Cleaning robot and method and device for returning it to and removing it from its base

Abstract

The method and device for the cleaning robot (10) and its return to and egress from the base (20) can control the cleaning robot (10) to move to or egress from the target base with a corresponding movement strategy based on the type of target base and the target task information, thereby reducing the risk that the cleaning robot (10) gets stuck on the base (20) and cannot be egressed, or the cleaning robot (10) cannot be moved to the base (20).

Description

[Technical field]

[0001] (Related Applications) This application claims priority to Chinese Patent Application No. 202210288057.0, filed on March 23, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the field of robot control, and more particularly to a cleaning robot and a method and device for returning the robot to and from a base. [Background technology]

[0003] A cleaning robot is a robot that performs cleaning work while automatically moving within a certain area to be cleaned, without being operated by a user.

[0004] When the cleaning robot starts working, it leaves the base to perform cleaning work, and when the cleaning robot needs to self-clean or the battery level is less than a preset value, the cleaning robot needs to return to the base for self-cleaning or charging. However, currently, one model of cleaning robot can be equipped with various bases with different functions, such as a base with a charging function only, a base with a dust collection and charging function, a base with a mop cloth cleaning and charging function, or a base with a dust collection, mop cloth cleaning and charging function, in order to meet the needs of various use cases of users. Furthermore, in a multi-story building, a base according to each use requirement can be arranged on each floor, and the user can carry only one cleaning robot to clean different floors and charge and / or self-clean the cleaning robot through the base on that floor, so that the user does not need to carry the base and the usage experience can be improved.

[0005] However, since bases with different functions have different structures, if the cleaning robot is moved out of or into the base in a single manner, there is a high possibility that the cleaning robot will get caught on the base and be unable to be moved out or into the base. Summary of the Invention

[0006] In the content of this disclosure, a series of concepts in simplified form are introduced, which are further described in detail in the specific embodiment part. The disclosure content of this disclosure is not intended to define the key features and necessary technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0007] According to a first aspect, an embodiment of the present disclosure provides a method for controlling a cleaning robot to return to a base, the method comprising: Determining a type of a first target base and first target task information, the first target base being a base to which the cleaning robot should be docked, and the first target task information being related information of a task that needs to be performed for the cleaning robot to return to the first target base; and controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on a type of the first goal base and the first goal task information.

[0008] Optionally, determining the type of the first goal base includes: Obtaining a way for the cleaning robot to move to the first target base and a starting point for the cleaning robot to perform a current movement; When the manner in which the cleaning robot moves to the first target base is an automatic manner and the starting point of the cleaning robot's current movement is a base, a first base type and a second base type are obtained, the first base type being a type of a base as a starting point of the cleaning robot's current movement, and the second base being a type of a first target base determined during the process in which the cleaning robot moves to the first target base; determining a type of the first target base based on the first base type and the second base type.

[0009] Optionally, determining the first target base type based on the first base type and the second base type includes: determining whether the first base type and the second base type are the same, and if the first base type and the second base type are the same, determining the first base type as the type of the first target base; If the first base type and the second base type are different, determining the second base type as the type of the first target base.

[0010] Optionally, determining the type of the first goal base includes: The method further includes, when a manner in which the cleaning robot moves to the first target base is an automatic manner and a starting point from which the cleaning robot performs its current movement is not a base, obtaining the second base type and determining the second base type as a type of the first target base.

[0011] Optionally, determining the type of first goal base includes: When the manner in which the cleaning robot moves to the first target base is a manual manner, determining whether or not a communication signal transmitted from the first target base is received, and when the communication signal transmitted from the first target base is received, determining a base type included in the communication signal as a type of the first target base; The method further includes, when a communication signal transmitted from the first target base is not received, determining a base type stored in the cleaning robot as a type of the first target base.

[0012] Optionally, after determining the first goal-based type, The method further includes storing the first target base type to update a base type stored in the cleaning robot.

[0013] Optionally, obtaining the second base type comprises: receiving a light beam emitted from a signal lamp of the first target base; and determining the second base type according to a light beam emitted from the signal lamp.

[0014] Optionally, the signal lamps include far field lamps located on either side of a centerline of the base and a central seam lamp located on a centerline of the base, and receiving light emitted from the signal lamps of the base includes: receiving a first beam of light when the cleaning device is a first preset distance away from the first target base, the first beam of light being emitted from the far field lamp; receiving a second beam of light when the cleaning device moves proximate to the first target base, the second beam of light being emitted from the central seam lamp.

[0015] Optionally, determining the second base type according to a light beam emitted from the signal lamp includes: Transforming the first light beam to obtain a first code; determining an initial type of the first goal base based on the first code; determining whether the initial type includes a subtype, and if the initial type includes a subtype, transforming the second light beam to obtain a second code; determining a subtype to which the first target base belongs based on the second code, and determining the subtype as the second base type; If the initial type does not include a subtype, determining the initial type as the second base type.

[0016] Selectively, when a type of the first target base is a charging base having only a charging function or a charging base having a dust collection function, and the first target task information is a charging task and / or a dust collection task, controlling the cleaning robot to move to the first target base with a corresponding movement strategy based on the type of the first target base and the first target task information; and controlling the cleaning robot to move in a forward direction to the first target base.

[0017] Selectively controlling the cleaning robot to move in a forward direction to the first target base includes: Controlling the cleaning robot to move forward toward the first target base based on the first light beam; When the cleaning robot is away from the first target base by a second preset distance, adjusting the posture of the cleaning robot so that a center line of the cleaning robot and a center line of the first target base substantially coincide with each other; The cleaning robot continues to move forward toward the first target base, and during the process of the movement of the cleaning robot, based on the second light beam, the posture of the cleaning robot is continuously adjusted so that the center line of the cleaning robot and the center line of the first target base accurately coincide with each other until the cleaning robot moves to the first target base.

[0018] Selectively, after controlling the cleaning robot to move in a forward direction to the first target base, When a docking signal is received, determining whether a continuous task trigger signal is received within a preset time, and when a continuous task trigger signal is received within the preset time, determining that the cleaning robot and the first target base are successfully docked; The method further includes controlling the cleaning robot to move backward to move out of the first target base and then move forward again to the first target base when a continuous task trigger signal is not received within the predetermined time, and repeating the step of determining whether a continuous charging trigger signal is received within the predetermined time until a continuous task trigger signal is received within the predetermined time.

[0019] Selectively controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on a type of the first goal base and the first goal task information, The process of controlling the cleaning robot to move in a forward direction to the first target base further includes ignoring a trigger signal generated by a cliff sensor at a middle rear part of a bottom surface of the cleaning robot during a docking step of the cleaning robot and the first target base, and ignoring a trigger signal generated by a cliff sensor at a front part of a bottom surface of the cleaning robot while the cleaning robot moves a first preset moving distance.

[0020] Selectively controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on a type of the first goal base and the first goal task information, When the cleaning robot pauses the forward movement on the first target base or the cleaning robot enters a sleep state and a driving wheel drop sensor of the cleaning robot is not triggered, storing the paused state of the cleaning robot; receiving a command to continue moving, receiving the second light beam, and if the drive wheel drop sensor of the cleaning robot is not triggered, continuing to ignore the trigger signal generated by the blocked cliff sensor, and controlling the cleaning robot to continue moving to the first target base in the paused state.

[0021] Selectively, when a type of the first target base is a charging base having a mop cloth cleaning function and the first target task information is a mop cloth cleaning task, controlling the cleaning robot to move to the first target base with a corresponding movement strategy based on the type of the first target base and the first target task information; and controlling the cleaning robot to move in a reverse direction to the first target base.

[0022] Selectively controlling the cleaning robot to move in a reverse direction to the first target base includes: Controlling the cleaning robot to move forward toward the first target base based on the first light beam; When the cleaning robot is away from the first target base by a third preset distance, adjusting the posture of the cleaning robot so that a center line of the cleaning robot and a center line of the first target base substantially coincide with each other; Controlling the cleaning robot to rotate 180 degrees; The cleaning robot continues to move backward toward the first target base, and during the process of the movement of the cleaning robot, the attitude of the cleaning robot is controlled to continue to be adjusted based on the second light beam so that a center line of the cleaning robot and a center line of the first target base exactly coincide with each other until the cleaning robot moves to the first target base.

[0023] Selectively, controlling the cleaning robot to move in a backward direction to the first target base, and then When an in-position detection signal transmitted from the first target base is received, control is performed to detect the in-position of the cleaning robot; The method further includes controlling the cleaning robot to communicate with the first target base if the in-position detection of the cleaning robot is successful.

[0024] Selectively, controlling the cleaning robot to move in a backward direction to the first target base, and then The method further includes controlling the cleaning robot to move forward and out of the first target base and then move backward and to the first target base again when the in-position detection signal transmitted from the first target base is not received and the cleaning robot performs in-position detection, and to repeat the above steps several times or until the cleaning robot receives the in-position detection signal transmitted from the first target base before performing in-position detection.

[0025] Selectively controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on a type of the first goal base and the first goal task information, In the process of controlling the cleaning robot to move in a reverse direction to the first target base, if the cleaning robot gets stuck, controlling the cleaning robot to execute an escape strategy until the cleaning robot escapes; The method further includes controlling the cleaning robot to continue moving in a reverse direction after the cleaning robot escapes until the cleaning robot moves to the first target base.

[0026] Selectively controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on a type of the first goal base and the first goal task information, Ignoring a trigger signal generated by a front collision structure of the cleaning robot during a process in which the cleaning robot is controlled to move to the first target base; When a trigger signal generated by a front collision structure of the cleaning robot is detected during a process in which the cleaning robot is controlled to move forward and move out of the first target base, the cleaning robot is controlled to stop moving and to perform a next preset operation; The method further includes controlling the cleaning robot to move backward again to the first target base after the cleaning robot completes a next preset operation.

[0027] Selectively controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on a type of the first goal base and the first goal task information, In the process of controlling the cleaning robot to move in a reverse direction to the first target base, the process further includes ignoring a trigger signal generated by a cliff sensor at a front part of a bottom surface of the cleaning robot, and receiving a trigger signal generated by a cliff sensor at a rear part of a bottom surface of the cleaning robot within a second preset moving distance.

[0028] Selectively controlling the cleaning robot to move to the first goal base based on a type of the first goal base and the first goal task information includes: When the cleaning robot pauses the movement in the reverse direction to the first target base, storing a pause state of the cleaning robot; and if the cleaning robot receives a command to continue moving and the second light beam is not received and the driving wheel drop sensor of the cleaning robot is not triggered, or if the cleaning robot enters a sleep state and the driving wheel drop sensor of the cleaning robot is not triggered, continuing to ignore the trigger signal generated by the blocked cliff sensor and controlling the cleaning robot to continue moving to the first target base in the paused state.

[0029] According to a second aspect, an embodiment of the present disclosure provides a method for controlling a cleaning robot to be transported out of a base, the method comprising: Determining a type of a second target base and the second target task information, the second target base being a base currently docked with the cleaning robot, and the second target task information being information of a task performed by the cleaning robot on the second target base; and controlling the cleaning robot to migrate from the second goal base with a corresponding migration strategy based on a type of the second goal base and the second goal task information.

[0030] Optionally, determining the second goal-based type includes: Obtaining the third base type; determining the third base type as a type of the second target base, the third base type being a base type stored in the cleaning robot;

[0031] Optionally, the method further comprises: In the process of controlling the cleaning robot to be migrated out of the second target base by a corresponding migration strategy, a communication signal transmitted from the second target base is received, and a base type included in the communication signal is determined to be the same as the third base type; if the base type included in the communication signal is the same as the third base type, the cleaning robot is controlled to continue moving by the current migration strategy; If the base type included in the communication signal is different from the third base type, the cleaning robot is controlled to move according to a compatible evacuation strategy.

[0032] Optionally, when the type of the second target base is a charging base having only a charging function or a charging base having a dust collection function, and the second target task information is a charging task and / or a dust collection task, the exit strategy is for the cleaning robot to retreat only by a distance corresponding to the second target base type, and the compatible exit strategy is for the cleaning robot to retreat only by a third preset movement distance.

[0033] Optionally, the method further comprises: In the process of controlling the cleaning robot to retreat and move out of the second target base, the method further includes ignoring a trigger signal generated by a front cliff sensor on a bottom surface of the cleaning robot, and ignoring a trigger signal generated by a middle / rear cliff sensor on a bottom surface of the cleaning robot within a fourth preset moving distance.

[0034] Optionally, the method further comprises: When the cleaning robot pauses the movement of retreating and moving out from the second target base, storing a pause state of the cleaning robot; When a command to continue moving is received, the third light beam is not received, and the driving wheel drop sensor of the cleaning robot is not triggered, or when the cleaning robot enters a sleep state and the driving wheel drop sensor of the cleaning robot is not triggered, the cleaning robot is controlled to continue to ignore the trigger signal generated by the blocked cliff sensor and continue to move out of the second target base in a paused state, and the third light beam is a light beam emitted from an indicator lamp located on the center line of the second target base; The method further includes detecting all sensing parts of the cleaning robot according to a preset detection mode when a driving wheel drop sensor of the cleaning robot is triggered.

[0035] Optionally, when the type of the second target base is a charging base with a mop cloth cleaning function and the second target task information is a mop cloth cleaning task, the ejection strategy is for the cleaning robot to move forward and eject only a distance corresponding to the type of the second target base, and the compatible ejection strategy is for the cleaning robot to move forward only a fifth preset movement distance.

[0036] Optionally, the method further comprises: In the process of controlling the cleaning robot to move forward and move out of the second target base, the method further includes ignoring a trigger signal generated by a cliff sensor at a middle rear of a bottom surface of the cleaning robot, and ignoring a trigger signal generated by a cliff sensor at a front of a bottom surface of the cleaning robot within a sixth preset moving distance.

[0037] Optionally, the method further comprises: When the cleaning robot is temporarily stopped from moving forward and moving out from the second target base, storing a temporary stop state of the cleaning robot; When a command to continue moving is received, the third light beam is not received, and the driving wheel drop sensor of the cleaning robot is not triggered, or when the cleaning robot enters a sleep state and the driving wheel drop sensor of the cleaning robot is not triggered, the trigger signal generated by the blocked cliff sensor is ignored, and the cleaning robot is controlled to continue moving out of the second target base in a paused state, and the third light beam is a light beam emitted from an indicator lamp located on the center line of the second target base; The method further includes detecting all sensing parts of the cleaning robot according to a preset detection mode when a driving wheel drop sensor of the cleaning robot is triggered.

[0038] According to a third aspect, an embodiment of the present disclosure provides a cleaning robot, the cleaning robot including: a traveling assembly, a cleaning assembly, and a controller; The controller is configured to execute a method for controlling the cleaning robot to return to a base and / or a method for controlling the robot to move out of a base.

[0039] According to a fourth aspect, an embodiment of the present disclosure provides an apparatus for controlling a cleaning robot to return to a base, the apparatus comprising: a first determination module configured to determine a type of a first target base and the first target task information, the first target base being a base to which the cleaning robot should be docked, and the first target task information being related information of a task that needs to be executed for the cleaning robot to return to the first target base; and a first control module configured to control the cleaning robot to move to the first goal base with a corresponding movement strategy based on a type of the first goal base and the first goal task information.

[0040] According to a fifth aspect, an embodiment of the present disclosure provides an apparatus for controlling a cleaning robot to be moved out of a base, the apparatus comprising: A second determination module configured to determine a type of a second target base and the second target task information, the second target base being a base currently docked with the cleaning robot, and the second target task information being information of a task that the cleaning robot has performed on the second target base; and a second control module configured to control the cleaning robot to migrate from the second goal base with a corresponding migration strategy based on a type of the second goal base and the second goal task information.

[0041] According to a sixth aspect, an embodiment of the present disclosure provides a cleaning robot, the cleaning robot comprising: a traveling assembly, a cleaning assembly, and a controller; The controller is configured to execute a method for controlling the cleaning robot to return to a base and / or a method for controlling the robot to move out of a base.

[0042] According to a seventh aspect, an embodiment of the present disclosure provides an electronic device, the electronic device comprising a processor and a memory, the memory being adapted to store at least one executable instruction, the executable instruction being configured to cause the processor to perform steps of a method for controlling the cleaning robot to return to a base and / or a method for controlling the robot to be removed from a base.

[0043] According to an eighth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, the computer-readable storage medium having computer program instructions stored therein, the computer program instructions being retrieved and executed by a processor to realize steps of a method for controlling the cleaning robot to return to a base and / or a method for controlling the robot to be removed from a base.

[0044] According to the method and device for a cleaning robot and its return to and egress from a base provided by an embodiment of the present disclosure, based on the type of target base and target task information, the cleaning robot can be controlled to move to or egress from a target base with a corresponding movement strategy, thereby reducing the risk that the cleaning robot gets stuck on the base and cannot be egressed, or the cleaning robot cannot move to the base.

[0045] The following accompanying drawings of the present disclosure are used as part of the embodiments of the present disclosure to understand the present disclosure. The embodiments of the present disclosure and the description thereof are shown in the accompanying drawings to explain the principles of the present disclosure. [Brief description of the drawings]

[0046] [Figure 1] FIG. 1 is a schematic perspective view of a cleaning robot according to an alternative embodiment of the present disclosure; [Diagram 2] Schematic bottom view of Fig. 1 [Diagram 3] Cleaning head structure diagram [Figure 4] Scenario diagram of an alternative embodiment of the present disclosure [Diagram 5] FIG. 1 is a schematic diagram of a cleaning robot moving forward to a base in an alternative embodiment of the present disclosure; [Figure 6] FIG. 1 is a schematic diagram of the alignment of the centerline of the cleaning robot with the centerline of the base in an alternative embodiment of the present disclosure; [Figure 7] FIG. 13 is a schematic diagram of a cleaning robot moving backwards to a base in an alternative embodiment of the present disclosure. [Figure 8] FIG. 1 is a schematic diagram of a cleaning robot moving backward and exiting from a base in an alternative embodiment of the present disclosure; [Figure 9] FIG. 1 is a schematic diagram of a cleaning robot moving forward and exiting a base in an alternative embodiment of the present disclosure; [Figure 10] 1 is a flowchart of a method for controlling a cleaning robot to return to a base according to an alternative embodiment of the present disclosure. [Figure 11] 1 is a flowchart of a method for controlling a cleaning robot to be transported out of a base according to an alternative embodiment of the present disclosure. [Figure 12] FIG. 1 is a structural schematic diagram of a device for returning a cleaning robot to a base according to an alternative embodiment of the present disclosure; [Figure 13] FIG. 1 is a structural schematic diagram of a device for moving a cleaning robot from a base according to an alternative embodiment of the present disclosure; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0047] In the following description, various specific details are given to provide a more thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure can be implemented without one or more of these details. In other instances, some technical features well known in the art are not described to avoid confusion in the present disclosure.

[0048] It should be noted that the terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise. In addition, it should also be understood that the terms "comprise" and / or "comprises" as used herein specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0049] Next, exemplary embodiments according to the present disclosure will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present disclosure will be thorough and complete, and will fully convey the idea of ​​these exemplary embodiments to those skilled in the art.

[0050] The term definitions are as follows: self-cleaning includes robotic dust removal (dust bucket cleaning), mop cloth cleaning, etc., and the drive module includes drive wheel drive assembly 141, side brush drive assembly, roller brush drive assembly, mop cloth drive assembly (the mop cloth may vibrate depending on the equipment, so also includes drive assembly if necessary), fan drive motor, water pump drive (electrically controlled water tank is used to distribute water evenly to the mop cloth), etc.

[0051] As shown in Fig. 4, an embodiment of the present disclosure provides a possible application scenario, which includes a cleaning robot 10 and a base. Specifically, the cleaning robot 10 includes, but is not limited to, a sweeper robot, a mopping robot, a sweeper and mopping robot, a dust collector, etc. The cleaning robot 10 is usually controlled to travel a specific cleaning path and perform corresponding function operations using a host button, an application program, etc.

[0052] 1 and 2, the cleaning robot 10 may include a device body 110, a sensing module 120, a controller, a driving module, a cleaning system 150, an energy system, and a man-machine interaction module 130. As shown in FIG. 1, the device body 110 includes a forward-facing portion 111 and a rear-facing portion 112, and may be substantially circular in shape (both front and rear are circular), or may be other shapes, including, but not limited to, a substantially D-shape with a square front and a circular rear, a rectangular or square shape with a square front and a square rear.

[0053] As shown in FIG. 1, the detection module 120 includes a positioning device 121 in the device body 110, a collision sensor provided in the front collision structure 122 of the forward-facing part 111 of the device body 110, a short-distance sensor (wall sensor) provided on the side of the device, a cliff sensor 123 provided in the lower part of the device body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the device body 110, and is used to provide various position information and moving state information of the device to the controller. The positioning device 121 includes, but is not limited to, a camera and a laser distance sensor (LDS, Laser Distance Sensor). A signal transmitting / receiving device is further provided in the device body, and the signal transmitting / receiving device is used for signal transmission with a corresponding device on the base. For example, the signal transmitting / receiving device is specifically an infrared transmitting / receiving device, and the infrared transmitting / receiving device includes one or more infrared transceivers, and of course, it may also be a device that receives signals by wireless communication, and the wireless communication method includes, but is not limited to, Bluetooth (registered trademark), Wi-Fi (registered trademark), etc. In some preferred embodiments, the positioning device 121 (camera, laser sensor, etc.) is provided on the front side of the body 110, i.e., on the front end of the front-facing part 111, so that the cleaning robot can more accurately sense the environment in front of the cleaning robot and achieve accurate positioning. Similarly, an infrared transmitting / receiving device is also provided on the front side of the body, i.e., on the front end of the front-facing part 111, so that the cleaning robot can smoothly receive signals transmitted from the base.

[0054] As shown in FIG. 1, a front collision structure 122 is mounted on the forward-facing part 111 of the equipment body 110. During the cleaning process, when the driving wheel module 141 propels the cleaning robot 10 to run on the floor surface, the front collision structure 122 detects one or more events in the running path of the cleaning robot 10 through a sensor system provided thereon, such as a collision sensor or a proximity sensor (infrared sensor), and the cleaning robot 10 can control the driving module according to the event detected by the front collision structure 122, such as an obstacle, a wall, so that the cleaning robot 10 responds to the event, for example, moves away from the obstacle and performs an obstacle avoidance operation.

[0055] The controller is provided on a circuit board in the device body 110 and includes a computing processor, such as a central processing unit, an application processor, which communicates with a non-transitory memory, such as a hard disk, a flash memory, or a random access memory. The application processor uses a positioning algorithm, such as SLAM (Simultaneous Localization And Mapping), to draw an instantaneous map of the environment in which the cleaning robot 10 is located, based on the obstacle information fed back by the laser ranging device. Based on the distance information and speed information fed back by the sensing devices, such as the sensor provided in the front collision structure 122, the cliff sensor 123, the magnetometer, the accelerometer, the gyroscope, and the odometer, the controller comprehensively determines what operating state the cleaning robot 10 is currently in, where it is located, and the current posture of the cleaning robot 10, such as crossing a threshold, climbing a carpet, being located on a cliff, being caught above or below, the dust box being full, being lifted, etc., and can provide a specific next operating strategy according to different situations so that the cleaning robot 10 has better cleaning performance and user experience.

[0056] As shown in FIG. 2, the driving module can operate the equipment body 110 to travel across a floor surface based on a driving command having distance and angle information. The driving module includes a main driving wheel module, which can control a left wheel 140 and a right wheel 141, and preferably includes a left driving wheel module and a right driving wheel module, respectively, in order to more accurately control the movement of the equipment. The left driving wheel module and the right driving wheel module are provided along a horizontal axis defined by the equipment body 110. In order for the cleaning robot 10 to move more stably on the floor surface or have stronger movement ability, the cleaning robot 10 may include one or more driven wheels 142, which include but are not limited to universal wheels. The main driving wheel module includes a driving motor and a control circuit for controlling the driving motor, and a circuit for measuring a driving current and an odometer may be further connected to the main driving wheel module. Furthermore, the left wheel 140 and the right wheel 141 may have a biased drop suspension system, and may be movably fixed, for example, rotatably connected to the equipment body 110, and receive a spring bias biased downward and away from the equipment body 110. The spring bias allows the drive wheels to maintain contact and traction with the floor surface with a constant landing force, while the cleaning element of the cleaning robot 10 also contacts the floor surface with a constant pressure.

[0057] The energy system includes a rechargeable battery such as a nickel-metal hydride battery or a lithium battery. A charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit may be connected to the rechargeable battery, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to a one-chip microcomputer control circuit. The host is connected to the charging pile for charging through the charging electrode 160 on the side or under the body.

[0058] The man-machine interaction module 130 includes a button on the host panel, which is used for the user to select a function; the man-machine interaction module 130 may further include a display and / or an indicator lamp and / or a horn, which is used for indicating the current mode or function selection option of the device to the user; and the man-machine interaction module 130 may further include a mobile phone client program. In the case of the route navigation type automatic cleaning robot 10, the mobile phone client can show the user a map of the environment where the device is located and the location of the device, providing the user with more abundant and user-friendly function options. Specifically, the cleaning robot has multiple modes, such as an operating mode and a self-cleaning mode. The operating mode refers to a mode in which the cleaning robot performs an automatic cleaning task, and the self-cleaning mode refers to a mode in which the cleaning robot removes dirt on the roller brush and side brush 152 on the base, automatically collects dirt, and / or automatically washes and dries the mop cloth.

[0059] The cleaning system 150 may be a dry cleaning system 151 and / or a wet cleaning system 153.

[0060] As shown in Fig. 2, the dry cleaning system 151 provided by the embodiment of the present disclosure may include a roller brush, a dust box, a fan, and an air outlet. The roller brush with a certain interference with the floor surface sweeps up the dust on the floor surface and lifts it up in front of the dust suction port between the roller brush and the dust box, and then sucks it into the dust box through the suction gas generated by the fan and passing through the dust box. The dry cleaning system 151 may further include a side brush 152 with a rotating shaft, which forms a certain angle with the floor surface to move the chips to the roller brush area of ​​the cleaning system 150.

[0061] 2 and 3, the wet cleaning system 153 provided by the embodiment of the present disclosure may include a cleaning head 1531, a driving unit 1532, a water supply mechanism, a liquid storage tank, etc. The cleaning head 1531 is disposed below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning head 1531 via the water supply mechanism, and the cleaning head 1531 performs wet cleaning on the plane to be cleaned. In another embodiment of the present disclosure, the cleaning liquid inside the liquid storage tank may be directly sprayed onto the plane to be cleaned, and the cleaning head 1531 can clean the plane by uniformly soaking the cleaning liquid.

[0062] The cleaning head 1531 is used to clean the surface to be cleaned, and the driving unit 1532 is used to drive the cleaning head 1531 to move substantially back and forth along the target surface, the target surface being a part of the surface to be cleaned. The cleaning head 1531 moves back and forth along the surface to be cleaned, and the cleaning head 1531 is provided with a mop cloth on the surface of the contact surface with the surface to be cleaned, and the driving unit 1532 drives the mop cloth of the cleaning head 1531 to move back and forth to generate high frequency friction with the surface to be cleaned, so as to remove dirt on the surface to be cleaned, or the mop cloth may be provided floating, so that in the cleaning process, it is always in contact with the cleaning surface, and does not need to be driven back and forth by the driving unit 1532.

[0063] As shown in FIG. 3, the driving unit 1532 may further include a driving platform 1533 and a support platform 1534, in which the driving platform 1533 is connected to the bottom surface of the equipment body 110 to provide driving force, and the support platform 1534 is detachably connected to the driving platform 1533 and used to support the cleaning head 1531, and can be raised and lowered by being driven by the driving platform 1533.

[0064] The wet cleaning system 153 may be connected to the machine body 110 via an active lifting module. When the wet cleaning system 153 is temporarily not involved in the operation, for example, when the cleaning robot 10 stops at the base station to wash the cleaning head 1531 of the wet cleaning system 153 and fill the liquid storage tank with water, or when the cleaning robot 10 encounters a surface to be cleaned that cannot be cleaned by the wet cleaning system 153, the wet cleaning system 153 can be lifted by the active lifting module.

[0065] As shown in Fig. 4, the base 20 includes a main body 21, which includes a base 211 and a stopper side part 212. The base 20 further includes a signal transmitting device, which is used to transmit a signal to the outside. For example, the signal transmitting device is specifically an infrared transmitting device, which includes one or more infrared transmitting sources (e.g., infrared light emitting diodes), which are used to transmit infrared signals to the outside, and of course, may be a device that transmits a signal by wireless communication, and the wireless communication method includes, but is not limited to, Bluetooth (registered trademark), Wi-Fi, etc.

[0066] In some embodiments, since the base 20 has a charging function, the base 20 further includes two or more charging electrode sheets 22, which can be aligned and contacted with a charging electrode sheet provided on the cleaning robot 10, thereby supplying charging power to the cleaning robot 10.

[0067] In some other embodiments, the base 20 has functions such as dust collection, mop cloth cleaning, or drying in addition to the charging function, and a dust collection assembly, a mop cloth cleaning assembly, or a drying assembly is provided on the base 20 accordingly. The dust collection assembly includes a cleaning mechanism, a dust suction mechanism, and a dust collection box, the cleaning mechanism is used to clean the roller brush of the cleaning robot 10, the dust collection box is detachably attached to the base 20, the dust suction mechanism is provided in the dust collection box, and the dust suction mechanism sucks the dirt removed from the roller brush of the cleaning robot 10 and / or the dust in the dust box of the cleaning robot 10 into the dust collection box.

[0068] The mop cloth cleaning assembly includes a cleaning tank provided on the base 20, a scraper or brush roller fixedly or movably provided in the cleaning tank, the brush roller is rotationally driven by a brush roller driving mechanism, the base 20 is provided with a cleaning opening communicating with the cleaning tank, after the cleaning robot runs on the base 20, the scraper or brush roller forms interference contact with the mop cloth to clean the mop cloth entering the cleaning tank, and the mop cloth cleaning assembly further includes a water supply mechanism and a drainage mechanism communicating with the cleaning tank, the water supply mechanism is used to transport cleaning liquid into the cleaning tank, and the drainage mechanism is used to discharge dirty water after the mop cloth is cleaned.

[0069] The drying assembly includes a heating assembly provided on the base 20, which is used to heat and dry the mop cloth after cleaning, thereby improving the drying speed of the mop cloth, and the drying assembly may further include an air drying mechanism, which is used to speed up the drying of the mop cloth by dispersing and blowing air on the mop cloth.

[0070] Of course, the functions of the base 20 described above are merely exemplary, and the base 20 may further include other auxiliary functions or a combination of the above functions, and the present embodiment is not strictly limited in terms of the functions of the base 20.

[0071] Based on the above application scenario, as shown in FIG. 10 , an embodiment of the present disclosure provides a method for controlling a cleaning robot to return to a base, which includes the following steps: In step S101, a type of a first target base and first target task information are determined, where the first target base is a base to which the cleaning robot 10 should be docked, and the first target task information is relevant information of a task that needs to be performed for the cleaning robot 10 to return to the first target base.

[0072] In a specific application, for one cleaning robot 10, bases with multiple different functions may be arranged, or one base may be arranged, and in this embodiment, the number of bases arranged on the cleaning robot 10 is not strictly limited. However, when two or more bases are arranged on one cleaning robot 10, the cleaning robot 10 is docked with only one of them at a time, that is, the first target base in this step, and the first target base is adapted to the first target task information, for example, when the first target task information is a mop cloth cleaning task, the first target base is a base having at least a mop cloth cleaning function, and of course, the first target base may have other functions such as charging. If all the bases have the function of performing the target task, the cleaning robot 10 can select the base closest to the current position as the first target base, or may select a base according to a preset priority. For example, in order of pre-set priority, if the bases are a base that the cleaning robot 10 has previously moved to, a base with multiple functions, and a base with a single function, the cleaning robot 10 will first select the base that it has previously moved to, and if there is no base that it has previously moved to, it will select the base with multiple functions, and in this way determine the first target base.

[0073] The first target task information may be transmitted to the cleaning robot 10 by a user using a host button and an application program, or may be automatically generated by the cleaning robot 10 when a preset condition is met. For example, the first target task information may be for charging the cleaning robot 10 when the battery level of the cleaning robot 10 is lower than a preset battery level. Or, the first target task information may be for cleaning the mop cloth when the cleanliness of the mop cloth of the cleaning robot 10 is lower than a preset cleanliness.

[0074] In step S102, based on the type of the first goal base and the first goal task information, the cleaning robot 10 is controlled to move to the first goal base according to a corresponding movement strategy.

[0075] According to the method for returning a cleaning robot to a base provided by an embodiment of the present disclosure, the method can control the cleaning robot 10 to move to the first target base according to a corresponding movement strategy based on different first target base types and first target task information, thereby reducing the risk that the cleaning robot 10 cannot move to the base.

[0076] Specifically, in some embodiments, determining the first goal-based type in step S101 specifically includes the following steps: In step S201, the manner in which the cleaning robot 10 moves to the first target base and the starting point from which the cleaning robot 10 currently moves are obtained.

[0077] The manner in which the cleaning robot 10 moves to the first target base includes an automatic manner and a manual manner. The automatic manner is that the cleaning robot 10 moves to the first target base autonomously, and the manual manner is that the user manually places the cleaning robot 10 at the first target base. The current movement of the cleaning robot 10 refers to the entire movement process from when the cleaning robot 10 receives an operation command and starts moving to execute the operation command to when the cleaning robot 10 returns to the first target base. The starting point from which the cleaning robot 10 performs the current movement refers to the starting position of the current movement of the cleaning robot 10.

[0078] In step S202, if the manner in which the cleaning robot 10 moves to the first target base is an automatic manner and the starting point of the cleaning robot 10's current movement is a base, a first base type and a second base type are obtained, where the first base type is the type of the base as the starting point of the cleaning robot 10's current movement, and the second base is the type of the first target base determined in the process of the cleaning robot 10 moving toward the first target base.

[0079] The starting point of the cleaning robot 10's current movement is the base, which means that the cleaning robot 10 moves out of the base to start the current movement, and after the cleaning robot 10 moves out of the base, the cleaning robot 10 may return to the base, or may return to another base similar to the base type, or may return to another base different from the base type, that is, the first base type and the second base type may be the same or different.

[0080] In step S203, a type of a first target base is determined based on the first base type and the second base type.

[0081] Specifically, step S203 includes the following steps: In step S2031, it is determined whether the first base type and the second base type are the same. If the first base type is the same as the second base type, step S2032 is executed, and if the first base type is different from the second base type, step S2033 is executed.

[0082] In step S2032, the first base type is determined as the type of the first target base.

[0083] In step S2033, the second base type is determined as the type of the first target base.

[0084] Exemplarily, when the first base type and the second base type are both charging bases having only a charging function, the type of the first target base is a charging base having only a charging function, and when the first base type is a charging base having only a charging function and the second base type is a charging base having a dust collection function, the type of the first target base is a charging base having a dust collection function.

[0085] By comparing the first base type with the second base type, if the first base type is the same as the second base type, in the subsequent control process, the cleaning robot 10 can directly use the previous movement strategy to move to the first target base, eliminating the need for the cleaning robot 10 to search for an adapted movement strategy, thereby improving the efficiency of determining the movement strategy of the cleaning robot 10.

[0086] In step S204, if the manner in which the cleaning robot 10 moves to the first target base is an automatic manner and the starting point from which the cleaning robot 10 currently moves is not the base, a second base type is obtained and the second base type is determined as the type of the first target base.

[0087] The starting point from which the cleaning robot 10 performs its current movement is not the base, which means that the cleaning robot 10 does not move out from the base to start its current movement, in which case the second base type is directly determined as the type of the first target base.

[0088] In step S205, if the method for moving the cleaning robot 10 to the first target base is a manual method, it is determined whether a communication signal transmitted from the first target base has been received, and if the communication signal transmitted from the first target base has been received, step S206 is executed, and if the communication signal transmitted from the first target base has not been received, step S207 is executed.

[0089] In step S206, the base type included in the communication signal is determined as the type of the first target base.

[0090] In step S207, the base type stored in the cleaning robot 10 is determined as the type of the first target base.

[0091] When the cleaning robot 10 is manually placed on the first target base by the user, the first target base realizes the transmission of a communication signal with the cleaning robot 10 through infrared or wireless communication, the communication signal includes the type of the first target base, and if the cleaning robot 10 receives the communication signal transmitted from the first target base, i.e., the communication is successful, the base type included in the communication signal is determined as the type of the first target base, for example, if the base type included in the communication signal is a charging base with a dust collection function, the type of the first target base is a charging base with a dust collection function. If the cleaning robot 10 does not receive the communication signal transmitted from the first target base, i.e., the communication is unsuccessful, the base type stored in the cleaning robot 10 is determined as the type of the first target base.

[0092] In step S208, the first target base type is stored to update the base type stored in the cleaning robot 10.

[0093] By storing the type of the first target base, when the cleaning robot 10 later migrates out of the first target base, the type of the first target base is called up, and then a movement strategy corresponding to the type of the first target base is searched for, and the cleaning robot 10 is controlled to migrate out of the first target base, without needing to determine the type of the first target base again.

[0094] Furthermore, the step of acquiring the second base type in the above step S202 includes the following steps. In step S301, a light beam emitted from a signal lamp of a first target base is received.

[0095] In step S302, a second base type is determined according to the light emitted from the signal lamp.

[0096] Specifically, a plurality of signal lamps are provided on the first target base, and correspondingly, a light-sensing member that can receive light emitted from the signal lamps is also provided on the equipment body of the cleaning robot 10, converts the received light into an electrical signal, and identifies the code represented by it. Since different types of bases have different codes, the second base type can be determined according to the code, that is, the type of the first target base can be determined during the process of the cleaning robot 10 moving to the first target base.

[0097] In order to improve the accuracy of determining the second base type, in some embodiments, the first target base can be roughly classified at a long distance first, and then finely classified at a short distance by setting the position of the signal lamp of the base and the code converted by the light from each signal lamp. Illustratively, the signal lamps include a far-field lamp on both sides of the base centerline and a central seam lamp on the base centerline, and the above step S301 specifically includes the following steps: In step S401, when the cleaning device is a first preset distance away from a first target base, it receives a first light beam, the first light beam being a light beam emitted from a far-field lamp.

[0098] The first preset distance generally refers to the distance at which a light-sensing member on the cleaning device can receive the first light beam.

[0099] In step S402, when the cleaning device moves closer to the first target base, it receives a second light beam, which is a light beam emitted from the central seam lamp.

[0100] Of course, it can be understood that the signal lamp forms a signal identifiable by the robot through the position on its base and the light signal code, so the position of the signal lamp and the light code of the signal lamp in the exemplary description are not limiting, and those skilled in the art can extend according to the principles and functions of the exemplary description.

[0101] Correspondingly, the above step S302 specifically includes the following steps: In step S501, a first light ray is transformed to obtain a first code.

[0102] The first code is formed by adjusting the light intensity of the first light beam and / or the sequence of light emission from different far-field lamps. For example, as shown in FIG. 6, take four signal lamps as an example, the four signal lamps emit light beams A1, B1, C1, D1 in sequence to form a code, where the light intensities of A1, B1, C1, D1 may be the same, may be different, or may be partially the same. Of course, the specific light emission manner is not limited thereto, and any emission manner feasible in the present field may be adopted.

[0103] In step S502, an initial type of a first goal base is determined based on the first code.

[0104] Specifically, a category of base and a code corresponding to the category are pre-stored in the memory of the cleaning robot 10. The controller of the cleaning robot 10 matches the first code with the pre-stored code, searches for a pre-set code that matches the first code, and then calls up a category corresponding to the pre-set code and determines the category as an initial type of the first target base.

[0105] The categories of the base can be set by the operator and are not strictly limited in this embodiment. For example, the categories of the base can include a charging base with only a charging function, a charging base with only a dust collection function, and a charging base with two or more functions.

[0106] Each category may include subcategories or may not include subtypes, for example, the two categories of charging base with charging function and charging base with only dust collection function have no subtypes, and the charging base with two or more functions has three subtypes: charging base with dust collection and mop cloth cleaning function, charging base with mop cloth cleaning and drying function, and charging base with dust collection, mop cloth cleaning and drying functions.

[0107] In step S503, it is determined whether the initial type includes a subtype. If the initial type includes a subtype, steps S504 to S505 are executed, and if the initial type does not include a subtype, step S506 is executed.

[0108] In step S504, the second light ray is transformed to obtain a second code.

[0109] The second code can be formed by adjusting factors such as the light intensity or emission frequency of the second light beam. For example, the central seam emits light beams with different light intensities at a period of 5s to form the second code. Of course, the specific light beam emission mode is not limited thereto, and any emission mode available in the art can be used.

[0110] In step S505, the subtype to which the first target base belongs is determined based on the second code, and the subtype is determined as the second base type.

[0111] In step S506, the initial type is determined as the second base type.

[0112] Each subtype and a code corresponding to the subtype are further pre-stored in the memory of the cleaning robot 10. After the initial type of the first target base is determined, it is necessary to determine whether the initial type includes a subtype. If the initial type does not include a subtype, for example, the initial type is a charging base having only a charging function, the second base type is a charging base having only a charging function. If the initial type includes a subtype, the second code is matched with the pre-stored code, and after searching for a successfully matched code, the corresponding subtype is determined as the second base type.

[0113] In this embodiment, in the process of moving towards the first target base, the cleaning robot 10 first determines the category to which the first target base belongs based on the code converted by the first light beam at a long distance, and roughly classifies the first target base. Then, when moving closer to the first target base, it determines through the second light beam whether the first target base still belongs to a subcategory under the category, and accurately classifies the first target base. In this way, when the distance is short, the interference from the environment of the second light beam is small, and the determined type can be more accurate.

[0114] In a specific application, if the type of the first target base is a charging base having only a charging function or a charging base having a dust collection function, and the first target task information is a charging task and / or a dust collection task, step S101 specifically includes step S601. In step S601, the cleaning robot 10 is controlled to move in the forward direction to the first target base.

[0115] The forward movement means that the forward part 111 of the cleaning robot 10 faces the first target base and moves in a direction gradually approaching the first target base, see FIG. 5 for details.

[0116] In this embodiment, when the cleaning robot 10 needs to be charged, or the roller brush needs to be cleaned, or the roller brush needs to be cleaned as well as charged, the cleaning robot 10 moves in the forward direction to the first target base.

[0117] Furthermore, in the process of controlling the cleaning robot 10 to move in the forward direction to the first target base, when the cleaning robot 10 and the first target base are docked, a trigger signal generated by the cliff sensor 123 at the middle and rear of the bottom surface of the cleaning robot 10 is ignored, and while the cleaning robot 10 moves the first preset movement distance, a trigger signal generated by the cliff sensor 123 at the front of the bottom surface of the cleaning robot 10 is ignored.

[0118] 2, a plurality of cliff sensors 123 are provided at different positions on the bottom surface of the cleaning robot 10 to detect whether there are cliffs on the surface to be cleaned around the cleaning robot 10. Illustratively, the number of cliff sensors 123 is six, which are divided into three sets, with two cliff sensors 123 in each set, and the three sets of cliff sensors 123 are sequentially arranged from the forward-facing portion 111 to the rear-facing portion 112, respectively, the cliff sensor 123 closest to the front end of the cleaning robot 10 is the cliff sensor 123 at the front of the bottom surface of the cleaning robot 10, and the remaining cliff sensors 123 are the cliff sensors 123 at the middle rear of the bottom surface of the cleaning robot 10.

[0119] When the cleaning robot 10 performs cleaning work, after the cliff sensor 123 is triggered, the cleaning robot 10 stops moving or changes direction to avoid the cliff, and in the process of docking the cleaning robot 10 with the first target base, the cliff sensor 123 may determine the groove on the base as a cliff, causing the cleaning robot 10 to stop moving, which may affect the docking of the cleaning robot 10 with the first target base. Therefore, in this embodiment, the trigger signal generated by the cliff sensor 123 at the middle and rear of the bottom surface is ignored, so as to prevent the cliff sensor 123 at the middle and rear from determining the groove on the base as a cliff, thereby reducing the misjudgment rate of the cliff sensor 123. When the cliff sensor 123 at the front of the bottom surface of the cleaning robot 10 is triggered after the cleaning robot 10 has moved a first preset moving distance, the cleaning robot 10 may encounter an actual cliff, and at this time, the cleaning robot 10 is controlled to issue an alarm and prompt the user to check the cleaning robot 10. When the cliff sensor 123 at the front of the bottom surface of the cleaning robot 10 is triggered while the cleaning robot 10 moves the first preset travel distance, the trigger signal will still be ignored, thus not only can the impact of the cliff sensor 123 on docking be reduced, but also the risk of the cleaning robot 10 falling off the actual cliff be reduced. The first preset travel distance can be set by the operator himself, and may be set to, for example, 30 cm according to the overall size of the robot.

[0120] Specifically, step S601 includes step S6011. In step S6011, the cleaning robot 10 is controlled to move forward toward the first target base based on the first light beam.

[0121] Moving forward means that the forward-facing part 111 of the cleaning robot 10 always faces the cleaning robot 10 and moves in a direction gradually approaching the first target base.

[0122] The signal lamp in the above embodiment can be used as a pile search lamp of the first target base, and the light-sensing member on the cleaning robot 10 can determine the rough orientation of the first target base by searching for the first light beam emitted from the remote lamp.

[0123] In step S6012, when the cleaning robot 10 is a second preset distance away from the first target base, the attitude of the cleaning robot 10 is adjusted so that the center line of the cleaning robot 10 approximately coincides with the center line of the first target base.

[0124] In a specific application, the far-field lamp is set symmetrically with the center line of the first target base as the symmetry axis, and adaptively, the light sensing unit of the cleaning robot 10 is set symmetrically with the center line of the cleaning robot 10 as the symmetry axis, in this way, after the light beam of the remote lamp is received by the corresponding light sensing unit, it can be determined that the center line of the cleaning robot 10 approximately coincides with the center line of the first target base.

[0125] 6, the far-field lamp L1 is symmetrically arranged with the far-field lamp R1, the far-field lamp L2 is symmetrically arranged with the far-field lamp R2, and the light sensor D1 is symmetrically arranged with the light sensor D2. When the light sensor D1 receives light beams emitted from the far-field lamp L1 and the far-field lamp L2, and the light sensor D2 receives light beams emitted from the far-field lamp R1 and the far-field lamp R2, it means that the center line of the cleaning robot 10 is substantially aligned with the center line of the first target base.

[0126] If the light sensing unit D1 does not receive the light rays emitted from the far-field lamp L1 and the far-field lamp L2, or the light sensing unit D2 does not receive the light rays emitted from the far-field lamp R1 and the far-field lamp R2, it means that the center line of the cleaning robot 10 is not approximately aligned with the center line of the first target base, and therefore the posture of the cleaning robot 10 needs to be adjusted until the light sensing unit D1 receives the light rays emitted from the far-field lamp L1 and the far-field lamp L2 and the light sensing unit D2 receives the light rays emitted from the far-field lamp R1 and the far-field lamp R2.

[0127] The second preset distance can be set by the operator himself, and different second preset distances may be set for the charging and dust removal tasks.

[0128] In step S6013, the cleaning robot 10 continuously moves forward toward the first target base, and during the movement process of the cleaning robot 10, the posture of the cleaning robot 10 is continuously adjusted based on the second light beam until the center line of the cleaning robot 10 exactly coincides with the center line of the first target base and the cleaning robot 10 moves to the first target base.

[0129] Specifically, as shown in FIG. 6, a light sensor D3 is provided on the center line of the cleaning sensor, and when the light sensor D3 receives the light emitted from the central seam lamp M, it means that the center line of the cleaning robot 10 exactly matches the center line of the first target base; when the light sensor D3 does not receive the light emitted from the central seam lamp M, it means that the center line of the cleaning robot 10 does not exactly match the center line of the first target base, and the posture of the robot needs to be adjusted when the light sensor D3 receives the light emitted from the central seam lamp M to improve the alignment accuracy.

[0130] Furthermore, as the cleaning robot 10 gradually approaches the first target base, the speed of the cleaning robot 10 decreases, improving the docking stability between the cleaning robot 10 and the first target base.

[0131] In step S602, if a docking signal is received, it is determined whether or not a continuous task trigger signal is received within a preset time. If a continuous task trigger signal is received within the preset time, step S603 is executed. If a continuous task trigger signal is not received within the preset time, step S604 is executed.

[0132] In step S603, it is determined that the cleaning robot 10 has been successfully docked with the first target base.

[0133] In step S604, the cleaning robot 10 is controlled to move backward and out of the first target base, and then move forward again to the first target base, and repeat the step of determining whether a continuous charging trigger signal is received within a preset time until a continuous task trigger signal is received within a preset time.

[0134] For example, if a continuous charging electrode trigger signal is received within a preset time, it means that the charging electrode 160 of the cleaning robot 10 has successfully contacted the charging electrode of the first target base. If a continuous charging electrode trigger signal is not received within a preset time, it means that the charging electrode 160 of the cleaning robot 10 has not successfully contacted the charging electrode of the first target base, and the cleaning robot 10 is controlled to move to the first target base again after being moved out of the first target base, and then it is necessary to determine whether a continuous charging electrode trigger signal has been received within a preset time. If it is determined to be "yes", the process of moving out and moving back to the first target base is not repeated. If it is determined to be "no", the process of moving out and moving back to the first target base is continuously repeated until a continuous task trigger signal is received within a preset time, thereby improving the reliability of executing the first target task. Moving backward means that the cleaning robot 10 moves in a direction opposite to the forward direction, that is, the cleaning robot 10 moves in a direction away from the first target base. The preset time may be set by the operator himself, and is not strictly limited in this embodiment.

[0135] In addition, step S101 further includes the following steps. In step S701, the cleaning robot 10 pauses its movement in the forward direction to the first target base, or the cleaning robot 10 enters a sleep state, and if the drive wheel drop sensor of the cleaning robot 10 is not triggered, the paused state of the cleaning robot 10 is stored.

[0136] The pause movement of the cleaning robot 10 can be controlled by a user using a host button, an application program, etc. The pause state includes, but is not limited to, the position and posture of the cleaning robot 10 when paused.

[0137] When the cleaning device is normally placed on the floor, the drive wheel part is stored in the device body, and when the cleaning robot 10 falls, the drive wheel pops out and the drive wheel drop sensor is triggered. In this embodiment, if the drive wheel drop sensor is not triggered, it means that the cleaning device is still on the floor and has not moved to the first target base.

[0138] In step S702, if a command to continue moving is received, the second light beam is received, and the drive wheel drop sensor of the cleaning robot 10 is not triggered, the trigger signal generated by the blocked cliff sensor 123 is continued to be ignored, and the cleaning robot 10 is controlled to continue moving to the first target base in the paused state.

[0139] If the light sensing unit of the cleaning device can still sense the second light beam even after receiving the continue moving command, and the drive wheel drop sensor has not been triggered, it means that the cleaning device is still moving to the first target base, and therefore, according to the method of the above embodiment, it needs to ignore the trigger signal of the cliff sensor 123 and continue to move toward the first target base.

[0140] In addition, if the base type of the first goal is a charging base with a mop cloth cleaning function, and the first goal task information is a mop cloth cleaning task, step S101 further includes the following steps: In step S801, the cleaning robot 10 is controlled to move backward to a first target base.

[0141] The backward movement means that the rearward portion 112 of the cleaning robot 10 faces the first target base and moves in a direction gradually approaching the first target base, specifically see FIG.

[0142] In this embodiment, when the cleaning robot 10 needs to clean the mop cloth, the cleaning robot 10 moves in the reverse direction to move to the first target base.

[0143] In the process of controlling the cleaning robot 10 to move in the reverse direction to the first target base, the trigger signal generated by the cliff sensor 123 at the center front of the bottom surface of the cleaning robot 10 is ignored, and a trigger signal generated by the cliff sensor 123 at the rear of the bottom surface of the cleaning robot 10 is received within a second preset moving distance.

[0144] The specific method and principle may be similar to that of step S601 and will not be repeated here.

[0145] Specifically, step S801 specifically includes the following steps: In step S8011, the cleaning robot 10 is controlled to move forward toward the first target base based on the first light beam.

[0146] This step is similar to step S6011 in the above embodiment, so it is not repeated here.

[0147] In step S8012, when the cleaning robot 10 is a third preset distance away from the first target base, the attitude of the cleaning robot 10 is adjusted so that the center line of the cleaning robot 10 approximately coincides with the center line of the first target base.

[0148] This step is similar to step S6012 in the above embodiment, so it is not repeated here.

[0149] In step S8013, the cleaning robot 10 is controlled to rotate 180 degrees.

[0150] The cleaning robot 10 is rotated 180 degrees so that the rearward facing portion 112 of the cleaning robot 10 faces the first target base, that is, the cleaning robot 10 achieves a turning motion.

[0151] In step S8014, the cleaning robot 10 continuously moves backward toward the first target base, and during the movement process of the cleaning robot 10, the cleaning robot 10 is controlled to continue adjusting the posture of the cleaning robot 10 based on the second light beam, so that the center line of the cleaning robot 10 exactly coincides with the center line of the first target base, until the cleaning robot 10 moves to the first target base.

[0152] Moving backward means that the rearward facing portion 112 of the cleaning robot 10 faces the first target base and moves in a direction toward the first target base.

[0153] This step is simply a change from forward movement to backward movement in step S6013 in the above embodiment, and other parts can be achieved by referring to the contents of S6013, so it is not repeated in this embodiment.

[0154] In step S802, when the cleaning robot 10 receives an in-position detection signal transmitted from the first target base, the cleaning robot 10 is controlled to perform in-position detection.

[0155] When an in-position detection signal transmitted from the first target base is received, indicating that the first target in-position detection switch has been triggered, the cleaning robot 10 can also start in-position detection to detect whether the docking of the cleaning robot 10 with the first target base has been successful.

[0156] In step S803, if the in-position detection of the cleaning robot 10 is successful, the cleaning robot 10 is controlled to communicate with the first target base.

[0157] The cleaning robot 10 communicates with the first target base to transmit signals to each other, and the cleaning robot 10 cooperates with the first target base to achieve the purpose of cleaning the mop cloth.

[0158] In step S804, if the in-position detection signal transmitted from the first target base is not received and the cleaning robot 10 performs in-position detection, the cleaning robot 10 is controlled to move forward and out of the first target base, and then move backward and back to the first target base, and repeat the above steps several times, or until the cleaning robot 10 receives the in-position detection signal transmitted from the first target base before performing in-position detection.

[0159] If the in-position detection of the cleaning robot 10 is triggered before the in-position switch of the first target base, i.e., if the cleaning robot 10 does not receive the in-position detection signal transmitted from the first target base and starts the in-position detection, it means that there is a problem in docking the cleaning robot 10 with the first target base. In this case, the cleaning robot 10 needs to be controlled to move out of the first target base, move in the opposite direction to the first target base again, and re-dock the cleaning robot 10 with the first target base. If the in-position detection of the cleaning robot 10 is still triggered before the in-position switch of the first target base, the cleaning robot 10 needs to be controlled to move out of the first target base, and move in the opposite direction to the first target base again. By repeating this process several times or until the cleaning robot 10 receives the in-position detection signal transmitted from the first target base before performing the in-position detection, the docking success rate of the cleaning robot 10 with the first target base can be improved.

[0160] Furthermore, in another embodiment, step S101 further includes the following steps. In step S901, in the process of controlling the cleaning robot 10 to move in a backward direction to the first target base, if the cleaning robot 10 is stuck, the cleaning robot 10 is controlled to execute an escape strategy until the cleaning robot 10 escapes.

[0161] Specifically, if the cleaning robot 10 does not move in the same position within a certain period of time, it can be determined that the cleaning robot 10 is stuck. If the cleaning robot 10 is stuck, the cleaning robot 10 may be controlled to enter an escape mode, for example, by increasing the rotation speed of the drive wheels so that the cleaning robot 10 can escape.

[0162] In step S902, after the cleaning robot 10 escapes, the cleaning robot 10 is controlled to continuously move in the reverse direction until it moves to the first target base.

[0163] Steps S901 and S902 allow the cleaning robot 10 to automatically escape, and prevent the cleaning robot 10 from becoming stuck and being unable to move to the first target base.

[0164] Moreover, in the above embodiment, step S101 further includes the following steps: In step S1001, in the process of controlling the cleaning robot 10 to move to the first target base, the trigger signal generated by the front collision structure of the cleaning robot 10 is ignored.

[0165] When the cleaning robot 10 is performing cleaning work, if the front collision structure is triggered, the cleaning robot 10 stops moving, and in the process of the cleaning robot 10 moving to the first target base, the trigger signal of the front collision structure can be ignored to avoid affecting the movement of the cleaning robot 10.

[0166] In step S1002, while the cleaning robot 10 is being controlled to move forward and exit from the first target base, if a trigger signal generated by the front collision structure of the cleaning robot 10 is detected, the cleaning robot 10 is controlled to stop moving, and the cleaning robot 10 is controlled to perform the next preset operation.

[0167] Moving forward means that the front-facing part 111 of the cleaning robot 10 faces away from the first target base and moves in a direction away from the first target base.

[0168] When the front collision structure is triggered during the process of the cleaning robot 10 moving out of the first target base, it means that the cleaning robot 10 encounters an obstacle in front of the cleaning robot 10, so the cleaning robot 10 is controlled to stop moving and perform a preset action, and the next preset action may be an obstacle avoidance action such as stopping moving.

[0169] In step S1003, after the cleaning robot 10 completes the next preset operation, the cleaning robot 10 is controlled to move backward again to the first target base.

[0170] When the cleaning robot 10 moves out of the first target base and moves back to the first target base, the cleaning robot 10 can avoid obstacles according to the trigger signal of the frontal collision structure and continue to move back to the first target base, thereby reducing the effect of the trigger of the frontal collision structure on the movement of the cleaning robot 10.

[0171] Furthermore, in the above embodiment, step S101 further includes the following steps. In step S1101, when the cleaning robot 10 temporarily stops moving in the reverse direction to the first target base, the temporary stop state of the cleaning robot 10 is stored.

[0172] For the specific content of this step, please refer to step S701, and therefore it will not be repeated here.

[0173] In step S1102, if a command to continue moving is received, the second light beam is not received, and the drive wheel drop sensor of the cleaning robot 10 is not triggered, or if the cleaning robot 10 enters a sleep state and the drive wheel drop sensor of the cleaning robot 10 is not triggered, the cleaning robot 10 continues to ignore the trigger signal generated by the blocked cliff sensor 123 and controls the cleaning robot 10 to continue moving to the first target base in the state when it was paused.

[0174] For the specific content of this step, please refer to step S702, and therefore it will not be repeated here.

[0175] Based on the above application scenario, as shown in FIG. 11 , an embodiment of the present disclosure provides a method for controlling a cleaning robot to move out of a base, which includes the following steps: In step S1201, the type of a second target base and second target task information are determined, where the second target base is a base to which the cleaning robot 10 is currently docked, and the second target task information is information of a task performed by the cleaning robot 10 on the second target base.

[0176] The second target task information may be sent to the cleaning robot 10 by a user using a host button and an application program, or may be automatically generated by the cleaning robot 10 when a preset condition is met, for example, if the battery level of the cleaning robot 10 is lower than a preset battery level, the cleaning robot 10 automatically generates the first target task information for charging. Or, if the mop cloth cleanliness of the cleaning robot 10 is lower than a preset cleanliness, the cleaning robot 10 automatically generates the first target task information for mop cloth washing.

[0177] In step S1202, based on the type of the second goal base and the second goal task information, the cleaning robot 10 is controlled to migrate out of the second goal base according to a corresponding migration strategy.

[0178] According to the method for moving the cleaning robot 10 out of the base provided by the embodiment of the present disclosure, the method can control the cleaning robot 10 to move out of the first target base with a corresponding movement strategy based on different first target base types and first target task information, so as to reduce the risk of the cleaning robot 10 being caught by the base.

[0179] Specifically, determining the type of the second goal base in step S1201 includes the following steps. In step S12011, the third base type is obtained.

[0180] The third base type is a base type stored in the cleaning robot. Specifically, the process of determining the third base type can be performed by referring to steps S201 to S208, and therefore will not be repeated here.

[0181] In step S12012, the third base type is determined as the type of the second target base.

[0182] Furthermore, the method further comprises the following steps: In step S1301, in the process of controlling the cleaning robot 10 to be migrated out of the second target base according to the corresponding migration strategy, a communication signal transmitted from the second target base is received, and it is determined whether the base type included in the communication signal is the same as the third base type; if the base type included in the communication signal is the same as the third base type, the cleaning robot 10 is controlled to continue moving according to the current migration strategy.

[0183] In the process of the cleaning robot 10 being migrated out of the second target base according to the corresponding migration strategy, the third base type is determined again by matching and comparing the base type included in the communication signal of the second target base with the third base type so that the migration strategy is adapted to the second target base.

[0184] In step S1302, if the base type included in the communication signal is different from the third base type, control is performed so as to move according to a compatible export strategy.

[0185] The compatible export strategy means that in the strategy of exporting from all types of second target bases, if the base type included in the communication signal is different from the third base type, the third base type may not be the type of the second target base, and therefore, the compatible export strategy can be followed to export from the second target base and improve the export success rate.

[0186] Furthermore, if the type of the second target base is a charging base having only a charging function or a charging base having a dust collection function, and the second target task information is a charging task and / or a dust collection task, the evacuation strategy is for the cleaning robot 10 to retreat only by a distance corresponding to the second target base type, and the compatible evacuation strategy is for the cleaning robot 10 to retreat only by a third preset movement distance.

[0187] Before the cleaning robot 10 completes the charging task and / or dust collection task at the second target base, it needs to move in a forward direction to the second target base, and the specific moving manner can be referred to the above embodiment. Thus, as shown in FIG. 8, the cleaning robot 10 needs to retreat and move out of the second target base, and retreat means that the forward part 111 of the cleaning robot 10 faces the second target base and moves in a direction away from the first target base.

[0188] Each type of base corresponds to a different retreat distance, and the corresponding retreat distance is determined based on the type of the base. However, for a compatible export strategy, a distance to be exported from all types of bases is required, namely a maximum distance, i.e. a third preset travel distance, which can be set by the operator according to the type of base and is not strictly limited in this embodiment.

[0189] Furthermore, the method further comprises the following steps: In the process in which the cleaning robot 10 is controlled to retreat and move out of the second target base, the trigger signal generated by the front cliff sensor 123 on the bottom surface of the cleaning robot 10 is ignored, and within a fourth preset moving distance, the trigger signal generated by the middle rear cliff sensor 123 on the bottom surface of the cleaning robot 10 is ignored.

[0190] 2, multiple cliff sensors 123 are provided at different positions on the bottom surface of the cleaning robot 10 to detect whether there are cliffs on the surface to be cleaned around the cleaning robot 10. Illustratively, the number of cliff sensors 123 is six, which are divided into three sets, with two cliff sensors 123 in each set, and the three sets of cliff sensors 123 are sequentially arranged from the forward-facing portion 111 to the rear-facing portion 112, respectively, with the cliff sensor 123 closest to the front end of the cleaning robot 10 being the cliff sensor 123 at the front of the bottom surface of the cleaning robot 10, and the remaining cliff sensors 123 being the cliff sensors 123 at the middle rear of the bottom surface of the cleaning robot 10.

[0191] When the cleaning robot 10 performs cleaning work, if the cliff sensor 123 is triggered, the cleaning robot 10 stops moving, and in the process of the cleaning robot 10 retreating and moving out of the second target base, the height difference between the second target base and the floor surface may be determined as a cliff, which may cause the cleaning robot 10 to stop moving, and thus affect the docking of the cleaning robot 10 with the first target base. Therefore, in this embodiment, the trigger signal generated by the front cliff sensor 123 on the bottom surface is ignored, and the front cliff sensor 123 is prevented from determining the height difference between the second target base and the floor surface as a cliff, so that the erroneous determination rate of the cliff sensor 123 can be reduced. The cliff sensor 123 at the middle rear of the bottom surface of the cleaning robot 10 is triggered after the cleaning robot 10 moves a fourth preset moving distance, which means that the cleaning robot 10 may encounter an actual cliff, and at this time, the cleaning robot 10 is controlled to issue an alarm and prompt the user to check the cleaning robot 10. The cliff sensor 123 at the middle rear of the bottom surface of the cleaning robot 10 is triggered when the cleaning robot 10 moves within a fourth preset travel distance, and the trigger signal is still ignored, thus not only reducing the impact of the cliff sensor 123 on the moving-out operation, but also reducing the risk of the cleaning robot 10 falling off the actual cliff. The fourth preset travel distance can be set by the operator himself, and is not strictly limited in this embodiment.

[0192] Furthermore, the method further comprises the following steps: In step S1401, when the cleaning robot 10 pauses its movement backward and out of the second target base, the paused state of the cleaning robot 10 is stored.

[0193] The pause movement of the cleaning robot 10 may be controlled by a user using a host button, an application program, etc. The pause state includes, but is not limited to, the position and attitude of the cleaning robot 10 when paused.

[0194] When the cleaning device is placed on the floor normally, the drive wheel part is stored in the device body, and when the cleaning robot 10 falls, the drive wheel pops out and the drive wheel drop sensor is triggered. In this embodiment, if the drive wheel drop sensor is not triggered, it means that the cleaning device is still located on the second target base without being moved out from the second target base.

[0195] In step S1402, if a command to continue moving is received but the third light beam is not received and the driving wheel drop sensor of the cleaning robot 10 is not triggered, or if the cleaning robot 10 enters a sleep state and the driving wheel drop sensor of the cleaning robot 10 is not triggered, the cleaning robot 10 continues to ignore the trigger signal generated by the blocked cliff sensor 123 and continues to move out of the second target base in the paused state, and the third light beam is a light beam emitted from an indicator lamp on the center line of the second target base.

[0196] When receiving the command to continue moving, the light sensing part of the cleaning device can still sense the second light beam, and if the drive wheel drop sensor is not triggered, it means that the cleaning device is still located at the second target base, and therefore continues to ignore the trigger signal of the cliff sensor 123 and continue to move according to the method of the above embodiment.

[0197] In step S1403, when the driving wheel drop sensor of the cleaning robot 10 is triggered, detect all the sensing parts of the cleaning robot 10 according to a preset detection mode.

[0198] When the driving wheel drop sensor of the cleaning robot 10 is triggered, it means that the cleaning robot 10 has dropped, that is, the cleaning robot 10 has already moved out of the second target base, and then the cleaning task can be performed; before performing the cleaning task, the cleaning robot 10 can detect all sensing parts to ensure the smooth completion of the cleaning task.

[0199] Furthermore, if the type of the second goal base is a charging base with a mop cloth cleaning function and the second goal task information is a mop cloth cleaning task, the exit strategy is that the cleaning robot 10 moves forward a distance corresponding to the second goal base type, and the compatible exit strategy is that the cleaning robot 10 moves forward a fifth preset movement distance.

[0200] Before the cleaning robot 10 finishes the mop cloth cleaning task at the second target base, it needs to move in the reverse direction to move to the second target base, and the specific movement manner can be referred to the above embodiment. As shown in FIG. 9, the cleaning robot 10 needs to move forward and move out of the second target base, and moving forward means that the forward part 111 of the cleaning robot 10 turns away from the second target base and moves in the direction away from the first target base.

[0201] Each type of base corresponds to a different retreat distance, and the corresponding retreat distance is determined according to the type of the base. For a compatible export strategy, a distance that can be exported from all types of bases, i.e. a maximum distance, i.e. a fifth preset travel distance, is required, which can be set by the operator according to the type of base and is not strictly limited in this embodiment.

[0202] Furthermore, the method further comprises the following steps: In the process in which the cleaning robot 10 is controlled to move forward and exit the second target base, the trigger signal generated by the cliff sensor 123 at the middle and rear of the bottom surface of the cleaning robot 10 is ignored, and within a sixth preset moving distance, the trigger signal generated by the cliff sensor 123 at the front of the bottom surface of the cleaning robot 10 is ignored.

[0203] In this embodiment, the trigger signal generated by the cliff sensor 123 at the middle and rear of the bottom surface is ignored, so that the cliff sensor 123 at the middle and rear can avoid judging the difference in height between the second target base and the floor surface as a cliff, and the erroneous judgment rate of the cliff sensor 123 can be reduced. When the cliff sensor 123 at the front of the bottom surface of the cleaning robot 10 is triggered after the cleaning robot 10 moves at the sixth preset travel distance, the cleaning robot 10 may encounter an actual cliff, and at this time, the cleaning robot 10 is controlled to issue an alarm and prompt the user to check the cleaning robot 10. When the cliff sensor 123 at the front of the bottom surface of the cleaning robot 10 is triggered while the cleaning robot 10 moves at the fourth preset travel distance, the trigger signal is still ignored, thus not only reducing the impact of the cliff sensor 123 on the moving operation, but also reducing the risk of the cleaning robot 10 falling off an actual cliff. The sixth preset travel distance can be set by the operator himself, and is not strictly limited in this embodiment.

[0204] Furthermore, the method further comprises the following steps: In step S1501, when the cleaning robot 10 temporarily stops moving forward and exiting the second target base, the temporary stop state of the cleaning robot 10 is stored.

[0205] The contents of this step can be seen in step S1401 and will not be repeated here.

[0206] In step S1502, if a command to continue moving is received but the third light beam is not received and the driving wheel drop sensor of the cleaning robot 10 is not triggered, or if the cleaning robot 10 enters a sleep state and the driving wheel drop sensor of the cleaning robot 10 is not triggered, the trigger signal generated by the blocked cliff sensor 123 is continued to be ignored, and the cleaning robot 10 is controlled to continue moving out of the second target base in the paused state, and the third light beam is a light beam emitted from an indicator lamp on the center line of the second target base.

[0207] The contents of this step can be seen in step S1402 and will not be repeated here.

[0208] In step S1503, when the driving wheel drop sensor of the cleaning robot 10 is triggered, all sensing parts of the cleaning robot 10 are detected according to a preset detection mode.

[0209] The contents of this step can be seen in step S1403 and will not be repeated here.

[0210] In some embodiments, after the cleaning robot returns to the base, the roller brush and mop cloth of the cleaning robot 10 are detected through the base, and it is determined whether the roller brush and mop cloth need to be cleaned, and if cleaning is needed, the cleaning robot 10 is automatically cleaned, and after the automatic cleaning is completed, the cleaning robot 10 is charged. Furthermore, in some embodiments, the cleaning robot 10 first moves in a reverse direction on the base to clean the mop cloth, then moves forward to exit the base, and then moves forward on the base to clean the roller brush and collect dust, and then is charged, thereby reducing the number of times the cleaning robot 10 moves to and from the base.

[0211] According to a third aspect, an embodiment of the present disclosure provides a cleaning robot 10, the cleaning robot 10 comprising: a travel assembly, a cleaning assembly, and a controller; The controller is configured to execute the method for controlling the cleaning robot 10 to return to the base and / or execute the method for controlling the robot to be exported from the base.

[0212] According to a fourth aspect, as shown in FIG. 12, an embodiment of the present disclosure provides an apparatus for controlling a cleaning robot 10 to return to a base, the apparatus including: The first determination module 1301 is configured to determine a type of a first target base and first target task information, where the first target base is a base to which the cleaning robot 10 should dock, and the first target task information is related information of a task that needs to be performed for the cleaning robot 10 to return to the first target base; The first control module 1302 is configured to control, based on the type of the first goal base and the first goal task information, the cleaning robot 10 to move to the first goal base according to a corresponding movement strategy.

[0213] According to a fifth aspect, as shown in FIG. 13, an embodiment of the present disclosure provides an apparatus for controlling a cleaning robot 10 to move out of a base, the apparatus including the following elements: The second determination module 1401 is configured to determine a type of a second target base and second target task information, where the second target base is a current base that is currently docked with the cleaning robot 10, and the second target task information is information of a task that the cleaning robot 10 has performed on the second target base; The second control module 1402 is configured to control, based on the type of the second goal base and the second goal task information, the cleaning robot 10 to evacuate from the second goal base according to a corresponding evacuation strategy.

[0214] According to a sixth aspect, an embodiment of the present disclosure provides a cleaning robot 10, the cleaning robot 10 including a traveling assembly, a cleaning assembly, and a controller; The controller is configured to execute the method for controlling the cleaning robot 10 to return to the base and / or execute the method for controlling the robot to be exported from the base.

[0215] According to a seventh aspect, an embodiment of the present disclosure provides an electronic device comprising a processor and a memory, wherein the memory is configured to store at least one executable instruction, the executable instruction causing the processor to perform steps of a method of controlling the cleaning robot 10 to return to a base and / or a method of controlling the robot to be removed from a base as described above.

[0216] According to an eighth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, the computer-readable storage medium having computer program instructions stored therein, the computer program instructions being retrieved and executed by a processor to perform steps of the method of controlling the cleaning robot 10 to return to a base and / or the method of controlling the robot to be moved out of a base.

[0217] Although the present disclosure has been described through the above embodiments, it should be understood that the above embodiments are only used for illustrative and explanatory purposes, and do not limit the scope of the present disclosure to the described embodiments. In addition, it should be understood that a person skilled in the art can make various variations and modifications according to the teachings of the present disclosure, and all of these variations and modifications are included in the scope of protection of the present disclosure. The scope of protection of the present disclosure is defined by the appended claims and their equivalent scope.

Claims

1. Determining a type of a first target base and first target task information, the first target base being a base to which the cleaning robot should be docked, and the first target task information being related information of a task that needs to be performed for the cleaning robot to return to the first target base; and controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on the type of the first goal base and the first goal task information.

13. A method for controlling a cleaning robot to return to a base, comprising:

2. Determining the type of the first goal base includes: Obtaining a way for the cleaning robot to move to the first target base and a starting point for the cleaning robot to perform a current movement; When a manner in which the cleaning robot moves to the first target base is an automatic manner and a starting point of the current movement of the cleaning robot is a base, a first base type and a second base type are obtained, the first base type being a type of a base as a starting point of the current movement of the cleaning robot, and the second base being a type of a first target base determined during the process of the cleaning robot moving toward the first target base; determining a type of the first target base based on the first base type and the second base type; The method for controlling the cleaning robot according to claim 1 to return to a base.

3. Determining a type of the first target base based on the first base type and the second base type includes: determining whether the first base type and the second base type are the same, and if the first base type and the second base type are the same, determining the first base type as the type of the first target base; If the first base type and the second base type are different, determining the second base type as the type of the first target base. The method for controlling a cleaning robot according to claim 2 to return to a base.

4. Determining the type of the first goal base includes: When a manner in which the cleaning robot moves to the first target base is an automatic manner and a starting point of the current movement of the cleaning robot is not a base, the method further includes obtaining the second base type and determining the second base type as a type of the first target base. The method for controlling a cleaning robot according to claim 2 to return to a base.

5. Determining the type of first objective base When the manner in which the cleaning robot moves to the first target base is a manual manner, determining whether or not a communication signal transmitted from the first target base is received, and when the communication signal transmitted from the first target base is received, determining a base type included in the communication signal as a type of the first target base; If a communication signal transmitted from the first target base is not received, determining a base type stored in the cleaning robot as a type of the first target base. The method for controlling a cleaning robot according to claim 2 to return to a base.

6. After determining the type of the first goal base, and further comprising: storing the first target base type to update a base type stored in the cleaning robot. A method for controlling the cleaning robot according to any one of claims 1 to 5 to return it to a base.

7. Obtaining the second base type includes: receiving a light beam emitted from a signal lamp of the first target base; determining the second base type according to a light beam emitted from the signal lamp; A method for controlling the cleaning robot according to any one of claims 2 to 6 to return it to a base.

8. The signal lamps include far field lamps located on either side of a centerline of the base and a center seam lamp located on a centerline of the base, and receiving light beams emitted from the signal lamps of the base includes: receiving a first beam of light when the cleaning device is a first preset distance away from the first target base, the first beam of light being emitted from the far field lamp; receiving a second light beam when the cleaning device moves proximate to the first target base, the second light beam being a light beam emitted from the central seam lamp. The method for controlling a cleaning robot according to claim 7 to return to a base.

9. determining the second base type according to a light beam emitted from the signal lamp, transforming the first light beam to obtain a first code; determining an initial type of the first goal base based on the first code; determining whether the initial type includes a subtype, and if the initial type includes a subtype, transforming the second light beam to obtain a second code; determining a subtype to which the first target base belongs based on the second code, and determining the subtype as the second base type; if the initial type does not include a subtype, determining the initial type as the second base type. The method for controlling a cleaning robot according to claim 8 to return to a base.

10. When the type of the first target base is a charging base having only a charging function or a charging base having a dust collection function, and the first target task information is a charging task and / or a dust collection task, controlling the cleaning robot to move to the first target base with a corresponding movement strategy based on the type of the first target base and the first target task information; controlling the cleaning robot to move in a forward direction to the first target base; A method for controlling a cleaning robot according to claim 8 or 9 to return to a base.

11. Controlling the cleaning robot to move in a forward direction to the first target base includes: Controlling the cleaning robot to move forward toward the first target base based on the first light beam; When the cleaning robot is away from the first target base by a second preset distance, adjusting the posture of the cleaning robot so that a center line of the cleaning robot and a center line of the first target base substantially coincide with each other; The cleaning robot continues to move forward toward the first target base, and during the movement of the cleaning robot, the cleaning robot is controlled to continue to adjust its posture based on the second light beam so that a center line of the cleaning robot and a center line of the first target base accurately coincide with each other until the cleaning robot moves to the first target base. The method for controlling a cleaning robot according to claim 10 to return to a base.

12. After controlling the cleaning robot to move in a forward direction to the first target base, When a docking signal is received, determining whether a continuous task trigger signal is received within a preset time, and when a continuous task trigger signal is received within the preset time, determining that the cleaning robot and the first target base are successfully docked; and controlling the cleaning robot to move backward to move out of the first target base and then move forward again to the first target base when the continuous task trigger signal is not received within the predetermined time, and to repeat the step of determining whether or not a continuous charging trigger signal is received within the predetermined time until the continuous task trigger signal is received within the predetermined time. A method for controlling a cleaning robot according to claim 10 or 11 to return to a base.

13. Controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on the type of the first goal base and the first goal task information, In the process of controlling the cleaning robot to move in a forward direction to the first target base, the method further includes ignoring a trigger signal generated by a cliff sensor at a middle rear part of a bottom surface of the cleaning robot during a docking step of the cleaning robot and the first target base, and ignoring a trigger signal generated by a cliff sensor at a front part of a bottom surface of the cleaning robot while the cleaning robot moves a first preset moving distance. A method for controlling the cleaning robot according to any one of claims 10 to 12 to return it to a base.

14. Controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on the type of the first goal base and the first goal task information, When the cleaning robot pauses the forward movement on the first target base or the cleaning robot enters a sleep state and a driving wheel drop sensor of the cleaning robot is not triggered, storing the pause state of the cleaning robot; receiving a command to continue moving, and when the second light beam is received and a drive wheel drop sensor of the cleaning robot is not triggered, continuing to ignore a trigger signal generated by an obstructed cliff sensor, and controlling the cleaning robot to continue moving to the first target base in a paused state. The method for controlling a cleaning robot according to claim 13 to return to a base.

15. When the type of the first target base is a charging base having a mop cloth cleaning function and the first target task information is a mop cloth cleaning task, controlling the cleaning robot to move to the first target base according to the type of the first target base and the first target task information with a corresponding movement strategy is controlling the cleaning robot to move in a reverse direction to the first target base; A method for controlling the cleaning robot according to any one of claims 8 to 14 to return it to a base.

16. Controlling the cleaning robot to move in a reverse direction to the first target base includes: Controlling the cleaning robot to move forward toward the first target base based on the first light beam; When the cleaning robot is away from the first target base by a third preset distance, adjusting the posture of the cleaning robot so that a center line of the cleaning robot and a center line of the first target base substantially coincide with each other; Controlling the cleaning robot to rotate 180 degrees; the cleaning robot continues to move backward toward the first target base, and during the movement of the cleaning robot, the cleaning robot is controlled to continue to adjust its posture based on the second light beam so that a center line of the cleaning robot and a center line of the first target base accurately coincide with each other until the cleaning robot moves to the first target base. The method for controlling a cleaning robot according to claim 15 to return to a base.

17. After controlling the cleaning robot to move in a backward direction to the first target base, When an in-position detection signal transmitted from the first target base is received, control is performed to detect the in-position of the cleaning robot; If the in-position detection of the cleaning robot is successful, controlling the cleaning robot to communicate with the first target base. A method for controlling a cleaning robot according to claim 15 or 16 to return to a base.

18. After controlling the cleaning robot to move in a backward direction to the first target base, and if the in-position detection signal transmitted from the first target base is not received and the cleaning robot performs in-position detection, controlling the cleaning robot to move forward and out of the first target base, and then move backward and to the first target base again, and repeat the above steps several times, or until the cleaning robot receives the in-position detection signal transmitted from the first target base before performing in-position detection. The method for controlling a cleaning robot according to claim 17 to return to a base.

19. Controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on the type of the first goal base and the first goal task information, In the process of controlling the cleaning robot to move in a backward direction to the first target base, if the cleaning robot gets stuck, the cleaning robot is controlled to execute an escape strategy until the cleaning robot escapes; and controlling the cleaning robot to continue moving in a reverse direction until the cleaning robot moves to the first target base after the cleaning robot escapes. A method for controlling the cleaning robot according to any one of claims 15 to 18 to return it to a base.

20. Controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on the type of the first goal base and the first goal task information, Ignoring a trigger signal generated by a front collision structure of the cleaning robot during a process in which the cleaning robot is controlled to move to the first target base; When a trigger signal generated by a front collision structure of the cleaning robot is detected during a process in which the cleaning robot is controlled to move forward and move out of the first target base, the cleaning robot is controlled to stop moving and to perform a next preset operation; and controlling the cleaning robot to move backward again to the first target base after the cleaning robot completes a next preset operation.

20. The method for controlling a cleaning robot according to claim 18 to return to a base.

21. Controlling the cleaning robot to move to the first goal base with a corresponding movement strategy based on the type of the first goal base and the first goal task information, In the process of controlling the cleaning robot to move in a reverse direction to the first target base, the process further includes ignoring a trigger signal generated by a cliff sensor at a center front of a bottom surface of the cleaning robot, and receiving a trigger signal generated by a cliff sensor at a rear of a bottom surface of the cleaning robot within a second preset moving distance. A method for controlling the cleaning robot according to any one of claims 15 to 20 to return it to a base.

22. Controlling the cleaning robot to move to the first target base based on the type of the first target base and the first target task information includes: When the cleaning robot pauses the movement in the reverse direction to the first target base, storing a pause state of the cleaning robot; receiving a command to continue moving, and if the second light beam is not received and a drive wheel drop sensor of the cleaning robot is not triggered, or if the cleaning robot enters a sleep state and a drive wheel drop sensor of the cleaning robot is not triggered, continuing to ignore the trigger signal generated by the blocked cliff sensor, and controlling the cleaning robot to continue moving to the first target base in a paused state. A method for controlling the cleaning robot according to any one of claims 15 to 21 to return it to a base.

23. Determining a type of a second target base and the second target task information, the second target base being a base to which the cleaning robot is currently docked, and the second target task information being information of a task that the cleaning robot has performed on the second target base; and controlling the cleaning robot to migrate from the second goal base with a corresponding migration strategy based on a type of the second goal base and the second goal task information.

13. A method for controlling a cleaning robot to move out of a base, comprising:

24. Determining the type of the second goal base includes: obtaining a third base type; determining the third base type as a type of the second target base, the third base type being a base type stored in the cleaning robot; 24. The method of claim 23, wherein the cleaning robot is moved away from a base.

25. In the process of controlling the cleaning robot to be migrated out of the second target base by a corresponding migration strategy, a communication signal transmitted from the second target base is received, and a base type included in the communication signal is determined to be the same as the third base type; and if the base type included in the communication signal is the same as the third base type, the cleaning robot is controlled to continue moving by a current migration strategy; If the base type included in the communication signal is different from the third base type, the cleaning robot is controlled to move according to a compatible evacuation strategy.

25. The method of claim 24, wherein the cleaning robot is moved away from a base.

26. When the type of the second target base is a charging base having only a charging function or a charging base having a dust collection function, and the second target task information is a charging task and / or a dust collection task, the exit strategy is that the cleaning robot retreats by only a distance corresponding to the second target base type, and the compatible exit strategy is that the cleaning robot retreats by only a third preset movement distance.

26. The method of claim 25, wherein the cleaning robot is moved away from a base.

27. In the process of controlling the cleaning robot to move backward and move out of the second target base, the method further includes ignoring a trigger signal generated by a front cliff sensor on a bottom surface of the cleaning robot, and ignoring a trigger signal generated by a middle cliff sensor on a bottom surface of the cleaning robot within a fourth preset moving distance.

27. The method of claim 26, wherein the cleaning robot is moved away from a base.

28. When the cleaning robot pauses the movement of retreating and moving out from the second target base, storing a pause state of the cleaning robot; When a command to continue moving is received, the third light beam is not received, and the driving wheel drop sensor of the cleaning robot is not triggered, or when the cleaning robot enters a sleep state and the driving wheel drop sensor of the cleaning robot is not triggered, the cleaning robot is controlled to continue to ignore the trigger signal generated by the blocked cliff sensor and continue to move out of the second target base in a paused state, and the third light beam is a light beam emitted from an indicator lamp located on the center line of the second target base; When a driving wheel drop sensor of the cleaning robot is triggered, detecting all sensing parts of the cleaning robot according to a preset detection mode.

28. The method of claim 27, wherein the cleaning robot is moved away from a base.

29. When the type of the second target base is a charging base having a mop cloth cleaning function and the second target task information is a mop cloth cleaning task, the exit strategy is that the cleaning robot moves forward and exits only by a distance corresponding to the type of the second target base, and the compatible exit strategy is that the cleaning robot moves forward only by a fifth preset moving distance. A method for controlling the cleaning robot according to any one of claims 25 to 28 to move it out of a base.

30. In the process of controlling the cleaning robot to move forward and move out of the second target base, the method further includes ignoring a trigger signal generated by a cliff sensor at a middle rear of a bottom surface of the cleaning robot, and ignoring a trigger signal generated by a cliff sensor at a front of a bottom surface of the cleaning robot within a sixth preset moving distance.

30. The method of claim 29, wherein the cleaning robot is moved away from a base.

31. When the cleaning robot is temporarily stopped from moving forward and moving out from the second target base, storing a temporary stop state of the cleaning robot; When a command to continue moving is received, the third light beam is not received, and the driving wheel drop sensor of the cleaning robot is not triggered, or when the cleaning robot enters a sleep state and the driving wheel drop sensor of the cleaning robot is not triggered, the cleaning robot is controlled to continue to ignore the trigger signal generated by the blocked cliff sensor and continue to move out of the second target base in a paused state, and the third light beam is a light beam emitted from an indicator lamp located on the center line of the second target base; When a driving wheel drop sensor of the cleaning robot is triggered, detecting all sensing parts of the cleaning robot according to a preset detection mode.

31. The method of claim 30, wherein the cleaning robot is moved away from a base.

32. a first determination module configured to determine a type of a first target base and the first target task information, the first target base being a base to which the cleaning robot should be docked, and the first target task information being related information of a task that needs to be executed for the cleaning robot to return to the first target base; a first control module configured to control the cleaning robot to move to the first goal base with a corresponding movement strategy based on a type of the first goal base and the first goal task information; A device for controlling a cleaning robot to return to a base.

33. A second determination module configured to determine a type of a second target base and the second target task information, the second target base being a base currently docked with the cleaning robot, and the second target task information being information of a task that the cleaning robot has performed on the second target base; and a second control module configured to control the cleaning robot to migrate from the second goal base with a corresponding migration strategy based on a type of the second goal base and the second goal task information. A device for controlling a cleaning robot to move out of a base.

34. a travel assembly, a cleaning assembly and a controller; The controller is configured to execute the method for controlling a cleaning robot to return to a base according to any one of claims 1 to 22 and / or the method for controlling a robot to be moved out of a base according to any one of claims 23 to 31. A cleaning robot characterized by the above.

35. A method for controlling a cleaning robot to return to a base according to any one of claims 1 to 22 and / or a method for controlling a robot to be removed from a base according to any one of claims 23 to 31, 1. An electronic device comprising:

36. A computer-readable storage medium, the storage medium storing computer program instructions, the computer program instructions being called and executed by a processor to realize steps of a method for controlling a cleaning robot according to any one of claims 1 to 22 to return to a base and / or a method for controlling a cleaning robot according to any one of claims 23 to 31 to move out of a base. A computer-readable storage medium comprising:

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