Cleaning robot system working method and cleaning robot system

Abstract

The invention provides a cleaning robot system working method and a cleaning robot system, and belongs to the technical field of cleaning robots. The system comprises a cleaning robot, the cleaning robot comprises a battery, a sweeping motor and an active obstacle crossing device, the active obstacle crossing device is used for assisting the cleaning robot to cross obstacles, and the battery is configured to suspend the sweeping motor and distribute power to the active obstacle crossing device in a centralized mode when the cleaning robot scans the obstacles. The system further comprises a base station and a control unit, the control unit is configured to control the cleaning robot to return to the base station when the cleaning robot executes the cleaning task and the cleaning part of the cleaning robot needs to be cleaned, the base station cleans the cleaning part, and the base station cleans the cleaning part in the process of cleaning the cleaning part by the base station. The cleaning robot is charged in a quick charging mode; and the obstacle crossing ability and the cleaning efficiency of the cleaning robot are improved.

Description

[0001] This application is a divisional application of the invention patent with application number 202510304412.2, application date of March 14, 2025, and invention title "Working Method of Cleaning Robot System and Cleaning Robot System". Technical Field

[0002] This invention relates to the field of cleaning robot technology, and more specifically to a working method of a cleaning robot system and a cleaning robot system. Background Technology

[0003] With the development of artificial intelligence technology, cleaning robots have emerged. Cleaning robots are a type of smart home appliance that can automatically perform cleaning tasks using a certain level of artificial intelligence. Cleaning robots have built-in rechargeable batteries that need to be charged before performing a cleaning task to ensure the robot has sufficient power to operate.

[0004] Battery life has always been a problem for cleaning robots, especially for some cleaning robots equipped with motor-driven functional modules, such as cleaning robots with multi-functional robotic arms. Since each joint of the multi-functional robotic arm requires a motor, the power consumption is very high, which seriously affects the battery life.

[0005] To solve the battery life problem, the current approach is to directly increase the size of the battery. However, directly increasing the size of the battery will significantly increase the cost of the battery. Summary of the Invention

[0006] The purpose of this invention is to provide a working method for a cleaning robot system and a cleaning robot system itself. This working method enables unlimited battery life during cleaning tasks, increasing battery endurance without increasing battery capacity and significantly reducing battery costs. Fast charging is available during the wash cycle, eliminating the need for additional charging time and improving the efficiency of the cleaning robot's operations.

[0007] To achieve the above objectives, the first aspect of this application provides a method for operating a cleaning robot system, the cleaning robot system including a cleaning robot and a base station, the method comprising: During the cleaning robot's cleaning task, and when the cleaning components of the cleaning robot need to be cleaned, the cleaning robot is controlled to return to the base station, whereby the base station cleans the cleaning components. During the cleaning process of the cleaning components by the base station, the cleaning robot is charged using a fast charging mode.

[0008] In this embodiment of the application, it also includes: After the cleaning components are cleaned by the base station, the cleaning robot is controlled to stop charging and leave the base station to continue performing the cleaning task.

[0009] In this embodiment of the application, it also includes: During the cleaning task performed by the cleaning robot, the cleaning robot is only charged when the cleaning components are cleaned by the base station. At other times, the cleaning robot is controlled to continuously perform the cleaning task until the cleaning task is completed.

[0010] In this embodiment of the application, the time for charging the cleaning robot using the fast charging mode is less than or equal to the time for cleaning the cleaning components.

[0011] In this embodiment of the application, the base station includes a charging power supply, and the charging power supply is equipped with a fast charging mode; The process of charging the cleaning robot using a fast charging mode includes: The cleaning robot is charged by the charging power supply using the fast charging mode within a preset time range.

[0012] In this embodiment of the application, the preset time range is less than or equal to the preset cleaning time, and the preset cleaning time is the time for the base station to clean the cleaning component.

[0013] In this embodiment of the application, the method further includes: After the cleaning robot completes its cleaning task, it is charged using a standard charging mode.

[0014] In this embodiment of the application, the step of charging the cleaning robot using a fast charging mode during the cleaning process of the cleaning component by the base station includes: Obtain the amount of power to be replenished, and determine the replenishment parameters based on the amount of power to be replenished; During the cleaning process of the cleaning components by the base station, the cleaning robot is charged using a fast charging mode based on the supplementary parameters.

[0015] In this embodiment of the application, the supplementary parameters include supplementary current and / or supplementary time.

[0016] In this embodiment of the application, obtaining the power to be replenished includes: The amount of power needed to be replenished is determined based on the remaining workload and the current battery level of the cleaning robot.

[0017] In this embodiment of the application, determining the amount of power to be replenished based on the current remaining workload and the current battery level of the cleaning robot includes: Based on the remaining workload, determine whether the cleaning robot is currently low on power. If it is determined that the cleaning robot is currently low on power, the amount of power to be replenished is determined based on the current power level of the cleaning robot and the current remaining workload.

[0018] In this embodiment of the application, the cleaning component is a rag and / or a cleaning brush.

[0019] In this embodiment of the application, the step of charging the cleaning robot using a fast charging mode during the cleaning process of the cleaning component by the base station includes: When the cleaning component is cleaned by the base station, the cleaning robot is charged using a fast charging mode. When the cleaning of the cleaning component is completed by the base station, the fast charging mode for the cleaning robot is stopped.

[0020] In this embodiment of the application, the step of charging the cleaning robot using a fast charging mode during the cleaning process of the cleaning component by the base station includes: During the cleaning process of the cleaning components by the base station, the cleaning robot is charged using a fast charging mode, and the battery status of the cleaning robot is determined in real time. If the battery status is determined to be full, the fast charging mode for the cleaning robot is stopped.

[0021] A second aspect of this application discloses a cleaning robot system, comprising a cleaning robot, a base station, and a control unit, wherein the control unit is configured to perform the method described above, and the cleaning robot includes at least a battery, cleaning components, and a drive unit, wherein the battery powers the drive unit, the base station charges the battery of the cleaning robot, and the cleaning components are used to clean the cleaning robot.

[0022] In this embodiment, the cleaning robot further includes an active obstacle-crossing device, which assists the cleaning robot in crossing obstacles of a specific height.

[0023] In this embodiment, the active obstacle-crossing device includes at least a drive motor and a support member. The drive motor is used to drive the support member to support the cleaning robot to a preset height. The drive motor is powered by the battery.

[0024] In this embodiment, the cleaning robot further includes a robotic arm device for assisting in cleaning.

[0025] In this embodiment of the application, the robotic arm device includes at least a joint drive motor, which is used to drive each joint of the robotic arm device, and the joint drive motor is powered by the battery.

[0026] A third aspect of this application provides an electronic device, the electronic device comprising: At least one processor; A memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-described cleaning robot system operation method by executing the instructions stored in the memory.

[0027] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the above-described cleaning robot system operation method.

[0028] Through the above technical solution, during the cleaning robot's cleaning task, and when the cleaning components of the robot need cleaning, the robot is controlled to return to the base station for cleaning. During this cleaning process, a fast-charging mode is used to recharge the robot. Utilizing the characteristic that the cleaning components need to periodically return to the base station for cleaning, high-power fast-charging technology is used during the return cleaning period to quickly replenish the power consumed in previous work, achieving unlimited battery life during cleaning tasks. This significantly improves the robot's endurance, even when the replenished energy equals the previously consumed energy, the battery capacity can be significantly reduced. The power required to complete one return cleaning cycle is sufficient for unlimited battery life. This increases endurance without increasing battery capacity, greatly reducing battery costs and minimizing the overall space required. Fast charging during the return cleaning period eliminates the need for additional waiting time, improving the robot's operational efficiency. Since the base station only charges the battery at high power for a short period, operating intermittently, power costs are significantly reduced. Simultaneously, fast charging during the return cleaning period minimizes heat accumulation and facilitates heat dissipation.

[0029] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1The illustration shows a schematic flowchart of a cleaning robot system operation method according to an embodiment of this application. Detailed Implementation

[0031] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0032] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0033] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0035] This embodiment provides a method for operating a cleaning robot system. By utilizing the short period of time during the cleaning robot's rewashing cycle, the robot can quickly replenish its power and continue working after the cleaning is completed. This significantly reduces costs, facilitates heat dissipation, and eliminates the need to wait for recharging.

[0036] It should be noted that the "re-washing" mentioned in this embodiment refers to the cleaning robot returning to the base station to clean the cleaning components.

[0037] Please refer to Figure 1 , Figure 1The illustration schematically shows a flowchart of a cleaning robot system operation method according to an embodiment of this application. This embodiment provides a cleaning robot system operation method, wherein the cleaning robot includes a cleaning robot and a base station, and the method includes the following steps: Step 210: During the cleaning task performed by the cleaning robot, and when the cleaning components of the cleaning robot need to be cleaned, control the cleaning robot to return to the base station, and have the base station clean the cleaning components. In this embodiment, during the cleaning task, the cleaning robot needs to periodically return to the base station to clean its cleaning components. These cleaning components can be rags, cleaning brushes, or other parts that require periodic processing at the base station. The battery on the cleaning robot can be a lithium-ion battery or a newer type of battery, such as a lithium-ion supercapacitor, which has a long cycle life; this embodiment is not limited to any particular type. The battery provides electrical energy for the cleaning robot to perform its cleaning operations. The base station is used to charge the cleaning robot's battery and to clean the cleaning components. During the cleaning task, after a certain period of time or after cleaning a certain area, if the cleaning components need to be cleaned, the cleaning robot can be controlled to return to the base station. This control can be achieved by the cleaning robot itself, by the base station, or by a third party; this embodiment is not limited to any particular type.

[0038] Step 220: During the cleaning process of the cleaning components by the base station, the cleaning robot is charged using a fast charging mode.

[0039] In this embodiment, fast charging mode refers to a charging method in which the base station can replenish a large amount of power to the battery in a short time, achieving high-power fast charging. Common technologies include high-voltage fast charging, high-current fast charging, and multi-charging protocol fast charging. In specific implementations, the base station or a cleaning robot can adjust the charging power to achieve fast charging mode.

[0040] For example, when a cleaning robot cleans 15 square meters in its standard mode and consumes 10% of its battery, it can quickly replenish its battery by using the approximately 2-minute recharge cycle. This means that cleaning 15 square meters only consumes 5% of the battery. Theoretically, 100% of the battery could clean 10 cycles of 15 square meters, or 150 square meters. With the recharge cycle fast charging solution, it can clean 20 cycles of 15 square meters, or 300 square meters, effectively doubling the battery life.

[0041] In some embodiments, the method further includes: after the cleaning component is cleaned by the base station, controlling the cleaning robot to stop charging and leave the base station to continue performing the cleaning task.

[0042] In this embodiment, once the base station has finished cleaning the cleaning components, charging of the cleaning robot is simultaneously stopped. The cleaning robot continues to perform its cleaning task. Taking advantage of the robot's periodic return to the base station for cleaning, it charges the battery during the short period of time it spends back at the base station. After cleaning, the cleaning robot resumes operation without waiting for recharging, thus achieving fast charging through a cycle of cleaning. Since the cleaning robot returns to the base station multiple times during its cleaning tasks, multiple cycles of cleaning and fast charging can be achieved.

[0043] In some embodiments, the method further includes: during the cleaning robot's performance of a cleaning task, the cleaning robot is charged only when the cleaning component is cleaned by the base station, and the cleaning robot is controlled to continuously perform the cleaning task at other times until the cleaning task is completed.

[0044] In this embodiment, the cleaning robot only charges when cleaning the cleaning components during the cleaning process, and continues to perform cleaning tasks without returning to the base station to charge. This reduces the dedicated charging time during the cleaning process and improves cleaning efficiency.

[0045] In some embodiments, the time for charging the cleaning robot using the fast charging mode is less than or equal to the time for cleaning the cleaning components.

[0046] In this embodiment, the cleaning robot can be charged using a fast charging mode throughout the entire cleaning component's time frame, or it can be charged using a fast charging mode only within the cleaning component's time frame. The specific method can be set according to actual needs to suit different scenarios.

[0047] In some embodiments, the cleaning component may be a cloth and / or a cleaning brush.

[0048] In this embodiment, the cleaning robot can be charged using a fast charging mode during the cleaning process of the base station cleaning the cloth, the cleaning process of the base station cleaning the cleaning brush, or the cleaning process of the base station cleaning both the cloth and the cleaning brush. This can meet the usage scenarios of various cleaning robots.

[0049] In some embodiments, the base station includes a charging power supply, which is configured with a fast charging mode; correspondingly, charging the cleaning robot using the fast charging mode includes: The cleaning robot is charged by the charging power supply using the fast charging mode within a preset time range.

[0050] In this embodiment, the aforementioned preset time range can be determined in advance based on experience, or it can be determined based on the time each time the base station cleans the cleaning components. When the cleaning robot returns to the base station to clean the cleaning components, the battery will be connected to the charging power supply in the base station. The technical standard of the charging power supply can be tolerating fast charging within the preset time range. During fast charging, the charging power supply can quickly charge the battery within the preset time range, thus eliminating the need for a power supply with continuous high-power charging, thereby reducing power supply costs. At the same time, fast charging within the return cleaning time will result in less heat accumulation, easier heat dissipation, and relatively controllable temperature, significantly reducing the cost of the charging power supply.

[0051] Wherein, the preset time range is less than or equal to the preset cleaning time, and the preset cleaning time is the time for the base station to clean the cleaning components.

[0052] In this embodiment, the preset cleaning time can be determined based on experience. For example, if the cleaning time is 2 minutes, the preset time range can be set to 2 minutes or less.

[0053] It should be noted that, in practice, any power supply capable of withstanding fast charging within a preset time range can be selected.

[0054] In some embodiments, charging the cleaning robot using a fast charging mode during the cleaning process of the cleaning components by the base station includes the following steps: First, obtain the amount of power to be replenished, and determine the replenishment parameters based on the amount of power to be replenished; In this embodiment, before charging, the cleaning robot can first acquire the amount of power to be replenished, which refers to the amount of power required to complete the remaining tasks. This amount of power can be calculated using an algorithm within the cleaning robot. After acquiring the amount of power, the cleaning robot can send it to the base station. This can be done either before the cleaning robot returns to the base station or after it returns and before charging the battery using a fast charging mode.

[0055] In some embodiments, obtaining the power to be replenished includes: determining the power to be replenished based on the current remaining workload and the current power level of the cleaning robot.

[0056] In this embodiment, the cleaning robot can determine the remaining workload and current battery level based on the current operational status. It can then estimate the amount of power needed based on the power consumption during the cleaning process, thus determining the amount of power to be replenished. By using the remaining workload and the cleaning robot's current battery level, the amount of power to be replenished can be accurately determined, facilitating more precise calculation of replenishment parameters.

[0057] In some embodiments, determining the amount of power to be replenished based on the current remaining workload and the current battery level of the cleaning robot includes: The first step is to determine whether the cleaning robot is low on power based on the remaining workload. The second step is to determine the amount of power to be replenished based on the current power level of the cleaning robot and the remaining workload, after determining that the cleaning robot is currently low on power.

[0058] In this embodiment, the remaining workload can be used to determine how much power is still needed, and then compared with the current power level to determine if there is a power shortage. If a power shortage is determined, the amount of power to be replenished is further determined. If there is no power shortage, then it is not necessary to determine the amount of power to be replenished.

[0059] By determining whether the current battery level is low, and only if it is low, the calculation of the battery level to be replenished is performed, thus improving calculation efficiency.

[0060] The aforementioned supplementary parameters refer to the current or charging time at which the charge can be replenished; that is, the supplementary parameters include supplementary current and / or supplementary time. The supplementary time can be calculated using the amount of charge to be replenished and the charging amount per unit time, and the supplementary current can be calculated using the amount of charge to be replenished and the charging voltage. The supplementary current and supplementary time can be calculated simultaneously, or either the supplementary current or the supplementary time can be calculated, depending on actual needs. The process of calculating the supplementary current and supplementary time is existing technology and will not be elaborated further here.

[0061] Then, during the cleaning process of the cleaning components being cleaned by the base station, the cleaning robot is charged using a fast charging mode based on the supplementary parameters.

[0062] In this embodiment, after calculating the supplementary parameters, the base station can quickly charge the cleaning robot according to the supplementary parameters during the cleaning process of the cleaning components. For example, when the supplementary parameter is the supplementary current, the battery can be quickly charged according to the supplementary current.

[0063] By acquiring the amount of power to be replenished and determining the replenishment parameters based on the amount of power to be replenished, the cleaning robot is then charged using a fast charging mode based on the replenishment parameters during the cleaning process of the cleaning components by the base station. The charging strategy can be adjusted according to the current battery level during charging to achieve fast charging, thereby protecting the battery's cycle life.

[0064] It should be noted that if the energy to be replenished is equal to the energy previously consumed, the battery capacity can be significantly reduced, as long as the amount of energy required to complete one recharge cycle is sufficient to meet the unlimited battery life requirement.

[0065] In some embodiments, charging the cleaning robot using a fast charging mode during the cleaning process by the base station includes: First, when the cleaning component is cleaned by the base station, the cleaning robot is charged using a fast charging mode. Then, when the cleaning of the cleaning component is finished by the base station, the fast charging mode for the cleaning robot is stopped.

[0066] In this embodiment, when the base station begins cleaning the cleaning components, it simultaneously activates a fast charging mode to charge the cleaning robot; when the base station finishes cleaning the cleaning components, it simultaneously terminates the fast charging mode and allows the cleaning robot to recharge. This ensures that the cleaning robot is charged throughout the entire cleaning process, resulting in a more thorough charge.

[0067] In some embodiments, charging the cleaning robot using a fast charging mode during the cleaning process by the base station includes: During the cleaning process of the cleaning components by the base station, the cleaning robot is charged using a fast charging mode, and the battery status of the cleaning robot is determined in real time. If the battery status is determined to be full, the fast charging mode for the cleaning robot is stopped.

[0068] In this embodiment, the aforementioned real-time determination of whether the battery is fully charged can be achieved by acquiring the battery's charge level in real time and determining whether the battery capacity has been reached. If it has, the battery is considered fully charged; otherwise, the battery is not fully charged. If the battery is fully charged, the fast charging mode is terminated; otherwise, the fast charging mode continues.

[0069] By using a fast-charging mode to charge the cleaning robot during the cleaning process and checking in real time whether the battery is fully charged, the fast-charging mode can be stopped when the battery is determined to be fully charged, thereby avoiding overcharging of the cleaning robot's battery and improving battery life.

[0070] In the above implementation process, during the cleaning robot's cleaning task, and when the cleaning components of the robot need cleaning, the robot is controlled to return to the base station for cleaning. During this cleaning process, a fast-charging mode is used to recharge the robot. Utilizing the characteristic that the cleaning components need to periodically return to the base station for cleaning, high-power fast-charging technology is used during the return cleaning period to quickly replenish the power consumed in previous work, achieving unlimited battery life during cleaning tasks. This significantly improves the robot's endurance, even when the replenished energy equals the previously consumed energy, the battery capacity can be significantly reduced. The power required to complete one return cleaning cycle is sufficient for unlimited battery life. This increases endurance without increasing battery capacity, greatly reducing battery costs and minimizing the overall space required. Fast charging during the return cleaning period eliminates the need for additional waiting time, improving the robot's operational efficiency. Since the base station only charges the battery at high power for a short period, operating intermittently, power costs are significantly reduced. Simultaneously, fast charging during the return cleaning period minimizes heat accumulation and facilitates heat dissipation.

[0071] In some embodiments, the method further includes: After the cleaning robot completes its cleaning task, the battery is charged using a standard charging mode.

[0072] In this embodiment, the above-mentioned conventional charging mode refers to charging the battery using a relatively standard and gentle charging method, commonly including three modes: constant current charging, constant voltage charging, and a combination of constant current and constant voltage charging.

[0073] By using a fast charging mode to charge the battery during the cleaning process of the cleaning components by the base station, and then using a regular charging mode to charge the battery after the cleaning robot has finished cleaning, and only performing fast charging during the cleaning robot's re-wash intervals, and then using a regular charging mode after the work is completed, the combination of fast charging and regular charging modes can maintain the battery's cycle life.

[0074] This embodiment provides a cleaning robot system, including a cleaning robot, a base station, and a control unit. The control unit is configured to perform the above-described method. The cleaning robot includes at least a battery, cleaning components, and a drive unit. The battery powers the drive unit, the base station charges the battery of the cleaning robot, and the cleaning components are used to clean the cleaning robot.

[0075] In this embodiment, the control unit can be located at the base station or on the cleaning robot; this embodiment is not limited to either. The control unit utilizes the characteristic that the cleaning components need to periodically return to the base station for cleaning. During the return cleaning period, high-power fast charging technology is used to quickly replenish the power consumed in previous work, achieving unlimited battery life during cleaning tasks. This significantly improves the cleaning robot's endurance. Even when the replenished energy equals the previously consumed energy, the battery capacity can be significantly reduced; the power required to complete one return cleaning cycle is sufficient for unlimited battery life. Improving endurance without increasing battery capacity greatly reduces battery costs and minimizes the space occupied by the robot. Fast charging during the return cleaning period eliminates the need for additional waiting time, improving the cleaning robot's operational efficiency. Since the base station only charges the battery at high power for a short period, operating intermittently, power costs are significantly reduced. Simultaneously, fast charging during the return cleaning period minimizes heat accumulation and facilitates heat dissipation.

[0076] In some embodiments, the cleaning robot further includes an active obstacle-crossing device for assisting the cleaning robot in crossing obstacles of a specific height.

[0077] In this embodiment, the active obstacle-crossing device can be a functional module that requires motor drive, such as wheel-based obstacle crossing or chassis lifting. By setting up an active obstacle-crossing device, the cleaning robot can actively overcome obstacles during cleaning tasks, improving cleaning coverage and reducing the frequency of manual intervention.

[0078] In some embodiments, the active obstacle-crossing device includes at least a drive motor and a support member, wherein the drive motor is used to drive the support member to support the cleaning robot to a preset height, and the drive motor is powered by the battery.

[0079] In this embodiment, the preset height can be set based on experience. The drive motor and the support can be connected by a linkage mechanism or a lead screw. When the laser radar in the cleaning robot scans an obstacle, such as a threshold / carpet edge, it triggers the obstacle-crossing mode, pauses the cleaning motor, and concentrates the battery power to the drive motor. The drive motor drives the lead screw to rotate, pushing the support to extend and raising the robot chassis to the preset height (e.g., 20mm, 40mm, 50mm, 60mm, 80mm, etc.). The drive wheels accelerate in the raised state, working with the thrust of the support to cross the obstacle. After crossing the obstacle, the support retracts to its storage position, and the normal cleaning mode resumes.

[0080] Because the active obstacle-crossing device adds an extra drive motor, the cleaning robot will consume power faster and reduce its battery life. The above-mentioned cleaning robot system working method can support the robot equipped with the active obstacle-crossing device to work continuously for a long time, thereby improving the obstacle-crossing ability and cleaning efficiency of the cleaning robot.

[0081] In some embodiments, the cleaning robot further includes a robotic arm for assisting in cleaning.

[0082] In this embodiment, the robotic arm device can be a multi-functional robotic arm, such as a 6-DOF robotic arm, which can be used to simulate manual wiping actions to cover vertical surfaces such as walls and glass. By setting up the robotic arm device, the cleaning robot can expand its spatial cleaning capabilities during the cleaning task, further improve the cleaning coverage, and reduce the frequency of manual intervention.

[0083] In some embodiments, the robotic arm device includes at least a joint drive motor for driving various joints of the robotic arm device, and the joint drive motor is powered by the battery.

[0084] In this embodiment, since each joint of the robotic arm device requires a motor, the power consumption is very high, which seriously affects the battery life. Using the above-mentioned cleaning robot system working method for charging can support the cleaning components, drive units and robotic arm devices of the cleaning robot to work continuously for a long time, thereby improving the cleaning efficiency of garbage collection.

[0085] In some embodiments, the cleaning robot may further include a chassis lifting device, which may include at least a drive motor and a chassis support mechanism. The drive motor drives the chassis support mechanism to lift the body of the cleaning robot relative to the drive wheels to a predetermined height, facilitating the cleaning robot's crossing of obstacles. The drive motor is powered by the battery. Because the chassis lifting device adds a drive motor, the cleaning robot consumes power faster, reducing its battery life. This above-described cleaning robot system operating method can support robots equipped with active obstacle-crossing devices to work continuously for extended periods, thereby improving the cleaning robot's obstacle-crossing ability and cleaning efficiency.

[0086] Of course, in some embodiments, the cleaning robot may further include one or more of a robotic arm device, an active obstacle-crossing device, and a chassis lifting device. The working method and system provided by the above embodiments can support the cleaning robot's cleaning work and the power required by each device for a long time, effectively improving the cleaning robot's battery life.

[0087] This invention provides a machine-readable storage medium storing a program that, when executed by a processor, implements the working method of the cleaning robot system.

[0088] This invention provides a processor for running a program, wherein the program executes the working method of the cleaning robot system during runtime.

[0089] This application provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the above-described cleaning robot system operation method by executing the instructions stored in the memory. The cleaning robot system includes a cleaning robot and a base station, and the processor executes the instructions to perform the following steps: During the cleaning robot's cleaning task, and when the cleaning components of the cleaning robot need to be cleaned, the cleaning robot is controlled to return to the base station, whereby the base station cleans the cleaning components. During the cleaning process of the cleaning components by the base station, the cleaning robot is charged using a fast charging mode.

[0090] In one embodiment, it also includes: After the cleaning components are cleaned by the base station, the cleaning robot is controlled to stop charging and leave the base station to continue performing the cleaning task.

[0091] In one embodiment, it also includes: During the cleaning task performed by the cleaning robot, the cleaning robot is only charged when the cleaning components are cleaned by the base station. At other times, the cleaning robot is controlled to continuously perform the cleaning task until the cleaning task is completed.

[0092] In one embodiment, the time for charging the cleaning robot using the fast charging mode is less than or equal to the time for cleaning the cleaning components.

[0093] In one embodiment, the base station includes a charging power supply, which is configured with a fast charging mode. The process of charging the cleaning robot using a fast charging mode includes: The cleaning robot is charged by the charging power supply using the fast charging mode within a preset time range.

[0094] In one embodiment, the preset time range is less than or equal to a preset cleaning time, where the preset cleaning time is the time it takes for the base station to clean the cleaning components.

[0095] In one embodiment, it also includes: After the cleaning robot completes its cleaning task, it is charged using a standard charging mode.

[0096] In one embodiment, charging the cleaning robot using a fast charging mode during the cleaning process by the base station includes: Obtain the amount of power to be replenished, and determine the replenishment parameters based on the amount of power to be replenished; During the cleaning process of the cleaning components by the base station, the cleaning robot is charged using a fast charging mode based on the supplementary parameters.

[0097] In one embodiment, the supplementary parameters include supplementary current and / or supplementary time.

[0098] In one embodiment, obtaining the power to be replenished includes: The amount of power needed to be replenished is determined based on the remaining workload and the current battery level of the cleaning robot.

[0099] In one embodiment, determining the amount of power to be replenished based on the current remaining workload and the current battery level of the cleaning robot includes: Based on the remaining workload, determine whether the cleaning robot is currently low on power. If it is determined that the cleaning robot is currently low on power, the amount of power to be replenished is determined based on the current power level of the cleaning robot and the current remaining workload.

[0100] In one embodiment, the cleaning component is a cloth and / or a cleaning brush.

[0101] In one embodiment, charging the cleaning robot using a fast charging mode during the cleaning process by the base station includes: When the cleaning component is cleaned by the base station, the cleaning robot is charged using a fast charging mode. When the cleaning of the cleaning component is completed by the base station, the fast charging mode for the cleaning robot is stopped.

[0102] In one embodiment, charging the cleaning robot using a fast charging mode during the cleaning process by the base station includes: During the cleaning process of the cleaning components by the base station, the cleaning robot is charged using a fast charging mode, and the battery status of the cleaning robot is determined in real time. If the battery status is determined to be full, the fast charging mode for the cleaning robot is stopped.

[0103] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0105] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0107] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0108] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0109] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0110] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0111] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A cleaning robot system, characterized in that, The system includes a cleaning robot, which comprises a battery, a cleaning motor, and an active obstacle-crossing device. The active obstacle-crossing device is used to assist the cleaning robot in crossing obstacles. The battery is configured to pause the cleaning motor and concentrate power on the active obstacle-crossing device when the cleaning robot detects an obstacle.

2. The cleaning robot system according to claim 1, characterized in that, The active obstacle-crossing device includes a drive motor and a support member. The drive motor is used to drive the support member to support the cleaning robot to a preset height, and the drive motor is powered by the battery.

3. The cleaning robot system according to claim 1, characterized in that, The cleaning robot also includes a robotic arm device, which is a 6-DOF robotic arm.

4. The cleaning robot system according to claim 1, characterized in that, The cleaning robot also includes a chassis lifting device, which includes a chassis support mechanism. The chassis support mechanism is used to lift the body of the cleaning robot relative to the drive wheels of the cleaning robot to a preset height.

5. The cleaning robot system according to claim 3, characterized in that, The robotic arm device includes a joint drive motor for driving each joint of the robotic arm device, and the joint drive motor is powered by the battery.

6. The cleaning robot system according to claim 1, characterized in that, It also includes a base station and a control unit, wherein the control unit is configured to control the cleaning robot to return to the base station during the cleaning task performed by the cleaning robot, and when the cleaning parts of the cleaning robot need to be cleaned, so that the base station cleans the cleaning parts, and during the cleaning of the cleaning parts by the base station, the cleaning robot is charged using a fast charging mode.

7. A method for operating a cleaning robot system, characterized in that, The cleaning robot system according to any one of claims 1-6 comprises the following steps: When the cleaning robot detects an obstacle, it pauses the cleaning motor and concentrates the battery power to the active obstacle-crossing device, which then lifts the cleaning robot to a preset height to cross the obstacle.

8. The working method of the cleaning robot system according to claim 7, characterized in that, It also includes a control unit that, during the cleaning robot's cleaning task and when the cleaning components of the cleaning robot need to be cleaned, controls the cleaning robot to return to the base station, where the base station cleans the cleaning components, and during the cleaning process by the base station, the cleaning robot is charged using a fast charging mode.

9. The working method of the cleaning robot system according to claim 7, characterized in that, The active obstacle-crossing device includes a drive motor and a support component; The process of centrally distributing the battery's power to the active obstacle-crossing device, which then lifts the cleaning robot to a preset height to cross obstacles, includes: The battery power is concentrated and distributed to the drive motor, which drives the support to lift the chassis of the cleaning robot to a preset height so as to cross obstacles.

10. The method of operating the cleaning robot system according to claim 9, characterized in that, Also includes: After the cleaning robot passes over the obstacle, it retracts the support to its storage position and resumes the normal cleaning mode.

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