CN109091087A

CN109091087A - A kind of charging method and relevant device

Info

Publication number: CN109091087A
Application number: CN201811287490.2A
Authority: CN
Inventors: 杨志文; 南帅帅; 刘煜熙
Original assignee: Shenzhen Feike Robot Co Ltd
Current assignee: Shenzhen Feike Robot Co Ltd
Priority date: 2018-10-31
Filing date: 2018-10-31
Publication date: 2018-12-28

Abstract

The embodiment of the present application discloses a kind of charging method and relevant device, for the current charge threshold according to battery, generate the charge threshold adjustment instruction of battery, to realize the adjustability of the charge threshold of clean robot, the flexibility of robot charging modes is improved, and improves the sweep-out pattern of single battery circulation.The embodiment of the present application method includes: to obtain the current charge threshold of battery；When the current charge threshold of battery meets preset charged adjusting thresholds condition, the charge threshold adjustment instruction of battery is generated；Based on the charge threshold adjustment instruction, the current charge threshold of battery is adjusted to first threshold, wherein the first threshold is lower than the current charge threshold；Based on the first threshold, controls the clean robot and clean region to be cleaned.

Description

A kind of charging method and relevant device

Technical field

This application involves robot field more particularly to a kind of charging method and relevant devices.

Background technique

In the modern life, robot using more and more extensive, robot generally has control system, drive system, electricity Management system etc. may be implemented to be automatically performed a certain work.Due to the mobility of robot, rechargeable battery is generally used Group is that robot improves electric energy.

For the convenience for improving the intelligence of robot and using, the intervention operation of the mankind, modern cleaner are reduced Device people, which typically is provided with, independently recharges function, during robot executes clean up task, when the battery capacity that robot detects When being reduced to preset charged threshold value, the mode of recharging is switched to, control robot is moved to cradle and charges, to fully charged Afterwards, continue clean up task.

But due in the prior art, when the electricity of battery reaches original charge threshold (charge threshold of default setting), machine Device people must stop execution task, into mode is recharged, to affect the task execution of clean robot.

Summary of the invention

The embodiment of the present application provides a kind of charging method, for the current charge threshold according to battery, generates battery Charge threshold adjustment instruction adjusts the current charge threshold of battery so as to battery-based charge threshold adjustment instruction For first threshold, to improve the flexibility of robot charging modes.

In a first aspect, the embodiment of the present application provides a kind of clean robot, the clean robot includes: battery and place Manage device；The processor is configured to: obtain the current charge threshold of battery；When the current charge threshold of battery meets default fill When electric adjusting thresholds condition, the charge threshold adjustment instruction of battery is generated；Based on the charge threshold adjustment instruction, by battery Current charge threshold is adjusted to first threshold, wherein the first threshold is lower than the current charge threshold；Based on described first Threshold value controls the clean robot and executes clean operation.

In the application, which can generate the current charge threshold of battery according to the current charge threshold of battery, and The current charge threshold of battery is adjusted to first threshold, wherein the first threshold is lower than the current charge threshold, and base in turn In the first threshold, controls clean robot and execute clean operation.To realize the adjustable of the charge threshold of clean robot Property, the flexibility of robot charging modes is improved, and improve the sweep-out pattern of single battery circulation.

In one possible implementation, the processor is specifically configured to: the remaining capacity in response to working as battery When reaching current charge threshold, the charge threshold adjustment instruction of battery is generated；Or the clean robot is obtained in normal mode The first expected residual electricity that cleaning region carries out battery after clean operation is treated under formula；In the first expected residual electricity In the case where lower than the current charge threshold, the charge threshold adjustment instruction of battery is generated.

In the application, processor can with the remaining capacity of battery to current charge threshold when, generate the charge threshold of battery Adjustment instruction, processor can also treat cleaning region carry out battery after clean operation the first expected residual electricity carry out it is pre- Estimate, and in the case where the first expected residual electricity is lower than current charge threshold, generates the charge threshold adjustment instruction of battery.

Since the first threshold is lower than the current charge threshold of battery, when region to be cleaned is a fritter, processor can be with Charge threshold is turned down by any one of above two mode, to avoid clean robot from entering in charging cycle as far as possible, by It is longer in the clean robot charging operations occupied time of completion, so as to shorten entire cleaning process, improve user's body It tests.

In one possible implementation, the processor is also configured to reach in response to the remaining capacity when battery When to the current charge threshold, the current location of the clean robot is obtained；According to the present bit of the clean robot The position with cradle is set, determines and controls the first minimum value that the clean robot executes charging operations institute electricity demand；According to First minimum value determines the first threshold, wherein the first threshold is greater than or equal to first minimum value.

In the application, processor is available to the current of clean robot after generating charge threshold adjustment instruction Position controls the first minimum value needed for the clean robot executes charging operations to estimate out, which is set as More than or equal to first minimum value, to avoid the first threshold too small as far as possible, clean robot cannot achieve to be recharged automatically The phenomenon that, to guarantee the intelligence of the clean robot.

In one possible implementation, the processor is also configured to obtain the clean robot normal The first expected residual electricity that cleaning region carries out battery after clean operation is treated under mode；According to first expected residual Electricity determines the first threshold, wherein the first threshold is less than or equal to the first expected residual electricity.

In the application, processor treat cleaning region carry out clean operation after battery the first expected residual electricity into Row is estimated, so that it is determined that the first threshold, since the first threshold is less than or equal to the first expected residual electricity, when to clear When clean region is a fritter, pass through this programme, it can be ensured that robot will not enter in charging cycle, improve clean robot Intelligence；And since the clean robot charging operations occupied time of completion is longer, so as to shorten entire swept Journey improves user experience.

In one possible implementation, the processor is also configured to the Working mould of the clean robot Formula is adjusted to battery saving mode；It controls the clean robot and executes clean operation under the battery saving mode.

In the application, the operating mode of clean robot can also be adjusted to battery saving mode by processor, further be saved Clean robot consumed electricity when executing clean operation, to further increase the cleaning face in single battery circulation Product.

In one possible implementation, the processor is also configured to obtain the operation under the battery saving mode Instruction；The processor obtains the mode of the cleaning instruction under battery saving mode, comprises at least one of the following: receiving to the cleaning The setting of the operating parameter at least one component that robot includes instructs；It is instructed according to the setting, determines the power saving mould Operational order under formula；Or it obtains the clean robot and treats cleaning region and carry out the first pre- of battery after clean operation Count remaining capacity；According to the difference of the first expected residual electricity and the current charge threshold, the battery saving mode is generated Under operational order.

In the application, for processor before the operating mode of clean robot is adjusted to battery saving mode, needing to obtain should Operational order under battery saving mode, and the fortune at least one component that the operational order can include to clean robot for reception The setting of row parameter instructs, to instruct according to the setting, determines the operational order under battery saving mode, so that clean robot Demand of the battery saving mode closer to user.

Processor can also get clean robot in a power-save mode treat cleaning region carry out clean operation it First expected residual electricity of battery afterwards, thus according to the difference of the first expected residual electricity and the current charge threshold of battery, The operational order under battery saving mode is automatically generated, thus guarantee under the battery saving mode as far as possible, it can in a circulating battery It completes to treat the clean operation for cleaning region, to avoid charging cycle is entered；And it is automatically generated under battery saving mode by processor Operational order improves the automaticity of clean robot.

In one possible implementation, the processor executes the mode of the cleaning instruction under the battery saving mode, It comprises at least one of the following: optimizing the cleaning path of the clean robot；Adjust the operation of the blower of the clean robot Speed；Adjust the cleaning speed of the side brush of the clean robot；Adjust the cleaning speed swept in the clean robot；Drop The electricity consumption for executing the component of the clean operation is not used in the low clean robot.

In the application, the specific implementation of the cleaning instruction under battery saving mode is provided, to improve this programme Operability.

In one possible implementation, the processor is specifically configured to: in the first expected residual electricity In the case where greater than or equal to second threshold, the charge threshold adjustment instruction of battery is generated；Wherein, the second threshold is works as When stating clean robot and knowing cradle position, the maximum that the clean robot is moved to cradle institute electricity demand is controlled Value, the first threshold are less than or equal to the second threshold.

In the application, processor can first judge first expected residual before turning down the charge threshold of clean robot Whether electricity is greater than or equal to second threshold, and wherein the second threshold is the control when clean robot knows cradle position Clean robot is moved to the maximum value of cradle institute electricity demand, is only greater than or equal to second in the first expected residual electricity When threshold value, charge threshold adjustment instruction is just generated, if since the first expected residual electricity is greater than or equal to second threshold, probably Rate first threshold adjusted also above or be equal to second threshold, then when the remaining capacity of battery reaches first threshold, as long as Processor knows the position of cradle, so that it may realize and recharge function automatically to clean robot, to not only reduce clear The duration of clean process, and ensure that the intelligence of clean robot, improve user experience.

In one possible implementation, the processor is also configured to obtain the clean robot normal The first expected residual electricity that cleaning region carries out battery after clean operation is treated under mode；In the first expected residual electricity The operating mode of the clean robot is adjusted to battery saving mode lower than in the case where second threshold by amount；Wherein, described second Threshold value is to control the clean robot when the clean robot knows cradle position and be moved to needed for the cradle The maximum value of electricity, the first threshold are less than or equal to the second threshold, and the second threshold is less than current charge threshold.

It, can further will be clear when processor learns the first expected residual electricity lower than second threshold in the application The operating mode of clean robot is adjusted to battery saving mode, executes electricity used in clean operation to further save, to increase It is added in the area for completing region to be cleaned in a circulating battery, further avoids entering charging cycle.

Have in a kind of possible implementation, the processor is also configured to obtain the clean robot described The second expected residual electricity that cleaning region carries out battery after clean operation is treated under battery saving mode；It is estimated surplus described second In the case that remaining electricity is higher than second threshold, the operating mode of the clean robot is adjusted to battery saving mode；Wherein, described Second threshold is to control the clean robot when the clean robot knows cradle position and be moved to the cradle The maximum value of institute's electricity demand, the first threshold are less than or equal to the second threshold, and the second threshold is less than current charging Threshold value.

In the application, processor first obtains treats cleaning region carries out battery after clean operation the in a power-save mode Two expected residual electricity, and in the case where the second expected residual electricity is greater than or equal to second threshold, by clean robot Operating mode is adjusted to charge mode, if since the second expected residual electricity is greater than or equal to second threshold, maximum probability adjustment First threshold afterwards also above or be equal to second threshold, then when the remaining capacity of battery reaches first threshold, as long as processor Know the position of cradle, so that it may realize and function is recharged automatically to clean robot, not only increase single battery electric discharge Sweep-out pattern in circulation, and ensure that the intelligence of clean robot, improve user experience.

In one possible implementation, the processor is specifically configured to: obtaining the ground in the region to be cleaned Figure and the history electricity consumption data that clean operation is carried out to the region to be cleaned；According to the map and the history electricity consumption number According to determining the first expected residual electricity treated cleaning region and carry out battery after clean operation.

In the application, processor combines the map in region to be cleaned and carries out the history electricity consumption number of clean operation to the region According to the first expected residual electricity is generated, so that the first expected residual electricity more closing to reality remaining capacity, mentions High electricity estimates the accuracy of process.

In one possible implementation, the processor is also configured to reach described in the remaining capacity of battery In the case that current charge threshold is unaware that the position of cradle, controls the clean robot and search for the cradle, with It charges.

In the application, the remaining capacity handled in battery reaches current charge threshold, but do not know the position of cradle In the case of, it can control robot search cradle, to charge, to guarantee that clean robot recharges the reality of function It is existing.

In one possible implementation, the processor is also configured to obtain under the battery saving mode to institute State the second expected residual electricity that region to be cleaned carries out battery after clean operation；It is lower than in the second expected residual electricity In the case where second threshold, the clean operation is carried out in the normal mode；When the remaining capacity of battery reaches original charge threshold When, it controls the clean robot and searches for the cradle, to charge；Wherein, the second threshold is when the cleaning When cradle position is known by robot, the maximum value that the clean robot is moved to cradle institute electricity demand, institute are controlled First threshold is stated less than or equal to the second threshold, the second threshold is less than current charge threshold.

In the application, when processor finds that the second expected residual electricity lower than second threshold, then controls clean robot It is cleaned, and when reaching original charge threshold, is charged in the normal mode, namely when processor determines adjustment threshold value When maximum probability can not be completed to treat the clean operation in cleaning region in impulse discharge recycles, cleaning behaviour is carried out in the normal mode Make, it is ensured that clean quality.

In one possible implementation, the processor is also configured to obtain and carry out to the region to be cleaned Pre- quantity calculation consumed by clean operation；Obtain the pre- quantity calculation and the current charge threshold third threshold value after being added； It controls the clean robot and is moved to the cradle and charge, until the electricity of battery is equal to or more than the third threshold Value.

In the application, processor can also obtain when charging to clean robot and treat cleaning applications progress clearly The current charge threshold of pre- quantity calculation and battery consumed by clean operation, obtains third threshold value, so that part will be filled in battery Continue clean operation after electricity, namely until the electricity of battery is equal or slightly larger than the third threshold value, shortens charging behaviour The duration of work, so as to shorten the duration of entire cleaning process.

Second aspect, the embodiment of the present application provide a kind of charging method, which comprises obtain currently filling for battery Electric threshold value；When the current charge threshold of battery meets preset charged adjusting thresholds condition, the charge threshold adjustment of battery is generated Instruction；Based on the charge threshold adjustment instruction, the current charge threshold of battery is adjusted to first threshold, wherein described One threshold value is lower than the current charge threshold；Based on the first threshold, controls the clean robot and execute task.

The third aspect, the embodiment of the present application provide a kind of clean robot, and the clean robot includes: to obtain list Member, for obtaining the current charge threshold of battery；Generation unit meets preset charged threshold for the current charge threshold when battery When being worth regularization condition, the charge threshold adjustment instruction of battery is generated；Adjustment unit, for being referred to based on charge threshold adjustment It enables, the current charge threshold of battery is adjusted to first threshold, wherein the first threshold is lower than the current charge threshold；

Cleaning unit controls the clean robot and executes clean operation for being based on the first threshold.

Fourth aspect, this application provides a kind of chip systems, which includes processor, for supporting network to set It is standby to realize function involved in above-mentioned aspect, for example, for example sending or handling data and/or letter involved in the above method Breath.In a kind of possible design, the chip system further includes memory, and the memory must for saving the network equipment The program instruction and data wanted.The chip system, can be made of chip, also may include chip and other discrete devices.

The application second aspect can refer to first aspect to the beneficial effect of fourth aspect.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of clean robot provided by the embodiments of the present application；

Fig. 2 is a kind of schematic diagram of the control system of clean robot provided by the embodiments of the present application；

Fig. 3 is a kind of flow diagram of charging method provided by the embodiments of the present application；

Fig. 4 is a kind of flow diagram of charging method provided by the embodiments of the present application；

Fig. 5 is a kind of flow diagram of charging method provided by the embodiments of the present application；

Fig. 6 is another structural schematic diagram of clean robot provided by the embodiments of the present application.

Specific embodiment

The embodiment of the present application provides a kind of charging method and relevant device, for the current charge threshold according to battery, The charge threshold adjustment instruction for generating battery improves machine to realize the adjustability of the charge threshold of clean robot The flexibility of people's charging modes.

Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce The other step or units of product or equipment inherently.Term "at least one" refers to one or more, " multiple " refer to two or It is more than two.

Fig. 1 is a kind of structural schematic diagram of clean robot provided by the embodiments of the present application, refering to fig. 1, cleans machine People 100 may include battery 120, blower 130, side brush 141, in sweep 142, revolver 151 and right wheel 152, processor 111, storage Device 112, driving assembly 113, sensor 114.

Electric power needed for battery 120 provides clean robot 100.The electric power that the processor 111 is provided using battery 120 To control each element of clean robot 100.

Blower 130 may be disposed at the inside of fuselage main body 110.With ground have centainly interfere in sweep 142 will be on ground Rubbish sweep up and the front of the suction inlet between 142 and dirt box structure is swept in winding in, then generated and passed through by blower 130 In the gas sucking dirt box for having suction of dirt box.Blower 130 can also include filter, be filtered to the object of sucking.

Side brush 141 may be disposed at the front position below the shell of robot body 110, compared to fuselage main body 110 Certain relative distance is stretched out before shell, for carrying out refuse sweeping in the traveling of clean robot 10.

In sweep 142 and may be disposed at the position of 110 housing bottom of robot body, in the traveling of clean robot 100 It is formed and is interfered with ground, the rubbish on ground is cleaned and recycled.

Revolver 151 and right wheel 152 are centrally disposed in the opposite of the bottom of machine body 110 in a symmetrical manner respectively Side.Executing during executing cleaning includes the motor performance for travelling forward, moving backward and rotating.

In the embodiment of the present application, processor 111 includes, but are not limited to: central processing unit, single-chip microcontroller, Digital Signal Processing Device, microprocessor etc..The movement of clean robot 100 can be controlled with cartographic information according to the pre-stored data namely processor 111 can To control clean robot 100, information is mobile to region to be cleaned according to the map, and when clean robot 100 is moved to pair When the band of position answered, clean operation is executed.Processor 111 can be with the residual capacity of real-time monitoring battery 120, and works as prison When measuring the residual capacity of battery 120 and reaching preset value, information control clean robot 100 goes to cradle 300 according to the map, It charges.

In the embodiment of the present application, for storing instruction, processor 111 can read in memory 112 and store memory 112 The corresponding function of instruction execution.Memory 112 may include random access memory (Random Access Memory, ) and nonvolatile memory (Non-Volatile Memory, NVM) RAM.Nonvolatile memory may include hard drive Device (Hard Disk Drive, HDD), solid state hard disk (Solid State Drives, SSD), silicon disk driver (Silicon Disk drive, SDD), read-only memory (Read-Only Memory, ROM), CD-ROM (Compact Disc Read- Only Memory, CD-ROM), tape, floppy disk, optical data storage devices etc., wherein memory 112 can be independently of processor 111, it also can integrate among processor 111, the positional relationship of specific memory 112 and processor 111, herein without limit It is fixed.

In the embodiment of the present application, driving assembly 113 can be the motor for applying driving force.Driving assembly 113 connects Give a dinner for a visitor from afar machine 130, side brush 141 and in sweep 142.Under the control of driving assembly 113, driving assembly 113 can drive blower 130, Side brush 141 sweeps 142 in.One in the specific implementation, driving assembly 113 include blower driving subelement, side brush driving subelement, In sweep driving subelement, revolver driving subelement and right wheel driving subelement, wherein blower driving subelement and fan unit 130 Connection, while brush driving subelement with while brush 141 and connect, in sweep driving subelement and in sweep 142 connections, revolver driving subelement and Revolver 151 connects, and right wheel driving subelement is connect with right wheel 152.

Sensor 114 includes the combination of following one or more: ultrasonic sensor, radio frequency (RF) sensor, earth magnetism Sensor, position sensitive device (PSD) sensor, imaging sensor, infrared sensor etc..Sensor 114 is clear for detecting Environment around clean robot is to guarantee the execution of the task (clean up task, charging tasks) of clean robot.

It is understood that clean robot 100 can also include input and output list in one or more embodiment Member, location measurement unit, power supply, wireless communication unit etc..

In the embodiment of the present application, clean robot 100 can also receive setting instruction by input-output unit.The input Output unit can be shown in the form of display screen, or the form of button.

It should be noted that clean robot 100 may also include other module or components in practical application, machine is cleaned People 100 can have components more more or fewer than component shown in fig. 1, can combine two or more components, or can have There are the different configurations of component to realize, the connection relationship of various components or data transmission are not limited to Fig. 1 in clean robot 100 Shown, Fig. 1 is a kind of example.

For convenience of understanding, Fig. 2 shows a kind of signals of the control system of clean robot provided by the embodiments of the present application Figure namely clean robot provided by the present application can be applied in clean robot control system shown in Fig. 2, referring to Fig.2, The robot control system may include clean robot 100, terminal device 200 and cradle 300.

Wherein, terminal device 200 and clean robot 100 communicate to connect, and refer to for sending setting to clean robot 100 Order or control instruction, for remotely controlling clean robot 100.Terminal device 100 can be cellular phone as shown in Figure 1, But not limited to this, terminal device 100 can also use tablet computer (portable android device, PAD), on knee The equipment such as computer, digital camera or remote controler, specifically herein without limitation.

Cradle 300 is used to the charging of clean robot 100.

It should be appreciated that Fig. 2 is only a kind of signal of application environment, it, can also in the another application environment of clean robot 100 With there is no the terminal device 200 for remote control robot, it is defeated that user only passes through the input carried on clean robot 100 Unit input control instructs out, as an example, button, touch screen etc. on such as clean robot, specific implementation, this Place is without limitation.

Clean robot presented above can be used for executing following charging method, and referring particularly to Fig. 3, the application is implemented Example provide charging method one embodiment, may include:

301, processor obtains the current charge threshold of battery.

In one embodiment, current charge threshold can be the original charge threshold of battery, or according to charging threshold It is worth adjustment instruction to the original charge threshold charge threshold adjusted of battery.

In the present embodiment and subsequent embodiment, original charge threshold is not adjusted charge threshold, and default setting fills It is the initial charge threshold value of the battery of its configuration when electric threshold value namely clean robot initially use.General original charge threshold It is larger.

302, when processor determines that the current charge threshold of battery meets preset charged adjusting thresholds condition, battery is generated Charge threshold adjustment instruction.

In one embodiment, processor, can currently filling according to battery after getting the current charge threshold of battery Whether electric threshold decision meets the preset charged adjusting thresholds condition of battery, raw when meeting preset charged adjusting thresholds condition At the charge threshold adjustment instruction of battery.

In one embodiment, judge whether that the preset charged adjusting thresholds condition for meeting battery is specially to judge remaining for battery Whether remaining electricity is less than or equal to current charge threshold, if the remaining capacity of battery is less than or equal to current charge threshold, depending on To meet charge threshold regularization condition.Clean robot is in the task of execution, automatically according to remaining capacity and current charge threshold Relationship, generate charge threshold instruction to improve the sweep-out pattern of single cycle, make full use of the electricity of single cycle, make to clean Robot is more intelligent.

In one embodiment, or acquisition clean robot treats cleaning region in the normal mode and carries out cleaning behaviour First expected residual electricity of battery after work is then considered as satisfaction when the first expected residual electricity is lower than current charge threshold Charge threshold regularization condition.It should be appreciated that can also judge whether the charge threshold adjustment item for meeting battery by other means Part.Clean robot is in the task of execution, electricity needed for the automatic remaining task amount of assessment, according to electricity needed for remaining task amount The relationship of amount and current charge threshold generates charge threshold instruction to improve the sweep-out pattern of single cycle, makes full use of single The electricity of circulation keeps clean robot more intelligent.

For example, clean robot is just in purging zone A, the residue of clean robot assessment purging zone A does not sweep region B institute The electricity needed, according to the relationship of the remaining electricity for cleaning required by task and current charge threshold generate charge threshold adjustment instruction with Improve the sweep-out pattern of single cycle.

303, processor is based on charge threshold adjustment instruction, and the current charge threshold of battery is adjusted to first threshold.

In one embodiment, processor, can be by the current charge threshold of battery after generating charge threshold adjustment instruction It is adjusted to first threshold, wherein first threshold is lower than the current charge threshold of battery.The charge threshold of battery is adjusted to tract below and is worked as When the first threshold of preceding charge threshold, clean robot can be made there are more electricity to go to execute remaining task, to improve The sweep-out pattern of single cycle.

In one embodiment, first threshold can be the first expected residual electricity, or reach in the electricity of battery The current charge threshold of battery is determined according to the position of clean robot at that time.

In one embodiment, the generation time of charge threshold adjustment instruction can clean region to treat in clean robot Before progress clean operation, or when the remaining capacity of battery reaches third threshold value.

304, processor is based on first threshold, and control clean robot executes clean operation.

In the present embodiment and subsequent embodiment, region to be cleaned refers to not yet clean region, can be in cleaning behaviour When not yet starting to execute, region corresponding with entire clean up task；It can also refer to and have begun execution clearly in clean robot After clean operation, not yet clean region to be cleaned.

In one embodiment, processor can control after the current charge threshold of battery is adjusted to first threshold Clean robot carries out clean operation, with the continuous reduction of battery capacity, when the remaining capacity of battery is equal to first threshold, Processor can control clean robot search cradle, charge to clean robot；Or working as according to battery Preceding charge threshold regenerates the charge threshold adjustment instruction of battery, to turn down the charge threshold of battery again.

In one embodiment, processor can generate the current charge threshold of battery according to the current charge threshold of battery, And the current charge threshold of battery is adjusted to first threshold, wherein first threshold is lower than current charge threshold, and is based in turn First threshold, control clean robot execute clean operation.To realize the adjustability of the charge threshold of clean robot, mention The high sweep-out pattern of single battery circulation.

Have in a kind of possible implementation, step 302 can specifically include:

When processor determines that the remaining capacity of battery reaches current charge threshold, the charge threshold adjustment for generating battery refers to It enables；Or processor obtains clean robot and treats the first expected residual electricity that cleaning region has executed battery after clean operation Amount；In the case where the first expected residual electricity is lower than current charge threshold, the charge threshold adjustment instruction of battery is generated.

In one embodiment, region to be cleaned is corresponding with an independent task of clean robot, as an example, example As first region is divided into 4 sub-regions, respectively subregion A, subregion B, subregion C and subregion D, if clean up task is clear Clean first region, then region to be cleaned is entire first region；If clean up task is cleaning subregion B, region to be cleaned is sub-district Domain B etc., it should be understood that illustrate herein, only for convenience of understanding, specifically without limitation.

In one implementation, due to being stored with the current charge threshold of battery in processor, and processor can be real When monitor battery remaining capacity, therefore, processor may determine that whether the remaining capacity of battery reaches current charge threshold, When reaching current charging, the charge threshold adjustment instruction for generating battery can be triggered.As an example, such as total electricity is unit 1, Current charge threshold can be 0.3, or 0.25 etc., specifically herein without limitation.

In another implementation, due to being stored with the map in region to be cleaned in the memory of clean robot, place Reason device can use map, estimate to estimated power consumption caused by region to be cleaned is cleaned, and with the current electricity of battery Amount subtracts estimated power consumption, has executed the first pre- of battery after clean operation to obtain clean robot and treat cleaning region Remaining capacity is counted, when the first expected residual electricity is lower than the charge threshold adjustment in the case where current charge threshold, generating battery Instruction.As an example, such as total electricity is unit 1, current charge threshold is 0.3, current electric quantity 0.8, cleaning subregion A's It is expected that power consumption is 0.6, then the first expected residual electricity is 0.2, then the first expected residual electricity is lower than current charge threshold, raw At charge threshold adjustment instruction.It should be appreciated that illustrate, only for convenience of understanding, specifically without limitation herein.According to the history of storage It cleans data to assess electricity needed for non-purging zone, remaining capacity can be more accurately assessed, to more accurately adjust Whole charge threshold, to improve the sweep-out pattern of single charge circulation.

In one embodiment, due to first threshold be lower than battery current charge threshold, when region to be cleaned be a fritter, Processor can turn down charge threshold by any one of above two mode, to improve the cleaning face of single charge circulation Product, so as to shorten entire cleaning process, is improved and is used since the clean robot charging operations occupied time of completion is longer Family experience.

Have in a kind of possible implementation, method can also include:

1) when processor determines that the remaining capacity of battery reaches current charge threshold, the present bit of clean robot is obtained It sets.2) processor determines that control clean robot executes charging according to the current location of clean robot and the position of cradle Operate the first minimum value of institute's electricity demand.3) processor determines first threshold according to the first minimum value, wherein first threshold is greater than Or it is equal to the first minimum value.

In one embodiment, executing charging operations may include search cradle, be recharged after finding cradle Contraposition is charged, i.e. control clean robot is moved at cradle, and controls clean robot and cradle foundation charging Connection.

In one embodiment, instant positioning and map structuring (simultaneous localization and are utilized Mapping, SLAM) map, processor positions current location in real time.It is currently filled when processor determines that the remaining capacity of battery reaches When electric threshold value, the available current location to clean robot, processor gets and fills according to the map stored in memory The position of electric seat, and it is moved to cradle to by clean robot, and the institute's electricity demand for establishing charging connection with cradle carries out It estimates, so that it is determined that the first minimum value, is then determined as according to by first threshold more than or equal to the first minimum value.In cleaner When device people knows the position of cradle, threshold value adjusted is greater than or equal to clean robot and recharges required electricity.Therefore, When clean robot knows the position of cradle, and when remaining capacity reaches threshold value adjusted, cleaning machine can be improved People can be successfully found the probability that charging pile charges, while also improve the sweep-out pattern of single battery circulation.

In one embodiment, the current charge threshold of battery can be adjusted to by processor after determining first threshold First threshold, so that first threshold becomes the current charge threshold of battery, processor controls clean robot and executes cleaning behaviour Make, and during cleaning, with the decline of electricity, the electricity of battery reaches the current charge threshold of battery but not yet clear again When clean complete region to be cleaned, processor can repeat above-mentioned steps 1) to 3), until clean robot cleaned it is to be cleaned Region.

In one embodiment, first threshold is set as being greater than or equal to the first minimum value by processor, to avoid the as far as possible One threshold value is too small, and clean robot cannot achieve the phenomenon that recharging automatically, to guarantee the intelligence of clean robot.

Due to clean robot treat cleaning region carry out it is clean during, may be more and more closer from cradle, then When reaching current charge threshold adjusted, electricity needed for may executing charging operations is smaller, then if not yet cleaned When region to be cleaned, the current charge threshold of battery according to the position of clean robot, can be turned down again to further avoid Robot enters in charging cycle, so as to shorten entire cleaning process, improves user experience.

Have in alternatively possible implementation, method can also include:

Processor, which obtains clean robot, to be treated cleaning region in the normal mode and has executed battery after clean operation First expected residual electricity；Processor determines first threshold according to the first expected residual electricity, wherein first threshold is less than or waits In the first expected residual electricity.

In one embodiment, first threshold can be slightly less than or be equal to the first expected residual electricity.As an example, for example Total electricity is unit 1, and current charge threshold is 0.3, and the first expected residual electricity is 0.25, then can be set as first threshold 0.25,0.22 or 0.2 etc., specifically without limitation.

In one embodiment, first threshold is determined according to the first expected residual electricity, it can be ensured that robot will not enter In charging cycle, the sweep-out pattern of single battery circulation is improved；And since clean robot is completed occupied by a charging operations Time it is longer, so as to shorten entire cleaning process, improve user experience.

Clean robot presented above can be also used for executing following charging method, and referring particularly to Fig. 4, the application is real Apply example offer charging method another embodiment, may include:

401, processor obtains the current charge threshold of battery.

In one embodiment, step 401 is similar with the step 301 in embodiment illustrated in fig. 3, is not repeated herein.

402, the operating mode of clean robot is adjusted to battery saving mode by processor.

In the present embodiment and subsequent embodiment, clean robot can be there are many operating mode, as an example, for example normal Mode, battery saving mode, careful mode etc., power consumption is different under different working modes, and power consumption in a power-save mode is lower than just Norm formula.

403, when processor determines that the current charge threshold of battery meets preset charged adjusting thresholds condition, battery is generated Charge threshold adjustment instruction.

404, processor is based on charge threshold adjustment instruction, and the current charge threshold of battery is adjusted to first threshold.

In one embodiment, step 403 and 404 with step 302 in embodiment illustrated in fig. 3 and 303 similar, do not do herein It repeats.

405, processor is based on first threshold, and control clean robot executes clean operation in a power-save mode.

In one embodiment, the operating mode of clean robot can also be adjusted to battery saving mode by processor, further Clean robot consumed electricity when executing clean operation is saved, to further increase the cleaning in single battery circulation Area.

Have in alternatively possible implementation, method can also include:

Obtain the operational order under battery saving mode.

Processor obtains the mode of the cleaning instruction under battery saving mode, comprises at least one of the following:

The setting for receiving the operating parameter at least one component for including to clean robot instructs；It is instructed according to setting, Determine the operational order under battery saving mode；Or acquisition clean robot treats cleaning region in the normal mode and carries out cleaning behaviour First expected residual electricity of battery after work；According to the difference of the first expected residual electricity and current charge threshold, generates and save Operational order under power mode.

In one embodiment, due to including multiple power-consuming components in clean robot, multiple power-consuming components are according to preset Operating parameter executes task, and the operational order under battery saving mode includes the operating parameter to power-consuming components multiple under battery saving mode And/or the setting of operating status.

In one embodiment, the button for adjusting each component operating parameter can be set on clean robot, to pass through Button receives the setting to the operating parameter of at least one component and instructs, or is built-in with wireless receiving module, passes through nothing Line receives the setting instruction that remote control apparatus is sent, and is instructed according to setting, determines the operational order under battery saving mode, so that Demand of the battery saving mode of clean robot closer to user.As an example, for example can by clean robot with blower The speed of service that corresponding button adjusts blower as another example, such as can receive so as to adjust the speed of service of blower The setting instruction for turning down volume of mobile phone transmission, and reduce volume etc., the reception mode of specific setting instruction does not limit herein It is fixed.

In one embodiment, the setting of the operating parameter at least one component for including to clean robot is inputted by user Instruction, and the operational order determined under battery saving mode is instructed according to setting, it is more in line with the demand of user, improves user experience. For example, user wants to clean a certain region A, but when user estimates that electricity is again insufficient, battery saving mode can be configured simultaneously, to improve The sweep-out pattern of single battery circulation.

In one embodiment, processor it is estimated surplus can also to generate first after getting the first expected residual electricity The difference of remaining electricity and current charge threshold generates the operational order under battery saving mode so that taking the difference as target saves electricity, Electricity is saved so as to always save electricity and can achieve target.As an example, such as total electricity is unit 1, current charge threshold is 0.3, Current electric quantity is 0.4, and the estimated power consumption of cleaning subregion A is 0.2, then the first expected residual electricity is 0.2, then difference is 0.1, processor needs to generate the operational order under battery saving mode using 0.1 as power saving target.Clean robot is executing cleaning When task, electricity needed for the remaining non-sweep-out pattern of assessment, and pass through electricity and current charge threshold needed for non-sweep-out pattern Relationship, generate power-saving instruction to control the cleaning of clean robot, can more accurately control the electricity of battery, make full use of The electricity of battery is to improve the sweep-out pattern that single charge recycles.

In one embodiment, according to the difference of the first expected residual electricity and the current charge threshold of battery, to automatically generate Operational order under battery saving mode can be completed in a circulating battery to be cleaned to guarantee under battery saving mode as far as possible The clean operation in region, to improve the sweep-out pattern of single charge circulation；And the behaviour under battery saving mode is automatically generated by processor It instructs, improves the automaticity of clean robot.

Have in alternatively possible implementation, the mode of the cleaning instruction under processor execution battery saving mode, including with Lower at least one:

Optimize the cleaning path of clean robot；

Adjust the speed of service of the blower of clean robot；

Adjust the cleaning speed of the side brush of clean robot；

The cleaning speed swept in adjustment clean robot；

Reduce the electricity consumption that the component for executing clean operation is not used in clean robot.

In one embodiment, the mode for optimizing the cleaning path of clean robot can be adjustment robot movement speed, To reduce total cleaning duration；Or when cleaning path is bow font, wide bow font is adjusted to clean interval width, thus Residual paths length is reduced, to reduce total cleaning duration；It can also be cleaned to simplify to non-key area, such as to non-heavy Point region is reduced to by 10% repetition cleaning and does not repeat cleaning etc..By path optimizing, reduces and repeat to clean, improve battery list The sweep-out pattern of secondary circulation.

In one embodiment, can be adjusted according to region to be cleaned blower, side brush or in the speed swept, as an example, example The speed of service of blower can will be reduced such as on hard floor；And the speed of service etc. swept in being reduced on woollen blanket.It is logical Cross reduce blower, side brush or in the speed swept, the electric power of battery supplied is reduced, to improve the cleaning face of battery single cycle Product.

In one embodiment, being not used in and executing the component of clean operation may include speaker, light, temperature sensor or room Environment sensor etc., volume can be reduced, reduce light display power, closing temperature sensor etc..By reducing cleaner The power of the add-on assemble of device people, to reduce the electric power of battery supplied, to improve the sweep-out pattern of battery single cycle.

It should be appreciated that the example above is only to prove the realizability of this programme, the cleaning instruction under specific battery saving mode can Flexibly to be handled in conjunction with actual conditions, herein without limitation.

In one embodiment, the specific implementation of the cleaning instruction under battery saving mode is provided, to improve we The operability of case.

Clean robot presented above can be also used for executing following charging method, and referring particularly to Fig. 5, the application is real Apply example offer charging method another embodiment, may include:

501, processor obtains the current charge threshold of battery.

In one embodiment, step 501 is similar with the step 301 in embodiment illustrated in fig. 3, is not repeated herein.

502, processor obtains clean robot and treats battery after cleaning region progress clean operation in the normal mode The first expected residual electricity.

Specifically, step 502 may include:

Processor obtains the map in region to be cleaned and treats the history electricity consumption data that cleaning region carries out clean operation；Place Device is managed according to the map with history electricity consumption data, is determined and is treated the first expected residual that cleaning region carries out battery after clean operation Electricity.

In one embodiment, due to prestoring the map in region to be cleaned in processor, processor is available to be cleaned The map in region and treat cleaning region carry out clean operation history electricity consumption data, and according to the map with history electricity consumption data, First expected residual electricity of battery is estimated.

In one embodiment, history electricity consumption data can reflect out the general electricity consumption that clean robot cleans region to be cleaned The map of situation, region to be cleaned can be with the environmental aspect in real time reaction region to be cleaned, so that the first expected residual is electric Amount more closing to reality remaining capacity improves the accuracy that electricity estimates process.

503, processor judges whether the first expected residual electricity is lower than second threshold, if the first expected residual electricity is higher than Or be equal to second threshold, then enter step 508；If the first expected residual electricity is lower than second threshold, 504 are entered step.

In the present embodiment and subsequent embodiment, second threshold is when clean robot knows cradle position, and control is clear Clean robot is moved to the maximum value of cradle institute electricity demand, namely in region to be cleaned, the position farthest apart from cradle It is moved to cradle institute electricity demand, wherein first threshold is less than or equal to second threshold.

504, processor, which obtains, treats cleaning region in a power-save mode and carries out the second estimated of battery after clean operation Remaining capacity.

In one embodiment, due to prestoring the map in region to be cleaned in processor, processor is available in power saving The history electricity consumption data that cleaning region carries out clean operation is treated under mode, and according to the map with history electricity consumption data, assessment the Two expected residual electricity.

505, processor judges whether the second expected residual electricity is lower than second threshold, if the second expected residual electricity is higher than Or be equal to second threshold, then enter step 506；If the second expected residual electricity is lower than second threshold, 512 are entered step.

506, the operating mode of clean robot is adjusted to battery saving mode by processor.

It in one embodiment, can be further when processor determines the first expected residual electricity lower than second threshold The operating mode of clean robot is adjusted to battery saving mode, executes electricity used in clean operation to further save, To increase the area for completing region to be cleaned in a circulating battery, further avoid entering charging cycle.

In one embodiment, processor first obtain treat in a power-save mode cleaning region carry out clean operation after battery The second expected residual electricity, and the second expected residual electricity be greater than or equal to second threshold in the case where, machine will be cleaned The operating mode of people is adjusted to charge mode, if since the second expected residual electricity is greater than or equal to second threshold, maximum probability First threshold adjusted also above or be equal to second threshold, then when the remaining capacity of battery reaches first threshold, if place Reason device knows the position of cradle, so that it may realize and recharge function automatically to clean robot, not only increase single battery Sweep-out pattern in discharge cycles, and ensure that the intelligence of clean robot, improve user experience.

It should be appreciated that in one embodiment, step 504 and 505 is optional step, if it does not exist step 504 and 505, then Processor can determine the first expected residual electricity when determining the first expected residual electricity lower than second threshold in step 503 When amount is lower than second threshold, it is directly entered step 506.

507, processor control clean robot executes clean operation in a power-save mode.

508, processor generates the charge threshold adjustment instruction of battery.

In one embodiment, processor can first judge that first is estimated surplus before turning down the charge threshold of clean robot Whether remaining electricity and/or the second expected residual electricity are greater than or equal to second threshold, when the first expected residual electricity and/or second When expected residual electricity is greater than or equal to second threshold, charge threshold adjustment instruction is just generated, if due to the first expected residual electricity Amount and/or the second expected residual electricity be greater than or equal to second threshold, then maximum probability first threshold adjusted also above or wait In second threshold, then when the remaining capacity of battery reaches first threshold, as long as processor knows the position of cradle, so that it may It realizes and function is recharged automatically to clean robot, to not only reduce the duration of charging process, and ensure that cleaner The intelligence of device people, improves user experience.

509, processor judges whether to know the position of cradle, if it is known that the position of cradle, then enter step 510, If not knowing the position of cradle, 511 are entered step.

In one embodiment, processor can judge whether to know the position of cradle with map according to the pre-stored data.

510, the current charge threshold of battery is adjusted to first threshold by processor.

In one embodiment, step 510 is similar with the step 303 in embodiment illustrated in fig. 3, is not repeated herein.

511, processor reaches the position that current charge threshold is unaware that cradle in the remaining capacity for determining battery In the case of, control clean robot searches for cradle, to charge.

In one embodiment, processor reaches current charge threshold in the remaining capacity of battery, but does not know cradle In the case where position, robot search cradle can control, to charge, to guarantee that clean robot recharges function It realizes.

512, processor control clean robot carries out clean operation in the normal mode.

513, when processor determines that the remaining capacity of battery reaches original charge threshold, control clean robot search is filled Electric seat, to charge.

In one embodiment, when processor determines that the second expected residual electricity lower than second threshold, then controls cleaning machine People cleans in the normal mode, and when reaching original charge threshold, charges, namely when processor determines adjustment threshold value Also when maximum probability can not be completed to treat the clean operation in cleaning region in impulse discharge recycles, cleaning behaviour is carried out in the normal mode Make, it is ensured that clean quality.

Have in alternatively possible implementation, method can also include: that cleaning region progress clean operation is treated in acquisition Consumed pre- quantity calculation；Obtain pre- quantity calculation and current charge threshold third threshold value after being added；Control clean robot into Row charging, until the electricity of battery is equal or slightly larger than third threshold value；Controller clean robot executes clean operation.It is cleaning When region has not cleaned and has needed to charge, electricity needed for the region that clean robot assessment has not cleaned, clean robot control When battery processed charges to electricity and the region not cleaned can have been swept, stop charging, and cleaning is executed to the region not cleaned Task, so as to shorten the completion duration of the task of cleaning.

In one embodiment, when processor control clean robot and cradle establish connection after, to clean robot into Row charging, processor can combine the map in region to be cleaned and treat the history power consumption that cleaning region carries out clean operation, It treats pre- quantity calculation consumed by cleaning region progress clean operation to be estimated, and obtains the current charge threshold of battery, from And pre- quantity calculation and current charge threshold third threshold value after being added are got, and control clean robot and fill by cradle Electricity, until the electricity of battery is equal or slightly larger than third threshold value.The duration of charging operations is shortened, so as to shorten entire cleaning The duration of process.

Refering to fig. 1, the embodiment of the present application also provides one embodiment of clean robot 100, clean robot 100 is wrapped Processor 111 is included,

Processor 111 is configured as:

Obtain the current charge threshold of battery 120；

According to the current charge threshold of battery 120, the charge threshold adjustment instruction of battery 120 is generated；

Based on charge threshold adjustment instruction, the current charge threshold of battery 120 is adjusted to first threshold, wherein first Threshold value is lower than current charge threshold；

Based on first threshold, controls clean robot and execute clean operation.

In a kind of possible implementation, processor 111 is specifically configured to:

In response to when the remaining capacity of battery 120 reaches current charge threshold, generating the charge threshold adjustment of battery 120 Instruction；Or

It obtains clean robot and treats cleaning region in the normal mode and carry out the first pre- of battery 120 after clean operation Count remaining capacity；

In the case where the first expected residual electricity is lower than current charge threshold, the charge threshold adjustment of battery 120 is generated Instruction.

In a kind of possible implementation, processor 111 is also configured to

In response to obtaining the current location of clean robot when the remaining capacity of battery 120 reaches current charge threshold；

According to the position of the current location of clean robot and cradle, determine that control clean robot executes charging operations First minimum value of institute's electricity demand；

First threshold is determined according to the first minimum value, wherein first threshold is greater than or equal to the first minimum value.

In a kind of possible implementation, processor 111 is also configured to

First threshold is determined according to the first expected residual electricity, wherein first threshold is less than or equal to the first expected residual Electricity.

In a kind of possible implementation, processor 111 is also configured to

The operating mode of clean robot is adjusted to battery saving mode；

Control clean robot executes clean operation in a power-save mode.

In a kind of possible implementation, processor 111 is also configured to

Obtain the operational order under battery saving mode；

Processor 111 obtains the mode of the cleaning instruction under battery saving mode, comprises at least one of the following:

The setting for receiving the operating parameter at least one component for including to clean robot instructs；

It is instructed according to setting, determines the operational order under battery saving mode；

Or

It obtains clean robot and treats the first expected residual electricity that cleaning region carries out battery 120 after clean operation；

According to the difference of the first expected residual electricity and current charge threshold, the operational order under battery saving mode is generated.

In a kind of possible implementation, processor 111 executes the mode of the cleaning instruction under battery saving mode, including following It is at least one:

Optimize the cleaning path of clean robot；

Adjust the speed of service of the blower 130 of clean robot；

Adjust the cleaning speed of the side brush 141 of clean robot；

142 cleaning speed is swept in adjustment clean robot；

In the case where the first expected residual electricity is greater than or equal to second threshold, the charge threshold tune of battery 120 is generated Whole instruction；

Wherein, second threshold is when clean robot knows cradle position, and control clean robot is moved to charging The maximum value of seat institute electricity demand, first threshold are less than or equal to second threshold.

In a kind of possible implementation, processor 111 is also configured to

In the case where the first expected residual electricity is lower than second threshold, the operating mode of clean robot is adjusted to province Power mode；

Wherein, second threshold is when clean robot knows cradle position, and control clean robot is moved to charging The maximum value of seat institute electricity demand, first threshold are less than or equal to second threshold, and second threshold is less than current charge threshold.

In a kind of possible implementation, processor 111 is also configured to

It obtains clean robot and treats cleaning region in a power-save mode and carry out the second pre- of battery 120 after clean operation Count remaining capacity；

In the case where the second expected residual electricity is higher than second threshold, the operating mode of clean robot is adjusted to province Power mode；

It obtains the map in region to be cleaned and treats the history electricity consumption data that cleaning region carries out clean operation；

According to the map with history electricity consumption data, first of battery 120 after treating cleaning region progress clean operation is determined Expected residual electricity.

In a kind of possible implementation, processor 111 is also configured to

In the case where the remaining capacity of battery 120 reaches current charge threshold and is unaware that the position of cradle, control Clean robot searches for cradle, to charge.

In a kind of possible implementation, processor 111 is also configured to

It obtains and treats the second expected residual electricity that cleaning region carries out battery 120 after clean operation in a power-save mode Amount；

In the case where the second expected residual electricity is lower than second threshold, control clean robot carries out clearly in the normal mode Clean operation；

When the remaining capacity of battery 120 reaches original charge threshold, control clean robot searches for cradle, to carry out Charging；

In a kind of possible implementation, processor 111 is also configured to

Acquisition treats cleaning region and carries out pre- quantity calculation consumed by clean operation；

Obtain pre- quantity calculation and current charge threshold third threshold value after being added；

Control clean robot charges, until the electricity of battery 120 is equal or slightly larger than third threshold value；

Controller clean robot executes clean operation.

It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

Refering to Fig. 6, the embodiment of the present application also provides one embodiment of clean robot 100, clean robot 100 is wrapped It includes:

Acquiring unit 601, for obtaining the current charge threshold of battery；

Generation unit 602 when meeting preset charged adjusting thresholds condition for the current charge threshold when battery, generates electricity The charge threshold adjustment instruction in pond；

The current charge threshold of battery is adjusted to the first threshold for being based on charge threshold adjustment instruction by adjustment unit 603 Value, wherein first threshold is lower than current charge threshold；

Cleaning unit 604, for being based on first threshold, control clean robot executes clean operation.

In one embodiment, generation unit 602 can generate the current charging of battery according to the current charge threshold of battery The current charge threshold of battery is adjusted to first threshold by threshold value, adjustment unit 603, wherein first threshold is lower than current charging Threshold value, cleaning unit 604 are based on first threshold, and control clean robot executes clean operation.To realize clean robot Charge threshold adjustability, improve the flexibility of robot charging modes.

In a kind of possible implementation, acquiring unit 601 is specifically used for:

In response to when the remaining capacity of battery reaches current charge threshold, generating the charge threshold adjustment instruction of battery； Or

It obtains clean robot and treats the first expected residual electricity that cleaning region carries out battery after clean operation；

In the case where the first expected residual electricity is lower than current charge threshold, the charge threshold adjustment for generating battery refers to It enables.

In a kind of possible implementation, acquiring unit 601 is also used to reach current in response to the remaining capacity when battery When charge threshold, the current location of clean robot is obtained；

Clean robot 100 further includes that determination unit 605 is specifically used for:

In a kind of possible implementation, acquiring unit 601 is also used to obtain clean robot and treats cleaning region and carries out First expected residual electricity of battery after clean operation；

Determination unit 605 is also used to determine first threshold according to the first expected residual electricity, wherein first threshold is less than Or it is equal to the first expected residual electricity.

In a kind of possible implementation, adjustment unit 603 is also used to the operating mode of clean robot being adjusted to province Power mode；

Cleaning unit 604 is also used to control clean robot and executes clean operation in a power-save mode.

In a kind of possible implementation, acquiring unit 601 is also used to obtain the operational order under battery saving mode；

The mode for obtaining the cleaning instruction under battery saving mode, comprises at least one of the following:

Or

It obtains clean robot and treats cleaning region in the normal mode and carry out the first estimated of battery after clean operation Remaining capacity；

In a kind of possible implementation, the mode of the cleaning instruction under battery saving mode is executed, is comprised at least one of the following:

Optimize the cleaning path of clean robot；

Adjust the speed of service of the blower of clean robot；

Adjust the cleaning speed of the side brush of clean robot；

The cleaning speed swept in adjustment clean robot；

In a kind of possible implementation, processor is specifically configured to:

In the case where the first expected residual electricity is greater than or equal to second threshold, the charge threshold adjustment for generating battery refers to It enables；

In a kind of possible implementation, acquiring unit 601 is also used to obtain clean robot and treats in a power-save mode Clean the second expected residual electricity that region carries out battery 120 after clean operation；

Adjustment unit 603 is specifically used for:

It obtains the map in region to be cleaned and treats the history electricity consumption data that cleaning region carries out clean operation；According to the map With history electricity consumption data, determines and treat the first expected residual electricity that cleaning region carries out battery after clean operation.

In a kind of possible implementation, clean robot 100 further include:

Charhing unit 606 reaches the position that current charge threshold is unaware that cradle for the remaining capacity in battery In the case where, control clean robot searches for cradle, to charge.

In a kind of possible implementation, acquiring unit 601, be also used to obtain treat in a power-save mode cleaning region into Second expected residual electricity of battery after row clean operation；

Cleaning unit 604 is specifically used for controlling cleaner in the case where the second expected residual electricity is lower than second threshold Device people carries out clean operation in the normal mode；

Charhing unit 606, specifically for controlling clean robot when the remaining capacity of battery reaches original charge threshold Cradle is searched for, to charge；

In a kind of possible implementation, charhing unit 606 is also used to obtain and treats cleaning region and carry out clean operation institute The pre- quantity calculation of consumption；Obtain pre- quantity calculation and current charge threshold third threshold value after being added；Clean robot is controlled to carry out Charging, until the electricity of battery is equal or slightly larger than third threshold value；

Cleaning unit 604 is also used to when the electricity of the determining battery of charhing unit 606 is equal or slightly larger than third threshold value, Controller clean robot executes clean operation.

It should be noted that in the above-described embodiments, can wholly or partly by software, hardware, firmware or its Any combination is realized.When implemented in software, it can entirely or partly realize in the form of a computer program product.

The computer program product includes one or more computer instructions.Load and execute on computers the meter When calculation machine program instruction, entirely or partly generate according to process or function described in the embodiment of the present application.The computer can To be general purpose computer, special purpose computer, computer network or other programmable devices.The computer instruction can be deposited Storage in a computer-readable storage medium, or from a computer readable storage medium to another computer readable storage medium Transmission, for example, the computer instruction can pass through wired (example from a web-site, computer, server or data center Such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave) mode to another website Website, computer, server or data center are transmitted.The computer readable storage medium can be computer and can deposit Any usable medium of storage either includes that the data storages such as one or more usable mediums integrated server, data center are set It is standby.The usable medium can be magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or partly lead Body medium (such as solid state hard disk (Solid State Disk, SSD)) etc..

In several embodiments provided herein, it should be understood that disclosed system, device and method can be with It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit It closes or communicates to connect, can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words It embodies, which is stored in a storage medium, including some instructions are used so that a computer Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the application Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey The medium of sequence code.

The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.

Claims

1. a kind of clean robot characterized by comprising battery and processor；

The processor is configured to:

Obtain the current charge threshold of the battery；

When the current charge threshold of the battery meets preset charged adjusting thresholds condition, the charge threshold of the battery is generated Adjustment instruction；

Based on the charge threshold adjustment instruction, the current charge threshold of the battery is adjusted to first threshold, wherein described First threshold is lower than the current charge threshold；

Based on the first threshold, controls the clean robot and execute clean operation.

2. clean robot according to claim 1, which is characterized in that the processor is specifically configured to:

In response to generating the charge threshold tune of the battery when the remaining capacity of the battery reaches the current charge threshold Whole instruction；Or

Obtain the clean robot treat in the normal mode cleaning region carry out clean operation after the battery first Expected residual electricity；

In the case where the first expected residual electricity is lower than the current charge threshold, the charge threshold of the battery is generated Adjustment instruction.

3. clean robot according to claim 1, which is characterized in that the processor is also configured to

In response to obtaining the current of the clean robot when the remaining capacity of the battery reaches the current charge threshold Position；

According to the position of the current location of the clean robot and cradle, determine that controlling the clean robot executes charging Operate the first minimum value of institute's electricity demand；

The first threshold is determined according to first minimum value, wherein the first threshold is greater than or equal to described first most Small value.

4. clean robot according to claim 1, which is characterized in that the processor is also configured to

The first threshold is determined according to the first expected residual electricity, wherein the first threshold is less than or equal to described First expected residual electricity.

5. clean robot according to claim 1, which is characterized in that the processor is also configured to

The operating mode of the clean robot is adjusted to battery saving mode；

It controls the clean robot and executes clean operation under the battery saving mode.

6. clean robot according to claim 5, which is characterized in that the processor is also configured to

Obtain the operational order under the battery saving mode；

The processor obtains the mode of the cleaning instruction under battery saving mode, comprises at least one of the following:

The setting for receiving the operating parameter at least one component for including to the clean robot instructs；

It is instructed according to the setting, determines the operational order under the battery saving mode；

Or

It obtains the clean robot and treats the first expected residual electricity that cleaning region carries out battery after clean operation；

According to the difference of the first expected residual electricity and the current charge threshold, the operation under the battery saving mode is generated Instruction.

7. clean robot according to claim 6, which is characterized in that the processor executes under the battery saving mode The mode for cleaning instruction, comprises at least one of the following:

Optimize the cleaning path of the clean robot；

Adjust the speed of service of the blower of the clean robot；

Adjust the cleaning speed of the side brush of the clean robot；

Adjust the cleaning speed swept in the clean robot；

Reduce the electricity consumption that the component for executing the clean operation is not used in the clean robot.

8. clean robot according to claim 4, which is characterized in that the processor is specifically configured to:

In the case where the first expected residual electricity is greater than or equal to second threshold, the charge threshold tune of the battery is generated Whole instruction；

Wherein, the second threshold is to control the clean robot when the clean robot knows cradle position and move It moves to the maximum value of cradle institute electricity demand, the first threshold is less than or equal to the second threshold.

9. clean robot according to claim 5, which is characterized in that the processor is also configured to described in acquisition Clean robot treats the second expected residual that cleaning region carries out the battery after clean operation under the battery saving mode Electricity；

In the case where the second expected residual electricity is greater than or equal to second threshold, by the Working mould of the clean robot Formula is adjusted to battery saving mode；

Wherein, the second threshold is to control the clean robot when the clean robot knows cradle position and move It moves to the maximum value of cradle institute electricity demand, the first threshold is less than or equal to the second threshold, second threshold Value is less than current charge threshold.

10. clean robot according to claim 2 or 4, which is characterized in that the processor is specifically configured to:

It obtains the map in the region to be cleaned and carries out the history electricity consumption data of clean operation to the region to be cleaned；

According to the map and the history electricity consumption data, the battery after treating cleaning region progress clean operation is determined First expected residual electricity.

11. clean robot according to any one of claims 1 to 9, which is characterized in that the processor is also configured Are as follows:

In the case where the remaining capacity of the battery reaches the current charge threshold and is unaware that the position of cradle, control The clean robot searches for the cradle, to charge.

12. clean robot according to any one of claims 1 to 9, which is characterized in that the processor is also configured Are as follows:

It obtains estimated surplus to second of the battery after the progress clean operation in region to be cleaned under the battery saving mode Remaining electricity；

The second expected residual electricity be lower than second threshold in the case where, control the clean robot in the normal mode into The row clean operation；

When the remaining capacity of battery reaches original charge threshold, control the clean robot and search for the cradle, with into Row charging；

13. a kind of charging method, which is characterized in that the described method includes:

Obtain the current charge threshold of the battery；

14. according to the method for claim 13, which is characterized in that described when the current charge threshold of the battery meets in advance If when charge threshold regularization condition, generating the charge threshold adjustment instruction of the battery, comprising:

When the remaining capacity of the battery reaches the current charge threshold, the charge threshold adjustment for generating the battery refers to It enables；Or

It obtains the clean robot and treats cleaning region has executed the battery after clean operation the in the normal mode One expected residual electricity；

15. according to the method for claim 13, which is characterized in that the method also includes:

When the remaining capacity of the battery reaches the current charge threshold, the current location of the clean robot is obtained；

16. according to the method for claim 14, which is characterized in that the method also includes:

17. according to the method for claim 13, which is characterized in that the method also includes:

The operating mode of the clean robot is adjusted to battery saving mode；

18. method described in 4 or 16 according to claim 1, which is characterized in that the processor is specifically configured to:

Obtain map corresponding with the task is executed and history electricity consumption data；

According to the map and the history electricity consumption data, determine that treating cleaning region has executed the battery after clean operation The first expected residual electricity.

19. 3 to 17 described in any item methods according to claim 1, which is characterized in that the method also includes: