Method for returning a robot cleaner to a base station, robot cleaner and robot cleaner system

Abstract

The present disclosure relates to a method for a robot cleaner to return to a base station, a robot cleaner, and a robot cleaner system. The method according to the present disclosure can include: performing one or more circular arc motion processes, each circular arc motion process including: receiving one or more signals from a plurality of transmission signals emitted from the base station, determining a current region in which the robot cleaner is located from a plurality of regions defined by the plurality of transmission signals based on the received one or more signals, and traveling in a circular arc around the base station in a direction toward a center axis of the base station, wherein a central angle of the circular arc is determined based on an angle range of the current region, an angle range of a central corridor region, and an angle range of a region spaced between the current region and the central corridor region, the central corridor region being a region of the plurality of regions in which the center axis of the base station is located, and a radius of the circular arc is determined based on a current distance between the robot cleaner and the base station; and in response to the robot cleaner reaching the central corridor region, traveling toward the base station.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, and more specifically, to a method for a sweeping machine to return to a base station, a sweeping machine, and a sweeping machine system. Background Technology

[0002] With technological advancements and improved living standards, robotic vacuum cleaners (also known as "sweeping robots") have gained increasing attention and usage. These cleaners can autonomously perform floor cleaning tasks. When their battery level drops below a certain threshold or they require recharging (e.g., cleaning the mop, collecting dust, drying the mop, automatically adding water or cleaning solution), they need to return to a base station for charging (i.e., recharging) or refueling. To return to the base station, the cleaner must first reach its vicinity, then identify the base station based on its characteristics and dock with it. How to quickly and accurately identify and return to the base station for docking is a problem that urgently needs to be solved. Summary of the Invention

[0003] This disclosure provides a method, a sweeper, and a sweeper system for a robot vacuum to return to a base station. This system can quickly and accurately guide the sweeper to or near the central axis of the base station without using side sensors. The method according to embodiments of this disclosure reduces the number of turns the sweeper makes while traveling towards the base station, saves time in returning to the base station, and provides enhanced stability.

[0004] According to one aspect of this disclosure, a method for a robotic vacuum cleaner to return to a base station is provided. The method may include: performing one or more circular motion processes, each circular motion process including: receiving one or more of a plurality of transmitted signals emitted from the base station; determining, based on the received one or more signals, the current area where the robotic vacuum cleaner is located from a plurality of areas defined by the plurality of transmitted signals; and traveling around the base station in a direction toward the base station's central axis, wherein the central angle of the arc is determined based on an angle range of the current area, an angle range of a central corridor area, and an angle range of an area separated from the current area and the central corridor area, the central corridor area being the area where the base station's central axis is located among the plurality of areas; and the radius of the arc being determined based on the current distance between the robotic vacuum cleaner and the base station; and traveling toward the base station in response to the robotic vacuum cleaner reaching the central corridor area.

[0005] In some embodiments, the central angle of the arc is the sum of a first component and a second component; in response to the current region not being the central corridor region, the first component is the sum of half the angle range of the central corridor region and the angle range of the region separating the current region from the central corridor region; in response to the current region being the central corridor region, the first component is zero; and the second component is determined based on the angle range of the current region.

[0006] In some embodiments, the second component is half the angular range of the current region.

[0007] In some embodiments, in response to the current arc motion process being the first arc motion process in one or more arc motion processes, the second component is half of the angle range of the current region; and in response to the current arc motion process not being the first arc motion process in one or more arc motion processes, the second component is the smaller of the following: half of the angle range of the current region, and half of the second component of the central angle in the previous arc motion process.

[0008] In some embodiments, after performing one or more circular motion processes, the method may further include: traveling a first distance toward the central axis of the base station, such that the sweeper is located in the central corridor area.

[0009] In some embodiments, the multiple transmission signals include a first transmission signal, a second transmission signal, a third transmission signal, and a fourth transmission signal, and the multiple regions include a first region, a second region, a third region, a fourth region, a fifth region, a sixth region, and a seventh region, wherein the fourth region is the central corridor region; and the region covered only by the first transmission signal is the first region, the region jointly covered by the first and second transmission signals is the second region, the region covered only by the second transmission signal is the third region, the region jointly covered by the second and third transmission signals is the central corridor region, the region covered only by the third transmission signal is the fifth region, the region jointly covered by the third and fourth transmission signals is the sixth region, and the region covered only by the fourth transmission signal is the seventh region.

[0010] In some embodiments, the first region and the seventh region, the second region and the sixth region, the third region and the fifth region are symmetrically distributed with respect to the central axis, and the central corridor region is symmetrical with respect to the central axis.

[0011] In some embodiments, among multiple regions, the region furthest from the central axis has the largest angular range.

[0012] In some embodiments, the robot vacuum cleaner includes a first signal receiver and a second signal receiver, and the method may further include obtaining a current distance, which includes: determining a target heading angle for aligning the robot vacuum cleaner with a base station based on the reception of a plurality of transmitted signals by the first and second signal receivers; aligning the robot vacuum cleaner with the base station based on the target heading angle; and transmitting a probe signal to the base station to obtain the distance between the robot vacuum cleaner and the base station.

[0013] In some embodiments, determining the target heading angle may include: rotating to a first critical angle, the first critical angle being the heading angle at which the sweeper has just rotated from a position where only the first signal receiver can receive the transmitted signal from the base station to a position where both the first and second signal receivers can simultaneously receive the transmitted signal from the base station; rotating to a second critical angle, the second critical angle being the heading angle at which the sweeper has just rotated from a position where both the first and second signal receivers can simultaneously receive the transmitted signal from the base station to a position where only the second signal receiver receives the transmitted signal from the base station; and determining the target heading angle based on the first critical angle and the second critical angle.

[0014] In some embodiments, determining the target heading angle may further include: rotating to a third critical angle, the third critical angle being the heading angle at which the sweeper has just rotated from a position where the first signal receiver can no longer receive the transmitted signal from the base station to a position where the first signal receiver can receive the transmitted signal from the base station; rotating to a fourth critical angle, the fourth critical angle being the heading angle at which the sweeper has just rotated from a position where the second signal receiver can receive the transmitted signal from the base station to a position where the second signal receiver can no longer receive the transmitted signal from the base station; and determining the target heading angle based on the third critical angle and the fourth critical angle.

[0015] In some embodiments, the sweeping robot includes a first signal receiver and a second signal receiver, and moving toward the base station may include: determining a travel angular velocity based on the positional and directional deviations of the sweeping robot relative to the central axis, wherein the positional and directional deviations are determined based on the reception of transmitted signals from the base station by the first and second signal receivers; and moving toward the base station based on the travel angular velocity.

[0016] In some embodiments, moving toward the base station further includes determining a directional deviation of the sweeper, and determining the directional deviation of the sweeper includes: determining the directional deviation as a first directional deviation in response to only a first signal receiver receiving a transmitted signal from the base station; determining the directional deviation as a second directional deviation in response to only a second signal receiver receiving a transmitted signal from the base station; and determining the directional deviation as a third directional deviation in response to both the first signal receiver and the second signal receiver receiving a transmitted signal from the base station.

[0017] In some embodiments, moving toward the base station may further include determining the position deviation of the sweeping robot, and determining the position deviation of the sweeping robot includes: determining a first receiver area where the first signal receiver is located based on the correspondence between the transmitted signal from the base station received by the first signal receiver and multiple areas; determining a first area deviation of the first receiver area relative to the central corridor area; determining a second receiver area where the second signal receiver is located based on the correspondence between the transmitted signal from the base station received by the second signal receiver and multiple areas; determining a second area deviation of the second receiver area relative to the central corridor area; and determining a position deviation based on the direction deviation, the first area deviation, and the second area deviation, and determining the position deviation includes: in response to the direction deviation being a first direction deviation, the position deviation being a multiple of the first area deviation; in response to the direction deviation being a second direction deviation, the position deviation being a multiple of the second area deviation; and in response to the direction deviation being a third direction deviation, the position deviation being the sum of the first area deviation and the second area deviation.

[0018] In some embodiments, in response to the front edge of the sweeping machine moving toward the base station, the first signal receiver and the second signal receiver are signal receivers located at the front edge of the sweeping machine, and in response to the rear edge of the sweeping machine moving toward the base station, the first signal receiver and the second signal receiver are signal receivers located at the rear edge of the sweeping machine.

[0019] According to another aspect of this disclosure, a sweeping machine is provided. The sweeping machine may include: a traveling device for traveling the sweeping machine; and a return control device for controlling the sweeping machine to perform the above-described method.

[0020] According to another aspect of this disclosure, a computer program product is provided. This computer program product includes computer program instructions that, when executed by the processor of a robotic vacuum cleaner, cause the robotic vacuum cleaner to perform the methods described above.

[0021] According to another aspect of this disclosure, a sweeping robot system is provided. The sweeping robot system may include a base station and the aforementioned sweeping robot.

[0022] Based on the above embodiments of this disclosure, without the need for side sensors on the sweeper, the sweeper can be quickly and accurately guided to or near the central axis of the base station, and then driven along the central axis towards the base station. The method according to the embodiments of this disclosure reduces the number of turns the sweeper makes while traveling towards the base station, saves time on its return journey, and provides enhanced stability. Attached Figure Description

[0023] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to offer a further understanding of the embodiments of this disclosure and form part of the specification. The drawings, together with the embodiments of this disclosure, are used to explain this disclosure but do not constitute a limitation thereof. In the drawings, unless explicitly stated otherwise, the same reference numerals denote the same parts, steps, or elements.

[0024] Figure 1 A schematic block diagram of a sweeping robot system in which the method according to embodiments of the present disclosure can be applied is shown; Figure 2 A flowchart of a method for a robot vacuum cleaner to return to a base station according to an embodiment of the present disclosure is shown; Figure 3 A flowchart illustrating a method for implementing each circular motion process according to an embodiment of the present disclosure is shown; Figure 4 A schematic diagram of multiple exemplary regions defined by multiple transmitted signals according to embodiments of the present disclosure is shown; Figure 5 A schematic diagram of a sweeping machine according to an embodiment of the present disclosure is shown; Figure 6 A schematic diagram illustrating an exemplary regional deviation according to an embodiment of the present disclosure is shown; Figure 7 An exemplary position change process is shown in which a sweeping robot performs an arc motion according to an embodiment of the present disclosure; Figure 8 A flowchart illustrating a method for determining the directional deviation of a sweeping machine according to an embodiment of the present disclosure is shown; Figure 9 A flowchart illustrating a method for determining the area deviation of a sweeping machine according to an embodiment of the present disclosure is shown; Figure 10 An exemplary positional diagram is shown as the sweeping robot moves toward the base station; Figure 11 A flowchart illustrating a method for determining the distance between a robotic vacuum cleaner and a base station according to an embodiment of the present disclosure is shown; Figure 12A and Figure 12B A schematic diagram illustrating a method for determining a target heading angle that aligns a sweeping robot and a base station according to an embodiment of the present disclosure; Figure 13A and Figure 13B A schematic diagram of a method for determining a target heading angle that aligns a sweeping robot and a base station, according to another embodiment of the present disclosure, is shown. Figure 14 A schematic block diagram of a sweeping robot according to an embodiment of the present disclosure is shown; and Figure 15 A schematic block diagram of a sweeping machine according to another embodiment of the present disclosure is shown.

[0025] Those skilled in the art will understand that the elements in the accompanying drawings are illustrated for simplicity and clarity and are not necessarily drawn to scale. For example, the dimensions of some elements in the illustrations, block diagrams, or flowcharts may be exaggerated relative to other elements to aid in accurate understanding of this embodiment. Detailed Implementation

[0026] The technical solutions of this disclosure will now be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of, but not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without any creative effort fall within the protection scope of this disclosure.

[0027] In the description of this disclosure, it should be noted that terms such as “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The words “comprising” or “including” mean that the element or object preceding the word covers those elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0028] In the description of this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] Furthermore, the technical features involved in the different embodiments of this disclosure described below can be combined with each other, as long as there is no conflict between them.

[0030] As mentioned earlier, a key challenge is how to quickly and accurately identify and dock with a base station when the robot vacuum returns for operations such as charging and resupply. One approach is based on reflectors. This method uses LiDAR to identify reflectors arranged in a specific pattern within the base station, then controls the robot vacuum to move towards it. However, this method is heavily influenced by ambient light, leading to misidentification and reducing the accuracy of docking. Another approach is based on infrared signals. This method first identifies the base station using specific infrared signals, then uses triangulation to determine the base station's position and orientation, or continuously checks the base station's position and orientation during movement to dock the robot vacuum. However, this method requires the robot vacuum to repeatedly turn towards the base station to continuously detect its position and orientation. Therefore, existing infrared signal-based methods are cumbersome and time-consuming, making it difficult to quickly dock the robot vacuum with a base station.

[0031] In view of this, the present disclosure provides a method, a sweeping machine, and a sweeping machine system for a sweeping robot to return to a base station. It can quickly and accurately guide the sweeping robot to or near the central axis of the base station without using side sensors, and make the sweeping robot travel along the central axis towards the base station. The method according to embodiments of the present disclosure can reduce the number of turns the sweeping robot makes during its journey to the base station, save time in returning to the base station, and has enhanced stability.

[0032] Figure 1 A schematic block diagram of a robotic vacuum cleaner system 100 in which the methods of embodiments of the present disclosure can be applied is shown. The robotic vacuum cleaner system 100 may include a robotic vacuum cleaner 110 and a base station 120 associated with the robotic vacuum cleaner 110. The base station 120 can provide charging functionality for the robotic vacuum cleaner 110. In addition, the base station 120 may provide the robotic vacuum cleaner 110 with one or more additional functions such as mop cleaning, dust collection, mop drying, automatic water replenishment, and automatic cleaning fluid addition. The robotic vacuum cleaner 110 can autonomously complete floor cleaning tasks. When the robotic vacuum cleaner 110's battery level falls below a certain threshold or when a recharging operation is required (e.g., mop cleaning, dust collection, mop drying, automatic water replenishment, or automatic cleaning fluid addition), the robotic vacuum cleaner 110 needs to return to the base station 120 and dock with the base station 120 to complete operations such as recharging or recharging.

[0033] Understandable Figure 1 The shapes and positions of the base station 120 and the sweeper 110 in the illustrated sweeper system 100 are merely illustrative and for purposes of explanation. The sweeper 110 and the base station 120 according to embodiments of this disclosure may have any shape and may be placed anywhere in a space (e.g., an indoor space), and this disclosure does not limit them.

[0034] Figure 2 A flowchart of a method 200 for a robot vacuum cleaner to return to a base station according to an embodiment of the present disclosure is shown. This can be combined with... Figure 1 The method 200 is described using a sweeping robot system 100. The method 200 can be executed by a sweeping robot 110 (e.g., a controller or processor in the sweeping robot 110 controls the sweeping robot 110).

[0035] like Figure 2 As shown, in step S210, the sweeper 110 can perform one or more circular motion processes. A circular motion process can be a process in which the sweeper 110 moves in an arc around the base station 120 with the base station 120 as the center. Each circular motion process has a corresponding central angle. The central angle and the radius of the arc can be used to determine the arc length traveled by the sweeper 110 in each circular motion process.

[0036] Combining Figure 3 This describes the implementation of each circular arc motion process. Figure 3 A flowchart illustrating a method 300 for implementing each circular arc motion process according to an embodiment of the present disclosure is shown. Figure 3 As shown, in step 312, the sweeping robot 110 can receive one or more signals from a plurality of transmitted signals emitted from the base station 120. The base station 120 may be equipped with multiple signal transmitters. These signal transmitters may include infrared signal transmitters or visible light transmitters, etc. Infrared signal transmitters can emit infrared signals. Visible light transmitters can be light sources of different colors (such as colored incandescent lamps, fluorescent lamps, light-emitting diodes (LEDs), etc.) used to emit visible light of different colors. This disclosure does not limit the type of signal transmitter used by the base station.

[0037] For infrared emitted signals, base station 120 can distinguish multiple infrared emitted signals through different infrared codes. For visible light signals, base station 120 can distinguish visible light signals through different wavelengths and other characteristics. It is understood that base station 120 can use any type of signal transmitter to transmit multiple signals, and this disclosure does not limit the type or number of signal transmitters.

[0038] Taking a base station 120 equipped with four signal transmitters as an example, each transmitter can transmit a signal: a first transmission signal, a second transmission signal, a third transmission signal, and a fourth transmission signal. Furthermore, due to the limiting holes of each transmitter, the base station 120 can transmit signals in a specific direction. In other words, each signal transmitted by the base station 120 has a specific angle.

[0039] The sweeping robot 110 can receive one or more signals from the aforementioned plurality of transmitted signals. In step 314, the sweeping robot 110 can determine the current area where it is located from the plurality of areas defined by the plurality of transmitted signals based on the received one or more signals. Figure 4 A schematic diagram is shown illustrating multiple exemplary regions defined by multiple transmitted signals according to some embodiments of the present disclosure. For example... Figure 4 As shown, the area covered by only the first transmitted signal is region A1; the area jointly covered by the first and second transmitted signals is region A2; the area covered by the second transmitted signal is region A3; the area jointly covered by the second and third transmitted signals is region A4; the area covered by only the third transmitted signal is region A5; the area jointly covered by the third and fourth transmitted signals is region A6; and the area covered by only the fourth transmitted signal is region A7. Figure 4 As shown, the fourth region includes the central axis of base station 120 (e.g., Figure 4 The area indicated by the dotted line in the diagram is referred to as the "central corridor area" in this paper. Compared to other areas, the central corridor area can be relatively small in size.

[0040] In some embodiments, the first region A1 and the seventh region A7, the second region A2 and the sixth region A6, and the third region A3 and the fifth region A5 are symmetrically distributed with respect to the central axis. The central corridor region (i.e., the fourth region A4) is symmetrical with respect to the central axis. Each region may have a corresponding angular range. In some embodiments, among the multiple regions A1 to A7, the region farthest from the central axis may have the largest angular range.

[0041] The angle of each region is related to the angle range of the transmitted signal emitted by the signal transmitter of base station 120. The sum of the angle ranges of these multiple regions is 180°, and the sum of the angle ranges of these multiple regions is bisected by the central axis. For example, the sum of half the angle range of the fourth region, the angle range of the first region A1, the angle range of the second region A2, and the angle range of the third region A3 is 90°, and the sum of half the angle range of the fourth region, the angle range of the fifth region A5, the angle range of the sixth region A6, and the angle range of the seventh region A7 is 90°. In the following description, the following angle ranges will be used as examples: The angular range of the first region A1 and the angular range of the seventh region A7 are both 60°. The angular range of the second region A2 and the angular range of the sixth region A6 are 15°; The angular range of the third region A3 and the angular range of the fifth region A5 are both 12°. The angle range of the fourth region A4 is 6°.

[0042] It is understood that the examples of the angle ranges described above are merely illustrative, and for purposes of explanation, this disclosure does not limit the angle ranges of each region. Furthermore, it is understood that since the fourth region (i.e., the central corridor region) is relatively narrow, it has a relatively small angle range. Where high precision is not required, the angle range of this fourth region can be considered 0°, thus making the sum of the angle ranges of the first region A1, the second region A2, and the third region A3 90°, and the sum of the angle ranges of the fifth region A5, the sixth region A6, and the seventh region A7 90°.

[0043] Furthermore, it is understandable that base station 120 can also transmit other numbers of signals, and according to... Figure 4 The method shown defines the corresponding number of regions. Taking the number of transmitted signals from the base station as m and the number of regions as n as an example: n = 2m - 1.

[0044] The sweeper 110 has one or more signal receivers for receiving transmitted signals from the base station 120. Figure 5 A schematic diagram of a sweeping robot 110 according to some embodiments of the present disclosure is shown. The sweeping robot 110 may include four signal receivers, such as signal receiver A, signal receiver B, signal receiver C, and signal receiver D. Signal receiver A and signal receiver B are located at the front end edge of the sweeping robot 110, and signal receiver C and signal receiver D are located at the rear end edge of the sweeping robot 110. Signal receiver A and signal receiver B are symmetrically distributed about the central axis of the sweeping robot 110, and signal receiver C and signal receiver D are symmetrically distributed about the central axis of the sweeping robot 110.

[0045] Each signal receiver located at the front edge of the sweeper 110 has a corresponding receiving angle. This receiving angle is limited by a limiting hole in the signal receiver. Typically, the signal receiver located at the rear edge of the sweeper 110 is not limited by the limiting hole, and therefore has a wider receiving range. Figure 5 The diagram shows the range of signals received by each signal receiver. For example, signal receiver A and signal receiver B each have a receiving angle range of 60°, and the overlapping receiving angle range of signal receiver A and signal receiver B is approximately 25°. It is understood that... Figure 5 The range of receiving angles of the signal receiver in the diagram is merely exemplary and is not limited thereto in this disclosure.

[0046] The robot vacuum cleaner 110 can determine its current location from multiple areas defined by multiple transmitted signals based on one or more received signals. In some embodiments, the robot vacuum cleaner 110 can determine its current location based on the correspondence between the received one or more signals and areas. For example, signal receiver A of the robot vacuum cleaner 110 receives a third transmitted signal, and signal receiver B receives both a third and a fourth transmitted signal. The robot vacuum cleaner 110 can perform an OR operation on the signal types received by the two signal receivers to determine that the signals received by the robot vacuum cleaner 110 are the third and fourth transmitted signals. The OR operation means that the signal received by each signal receiver is considered as the signal received by the robot vacuum cleaner. Based on the correspondence between signals and areas, the robot vacuum cleaner 110 can determine that its current location is the sixth area A6. As another example, signal receiver A of the robot vacuum cleaner 110 receives a fourth transmitted signal, and signal receiver B receives a fourth transmitted signal. The robot vacuum cleaner 110 can determine that the received signal is only the fourth transmitted signal. Based on the correspondence between signals and areas, the robot vacuum cleaner 110 can determine that its current location is the seventh area A7.

[0047] return Figure 3 In step 316, the sweeping robot travels in an arc around the base station, in a direction towards the central axis of the base station. The central angle of the arc is... The radius r of the arc is determined based on the angle range of the current area, the angle range of the central corridor area, and the angle range of the area separating the current area and the central corridor area. The radius r is determined based on the current distance L between the sweeping robot and the base station. As mentioned above, the central corridor area is the area containing the central axis of the base station among multiple areas. Figure 4 The fourth region A4 is shown in the diagram. In some embodiments, the radius r of the arc can be the sum of the distance L between the robot vacuum and the base station and the radius R of the base station. The process of determining the central angle will be described in detail below with reference to the accompanying drawings.

[0048] After determining the central angle Then, the sweeper 110 can determine the length of the arc it travels during this arc process by combining the radius r of the arc. l For example, an arc l It can be the central angle The product of the radius r of the arc, i.e. l= 。 Therefore, the sweeper 110 can travel a distance of [length missing] during this circular motion. l The sweeper 110 can rotate during its movement to adjust its direction of travel to the tangent of the arc, and travel a distance of [length missing] along the tangent. l The arc.

[0049] After each circular motion, the sweeping robot 110 can rotate 90° towards the base station 120 to align with it, and then perform the motion again. Figure 3 Steps 312 and 314 are performed to determine the current area. In response to the sweeping robot 110 not yet reaching the central corridor area, the sweeping robot 110 can repeat step 316 to approach the central axis of the base station 120. The sweeping robot 110 can repeat the above steps multiple times to reach the central corridor area A4. In some embodiments, the sweeping robot 110 can perform a predetermined number of circular motion processes to prevent the sweeping robot 110 from rotating too many times. For example, the predetermined number of times can be 3 times.

[0050] return Figure 2 In step 220, in response to the sweeping robot reaching the central corridor area, the sweeping robot can move towards the base station. The specific implementation process of the sweeping robot moving towards the base station 120 will be described in detail below.

[0051] According to the method of this disclosure, a robotic vacuum cleaner can move in an arc towards the central axis of a base station to dock with it. This method, without the need for side sensors on the robotic vacuum cleaner, can quickly and accurately guide the vacuum cleaner to or near the central axis of the base station and allow it to travel along the central axis towards the base station. The method of this disclosure reduces the number of turns the robotic vacuum cleaner makes while traveling towards the base station, saves time returning to the base station, and enhances stability.

[0052] During each circular motion, the robot vacuum 110 needs to determine the motion based on the corresponding central angle. In some embodiments, the central angle of the arc can be the sum of a first component and a second component. The first component can be determined based on the angle range of the central corridor area and the angle range of the area between the current area where the robot vacuum 110 is located and the central corridor area. For example, in response to the current area where the robot vacuum 110 is located not being the central corridor area, the first component can be half the angle range of the central corridor area plus the angle range of the area between the current area where the robot vacuum is located and the central corridor area. In response to the current area where the robot vacuum 110 is located being an adjacent area of ​​the central corridor area, the sum of the angle ranges of the areas between the current area where the robot vacuum is located and the central corridor area can be zero; therefore, the first component can be half the angle range of the central corridor area. Furthermore, in response to the current area where the robot vacuum 110 is located being the central corridor area, the first component can be zero. Additionally, the second component is determined based on the angle range of the current area; for example, the second component can be half the angle range of the current area.

[0053] In some embodiments, a corresponding area deviation can be set for each area. The area deviation of each area represents the deviation of that area relative to the central corridor area. For example, the area deviation of the central corridor area can be set to 0, and the deviations of each area on both sides of the central axis of base station 120 are as follows: d = ab (Formula 1) Where d represents the regional deviation of the corresponding area, a represents the area number, and b represents the central corridor area number. The areas are numbered sequentially in a clockwise or counter-clockwise direction. For example, this numbering can be set as follows: in the clockwise direction of central corridor area A4, the area farthest from the central corridor area is numbered 1. Starting from area number 1, multiple areas are numbered sequentially in a counter-clockwise direction. This determines the regional deviation of each area relative to the central corridor area. Figure 6 A schematic diagram of exemplary region deviations according to some embodiments of the present disclosure is shown. The region deviation of the first region A1 is -3, the region deviation of the second region A2 is -2, the region deviation of the third region A3 is -1, the fourth region A4 is the central corridor region with a region deviation of 0, the region deviation of the fifth region A5 is 1, the region deviation of the sixth region A6 is 2, and the region deviation of the seventh region A7 is 3.

[0054] When the sweeper 110 is located in the area with a deviation of d, the central angle corresponding to the nth (n is a positive integer) circular motion can be determined by the following formula (2). .

[0055] (Formula 2)

[0056] in, The first component. In response to the fact that the current area where the robot vacuum 110 is located is not the central corridor area, the first component... The sum of the angle ranges of the central corridor area and the angle ranges of the areas between the current area where the sweeper is located and the central corridor area can be half of the angle range of the central corridor area. Where the current area where the sweeper is located is an adjacent area of ​​the central corridor area, the sum of the angle ranges of the areas between the current area where the sweeper is located and the central corridor area can be zero. Furthermore, in response to the current area where the sweeper is located being the central corridor area, the first component can be zero. The first component can be expressed as the following formula (3): (Formula 3) This refers to the angular range of the i-th area between the area currently occupied by the sweeping robot 110 and the central corridor area A4. For example, if the divided areas are symmetrical about the central axis, iIt can correspond to the absolute value of the regional deviation for each region. This refers to the angular range of the central corridor area A4. When the area currently occupied by the sweeping robot 110 is an adjacent area to the central corridor area A4 (for example, the third area A3 or the fifth area A5),

[0057] For example, if the sweeper 110 is located in the seventh region A7 with a region deviation of 3, then the first component of the central angle of the nth circular motion... . and The angular ranges of the fifth region (regional deviation of 1) and the sixth region (regional deviation of 2), respectively (i.e., the angular ranges of the regions separated by the seventh region A7 and the central corridor region A4). The angle range for the central corridor area A4. Similarly, if the sweeper 110 is located in the second area A2 with an area deviation of -2, then the central angle of the nth circular motion is determined as follows: . The angular range of the third region A3 (region A3 and region A5 are symmetrical about the central axis, and the absolute value of the regional deviation is 1) (that is, the angular range of the third region A3 between the second region A2 and the central corridor region A4).

[0058] The second component of the central angle is determined based on the angular range of the current area where the sweeper 110 is located. In some embodiments, the second component can be half of the angular range of the current area where the sweeper 110 is located, that is, when the divided area is symmetrical with respect to the central axis. . The angle range of the current area where the sweeping robot 110 is located.

[0059] Therefore, the central angle corresponding to the nth circular arc motion performed by the sweeper 110 is: (Formula 4) In other embodiments, to more precisely control the sweeper 110 to perform circular motions to move to the central axis, the second component of the central angle corresponding to each circular motion can be determined as follows: In response to the current circular motion being the first circular motion in one or more circular motion processes, the second component is half the angle range of the current area where the sweeper 110 is located; and in response to the current circular motion not being the first circular motion in one or more circular motion processes, the second component is the smaller of the following two: half the angle range of the current area where the sweeper 110 is located, and half the second component of the central angle in the previous circular motion process. The central angle can be expressed as shown in Formula 5 below: (Formula 5) in, Let d be the second component of the central angle during the nth (n is a positive integer) circular motion process, and let d be the current area deviation of the sweeper 110. Let d' be the second component of the central angle in the previous circular motion process (i.e., the (n-1)th (where n≥2) circular motion process). The area deviation of the area where the sweeper 110 is located in the previous circular motion process is d'. Therefore, for the first circular motion process, the second component is half the angle range of the current area where the sweeper 110 is located. For non-first circular motion processes, the second component is the smaller of the following two: half the angle range of the current area where the sweeper 110 is located, and half the second component of the central angle in the previous circular motion process.

[0060] By setting the second component of the sweeper 110 to the smaller of half the angle range of the current area where the sweeper 110 is located and half the second component of the central angle during the previous circular motion, the central angle of the circular motion can be avoided from being too large, and thus the angle of deviation from the central axis during the circular motion can be too large, thereby increasing the accuracy and precision of the travel method.

[0061] The following combination Figure 7 This illustrates an exemplary process of a sweeping robot moving in an arc around a base station. Figure 7 An exemplary position change process of a sweeping robot 110 performing an arc motion according to an embodiment of the present disclosure is shown. In the following description, the following angle range will be used as an example: The angular range of the first region A1 and the angular range of the seventh region A7 are both 60°. The angular range of the second region A2 and the angular range of the sixth region A6 are 15°; The angular range of the third region A3 and the angular range of the fifth region A5 are both 12°. The angle range of the fourth region A4 is 6°.

[0062] Assuming the sweeper 110 executes... Figure 3 Steps 312 and 314 determine that the initial circular motion around base station 120 is located in the seventh region A7 (e.g., Figure 7 As shown in position 1), according to formula 5, the central angle of this circular motion process is 60°. The sweeper 110 moves around the base station along the circular arc 710, reaching position 2, as shown in position 1. Figure 7 As shown.

[0063] The sweeper 110 can then proceed by executing... Figure 3Steps 312 and 314 determine the current area as the fifth area A5. Since the central corridor area has not yet been reached, the sweeping robot 110 can continue to perform circular motion. The first component of the central angle of this circular motion is half the angle range of the fourth area A4, i.e., 3°. The second component is the smaller of half the angle range of the current area where the sweeping robot 110 is located and half the second component of the central angle during the previous circular motion. Since half the angle range of the current area where the sweeping robot 110 is located is 6°, and half the second component of the central angle during the previous circular motion is 15°, the second component of the central angle of this circular motion can be determined as half the angle range of the current area where the sweeping robot 110 is located, i.e., 6°. Therefore, the central angle of this circular motion is 9°.

[0064] The sweeper 110 can perform the above process multiple times. Furthermore, the central angle of each circular motion continuously decreases, causing the sweeper 110 to continuously move towards the central axis. After a predetermined number of times (e.g., 3 times), the sweeper 110 can stop the circular motion.

[0065] After stopping its circular motion, the robot vacuum 110 can determine its current location. In response to the current location not being the central corridor area A4, the robot vacuum 110 can further perform a calibration step to position itself within the central corridor area. In this calibration step, the robot vacuum 110 can travel a first distance toward the central axis of the base station 120, thereby positioning itself within the central corridor area. It is understood that the first distance is not a specific value, and those skilled in the art can determine the first distance based on actual conditions. In some embodiments, by traveling this first distance, any signal receiver arranged at the leading edge of the robot vacuum 110 can change from being unable to receive transmission signals covering the central corridor area (i.e., both the second and third signals) to being able to receive transmission signals covering the central corridor area. This confirms that the robot vacuum has entered the central corridor area. This offset value can be preset to be closer to the central axis after calibration, and this disclosure does not limit this.

[0066] Furthermore, in response to the current area being the central corridor area, the sweeping robot 110 can further perform a calibration step, allowing it to move closer to the central axis. In this calibration step, the sweeping robot 110 can travel a second distance towards the central axis of the base station 120, thereby bringing it closer to the central axis. This second distance can be preset, and this disclosure does not limit it. It is understood that the second distance is not a specific distance value, and those skilled in the art can determine the second distance based on actual circumstances.

[0067] After stopping the circular motion, the forward end of the sweeper 110 can face the base station. In order to travel towards the central axis during the calibration step, in some embodiments, the forward end of the sweeper 110 can rotate by a certain angle, for example, 15°, along the direction towards the central axis. After traveling a first distance or a second distance, the forward end of the sweeper 110 can rotate by a certain angle, for example, 15°, in a direction away from the central axis, so that it continues to face the base station 120.

[0068] After reaching the central corridor area, the sweeping robot 110 can move towards the base station. During this movement, the sweeping robot 110 can determine its angular velocity based on its positional and directional deviations relative to the central axis. The positional deviation represents the degree of offset of the sweeping robot from the central axis. The directional deviation represents the degree of deviation of the sweeping robot's direction of travel from the extension direction of the central axis. The positional and directional deviations can be determined based on the reception of transmitted signals from the base station 120 by the first and second signal receivers on the sweeping robot. The sweeping robot 110 can then move towards the base station 120 based on its angular velocity.

[0069] The sweeping robot 110 travels along the central axis of the base station towards the base station 120. During this journey, the sweeping robot can travel forward, backward, or both. In some embodiments, the sweeping robot 110 initially travels forward, with its front edge approaching and moving towards the base station 120. When the sweeping robot 110 reaches a certain range within the base station (e.g., 20 cm to 10 cm or other suitable value), it can turn around and travel backward. During this backward movement, its rear edge approaches and moves towards the base station 120. Through this process, the sweeping robot 110 ultimately docks with the base station 120.

[0070] During forward or backward movement, the sweeper 110 can move towards the base station 120 based on its angular velocity. In some embodiments, the sweeper can determine directional and positional deviations to determine its angular velocity. The first and second signal receivers used in determining the angular velocity are respectively located on the left front and right front of the end face of the sweeper 110 as it moves towards the base station 120. Accordingly, the first and second signal receivers are associated with the sweeper's forward or backward movement. In response to the sweeper 110's leading edge approaching and moving towards the base station 120, the first and second signal receivers used in determining the angular velocity are signal receivers located at the leading edge of the sweeper 110 (e.g., signal receiver A and signal receiver B). Furthermore, in response to the sweeper 110's trailing edge approaching and moving towards the base station 120, the first and second signal receivers are signal receivers located at the trailing edge of the sweeper 110 (e.g., signal receiver C and signal receiver D).

[0071] Specifically, in combination Figure 5 The schematic diagram of the sweeper 110 shows that when the front edge of the sweeper 110 approaches the base station 120 and moves towards the base station 120 (i.e., moving forward), the first signal receiver and the second signal receiver are located on the left side of the front edge of the sweeper 110 and the right side of the sweeper 110, respectively. When the rear edge of the sweeper 110 approaches the base station 120 and moves towards the base station 120 (i.e., moving backward), in response to the turning operation of the sweeper 110, the first signal receiver and the second signal receiver are located on the right side of the rear edge of the sweeper 110 and the left side of the sweeper 110, respectively.

[0072] The following will combine Figure 8 , Figure 9 and Figure 10 This describes the process of determining the angular velocity of the sweeper. It's understandable that the method for determining the angular velocity of the sweeper 110 during its forward and reverse travel is similar. The following explanation will use the determination of the travel angle during the forward travel of the sweeper 110 as an example. For the method of determining the travel angle during the reverse travel of the sweeper 110, please refer to... Figure 8 , Figure 9 and Figure 10 To understand it in a similar way.

[0073] Figure 8 A flowchart illustrating a method for determining the directional deviation of a sweeping machine according to embodiments of the present disclosure is shown. Figure 8In step 810, in response to only the first signal receiver (e.g., signal receiver A) receiving the transmitted signal from the base station, the robot vacuum cleaner can determine a directional deviation as a first directional deviation. The first directional deviation indicates a significant shift of the robot vacuum cleaner relative to the base station (i.e., the direction of travel of the robot vacuum cleaner relative to the extension of the central axis of the base station) in a first direction (e.g., to the right). The directional deviation can be represented by a value h; for example, the first directional deviation can be set to a value of 1. In step 820, in response to only the second signal receiver (e.g., signal receiver B) receiving the transmitted signal from the base station, the robot vacuum cleaner can determine a directional deviation as a second directional deviation. The second directional deviation indicates a significant shift of the robot vacuum cleaner relative to the base station in a second direction (e.g., to the left). For example, the second directional deviation can be set to a value of -1. In step 830, in response to both the first signal receiver (e.g., signal receiver A) and the second signal receiver (e.g., signal receiver B) receiving the transmitted signal from the base station, the robot vacuum cleaner can determine a third directional deviation. The third directional deviation can be set to a value of 0. The third directional deviation can indicate that the directional deviation of the sweeper relative to the base station is relatively small.

[0074] It is understood that the values ​​of the aforementioned directional deviation h are merely illustrative, and for illustrative purposes, those skilled in the art can set any value according to actual needs. For example, the first directional deviation corresponds to the situation where only the first signal receiver located to the left front of the sweeper (e.g., signal receiver A during forward movement or signal receiver D during backward movement) receives the transmitted signal, indicating that the sweeper is significantly offset to the right relative to the base station. In this case, the angular velocity of the sweeper should be adjusted so that the sweeper rotates to the left to align with the base station. The second directional deviation corresponds to the situation where only the second signal receiver located to the right front of the sweeper (e.g., signal receiver B during forward movement or signal receiver C during backward movement) receives the transmitted signal, indicating that the sweeper is significantly offset to the left relative to the base station. In this case, the angular velocity of the sweeper should be adjusted so that the sweeper rotates to the right to align with the base station. The third directional deviation corresponds to the situation where both signal receivers (e.g., receivers A and B during forward movement or receivers D and C during backward movement) receive the transmitted signal. This indicates that the directional deviation of the sweeper is small, and therefore, it does not need to be considered when adjusting the angular velocity. Thus, as the sweeper moves towards the base station, its angular velocity can be adjusted based on the degree of directional deviation relative to the base station, ensuring that the sweeper moves towards the base station in the correct direction, thereby increasing the accuracy and precision of the movement.

[0075] Figure 9A flowchart illustrating a method for determining the positional deviation of a sweeping machine according to embodiments of the present disclosure is shown. Figure 9 As shown, in step 910, the sweeping robot 110 can determine the first signal area where the first signal receiver is located based on the correspondence between the transmitted signal from the base station received by the first signal receiver and multiple areas.

[0076] Combining Figure 10 This describes the process by which the sweeping machine determines the positional deviation. Figure 10 This diagram illustrates an exemplary position of the robotic vacuum cleaner as it moves towards the base station. Figure 10 As shown, the sweeping robot 110 has a first signal receiver 112 located at the left front and a second signal receiver 114 located at the right front on its end face near the base station 120. The sweeping robot 110 can determine the receiver area where the first signal receiver 112 is located based on the correspondence between the transmitted signal received by the first signal receiver 112 and the area. Figure 10 Taking the schematic diagram as an example, the sweeper 110 can determine that the first signal receiver 112 receives the second and third transmitted signals. Based on the correspondence between the second and third transmitted signals and the central corridor area, the sweeper 110 determines that the first signal receiver 112 is located in the central corridor area A4.

[0077] return Figure 9 In step 920, the sweeping robot 110 can determine a first area deviation d1 between the first receiver area and the central corridor area. As mentioned above, the area deviation of each area is the deviation of that area relative to the central corridor area. Still using... Figure 10 For example, the sweeping robot 110 determines the first receiver area as the central corridor area, and the deviation d1 between this area and the first area of ​​the central corridor area is 0.

[0078] return Figure 9 In step 930, the sweeping robot 110 can determine the second receiver area where the second signal receiver is located based on the correspondence between the transmitted signal from the base station received by the second signal receiver and multiple areas. Figure 10 For example, the sweeping robot 110 can determine the receiver area where the signal receiver 114 is located as the fifth area based on the correspondence between the third transmitted signal received by the signal receiver 114 and the fifth area.

[0079] Continue to refer to Figure 9 In step 940, the sweeper 110 can determine the second area deviation d2 of the second receiver area relative to the central corridor area. Figure 10 For example, the sweeper 110 can determine that the deviation d2 between the second receiver area A5 and the second area of ​​the central corridor area is 1.

[0080] Continue to refer to Figure 9 In step 950, the sweeper 110 can determine the position deviation D based on the directional deviation h, the first area deviation d1, and the second area deviation d2. The position deviation D represents the degree of offset of the sweeper relative to the central axis of the base station. The area deviation D is related to the directional deviation. In some embodiments, in response to the directional deviation being a first directional deviation, the position deviation is a multiple of the first area deviation; in response to the directional deviation being a second directional deviation, the position deviation is a multiple of the second area deviation; and in response to the directional deviation being a third directional deviation, the position deviation is the sum of the first area deviation and the second area deviation. In some embodiments, the above multiple can be 2 times. Setting the position deviation to twice the first area deviation or the second area deviation can align the calculation reference with the position deviation corresponding to the third directional deviation (i.e., the sum of the first area deviation and the second area deviation), thereby avoiding errors caused by inconsistent calculation references.

[0081] For example, when both the first and second signal receivers can receive the transmitted signal from the base station and the sweeper 110 has a third directional deviation (h=0), the position deviation D=d1+d2. When only the first signal receiver receives the transmitted signal from the base station and the sweeper 110 has a first directional deviation (h=1), the position deviation D=2d1; when only the second signal receiver receives the transmitted signal from the base station and the sweeper 110 has a second directional deviation (h=-1), the position deviation D=2d2.

[0082] In some embodiments, the angular velocity of the sweeping robot 110 It can be determined using the following formula 6: (Formula 6) in, and It can be a constant. In some embodiments, It can be set to 0.1, and It can be set to 0.2. Those skilled in the art can also adjust it according to actual needs and circumstances. and Other values ​​may be set, but this disclosure does not limit them.

[0083] By determining the directional and positional deviations of the sweeper relative to the base station's central axis, and then using these deviations to determine the angular velocity, the sweeper can continuously adjust its angular velocity relative to the base station's central axis during its movement. The greater the degree of positional and directional deviation of the sweeper relative to the central axis, the greater the angular velocity calculated using Formula 6, and the greater the degree of directional adjustment. This allows for quick and precise adjustment of the sweeper's movement along the central axis towards the base station, thereby increasing the accuracy and precision of the movement process.

[0084] The sweeper 110 can travel along the central axis of the base station towards the base station using the angular velocity calculated as described above. Upon reaching a certain range from the base station 120, the sweeper 110 turns around and travels along the central axis of the base station 120 towards the base station using the angular velocity calculated as described above (i.e., traveling in reverse). The sweeper 110 docks with the base station 120, thus returning to the base station.

[0085] It is understandable that when the sweeper is moving backward, the aforementioned first signal receiver is the receiver located on the left front of the end face of the sweeper after it has turned around and is close to the base station (for example, Figure 5 The receiver D in the image), and the second signal receiver mentioned above is the receiver on the right front side of the end face of the sweeper that is close to the base station after the sweeper turns around (for example, the receiver D in the image). Figure 5 (Receiver C in the text). The robot vacuum cleaner can be configured according to the above... Figure 8 and Figure 9 The method for calculating the angular velocity during the backward movement is not elaborated here for the sake of simplicity.

[0086] The above description, with reference to the accompanying drawings, illustrates the process by which the sweeping robot performs an arc-shaped motion around the base station to reach or near the base station's central axis. It further describes the process by which the sweeping robot moves along the central axis and aligns itself with the base station according to its angular velocity. The following description, with reference to the accompanying drawings, illustrates the process by which the distance L between the sweeping robot and the base station is determined before the sweeping robot performs its arc-shaped motion.

[0087] Figure 11 A flowchart illustrating a method for determining the distance L between a robotic vacuum cleaner and a base station according to some embodiments of the present disclosure is shown. Figure 11 As shown, in step 1110, the sweeper 110 can determine a target heading angle for aligning the sweeper 110 with the base station 120 based on the reception of multiple transmitted signals by the first and second signal receivers. In some embodiments, the first and second signal receivers of the sweeper can be signal receivers on the left and right sides of the front edge of the sweeper, for example, Figure 5 Signal receiver A and signal receiver B are shown in the diagram.

[0088] The method for determining the target flight path angle will be described below with reference to Figures 12 and 13. Figure 12A and Figure 12B A schematic diagram illustrating a method for determining a target heading angle that aligns a sweeping robot and a base station, according to some embodiments of the present disclosure. The sweeping robot 110 can rotate to a first critical angle. First critical angle The heading angle of the sweeping robot 110 is such that only the first signal receiver (e.g., signal receiver A) can receive the transmitted signal from the base station 120, just as it rotates to a position where both the first and second signal receivers can simultaneously receive the transmitted signal from the base station 120. Figure 12A As shown. Next, the sweeper 110 can rotate to the second critical angle. Second critical angle The heading angle of the sweeping robot as it rotates to a position where only the second signal receiver (e.g., signal receiver B) receives the transmitted signal from base station 120, so that the first and second signal receivers can simultaneously receive the transmitted signal from base station 120. Figure 12B As indicated.

[0089] It can be based on the first critical angle Second critical angle Determine the target heading angle S. The target heading angle S can be the first critical angle. Second critical angle Half of the sum. The target flight path angle S can be calculated using the following formula 7: S= (Formula 7) Figure 13A and Figure 13B A schematic diagram illustrating a method for determining a target heading angle that aligns a sweeping robot and a base station, according to some embodiments of the present disclosure, is shown. The sweeping robot 110 can rotate to a third critical angle. The third critical angle The heading angle of the sweeping robot 110 from the position where it can receive the transmitted signal from the base station 120 after rotating from the first signal receiver (e.g., signal receiver A) to the position where it can receive the transmitted signal from the base station is as follows: Figure 13A As shown. Next, the sweeper 110 can rotate to the fourth critical angle. Fourth critical angle The heading angle of the sweeping robot 110 at the position where it can receive the transmitted signal from the base station 120 from the second signal receiver (e.g., signal receiver B) but cannot receive the transmitted signal from the base station 120 is as follows: Figure 13B As shown.

[0090] It can be based on the third critical angle and the fourth critical angle Determine the target heading angle S. The target heading angle S can be the third critical angle. and the fourth critical angle Half of the sum. The target flight path angle S can be calculated using the following formula 8: S= (Formula 8) The process of determining the target heading angle has been described above with reference to Figures 12 and 13. After obtaining the sum of the target heading angles S, the sweeping robot 110 can rotate and align itself with the base station based on this heading angle. The sweeping robot 110 can transmit a detection signal to the base station 120 to obtain the current distance between the sweeping robot 110 and the base station 120. In some embodiments, after the sweeping robot 110 aligns with the base station 120, the sweeping robot 110 can transmit a radar detection signal onto the base station 120 and acquire data points within a predetermined angle range (e.g., ±5°) directly in front. The sweeping robot 110 can determine the distance to the base station 120 based on the acquired data points. For example, the sweeping robot 110 can calculate the smaller quartile, mean, or median of the acquired data points to determine the distance to the base station 120. This disclosure does not limit the specific implementation process of the sweeping robot 110 obtaining the distance L between itself and the base station 120 through the detection signal.

[0091] Figure 14 A schematic block diagram of a sweeping robot according to some embodiments of the present disclosure is shown. Figure 14 The sweeper 1400 shown may include a traveling device 1410 and a controller 1420. The traveling device 1410 is used to perform the traveling of the sweeper 110. The controller 1420 can control the sweeper to perform the methods described according to embodiments of this disclosure. The details of the method embodiments described above are also applicable to... Figure 14 Examples of implementations.

[0092] Figure 15 A schematic block diagram of a sweeping robot 1500 according to another embodiment of the present disclosure is shown. The sweeping robot 1500 can be used to perform methods such as those described above. Figure 15 As shown, the robot vacuum cleaner 1500 may include a processor 1510 and a memory 1520. The processor 1510 is communicatively coupled to the memory 1520 and configured to cause the robot vacuum cleaner 1500 to perform the methods discussed above. The details of the method embodiments described above also apply to... Figure 15 Examples of implementations.

[0093] Examples of processor 1510 may include microprocessors, microcontrollers, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functions described in this disclosure.

[0094] Processor 1510 can execute software. Software should be broadly interpreted as instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, application programs, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc., regardless of whether it is referred to as software, firmware, middleware, microcode, hardware description languages, or otherwise. The software may reside on memory 1520.

[0095] Memory 1520 may be a non-transitory computer-readable medium. Non-transitory computer-readable media include, for example, magnetic storage devices (e.g., hard disks, floppy disks, magnetic stripes), optical disks (e.g., optical discs (CDs) or digital versatile optical discs (DVDs)), smart cards, flash memory devices (e.g., cards, memory cards, or key drives), random access memory (RAM), read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), registers, removable disks, and any other suitable medium for storing software and / or instructions that can be accessed and read by a computer. Memory 1520 may reside in processor 1210, be external to processor 1510, or be distributed across multiple entities including processor 1510. Memory 1220 may be embodied in a computer program product. For example, a computer program product may include a computer-readable medium in packaging material. Those skilled in the art will recognize how the functionality described throughout this disclosure can be implemented based on the specific application and overall design constraints imposed on the overall system.

[0096] Furthermore, according to another embodiment of this disclosure, a computer program product is disclosed. As an example, the computer program product may include program instructions that can be executed by the processor of a robotic vacuum cleaner. When executed, the program instructions cause the robotic vacuum cleaner to perform one or more of the processes described above. The details of the method embodiments described above also apply here; for the sake of brevity, details are omitted here.

[0097] According to another embodiment of this disclosure, a sweeping robot system is disclosed. This sweeping robot system may include a sweeping robot according to embodiments of this disclosure and a base station.

[0098] The various embodiments described in this disclosure are for illustrative purposes and are not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope of the described embodiments. The terminology used herein is chosen to best explain the principles of the embodiments, their practical application, or improvements to techniques found in the market, or to enable those skilled in the art to understand the embodiments disclosed herein.

[0099] Throughout the description and claims of this specification, the word “comprising” and variations thereof, such as “comprising” and “including,” means “including, but not limited to,” and are not intended to exclude, for example, other additives, components, integers, or steps. “Exemplary” means “an example of a preferred or ideal implementation and is not intended to convey its indication.” “Like” is not used in a limiting sense but for interpretive purposes.

[0100] As used in this disclosure, the term "determine" can include a variety of operations. For example, "determine," calculation, operation, processing, derivation, investigation, search (e.g., searching in a table, database, or other data structure), and ascertainment are all considered "determine." Additionally, "determine" also refers to receiving (e.g., receiving information), sending (e.g., sending information), inputting, outputting, and accessing (e.g., accessing data in memory). Furthermore, "determine" can also refer to parsing, selecting, picking, opening, and comparing. In other words, several actions can be considered "determine."

[0101] As used in this disclosure, terms such as “connection,” “coupling,” or any variations thereof refer to any direct or indirect connection or combination between two or more units, which may include situations where one or more intermediate units exist between two units that are “connected” or “coupled” to each other. The coupling or connection between units may be physical or logical, or a combination of both. As used in this disclosure, two units may be considered electrically connected by means of one or more wires, cables, and / or printing, and as numerous non-limiting and non-exhaustive examples, may be “connected” or “coupled” to each other by means of electromagnetic energy in the radio frequency region, microwave region, and / or light (visible and invisible) region, etc.

[0102] The present disclosure has been described in detail above; however, it will be apparent to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure may be implemented in modified and altered forms without departing from the spirit and scope of the present disclosure as defined by the claims.

Claims

1. A method for a robot vacuum cleaner to return to a base station, comprising: Execute one or more circular motion processes, each circular motion process including: Receive one or more of a plurality of transmitted signals from the base station. Based on the received one or more signals, the current area where the sweeping robot is located is determined from multiple areas defined by the plurality of transmitted signals, and The robot vacuum cleaner travels in an arc around the base station, towards its central axis. The central angle of the arc is determined based on the angle range of the current area, the angle range of the central corridor area, and the angle range of the area separating the current area and the central corridor area. The central corridor area is the area containing the central axis of the base station among the plurality of areas. The radius of the arc is determined based on the current distance between the robot vacuum cleaner and the base station. In response to the sweeping robot reaching the central corridor area, it moves toward the base station.

2. The method according to claim 1, wherein, The central angle of the arc is the sum of the first component and the second component; In response to the current region not being the central corridor region, the first component is the sum of half the angular range of the central corridor region and the angular range of the region separating the current region from the central corridor region; in response to the current region being the central corridor region, the first component is zero; and The second component is determined based on the angular range of the current region.

3. The method according to claim 2, wherein, The second component is half of the angular range of the current region.

4. The method according to claim 2, wherein, In response to the current circular motion process being the first circular motion process in one or more circular motion processes, the second component is half of the angle range of the current region; as well as In response to a current circular motion process that is not the first circular motion process in the one or more circular motion processes, the second component is the smaller of the following two: Half of the angular range of the current region, and Half of the second component of the central angle during the previous circular arc motion.

5. The method according to claim 1, further comprising, after performing one or more circular motion processes: The sweeping robot travels a first distance toward the central axis of the base station, so that it is located in the central corridor area.

6. The method according to claim 1, wherein, The plurality of transmitted signals includes a first transmitted signal, a second transmitted signal, a third transmitted signal, and a fourth transmitted signal; the plurality of regions includes a first region, a second region, a third region, a fourth region, a fifth region, a sixth region, and a seventh region, wherein the fourth region is the central corridor region; and The area covered by only the first transmitted signal is the first region; the area covered by both the first and second transmitted signals is the second region; the area covered by only the second transmitted signal is the third region; the area covered by both the second and third transmitted signals is the central corridor region; the area covered by only the third transmitted signal is the fifth region; the area covered by both the third and fourth transmitted signals is the sixth region; and the area covered by only the fourth transmitted signal is the seventh region.

7. The method according to claim 6, wherein, The first region and the seventh region, the second region and the sixth region, the third region and the fifth region are symmetrically distributed with respect to the central axis, and the central corridor region is symmetrical with respect to the central axis.

8. The method according to claim 1, wherein, Among the multiple regions, the region furthest from the central axis has the largest angular range.

9. The method according to claim 1, wherein, The sweeping machine includes a first signal receiver and a second signal receiver. The method further includes acquiring the current distance, and acquiring the current distance includes: The target heading angle for aligning the sweeping robot with the base station is determined based on the reception of the plurality of transmitted signals by the first signal receiver and the second signal receiver. Based on the target heading angle and alignment with the base station; and The robot vacuum cleaner transmits a detection signal to the base station to obtain the current distance between the robot vacuum cleaner and the base station.

10. The method according to claim 9, wherein, Determining the target heading angle includes: Rotate to the first critical angle, where the first critical angle is the heading angle of the sweeping robot from the position where only the first signal receiver can receive the transmitted signal from the base station to the position where the first signal receiver and the second signal receiver can simultaneously receive the transmitted signal from the base station; Rotating to a second critical angle, the second critical angle being the heading angle at which the sweeping robot has just rotated from a position where both the first and second signal receivers can simultaneously receive the transmitted signal from the base station to a position where only the second signal receiver receives the transmitted signal from the base station; and The target heading angle is determined based on the first critical angle and the second critical angle.

11. The recharge method according to claim 9, wherein, Determining the target heading angle includes: Rotate to the third critical angle, which is the heading angle of the sweeping robot when it has just rotated from the position where the first signal receiver can no longer receive the transmitted signal from the base station to the position where the first signal receiver can receive the transmitted signal from the base station; Rotating to the fourth critical angle, where the fourth critical angle is the heading angle at which the sweeping robot has just rotated from a position where the second signal receiver can receive the transmitted signal from the base station to a position where the second signal receiver can no longer receive the transmitted signal from the base station; and The target heading angle is determined based on the third critical angle and the fourth critical angle.

12. The method according to claim 1, wherein, The sweeping robot includes a first signal receiver and a second signal receiver, and its movement toward the base station includes: The traveling angular velocity is determined based on the positional and directional deviations of the sweeping machine relative to the central axis, wherein the positional and directional deviations are determined based on the reception of transmitted signals from the base station by the first and second signal receivers; and Based on the travel angular velocity, it travels toward the base station.

13. The method according to claim 12, wherein, Traveling toward the base station also includes determining the directional deviation of the sweeping machine, and determining the directional deviation of the sweeping machine includes: In response to the fact that only the first signal receiver receives the transmitted signal from the base station, the directional deviation is determined to be a first directional deviation; In response to the fact that only the second signal receiver receives the transmitted signal from the base station, the directional deviation is determined to be a second directional deviation; and In response to both the first signal receiver and the second signal receiver receiving the transmitted signal from the base station, the directional deviation is determined to be a third directional deviation.

14. The method according to claim 13, wherein, Moving toward the base station also includes determining the positional deviation of the sweeping machine, and determining the positional deviation of the sweeping machine includes: Based on the correspondence between the transmitted signal received by the first signal receiver from the base station and the plurality of regions, the first receiver region where the first signal receiver is located is determined; Determine a first area deviation of the first receiver area relative to the central corridor area; Based on the correspondence between the transmitted signal received by the second signal receiver from the base station and the plurality of regions, the second receiver region where the second signal receiver is located is determined; Determine the second region deviation of the second receiver region relative to the central corridor region; and The position deviation is determined based on the directional deviation, the first region deviation, and the second region deviation, and determining the position deviation includes: In response to the directional deviation being the first directional deviation, the positional deviation being a multiple of the first regional deviation; In response to the directional deviation being the second directional deviation, the positional deviation being a multiple of the second regional deviation; and In response to the directional deviation being the third directional deviation, the positional deviation is the sum of the first region deviation and the second region deviation.

15. The method according to claim 12, wherein, In response to the sweeper's leading edge moving towards the base station, the first signal receiver and the second signal receiver are signal receivers located at the leading edge of the sweeper, and In response to the sweeper's rear end edge moving toward the base station, the first signal receiver and the second signal receiver are signal receivers located at the rear end edge of the sweeper.

16. A sweeping machine, comprising: A traveling device for driving the sweeper; as well as The controller is configured to control the sweeper to perform the method according to any one of claims 1-15.

17. A sweeping robot system, comprising: Base station; as well as The sweeper according to claim 16.

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