Cleaning robot control method and cleaning robot

Abstract

The invention provides a control method of a cleaning robot and the cleaning robot. The method comprises the following steps: in response to a recharging instruction, moving to a preset recharging position; controlling the charging assembly to move towards the charging station and towards the direction of the charging station; in the process of moving towards the charging station, if the distance between the cleaning robot and the charging station is smaller than or equal to the first distance and the duration of continuously receiving the preset signals from the charging station is smaller than or equal to the first preset duration, the cleaning robot moves towards the direction away from the charging station, and the recharging success rate of the cleaning robot is increased.

Description

Technical Field

[0001] This application relates to the field of cleaning robot control, and more particularly to a control method for a cleaning robot and a cleaning robot. Background Technology

[0002] With the increasing use of cleaning robots in daily life and industrial production, autonomous endurance has become one of the indicators for measuring the practicality of cleaning robots. Autonomous recharging, as a key link to ensure the continuous operation of cleaning robots, directly determines the operation and maintenance efficiency and user experience of cleaning robots in terms of its accuracy and stability.

[0003] In related autonomous recharging technologies, on the hardware side, a signal receiver is usually set up on the cleaning robot and a corresponding signal transmitter is equipped on the charging station. During the process, after the cleaning robot responds to the recharging command, it relies on the signal receiver to capture the signal emitted by the charging station, controls its own movement or rotation, gradually approaches the charging station, and adjusts its posture and performs docking actions by judging the signal strength at close range.

[0004] During the recharging process, if the charging station is located in a confined space or there are obstacles around the charging station, there are certain spatial limitations, resulting in a low recharging success rate for the cleaning robot. Summary of the Invention

[0005] This application provides a control method for a cleaning robot and a cleaning robot, in order to solve the technical problem of low recharging success rate of cleaning robots in the prior art.

[0006] In a first aspect, this application provides a method for controlling a robot, wherein the cleaning robot is equipped with a charging component, and the method includes:

[0007] The cleaning robot is equipped with a charging component, and the charging method includes:

[0008] In response to a return-to-charge command, move to the preset return-to-charge location;

[0009] Control the charging components to move toward the charging station and towards the charging station;

[0010] If, during the movement toward the charging station, the distance between the cleaning robot and the charging station is less than or equal to a first distance, and the duration for which the robot continuously receives a preset signal from the charging station is less than or equal to a first preset duration, then the robot moves away from the charging station.

[0011] In one possible implementation, the method further includes:

[0012] During the process of moving away from the charging station, if the duration of continuously receiving preset signals from the charging station is greater than the second preset duration, or the duration of moving away from the charging station is greater than or equal to the third preset duration, then the robot moves toward the charging station until it reaches the charging station.

[0013] In one possible implementation, moving toward the charging station includes:

[0014] Determine the initial line speed of the cleaning robot's movement;

[0015] Determine the angular velocity of the cleaning robot;

[0016] Based on the linear velocity and the angular velocity of the cleaning robot, it moves towards the charging station.

[0017] In one possible implementation, moving in a direction away from the charging station includes:

[0018] Determine the second linear speed of the cleaning robot's movement;

[0019] Determine the angular velocity of the cleaning robot;

[0020] Based on the second linear velocity and the angular velocity of the cleaning robot, it moves in a direction away from the charging station.

[0021] In one possible implementation, determining the angular velocity of the cleaning robot includes:

[0022] It receives a first signal and a second signal sent by the charging station. The transmission range corresponding to the first signal is different from the transmission range corresponding to the second signal.

[0023] Determine the first duration of receiving the first signal and the second duration of receiving the second signal within the current period;

[0024] The angular velocity of the cleaning robot in the current cycle is determined based on the first and second durations.

[0025] In one possible implementation, determining the angular velocity of the cleaning robot within the current cycle based on a first duration and a second duration includes:

[0026] Get the preset coefficients;

[0027] Determine the duration difference between the first duration and the second duration;

[0028] The product of the preset coefficient and the time difference is determined as the angular velocity of the cleaning robot in the current cycle.

[0029] In one possible implementation, the charging component is located at the tail of the cleaning robot; in response to a recharging command, it moves to a preset recharging position, including:

[0030] In response to the recharge command, the robot performs a first rotation operation to orient the cleaning robot's head toward the charging station;

[0031] Move toward the charging station until you reach the preset return-to-charge position. The distance between the preset return-to-charge position and the charging station is a preset distance.

[0032] In one possible implementation, performing a first rotation operation to orient the cleaning robot's head toward the charging station includes:

[0033] Perform the second rotation operation;

[0034] During the second rotation operation, the signal transmitted by the charging station is received, and the angular range in which the signal from the charging station can be received is determined.

[0035] Depending on the angle range, perform the first rotation operation to orient the cleaning robot's head toward the charging station.

[0036] In one possible implementation, in response to a recharge command, moving to a preset recharge location includes:

[0037] In response to a recharge command, determine the current location of the cleaning robot in the constructed map;

[0038] Determine the preset recharge locations in the constructed map;

[0039] Determine the movement route based on the current location and the preset recharge location;

[0040] According to the movement route, move to the preset charging location.

[0041] Secondly, this application provides a control device for a robot, wherein the cleaning robot is equipped with a charging component, and the device includes:

[0042] The response module is used to respond to a recharge command and move to a preset recharge location;

[0043] The control module is used to control the charging components to move toward the charging station and in the direction of the charging station;

[0044] The control module is also used to move away from the charging station if, during the process of moving towards the charging station, the distance between the cleaning robot and the charging station is less than or equal to a first distance and the duration of continuously receiving a preset signal from the charging station is less than or equal to a first preset duration.

[0045] In one possible implementation, the control module is further configured to, during the process of moving away from the charging station, if the duration of continuously receiving a preset signal from the charging station is greater than a second preset duration, or the duration of moving away from the charging station is greater than or equal to a third preset duration, then move towards the charging station until the cleaning robot moves to the charging station.

[0046] In one possible implementation, the control module is specifically used for:

[0047] Determine the initial line speed of the cleaning robot's movement;

[0048] Determine the angular velocity of the cleaning robot;

[0049] Based on the linear velocity and the angular velocity of the cleaning robot, it moves towards the charging station.

[0050] In one possible implementation, the control module is specifically used for:

[0051] Determine the second linear speed of the cleaning robot's movement;

[0052] Determine the angular velocity of the cleaning robot;

[0053] Based on the second linear velocity and the angular velocity of the cleaning robot, it moves in a direction away from the charging station.

[0054] In one possible implementation, the control module is specifically used for:

[0055] It receives a first signal and a second signal sent by the charging station. The transmission range corresponding to the first signal is different from the transmission range corresponding to the second signal.

[0056] Determine the first duration of receiving the first signal and the second duration of receiving the second signal within the current period;

[0057] The angular velocity of the cleaning robot in the current cycle is determined based on the first and second durations.

[0058] In one possible implementation, the control module is specifically used for:

[0059] Get the preset coefficients;

[0060] Determine the duration difference between the first duration and the second duration;

[0061] The product of the preset coefficient and the time difference is determined as the angular velocity of the cleaning robot in the current cycle.

[0062] In one possible implementation, the charging component is located at the tail of the cleaning robot; the response module is specifically used for:

[0063] In response to the recharge command, the robot performs a first rotation operation to orient the cleaning robot's head toward the charging station;

[0064] Move toward the charging station until you reach the preset return-to-charge position. The distance between the preset return-to-charge position and the charging station is the preset distance.

[0065] Perform a rotation operation to orient the charging component located at the tail toward the charging station.

[0066] In one possible implementation, the response module is specifically used for:

[0067] Perform the second rotation operation;

[0068] During the second rotation operation, the signal transmitted by the charging station is received, and the angular range in which the signal from the charging station can be received is determined.

[0069] Depending on the angle range, perform the first rotation operation to orient the cleaning robot's head toward the charging station.

[0070] In one possible implementation, the response module is specifically used for:

[0071] In response to a recharge command, determine the current location of the cleaning robot in the constructed map;

[0072] Determine the preset recharge locations in the constructed map;

[0073] Determine the movement route based on the current location and the preset recharge location;

[0074] According to the movement route, move to the preset charging location.

[0075] Thirdly, this application provides a cleaning robot, which is equipped with a charging component and a controller, wherein...

[0076] The charging component is used to connect to a charging station to charge the cleaning robot.

[0077] The controller is used to control the cleaning robot to move to the charging station according to any one of the methods in the first aspect.

[0078] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any of the first aspects.

[0079] Fifthly, this application provides a computer program product, including a computer program that, when executed by a computer, implements the method as described in any of the first aspects.

[0080] The cleaning robot control method and the cleaning robot provided in this application, in response to a recharging command, move to a preset recharging position; control the charging component to move towards the charging station; during the movement towards the charging station, if the distance between the cleaning robot and the charging station is less than or equal to a first distance, and the duration of continuous reception of a preset signal from the charging station is less than or equal to a first preset duration, then move away from the charging station. This solves the problem of docking failure due to insufficient signal reception at close range during cleaning robot recharging. By adjusting and optimizing the signal reception state or avoiding docking deviations at a distance, the stability and accuracy of the recharging process are ensured, thus improving the recharging success rate of the cleaning robot. Attached Figure Description

[0081] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0082] Figure 1 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this application;

[0083] Figure 2 A flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0084] Figure 3 A flowchart illustrating another control method for a cleaning robot provided in an embodiment of this application;

[0085] Figure 4 This is a schematic diagram of a control method for a cleaning robot provided in an embodiment of this application;

[0086] Figure 5 This is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of this application;

[0087] Figure 6 This is a schematic diagram of another cleaning robot provided in an embodiment of this application.

[0088] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0089] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0090] It should be noted that although the terms "first," "second," etc., are used to describe various types of information in the embodiments of this application, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. Optionally, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information.

[0091] It should be understood that the terms "comprising" or "including" indicate the presence of the previously mentioned features, steps, or operations, but do not preclude the presence, occurrence, or addition of one or more other features, steps, or operations. The terms "and / or," etc., used in this application can be interpreted as inclusive, or mean any one or any combination thereof. Optionally, "A and / or B" means "any one of the following: A; B; A and B." Additionally, the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0092] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0093] With the increasing use of cleaning robots in daily life and industrial production, autonomous endurance has become one of the indicators for measuring the practicality of cleaning robots. Autonomous recharging, as a key link to ensure the continuous operation of cleaning robots, directly determines the operation and maintenance efficiency and user experience of cleaning robots in terms of its accuracy and stability.

[0094] In related autonomous recharging technologies, on the hardware side, a signal receiver is usually set up on the cleaning robot and a corresponding signal transmitter is equipped on the charging station. During the process, after the cleaning robot responds to the recharging command, it relies on the signal receiver to capture the signal emitted by the charging station, controls its own movement or rotation, gradually approaches the charging station, and adjusts its posture and performs docking actions by judging the signal strength at close range.

[0095] During the recharging process, if the charging station is located in a confined space or there are obstacles around the charging station, there are certain spatial limitations, resulting in a low recharging success rate for the cleaning robot.

[0096] To address the aforementioned technical problems, this application provides a control method for a cleaning robot. In response to a recharge command, the cleaning robot moves to a preset recharge position and controls the charging components to face the charging station. The cleaning robot moves towards the charging station, and when it is determined that the distance to the charging station is less than or equal to a first distance and the duration of receiving a preset signal is less than or equal to a first preset duration, the cleaning robot moves away from the charging station. This solves the problem of docking failure due to insufficient signal reception at close range during recharge. By adjusting and optimizing the signal reception state or avoiding docking deviations by moving away, the stability and accuracy of the recharge process are ensured, thus improving the recharge success rate of the cleaning robot.

[0097] Below, in conjunction with Figure 1 Examples of application scenarios for cleaning robots will be provided.

[0098] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. Please refer to [link / reference]. Figure 1 , Figure 1 It may include at least cleaning robots and charging stations, and in one possible scenario, it may also include cloud servers and terminal devices.

[0099] A charging station may include power supply components, communication components, docking components, and a controller.

[0100] The charging station can convert AC power into a charging voltage and current suitable for the robot through power supply components, enabling fast or slow charging of the robot's battery.

[0101] The charging station can also provide precise docking guidance for the robot through near-field communication such as infrared signals and Bluetooth, or local area network communication such as WiFi.

[0102] The charging station can also be linked with cleaning robots, terminals or cloud servers through communication components to realize functions such as recharging and status feedback.

[0103] Cleaning robots may include processors, communication components, drive components, and power supply components.

[0104] The processor, communication components, driver components, and power supply components can interact and transmit commands through an internal bus, jointly supporting the cleaning robot to complete the autonomous recharging control process.

[0105] The communication component can be fixedly installed on the central axis of the cleaning robot. It can be used to receive infrared signals sent by the charging station and to sense signals during the recharging process. Its signal reception range can cover the preset angle area of ​​the cleaning robot, ensuring stable capture of target signals during the recharging docking process.

[0106] The processor can serve as the control component of the cleaning robot, responding to recharge commands, filtering and decoding signals received by the communication components, feeding back the processed signal data and duration information in real time, generating commands for pose adjustment, as well as commands for moving in the direction of movement or away from the robot, and coordinating the orderly operation of each module.

[0107] The drive components may include a walking motor, a steering motor, and a corresponding transmission mechanism. According to the processor's instructions, the robot can be driven to complete actions such as linear movement and on-the-spot posture adjustment, so as to achieve precise docking with the charging station.

[0108] The power supply unit can provide a stable power supply to all the above components, while also monitoring its own power status in real time.

[0109] The recharge command can be generated in the following ways:

[0110] Method 1: The cleaning robot generates a recharge command.

[0111] The cleaning robot's power supply component can monitor its own power status in real time. When the power level is lower than a preset threshold, the processor determines that the cleaning robot's battery life is insufficient and generates a recharge command.

[0112] Alternatively, the cleaning robot's processor can generate a recharge command after confirming the completion of the preset cleaning task.

[0113] Method 2: The charging station generates a return-to-charge command and sends the command to the cleaning robot.

[0114] The charging station can be equipped with a return-to-charge button. In response to the user clicking the return-to-charge button, a return-to-charge instruction is generated and sent to the cleaning robot.

[0115] The charging station can also generate a recharge command based on a preset time set by the user and send the command to the cleaning robot.

[0116] The charging station can send a recharge command to the cleaning robot via near-field communication or local area network communication.

[0117] Method 3: Generate a recharge command through the terminal device and send the recharge command to the cleaning robot.

[0118] Terminal devices can include devices with communication capabilities such as smartphones, tablets, and smart speakers.

[0119] Users can send recharging commands to the robot through the installed robot control app, voice commands, mini-programs, etc.

[0120] For example, if a user needs to temporarily use the cleaning area, they can manually trigger a return-to-charging command through the app, causing the robot to immediately stop cleaning and return to the charging station.

[0121] The terminal device and the cleaning robot are connected wirelessly, including via WiFi, Bluetooth, and mobile networks. Commands are transmitted in encrypted form and then parsed and executed by the cleaning robot, ensuring the security and stability of command transmission.

[0122] In one possible implementation, a recharge command is generated by the terminal device and sent to the charging station. The charging station then sends the recharge command to the cleaning robot. The specific process can be referred to the above process and will not be repeated here.

[0123] Method 4: Generate a recharge command through the terminal device and send the recharge command to the cleaning robot through the cloud server.

[0124] After the user sends a return-to-charge command through the terminal APP, the command is first transmitted to the cloud server. The cloud server verifies the robot's current status and forwards the command to the robot after confirming that the current status is normal.

[0125] Alternatively, the cloud server can collect operational data from the cleaning robot, analyze it to conclude that it "needs to be recharged," and then send a recharge suggestion to the user's terminal. After the user confirms, the cloud server sends the recharge instruction to the robot.

[0126] In one possible implementation, a recharge command is generated by the terminal device, sent to the charging station via the cloud server, and then sent to the cleaning robot by the charging station. The specific process can be referred to the above process and will not be repeated here.

[0127] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0128] Figure 2 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. The executing entity in this embodiment can be the cleaning robot itself or a processor within the cleaning robot. The processor can be implemented through software or a combination of software and hardware. Please refer to... Figure 2 The method includes:

[0129] S201, In response to the recharge command, move to the preset recharge position.

[0130] A recharge command can be a signal command that triggers the cleaning robot to start its autonomous recharge process.

[0131] The preset recharge location can be a pre-defined location or any location within a pre-defined range of recharge locations.

[0132] The preset recharge location can be represented by location coordinates or by a preset distance from the charging station.

[0133] In response to a recharging command, the robot can determine its initial relative position, obtain a preset recharging position, determine its movement route based on the initial relative position and the preset recharging position, and move to the preset recharging position according to the movement route.

[0134] The initial relative position can refer to the coordinate information of the cleaning robot relative to the charging station in its own coordinate system, which is obtained by the sensor detection and calculation after receiving the return-to-charge command.

[0135] For example, the initial relative position can be represented by rectangular coordinates (xd, yd).

[0136] Optionally, the initial relative position between the cleaning robot and the charging station can be determined based on multiple signals received from the charging station.

[0137] For example, assuming that the angle range of the signal received by the cleaning robot from the charging station during its rotation is A1-An, and the straight-line distance when the signal is received is L∈(L1, L2, L3, ..., Ln), then the angle of the charging station relative to the cleaning robot is Ad = (A1+An) / 2, and the distance of the charging station relative to the cleaning robot is Ld = (L1+L2+...+Ln) / n. The position (xd, yd) of the charging station in the world coordinate system of the cleaning robot can be determined by Ad and Ld.

[0138] Optionally, the charging component is located at the tail of the cleaning robot; it can move to a preset recharge position in response to a recharge command in the following manner: in response to the recharge command, it performs a first rotation operation to make the head of the cleaning robot face the charging station; it moves toward the charging station until it reaches the preset recharge position, the distance between the preset recharge position and the charging station being a preset distance.

[0139] The first rotation operation can be performed in the following manner to make the head of the cleaning robot face the charging station: performing a second rotation operation; receiving a signal emitted by the charging station during the second rotation operation and determining the angle range in which the signal from the charging station can be received; and performing the first rotation operation according to the angle range to make the head of the cleaning robot face the charging station.

[0140] For example, the second rotation operation could be a 360-degree rotation in place at a preset angular velocity.

[0141] The first rotation operation can be to determine a first angle between the charging station and the cleaning robot based on the angle range, and rotate the cleaning robot by the first angle so that the head of the cleaning robot faces the charging station.

[0142] For example, the first angle could be the center angle corresponding to the angle range.

[0143] For any signal sent by a charging station, the angle of the transmitted signal and the straight-line distance between the charging station and the cleaning robot when the signal is received can be determined based on the signal.

[0144] After the cleaning robot's head faces the charging station, it moves toward the charging station. During the movement, it determines the distance between the charging station and the cleaning robot based on the signal received from the charging station. It then determines whether the distance between the charging station and the cleaning robot is the preset distance. If so, it moves to the preset return charging position.

[0145] For example, the preset distance is 50cm.

[0146] Alternatively, the distance between the charging station and the cleaning robot can be determined using the following formula:

[0147] D=

[0148] Where D can represent the distance between the charging station and the cleaning robot, (xd,yd) can represent the location of the charging station, and (x,y) can represent the location of the robot.

[0149] Optionally, in response to a recharge command, the robot can move to a preset recharge location by: determining the current position of the cleaning robot in the constructed map in response to the recharge command; determining the preset recharge location in the constructed map; determining a movement route based on the current position and the preset recharge location; and moving to the preset recharge location based on the movement route.

[0150] When the cleaning robot receives the return-to-charge command, it can perform repositioning processing, determine the current location of the cleaning robot in the constructed map, obtain the preset return-to-charge position in the constructed map, determine the movement route in the constructed map based on the initial relative position and the preset return-to-charge position, and move to the preset return-to-charge position according to the movement route.

[0151] Repositioning can be achieved by rotating the cleaning robot in place.

[0152] Maps can be generated using the sensors of a cleaning robot.

[0153] S202, Control the charging component to move toward the charging station and toward the charging station.

[0154] Along the direction of travel of the cleaning robot, the charging component can be located at the front of the cleaning robot, at the rear of the cleaning robot, or on the side of the cleaning robot's body; there is no limitation on this.

[0155] After the cleaning robot moves to the preset recharge position, it performs a rotation operation to control the charging components of the cleaning robot to face the charging station. The cleaning robot can move towards the charging station with the charging components facing the charging station.

[0156] Optionally, if the charging component is located at the front of the cleaning robot, after determining that it has moved to the preset recharge position, the charging component located at the front of the cleaning robot is controlled to face the charging station.

[0157] The cleaning robot can be rotated so that the charging components located at the front face the charging station.

[0158] Optionally, if the charging component is located at the tail of the cleaning robot, after determining that it has moved to the preset recharge position, a rotation operation is performed so that the charging component located at the tail faces the charging station.

[0159] The rotation operation can be performed by a rotating cleaning robot that stops rotating when the signal receiver at the tail can receive a signal from the charging station, so that the charging component at the tail faces the charging station.

[0160] Alternatively, the robot can move toward the charging station by: determining a first linear velocity; determining an angular velocity; and moving toward the charging station based on the first linear velocity and the angular velocity.

[0161] The first linear velocity can be a preset linear velocity.

[0162] If the cleaning robot moves towards the charging station, it is considered a backward movement, and the first linear velocity is determined to be negative; if the cleaning robot moves towards the charging station, it is considered a forward movement, and the first linear velocity is determined to be positive.

[0163] For example, the first linear velocity could be -0.06 m / s.

[0164] Angular velocity can adjust the cleaning robot's posture in real time so that the robot's charging components are oriented towards the charging station.

[0165] Angular velocity can be positive, negative, or 0.

[0166] When the angular velocity is positive, the cleaning robot can rotate clockwise to adjust; when the angular velocity is negative, the cleaning robot can rotate counterclockwise to adjust; and when the angular velocity is 0, the cleaning robot can not rotate to adjust.

[0167] Alternatively, the robot can move toward the charging station in the following way: in the map construction, the direction of the line connecting the current position of the cleaning robot and the charging station is used as the direction of movement, and the robot moves toward the charging station in the direction of movement.

[0168] S203. During the movement toward the charging station, if the distance between the cleaning robot and the charging station is less than or equal to a first distance, and the duration of continuously receiving a preset signal from the charging station is less than or equal to a first preset duration, then the robot moves away from the charging station.

[0169] The first distance can be the critical value for the cleaning robot to enter the close-range docking zone corresponding to the charging station. Within this close-range docking zone, the cleaning robot needs to complete the precise alignment of the charging components and the charging station interface. If the cleaning robot's posture is deviated at this time, continuing to approach directly may lead to docking misalignment.

[0170] For example, the first distance can be set to 10cm.

[0171] The preset signal can be an infrared signal sent by the charging station.

[0172] The preset signal can be the signal transmitted to the middle area within the transmission range of the charging station.

[0173] The transmission range of a charging station can include the left-hand area, the middle area, and the right-hand area.

[0174] The first preset duration can be a critical value to ensure stable signal reception.

[0175] For example, the first preset duration can be set to 0.5s.

[0176] If the duration of continuously receiving a preset signal is less than or equal to the first preset duration, it indicates that the current posture of the cleaning robot is deviated, causing an interruption in the reception of the preset signal.

[0177] During the movement toward the charging station, the robot determines at preset intervals whether the distance between the cleaning robot and the charging station is less than or equal to a first distance and whether the duration of continuous reception of a preset signal from the charging station is less than or equal to a first preset duration. If so, the robot moves away from the charging station.

[0178] Alternatively, the robot can be moved away from the charging station by: determining a second linear velocity; determining the angular velocity of the robot; and moving away from the charging station based on the second linear velocity and the angular velocity of the robot.

[0179] The second linear velocity can be a preset linear velocity.

[0180] If the cleaning robot's movement away from the charging station is considered backward movement, then the first linear velocity is determined to be negative; if the cleaning robot's movement away from the charging station is considered forward movement, then the first linear velocity is determined to be positive.

[0181] Angular velocity can adjust the cleaning robot's posture in real time so that the robot's charging components are oriented towards the charging station.

[0182] Angular velocity can be positive, negative, or 0.

[0183] When the angular velocity is positive, the cleaning robot can rotate clockwise to adjust; when the angular velocity is negative, the cleaning robot can rotate counterclockwise to adjust; and when the angular velocity is 0, the cleaning robot can not rotate to adjust.

[0184] Alternatively, the robot can move away from the charging station by using the following method: in the map construction, the opposite direction of the line connecting the current position of the cleaning robot and the charging station is taken as the moving direction, and the robot moves away from the charging station according to the moving direction.

[0185] Optionally, the control method for the cleaning robot further includes: during the process of moving away from the charging station, if the duration of continuously receiving a preset signal from the charging station is greater than a second preset duration, or the duration of moving away from the charging station is greater than or equal to a third preset duration, then the robot moves toward the charging station until it reaches the charging station.

[0186] The second preset duration is longer than the first preset duration.

[0187] The second preset duration can be used to represent the critical value at which the cleaning robot can stably receive the preset signal sent by the charging station.

[0188] For example, the second preset duration could be 1 second.

[0189] The third preset duration can be used to indicate the maximum permissible time for the cleaning robot to be away from the charging station.

[0190] For example, the third preset duration could be 5 seconds.

[0191] During the movement away from the charging station, the robot can determine whether the duration of continuously receiving a preset signal from the charging station is greater than a second preset duration, or whether the movement duration in the direction away from the charging station is greater than or equal to a third preset duration. If so, the robot will move towards the charging station until it reaches the charging station.

[0192] Optionally, the electrical contact status between the cleaning robot and the charging interface of the charging station can be detected by the built-in conductivity detection module of the charging component on the cleaning robot. If a charging current is detected between the interfaces, it is determined that the cleaning robot has moved to the charging station; otherwise, it is determined that the cleaning robot has not moved to the charging station.

[0193] The control method for the cleaning robot provided in this embodiment moves to a preset recharge position in response to a recharge command; controls the charging component to move toward the charging station; during the movement toward the charging station, if the distance between the cleaning robot and the charging station is less than or equal to a first distance, and the duration of continuous reception of a preset signal from the charging station is less than or equal to a first preset duration, then the robot moves away from the charging station. This solves the problem of docking failure due to insufficient signal reception at close range during recharge. By adjusting and optimizing the signal reception state or avoiding docking deviations at a distance, the stability and accuracy of the recharge process are ensured, thus improving the recharge success rate of the cleaning robot.

[0194] Below, in conjunction with Figure 3 The control process of the cleaning robot is explained in detail.

[0195] Figure 3 This is a flowchart illustrating another control method for a cleaning robot provided in an embodiment of this application. Based on the above embodiments, see also... Figure 3 The method includes:

[0196] S301, In response to the recharge command, move to the preset recharge position, control the charging component to move toward the charging station, and move toward the charging station.

[0197] The process of moving to the preset recharge position in response to the recharge command can be found in the execution process of S201.

[0198] Controlling the charging component to move toward and towards the charging station can be achieved by:

[0199] Perform a rotation operation to orient the charging component located at the tail toward the charging station, determine the first linear velocity of the cleaning robot, determine the angular velocity of the cleaning robot, and move toward the charging station based on the first linear velocity and the angular velocity of the cleaning robot.

[0200] Optionally, the angular velocity of the cleaning robot can be determined by: receiving a first signal and a second signal sent by the charging station, wherein the transmission range corresponding to the first signal is different from the transmission range corresponding to the second signal; determining the first duration of receiving the first signal and the second duration of receiving the second signal in the current cycle; and determining the angular velocity of the cleaning robot in the current cycle based on the first duration and the second duration.

[0201] The first signal can be a signal transmitted to the left-hand region within the transmission range of the charging station.

[0202] The second signal could be a signal transmitted to the right-hand region within the range of the charging station.

[0203] The transmission range of a charging station can include the left-hand area, the middle area, and the right-hand area.

[0204] Alternatively, the angular velocity of the cleaning robot in the current cycle can be determined based on the first duration and the second duration in the following manner:

[0205] W = K × (Tr - Tl)

[0206] Where W can represent angular velocity, K can represent the first coefficient, which is greater than 0 and less than 1, Tr can represent the second duration corresponding to the second signal, and Tl can represent the first duration corresponding to the first signal.

[0207] For example, assuming the first coefficient is 0.5 rad / s and the difference between the second duration and the first duration is 0.3s, the current angular velocity is 0.5 × 0.3 = 0.15 rad / s, meaning the robot rotates to the left with an angular velocity of 0.15 rad / s to correct its rightward yaw attitude.

[0208] For example, assuming the first coefficient is 0.5 rad / s and the difference between the second duration and the first duration is -0.3s, then the current angular velocity is 0.5 × 0.3 = -0.15 rad / s, meaning the robot rotates to the right with an angular velocity of 0.15 rad / s to correct its leftward tilt.

[0209] If the angular velocity is greater than 0, the cleaning robot rotates to the left to correct its rightward tilt.

[0210] If the angular velocity is less than 0, the cleaning robot rotates to the right to correct its leftward tilt.

[0211] If the current angular velocity is 0, the cleaning robot does not rotate, and the cleaning robot's posture is facing the charging station.

[0212] S302. Real-time determination of whether the cleaning robot has moved to the charging station.

[0213] If so, then the process ends;

[0214] If not, then execute S303.

[0215] S303. During the movement toward the charging station, the robot determines at preset intervals whether the distance between the cleaning robot and the charging station is less than or equal to a first distance, and whether the duration of continuously receiving a preset signal from the charging station is less than or equal to a first preset duration.

[0216] If so, then execute S304;

[0217] If not, then execute S302.

[0218] The execution process of S303 can be found in the execution processes of S202 and S203, and will not be repeated here.

[0219] S304, Move away from the charging station.

[0220] The second linear velocity of the cleaning robot can be determined; the angular velocity of the cleaning robot can be determined; and based on the second linear velocity and the angular velocity of the cleaning robot, it can move in a direction away from the charging station.

[0221] Optionally, the angular velocity of the cleaning robot can be determined by: receiving a first signal and a second signal sent by the charging station, wherein the transmission range corresponding to the first signal is different from the transmission range corresponding to the second signal; determining the first duration of receiving the first signal and the second duration of receiving the second signal in the current cycle; and determining the angular velocity of the cleaning robot in the current cycle based on the first duration and the second duration.

[0222] The first signal can be a signal transmitted to the left-hand region within the transmission range of the charging station.

[0223] The second signal could be a signal transmitted to the right-hand region within the range of the charging station.

[0224] The transmission range of a charging station can include the left-hand area, the middle area, and the right-hand area.

[0225] Alternatively, the angular velocity of the cleaning robot in the current cycle can be determined based on the first duration and the second duration in the following manner:

[0226] W = K × (Tr - Tl)

[0227] Where W can represent angular velocity, K can represent the first coefficient, which is greater than 0 and less than 1, Tr can represent the second duration corresponding to the second signal, and Tl can represent the first duration corresponding to the first signal.

[0228] S305. During the movement away from the charging station, at preset intervals, determine whether the duration of continuously receiving a preset signal from the charging station is greater than a second preset duration, or whether the movement duration away from the charging station is greater than or equal to a third preset duration.

[0229] If so, then execute S302;

[0230] If not, then execute S304.

[0231] The execution process of S305 can be found in the execution process of S204, and will not be repeated here.

[0232] The implementation details of each step in this application embodiment can be found in the description of the corresponding steps or operations in the above method embodiments; repeated content will not be repeated.

[0233] The control method for the cleaning robot provided in this embodiment, in response to a recharge command, moves to a preset recharge position, controls the charging component to move toward the charging station, and moves toward the charging station. During this movement toward the charging station, if the distance between the cleaning robot and the charging station is less than or equal to a first distance, and the duration of continuously receiving a preset signal from the charging station is less than or equal to a first preset duration, then the robot moves away from the charging station. During this movement away from the charging station, if the duration of continuously receiving a preset signal from the charging station is greater than a second preset duration, or the movement duration away from the charging station is greater than or equal to a third preset duration, then the robot moves toward the charging station until it reaches the charging station. This solves the problem of docking failure due to insufficient signal reception at close range during recharge. By adjusting and optimizing the signal reception state or avoiding docking deviations at a distance, the stability and accuracy of the recharge process are ensured, improving the recharge success rate of the cleaning robot.

[0234] Below, based on any of the above embodiments, specific examples will be used to illustrate... Figure 4 The control method for the aforementioned cleaning robot will be described in further detail.

[0235] Figure 4 This is a schematic diagram illustrating a control method for a cleaning robot provided in an embodiment of this application. See also... Figure 4 This includes steps ①②③④⑤.

[0236] The charging station may include a charging interface, and the cleaning robot includes a charging component located at the tail of the cleaning robot.

[0237] In step ①, in response to the recharge command, the device moves to the preset recharge position.

[0238] In step ②, the charging components are controlled to face the charging station.

[0239] In step ③, move towards the charging station.

[0240] If the cleaning robot's posture deviates, it can be adjusted using angular velocity.

[0241] Under normal circumstances, the cleaning robot can move to the charging station, connect to the charging interface, and charge.

[0242] If an obstacle is encountered while moving towards the charging station, and the cleaning robot's posture shifts to avoid the obstacle and it is too close to the charging station to dock properly, then step ④ is executed to adjust the posture.

[0243] In step ④, if it is determined that the distance between the cleaning robot and the charging station is less than or equal to the first distance, and the duration of continuously receiving a preset signal from the charging station is less than or equal to the first preset duration, that is, if it is determined that the cleaning robot's pose has deviated excessively, then it moves away from the charging station.

[0244] In step ⑤, the robot moves toward the charging station until it reaches the charging station.

[0245] In this way, by adjusting and optimizing the signal reception status or avoiding docking deviations, the stability and accuracy of the recharging process are ensured, thereby improving the recharging success rate of the cleaning robot.

[0246] Figure 5 This is a schematic diagram of the control device for a cleaning robot provided in an embodiment of this application. Please refer to... Figure 5 The control device 500 of the cleaning robot includes a response module 501 and a control module 502.

[0247] Response module 501 is used to move to a preset recharge position in response to a recharge command;

[0248] The control module 502 is used to control the charging component to move toward the charging station and in the direction of the charging station;

[0249] The control module 502 is also used to move away from the charging station if, during the process of moving towards the charging station, the distance between the cleaning robot and the charging station is less than or equal to a first distance and the duration of continuously receiving a preset signal from the charging station is less than or equal to a first preset duration.

[0250] In one possible implementation, the control module 502 is further configured to, during the process of moving away from the charging station, if the duration of continuously receiving a preset signal from the charging station is greater than a second preset duration, or the duration of moving away from the charging station is greater than or equal to a third preset duration, then move towards the charging station until the cleaning robot moves to the charging station.

[0251] In one possible implementation, the control module 502 is specifically used for:

[0252] Determine the initial line speed of the cleaning robot's movement;

[0253] Determine the angular velocity of the cleaning robot;

[0254] Based on the linear velocity and the angular velocity of the cleaning robot, it moves towards the charging station.

[0255] In one possible implementation, the control module 502 is specifically used for:

[0256] Determine the second linear speed of the cleaning robot's movement;

[0257] Determine the angular velocity of the cleaning robot;

[0258] Based on the second linear velocity and the angular velocity of the cleaning robot, it moves in a direction away from the charging station.

[0259] In one possible implementation, the control module 502 is specifically used for:

[0260] It receives a first signal and a second signal sent by the charging station. The transmission range corresponding to the first signal is different from the transmission range corresponding to the second signal.

[0261] Determine the first duration of receiving the first signal and the second duration of receiving the second signal within the current period;

[0262] The angular velocity of the cleaning robot in the current cycle is determined based on the first and second durations.

[0263] In one possible implementation, the control module 502 is specifically used for:

[0264] Get the preset coefficients;

[0265] Determine the duration difference between the first duration and the second duration;

[0266] The product of the preset coefficient and the time difference is determined as the angular velocity of the cleaning robot in the current cycle.

[0267] In one possible implementation, the charging assembly is located at the tail of the cleaning robot; the response module 501 is specifically used for:

[0268] In response to the recharge command, the robot performs a first rotation operation to orient the cleaning robot's head toward the charging station;

[0269] Move toward the charging station until you reach the preset return-to-charge position. The distance between the preset return-to-charge position and the charging station is the preset distance.

[0270] Perform a rotation operation to orient the charging component located at the tail toward the charging station.

[0271] In one possible implementation, the response module 501 is specifically used for:

[0272] Perform the second rotation operation;

[0273] During the second rotation operation, the signal transmitted by the charging station is received, and the angular range in which the signal from the charging station can be received is determined.

[0274] Depending on the angle range, perform the first rotation operation to orient the cleaning robot's head toward the charging station.

[0275] In one possible implementation, the response module 501 is specifically used for:

[0276] In response to a recharge command, determine the current location of the cleaning robot in the constructed map;

[0277] Determine the preset recharge locations in the constructed map;

[0278] Determine the movement route based on the current location and the preset recharge location;

[0279] According to the movement route, move to the preset charging location.

[0280] Figure 6 This is a schematic diagram of another cleaning robot provided in an embodiment of this application. Please refer to... Figure 6 The cleaning robot 600 is equipped with a charging component 601 and a controller 602, wherein...

[0281] The charging component 601 is used to connect to a charging station to charge the cleaning robot.

[0282] The controller 602 is used to control the cleaning robot to move to the charging station according to the control method of the cleaning robot described above.

[0283] This application also provides a computer program product that can be executed by a processor, and when the computer program product is executed, the above-described method can be implemented.

[0284] The control device, electronic device, computer-readable storage medium, and computer program product of the cleaning robot in the embodiments of this application can execute the technical solutions shown in the above-described embodiments of the control method for the cleaning robot. Their implementation principles and beneficial effects are similar and will not be repeated here.

[0285] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0286] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0287] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0288] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or in the form of software program modules.

[0289] When integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0290] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0291] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0292] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0293] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method of a cleaning robot, characterized by, The cleaning robot is equipped with a charging component, and the method includes: In response to a return-to-charge command, move to the preset return-to-charge location; Control the charging component to move toward the charging station and in the direction of the charging station; During the movement toward the charging station, if the distance between the cleaning robot and the charging station is less than or equal to a first distance, and the duration for which the robot continuously receives a preset signal from the charging station is less than or equal to a first preset duration, then the robot moves away from the charging station.

2. The method of claim 1, wherein, The method further includes: During the process of moving away from the charging station, if the duration of continuously receiving a preset signal from the charging station is greater than the second preset duration, or the duration of moving away from the charging station is greater than or equal to the third preset duration, then the robot moves toward the charging station until it reaches the charging station.

3. The method according to claim 1 or 2, characterized in that, Moving toward the charging station includes: Determine the first linear velocity of the cleaning robot's movement; Determine the angular velocity of the cleaning robot; Based on the first linear velocity and the angular velocity of the cleaning robot, it moves toward the charging station.

4. The method according to claim 1 or 2, characterized in that, Moving in a direction away from the charging station includes: Determine the second linear velocity of the cleaning robot's movement; Determine the angular velocity of the cleaning robot; Based on the second linear velocity and the angular velocity of the cleaning robot, it moves in a direction away from the charging station.

5. The method according to claim 3, characterized in that, Determining the angular velocity of the cleaning robot includes: The system receives a first signal and a second signal sent by the charging station, wherein the transmission range corresponding to the first signal is different from the transmission range corresponding to the second signal. Determine the first duration for receiving the first signal within the current period, and the second duration for receiving the second signal; The angular velocity of the cleaning robot in the current cycle is determined based on the first duration and the second duration.

6. The method according to claim 5, characterized in that, Determining the angular velocity of the cleaning robot within the current cycle based on the first duration and the second duration includes: Obtain the preset coefficients; Determine the duration difference between the first duration and the second duration; The product of the preset coefficient and the duration difference is determined as the angular velocity of the cleaning robot in the current cycle.

7. The method according to claim 1 or 2, characterized in that, The charging component is located at the tail of the cleaning robot; in response to a recharging command, it moves to a preset recharging position, including: In response to the recharge command, a first rotation operation is performed to orient the head of the cleaning robot toward the charging station; Move toward the charging station until you reach the preset return-to-charge position, where the distance between the preset return-to-charge position and the charging station is a preset distance.

8. The method according to claim 7, characterized in that, Performing a first rotation operation to orient the head of the cleaning robot toward the charging station includes: Perform the second rotation operation; During the second rotation operation, the signal transmitted by the charging station is received, and the angular range in which the signal from the charging station can be received is determined. The first rotation operation is performed according to the angle range to bring the head of the cleaning robot toward the charging station.

9. The method according to claim 1 or 2, characterized in that, In response to a recharge command, move to a preset recharge location, including: In response to a recharge command, the current position of the cleaning robot in the constructed map is determined; Determine the preset recharge location in the constructed map; The movement route is determined based on the current location and the preset recharge location; According to the stated route, move to the preset recharge location.

10. A cleaning robot, characterized in that, The cleaning robot is equipped with a charging component and a controller, wherein... The charging component is used to connect to a charging station to charge the cleaning robot. The controller is used to control the cleaning robot to move to the charging station according to the method of any one of claims 1-9.

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