CN110419987B - Energy monitoring method of cleaning robot and cleaning robot - Google Patents
Energy monitoring method of cleaning robot and cleaning robot Download PDFInfo
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- CN110419987B CN110419987B CN201910816233.1A CN201910816233A CN110419987B CN 110419987 B CN110419987 B CN 110419987B CN 201910816233 A CN201910816233 A CN 201910816233A CN 110419987 B CN110419987 B CN 110419987B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3828—Arrangements for monitoring battery or accumulator variables, e.g. SoC using current integration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
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- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention provides an energy monitoring method of a cleaning robot and the cleaning robot, wherein the cleaning robot monitors a voltage value and an electric quantity value of an energy providing component in the working process, and when the voltage value and the energy ratio respectively meet preset conditions, the cleaning robot enters a low-energy mode, so that the accuracy of monitoring the energy stored by the robot on the energy providing component is improved, the condition that the cleaning robot is dead due to energy exhaustion or does not need to supplement energy in the running process is avoided, the energy providing component is damaged, the energy providing component is effectively protected, and the user experience is improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an energy monitoring method of a cleaning robot and the cleaning robot.
Background
The cleaning robot mainly replaces manpower and is used for cleaning the family environment. Cleaning machines people collects self-cleaning technique and humanized intelligent design in an organic whole, along with intelligent cleaning machines people's development on the existing market, in order to further satisfy user's the demand of cleaning, the heavier task of sweeping the floor, mopping of bigger reduction user, intelligent cleaning machines people has progressively realized by the dust absorption, has cleaned to the multi-functional development of washing the ground, mopping the ground. However, when the cleaning robot performs a cleaning operation, a sweeping operation, a mopping operation, etc., the cleaning robot mainly relies on an energy supply unit installed inside the cleaning robot to supply energy, and when the energy stored in the energy supply unit is insufficient, the cleaning robot needs to be replenished in time. Currently, the monitoring of the energy stored in the energy providing component is mostly judged by a single numerical value, after the cleaning robot cannot work normally or the energy providing component is replaced artificially, the cleaning robot can make a misjudgment when the energy stored in the energy providing component is monitored, so that the cleaning robot is exhausted and crashed in the running process or is supplemented when the energy is not required to be supplemented, and the energy providing component is damaged.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an energy monitoring method of a cleaning robot and the cleaning robot, which can improve the accuracy of monitoring the energy stored in the energy supply part by the robot, avoid the damage to the energy supply part caused by the dead halt of the robot due to energy exhaustion or the supplement when the energy is not required in the operation process of the cleaning robot, and further improve the user experience.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
in one aspect, the present invention provides an energy monitoring method of a cleaning robot, including:
determining that the energy providing component is in communication with the cleaning robot;
acquiring a voltage value;
acquiring a current electric quantity value;
obtaining an electric quantity ratio according to the current electric quantity value;
the cleaning robot enters a low energy mode when the voltage value and the power ratio respectively satisfy a first threshold and a second threshold.
In an embodiment of the present invention, the obtaining the voltage value and the obtaining the current electric quantity value include:
accessing a reference database, wherein the reference database comprises a real electric quantity value corresponding to the voltage value, and if the obtained current electric quantity value corresponds to the real electric quantity of the obtained voltage value in the reference database, obtaining an electric quantity ratio according to the current electric quantity value;
and if the obtained current electric quantity value does not correspond to the real electric quantity value of the obtained voltage value in the reference database, correcting the current electric quantity value, and obtaining an electric quantity ratio according to the corrected current electric quantity value.
In an embodiment of the present invention, the correcting the current electric quantity value includes:
acquiring a total electric quantity value;
calculating the consumed electric quantity value;
the corrected current electric quantity value is the difference value of the total electric quantity value and the consumed electric quantity value.
In one embodiment of the present invention, the electric quantity ratio is a ratio of the current electric quantity value to the total electric quantity value.
In one embodiment of the present invention, the entering of the cleaning robot into the low energy mode when the voltage value and the power ratio satisfy a first threshold and a second threshold, respectively, includes:
if the voltage value is smaller than the first threshold value and the electric quantity ratio is smaller than the second threshold value, the cleaning robot enters a low-energy mode;
and if the voltage value is larger than or equal to the first threshold value and the electric quantity ratio is larger than or equal to the second threshold value, the cleaning robot works normally.
In another aspect, the present invention provides a cleaning robot comprising:
a main body;
a driving part configured to drive the mobile robot to move on a surface to be cleaned;
an energy supply component configured to supply energy;
a controller configured to:
acquiring a voltage value of the energy supply component;
acquiring a current electric quantity value of the energy supply component;
obtaining the electric quantity ratio of the energy providing component according to the current electric quantity value;
the cleaning robot enters a low energy mode when the voltage value and the power ratio respectively satisfy a first threshold and a second threshold.
In an embodiment of the present invention, the obtaining the voltage value of the energy supply component and the obtaining the current electric quantity value of the energy supply component include:
accessing a reference database, wherein the reference database comprises a real electric quantity value of the energy providing component corresponding to the voltage value of the energy providing component, and if the current electric quantity value of the energy providing component is obtained and the real electric quantity value of the voltage value of the energy providing component in the reference database is obtained, obtaining the electric quantity ratio of the energy providing component according to the current electric quantity value;
and if the current electric quantity value of the energy providing component and the real electric quantity value of the voltage value of the energy providing component in the reference database do not correspond to each other, correcting the current electric quantity value, and obtaining the electric quantity ratio of the energy providing component according to the corrected current electric quantity value.
In an embodiment of the present invention, the correcting the current electric quantity value includes:
acquiring a total electric quantity value of the energy supply component;
calculating the consumed electric quantity value;
the corrected current electric quantity value is the difference value of the total electric quantity value and the consumed electric quantity value.
In one embodiment of the present invention, the electric quantity ratio is a ratio of the current electric quantity value to the total electric quantity value.
In one embodiment of the present invention, the entering of the cleaning robot into the low energy mode when the voltage value and the power ratio satisfy a first threshold and a second threshold, respectively, includes:
if the voltage value is smaller than the first threshold value and the electric quantity ratio is smaller than the second threshold value, the cleaning robot enters a low-energy mode;
and if the voltage value is larger than or equal to the first threshold value and the electric quantity ratio is larger than or equal to the second threshold value, the cleaning robot works normally.
In one embodiment of the present invention, the cleaning robot further comprises:
a cleaning assembly mounted to the body and configured to clean a surface to be cleaned;
a storage box mounted on the main body for storing dirt cleaned by the cleaning component;
a blower assembly mounted to the main body and configured to guide dirt cleaned by the cleaning assembly to the storage box;
the cleaning robot enters a low energy mode and the cleaning assembly and/or the fan assembly stops working.
Compared with the prior art, the technical scheme of the embodiment of the invention at least has the following beneficial effects:
in the embodiment of the invention, the cleaning robot monitors the voltage value and the electric quantity value of the energy providing component in the working process, and when the voltage value and the energy value respectively meet the preset conditions, the cleaning robot enters the low-energy mode, so that the accuracy of monitoring the energy stored by the robot on the energy providing component is improved, the condition that the cleaning robot is dead due to energy exhaustion or is supplemented when energy supplement is not needed in the running process of the cleaning robot is avoided, the energy providing component is damaged, the energy providing component is effectively protected, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a perspective view of a cleaning robot in an embodiment of the present invention;
FIG. 2 is a bottom view of the cleaning robot in an embodiment of the present invention;
FIG. 3 is a flow chart of method steps performed by the controller;
FIG. 4 is a control flow diagram of the voltage and current values collected in accordance with an embodiment of the present invention;
FIG. 5 is a flow chart illustrating the correction of the current charge value according to an embodiment of the present invention;
FIG. 6 is a graph of voltage versus actual charge;
FIG. 7 is a flow chart of determining that the cleaning robot is entering a low energy mode in accordance with an embodiment of the present invention;
FIG. 8 is a flowchart illustrating the operation of a cleaning robot according to an embodiment of the present invention;
fig. 9 is a flowchart illustrating an abnormal operation of the cleaning robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "front", "rear", "left" and "right" in this document refer to the forward direction of the mobile robot, and the terms "top", "bottom", "up", "down", "horizontal" and "vertical" in this document refer to the normal working state of the cleaning robot.
The patent of the present invention is an exemplary illustration of a cleaning robot mainly used for cleaning a floor home environment, and in other embodiments, the cleaning robot may also be used for cleaning other indoor or outdoor environments, for example: the environment of restaurants, stations, airports and the like is cleaned.
Referring to fig. 1 and 2, fig. 1 is a perspective view of a cleaning robot according to an embodiment of the present invention, and fig. 2 is a bottom view of the cleaning robot according to an embodiment of the present invention. The cleaning robot of the present invention includes: the cleaning robot comprises a main body 10, a driving part 20 for driving the cleaning robot to move on a surface to be cleaned, an energy supply part 30 configured to supply energy, and a controller 50 installed inside the main body 10.
The body 10 is generally circular in shape in this embodiment, and in other embodiments, the body 10 may be generally oval, triangular, D-shaped, or other shapes in shape. The driving part 20 includes left and right driving wheels 21 and omni wheels 22, the left and right driving wheels 21 are installed at left and right sides of a bottom of the main body 10, the bottom is a surface of the main body 10 facing a surface to be cleaned, and the driving part 20 is configured to carry the cleaning robot and drive the cleaning robot to move on the surface to be cleaned. The surface to be cleaned can be a relatively smooth floor surface, a carpeted surface, or other surface to be cleaned. The left and right driving wheels 21 are configured to be at least partially extendable and retractable to the bottom of the main body 10. The omni-directional wheel 22 is installed at a front position of the bottom of the main body 10, and the omni-directional wheel 22 is a movable caster wheel which can horizontally rotate 360 degrees, so that the cleaning robot can flexibly turn. The omni-directional wheel 22 may be further installed at a rear position of the bottom of the main body 10, and the left and right driving wheels 21 and the omni-directional wheel 22 are installed to form a triangle, so as to improve the walking smoothness of the cleaning robot.
In the embodiment of the present invention, the controller 40 is installed in the main body 10, and the controller 40 may include a plurality of components, which control the respective components, or may be provided with only one component, which controls all the components. For example: the controller 40 may include a main controller provided to the main body 10, a driving part controller sensing speed information of the driving part 20 and controlling the driving part 20 to adjust the operation of the cleaning robot, and the like. The controllers of all the components transmit respective information to the main controller, and the main controller processes the information according to all the components and respectively feeds corresponding control instructions back to all the components. All the components take the main controller as a center, communicate with each other and transmit signals. The controller 40 may be a micro-control unit such as a single chip, an FPGA, an ASIC, or a DSP.
The energy supply unit 30 is installed in the cleaning robot main body, and is electrically connected to each unit of the cleaning robot, and the energy supply unit 30 is a battery, and when the amount of stored electricity is low, the amount of electricity needs to be timely replenished. The cleaning robot is correspondingly provided with a charging seat, when the energy supply part 30 needs to supplement energy, the cleaning robot can return to the charging seat, and the energy is supplemented by butting the charging pole piece on the cleaning robot and the charging pole piece on the charging seat. In other embodiments, the charging stand may be provided with a slot for receiving the energy supply unit 30, and the user can directly take out the energy supply unit 30 from the cleaning robot for replacement, and put the energy supply unit 30 to be replenished into the slot of the charging stand for charging.
The cleaning robot further includes a cleaning assembly 60 mounted to the main body 10, a storage case 50, and a fan assembly (not shown), the cleaning assembly 60 being configured to clean a surface to be cleaned, the storage case 50 being configured to store dirt cleaned by the cleaning assembly 60, and the fan assembly being configured to guide the dirt cleaned by the cleaning assembly 60 to the storage case 50.
The cleaning assembly 60 includes a rolling brush 62, the rolling brush 62 is disposed in a receiving groove formed at the bottom of the main body 10, and the rolling brush 62 may be any one or a combination of a brush and a glue brush. The cleaning assembly 60 may further include side brushes 61, the side brushes 61 being disposed at left and/or right front portions of the main body 10. The edge brush 60 may rotate along an axis substantially perpendicular to the ground. The side brush 61 has a plurality of long bristles spaced around the shaft and extending outwardly beyond the contour of the main body 10 for sweeping the garbage on the ground beyond the coverage of the contour of the main body 10 to the position of the receiving groove at the bottom of the main body 10. The bottom of the body 10 may be provided with one or two side brushes 61. In other embodiments, the cleaning assembly 60 can also be a suction nozzle, which is in communication with the storage box 50 and sucks the dirt on the surface to be cleaned from the suction nozzle into the storage box 50 under the suction action of the fan assembly. The surface to be cleaned may be a floor in a domestic environment, or may be a floor in other environments, for example: the floor to be cleaned can be an indoor environment or an outdoor environment. The dirt may be debris, dust, particulate matter, or other small objects not desired by the user. When the cleaning robot enters the low energy mode, the cleaning robot walks towards the direction of the position of the charging seat, the position direction of the charging seat can be searched by the cleaning robot receiving the signal sent by the charging seat, or the cleaning robot establishes an environment map, marks the position coordinate of the charging seat, and searches the charging seat by searching the position coordinate on the map. In order to further reduce the energy consumption to ensure that the cleaning robot does not crash, the cleaning assembly and/or the fan assembly may be controlled to stop operating.
In order to improve the accuracy of the monitoring of the energy stored by the robot on the energy providing component, and to avoid damage to the energy providing component due to the energy being exhausted or being replenished when the energy is not needed during the operation of the cleaning robot, the controller 40 is configured to perform the following steps, please refer to fig. 3, where fig. 3 is a flowchart of method steps performed by the controller.
S10, it is determined that the energy supply part 30 is connected to the cleaning robot.
When the cleaning robot works, the energy supply part 30 is required to supply energy to drive each part to work, the way of connecting the energy supply part 30 with the cleaning robot is determined, the energy supply part 30 is installed at a designated position by a user and is fixed correspondingly, a cover can be arranged on the outer side where the energy supply part is installed, and the cover is covered and fixed after the energy supply part 30 is installed. The cleaning robot is provided with a main switch, after the energy supply component 30 is installed, the main switch is toggled, and the cleaning robot prompts whether the energy supply component 30 is successfully connected with the cleaning robot in a voice mode or a light mode.
S20, acquiring a voltage value; s30 obtains the current electric quantity value.
After the connection between the energy supply part 30 and the cleaning robot is determined, the cleaning robot is started, the cleaning robot starts to work, and the controller 40 acquires the voltage value of the energy supply part 30 and the current electric quantity value of the energy supply part 30 in real time during the working process of the cleaning robot. Referring to fig. 4, fig. 4 is a control flow chart of collecting voltage values and collecting electric quantity values according to an embodiment of the present invention. The controller 40 comprises a reference database comprising real electrical quantities corresponding to the voltage values. After the controller 40 acquires the voltage value and the current charge value, step S203 is executed to access the reference database, and step S213 is executed to determine whether the current charge value corresponds to the actual charge value of the acquired voltage value in the reference database. If the obtained current electric quantity value corresponds to the actual electric quantity value of the obtained voltage value in the reference database, step S223 is executed to obtain an electric quantity ratio according to the current electric quantity value, and if the obtained current electric quantity value does not correspond to the actual electric quantity value of the obtained voltage value in the reference database, step S233 is executed to correct the current electric quantity value, and the electric quantity ratio is obtained according to the corrected current electric quantity value.
The reference database includes a voltage value of the energy providing unit 30 at full power being a1, a true electric quantity value corresponding to the voltage value at full power being Q1, a voltage value of the energy providing unit 30 at need of charging being A3, and a true electric quantity value corresponding to the voltage value at need of charging being Q3, where a1 is greater than A3, and Q1 is greater than Q3. When the voltage value obtained by the controller 40 is a1, if the obtained current electric quantity value is not Q1, the obtained current electric quantity value needs to be corrected, please refer to fig. 5, where fig. 5 is a flowchart of correcting the current electric quantity value according to an embodiment of the present invention. S243 obtains a total electric quantity value, which is a total energy of the energy supply unit 30 when it is fully charged. It should be noted that the total electric quantity value is different from a rated electric quantity (factory electric quantity), and the total electric quantity value is a maximum total electric quantity value that can be reached by the energy supply component under an optimal environment when the energy supply component 30 is factory and factory is factory, at this time, the total electric quantity value is consistent with the rated electric quantity, but the total electric quantity value of the energy supply component becomes lower and lower with repeated use of the energy supply component 30. In other embodiments, the total charge value may need to be updated when a replacement of the energy providing component 30 is detected. When the voltage value acquired by the controller 40 is greater than the previous voltage value and the acquired electric quantity value is greater than the previous electric quantity value, it is determined that the energy supplying member 30 has been replaced, and the electric quantity value at this time is stored as the total electric quantity value.
In the embodiment, when the obtained current electric quantity value is different from the real electric quantity value corresponding to the voltage value in the reference database, the current electric quantity value is corrected without correcting the obtained current electric quantity value every time, so that the process of obtaining the current electric quantity value is simplified, and the complexity of obtaining the current electric quantity value is reduced.
S253 calculates the consumed electric quantity value. The consumed electric quantity value is calculated from the working current of the cleaning robot integrated over time, starting with the determination of the total electric quantity value of the energy supply means 30. The corrected current electric quantity value of S263 is the difference between the total electric quantity value and the consumed electric quantity value.
In some embodiments, referring to fig. 6, fig. 6 is a graph of voltage versus actual current. The reference database includes a voltage value of the energy providing component 30 at full power being a1, a true electric quantity value corresponding to the voltage value at full power being Q1, a voltage value of the energy providing component 30 requiring charging being A3, a true electric quantity value corresponding to the voltage value requiring charging being Q3, an a2 voltage value between a1 and A3, and a true electric quantity value Q2 corresponding to a2, a1 being greater than a2, a2 being greater than A3, Q1 being greater than Q2, Q2 being greater than Q3. During the normal operation of the cleaning robot, the voltage values continuously obtained by the controller 40 are changed from a large value to a small value, i.e., from a1 to a2 to A3. The corresponding true charge values also vary from large to small, i.e., from Q1 to Q2 to Q3. If the voltage value obtained by the controller 40 is changed from small to large and the current electric quantity value is changed from large to small, it is determined that the cleaning robot is in an abnormal working state. For example: when the cleaning robot is jammed or otherwise causes the cleaning robot to be unable to move forward or backward, and to stay on the way of passing the threshold, the resistance received by each component during operation increases, the voltage value obtained by the controller 40 increases, and the energy provided by the energy providing component 30 is consumed in the process, so the current electric quantity value obtained by the controller 40 decreases, and thus the cleaning robot is judged to be in an abnormal working state. Conceivably, it may be set that when the controller 40 detects that the voltage value continuously increases and the current electric quantity value continuously decreases for a preset time or a preset frequency, it is determined that the cleaning robot is in the abnormal working state, so as to further improve the accuracy of determining that the cleaning robot is in the abnormal working state. In other embodiments, the Q1 or Q2 or Q3 may be a range of values, such as Q1 characterizing a total charge value greater than ninety percent and Q3 being a total charge value less than thirty percent.
S40 derives a charge ratio based on the current charge value. And obtaining a total electric quantity value and a current electric quantity value according to the steps, and obtaining an electric quantity ratio according to the ratio of the current electric quantity value to the total electric quantity value. Under the condition that the current electric quantity value needs to be corrected, the current electric quantity value when the electric quantity ratio is calculated is the corrected current electric quantity value, so that the obtained electric quantity ratio is more accurate.
S50, when the voltage value and the power ratio respectively satisfy a first threshold and a second threshold, the cleaning robot enters a low power mode. Referring to fig. 7 and 8, fig. 7 is a flowchart illustrating a method for determining that a cleaning robot enters a low energy mode according to an embodiment of the present invention, and fig. 8 is a flowchart illustrating a method for determining that the cleaning robot normally operates according to an embodiment of the present invention. After executing step S20, the controller 40 further executes step S21 to determine whether the voltage value is smaller than the first threshold, and stores the determination result. Step S60 and obtaining the electric quantity ratio, obtaining the electric quantity ratio obtained according to the obtained current electric quantity value in the previous step, and step S61 is executed to determine whether the electric quantity ratio is smaller than a second threshold. If the voltage value is less than the first threshold value and the power ratio is less than the second threshold value, the cleaning robot goes to a low power mode in step S51, and if the voltage value is greater than or equal to the first threshold value and the power ratio is greater than or equal to the second threshold value, the cleaning robot goes to normal operation in step S52.
In this embodiment, the current electric quantity value is corrected according to the relationship between the voltage value and the current electric quantity value, so as to obtain a more accurate current electric quantity value, and whether the cleaning robot enters a low energy mode or a state where the cleaning robot normally works is determined according to the obtained voltage value and the obtained electric quantity ratio, so that the accuracy of monitoring the energy stored in the energy supply part 30 by the robot can be improved, the cleaning robot is prevented from being replenished when the energy is exhausted or not replenished in the operation process, the energy supply part 30 is prevented from being damaged, and the user experience is further improved.
In some embodiments, please refer to fig. 9, fig. 9 is a flowchart illustrating an abnormal operation state of the cleaning robot according to an embodiment of the present invention. The specific method for acquiring the voltage value in step S20 and the electric quantity ratio in step S60 in this embodiment is the same as that in the previous embodiment. The difference is that if the voltage value is greater than or equal to the first threshold value and the electric quantity ratio is less than the second threshold value, the voltage value is continuously increased in step S53, the electric quantity ratio is continuously decreased to reach a third threshold value, and the cleaning robot is in an abnormal working state in step S54, where the third threshold value may be time or the number of times of collection, and the abnormal working state is a situation where the cleaning robot is stuck or trapped. When the cleaning robot is in an abnormal working state, the cleaning robot may prompt a user by emitting voice, indicating light, or transmitting information to the mobile terminal through a wireless network.
In this embodiment, through cleaning robot under the normal operating condition, the relation of change that exists between the voltage value that obtains in succession and the current electric quantity value judges cleaning robot whether be in normal operating condition, improves the intelligence of robot, promotes user experience.
In other embodiments, the cleaning robot enters a low energy mode, the cleaning robot looks for a charging dock to charge the energy providing component 30, the cleaning assembly 60 stops, the fan assembly stops, or both the cleaning assembly 60 and the fan assembly stop before the cleaning robot returns to the charging dock to charge. To further reduce the consumption of the energy supplied by the energy supplying part 30 and to avoid the energy exhaustion crash of the cleaning robot in the process of returning to the charging stand.
In the embodiment of the invention, in the working process of the cleaning robot, the voltage value and the electric quantity value of the energy providing component are monitored, and when the voltage value and the energy value respectively meet the preset conditions, the cleaning robot enters the low-energy mode, so that the accuracy of monitoring the energy stored in the energy providing component by the robot is improved, the condition that the cleaning robot is dead due to energy exhaustion or is supplemented when energy supplement is not needed in the running process of the cleaning robot is avoided, the energy providing component is damaged, the energy providing component is effectively protected, and the user experience is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "an alternative embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (7)
1. A method of monitoring energy of a cleaning robot, comprising:
determining that the energy supply part is connected with the cleaning robot;
acquiring a voltage value;
acquiring a current electric quantity value;
obtaining an electric quantity ratio according to the current electric quantity value;
when the voltage value and the power ratio respectively satisfy a first threshold and a second threshold, the cleaning robot enters a low energy mode, wherein when the voltage value and the power ratio respectively satisfy the first threshold and the second threshold, the cleaning robot enters the low energy mode including: if the voltage value is smaller than the first threshold value and the electric quantity ratio is smaller than the second threshold value, the cleaning robot enters a low-energy mode;
if the voltage value is larger than or equal to the first threshold value and the electric quantity ratio is larger than or equal to the second threshold value, the cleaning robot works normally;
if the voltage value is larger than or equal to the first threshold value and the electric quantity ratio is smaller than the second threshold value, the voltage value is continuously increased, the electric quantity ratio is continuously decreased to reach a third threshold value, and the cleaning robot is in an abnormal working state;
if the current electric quantity value does not correspond to the real electric quantity value corresponding to the voltage value, correcting the current electric quantity value, and obtaining the electric quantity ratio according to the corrected electric quantity value;
the correcting the current charge value includes:
acquiring a total electric quantity value;
calculating the consumed electric quantity value;
the corrected current electric quantity value is the difference value of the total electric quantity value and the consumed electric quantity value.
2. The energy monitoring method of the cleaning robot according to claim 1, wherein the acquiring the voltage value and the acquiring the current electric quantity value comprise:
accessing a reference database, wherein the reference database comprises a real electric quantity value corresponding to the voltage value, and if the obtained current electric quantity value corresponds to the real electric quantity value of the obtained voltage value in the reference database, obtaining an electric quantity ratio according to the current electric quantity value;
and if the obtained current electric quantity value does not correspond to the real electric quantity value of the obtained voltage value in the reference database, correcting the current electric quantity value, and obtaining an electric quantity ratio according to the corrected current electric quantity value.
3. The energy monitoring method of a cleaning robot according to claim 1 or 2, wherein the charge amount ratio is a ratio of the current charge amount value to the total charge amount value.
4. A cleaning robot, characterized by comprising:
a main body;
a driving part configured to drive the cleaning robot to move on a surface to be cleaned;
an energy supply component configured to supply energy;
a controller configured to:
acquiring a voltage value of the energy supply component;
acquiring a current electric quantity value of the energy supply component;
obtaining the electric quantity ratio of the energy providing component according to the current electric quantity value;
when the voltage value and the electric quantity ratio respectively satisfy a first threshold value and a second threshold value, the cleaning robot enters a low-energy mode;
wherein, when the voltage value and the power ratio satisfy a first threshold and a second threshold, respectively, the entering of the cleaning robot into the low power mode includes: if the voltage value is smaller than the first threshold value and the electric quantity ratio is smaller than the second threshold value, the cleaning robot enters a low-energy mode;
if the voltage value is larger than or equal to the first threshold value and the electric quantity ratio is larger than or equal to the second threshold value, the cleaning robot works normally;
if the voltage value is larger than or equal to the first threshold value and the electric quantity ratio is smaller than the second threshold value, the voltage value is continuously increased, the electric quantity ratio is continuously decreased to reach a third threshold value, and the cleaning robot is in an abnormal working state;
if the current electric quantity value does not correspond to the real electric quantity value corresponding to the voltage value, correcting the current electric quantity value, and obtaining the electric quantity ratio according to the corrected electric quantity value;
the correcting the current charge value includes:
acquiring a total electric quantity value;
calculating the consumed electric quantity value;
the corrected current electric quantity value is the difference value of the total electric quantity value and the consumed electric quantity value.
5. The cleaning robot of claim 4, wherein the obtaining the voltage value of the energy providing component, and the obtaining the current charge value of the energy providing component comprises:
accessing a reference database, wherein the reference database comprises a real electric quantity value of the energy providing component corresponding to the voltage value of the energy providing component, and if the current electric quantity value of the energy providing component is obtained and the real electric quantity value of the voltage value of the energy providing component in the reference database is obtained, obtaining the electric quantity ratio of the energy providing component according to the current electric quantity value;
and if the current electric quantity value of the energy providing component and the real electric quantity value of the voltage value of the energy providing component in the reference database do not correspond to each other, correcting the current electric quantity value, and obtaining the electric quantity ratio of the energy providing component according to the corrected current electric quantity value.
6. The cleaning robot according to claim 4 or 5, wherein the charge ratio is a ratio of the current charge value to the total charge value.
7. The cleaning robot according to claim 4 or 5, characterized by further comprising:
a cleaning assembly mounted to the body and configured to clean a surface to be cleaned;
a storage box mounted on the main body for storing dirt cleaned by the cleaning component;
a blower assembly mounted to the main body and configured to guide dirt cleaned by the cleaning assembly to the storage box;
the cleaning robot enters a low energy mode and the cleaning assembly and/or the fan assembly stops working.
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