order to better dynamically adjust the battery SOC strategy of the cleaning robot, the SOC available range of the battery can also be controlled through the average cleaning time of the cleaning robot.

[0112] As shown in Figure 4 When the cleaning robot is a newly purchased machine, the cumulative usage of the cleaning robot does not exceed the threshold (for example, 20,000 square meters), and the battery inside the cleaning robot can be identified as a new battery. The average cleaning time of the cleaning robot in the house can be calculated, and when the average cleaning time is less than 20 minutes, the battery in the cleaning robot can complete the cleaning task in a relatively narrow SOC available range due to the short cleaning time. Therefore, the SOC available range can be adjusted to 35%-75% (adjustable) based on the preconfigured original strategy.

[0113] When the average cleaning time of the cleaning robot is greater than 20 minutes but less than 40 minutes, the battery available capacity corresponding to the battery SOC available range of 35%-75% cannot complete the cleaning operation under the cleaning time. Therefore, the battery SOC available range needs to be adjusted to 30%-80% (adjustable).

[0114] For a larger area house, when the average cleaning time of the cleaning robot is greater than 40 minutes but less than 60 minutes, the battery available capacity corresponding to the battery SOC available range of 30%-80% cannot complete the cleaning operation under the cleaning time. Therefore, the battery SOC available range needs to be adjusted to 25%-90% (adjustable).

[0115] For a larger area house, when the average cleaning time of the cleaning robot is greater than 40 minutes but less than 60 minutes, the battery available capacity corresponding to the battery SOC available range of 30%-80% cannot complete the cleaning operation under the cleaning time. Therefore, the battery SOC available range needs to be adjusted to 25%-90% (adjustable).

[0116] As shown in Figure 5 For a cleaning robot with a usage time of more than two years, the cumulative usage exceeds the threshold, and the battery inside the cleaning robot can be identified as an old battery. The discharge capacity of the old battery is always lower than that of the new battery.

[0117] Since the discharge available capacity of the old battery is always lower than that of the new battery, in order to prevent the battery available capacity from being unable to complete the cleaning task of the room in a relatively narrow SOC available range, or the sweeper cannot return to the base station due to insufficient battery available capacity after the cleaning robot completes the cleaning task, the SOC usage strategy of the old battery needs to be redefined.

[0118] When the average cleaning duration of the cleaning robot in the house is less than 20 min, if it is a new battery, it can complete the cleaning task in a relatively narrow SOC available range, but for an old battery, the SOC available range of the battery remaining power after the adjustment for the new battery needs to be adjusted to the SOC available range of the old battery, i.e., 30%-75% (adjustable).

[0119] When the average cleaning duration of the cleaning robot is greater than 20 min but less than 40 min, if the SOC available range of the new battery is 30%-80%, the battery available capacity corresponding to the old battery cannot complete the cleaning task under the cleaning duration, so the battery SOC available range needs to be adjusted to 25%-80% (adjustable).

[0120] But for a larger house, when the average cleaning duration is greater than 40 min but less than 60 min, under the SOC available range of 25%-90% of the new battery, the battery available capacity corresponding to the old battery cannot complete the cleaning task under the cleaning duration, so the battery SOC available range needs to be adjusted to 20%-90% (adjustable).

[0121] For a larger house, when the average cleaning duration of the cleaning robot is greater than 60 min, under the SOC available range of 20%-95% of the new battery, the battery available capacity corresponding to the old battery cannot complete the cleaning task under the cleaning duration, so the battery SOC available range needs to be adjusted to 18%-100% (adjustable).

[0122] The above various embodiments realize the dynamic adjustment of the battery remaining power from the pre-configured fixed available range to the target available range based on the different work data of the cleaning robot, adapt to the specific cleaning task requirements of the cleaning robot, adjust the appropriate battery SOC strategy, reduce the risk of overcharging and over-discharging of the battery, avoid false charging in high-temperature environment, improve the cycle life of the battery, shorten the charging time of the battery, and improve the health status of the battery.

[0123] It should be understood that although each step in the flowchart involved in each of the above-described embodiments is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, there is no strict order limitation for the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowchart involved in each of the above-described embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0124] Moreover, in the above-described embodiments of the present application, each embodiment and implementation can be combined with each other, and there is no obstacle to mutual combination due to the separate description of the embodiments and implementations. The implementation processes of each embodiment and implementation can be referred to each other, and can be integrated to form an overall scheme containing the technical features in each embodiment or implementation.

[0125] In the above-described embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0126] Based on the same inventive concept, the embodiments of the present application also provide some embodiments of a control device of a cleaning robot. The control device of the cleaning robot provided by the embodiments of the present application can implement each process of the embodiments of the control method of the cleaning robot described above, and achieve the same technical effects, so the specific limitations in one or more control device embodiments of the cleaning robot provided below can be referred to the limitations of the control method of the cleaning robot described above. To avoid repetition, they will not be described here.

[0127] The embodiments can divide the functional modules on the device side according to the above-described method. For example, each function can be divided into a functional module, or two or more functions can be integrated into a processing module.

[0128] Referring to Figure 6 , Figure 6 is a module schematic diagram of a control device of a cleaning robot provided by the embodiments of the present application. For ease of illustration, only the parts related to the embodiments of the present application are shown.

[0129] The control device 600 of the cleaning robot comprises: The acquisition module 601 is configured to acquire the workload data of the cleaning robot. The adjusting module 602 is configured to adjust the remaining battery level of the cleaning robot from a current available range to a target available range based on the workload data. The control module 603 is configured to control the cleaning robot to perform a cleaning task in the target available range of the remaining battery level.

[0130] Optionally, the obtaining module 601 is specifically configured to: After the cleaning robot constructs a cleaning map, count a total workload of the cleaning robot in a set cleaning number of times in the cleaning map; Based on the total workload of the set cleaning number of times, calculate a single workload of the cleaning robot as the workload data.

[0131] Optionally, the obtaining module 601 is specifically configured to: Count a total cleaning area of the cleaning robot in a set cleaning number of times in the cleaning map, and / or count a total cleaning duration of the cleaning robot in a set cleaning number of times in the cleaning map; Based on the total cleaning area of the set cleaning number of times, calculate a single cleaning area of the cleaning robot as the workload data, and / or based on the total cleaning duration of the set cleaning number of times, calculate a single cleaning duration of the cleaning robot as the workload data.

[0132] Optionally, the adjusting module 602 is specifically configured to: Determine a target workload interval in which the workload data falls, from a plurality of set workload intervals; Based on a mapping relationship between different workload intervals and available ranges of the remaining battery level, determine a target available range of the remaining battery level that is adapted to the target workload interval; Adjust the remaining battery level of the cleaning robot from a current available range to the target available range.

[0133] Optionally, the adjusting module 602 is specifically configured to: In a case where the cumulative usage of the cleaning robot does not exceed a threshold, adjust the remaining battery level of the cleaning robot from a preconfigured fixed available range to the target available range.

[0134] Optionally, the adjusting module 602 is specifically configured to: In a case where the cumulative usage of the cleaning robot exceeds a threshold, adjust the remaining battery level of the cleaning robot from an available range of the remaining battery level in a case where the cumulative usage does not exceed a threshold to the target available range.

[0135] Optionally, the control device 600 of the cleaning robot further comprises: a relationship building module, configured to: divide the remaining battery power of the cleaning robot into a plurality of available ranges with different interval sizes, and determine a battery endurance of each available range; establish a mapping relationship between each available range and a different workload interval based on the battery endurance.

[0136] The above integrated modules can be implemented in the form of hardware. It should be noted that the division of the modules in the present embodiment is illustrative, and is merely a logical functional division. In actual implementation, another division manner can be used.

[0137] It should be noted that the control device of the cleaning robot provided in the present embodiment can implement each process of the method embodiments of the cleaning robot, and achieve the same technical effects. The related content of each step involved in the above method embodiments can be referred to the function description of the corresponding functional module. To avoid repetition, it will not be described here.

[0138] Figure 7 is a structural diagram of a cleaning robot provided in the present embodiment. As shown in the diagram, the cleaning robot 70 of the present embodiment comprises at least one processor 700 (only one is shown in the diagram), a memory 701, and a computer program 702 stored in the memory 701 and executable on the at least one processor 700, wherein the processor 700 implements the steps in any of the above method embodiments when executing the computer program 702. Figure 7

[0139] The cleaning robot 70 can include, but is not limited to, the processor 700 and the memory 701. Those skilled in the art can understand that the cleaning robot 70 is merely an example and does not constitute a limitation on the cleaning robot 70, and can include more or fewer components than those shown in the diagram, or combine certain components, or different components, for example, the cleaning robot can also include an input / output device, a network access device, a bus, etc. Figure 7 The cleaning robot 70 is merely an example and does not constitute a limitation on the cleaning robot 70, and can include more or fewer components than those shown in the diagram, or combine certain components, or different components, for example, the cleaning robot can also include an input / output device, a network access device, a bus, etc.

[0140] ​The processor 700 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0141] The memory 701 can be an internal storage unit of the cleaning robot 70, for example, a hard disk or a memory of the cleaning robot 70. The memory 701 can also be an external storage device of the cleaning robot 70, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 701 can also include both the internal storage unit and the external storage device of the cleaning robot 70. The memory 701 is used to store the computer program and other programs and data required by the cleaning robot. The memory 701 can also be used to temporarily store data that has been output or will be output.

[0142] It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example for description, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiments can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction, and are not used to limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0143] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0144] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0145] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus / cleaning robot embodiments described above are merely illustrative. For instance, the division of modules or 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 coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0146] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, 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.

[0147] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0148] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc. The storage medium can also include combinations of the above types of memory.

[0149] The application can also realize all or part of the processes in the above-mentioned embodiment methods, and can be realized by a computer program product. When the computer program product runs on the cleaning robot, the cleaning robot is caused to realize the steps in each of the above-mentioned method embodiments.

[0150] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method of a cleaning robot, characterized by, The method comprises: obtaining workload data of the cleaning robot; adjusting the available range of the remaining battery power of the cleaning robot to a target available range based on the workload data; controlling the cleaning robot to perform a cleaning task within the target available range of the remaining battery power.

2. The method of claim 1, wherein, The obtaining of the workload data of the cleaning robot comprises: after the cleaning robot constructs a cleaning map, counting the total workload of the cleaning robot in setting cleaning times in the cleaning map; based on the total workload of the set cleaning times, calculating the single workload of the cleaning robot as the workload data.

3. The method of claim 2, wherein, The counting of the total workload of the cleaning robot in setting cleaning times in the cleaning map comprises: counting the total cleaning area of the cleaning robot in setting cleaning times in the cleaning map, and / or counting the total cleaning time of the cleaning robot in setting cleaning times in the cleaning map; The calculation of the single workload of the cleaning robot as the workload data based on the total workload of the set cleaning times comprises: based on the total cleaning area of the set cleaning times, calculating the single cleaning area of the cleaning robot as the workload data, and / or based on the total cleaning time of the set cleaning times, calculating the single cleaning time of the cleaning robot as the workload data.

4. The method of claim 1, wherein, The adjusting of the available range of the remaining battery power of the cleaning robot to a target available range based on the workload data comprises: determining a target workload interval in which the workload data falls among a plurality of set workload intervals; based on a mapping relationship between different workload intervals and available ranges of the remaining battery power, determining a target available range of the remaining battery power adapted to the target workload interval; adjusting the available range of the remaining battery power of the cleaning robot to the target available range.

5. The method of claim 4, wherein, The adjusting of the available range of the remaining battery power of the cleaning robot to the target available range comprises: in a case where the cumulative usage of the cleaning robot does not exceed a threshold, adjusting the available range of the remaining battery power of the cleaning robot to the target available range from a preconfigured fixed available range.

6. The method of claim 4, wherein, The adjusting of the available range of the remaining battery power of the cleaning robot to the target available range comprises: in a case where the cumulative usage of the cleaning robot exceeds a threshold, adjusting the available range of the remaining battery power of the cleaning robot to the target available range from the available range of the remaining battery power in the case where the cumulative usage does not exceed a threshold.

7. The method of claim 4, wherein, The method further comprises: dividing the remaining battery power of the cleaning robot into a plurality of available ranges with different interval sizes; determining the battery endurance of each available range; based on the battery endurance, establishing a mapping relationship between each available range and different workload intervals.

8. A control device of a cleaning robot characterized by comprising: The method comprises: an obtaining module configured to obtain workload data of the cleaning robot; an adjusting module, configured to adjust the remaining battery level of the cleaning robot from a current available range to a target available range based on the workload data; a control module, configured to control the cleaning robot to perform a cleaning task in the target available range of the remaining battery level.

9. The apparatus of claim 8, wherein, The obtaining module is specifically configured to: count a total workload of the cleaning robot in the cleaning map in which the cleaning robot sets a cleaning frequency; calculate a single workload of the cleaning robot as the workload data based on the total workload of the cleaning frequency.

10. The apparatus of claim 9, wherein, The obtaining module is specifically configured to: count a total cleaning area of the cleaning robot in the cleaning map in which the cleaning robot sets a cleaning frequency, and / or count a total cleaning duration of the cleaning robot in the cleaning map in which the cleaning robot sets a cleaning frequency; calculate a single cleaning area of the cleaning robot as the workload data based on the total cleaning area of the cleaning frequency, and / or calculate a single cleaning duration of the cleaning robot as the workload data based on the total cleaning duration of the cleaning frequency.

11. The apparatus of claim 8, wherein, The adjusting module is specifically configured to: determine a target workload interval in which the workload data falls among a plurality of workload intervals; determine a target available range of the remaining battery level adapted for the target workload interval based on a mapping relationship between different workload intervals and available ranges of the remaining battery level; adjust the remaining battery level of the cleaning robot from a current available range to a target available range.

12. The apparatus of claim 11, wherein, The adjusting module is specifically configured to: adjust the remaining battery level of the cleaning robot from a preconfigured fixed available range to the target available range in a case where a cumulative usage amount of the cleaning robot does not exceed a threshold.

13. The apparatus of claim 11, wherein, The adjusting module is specifically configured to: adjust the remaining battery level of the cleaning robot from an available range of the remaining battery level in a case where a cumulative usage amount of the cleaning robot does not exceed a threshold to the target available range in a case where the cumulative usage amount of the cleaning robot exceeds the threshold.

14. The apparatus of claim 11, wherein, The device further includes: a relationship constructing module, configured to: divide the remaining battery level of the cleaning robot into a plurality of available ranges with different interval sizes, and determine battery endurance amounts of the available ranges; establish a mapping relationship between the available ranges and different workload intervals based on the battery endurance amounts.

15. A cleaning robot, characterized in that, A computer program product including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 7 when executing the computer program.

16. A computer-readable storage medium, the computer-readable storage medium storing a computer program, characterized in that, The computer program product, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

17. A computer program product, characterised in that, The computer program product, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

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