CN109199251A

CN109199251A - A kind of clean method and relevant device

Info

Publication number: CN109199251A
Application number: CN201811292384.3A
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: 2019-01-15

Abstract

The embodiment of the present application discloses a kind of clean method and relevant device, for adjusting the operating mode of clean robot to battery saving mode, and control clean robot and carry out clean operation in a power-save mode, so as to improve working time and the cleaning area of single battery discharge cycles.The embodiment of the present application method includes: acquisition power-saving instruction；Based on the power-saving instruction, the operating mode of the clean robot is adjusted to battery saving mode；It controls the clean robot and carries out clean operation under the battery saving mode.

Description

A kind of clean method and relevant device

Technical field

This application involves robot field more particularly to a kind of clean methods and relevant device.

Background technique

In the modern life, robot using more and more extensive, clean robot generally has control system, driving system System, power-supply management system etc. may be implemented to be automatically performed a certain work.Due to the mobility of clean robot, generally use Rechargeable battery pack is that clean robot improves electric energy.

For the convenience for improving the intelligence of clean robot and using, the intervention operation of the mankind is reduced, it is modern clear Clean robot, which typically is provided with, independently recharges function, during clean robot executes clean up task, when robot detects this When the battery capacity of body is reduced to original charge threshold (charge threshold of default setting), the mode of recharging is switched to, control is clear Clean robot is moved to cradle and charges, and after fully charged, continues clean up task.However electricity it is less sufficient or When there are many person's clean up task, clean robot power consumption is still very big.

Summary of the invention

The embodiment of the present application provides a kind of clean method and relevant device, for by the operating mode tune of clean robot It is whole and to control clean robot and carry out clean operation in a power-save mode to battery saving mode, it is put so as to improve single battery The working time of electricity circulation and cleaning area.

In a first aspect, the embodiment of the present application provides a kind of clean robot, the clean robot includes processor；Institute It states processor to be configured as: obtaining power-saving instruction；Based on the power-saving instruction, the operating mode of the clean robot is adjusted To battery saving mode；It controls the clean robot and carries out clean operation under the battery saving mode.

In the application, power-saving instruction is obtained, and be based on the power-saving instruction, the operating mode of clean robot is adjusted to province Power mode, and control clean robot and carry out clean operation in a power-save mode, so as to improve single battery discharge cycles Working time and cleaning area.

In one possible implementation, the processor is specifically configured to: receiving the power-saving instruction, the province Electricity instruction is inputted by user；Or it obtains and treats the first expected residual electricity that cleaning region carries out battery after clean operation； When the first expected residual electricity is lower than current charge threshold, the power-saving instruction is generated.

In the application, under a kind of mode, processor can receive the power-saving instruction inputted with user, and according to the power saving Instruction adjusts operating mode to battery saving mode, since clean robot can be with the remaining capacity of real-time exhibition battery, by user Decide whether to enter battery saving mode, is more bonded the needs of user.

Under another way, processor can also estimate treat cleaning region carry out clean operation after battery first Expected residual electricity automatically generates power saving threshold value when the first expected residual electricity is lower than current charge threshold, so that Robot completes to avoid enter into charging cycle, and by handling to the clean operation in cleaning region as far as possible in a circulating battery Device automatically generates the power-saving instruction, improves the intelligence of clean robot.

In one possible implementation, the processor is also configured to receive includes to the clean robot At least one component operating parameter setting instruction；It is instructed according to the setting, determines the cleaning under the battery saving mode Instruction.

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.

In one possible implementation, the processor be also configured to obtain treat cleaning region cleaned First expected residual electricity of the battery after operation；According to the first expected residual electricity and the current charge threshold Difference, generate under the battery saving mode cleaning instruction strategy.

In the application, processor can also be electric after getting clean robot and treating cleaning region progress clean operation The first expected residual electricity in pond, to be come from according to the difference of the first expected residual electricity and the current charge threshold of battery The dynamic operational order generated under battery saving mode can be completed to guarantee under the battery saving mode as far as possible in a circulating battery The clean operation in cleaning region is treated, to avoid charging cycle is entered；And the operation under battery saving mode is automatically generated by processor Instruction, improves the intelligence of clean robot.

In one possible implementation, the clean robot further includes the portion for executing the clean operation Part, the component for executing the clean operation include blower, side brush or in sweep；The processor executes the power saving mould The mode of cleaning instruction under formula, comprises at least one of the following: optimizing the cleaning path of the clean robot；It adjusts described clear The speed of service of the blower of clean robot；Adjust the cleaning speed of the side brush of the clean robot；Adjust the cleaning machine The cleaning speed swept in people；Reduce the electricity consumption that the component for executing the clean operation is not used in the 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 clean robot further includes battery, and the processor is also configured to Obtain the charge threshold adjustment instruction of the battery；Based on the charge threshold adjustment instruction, by the current charging of the battery Adjusting thresholds are first threshold, and the first threshold is lower than the current charge threshold.

In the application, processor can also be according to the charge threshold adjustment instruction got, by the current charging threshold of battery Value is turned down, and is also entered clean robot and is recharged time of mode and delay, when the work of further single battery discharge cycles Between and cleaning area.

In one possible implementation, the processor is specifically configured to: when the remaining capacity of the battery reaches When to current charge threshold, the charge threshold adjustment instruction of the battery is generated；Or it obtains the clean robot and treats clearly Clean region carries out the first expected residual electricity of the battery after clean operation；It is lower than institute in the first expected residual electricity In the case where stating current charge threshold, the charge threshold adjustment instruction of the 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 clean operation after the battery the first expected residual electricity into Row is estimated, and in the case where the first expected residual electricity is lower than current charge threshold, and the charge threshold adjustment for generating battery refers to It enables.

Since the first threshold is lower than the current charge threshold of the battery, when region to be cleaned is a fritter, processor can By by turning down charge threshold any one of in a manner of above two, to avoid clean robot from entering in charging cycle as far as possible, Since the clean robot charging operations occupied time of completion is longer, so as to shorten entire cleaning process, user is improved Experience.

In one possible implementation, the processor is specifically configured to: when the remaining capacity of the battery reaches 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 specifically configured to: being obtained the clean robot and is treated Clean the first expected residual electricity that region carries out the battery after clean operation；It is true according to the first expected residual electricity The fixed 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 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 the 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 obtain under the battery saving mode to institute State the second expected residual electricity that region to be cleaned carries out the battery after clean operation；In the second expected residual electricity In the case where greater than or equal to the current charge threshold, the power-saving instruction is generated.

In the application, processor first obtain treated under the battery saving mode cleaning region carry out clean operation after battery The second expected residual electricity, and judge whether the second expected residual electricity is greater than or equal to current charge threshold, this When two expected residual electricity are greater than or equal to current charge threshold, power-saving instruction is generated.Since if the second expected residual electricity is high In or equal to current charge threshold, then clean robot treats the real surplus electricity that cleaning region carries out battery after clean operation Current charge threshold can be also greater than or equal to by measuring maximum probability, be filled so that it is guaranteed that the clean robot will not enter during cleaning Electricity circulation reduces the duration of entire cleaning process.

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 the battery after clean operation；In the second expected residual electricity In the case where lower than second threshold, the clean operation is carried out in the normal mode；When the remaining capacity of battery reaches original charging When threshold value, controls the clean robot and search for the cradle, to charge；Wherein, the second threshold is when described When clean robot knows 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, when processor finds that the second expected residual electricity lower than second threshold, then controls clean robot It is cleaned, and when reaching current 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 method also includes: acquisition treat cleaning region carry out clean operation institute The pre- quantity calculation of consumption；Obtain the pre- quantity calculation and the current charge threshold third threshold value after being added；It controls described clear Clean robot charges, until the electricity of the battery is equal or slightly larger than the third threshold value；The controller cleaning machine People cleans remaining area.

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 the battery is equal or slightly larger than the third threshold value, shortens and fill Electrically operated duration, so as to shorten the duration of entire cleaning process.

Second aspect, the embodiment of the present application provide a kind of charging method, and the method is applied to clean robot, described Method includes: acquisition power-saving instruction；Based on the power-saving instruction, the operating mode of the clean robot is adjusted to power saving mould Formula；It controls the clean robot and carries out clean operation under the battery saving mode.

The third aspect, the embodiment of the present application provide a kind of clean robot, and the clean robot includes: acquisition mould Block, for obtaining power-saving instruction；Module is adjusted, for being based on the power-saving instruction, by the operating mode of the clean robot It adjusts to battery saving mode；Cleaning module carries out clean operation for controlling the clean robot under the battery saving mode.

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 clean method provided by the embodiments of the present application；

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

Fig. 5 is a kind of flow diagram of clean 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

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, clean robot 100 may include processor 111, memory 112, driving assembly 113, sensor 114, battery 120, blower 130, side brush 141, In sweep 142, revolver 151 and right wheel 152.

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, memory 112 is for storing instruction and data, processor 111 can read memory 112 The corresponding function of the instruction execution of middle storage.Memory 112 may include random access memory (Random Access Memory, RAM) and nonvolatile memory (Non-Volatile Memory, NVM).Nonvolatile memory may include hard Disk drive (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 only Processor 111 is stood on, also can integrate among processor 111, the positional relationship of specific memory 112 and processor 111, this Place is without limiting.

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..

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 the equipment such as PAD, laptop 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 clean method, and referring particularly to Fig. 3, the application is implemented Example provide clean method one embodiment, may include:

301, processor obtains power-saving instruction.

302, processor is based on power-saving instruction, and the operating mode of clean robot is adjusted to battery saving mode.

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.When executing same task, in battery saving mode Under power consumption lower than power consumption in the normal mode.

303, processor control clean robot carries out clean operation in a power-save mode.

In one embodiment, processor obtains power-saving instruction, power-saving instruction is based on, by the operating mode tune of clean robot It is whole and to control clean robot and carry out clean operation in a power-save mode to battery saving mode, when clean robot is in battery saving mode When lower execution clean operation, the electricity of consumption is lower, it is thus possible to improve the working time of single battery discharge cycles and cleaning Area.

Have in a kind of possible implementation, step 301 includes:

Processor receives power-saving instruction, and power-saving instruction is inputted by user；Or processor acquisition is treated in the normal mode Clean the first expected residual electricity that region carries out battery after clean operation；When processor determines that the first expected residual electricity is low When current charge threshold, power-saving instruction is generated.

In one implementation, power-saving instruction can be directly inputted by user, for example user is by clicking cleaning machine The button of " battery saving mode " on people, or by with the associated remote controler of clean robot, terminal device etc., to cleaning machine Human hair send the switching signal etc. of " battery saving mode ", specifically herein without limitation.Since clean robot can be with real-time exhibition battery Remaining capacity, by user according to the electricity of displaying decide whether enter battery saving mode, more be bonded user needs.

In another implementation, power-saving instruction can also be automatically generated by processor, for example, processor can also be pre- Estimate and treat the first expected residual electricity that cleaning region carries out battery after clean operation, works as when the first expected residual electricity is lower than When preceding charge threshold, power-saving instruction is automatically generated, is adjusted the operating mode of clean robot to power saving mould based on power-saving instruction The working time of single battery discharge cycles can be improved to reduce power consumption of the clean robot in the task of execution in formula With cleaning area, and power-saving instruction is automatically generated by processor, improve the intelligence of clean robot.

Have in a kind of possible implementation, method further include: processor receives include to clean robot at least one The setting of the operating parameter of a component instructs；Processor is instructed according to setting, determines the cleaning instruction under battery saving mode.

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 can be according to reality Situation is flexibly set, herein without limitation.

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.

Have in a kind of possible implementation, method further include: acquisition treat in the normal mode cleaning region carry out it is clear First expected residual electricity of battery after clean operation；It is raw according to the difference of the first expected residual electricity and current charge threshold Strategy is instructed at the cleaning under battery saving mode.

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 avoid charging cycle is entered；And the operational order under battery saving mode is automatically generated by processor, it improves The automaticity of clean robot.

Have in a kind of possible implementation, processor 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 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 clean method, and referring particularly to Fig. 4, the application is real Apply example offer clean method another embodiment, may include:

401, processor obtains power-saving instruction.

402, processor is based on power-saving instruction, and the operating mode of clean robot is adjusted to battery saving mode.

403, processor control clean robot carries out clean operation in a power-save mode.

In one embodiment, step 401 to 403 with the step 301 in embodiment illustrated in fig. 3 to 303 similar, do not do herein It repeats.

404, processor obtains charge threshold adjustment instruction.

405, 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 charging threshold of battery after getting charge threshold adjustment instruction Value 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 When the first threshold of current charge threshold, clean robot can be made there are more electricity to go to execute remaining task, to mention The sweep-out pattern of high single cycle.In one embodiment, the acquisition time of charge threshold adjustment instruction can be in cleaning machine People treats before cleaning region progress clean operation, or the remaining capacity of battery reaches the current charge threshold of battery When.

It should be appreciated that the present embodiment, which does not limit step 401, executes sequence with step 404 and 405 to 403, can first hold Row step 401 is to 403, then executes step 404 and 405；Step 404 and 405 can also be first carried out, then execute step 401 to 403；Step 401 be may also be performed simultaneously to 403 and step 404 and 405.

In one embodiment, operating mode is not only adjusted to battery saving mode by processor, can also be filled according to what is got Electric adjusting thresholds instruction, the current charge threshold of battery is turned down, even if also clean robot has more electricity to go execution surplus Therefore remaining task further improves working time and the cleaning area of single battery discharge cycles.

Have in a kind of possible implementation, step 404 specifically includes:

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 acquisition clean robot treats second of battery after cleaning region progress clean operation in a power-save mode Expected residual electricity；In the case where processor determines the second expected residual electricity lower than current charge threshold, battery is generated Charge threshold adjustment instruction.

Region to be cleaned is corresponding with an independent task of clean robot, as an example, such as first region is divided into For 4 sub-regions, respectively subregion A, subregion B, subregion C and subregion D, if clean up task is cleaning first region, Region to be cleaned is entire first region；If clean up task is cleaning subregion B, region to be cleaned is subregion B etc., should be managed Solution, illustrates 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 avoid clean robot to enter charging as far as possible In circulation, since the clean robot charging operations occupied time of completion is longer, so as to shorten entire cleaning process, mention High user experience.

Have in a kind of possible implementation, step 405 specifically includes:

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 that control clean robot is moved at cradle, and is controlled Clean robot and cradle establish charging connection.

In one embodiment, instant positioning and map structuring (simultaneous localization and are utilized Mapping, SLAM) map, processor can position current location in real time.Then when processor determines that the remaining capacity of battery reaches When current charge threshold, the available current location to clean robot, processor is obtained according to the map stored in memory The position of cradle is got, and is moved to cradle to by clean robot, and establish the required electricity of charging connection with cradle Amount is estimated, 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.? When clean robot knows the position of cradle, threshold value adjusted is greater than or equal to clean robot and recharges required electricity Amount.Therefore, it when clean robot knows the position of cradle, and when remaining capacity reaches threshold value adjusted, can be improved Clean robot 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 cleans remaining area Domain, 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 a kind of possible implementation, step 405 specifically includes:

Processor obtains clean robot and treats cleaning region carries out battery after clean operation the in a power-save mode Two expected residual electricity；Processor determines first threshold according to the second expected residual electricity, wherein first threshold is less than or equal to Second expected residual electricity.

In one embodiment, first threshold can be slightly less than or be equal to the second expected residual electricity.As an example, for example Total electricity is unit 1, and current charge threshold is 0.3, and the second 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 intelligence of clean robot is improved；And since a clean robot charging operations of completion are occupied Time is longer, so as to shorten entire cleaning process, improves user experience.

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

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

Specifically, step 501 may include:

Processor, which obtains the map in region to be cleaned and treats cleaning region in a power-save mode, carries out going through for clean operation History electricity consumption data；Processor with history electricity consumption data, determines that treating cleaning region in a power-save mode is cleaned according to the map Second expected residual electricity of battery after operation.

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 cleaning region is treated in a power-save mode carry out the history electricity consumption data of clean operation, and according to the map and go through History electricity consumption data estimates the second expected residual electricity of battery.

In one embodiment, history electricity consumption data can reflect out clean robot and clean area to be cleaned in a power-save mode The map of the general electricity consumption situation in domain, region to be cleaned can be with the environmental aspect in real time reaction region to be cleaned, so that One expected residual electricity more closing to reality remaining capacity improves the accuracy that electricity estimates process.

502, processor judges whether the second expected residual electricity is greater than or equal to current charge threshold, if lower than currently filling Electric threshold value, then enter step 503；If being greater than or equal to current charge threshold, 506 are entered step.

503, processor judges whether the second expected residual electricity is greater than or equal to second threshold, if being greater than or equal to second Threshold value then enters step 504；If being lower than current charge threshold, 508 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.

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

In one embodiment, processor can first judge that second is estimated before the charge threshold adjustment instruction for generating battery Whether remaining capacity is greater than or equal to second threshold, when the second expected residual electricity is greater than or equal to second threshold, just generates Charge threshold adjustment instruction, if since the second expected residual electricity is greater than or equal to second threshold, maximum probability adjusted the One threshold value also above or be equal to second threshold, and the map in region to be cleaned is stored in clean robot, then it is surplus when battery When remaining electricity reaches first threshold, processor can be realized according to the position of cradle and recharge function automatically to clean robot Can, it to not only reduce the duration of cleaning process, and ensure that the intelligence of clean robot, improve user experience.

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

In one embodiment, step 505 is similar with the step 405 in embodiment illustrated in fig. 4, is not repeated herein.

506, processor generates power-saving instruction.

507, processor is based on power-saving instruction, and the operating mode of clean robot is adjusted to battery saving mode.

508, processor control clean robot carries out clean operation in a power-save mode.

In one embodiment, step 506 to 508 with the step 301 in embodiment illustrated in fig. 3 to 303 similar, do not do herein It repeats.

In one embodiment, in an implementation mode, processor, which is first obtained, treats clear area under the battery saving mode Domain carries out the second expected residual electricity of battery after clean operation, and judges whether the second expected residual electricity is greater than or equal to Current charge threshold generates power-saving instruction when the second expected residual electricity is greater than or equal to current charge threshold.If due to Two expected residual electricity be greater than or equal to current charge threshold, then clean robot treat cleaning region carry out clean operation after The real surplus electricity maximum probability of battery can also be greater than or equal to current charge threshold, so that it is guaranteed that clean robot will not be clear Enter charging cycle during clean, reduces the duration of entire cleaning process.

Under another implementation, processor determine the second expected residual electricity be greater than or equal to second threshold when, Power-saving instruction is generated, if since the second expected residual electricity is greater than or equal to second threshold, since first threshold is equal to or less than Second threshold, then clean robot treats the real surplus electricity maximum probability meeting height that cleaning region carries out battery after clean operation In or be equal to first threshold, so that it is guaranteed that clean robot will not enter charging cycle during cleaning, reduce it is entire clearly The duration of clean process.

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

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

In one embodiment, when the remaining capacity for determining battery reaches current charge threshold, processor can be combined Pre-stored cartographic information searches for cradle, clean robot is moved to cradle, and establish charging with cradle and connect It connects, to charge.

In one embodiment, when processor finds that the second expected residual electricity lower than second threshold, then controls cleaning machine People cleans in the normal mode, and when reaching current 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 cleans remaining area.

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.

Referring to Fig.2, the embodiment of the present application also provides one embodiment of clean robot 100, clean robot includes Processor 111,

Processor 111 is configured as:

Obtain power-saving instruction；

Based on power-saving instruction, the operating mode of clean robot is adjusted to battery saving mode；

Control clean robot carries out clean operation in a power-save mode.

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

Power-saving instruction is received, power-saving instruction is inputted by user；Or

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

When the first expected residual electricity is lower than current charge threshold, power-saving instruction is generated.

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

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 cleaning instruction under battery saving mode.

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

According to the difference of the first expected residual electricity and current charge threshold, the cleaning generated under battery saving mode instructs plan Slightly.

In a kind of possible implementation, clean robot further includes the component for executing clean operation, for executing The component of clean operation include blower, side brush or in sweep；

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

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 a kind of possible implementation, clean robot further includes battery 120, and processor 111 is also configured to

Obtain the charge threshold adjustment instruction of battery 120；

Based on charge threshold adjustment instruction, the current charge threshold of battery 120 is adjusted to first threshold, first threshold is low In current charge threshold.

When the remaining capacity of battery 120 reaches current charge threshold, the charge threshold adjustment instruction of battery 120 is generated； Or

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 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

When the remaining capacity of battery 120 reaches current charge threshold, the current location of clean robot is obtained；

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

It obtains the map in region to be cleaned and treats the history electricity consumption that cleaning region carries out clean operation in a power-save mode Data；

According to the map with history electricity consumption data, determine that treating cleaning region in a power-save mode carries out electricity after clean operation The second expected residual electricity in pond 120.

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 greater than or equal to current charge threshold, power-saving instruction is generated.

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

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；

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

Acquisition treats cleaning region and carries out pre- quantity calculation consumed by clean operation；Obtain pre- quantity calculation and current charging threshold It is worth 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 cleans remaining area.

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 another embodiments of clean robot 100, which can To include:

Acquiring unit 601, for obtaining power-saving instruction；

Adjustment unit 602 adjusts the operating mode of clean robot to battery saving mode for being based on power-saving instruction；

Cleaning unit 603 carries out clean operation for controlling clean robot in a power-save mode.

In one embodiment, acquiring unit 601 obtains power-saving instruction, is based on the power-saving instruction by adjustment unit 602, will be clear The operating mode of clean robot is adjusted to battery saving mode, and by cleaning unit 603 control clean robot in a power-save mode into Row clean operation, so as to improve working time and the cleaning area of single battery discharge cycles.

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

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

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

Receiving unit 604 refers to for receiving the setting of operating parameter at least one component for including to clean robot It enables；

Determination unit 605 determines the cleaning instruction under battery saving mode for instructing according to setting.

In a kind of possible implementation,

Acquiring unit 601 is also used to obtain battery after treating cleaning region progress clean operation in the normal mode First expected residual electricity；

Clean robot 100 further include:

Generation unit 606 is also used to the difference according to the first expected residual electricity and current charge threshold, generates power saving mould Cleaning under formula instructs strategy.

Processor executes the mode of the cleaning instruction under battery saving mode, comprises 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, clean robot further includes battery,

Acquiring unit 601 is also used to obtain the charge threshold adjustment instruction of battery；

Adjustment unit 602 is also used to that the current charge threshold of battery is adjusted to first based on charge threshold adjustment instruction Threshold value, first threshold are lower than current charge threshold.

When the remaining capacity of battery reaches current charge threshold, the charge threshold adjustment instruction of battery is generated；Or

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

In the case where the second 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 charging threshold when the remaining capacity of battery When value, the current location of clean robot is obtained；

Determination unit 605 is also used to the current location according to clean robot and the position of cradle, determines control cleaning First minimum value of robot execution charging operations institute electricity demand；

Determination unit 605 is also used to determine first threshold according to the first minimum value, wherein first threshold is greater than or equal to First minimum value.

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 after clean operation；

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

In a kind of possible implementation, acquiring unit 601 is specifically used for: obtaining the map in region to be cleaned and in power saving The history electricity consumption data that cleaning region carries out clean operation is treated under mode；

Determination unit 605 is specifically used for: determining to treat clear area in a power-save mode according to the map with history electricity consumption data Domain carries out the second expected residual electricity of battery after clean operation.

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；

Generation unit 606 is specifically used in the case where the second expected residual electricity is greater than or equal to current charge threshold, Generate power-saving instruction.

Cleaning unit 603 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；

Clean robot 100 further include:

Charhing unit 607, for when the remaining capacity of battery reaches original charge threshold, control clean robot to be searched for Cradle, to charge；

In a kind of possible implementation, charhing unit 607 is also used 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 is equal or slightly larger than third threshold value；

Cleaning unit 603 is also used to when the electricity of the determining battery of charhing unit 607 is equal or slightly larger than third threshold value, The controller clean robot cleans remaining area.

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, which is characterized in that the clean robot includes processor；

The processor is configured to:

Obtain power-saving instruction；

Based on the power-saving instruction, the operating mode of the clean robot is adjusted to battery saving mode；

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

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

The power-saving instruction is received, the power-saving instruction is inputted by user；Or

When the first expected residual electricity is lower than current charge threshold, the power-saving instruction is generated.

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

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 cleaning instruction under the battery saving mode.

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

It obtains and treats the first expected residual electricity that cleaning region carries out the battery after clean operation under the normal mode Amount；

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

5. clean robot according to claim 3 or 4, which is characterized in that the clean robot further includes for holding The component of the row clean operation, the component for executing the clean operation include blower, side brush or in sweep；

The processor executes the mode of the cleaning instruction under the battery saving mode, 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.

6. clean robot according to claim 1, which is characterized in that the clean robot further includes battery, described Processor is also configured to

Obtain the charge threshold adjustment instruction of the battery；

Based on the charge threshold adjustment instruction, the current charge threshold of the battery is adjusted to first threshold, described first Threshold value is lower than the current charge threshold.

7. clean robot according to claim 6, which is characterized in that the processor is specifically configured to:

When the remaining capacity of the battery reaches current charge threshold, the charge threshold adjustment instruction of the battery is generated；Or Person

It obtains the clean robot and treats cleaning region under the battery saving mode and carry out the battery after clean operation Second expected residual electricity；

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

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

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

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.

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

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

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 clean operation is carried out to the region to be cleaned under the battery saving mode History electricity consumption data；

According to the map and the history electricity consumption data, determine treat in a power-save mode cleaning region carry out clean operation it Second expected residual electricity of the battery afterwards.

11. clean robot according to claim 2, which is characterized in that the processor is also configured to

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；

In the case where the second expected residual electricity is greater than or equal to the current charge threshold, generates the power saving and refer to It enables.

12. according to claim 1 to clean robot described in 9, which is characterized in that the processor is also configured to

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；

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.

13. a kind of clean method, which is characterized in that the method is applied to clean robot, which comprises

Obtain power-saving instruction；

14. according to the method for claim 13, which is characterized in that the acquisition power-saving instruction includes:

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

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

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

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

17. method according to claim 15 or 16, which is characterized in that the cleaning instruction under the battery saving mode, including Following at least one:

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；

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

Obtain charge threshold 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.