CN106264342A - Clean robot and control method thereof - Google Patents

Clean robot and control method thereof Download PDF

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Publication number
CN106264342A
CN106264342A CN201610710679.2A CN201610710679A CN106264342A CN 106264342 A CN106264342 A CN 106264342A CN 201610710679 A CN201610710679 A CN 201610710679A CN 106264342 A CN106264342 A CN 106264342A
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CN
China
Prior art keywords
clean robot
charging
charging pile
control
spring lamination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610710679.2A
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Chinese (zh)
Other versions
CN106264342B (en
Inventor
贺航
郎志功
夏勇峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Xiaomi Mobile Software Co Ltd
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Xiaomi Mobile Software Co Ltd
Beijing Rockrobo Technology Co Ltd
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Application filed by Beijing Xiaomi Mobile Software Co Ltd, Beijing Rockrobo Technology Co Ltd filed Critical Beijing Xiaomi Mobile Software Co Ltd
Priority to CN201610710679.2A priority Critical patent/CN106264342B/en
Publication of CN106264342A publication Critical patent/CN106264342A/en
Application granted granted Critical
Publication of CN106264342B publication Critical patent/CN106264342B/en
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Classifications

    • 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
    • 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
    • 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
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

The disclosure discloses a kind of clean robot and control method thereof, belongs to Smart Home field.The method includes: obtain the position of charging pile；Control described clean robot and march to the anterior position of described position；The charging pole piece controlling described clean robot is directed at the charging spring lamination on described charging pile；Control described clean robot to advance to described charging pile by predetermined way；When the distance detected between described clean robot and described charging pile is less than preset distance, control described clean robot to advance to described charging spring lamination with First Speed parameter in first time period, advance to described charging spring lamination with second speed parameter within the second time period；Described First Speed parameter is more than described second speed parameter；Solve clean robot after upper stake is charged it is possible that the problem come off from charging pile, reached to make clean robot can go up stake, the effect come off from charging pile the most easily in charging process exactly.

Description

Clean robot and control method thereof
Technical field
It relates to Smart Home field, particularly to a kind of clean robot and control method thereof.
Background technology
Clean robot is in the case of operating without user, while advancing automatically in a certain region to be cleaned, enters The robot of row clean operation.
When clean robot is started working, clean robot is cleaned task from charging pile；Work as cleaning machine People completes clean up task or electricity less than after predetermined value, and clean robot returns to charging pile and is charged.
Summary of the invention
In order to solve clean robot when upper stake is charged it is possible that de-stake, ride stake and the problem that cannot charge, this A kind of clean robot of open offer and control method thereof.Described technical scheme is as follows:
First aspect according to disclosure embodiment, it is provided that a kind of clean robot, this clean robot includes:
Control unit；
The recognition unit being electrical connected with control unit and driver element；
Control unit is configured to:
Obtain the position of charging pile；
Control clean robot and march to the anterior position of position；
Control the charging spring lamination on the charging pole piece alignment charging pile of clean robot；
Control clean robot and press predetermined way to charging pile traveling；
When the distance detected between clean robot and charging pile is less than preset distance, control clean robot the Advance to charging spring lamination with First Speed parameter in one time period, with second speed parameter to charging spring lamination within the second time period Advance；
First Speed parameter is more than second speed parameter.
Optionally, control unit is also configured to
When the charging signals and charging signals clean robot being detected is unsatisfactory for predetermined condition, control clean robot Advance to charging spring lamination with third speed parameter within the 3rd time period；Predetermined condition is to represent that charging signals reaches steady statue Condition, third speed parameter be less than second speed parameter.
Optionally, control unit is also configured to
Obtain the reflex reflection light pattern of charging pile；
A line segment corresponding to charging pile is determined according to reflex reflection light pattern；
The line controlling the zero angle of clean robot and the midpoint of line segment is perpendicular to line segment.
Optionally, control unit is also configured to
In a linear fashion or wave form is advanced to charging pile along the line at zero angle and midpoint to control clean robot.
Optionally, control unit is also configured to
The charging signals of detection clean robot；
If being not detected by charging signals, then control clean robot to the direction traveling predeterminable range away from charging pile；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, control unit is also configured to
If charging signals being detected, then in charging process, whether detect the value of charging signals less than predetermined value；
If the value of charging signals is less than predetermined value, then control clean robot advance to the direction away from charging pile preset away from From；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, control unit is also configured to
Whether the angle of inclination of detection clean robot is more than predetermined angular；
If angle of inclination is more than predetermined angular, then control clean robot advance to the direction away from charging pile preset away from From；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, control unit is also configured to
Control clean robot to advance to charging spring lamination, the charging signals of detection clean robot；
If the traveling time to charging spring lamination traveling reaches time threshold and is not detected by charging signals, then perform to control clearly Clean robot is to the step of the direction traveling predeterminable range away from charging pile.
Optionally, control unit is also configured to
Control clean robot to advance to charging spring lamination, the charging signals of detection clean robot；
If the traveling time advanced to charging spring lamination reaches time threshold and is not detected by charging signals, then stop pre-timing After between, re-execute control clean robot and advance to charging spring lamination, the step of the charging signals of detection clean robot；
If the travel times to charging spring lamination traveling reaches frequency threshold value and is not detected by charging signals, then perform to control clearly Clean robot is to the step of the direction traveling predeterminable range away from charging pile.
Optionally, the friction of the slipmat of the bottom of the coefficient of friction of the tire of the driving wheel of clean robot, charging pile The coefficient of elasticity of coefficient and charging spring lamination meets predetermined relationship, and predetermined relationship is when clean robot is in charged state, makes Obtain clean robot and the matching relationship of charging pile holding relative static conditions.
Second aspect according to disclosure embodiment, it is provided that a kind of clean robot control method, the method includes:
Obtain the position of charging pile；
Control clean robot and march to the anterior position of position；
Control the charging spring lamination on the charging pole piece alignment charging pile of clean robot；
Control clean robot and press predetermined way to charging pile traveling；
When the distance detected between clean robot and charging pile is less than preset distance, control clean robot the Advance to charging spring lamination with First Speed parameter in one time period, with second speed parameter to charging spring lamination within the second time period Advance；
First Speed parameter is more than second speed parameter.
Optionally, the method also includes:
When the charging signals and charging signals clean robot being detected is unsatisfactory for predetermined condition, control clean robot Advance to charging spring lamination with third speed parameter within the 3rd time period；Predetermined condition is to represent that charging signals reaches steady statue Condition, third speed parameter be less than second speed parameter.
Optionally, the charging pole piece controlling described clean robot is directed at the charging spring lamination on described charging pile, including:
Obtain the reflex reflection light pattern of charging pile；
A line segment corresponding to charging pile is determined according to reflex reflection light pattern；
The line controlling the zero angle of clean robot and the midpoint of line segment is perpendicular to line segment.
Optionally, control clean robot is pressed predetermined way and is advanced to charging pile, including:
In a linear fashion or wave form is advanced to charging pile along the line at zero angle and midpoint to control clean robot.
Optionally, the method also includes:
The charging signals of detection clean robot；
If being not detected by charging signals, then control clean robot to the direction traveling predeterminable range away from charging pile；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, the method also includes:
If charging signals being detected, then in charging process, whether detect the value of charging signals less than predetermined value；
If the value of charging signals is less than predetermined value, then control clean robot advance to the direction away from charging pile preset away from From；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, the method also includes:
Whether the angle of inclination of detection clean robot is more than predetermined angular；
If angle of inclination is more than predetermined angular, then control clean robot advance to the direction away from charging pile preset away from From；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, control clean robot is before away from the direction traveling predeterminable range of charging pile, and the method also includes:
Control clean robot to advance to charging spring lamination, the charging signals of detection clean robot；
If the traveling time to charging spring lamination traveling reaches time threshold and is not detected by charging signals, then perform to control clearly Clean robot is to the step of the direction traveling predeterminable range away from charging pile.
Optionally, control clean robot is before away from the direction traveling predeterminable range of charging pile, and the method also includes:
Control clean robot to advance to charging spring lamination, the charging signals of detection clean robot；
If the traveling time advanced to charging spring lamination reaches time threshold and is not detected by charging signals, then stop pre-timing After between, re-execute control clean robot and advance to charging spring lamination, the step of the charging signals of detection clean robot；
If the travel times to charging spring lamination traveling reaches frequency threshold value and is not detected by charging signals, then perform to control clearly Clean robot is to the step of the direction traveling predeterminable range away from charging pile.
Optionally, the friction of the slipmat of the bottom of the coefficient of friction of the tire of the driving wheel of clean robot, charging pile The coefficient of elasticity of coefficient and charging spring lamination meets predetermined relationship, and predetermined relationship is when clean robot is in charged state, makes Obtain clean robot and the matching relationship of charging pile holding relative static conditions.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
By controlling the anterior position that clean robot marches to the position of charging pile, will charging pole piece and charging bullet After sheet alignment, control cleaning and advance to charging spring lamination in different time sections parameter at different rates, solve clean robot When upper stake is charged it is possible that de-stake, ride stake and the problem that cannot charge, reach to make the clean robot can be exactly Upper stake, the effect that will not come off from charging pile easily in charging process.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the disclosure Example, and in description together for explaining the principle of the disclosure.
Figure 1A is the schematic diagram of a kind of clean robot that each embodiment of the disclosure relates to；
Figure 1B is the schematic diagram of a kind of clean robot that each embodiment of the disclosure relates to；
Fig. 1 C is the schematic diagram of a kind of clean robot that each embodiment of the disclosure relates to；
Fig. 1 D is the schematic diagram of a kind of LDS protection cap that each embodiment of the disclosure relates to；
Fig. 2 A is the schematic diagram of a kind of charging pile that each embodiment of the disclosure relates to；
Fig. 2 B is the schematic diagram of a kind of charging pile that each embodiment of the disclosure relates to；
Fig. 2 C is the schematic diagram of a kind of charging pile that each embodiment of the disclosure relates to；
Fig. 3 is the block diagram of a kind of clean robot that each embodiment of the disclosure relates to；
Fig. 4 is the flow chart according to a kind of clean robot control method shown in an exemplary embodiment；
Fig. 5 A is the flow chart according to the another kind of clean robot control method shown in an exemplary embodiment；
Fig. 5 B is the enforcement schematic diagram according to a kind of clean robot control method shown in an exemplary embodiment；
Fig. 5 C is the enforcement schematic diagram according to a kind of clean robot control method shown in an exemplary embodiment；
Fig. 6 is the flow chart according to a kind of clean robot control method shown in an exemplary embodiment；
Fig. 7 is the flow chart according to a kind of clean robot control method shown in another exemplary embodiment；
Fig. 8 is the flow chart according to the another kind of clean robot control method shown in another exemplary embodiment；
Fig. 9 is the flow chart according to the another kind of clean robot control method shown in another exemplary embodiment；
Figure 10 is the flow chart according to the another kind of clean robot control method shown in another exemplary embodiment.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they are only with the most appended The example of the apparatus and method that some aspects that described in detail in claims, the disclosure are consistent.
In some cases, clean robot during upper stake, also will clean robot return to charging pile prepare hold During row charging tasks, it may appear that various situations, clean robot is repeatedly attempted to charging pile upper, is finally led The charging pole piece part causing clean robot rides on the charging spring lamination of charging pile, it is impossible to perform charging action.Such as: cleaner The ground placing charging pile during the upper stake of device people is uneven, and the charging spring lamination of charging pile is the most right with the charging pole piece of clean robot Standard or left and right misalignment, clean robot is advanced to charging pile with certain speed, owing to misalignment makes to charge pole piece reception not To the signal of telecommunication, it is thus regarded that also need continue to charging pile advance, further tape speed advance have led to charge pole piece frame exist On charging spring lamination, it is impossible to perform charging action again；For another example, charging pile is not charged, clean robot with certain speed to charging Stake is advanced, although but charging pole piece contact with charging spring lamination and can not obtain the signal of telecommunication, thus clean robot is thought and is not yet arrived Reaching charge position, continue upper, repeatedly tape speed is upper, causes the charging pole piece of clean robot to be very easy to frame at charging bullet On sheet, it is impossible to perform charging action.
Even if clean robot is successfully gone up stake and is started to charge up, but the most usually due to by extraneous factor in charging process Impact comes off from charging pile, it is impossible to persistently completing charging, extraneous factor is probably earth shock, it is also possible to touching of house pet process Touch.
Present disclose provides below embodiment and cannot charge after clean robot returns to charging pile in above-mentioned situation solving Problem.
Figure 1A, Figure 1B and Fig. 1 C is the schematic diagram of a kind of clean robot that each exemplary embodiment of the disclosure relates to, figure 1A schematically illustrates the schematic top plan view of this clean robot 10, and Figure 1B schematically illustrates this clean robot 10 Elevational schematic view, Fig. 1 C schematically illustrates the rearview of this clean robot 10.
As shown in Figure 1A, Figure 1B and Fig. 1 C, this clean robot 10 includes: body 110, detection components 120, driving module 130, control module (not shown), storage assembly (not shown), main brush 140 and battery component (not shown).
Body 110 forms the shell of clean robot, and accommodates other parts.
Optionally, body 110 is in flat cylinder.
Detection components 120 is for detecting all side ring borders of clean robot, thus finds barrier, metope, platform Rank and for environmental objects such as charging piles that clean robot is charged.Detection components 120 is additionally operable to carry to control module Various positional informationes and movement state information for clean robot.Detection components 120 can include steep cliff sensor, ultrasonic sensing (Laser Distance Sensor swashs for device, infrared sensor, magnetometer, three axis accelerometer, gyroscope, speedometer, LDS Ligh-ranging sensor), ultrasonic sensor, photographic head, Hall element etc..The present embodiment to the number of detection components 120 and Position is not construed as limiting.
Wherein, LDS is positioned at above body 110, and LDS includes luminescence unit and light receiving unit.Luminescence unit includes launching light Light-emitting component, such as light-emitting component be launch Infrared infrared LED (Light Emitting Diode, light-emitting diodes Pipe), or the visible LED of transmitting luminous ray, or launch the laser diode of laser beam.Light receiving unit includes that image passes Sensor, the light reflected by surrounding object can form the luminous point that bright-dark degree is different on the image sensor, bright Degree is high bright spot more than the point of predetermined luminance, and brightness is dim spot less than the point of predetermined luminance.Optionally, imageing sensor is CMOS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductors (CMOS)) sensor or CCD (Charge-coupled Device, charge coupled cell) sensor.
Owing to the outside of LDS has protection cap, the position at the support column place of protection cap shelter from the luminescence unit of LDS to The light of emission, the light receiving unit also sheltering from LDS receives the light reflected, therefore, the position at protection cap support column place It it is the check frequency of LDS.Fig. 1 D schematically illustrates the schematic diagram of a kind of LDS protection cap, and region 11 is the support of protection cap Post position, namely the check frequency of LDS.
Drive module 130 for driving advance or the retrogressing of clean robot.
Optionally, module 130 is driven to include driving wheel 131 He being arranged on the middle both sides bottom body 110 a pair 132, driving wheel 131 and 132 is used for driving clean robot to advance or retreating.Optionally, the coefficient of friction of the tire of driving wheel Predetermined relationship is met with the coefficient of elasticity of the coefficient of friction of the slipmat of the bottom of charging pile and the charging spring lamination of charging pile, predetermined Relation is when clean robot is in charged state so that clean robot and charging pile keep the coupling of relative static conditions Relation.When clean robot extrudes the charging spring lamination of charging pile, charging spring lamination can generate the elastic force to clean robot, should Elastic force is multiplied by the compression distance of charging spring lamination equal to the coefficient of elasticity of charging spring lamination, in order in charging process, and clean robot With the state that charging pile keeps geo-stationary, charging spring lamination is less than tire and the cleaning of driving wheel to the elastic force of clean robot The maximum of the frictional force between region surface, charging spring lamination is also less than slipmat and clear area to the elastic force of clean robot The maximum of the frictional force between field surface, wherein, the frictional force between tire and the clear area field surface of driving wheel is equal to clear The pressure of clear area field surface is multiplied by the coefficient of friction of tire, the friction between slipmat and clear area field surface by clean robot The pressure of clear area field surface is multiplied by the coefficient of friction of slipmat equal to charging pile by power.Now, the tire of driving wheel and cleaning The frictional force between frictional force and slipmat and clear area field surface between region surface can overcome charging spring lamination to cleaning The elastic force of robot, namely the coefficient of friction of the tire of the coefficient of elasticity of charging spring lamination, driving wheel and the coefficient of friction of slipmat Cooperating between three so that the intimate-association state between clean robot and charging pile will not be by light vibrations with clear The impact of touching, makes clean robot to come off from charging pile easily.
Optionally, driving module 130 also to include the directive wheel 133 being arranged on body 110 front portion, directive wheel 133 is used for changing Become clean robot travel direction during advancing.
Control module is arranged on the circuit board in body 110, and including processor, processor can be according to LDS feedback The information of surrounding object and the location algorithm preset, draw the instant map of clean robot local environment.Processor is also Can be according to devices such as steep cliff sensor, sonac, infrared sensor, magnetometer, accelerometer, gyroscope, speedometers The duty that the range information of feedback and velocity information comprehensive descision clean robot are presently in.
Storage assembly is arranged on the circuit board of body 110 content, and storage assembly includes memorizer, and memorizer can store The positional information of clean robot and velocity information, and the instant map that processor is drawn out.
Main brush 140 is arranged on bottom body 110.Alternatively, main brush 140 is the drum rotated relative to contact surface with roller type Shape turns brush.
Battery component includes rechargeable battery, the charging circuit being connected with rechargeable battery respectively, is arranged on cleaning machine man-machine The charging pole piece 151 of body side.Optionally, charging circuit includes charging control circuit, charging temperature testing circuit, charging voltage Testing circuit.Optionally, charging pole piece 151 is strip, has two charging pole pieces.
It should be noted that clean robot can also include other modules or assembly, or, only include above-mentioned part mould Block or assembly, this is not construed as limiting by the present embodiment, only illustrates as a example by above-mentioned clean robot.
Fig. 2 A is a kind of charging pile for being charged clean robot that each exemplary embodiment of the disclosure relates to Schematic diagram.As shown in Figure 2 A:
This charging pile includes pile body 21, is positioned at the charging spring lamination 22 in pile body 21 front, reflex reflection light pattern region 23.
The base portion of pile body 21 is with certain slope, it is simple to stake on clean robot.
Charging spring lamination 22 is arranged on the front of charging pile, and charging spring lamination 22 is used for providing charging inlet for clean robot, When the charging pole piece 151 of clean robot fuselage side is fitted with the charging spring lamination 22 on charging pile, charging pile is to cleaner Device people be charged.
Optionally, charging spring lamination is strip, and charging pile has two charging spring laminations 22.
Reflex reflection light pattern region 23 and charging spring lamination 22 are positioned at the same face, zones of different in reflex reflection light pattern region Reflection coefficient is different, and after the light launched as the LDS of clean robot gets to reflex reflection light pattern region, LDS receives converse The intensity of the reflection light penetrating light pattern regional reflex is different, and the imageing sensor in LDS can form predetermined reflex reflection light pattern. Such as, what the light of the field emission that retro-reflecting coefficient is big was formed in the image sensor is high bright spot, the district that retro-reflecting coefficient is little What the light of territory reflection was formed in the image sensor is dim spot.Fig. 2 B schematically illustrates a kind of reflex reflection light pattern region, The retro-reflecting coefficient in region 231 is less than the retro-reflecting coefficient in region 232.
During for preventing stake charging on clean robot, clean robot extruding charging pile makes charging pile be shifted over, The bottom of charging pile is provided with slipmat, and the frictional force between slipmat and ground can overcome clean robot to extrude charging pile The active force produced.Optionally, being provided with two slipmat bottom charging pile, the coefficient of friction of slipmat is true according to practical situation Fixed.What Fig. 2 C was exemplary shows the polycrystalline substance of charging pile, is provided with 2 slipmat 24 altogether in the bottom of charging pile.
Optionally, the friction of the slipmat of the bottom of the coefficient of friction of the tire of the driving wheel of clean robot, charging pile The coefficient of elasticity of coefficient and charging spring lamination meets predetermined relationship, and predetermined relationship is when clean robot is in charged state, makes Obtain clean robot and the matching relationship of charging pile holding relative static conditions.Even if having reached clean robot in charging process In affected by extraneous factor, also will not come off from charging pile easily, it is ensured that the effect that charging process is stable.
It should be noted that charging pile can also include other ingredients, or, only include above-mentioned ingredient, this This is not construed as limiting by embodiment, only illustrates as a example by above-mentioned charging pile.
Fig. 3 is the block diagram of the clean robot provided according to an exemplary embodiment.Clean robot includes control Unit 310 processed, memory element 320, detector unit 330, driver element 340, cleaning unit 350 and charhing unit 360.
Control unit 310 is for controlling the overall operation of clean robot.When receiving cleaning order, control unit 310 can control clean robot advances according to logic of propositions and is cleaned during advancing.Receiving traveling life When making, control unit 310 controls clean robot and advances at travel path with predetermined traveling mode.The present embodiment is single to controlling Other instructions that unit 310 receives user repeat no more.
Memory element 320 is used for storing at least one instruction, and these instructions at least include for performing predetermined traveling mould Formula and the instruction of travel path, for the instruction being cleaned, for draw instant map instruction, for find have predetermined Instruction of object of reflection light feature etc..Memory element 320 is additionally operable to store clean robot and senses during advancing Self-position data, barrier data and body of wall data etc..
Detector unit 330 is for detecting clean robot barrier during advancing, the traveling shape of clean robot State, there is the object of predetermined reflection light feature.
Driver element 340 controls the driving direction of driving wheel for the control signal according to control unit 310 and rotates speed Degree.
Cleaning unit 350 is for according to after receiving cleaning order, and control clean robot is advanced according to logic of propositions, And during advancing, control the main brush bottom clean robot clean the contact surface contacted with main brush in a rolling manner.
Charhing unit 360 is for after stake, being charged for clean robot on clean robot.
In the exemplary embodiment, control unit 310 can be by one or more application specific integrated circuits (ASIC), number Word signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components realize, clear for perform in disclosure embodiment Clean robot charging method.
Above-mentioned control unit 310 is configured to:
Obtain the position of charging pile；
Control clean robot and march to the anterior position of position；
Control the charging spring lamination on the charging pole piece alignment charging pile of clean robot；
Control clean robot and press predetermined way to charging pile traveling；
When the distance detected between clean robot and charging pile is less than preset distance, control clean robot the Advance to charging spring lamination with First Speed parameter in one time period, with second speed parameter to charging spring lamination within the second time period Advance；
First Speed parameter is more than second speed parameter.
Optionally, control unit 310 is also configured to
When the charging signals and charging signals clean robot being detected is unsatisfactory for predetermined condition, control clean robot Advance to charging spring lamination with third speed parameter within the 3rd time period；Predetermined condition is to represent that charging signals reaches steady statue Condition, third speed parameter be less than second speed parameter；
Optionally, control unit 310 is also configured to
Obtain the reflex reflection light pattern of charging pile；
A line segment corresponding to charging pile is determined according to reflex reflection light pattern；
The line controlling the zero angle of clean robot and the midpoint of line segment is perpendicular to line segment.
Optionally, control unit 310 is also configured to
In a linear fashion or wave form is advanced to charging pile along the line at zero angle and midpoint to control clean robot.
Optionally, control unit 310 is also configured to
The charging signals of detection clean robot；
If being not detected by charging signals, then control clean robot to the direction traveling predeterminable range away from charging pile；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, control unit 310 is also configured to
If charging signals being detected, then in charging process, whether detect the value of charging signals less than predetermined value；
If the value of charging signals is less than predetermined value, then control clean robot advance to the direction away from charging pile preset away from From；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, control unit 310 is also configured to
Whether the angle of inclination of detection clean robot is more than predetermined angular；
If angle of inclination is more than predetermined angular, then control clean robot advance to the direction away from charging pile preset away from From；
Re-execute and control the step that clean robot is advanced to charging pile by predetermined way.
Optionally, control unit 310 is also configured to
Control clean robot to advance to charging spring lamination, the charging signals of detection clean robot；
If the traveling time to charging spring lamination traveling reaches time threshold and is not detected by charging signals, then perform to control clearly Clean robot is to the step of the direction traveling predeterminable range away from charging pile.
Optionally, control unit 310 is also configured to
Control clean robot to advance to charging spring lamination, the charging signals of detection clean robot；
If the traveling time advanced to charging spring lamination reaches time threshold and is not detected by charging signals, then stop pre-timing After between, re-execute control clean robot and advance to charging spring lamination, the step of the charging signals of detection clean robot；
If the travel times to charging spring lamination traveling reaches frequency threshold value and is not detected by charging signals, then perform to control clearly Clean robot is to the step of the direction traveling predeterminable range away from charging pile.
Optionally, the friction of the slipmat of the bottom of the coefficient of friction of the tire of the driving wheel of clean robot, charging pile The coefficient of elasticity of coefficient and charging spring lamination meets predetermined relationship, and predetermined relationship is when clean robot is in charged state, makes Obtain clean robot and the matching relationship of charging pile holding relative static conditions.
In the exemplary embodiment, a kind of non-transitory computer-readable recording medium including instruction, example are additionally provided As included the memory element 320 of instruction, above-mentioned instruction can have been performed in above-mentioned disclosure embodiment by control unit 310 Clean robot control method.Such as, non-transitory computer-readable recording medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..
Refer to Fig. 4, it illustrates the flow chart of the clean robot control method shown in an exemplary embodiment.This is clear Clean robot control method comprises the steps:
In step 401, the position of charging pile is obtained.
Optionally, obtain charging pile mark position in the map that clean robot is drawn, control cleaning machine People's Bank of China Proceed to the anterior position of mark position, if the anterior position in mark position recognizes charging pile, then by the labelling in map Position is as the position of charging pile；If the anterior position in mark position does not recognize charging pile, then perform to preset Look for stake strategy, the physical location of charging pile will be found after charging pile as the position of charging pile.
In step 402, control clean robot and march to the anterior position of position.
In step 403, the charging spring lamination on the charging pole piece alignment charging pile of clean robot is controlled.
After clean robot marches to the anterior position of charging pile position, the charging position of pole piece and charging spring lamination The possible misalignment in position, needs to control the charging spring lamination of the charging pole piece alignment charging pile of clean robot.
In step 404, control clean robot and press predetermined way to charging pile traveling.
Optionally, clean robot is linearly advanced, or, clean robot is advanced with wave form.Such as: cleaner Device people vacillates now to the left, now to the right while advancing to charging pile.
In step 405, when the distance detected between clean robot and charging pile is less than preset distance, control clear Clean robot advances to charging spring lamination with First Speed parameter in first time period, joins with second speed within the second time period Number is advanced to charging spring lamination.
Optionally, by the distance between LDS detection clean robot and charging pile whether less than preset distance.
Optionally, whether the distance between clean robot and charging pile is detected less than predetermined by sensor or photographic head Distance.
Optionally, preset distance is 1 centimetre.
First Speed parameter is more than second speed parameter.First time period was less than for the second time period.Optionally, the very first time Section and the second time period are the values pre-set.Such as: first time period totally 5 seconds, totally 10 seconds the second time period.
Optionally, in first time period, First Speed parameter is change, second speed parameter within the second time period It it is change.
In first time period, send the pulse signal that dutycycle is bigger, cleaner by control unit to driver element Device people fast lifting in first time period, to a speed bigger than gait of march during cleaning, is advanced to charging spring lamination. Owing to the bottom of charging pile has certain gradient, the impulse force that clean robot produces when advancing with First Speed parameter can The upper stake that the bottom slope overcoming charging pile causes hinders.
Make clean robot with stake in First Speed parameter it should be noted that the selection of First Speed parameter needs to meet Time the impulsive force that produces charging pile is not caused significantly impact, impact charges normal.Such as: clean robot is with First Speed In parameter during stake, charging pile will not substantially retreat or swing back.Further, since the charging spring lamination of charging pile has elasticity, the first speed The selection of degree parameter also need to meet make clean robot with stake in First Speed parameter, filling of clean robot and charging pile During electricity shell fragment contact, clean robot will not be electrically charged the counteracting force ejection that the charging spring lamination of stake produces.
Due in first time period with First Speed parameter when charging spring lamination is advanced, speed, in traveling process The impulse force formed is easy to make clean robot that charging pile to cause a collision, and the charging pole piece making clean robot can not be with The charging spring lamination of charging pile is fully contacted, therefore, it is also desirable to sent out to driver element by control unit in the second time quantum Send the pulse signal that duty is smaller, make clean robot in the second time quantum with the second time parameter to charging spring lamination row Entering, in the second time quantum, the gait of march of clean robot is less than the gait of march in very first time unit, cleaner Device people can make charging pole piece and charging spring lamination be fully contacted with less speed to charging spring lamination traveling within the second time period, During subsequent charge, it is to avoid clean robot comes off from charging pile easily and causes the problem that cannot charge.
In sum, the clean robot control method that disclosure embodiment provides, advance by controlling clean robot To the anterior position of the position of charging pile, will charge after pole piece and charging spring lamination alignment, control clean robot in difference Time period parameter at different rates is advanced to charging spring lamination, solves clean robot when upper stake is charged it is possible that take off Stake, ride stake and the problem that cannot charge, reached to make clean robot can go up stake exactly, in charging process the most easily The effect come off from charging pile.
Refer to Fig. 5 A, it illustrates the flow chart of the clean robot control method shown in another exemplary embodiment. This clean robot control method comprises the steps:
In step 501, the position of charging pile is obtained.
This step is elaborated in above-mentioned steps 401, repeats no more here.
In step 502, control clean robot and march to the anterior position of position.
This step is elaborated in above-mentioned steps 402, repeats no more here.
In step 503, the charging spring lamination on the charging pole piece alignment charging pile of clean robot is controlled.
This step is elaborated in above-mentioned steps 403, repeats no more here.
In step 504, the reflex reflection light pattern of charging pile is obtained.
When the LDS of clean robot is to emission light, receive the reflex reflection light pattern regional reflex being electrically charged stake The light returned, can form reflex reflection light pattern.
In step 505, a line segment corresponding to charging pile is determined according to reflex reflection light pattern.
Optionally, reflex reflection light pattern includes the high bright spot reflected to form due to light, between multiple high bright spots Position relationship, simulates a line segment, and this line segment is the line segment corresponding to charging pile.
Optionally, carry out linear fit according to the coordinate of each high bright spot, determine a line segment.It should be noted that The method disclosure embodiment of fitting a straight line does not limits.
Such as: as shown in Figure 5 B, the reflected light pattern of charging pile includes 4 high bright spots 51, according to the position of 4 high bright spots 51 Putting relation, simulate a line segment 52, line segment 52 is corresponding to charging pile 53.
In step 506, the line controlling the zero angle of clean robot and the midpoint of line segment is perpendicular to line segment.
The zero angle of clean robot, corresponding to the center of clean robot, controls zero angle and the line segment of clean robot The line at midpoint be perpendicular to line segment, it is possible to make the charging pole piece just charging bullet to charging pile of the fuselage side of clean robot Sheet.
Due to clean robot advance during fuselage it may happen that skew, in order to ensure the charging of clean robot Pole piece is directed at the charging spring lamination of charging pile all the time, needs the zero angle controlling clean robot vertical with the line at the midpoint of line segment In the line segment corresponding to charging pile.
Such as: as shown in Figure 5 B, the zero angle of clean robot originally in position 55, the now position 55 of zero angle and right Should be in the line 56 at the midpoint 54 of the line segment of charging pile and line segment 52 out of plumb, position to the position 57 of modulation zero angle, now, Zero angle is at position 57, vertical with line segment 52 with the line 58 at midpoint 54.
In step 507, control clean robot along zero angle and midpoint line in a linear fashion or wave form Advance to charging pile.
Clean robot is advanced to charging pile along the line of zero angle with midpoint with wave form, refers to clean robot While vacillating now to the left, now to the right, advancing to charging pile, the line of centres of wave and zero angle are overlapping with the line at midpoint.
Such as: as shown in Figure 5 C, line segment 61 is the line segment corresponding to charging pile, and point 63 is the midpoint of line segment 61, triangle 62 is the position of zero angle, cleaning machine everybody along between triangle 62 and midpoint 63 straight line 65 advance be in a linear fashion Advance, advance to be along the wave 65 between triangle 62 and midpoint 63 and advance with wave form.
In step 508, when the distance detected between clean robot and charging pile is less than preset distance, control clear Clean robot advances to charging spring lamination with First Speed parameter in first time period, joins with second speed within the second time period Number is advanced to charging spring lamination.
This step is elaborated in above-mentioned steps 405, repeats no more here.
In step 509, when the charging signals and charging signals clean robot being detected is unsatisfactory for predetermined condition, control Clean robot processed was advanced to charging spring lamination with third speed parameter within the 3rd time period.
Predetermined condition is to represent the condition that charging signals reaches steady statue, and third speed parameter is joined less than second speed Number.
Optionally, within the 3rd time period, third speed parameter is change.
When charging signals and charging signals instability being detected, charging pole piece and the charging pile of clean robot is described Charging spring lamination is not combined closely, and clean robot does not stablizes power taking, controls clean robot within the 3rd time period with the 3rd speed Degree parameter is advanced a segment distance to charging spring lamination, compresses the charging spring lamination of charging pile.Optionally, clean robot is in the 3rd time The distance advanced with third speed parameter in section is 50 millimeters.
Within the 3rd time period, send, to driver element, the pulse signal that duty is smaller by control unit, be cleaning Robot advanced to charging spring lamination with third speed parameter within the 3rd time period, the row of clean robot within the 3rd time period Enter speed less than the gait of march in the second time quantum.Clean robot within the 3rd time with less speed to charging Shell fragment is advanced, it is possible to makes the charging pole piece of clean robot combine closely with the charging spring lamination of charging pile, makes clean robot pressure Tight charging spring lamination so that during subsequent charge, the charging pole piece of clean robot stably connects with the charging spring lamination of charging pile Touch, it is ensured that when charging, clean robot can stablize power taking.
Make the clean robot can with third speed parameter it should be noted that the selection of third speed parameter needs to meet Stable traveling on the surface in the cleaning region of any coefficient of friction, namely produce when clean robot is advanced with third speed parameter Raw impulse force can overcome the surface in the cleaning region resistance to clean robot.Such as: cleaning region surface be ceramic tile and Carpet, the coefficient of friction of ceramic tile is less than the coefficient of friction of carpet, and clean robot can be up at ceramic tile with third speed parameter Enter, also can advance on carpet with third speed parameter.
Make clean robot with third speed parameter to charging spring lamination it addition, the selection of third speed parameter also needs to meet During traveling, charging pile will not be caused significantly impact by the impulsive force of generation, and impact charges normal.Such as: clean robot with Third speed parameter is when charging spring lamination is advanced, and charging pile will not substantially retreat or swing back.Owing to the charging spring lamination of charging pile has Flexible, the selection of third speed parameter also need to meet make clean robot with in third speed parameter during stake, cleaning machine People will not be electrically charged the counteracting force ejection that the charging spring lamination of stake produces.
Optionally, clean robot by the charging pole piece of LDS detection clean robot with the charging spring lamination of charging pile is No contact.
Optionally, clean robot is by sensor or the charging pole piece of photographic head detection clean robot and charging pile Whether charging spring lamination contacts.
If it should be noted that be not detected by charging signals, the most do not perform this step, perform step 511.
In step 510, the charging signals of clean robot is detected.
After the charging pole piece of clean robot is in close contact with the charging spring lamination of charging pile, filling of detection clean robot The signal of telecommunication.Optionally, the charging pole piece of clean robot and the charging bullet of charging pile is detected by LDS or sensor or photographic head Whether sheet is fully contacted.
If being not detected by charging signals, illustrate that clean robot is in uncharged state, then perform step 511.
If charging signals being detected, illustrate that clean robot is in charged state, in addition it is also necessary to detection is clear in charging process The charging signals of clean robot, de-stake, loose contact make the problem that charging is interrupted to prevent clean robot from occurring, then perform step Rapid 512.
In step 511, if being not detected by charging signals, then control clean robot and advance to the direction away from charging pile Predeterminable range.
Optionally, predeterminable range is the distance pre-set.Such as predeterminable range is 80 centimetres.
Optionally, owing to the protection cap of LDS can make LDS produce check frequency, clean robot is to the side away from charging pile After traveling predeterminable range, it may not be possible to be fully retrieved the reflex reflection light pattern of charging pile, at this time, it may be necessary to control cleaning machine People rotates to an angle, and enables clean robot to be fully retrieved the reflex reflection light pattern of charging pile.
In step 512, if charging signals being detected, then in charging process, whether detect the value of charging signals less than pre- Definite value.
Even if clean robot is successfully gone up stake and is started to charge up, but clean robot in charging process the most usually owing to being subject to The impact of extraneous factor comes off from charging pile, namely the situation of unexpected de-stake occurs, it is impossible to persistently completing charging, extraneous factor can It can be earth shock, it is also possible to the touching etc. of house pet process；Or, clean robot is not just to charging pile center, causes Clean robot came off from charging pile in filling electric process.Accordingly, it would be desirable to the value detecting charging signals in charging process is No less than predetermined value, when the value of charging signals is less than predetermined value, illustrates that clean robot charging is abnormal, then perform step 513。
Optionally, predetermined value is the clean robot minimum current value when charging normal or magnitude of voltage.Fill when detecting When the value of the signal of telecommunication is not zero and is less than predetermined value, illustrate that the charging pole piece of clean robot contacts with the charging spring lamination of charging pile Bad, there is the situation of the de-stake of puppet in clean robot.
Optionally, when value charging signals being detected drops to suddenly zero, namely the fall off rate of the value of charging signals is big When set rate, illustrate that clean robot comes off from charging pile.Optionally, set rate pre-sets.
It should be noted that when detecting that the value of charging signals slowly drops to zero, namely the fall off rate of charging signals During less than set rate, explanation is charging pile power-off rather than clean robot comes off from charging pile.Exchange due to charging pile Adapter is equipped with capacitor, when charging pile power-off, such as: the socket power-off of charging pile connection or charging pile fault, hands over Capacitor in flow adapter also can slowly discharge, and therefore clean robot detects that the value of charging signals slowly drops to zero, Namely the fall off rate of the value of charging signals is less than set rate.When clean robot detects that the reason that cannot continue charging is During due to charging pile power-off, clean robot does not carry out any action, namely does not perform step 513.
In step 513, if the value of charging signals is less than predetermined value, then control clean robot to the side away from charging pile To traveling predeterminable range.
How to control clean robot to the direction traveling predeterminable range away from charging pile, in above-mentioned steps 511 Elaborated, repeated no more here.
In the step 514, the step that control clean robot is advanced to charging pile is re-executed by predetermined way.
After clean robot leaves charging pile namely go out stake, need the position redefining charging pile again to charging pile row Enter, namely enter stake.
If after clean robot enters stake again, still it is not detected by charging signals, the charging circuit of clean robot is described Break down, or charging pile missed electric, or charging pile breaks down；Or, the charging spring lamination of charging pile or cleaning machine Dust or other insulating bodies is had on the charging pole piece of people so that though and charging spring lamination charged at charging pile and charging pole piece pair In the case of standard, clean robot still cannot charge, and now needs to start alarm mechanism, and prompting user carries out human intervention, than As: clean robot provides user and checks the prompting of charging unit, or sounds a buzzer.
In sum, the clean robot control method that disclosure embodiment provides, advance by controlling clean robot To the anterior position of the position of charging pile, will charge after pole piece and charging spring lamination alignment, control clean robot in difference Time period parameter at different rates is advanced to charging spring lamination, solves clean robot when upper stake is charged it is possible that take off Stake, ride stake and the problem that cannot charge, reached to make clean robot can go up stake exactly, in charging process the most easily The effect come off from charging pile.
Additionally, also by when can't detect charging signals, control the most again to enter stake after clean robot goes out stake so that clear Clean robot can continue to charging in the case of charging pile does not has electricity.
Additionally, also by when charging signals being detected, the value continuing to detect charging signals in charging process is the least In predetermined value, in the case of the value of charging signals is less than predetermined value, control the most again to enter stake after clean robot goes out stake so that Clean robot can be in the case of the puppet that unexpected de-stake, loose contact cause takes off stake, it is possible to continue charging.
On clean robot during stake, it is possible that owing to impulse force is excessive or places the ground injustice of charging pile, cause The charging pole piece of clean robot and the upper and lower misalignment of charging spring lamination of charging pile or left and right misalignment, now, clean robot Angle of inclination can be more than the angle of inclination under normal upper stake charge condition, namely clean robot rides stake.
Refer to Fig. 6, it illustrates the flow chart of the clean robot control method shown in another exemplary embodiment.Should Clean robot control method comprises the steps:
In step 601, the position of charging pile is obtained.
This step is elaborated in above-mentioned steps 401, repeats no more here.
In step 602, control clean robot and march to the anterior position of position.
This step is elaborated in above-mentioned steps 402, repeats no more here.
In step 603, the charging spring lamination on the charging pole piece alignment charging pile of clean robot is controlled.
This step is elaborated in above-mentioned steps 403, repeats no more here.
In step 604, the reflex reflection light pattern of charging pile is obtained.
This step is elaborated in above-mentioned steps 504, repeats no more here.
In step 605, a line segment corresponding to charging pile is determined according to reflected light pattern.
This step is elaborated in above-mentioned steps 505, repeats no more here.
In step 606, the line controlling the zero angle of clean robot and the midpoint of line segment is perpendicular to line segment.
This step is elaborated in above-mentioned steps 506, repeats no more here.
In step 607, control clean robot along zero angle and midpoint line in a linear fashion or wave form Advance to charging pile.
This step is elaborated in above-mentioned steps 507, repeats no more here.
In step 608, when the distance detected between clean robot and charging pile is less than preset distance, control clear Clean robot advances to charging spring lamination with First Speed parameter in first time period, joins with second speed within the second time period Number is advanced to charging spring lamination.
This step is elaborated in above-mentioned steps 508, repeats no more here.
In step 609, when the charging signals and charging signals clean robot being detected is unsatisfactory for predetermined condition, control Clean robot processed was advanced to charging spring lamination with third speed parameter within the 3rd time period.
This step is elaborated in above-mentioned steps 509, repeats no more here.
In step 610, whether the angle of inclination of detection clean robot is more than predetermined angular.
Optionally, the angle of inclination of clean robot is obtained by the gyroscope of clean robot.It should be noted that also Can be obtained the angle of inclination of clean robot by other sensors, this is not limited by disclosure embodiment.
In step 611, if angle of inclination is more than predetermined angular, then control clean robot to the direction away from charging pile Traveling predeterminable range.
Optionally, predetermined angular pre-sets.Such as: predetermined angular is 17 degree.
When angle of inclination is more than predetermined angular, it is judged that clean robot is in a state of riding, then control clean robot To the direction traveling predeterminable range away from charging pile, namely control clean robot goes out stake.
How to control clean robot to the direction traveling predeterminable range away from charging pile, in above-mentioned steps 511 Elaborated, repeated no more here.
In step 612, the step that control clean robot is advanced to charging pile is re-executed by predetermined way.
This step is elaborated in above-mentioned steps 512, repeats no more here.
If after clean robot enters stake again, still it is not detected by charging signals, the charging circuit of clean robot is described Breaking down, or charging pile missed electric, or charging pile breaks down, now need to start alarm mechanism, prompting user enters Row human intervention.
In sum, the clean robot control method that disclosure embodiment provides, advance by controlling clean robot To the anterior position of the position of charging pile, will charge after pole piece and charging spring lamination alignment, control clean robot in difference Time period parameter at different rates is advanced to charging spring lamination, solves clean robot when upper stake is charged it is possible that take off Stake, ride stake and the problem that cannot charge, reached to make clean robot can go up stake exactly, will not be easily in charging process The effect that ground comes off from charging pile.
Additionally, also by when angle of inclination clean robot being detected is more than predetermined angular, control clean robot The most again stake is entered so that clean robot can continue to charging in the case of riding stake after going out stake.
Based in the embodiment shown in Fig. 5, control clean robot advance to the direction away from charging pile preset away from From before, it is also possible to first control clean robot and advance to charging pile, judge whether to need further according to the time advanced to charging pile Stake to be gone out, namely before step 511 or step 513, also include step 701 and step 702, as shown in Figure 7:
In step 701, if being not detected by charging signals, then controlling clean robot and advance to charging spring lamination, detection is clear The charging signals of clean robot.
In order to get rid of the situation of the charging pole piece loose contact of charge pole piece and the charging pile of clean robot, first control clear Clean robot advances to charging spring lamination, namely extruding charging pole piece, makes charging pole piece and the charging of charging pile of clean robot Pole piece is in close contact.
In a step 702, if the traveling time to charging spring lamination traveling reaches time threshold and is not detected by charging signals, Then perform to control the clean robot step to the direction traveling predeterminable range away from charging pile.
Optionally, time threshold be default time value, such as time threshold be 10 seconds.
When the traveling time advanced to charging spring lamination reaches time threshold and is not detected by charging signals, cleaner is described The charging pole piece of device people and the charging pole piece of charging pile are likely not to have alignment, now need leave charging pile namely go out stake, prepare Again advance to charging pile, namely enter stake.
In alternative embodiment based on embodiment illustrated in fig. 5, controlling clean robot to the direction away from charging pile Before traveling predeterminable range, it is also possible to first control clean robot and advance to charging pile, further according to the time advanced to charging pile Judge whether to need stake with travel times, namely before step 511 or step 513, also include step 801, step 802 and Step 803, as shown in Figure 8:
In step 801, if being not detected by charging signals, then controlling clean robot and advance to charging spring lamination, detection is clear The charging signals of clean robot.
In order to get rid of the situation of the charging pole piece loose contact of charge pole piece and the charging pile of clean robot, first control clear Clean robot advances to charging spring lamination, namely extruding charging pole piece, makes charging pole piece and the charging of charging pile of clean robot Pole piece is in close contact.
In step 802, if the traveling time to charging spring lamination traveling reaches time threshold and is not detected by charging signals, After then stopping the scheduled time, re-execute control clean robot and advance to charging spring lamination, the charging letter of detection clean robot Number step.
Optionally, time threshold pre-sets, and such as time threshold is 10 seconds.
After a traveling process reaches time threshold, stop the scheduled time of advancing, then perform step 803.
In step 803, if the travel times to charging spring lamination traveling reaches frequency threshold value and is not detected by charging signals, Then perform to control the clean robot step to the direction traveling predeterminable range away from charging pile.
Optionally, frequency threshold value pre-sets, and such as frequency threshold value is 3 times.
Clean robot performs the number of times increase of step 802 once, to the travel times increase of charging spring lamination traveling once, When the travel times advanced to charging spring lamination reaches frequency threshold value and is not detected by charging signals, perform step 803, control cleaning Robot enters stake after going out stake again.
Based in the embodiment shown in Fig. 6, control clean robot advance to the direction away from charging pile preset away from From before, it is also possible to first control clean robot and advance to charging pile, judge whether to need further according to the time advanced to charging pile Stake to be gone out, namely before step 611, also include step 901 and step 902, as shown in Figure 9:
In step 901, if angle of inclination is more than predetermined angular, then controls clean robot and advance to charging spring lamination, inspection Survey the charging signals of clean robot.
In order to get rid of the situation of the charging pole piece loose contact of charge pole piece and the charging pile of clean robot, first control clear Clean robot advances to charging spring lamination, namely extruding charging pole piece, makes charging pole piece and the charging of charging pile of clean robot Pole piece is in close contact.
In step 902, if the traveling time to charging spring lamination traveling reaches time threshold and is not detected by charging signals, Then perform to control the clean robot step to the direction traveling predeterminable range away from charging pile.
This step is elaborated in above-mentioned steps 702, repeats no more here.
In alternative embodiment based on embodiment illustrated in fig. 6, controlling clean robot to the direction away from charging pile Before traveling predeterminable range, it is also possible to first control clean robot and advance to charging pile, further according to the time advanced to charging pile Judge whether to need stake with travel times, namely before step 611, also include step 1001, step 1002 and step 1003, as shown in Figure 10:
In step 1001, if angle of inclination is more than predetermined angular, then controls clean robot and advance to charging spring lamination, inspection Survey the charging signals of clean robot.
In order to get rid of the situation of the charging pole piece loose contact of charge pole piece and the charging pile of clean robot, first control clear Clean robot advances to charging spring lamination, namely extruding charging pole piece, makes charging pole piece and the charging of charging pile of clean robot Pole piece is in close contact.
In step 1002, if reaching time threshold to the traveling time of charging spring lamination traveling and being not detected by charging letter Number, then after stopping the scheduled time, re-execute control clean robot and advance to charging spring lamination, the charging of detection clean robot The step of signal.
Optionally, time threshold pre-sets, and such as time threshold is 10 seconds.
After a traveling process reaches time threshold, stop the scheduled time of advancing, then perform step 1003.
In step 1003, if reaching frequency threshold value to the travel times of charging spring lamination traveling and being not detected by charging letter Number, then perform to control the clean robot step to the direction traveling predeterminable range away from charging pile.
This step is elaborated in above-mentioned steps 803, repeats no more here.
It should be noted that after clean robot enters stake, angle of inclination and charging signals all can be detected, right The detection ordering of angle of inclination and charging signals does not limits, and can perform according to the Default Value of practical situation or clean robot Corresponding step.
Those skilled in the art, after considering description and putting into practice this disclosure, will readily occur to its of the disclosure Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modification, purposes or Person's adaptations is followed the general principle of the disclosure and includes the undocumented common knowledge in the art of the disclosure Or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are by following Claim is pointed out.
It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.

Claims (20)

1. a clean robot, it is characterised in that described clean robot includes:
Control unit；
The recognition unit being electrical connected with described control unit and driver element；
Described control unit is configured to:
Obtain the position of charging pile；
Control described clean robot and march to the anterior position of described position；
The charging pole piece controlling described clean robot is directed at the charging spring lamination on described charging pile；
Control described clean robot to advance to described charging pile by predetermined way；
When the distance detected between described clean robot and described charging pile is less than preset distance, control described cleaner Device people advances to described charging spring lamination with First Speed parameter in first time period, joins with second speed within the second time period Number is advanced to described charging spring lamination；
Described First Speed parameter is more than described second speed parameter.
Clean robot the most according to claim 1, it is characterised in that described control unit is also configured to
When the charging signals and described charging signals described clean robot being detected is unsatisfactory for predetermined condition, control described clearly Clean robot advanced to described charging spring lamination with third speed parameter within the 3rd time period；Described predetermined condition is to represent described Charging signals reaches the condition of steady statue, and described third speed parameter is less than described second speed parameter.
Clean robot the most according to claim 1 and 2, it is characterised in that described control unit is also configured to
Obtain the reflex reflection light pattern of described charging pile；
A line segment corresponding to described charging pile is determined according to described reflex reflection light pattern；
The line controlling the zero angle of described clean robot and the midpoint of described line segment is perpendicular to described line segment.
Clean robot the most according to claim 3, it is characterised in that described control unit is also configured to
In a linear fashion or wave form is to institute along the line of described zero angle Yu described midpoint to control described clean robot State charging pile to advance.
5. according to the arbitrary described clean robot of Claims 1-4, it is characterised in that described control unit is also configured to
Detect the charging signals of described clean robot；
If being not detected by described charging signals, then control described clean robot and advance default to the direction away from described charging pile Distance；
Re-execute the step that the described clean robot of described control is advanced to described charging pile by predetermined way.
Clean robot the most according to claim 5, it is characterised in that if described control unit is also configured to detection To described charging signals, then in charging process, whether detect the value of described charging signals less than predetermined value；
If the value of described charging signals is less than described predetermined value, then control described clean robot to the side away from described charging pile To traveling predeterminable range；
Re-execute the step that the described clean robot of described control is advanced to described charging pile by predetermined way.
7. according to the arbitrary described clean robot of Claims 1-4, it is characterised in that described control unit is also configured to
Whether detect the angle of inclination of described clean robot more than predetermined angular；
If described angle of inclination is more than described predetermined angular, then control described clean robot to the direction away from described charging pile Traveling predeterminable range；
Re-execute the step that the described clean robot of described control is advanced to described charging pile by predetermined way.
8. according to the arbitrary described clean robot of claim 5 to 7, it is characterised in that described control unit is also configured to
Control described clean robot to advance to described charging spring lamination, detect the charging signals of described clean robot；
If the traveling time advanced to described charging spring lamination reaches time threshold and is not detected by described charging signals, then perform institute State the control described clean robot step to the direction traveling predeterminable range away from described charging pile.
9. according to the arbitrary described clean robot of claim 5 to 7, it is characterised in that described control unit is also configured to
Control described clean robot to advance to described charging spring lamination, detect the charging signals of described clean robot；
If the traveling time advanced to described charging spring lamination reaches time threshold and is not detected by described charging signals, then stop pre- After fixing time, re-execute the described clean robot of described control and advance to described charging spring lamination, detect described clean robot The step of charging signals；
If the travel times advanced to described charging spring lamination reaches frequency threshold value and is not detected by described charging signals, then perform institute State the control described clean robot step to the direction traveling predeterminable range away from described charging pile.
10. according to the arbitrary described clean robot of claim 1 to 9, it is characterised in that the driving wheel of described clean robot The coefficient of elasticity of the coefficient of friction of tire, the coefficient of friction of slipmat of bottom of described charging pile and described charging spring lamination full Foot predetermined relationship, described predetermined relationship is when described clean robot is in charged state so that described clean robot and Described charging pile keeps the matching relationship of relative static conditions.
11. 1 kinds of clean robot charging methods, it is characterised in that described method includes:
Obtain the position of charging pile；
Control described clean robot and march to the anterior position of described position；
The charging pole piece controlling described clean robot is directed at the charging spring lamination on described charging pile；
Control described clean robot to advance to described charging pile by predetermined way；
When the distance detected between described clean robot and described charging pile is less than preset distance, control described cleaner Device people advances to described charging spring lamination with First Speed parameter in first time period, joins with second speed within the second time period Number is advanced to described charging spring lamination；
Described First Speed parameter is more than described second speed parameter.
12. methods according to claim 11, it is characterised in that described method also includes:
When the charging signals and described charging signals described clean robot being detected is unsatisfactory for predetermined condition, control described clearly Clean robot advanced to described charging spring lamination with third speed parameter within the 3rd time period；Described predetermined condition is to represent described Charging signals reaches the condition of steady statue, and described third speed parameter is less than described second speed parameter.
13. according to the method described in claim 11 or 12, it is characterised in that the charging pole of the described clean robot of described control Sheet is directed at the charging spring lamination on described charging pile, including:
Obtain the reflex reflection light pattern of described charging pile；
A line segment corresponding to described charging pile is determined according to described reflex reflection light pattern；
The line controlling the zero angle of described clean robot and the midpoint of described line segment is perpendicular to described line segment.
14. methods according to claim 13, it is characterised in that the described clean robot of described control press predetermined way to Described charging pile is advanced, including:
In a linear fashion or wave form is to institute along the line of described zero angle Yu described midpoint to control described clean robot State charging pile to advance.
15. according to the arbitrary described method of claim 11 to 14, it is characterised in that described method also includes:
Detect the charging signals of described clean robot；
If being not detected by described charging signals, then control described clean robot and advance default to the direction away from described charging pile Distance；
Re-execute the step that the described clean robot of described control is advanced to described charging pile by predetermined way.
16. methods according to claim 15, it is characterised in that described method also includes:
If described charging signals being detected, then in charging process, whether detect the value of described charging signals less than predetermined value；
If the value of described charging signals is less than described predetermined value, then control described clean robot to the side away from described charging pile To traveling predeterminable range；
Re-execute the step that the described clean robot of described control is advanced to described charging pile by predetermined way.
17. according to the arbitrary described method of claim 11 to 14, it is characterised in that described method also includes:
Whether detect the angle of inclination of described clean robot more than predetermined angular；
If described angle of inclination is more than described predetermined angular, then control described clean robot to the direction away from described charging pile Traveling predeterminable range；
Re-execute the step that the described clean robot of described control is advanced to described charging pile by predetermined way.
18. according to the arbitrary described method of claim 15 to 17, it is characterised in that the described clean robot of described control is to far Before the direction traveling predeterminable range of described charging pile, described method also includes:
Control described clean robot to advance to described charging spring lamination, detect the charging signals of described clean robot；
If the traveling time advanced to described charging spring lamination reaches time threshold and is not detected by described charging signals, then perform institute State the control described clean robot step to the direction traveling predeterminable range away from described charging pile.
19. according to the arbitrary described method of claim 15 to 17, it is characterised in that the described clean robot of described control is to far Before the direction traveling predeterminable range of described charging pile, described method also includes:
Control described clean robot to advance to described charging spring lamination, detect the charging signals of described clean robot；
If the traveling time advanced to described charging spring lamination reaches time threshold and is not detected by described charging signals, then stop pre- After fixing time, re-execute the described clean robot of described control and advance to described charging spring lamination, detect described clean robot The step of charging signals；
If the travel times advanced to described charging spring lamination reaches frequency threshold value and is not detected by described charging signals, then perform institute State the control described clean robot step to the direction traveling predeterminable range away from described charging pile.
20. according to the arbitrary described method of claim 11 to 19, it is characterised in that the wheel of the driving wheel of described clean robot The coefficient of friction of tire, the coefficient of friction of slipmat of bottom of described charging pile and the coefficient of elasticity of described charging spring lamination meet pre- Determining relation, described predetermined relationship is when described clean robot is in charged state so that described clean robot and described Charging pile keeps the matching relationship of relative static conditions.
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CN113017495A (en) * 2021-03-11 2021-06-25 深圳市云鼠科技开发有限公司 Robot charging docking method and device, computer equipment and storage medium
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CN114601379A (en) * 2021-08-18 2022-06-10 北京石头创新科技有限公司 Cleaning system control method, device, equipment and storage medium
CN114601379B (en) * 2021-08-18 2023-11-24 北京石头创新科技有限公司 Cleaning system control method, device, equipment and storage medium

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