Working method of cleaning robot system, and cleaning robot system

Abstract

A working method of a cleaning robot system, and a cleaning robot system. The cleaning robot system comprises a cleaning robot and a base station. The working method of the cleaning robot system comprises: in the process of a cleaning robot executing a cleaning task, when a cleaning component of the cleaning robot needs to be cleaned, controlling the cleaning robot to return to a base station, such that the base station cleans the cleaning component; and in the process of the base station cleaning the cleaning component, using a fast-charging mode to charge the cleaning robot. The working method of the cleaning robot system realizes infinite endurance during a cleaning task and improves the endurance capability without increasing the battery capacity, thereby greatly reducing battery costs and saving space occupation for an entire machine. Fast charging is performed within a backwashing time without the need for extra waiting for charging, thereby improving the operating efficiency of a cleaning robot.

Description

Method for operating a cleaning robot system and cleaning robot system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Chinese Patent Application No. 202510304412.2, filed March 14, 2025, the contents of which are incorporated by reference herein. TECHNICAL FIELD

[0003] The present application relates to the technical field of cleaning robots, in particular to a cleaning robot system working method, a cleaning robot system, a machine readable storage medium and an electronic device. BACKGROUND

[0004] With the development of artificial intelligence technology, cleaning robots have emerged. Cleaning robots are a kind of intelligent household appliances that can automatically clean and clean by relying on certain artificial intelligence. Cleaning robots are built-in with rechargeable batteries, which need to be charged before performing cleaning tasks, thereby ensuring that the cleaning robot has enough power to drive the execution of cleaning tasks.

[0005] The endurance problem of cleaning robots has always plagued engineers, especially some cleaning robots that carry function modules that need to be driven by motors, such as cleaning robots that carry multifunctional mechanical arms. Since each joint of the multifunctional mechanical arm needs a motor, the power consumption is very large, which seriously affects the endurance.

[0006] To solve the endurance problem, the existing method is to directly increase the battery, but if the battery is directly increased, the cost of the battery will increase significantly. SUMMARY

[0007] The purpose of the embodiments of the present application is to provide a cleaning robot system working method, a cleaning robot system, a machine readable storage medium and an electronic device, which realizes unlimited endurance in the process of cleaning tasks, improves the endurance without increasing the battery capacity, greatly reduces the battery cost, and fast charges in the backwash time without additional waiting for charging, improving the cleaning robot work efficiency.

[0008] To achieve the above purpose, the first aspect of the present application provides a cleaning robot system working method, the cleaning robot system comprising a cleaning robot and a base station, the method comprising:

[0009] In the process of the cleaning robot performing a cleaning task, and in the case that the cleaning part of the cleaning robot needs to be washed, the cleaning robot is controlled to return to the base station, and the cleaning part is washed by the base station;

[0010] In the process of cleaning the cleaning component by the base station, the cleaning robot is charged in a fast charging mode.

[0011] In the embodiments of the present application, the method further comprises:

[0012] After the cleaning of the cleaning component by the base station is completed, the cleaning robot is controlled to stop charging and leave the base station to continue performing the cleaning task.

[0013] In the embodiments of the present application, the method further comprises:

[0014] In the process of performing the cleaning task by the cleaning robot, the cleaning robot is charged only in the process of cleaning the cleaning component by the base station, and the cleaning robot is controlled to continuously perform the cleaning task until the cleaning task is completed.

[0015] In the embodiments of the present application, the time for charging the cleaning robot in the fast charging mode is less than or equal to the time for cleaning the cleaning component.

[0016] In the embodiments of the present application, the base station comprises a charging power supply, and the charging power supply is provided with a fast charging mode.

[0017] The charging of the cleaning robot in the fast charging mode comprises:

[0018] The charging of the cleaning robot in the fast charging mode by the charging power supply is performed within a preset time range.

[0019] In the embodiments of the present application, the preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is the time for cleaning the cleaning component by the base station.

[0020] In the embodiments of the present application, the method further comprises:

[0021] After the cleaning task performed by the cleaning robot is completed, the cleaning robot is charged in a conventional charging mode.

[0022] In the embodiments of the present application, the charging of the cleaning robot in the fast charging mode in the process of cleaning the cleaning component by the base station comprises:

[0023] The amount of power to be supplemented is obtained, and a supplement parameter is determined according to the amount of power to be supplemented.

[0024] In the process of cleaning the cleaning component by the base station, the cleaning robot is charged in a fast charging mode based on the supplement parameter.

[0025] In the embodiments of the present application, the supplementary parameters include a supplementary current and / or a supplementary time.

[0026] In the embodiments of the present application, the obtaining of the to-be-supplemented power includes:

[0027] The to-be-supplemented power is determined according to the current remaining work amount and the current power of the cleaning robot.

[0028] In the embodiments of the present application, the determining of the to-be-supplemented power according to the current remaining work amount and the current power of the cleaning robot includes:

[0029] According to the current remaining work amount, it is determined whether the current power of the cleaning robot is insufficient.

[0030] In a case where it is determined that the current power of the cleaning robot is insufficient, the to-be-supplemented power is determined according to the current power of the cleaning robot and the current remaining work amount.

[0031] In the embodiments of the present application, the cleaning component is a cleaning cloth and / or a cleaning brush.

[0032] In the embodiments of the present application, the charging of the cleaning robot in the process of cleaning of the cleaning component by the base station in the fast charging mode includes:

[0033] The charging of the cleaning robot in the fast charging mode is started when the cleaning of the cleaning component by the base station is started.

[0034] The charging of the cleaning robot in the fast charging mode is stopped when the cleaning of the cleaning component by the base station is ended.

[0035] In the embodiments of the present application, the charging of the cleaning robot in the process of cleaning of the cleaning component by the base station in the fast charging mode includes:

[0036] In the process of cleaning of the cleaning component by the base station, the cleaning robot is charged in the fast charging mode, and it is determined in real time whether the battery of the cleaning robot is fully charged, and the charging of the cleaning robot in the fast charging mode is stopped in a case where it is determined that the battery is fully charged.

[0037] The second aspect of the present application is a cleaning robot system, which includes a cleaning robot, a base station and a control unit, the control unit is configured to execute the above-mentioned method, the cleaning robot at least includes a battery, a cleaning component and a driving unit, the battery is used to power the driving unit, the base station is used to charge the battery of the cleaning robot, and is used to clean the cleaning component of the cleaning robot.

[0038] In the embodiment of the present application, the cleaning robot further comprises an active obstacle crossing device, which is configured to assist the cleaning robot to cross an obstacle of a specific height.

[0039] In the embodiment of the present application, the active obstacle crossing device comprises at least a driving motor and a support, the driving motor is configured to drive the support to support the cleaning robot to a preset height, and the driving motor is powered by the battery.

[0040] In the embodiment of the present application, the cleaning robot further comprises a mechanical arm device, which is configured to assist cleaning.

[0041] In the embodiment of the present application, the mechanical arm device comprises at least a joint driving motor, the joint driving motor is configured to drive each joint of the mechanical arm device, and the joint driving motor is powered by the battery.

[0042] The third aspect of the present application provides an electronic device, which comprises:

[0043] at least one processor;

[0044] a memory connected with the at least one processor;

[0045] The memory stores instructions executable by the at least one processor, and the at least one processor implements the cleaning robot system working method by executing the instructions stored in the memory.

[0046] The fourth aspect of the present application provides a machine readable storage medium, which stores instructions, and the instructions, when executed by a processor, cause the processor to be configured to execute the cleaning robot system working method.

[0047] By the technical solution, in the process that the cleaning robot performs a cleaning task, and in the case that the cleaning component of the cleaning robot needs to be cleaned, the cleaning robot is controlled to return to the base station, and the cleaning component is cleaned by the base station; in the process that the cleaning component is cleaned by the base station, the cleaning robot is charged in a fast charging mode. By using the characteristic that the cleaning component needs to be cleaned by the base station periodically, in the time of backwashing, the power fast charging technology is used to quickly supplement the power consumed in the previous work, so that unlimited endurance in the process of cleaning task is realized, thereby the endurance of the cleaning robot can be greatly improved. Even when the energy is supplemented to equal the energy consumed before, the capacity of the battery can also be greatly reduced. As long as the power for completing a backwashing cycle can meet the characteristics of unlimited endurance. Without increasing the capacity of the battery, the endurance can be improved, the cost of the battery is greatly reduced, and the space occupied by the whole machine is small. In the backwashing time, fast charging is not needed, and the cleaning robot operation efficiency is improved. Since the base station only charges the battery at high power for a short time, the power supply cost can be greatly reduced. At the same time, in the backwashing time, fast charging, heat accumulation will not be too much, and heat dissipation is easier.

[0048] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0049] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific embodiments, but do not constitute a limitation of the embodiments of the present application. In the drawings:

[0050] Fig. 1 schematically shows a flowchart of a cleaning robot system working method according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] The specific embodiments of the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present application, and do not limit the embodiments of the present application.

[0052] It should be noted that the acquisition, transmission, storage, use, processing and the like of data in the technical solution of the present application comply with the relevant provisions of national laws and regulations. In the embodiments of the present application, some existing industry solutions such as software, components, models and the like may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0053] It should be noted that if the embodiments of the present application involve directionality indication (such as up, down, left, right, front, back, …), the directionality indication is only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), if the specific posture changes, the directionality indication also changes accordingly.

[0054] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0055] The embodiment provides a cleaning robot system working method, which uses a short period of time of backwashing of the cleaning robot to quickly supplement the power of the cleaning robot, continues to work after cleaning, greatly reduces the cost, is easier to dissipate heat, and does not need to wait for charging.

[0056] It should be noted that the backwashing mentioned in the embodiment refers to that the cleaning robot returns to the base station for cleaning component cleaning.

[0057] Please refer to FIG. 1, which schematically shows a flowchart of a cleaning robot system working method according to an embodiment of the present application. The embodiment provides a cleaning robot system working method, the cleaning robot system comprising a cleaning robot and a base station, and the method comprises the following steps:

[0058] Step 210: In the process of executing a cleaning task by the cleaning robot, and in the case that the cleaning component of the cleaning robot needs to be cleaned, the cleaning robot is controlled to return to the base station, and the cleaning component is cleaned by the base station;

[0059] In the embodiment, the cleaning robot needs to return to the base station regularly to clean the cleaning components during the execution of the cleaning task. The cleaning components can be a cleaning cloth, a cleaning brush, or other components that need to be regularly returned to the base station for processing. The battery on the cleaning robot can be a lithium-ion battery or a new type of battery, such as a lithium-ion super capacitor, which has a long cycle life. The embodiment does not make any limitation. The battery can provide power for the cleaning robot to perform cleaning work. The base station is used to charge the battery of the cleaning robot and clean the cleaning components of the cleaning robot. During the execution of the cleaning task by the cleaning robot, the cleaning components need to be cleaned after a certain time or after cleaning a certain area. The cleaning robot can be controlled to return to the base station. The control can be performed by the cleaning robot itself, by the base station, or by a third party. The embodiment does not make any limitation.

[0060] In step 220, the cleaning robot is charged in the fast charging mode during the cleaning of the cleaning components by the base station.

[0061] In the embodiment, the fast charging mode refers to a charging mode in which the base station can supplement a large amount of power to the battery in a short time to achieve high-power fast charging. Common techniques include high-voltage fast charging, large-current fast charging, and multi-charging protocol fast charging. In specific implementation, the charging power can be adjusted by the base station or the cleaning robot to achieve the fast charging mode.

[0062] For example, when the cleaning robot consumes 10% of the power to clean 15 square meters in the standard gear, the cleaning robot can quickly supplement 5% of the power in about 2 minutes of backwashing. Therefore, the cleaning robot can clean 15 square meters only by consuming 5% of the power. The original 100% of the power can theoretically clean 10 cycles of 15 square meters, that is, 150 square meters. By using the backwashing fast charging scheme, the cleaning robot can clean 20 cycles of 15 square meters, that is, 300 square meters. The endurance is doubled directly.

[0063] In some embodiments, the method further includes: after the cleaning of the cleaning components by the base station is completed, controlling the cleaning robot to stop charging and leaving the base station to continue the cleaning task.

[0064] In the embodiment, when the base station finishes cleaning the cleaning components, the charging of the cleaning robot is stopped at the same time, and the cleaning robot continues to perform the cleaning task. By using the characteristic that the cleaning robot needs to return to the base station regularly for cleaning, the battery is charged in a short time when the cleaning robot returns to the base station for cleaning. After the cleaning is completed, the cleaning robot continues to work without waiting for charging, thereby realizing backwashing fast charging. The cleaning robot returns to the base station for cleaning multiple times during the execution of the cleaning task. Therefore, multiple cycles of backwashing fast charging can be realized.

[0065] In some embodiments, further comprising: during the process that the cleaning robot performs the cleaning task, only charging the cleaning robot during the process that the cleaning component is cleaned by the base station, and controlling the cleaning robot to continuously perform the cleaning task at other times until the cleaning task is completed.

[0066] In the embodiment, during the process that the cleaning robot performs the cleaning task, only charging the cleaning robot when cleaning the cleaning component, and continuously performing the cleaning task at other times without returning to the base station for charging, so that the special charging time is reduced during the cleaning task, and the cleaning efficiency is improved.

[0067] In some embodiments, the time for charging the cleaning robot in the fast charging mode is less than or equal to the time for cleaning the cleaning component.

[0068] In the embodiment, the cleaning robot can be charged in the fast charging mode during the entire time range for cleaning the cleaning component, or the cleaning robot can be charged in the fast charging mode during the time range for cleaning the cleaning component. Specifically, it can be set according to actual needs to adapt to different scenes.

[0069] In some embodiments, the cleaning component can be a cleaning cloth and / or a cleaning brush.

[0070] In the embodiment, the cleaning robot can be charged in the fast charging mode during the process that the base station cleans the cleaning cloth, or during the process that the base station cleans the cleaning brush, or during the process that the base station cleans the cleaning cloth and the cleaning brush, so that various use scenarios of the cleaning robot can be met.

[0071] In some embodiments, the base station comprises a charging power supply, and the charging power supply is provided with a fast charging mode. Correspondingly, the charging of the cleaning robot in the fast charging mode comprises:

[0072] The charging power supply charges the cleaning robot in the fast charging mode within a preset time range.

[0073] In the embodiment, the preset time range can be determined according to experience or the time of cleaning the cleaning component by the base station each time. When the cleaning robot returns to the base station to clean the cleaning component, the battery is connected to the charging power supply in the base station. The charging power supply can withstand fast charging in the preset time range. When fast charging is performed, the charging power supply can fast charge the battery in the preset time range, so that a power supply with a continuous high power is not needed, and the cost of the power supply can be reduced. At the same time, when fast charging is performed in the washing time, heat accumulation is not too much, heat dissipation is easier, the temperature is relatively controllable, and the cost of the charging power supply can be greatly reduced.

[0074] The preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is a time of cleaning the cleaning component by the base station.

[0075] In the embodiment, the preset cleaning time can be determined according to experience. For example, when the cleaning time is 2 minutes, the preset time range can be set to 2 minutes or less than 2 minutes.

[0076] It should be noted that in the specific implementation, a charging power supply that can withstand fast charging in the preset time range can be selected.

[0077] In some embodiments, the charging of the cleaning robot in the process of cleaning the cleaning component by the base station includes the following steps:

[0078] First, the to-be-supplemented power is obtained, and a supplement parameter is determined according to the to-be-supplemented power.

[0079] In the embodiment, before charging, the to-be-supplemented power can be obtained by the cleaning robot. The to-be-supplemented power refers to the power required to complete the remaining work amount. The to-be-supplemented power can be calculated by an algorithm in the cleaning robot. The to-be-supplemented power obtained by the cleaning robot can be sent to the base station. The to-be-supplemented power can be obtained before the cleaning robot returns to the base station or after the cleaning robot returns to the base station and before the battery is charged in the fast charging mode.

[0080] In some embodiments, the to-be-supplemented power is obtained according to the current remaining work amount and the current power of the cleaning robot.

[0081] In the embodiment, the cleaning robot can determine the current remaining work amount and the current power according to the current work condition, and then estimate how much power is needed according to the power consumption in the cleaning process to obtain the to-be-supplemented power. By determining the to-be-supplemented power according to the current remaining work amount and the current power of the cleaning robot, the to-be-supplemented power can be accurately determined, so as to more accurately calculate the supplement parameter.

[0082] In some embodiments, the to-be-supplemented power is determined according to the current remaining work amount and the current power of the cleaning robot, including:

[0083] In the first step, it is determined whether the current power of the cleaning robot is insufficient according to the current remaining work amount.

[0084] In the second step, the to-be-supplemented power is determined according to the current power of the cleaning robot and the current remaining work amount in the case that it is determined that the current power of the cleaning robot is insufficient.

[0085] In the embodiment, it can be determined how much power is needed according to the current remaining work amount, and compared with the current power to determine whether the current power is insufficient. In the case that it is determined that the current power is insufficient, the to-be-supplemented power is further determined. If it is not insufficient, the to-be-supplemented power does not need to be determined.

[0086] By determining whether the current power is insufficient, the to-be-supplemented power is calculated only in the case that it is insufficient, which improves the calculation efficiency.

[0087] The supplement parameter refers to the current or charging time according to which the power is supplemented, that is, the supplement parameter includes the supplement current and / or supplement time. The supplement time can be calculated by the to-be-supplemented power and the charging power per unit time, and the supplement current can be calculated by the to-be-supplemented power and the charging voltage. The supplement current and the supplement time can be calculated at the same time, or the supplement current or the supplement time can be calculated, which can be set according to actual needs. The process of calculating the supplement current and the supplement time belongs to the prior art, which will not be described here.

[0088] Then, in the process of cleaning the cleaning component by the base station, the cleaning robot is charged in the fast charging mode based on the supplement parameter.

[0089] In the embodiment, after the supplement parameter is calculated, the base station can charge the cleaning robot in the fast charging mode according to the supplement parameter in the process of cleaning the cleaning component. For example, when the supplement parameter is the supplement current, the battery can be charged in the fast charging mode according to the supplement current.

[0090] By acquiring the to-be-supplemented electric quantity, and determining the supplement parameter according to the to-be-supplemented electric quantity, and then charging the cleaning robot in the fast charging mode based on the supplement parameter in the process of cleaning the cleaning component by the base station, the charging strategy can be adjusted according to the current electric quantity of the battery to realize fast charging when charging, so as to protect the cycle life of the battery.

[0091] It should be noted that if the to-be-supplemented electric quantity is equal to the previously consumed electric quantity, the capacity of the battery can also be greatly reduced, and the electric quantity capable of completing one backwashing cycle can meet the infinite endurance characteristic.

[0092] In some embodiments, the charging the cleaning robot in the fast charging mode in the process of cleaning the cleaning component by the base station comprises:

[0093] First, when the base station starts to clean the cleaning component, the charging the cleaning robot in the fast charging mode is started;

[0094] Then, when the base station ends to clean the cleaning component, the charging the cleaning robot in the fast charging mode is stopped.

[0095] In this embodiment, when the base station starts to clean the cleaning component, the charging the cleaning robot in the fast charging mode is started at the same time; when the base station ends to clean the cleaning component, the charging the cleaning robot in the fast charging mode is ended at the same time. The cleaning robot is charged throughout the process of cleaning the cleaning component, so that the cleaning robot is charged more fully.

[0096] In some embodiments, the charging the cleaning robot in the fast charging mode in the process of cleaning the cleaning component by the base station comprises:

[0097] In the process of cleaning the cleaning component by the base station, the cleaning robot is charged in the fast charging mode, and it is determined in real time whether the battery of the cleaning robot is fully charged, and in the case that the battery is determined to be fully charged, the charging the cleaning robot in the fast charging mode is stopped.

[0098] In this embodiment, the above real-time determination of whether the battery is fully charged can be real-time acquisition of the electric quantity of the battery, and determination of whether the capacity of the battery is reached. If the capacity of the battery is reached, it means that the battery is fully charged, otherwise, it means that the battery is not fully charged. If the battery is fully charged, the fast charging mode is ended, otherwise, the fast charging mode is continued.

[0099] By charging the cleaning robot in a fast charging mode during the cleaning of the cleaning component, and judging whether the battery is fully charged in real time, the battery can be stopped from being charged in the fast charging mode when it is determined that the battery is fully charged, thereby avoiding overcharging of the battery of the cleaning robot and improving the battery life.

[0100] In the above implementation process, the cleaning robot is controlled to return to the base station for cleaning of the cleaning component during the cleaning task of the cleaning robot and when the cleaning component needs to be cleaned. The cleaning robot is charged in a fast charging mode during the cleaning of the cleaning component by the base station. By using the characteristic that the cleaning component needs to be cleaned regularly at the base station, the power fast charging technology is used to quickly supplement the power consumed during the previous work during the backwashing time, so that unlimited endurance during the cleaning task is realized. Therefore, the endurance of the cleaning robot can be greatly improved. Even when the power supplement is equal to the power consumption, the capacity of the battery can also be greatly reduced. As long as the power for completing one backwashing cycle can meet the unlimited endurance characteristic. The battery capacity does not need to be increased to improve the endurance, which greatly reduces the cost of the battery and the space occupied by the whole machine. The fast charging during the backwashing time eliminates the need for additional charging, thereby improving the work efficiency of the cleaning robot. Since the base station only charges the battery at high power for a short time and works intermittently, the power supply cost can be greatly reduced. At the same time, the fast charging during the backwashing time does not cause too much heat accumulation, and heat dissipation is easier.

[0101] In some embodiments, the method further comprises:

[0102] After the cleaning robot completes the cleaning task, the battery is charged in a regular charging mode.

[0103] In this embodiment, the regular charging mode mentioned above refers to charging the battery in a relatively standard and moderate charging mode. Common modes include constant current charging, constant voltage charging, and constant current and constant voltage combined charging.

[0104] By charging the battery in a fast charging mode during the cleaning of the cleaning component by the base station, and charging the battery in a regular charging mode after the cleaning robot completes the cleaning task, the fast charging operation is only performed during the backwashing interval of the cleaning robot. The combination of the fast charging mode and the regular charging mode can maintain the cycle life of the battery.

[0105] The embodiment provides a cleaning robot system, comprising a cleaning robot, a base station and a control unit, the control unit is configured to execute the above method, the cleaning robot at least comprises a battery, a cleaning component and a driving unit, the battery is used for powering the driving unit, the base station is used for charging the battery of the cleaning robot, and the cleaning component of the cleaning robot is used for cleaning.

[0106] In the embodiment, the control unit can be arranged on the base station or on the cleaning robot, which is not limited in the embodiment. The control unit uses the characteristic that the cleaning component needs to return to the base station for cleaning regularly, adopts a high-power fast charging technology in the backwashing time, rapidly supplements the power consumed in the previous work, and realizes unlimited endurance in the cleaning task process, so that the endurance of the cleaning robot can be greatly improved. Even when the energy supplement is equal to the previous energy consumption, the capacity of the battery can also be greatly reduced. As long as the power for completing one backwashing cycle can meet the characteristics of unlimited endurance. Without increasing the battery capacity, the endurance can be improved, the battery cost is greatly reduced, and the space occupied by the whole machine is small. Fast charging in the backwashing time, without additional waiting for charging, improves the working efficiency of the cleaning robot. Since the base station only charges the battery at high power for a short time and works intermittently, the power supply cost can be greatly reduced. At the same time, fast charging in the backwashing time, heat accumulation will not be too much, and heat dissipation is easier.

[0107] In some embodiments, the cleaning robot further comprises an active obstacle crossing device, which is used to assist the cleaning robot to cross obstacles of a specific height.

[0108] In the embodiment, the active obstacle crossing device can be a function module that needs to be driven by a motor, such as a wheel-foot obstacle crossing and chassis lifting. By arranging the active obstacle crossing device, the cleaning robot can actively cross obstacles during the execution of the cleaning task, improve the cleaning coverage, and reduce the frequency of manual intervention.

[0109] In some embodiments, the active obstacle crossing device at least comprises a driving motor and a support, the driving motor is used to drive the support to support the cleaning robot to a preset height, and the driving motor is powered by the battery.

[0110] In the embodiment, the preset height can be set according to experience, and the driving motor and the support can be connected by a connecting rod mechanism or a lead screw. When the laser radar in the cleaning robot scans an obstacle such as a threshold or a carpet edge, the obstacle crossing mode is triggered, the cleaning motor is paused, the battery power is distributed to the driving motor, the driving motor drives the lead screw to rotate, the support is pushed out, and the robot chassis is lifted to a preset height (for example, 20 mm, 40 mm, 50 mm, 60 mm, 80 mm, etc.). The driving wheel accelerates in the lifting state and crosses the obstacle together with the pushing force of the support. After crossing the obstacle, the support is retracted to the storage position, and the normal cleaning mode is restored.

[0111] Since the active obstacle crossing device additionally increases the driving motor, the power consumption of the cleaning robot is faster, and the endurance is reduced. The above-mentioned cleaning robot system working method can support the long-time continuous work of the robot provided with the active obstacle crossing device, so as to improve the obstacle crossing ability and cleaning efficiency of the cleaning robot.

[0112] In some embodiments, the cleaning robot further comprises a mechanical arm device for assisting cleaning.

[0113] In the embodiment, the mechanical arm device can be a multifunctional mechanical arm, for example, a 6-degree-of-freedom mechanical arm, which can be used to simulate manual wiping action to cover vertical surfaces such as walls and glass. By providing the mechanical arm device, the spatial cleaning ability of the cleaning robot during the execution of the cleaning task can be expanded, the cleaning coverage rate is further improved, and the frequency of manual intervention is reduced.

[0114] In some embodiments, the mechanical arm device at least comprises a joint driving motor for driving each joint of the mechanical arm device, and the joint driving motor is powered by the battery.

[0115] In the embodiment, since each joint of the mechanical arm device needs a motor, the power consumption is large, which seriously affects the endurance. The above-mentioned cleaning robot system working method can support the long-time continuous work of the cleaning components, the driving unit and the mechanical arm device of the cleaning robot, and improve the cleaning efficiency of garbage storage.

[0116] In some embodiments, the cleaning robot can further include a chassis lifting device, which can at least include a driving motor and a chassis support mechanism, the driving motor being configured to drive the chassis support mechanism to lift the body of the cleaning robot relative to the driving wheels by a preset height, so as to facilitate the cleaning robot to cross obstacles, and the driving motor being powered by the battery. The additional driving motor of the chassis lifting device can cause the cleaning robot to consume power faster and reduce the endurance. The above-mentioned working method of the cleaning robot system can support the robot provided with the active obstacle crossing device to work for a long time, so as to improve the obstacle crossing ability and cleaning efficiency of the cleaning robot.

[0117] Of course, in some embodiments, the cleaning robot can further include one or more of the mechanical arm device, the active obstacle crossing device, and the chassis lifting device. The working method and system provided by the above-mentioned embodiments can support the cleaning work of the cleaning robot and the power required by each device for a long time, so as to effectively improve the endurance of the cleaning robot.

[0118] The embodiment of the present application provides a machine readable storage medium, which stores a program, and the program is executed by a processor to implement the working method of the cleaning robot system.

[0119] The embodiment of the present application provides a processor, which is used to run a program, wherein the program is executed to implement the working method of the cleaning robot system.

[0120] The embodiment of the present application provides an electronic device, which includes at least one processor, a memory connected with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the above-mentioned working method of the cleaning robot system by executing the instructions stored in the memory, and the cleaning robot system includes a cleaning robot and a base station, and the processor implements the following steps when executing the instructions:

[0121] In the process that the cleaning robot performs a cleaning task, and in the case that a cleaning component of the cleaning robot needs to be cleaned, the cleaning robot is controlled to return to the base station, and the cleaning component is cleaned by the base station;

[0122] In the process that the cleaning component is cleaned by the base station, the cleaning robot is charged in a fast charging mode.

[0123] In one embodiment, further comprising:

[0124] After the cleaning of the cleaning component by the base station is completed, the cleaning robot is controlled to stop charging and leave the base station to continue performing the cleaning task.

[0125] In one embodiment, further comprising:

[0126] In the process that the cleaning robot performs the cleaning task, the cleaning robot is charged only in the process that the cleaning part is cleaned by the base station, and the cleaning robot is controlled to continuously perform the cleaning task until the cleaning task is completed.

[0127] In one embodiment, the time for charging the cleaning robot in the fast charging mode is less than or equal to the time for cleaning the cleaning part.

[0128] In one embodiment, the base station comprises a charging power supply, and the charging power supply is provided with a fast charging mode.

[0129] The charging of the cleaning robot in the fast charging mode comprises:

[0130] The charging of the cleaning robot in the fast charging mode by the charging power supply within a preset time range.

[0131] In one embodiment, the preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is the time for cleaning the cleaning part by the base station.

[0132] In one embodiment, further comprising:

[0133] After the cleaning robot completes the cleaning task, the cleaning robot is charged in a normal charging mode.

[0134] In one embodiment, the charging of the cleaning robot in the fast charging mode in the process that the cleaning part is cleaned by the base station comprises:

[0135] Obtaining a to-be-supplied power, and determining a supply parameter according to the to-be-supplied power.

[0136] In the process that the cleaning part is cleaned by the base station, the cleaning robot is charged in the fast charging mode based on the supply parameter.

[0137] In one embodiment, the supply parameter comprises a supply current and / or a supply time.

[0138] In one embodiment, the obtaining of the to-be-supplied power comprises:

[0139] Determining the to-be-supplied power according to a current remaining work amount and a current power of the cleaning robot.

[0140] In one embodiment, the determining the to-be-supplied power according to the current remaining work amount and the current power of the cleaning robot comprises:

[0141] determining whether the current power of the cleaning robot is insufficient according to the current remaining work amount;

[0142] In the case that the current power of the cleaning robot is determined to be insufficient, determining the to-be-supplied power according to the current power of the cleaning robot and the current remaining work amount.

[0143] In one embodiment, the cleaning component is a cleaning cloth and / or a cleaning brush.

[0144] In one embodiment, the charging the cleaning robot in the cleaning component cleaning process by the base station in the fast charging mode comprises:

[0145] starting to charge the cleaning robot in the fast charging mode when the base station starts to clean the cleaning component;

[0146] stopping to charge the cleaning robot in the fast charging mode when the base station finishes cleaning the cleaning component.

[0147] In one embodiment, the charging the cleaning robot in the cleaning component cleaning process by the base station in the fast charging mode comprises:

[0148] charging the cleaning robot in the fast charging mode in the cleaning component cleaning process by the base station, and determining whether the battery of the cleaning robot is fully charged in real time, and stopping to charge the cleaning robot in the fast charging mode in the case that the battery is determined to be fully charged.

[0149] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0150] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks.

[0151] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks.

[0153] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0154] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, for storing, in general, data and / or program instructions. The memory can also include non-volatile memory, such as read only memory (ROM) and / or flash memory, for storing, in general, static data and / or instructions that are not very likely to ever change. The memory can store software

[0155] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0156] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0157] The above only is an embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method of operating a cleaning robot system, characterized by, The cleaning robot system comprises a cleaning robot and a base station, and the method comprises: During the cleaning task performed by the cleaning robot, and in the case that the cleaning component of the cleaning robot needs to be washed, the cleaning robot is controlled to return to the base station, and the cleaning component is washed by the base station; During the washing of the cleaning component by the base station, the cleaning robot is charged in a fast charging mode.

2. The cleaning robot system operating method of claim 1, wherein, Further comprising: After the washing of the cleaning component by the base station is completed, the cleaning robot is controlled to stop charging and leave the base station to continue performing the cleaning task.

3. The cleaning robot system operating method of claim 1 or 2, wherein, During the cleaning task performed by the cleaning robot, the cleaning robot is charged only during the washing of the cleaning component by the base station, and the cleaning robot is controlled to continuously perform the cleaning task at other times until the cleaning task is completed.

4. The cleaning robot system operating method of claim 1, wherein, The time for charging the cleaning robot in the fast charging mode is less than or equal to the time for washing the cleaning component. 5.The cleaning robot system operating method of claim 1, wherein The base station comprises a charging power supply, and the charging power supply is provided with a fast charging mode; The charging of the cleaning robot in the fast charging mode comprises: The charging power supply charges the cleaning robot in the fast charging mode within a preset time range. 6.The cleaning robot system operating method of claim 5, wherein, The preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is the time for washing the cleaning component by the base station. 7.The cleaning robot system operating method of claim 1, wherein, The method further comprises: After the cleaning task performed by the cleaning robot is completed, the cleaning robot is charged in a regular charging mode. 8.The cleaning robot system operating method of claim 1, wherein, The charging of the cleaning robot in the fast charging mode during the washing of the cleaning component by the base station comprises: Obtaining a to-be-supplemented power, and determining a supplement parameter according to the to-be-supplemented power; During the washing of the cleaning component by the base station, the cleaning robot is charged in the fast charging mode based on the supplement parameter. 9.The cleaning robot system operating method of claim 8, wherein, The supplement parameter comprises a supplement current and / or a supplement time. 10.The cleaning robot system operating method of claim 8, wherein, The obtaining of the to-be-supplemented power comprises: Determining the to-be-supplemented power according to a current remaining work amount and a current power of the cleaning robot. 11.The cleaning robot system operating method of claim 10, wherein, The determination of the to-be-supplemented power according to the current remaining work amount and the current power of the cleaning robot comprises: Judging whether the current power of the cleaning robot is insufficient according to the current remaining work amount; In the case that it is determined that the current power of the cleaning robot is insufficient, determining the to-be-supplemented power according to the current power of the cleaning robot and the current remaining work amount.

12. The cleaning robot system operating method of claim 1, wherein, The cleaning component is a cleaning cloth and / or a cleaning brush. 13.The cleaning robot system operating method of claim 1, wherein The charging of the cleaning robot in the fast charging mode during the washing of the cleaning component by the base station comprises: When the cleaning of the cleaning component by the base station is started, the charging of the cleaning robot in the fast charging mode is started; When the cleaning of the cleaning component by the base station is ended, the charging of the cleaning robot in the fast charging mode is stopped. 14.The cleaning robot system operating method of claim 1, wherein The cleaning robot is charged in the fast charging mode during the cleaning component is cleaned by the base station, and the battery of the cleaning robot is determined whether to be fully charged in real time, and the charging of the cleaning robot in the fast charging mode is stopped when it is determined that the battery is fully charged. The cleaning robot is charged in the fast charging mode during the cleaning component is cleaned by the base station, and the battery of the cleaning robot is determined whether to be fully charged in real time, and the charging of the cleaning robot in the fast charging mode is stopped when it is determined that the battery is fully charged.

15. A cleaning robot system characterized in that, The cleaning robot, the base station and the control unit are included, the control unit is configured to execute the method as claimed in any one of claims 1-14, the cleaning robot at least includes a battery, a cleaning component and a driving unit, the battery is used to power the driving unit, the base station is used to charge the battery of the cleaning robot, and is used to clean the cleaning component of the cleaning robot. 16.The cleaning robot system of claim 15, wherein, The cleaning robot further comprises an active obstacle crossing device, which is used to assist the cleaning robot to cross the obstacle of a certain height.

17. The cleaning robot system of claim 16, wherein, The active obstacle crossing device at least includes a driving motor and a support, the driving motor is used to drive the support to support the cleaning robot to a preset height, and the driving motor is powered by the battery. 18.The cleaning robot system of claim 15, wherein, The cleaning robot further comprises a mechanical arm device, which is used to assist cleaning. 19.The cleaning robot system of claim 18, wherein, The mechanical arm device at least includes a joint driving motor, which is used to drive each joint of the mechanical arm device, and the joint driving motor is powered by the battery.

20. The cleaning robot system of claim 15, wherein, The cleaning robot further comprises a chassis lifting device, which at least includes a driving motor and a chassis support mechanism, the driving motor is used to drive the chassis support mechanism to lift the body of the cleaning robot relative to the driving wheel by a preset height, and the driving motor is powered by the battery.

21. An electronic device, comprising: The electronic device includes: at least one processor; a memory connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the cleaning robot system working method according to any one of claims 1-14 by executing the instructions stored in the memory.

22. A machine-readable storage medium having stored thereon instructions, the instructions being executable by a machine to cause the machine to: The instructions, when executed by the processor, cause the processor to be configured to execute the cleaning robot system working method according to any one of claims 1-14.

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