CLEANING ROBOT, CLEANING ROBOT CONTROL METHOD, STORAGE MEDIUM, AND CLEANING SYSTEM

Description

The present disclosure is a Continuation Application of International Application No. PCT/CN2024/125318, filed on Oct. 16, 2024, which is based on and claims priority to Chinese Patent Application No. 202311085025.1 filed on Aug. 25, 2023, the entire content of which is incorporated herein by reference.

TECHNICAL FIELD

Embodiments of the present disclosure relate to the technical field of cleaning robots, and in particular, to a cleaning robot, a control method for a cleaning robot, a storage medium, and a cleaning system.

BACKGROUND ART

In conventional technology, when an intelligent cleaning robot is inside a cleaning base station but cannot be connected to a charging terminal of the cleaning base station, the robot will undock and then return to the cleaning base station. This may lead to frequent positioning of the robot and affect the user experience.

SUMMARY OF THE INVENTION

The present disclosure aims to solve at least one of the technical problems existing in the prior art or the related art.

Therefore, a first aspect of the present disclosure provides a control method for a cleaning robot.

A second aspect of the present disclosure provides a computer-readable storage medium.

A third aspect of the present disclosure provides a cleaning robot.

A fourth aspect of the present disclosure provides a cleaning system.

In view of this, a control method for a cleaning robot is provided according to the first aspect of the embodiments of the present disclosure. The control method includes:

• • acquiring energization status information of a first charging terminal of a cleaning robot in a case that the cleaning robot is in a charging pose;
  • acquiring docking status between the first charging terminal and a second charging terminal of a cleaning base station when the first charging terminal is de-energized; and
  • determining an operation mode of the cleaning robot based on energization status information of the cleaning base station in a case that the first charging terminal is docked with the second charging terminal.

A computer-readable storage medium is provided according to the second aspect of the embodiments of the present disclosure.

The computer-readable storage medium stores a computer program to implement the control method according to any one of the above technical solutions.

A cleaning robot is provided according to the third aspect of the embodiments of the present disclosure. The cleaning robot includes:

• • a memory storing a computer program; and
  • a processor executing the computer program,
  • where the processor, when executing the computer program, implements the control method according to any one of the above technical solutions.

A cleaning system is provided according to the fourth aspect of the embodiments of the present disclosure. The cleaning system includes:

• • a cleaning base station; and
  • the cleaning robot according to the above technical solution, where the cleaning base station is configured to charge the cleaning robot.

BRIEF DESCRIPTION OF THE DRAWINGS

By reading the detailed description of preferred embodiments below, various additional advantages and benefits will become clear to those of ordinary skill in the art. The drawings are provided solely for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the scope of the present disclosure. In addition, the same components are denoted by the same reference numerals throughout the drawings. In the drawings:

FIG. 1 is a schematic flowchart showing steps of a control method for a cleaning robot according to one embodiment of the present disclosure;

FIG. 2 is a structural block diagram of a computer-readable storage medium according to one embodiment of the present disclosure;

FIG. 3 is a structural block diagram of a cleaning robot according to one embodiment of the present disclosure; and

FIG. 4 is a structural block diagram of a cleaning system according to one embodiment of the present disclosure.

DETAILED DESCRIPTION

In order to better understand the above technical solutions, the technical solutions in the embodiments of the present disclosure will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the embodiments of the present disclosure and specific features in the embodiments are detailed descriptions of the technical solutions in the embodiments of the present disclosure, but are not intended to limit the technical solutions in the present disclosure. The embodiments of the present disclosure and the technical features in the embodiments may be combined with each other as long as there is no conflict.

As shown in FIG. 1, a control method for a cleaning robot is provided according to a first aspect of the embodiments of the present disclosure. The control method includes the following steps.

In step 101, energization status information of a first charging terminal of a cleaning robot is acquired in the case that the cleaning robot is in a charging pose. It can be understood that, in the case that the cleaning robot is in the charging pose, in order to ensure successful charging of the cleaning robot, the energization status of the first charging terminal may be checked. If the first charging terminal is energized, it indicates that the cleaning robot can be charged; and if the first charging terminal is de-energized, it indicates that the cleaning robot cannot be charged in the current state, and this may be because that the first charging terminal of the cleaning robot is not firmly docked with a second charging terminal of a cleaning base station, or that a foreign matter is present between the first charging terminal and the second charging terminal and affects the electrical conductivity between the first charging terminal and the second charging terminal, or that the cleaning base station itself is powered off.

In step 102, docking status between the first charging terminal and the second charging terminal of the cleaning base station is acquired when the first charging terminal is de-energized. It can be understood that, in the case that the first charging terminal is de-energized, the docking status between the first charging terminal and the second charging terminal may be checked to determine whether the first charging terminal is connected to the second charging terminal. If the first charging terminal is not connected to the second charging terminal, it indicates that the de-energized state of the first charging terminal may be caused by a false connection. If the first charging terminal is connected to the second charging terminal, the de-energized state of the first charging terminal is caused by the cleaning base station. It can be understood that the cleaning robot may be equipped with a sensor. When the sensor is triggered, it is believed that the first charging terminal is docked with the second charging terminal. On the contrary, when the sensor is not triggered, it is believed that the first charging terminal is not docked with the second charging terminal. It can be understood that the first charging terminal may be energized or de-energized. When the first charging terminal is de-energized, the cleaning robot cannot be charged.

In step 103, an operation mode of the cleaning robot is determined based on energization status of the cleaning base station in the case that the first charging terminal is docked with the second charging terminal. After it is determined that the first charging terminal is connected to the second charging terminal, the energization status information of the cleaning base station may be further determined. Based on this, the operation mode of the cleaning robot may be determined based on the energization status information of the cleaning base station. Specifically, it may be determined whether the cleaning robot needs to leave the cleaning base station and then re-dock. For example, if the cleaning base station is energized, it indicates that the first charging terminal and the second charging terminal are not accurately aligned, and the cleaning robot needs to leave the cleaning base station and then re-dock. If the cleaning base station is also de-energized, the cleaning base station may have been powered off, and in this case, the cleaning robot does not need to leave the cleaning base station. Based on this, the frequency of undocking of the cleaning robot may be reduced, and the probability of misjudgment by the cleaning robot may be reduced, thereby preventing the user from perceiving that the cleaning robot frequently undocks, improving the user experience, saving electric energy of the cleaning robot, reducing the probability of wearing of the first charging terminal and the second charging terminal, and prolonging the service life of the cleaning robot. It can be understood that the energization status information of the cleaning base station includes energization status of the second charging terminal or status information about whether the cleaning base station is powered off.

According to the control method for a cleaning robot provided in the embodiments of the present disclosure, when the cleaning robot is in the charging pose but the first charging terminal of the cleaning robot is de-energized, the docking status between the first charging terminal and the second charging terminal is first acquired. If the first charging terminal is docked with the second charging terminal, the energization status information of the cleaning base station is further acquired, and then the operation mode of the cleaning robot is determined based on the energization status information of the cleaning base station. This approach, which replaces the technical solution in conventional technology that the cleaning robot is controlled to move away from the cleaning base station as long as the first charging terminal is de-energized, can reduce the frequency of undocking of the cleaning robot and improve the user experience.

In one feasible embodiment, the step of determining the operation mode of the cleaning robot based on the energization status information of the cleaning base station in the case that the first charging terminal is docked with the second charging terminal includes at least one of the following: controlling the cleaning robot to move away from the cleaning base station and then re-establish the charging pose in the case that the first charging terminal is docked with the second charging terminal and the second charging terminal is energized; and controlling the cleaning robot to maintain the current state in the case that the first charging terminal is docked with the second charging terminal and the second charging terminal is de-energized.

In this technical solution, the specific steps of determining the operation mode of the cleaning robot are further provided. If the first charging terminal is docked with the second charging terminal and the second charging terminal is energized, it indicates that there may be a problem with the position of the cleaning robot, or there is no electrical conduction between the first charging terminal and the second charging terminal. For example, a foreign matter is present between the first charging terminal and the second charging terminal, or the contact point is oxidized, which causes electrical conduction failure between the first charging terminal and the second charging terminal. In this case, it is necessary to control the cleaning robot to move away from the cleaning base station and then re-establish the charging pose for repositioning, such that the connection between the first charging terminal and the second charging terminal can be restored, and the cleaning robot can be charged.

In this technical solution, the specific steps of determining the operation mode of the cleaning robot are further provided. If the first charging terminal is docked with the second charging terminal and the second charging terminal is de-energized, it indicates that the cleaning base station may be in a power-off state. In this case, it is not necessary to control the cleaning robot to move away from the cleaning base station, and instead, the cleaning robot is controlled to maintain the current state. Thus, the frequency of undocking of the cleaning robot may be reduced, and the probability of misjudgment by the cleaning robot may be reduced, thereby preventing the user from perceiving that the cleaning robot frequently undocks, improving the user experience, saving electric energy of the cleaning robot, reducing the probability of wearing of the first charging terminal and the second charging terminal, and prolonging the service life of the cleaning robot.

In one feasible embodiment, the step of determining the operation mode of the cleaning robot includes at least one of the following: controlling the cleaning robot to maintain the current position in the case that the first charging terminal is docked with the second charging terminal and information indicating the cleaning base station is powered off is received; controlling the cleaning robot to maintain the current position in the case that the first charging terminal is docked with the second charging terminal and no information related to energization status is received from the cleaning base station; and controlling the cleaning robot to move away from the cleaning base station and then re-establish the charging pose in the case that the first charging terminal is docked with the second charging terminal and information indicating the cleaning base station is not powered off is received.

In this technical solution, a specific communication mode between the cleaning robot and the cleaning base station is considered, and the cleaning robot communicates with the cleaning base station to determine the energization status information of the cleaning base station. Further, as the cleaning base station may be equipped with a capacitor or other energy storage apparatuses, even if the cleaning base station is powered off (for example, the user unplugs the cleaning base station), the cleaning base station may also communicate with the cleaning robot for a short time. Therefore, when the cleaning base station is powered off, the cleaning robot may receive the information indicating the cleaning base station is powered off, and when energy in the capacitor or the energy storage apparatuses is insufficient, the cleaning base station may not have time to issue an instruction. Therefore, when the cleaning robot receives the information indicating the cleaning base station is powered off or does not receive any response from the cleaning base station, it may be believed that the second charging terminal of the cleaning base station is de-energized. In this case, the de-energized state of the first charging terminal is caused by the cleaning base station, and the cleaning robot does not need to leave the cleaning base station and may maintain the current state.

In this technical solution, if the cleaning base station is always energized, the cleaning robot may communicate with the cleaning base station, and the cleaning robot may acquire the information indicating the cleaning base station is not powered off. This indicates that the cleaning base station is normally energized, but the first charging terminal is de-energized. Therefore, there may be a problem with the position of the cleaning robot. The cleaning robot may be controlled to move away from the cleaning base station and then re-establish the charging pose for repositioning, such that the connection between the first charging terminal and the second charging terminal can be restored, and the cleaning robot can be charged.

In one feasible embodiment, the energization status information of the cleaning base station is acquired by the cleaning robot polling the main body of the cleaning base station.

In this technical solution, the cleaning robot may send polling information, and the cleaning base station, after receiving the polling information, may send the energization status information of the cleaning base station to the cleaning robot. In this way, the information collection frequency may be reasonably controlled, which is more energy-saving.

It can be understood that a time interval may be set, and polling information is sent each time the interval is reached.

In one feasible embodiment, the energization status information of the cleaning base station is sent to the cleaning robot by the cleaning base station.

In this technical solution, the cleaning base station may actively send the energization status information of the cleaning base station to the cleaning robot. In this way, the cleaning robot does not need to actively query the cleaning base station, such that the communication between the cleaning robot and the cleaning base station is more convenient.

In one feasible embodiment, the energization status information of the cleaning base station is acquired by the cleaning robot from the cleaning base station through infrared communication.

In this technical solution, a communication mode between the cleaning robot and the cleaning base station is further provided. The energization status information of the cleaning base station is acquired through infrared communication. In this way, the timeliness in acquiring information is ensured, the communication between the cleaning base station and the cleaning robot is more convenient, and the cost of the cleaning robot can be reduced.

In one feasible embodiment, the control method for a cleaning robot further includes: controlling the cleaning robot to move away from the cleaning base station and then re-establish the charging pose in the case that the first charging terminal is not docked with the second charging terminal.

In this technical solution, in the case that the first charging terminal is not docked with the second charging terminal, it indicates that the de-energized state of the first charging terminal may be caused by a false connection. Therefore, the cleaning robot may be controlled to leave the cleaning base station and then re-dock, and the connection between the first charging terminal and the second charging terminal can thus be re-established, such that the cleaning robot can be charged normally.

In one feasible embodiment, prompt information is generated in the case that the cleaning robot re-establishes the charging pose, the second charging terminal is energized, and the first charging terminal is still de-energized.

In this technical solution, after the cleaning robot leaves the cleaning base station and then re-docks, if the first charging terminal is still de-energized, it indicates that there is a possibility that the first charging terminal or the second charging terminal is contaminated, or there is a foreign matter on a contact side between the first charging terminal and the second charging terminal. In this case, the prompt information may be generated to prompt the user to perform maintenance.

As shown in FIG. 2, a computer-readable storage medium 201 is provided according to a second aspect of the embodiments of the present disclosure. The computer-readable storage medium 201 stores a computer program 202 to implement the control method according to any one of the above technical solutions.

The computer-readable storage medium 201 according to the embodiments of the present disclosure implements the control method according to any one of the above technical solutions. Therefore, the computer-readable storage medium 201 has all the beneficial effects of the control method according to the above technical solutions.

According to the computer-readable storage medium 201 provided in the embodiments of the present disclosure, when the cleaning robot is in the charging pose but the first charging terminal of the cleaning robot is de-energized, the docking status between the first charging terminal and the second charging terminal is first acquired. If the first charging terminal is docked with the second charging terminal, the energization status information of the cleaning base station is further acquired, and then the operation mode of the cleaning robot is determined based on the energization status information of the cleaning base station. This approach, which replaces the technical solution in conventional technology that the cleaning robot is controlled to move away from the cleaning base station as long as the first charging terminal is de-energized, can reduce the frequency of undocking of the cleaning robot and improve the user experience.

Based on such an understanding, the technical solutions according to the present disclosure may be embodied in the form of a software product. The software product may be stored in a non-volatile storage medium (which may be a CD-ROM, a USB flash drive, a portable hard drive, or the like), and includes several instructions to enable a computer device (which may be a personal computer, a server, a network device, or the like) to perform the method according to the implementation scenarios of the present disclosure.

As shown in FIG. 3, a cleaning robot is provided according to a third aspect of the embodiments of the present disclosure. The cleaning robot includes: a memory 301 storing a computer program 202 and a processor 302 executing the computer program 202, where the processor 302, when executing the computer program 202, implements the control method according to any one of the above technical solutions.

The cleaning robot according to the embodiments of the present disclosure implements the control method according to any one of the above technical solutions. Therefore, the cleaning robot has all the beneficial effects of the control method according to the above technical solutions.

According to the cleaning robot provided in the embodiments of the present disclosure, when the cleaning robot is in the charging pose but the first charging terminal of the cleaning robot is de-energized, the docking status between the first charging terminal and the second charging terminal is first acquired. If the first charging terminal is docked with the second charging terminal, the energization status information of the cleaning base station is further acquired, and then the operation mode of the cleaning robot is determined based on the energization status of the second charging terminal. This approach, which replaces the technical solution in conventional technology that the cleaning robot is controlled to move away from the cleaning base station as long as the first charging terminal is de-energized, can reduce the frequency of undocking of the cleaning robot and improve the user experience.

In some examples, the cleaning robot may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, and the like. The user interface may include a display, an input unit such as a keyboard, and the like. An optional user interface may also include a USB interface, a card reader interface, and the like. The network interface may optionally include a standard wired interface, a standard wireless interface (for example, a WI-FI interface), and the like.

In an exemplary embodiment, the cleaning robot may further include an input/output interface and a display device. The functional units may communicate with each other via a bus. The memory 301 stores a computer program 202, and the processor 302 is configured to execute the program stored in the memory 301 to implement the method according to the above embodiments.

The above storage medium may further include an operating system and a network communication module. The operating system is the program that manages hardware and software resources of the entity device in the above method, and supports the operation of an information processing program and other software and/or programs. The network communication module is configured to implement the communication between the assemblies inside the storage medium, and the communication with other hardware and software in the information processing entity device.

A cleaning system is provided according to a fourth aspect of the embodiments of the present disclosure. The cleaning system includes a cleaning base station 420 and the cleaning robot 410 according to the above technical solutions, where the cleaning base station 420 is configured to charge the cleaning robot 410.

The cleaning robot according to the embodiments of the present disclosure includes the cleaning robot according to the above technical solutions. Therefore, the cleaning robot has all the beneficial effects of the cleaning robot according to the above technical solutions, which are not repeated herein.

In one feasible embodiment, the cleaning system further includes a sensor 411 arranged on the cleaning robot 410 and configured to acquire docking status between the first charging terminal and the second charging terminal.

In this technical solution, the cleaning robot 410 may be equipped with the sensor 411. By arrangement of the sensor 411, the cleaning robot 410 may acquire, based on a triggered state of the sensor 411, the docking status between the first charging terminal and the second charging terminal of the cleaning base station 420 when the first charging terminal is de-energized, such that the execution of the control method is more convenient.

In one feasible embodiment, the cleaning system further includes an infrared communication module 430 arranged on the cleaning robot 410 and the cleaning base station 420 and an energy storage module 421 connected to the cleaning base station 420 and the infrared communication module 430.

In this technical solution, the cleaning system may further include the infrared communication module 430. By arrangement of the infrared communication module 430, the cleaning robot 410 may perform signal transmission with the cleaning base station 420 through infrared communication, such that the timeliness in acquiring information is ensured, the communication between the cleaning base station 420 and the cleaning robot 410 is more convenient, and the cost of the cleaning robot can be reduced. It can be understood that the infrared communication module 430 may be arranged on the cleaning robot 410 and the cleaning base station 420.

In this technical solution, the cleaning base station 420 may be further equipped with the energy storage module 421. By arrangement of the energy storage module 421, even if the cleaning base station 420 is powered off, the cleaning base station 420 can still communicate with the cleaning robot 410, such that the cleaning robot 410 can learn the state of the cleaning base station 420.

In some examples, the energy storage module 421 may include a capacitor.

Based on the descriptions of the above embodiments, those skilled in the art can clearly understand that the present disclosure may be implemented by the mode of software in combination with a necessary general hardware platform, or may be implemented by hardware.

The present disclosure is described with reference to flowcharts and/or block diagrams of the method, the device (system), and the computer program 202 product according to the embodiments of the present disclosure. It should be understood that each procedure and/or block in the flowcharts and/or the block diagrams and a combination of the procedures and/or the blocks in the flowcharts and/or the block diagrams may be implemented by computer program 202 instructions. These computer program 202 instructions may be provided to a processor 302 of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, such that an apparatus for achieving functions designated in one or more procedures of the flowcharts and/or one or more blocks of the block diagrams is generated based on instructions executed by the processors 302 of the computers or other programmable data processing devices.

In the present disclosure, the terms “first”, “second”, and “third” are merely used for descriptive purposes, and shall not be understood as indicating or implying relative importance. The term “plurality of” means two or more, unless explicitly defined otherwise. Terms such as “mount”, “connect”, “link”, and “fix” should be understood in a broad sense. For example, “connect” may refer to a fixed connection, a detachable connection, or an integral connection, and “link” may refer to a direct linkage, or an indirect linkage by means of an intermediate medium. For those of ordinary skill in the art, the specific meanings of the aforementioned terms in the present disclosure can be understood according to specific conditions.

In the description of the present disclosure, it should be understood that orientations or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, and “rear” are those shown based on the drawings, and are merely intended to facilitate and simplify description of the present disclosure rather than to indicate or imply that the indicated apparatus or unit must have a specific direction and be structured and operated according to the specific orientation, and should not be construed as limiting the present disclosure.

In the description of the specification, the description of terms “one embodiment”, “some embodiments”, “a specific embodiment”, and the like means that specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present disclosure. In the specification, the schematic description of the aforementioned terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure can be modified and varied. Any modification, equivalent substitution, improvement, and the like made within the spirit and principle of the present disclosure shall all fall within the protection scope of the present disclosure.