CN116269057B

CN116269057B - Control method and equipment of cleaning robot and readable storage medium

Info

Publication number: CN116269057B
Application number: CN202310506379.2A
Authority: CN
Inventors: 王梦杰; 老劲瑀; 辛懋
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2023-05-08
Filing date: 2023-05-08
Publication date: 2023-08-08
Anticipated expiration: 2043-05-08
Also published as: CN116269057A

Abstract

The application discloses a cleaning robot's control method, equipment and readable storage medium, when cleaning robot normally works, target motor's operating voltage is first voltage, and cleaning robot obtains target motor's feedback current, adjusts operating voltage according to feedback current to control target motor's rotational speed. By adopting the scheme, the cleaning robot adjusts the working voltage of the target motor according to the feedback current of the target motor, carries out grading treatment on the current of the target motor, and maximally ensures the reliable and stable operation of the target motor so as to reduce the alarm frequency of the cleaning robot, ensure that the cleaning robot smoothly completes the cleaning task and simultaneously improve the service life of the target motor.

Description

Control method and equipment of cleaning robot and readable storage medium

Technical Field

The embodiment of the application relates to the technical field of household cleaning, in particular to a control method and equipment of a cleaning robot and a readable storage medium.

Background

With the development of artificial intelligence (Artificial Intelligence, AI), various cleaning robots are increasingly applied to various fields, such as service robots, cleaning robots, self-moving vending robots, etc. Among them, the cleaning robot is a common device in home scenes. The utility model is popular because the utility model can autonomously clean and release hands.

The cleaning robot is provided with a rolling brush assembly, a rolling brush motor and the like. In the cleaning process, the rolling brush assembly rotates under the drive of the rolling brush motor so as to complete the cleaning task.

In order to protect the cleaning robot, protection logic is arranged for the rolling brush motor so that the rolling brush motor stops working in time. However, when facing a work surface that is difficult to clean, the protection logic is often triggered at high frequency, which causes the cleaning robot to often alarm and stop working, and thus causes the cleaning robot to fail to complete the cleaning task.

Disclosure of Invention

The embodiment of the application provides a control method, equipment and readable storage medium of a cleaning robot, when the current of a target motor is overlarge, the current of the target motor is subjected to grading treatment, so that the reliable and stable operation of the target motor is ensured to the greatest extent, the alarm frequency of the cleaning robot is reduced, and the cleaning robot is ensured to smoothly finish a cleaning task.

In a first aspect, an embodiment of the present application provides a control method of a cleaning robot, including:

when the cleaning robot works normally, determining a feedback current obtained by a target motor, wherein the working voltage of the target motor is a first voltage when the cleaning robot works normally, the target motor is a motor for driving a cleaning assembly, and the feedback current is a current fed back to the target motor by the cleaning assembly when the cleaning assembly is driven to work by the target motor;

And adjusting the working voltage according to the feedback current so as to control the rotating speed of the target motor.

In a second aspect, an embodiment of the present application provides a control device for a cleaning robot, including:

the determining module is used for determining the feedback current of the target motor when the cleaning robot works normally, and the working voltage of the target motor is a first voltage when the cleaning robot works normally;

and the processing module is used for adjusting the working voltage according to the feedback current so as to control the rotating speed of the target motor.

In a third aspect, embodiments of the present application provide a cleaning robot, including:

an apparatus body, a traveling mechanism, a target motor and a cleaning assembly which are arranged on the apparatus body;

the travelling mechanism is used for driving the cleaning robot to travel;

the target motor is used for driving the cleaning assembly;

the cleaning component is used for executing cleaning tasks;

the cleaning robot is characterized by further comprising a memory and a processor;

the memory is used for storing a computer program; the processor is coupled to the memory for executing the computer program in the memory to implement:

When the cleaning robot works under the first voltage, determining whether the type of the working surface changes according to the feedback current of the target motor;

when the cleaning robot enters a carpet area from a normal working surface, adjusting working voltage to second voltage, wherein the second voltage is smaller than the first voltage;

and after the cleaning machine enters a smooth area from a normal working surface, adjusting the working voltage to a third voltage, wherein the third voltage is larger than the first voltage.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored therein computer instructions which, when executed by a processor, are adapted to carry out the method according to the first aspect or the various possible implementations of the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the method as described above in the first aspect or in the various possible implementations of the first aspect.

According to the control method, the control device and the readable storage medium of the cleaning robot, when the cleaning robot works normally, the working voltage of the target motor is the first voltage, the cleaning robot obtains the feedback current of the target motor, and the working voltage is adjusted according to the feedback current so as to control the rotating speed of the target motor. By adopting the scheme, the cleaning robot adjusts the working voltage of the target motor according to the feedback current of the target motor, carries out grading treatment on the current of the target motor, and maximally ensures the reliable and stable operation of the target motor so as to reduce the alarm frequency of the cleaning robot, ensure that the cleaning robot smoothly completes the cleaning task and simultaneously improve the service life of the target motor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present application;

fig. 2 is another structural schematic view of a cleaning robot provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a cleaning system according to an embodiment of the present application;

FIG. 4 is a flow chart of a cleaning method provided by an embodiment of the present application;

fig. 5 is another flowchart of a control method of the cleaning robot provided in the embodiment of the present application;

fig. 6 is a further flowchart of a control method of the cleaning robot provided in the embodiment of the present application;

fig. 7 is a schematic view of an application scenario of a cleaning robot control method according to an embodiment of the present application;

fig. 8 is a schematic diagram of a control device of a cleaning robot according to an embodiment of the present application.

Detailed Description

With the progress of science and technology and the improvement of life quality of people, cleaning robots have been put into the lives of more and more people. The cleaning robot is one of intelligent household cleaning appliances, and can automatically clean, dust suction, wipe the ground and the like on the ground.

In the cleaning process, when a carpet and other working surfaces which are difficult to clean are met, the current of the rolling brush motor of the cleaning robot is increased, so that larger heat is generated, and the service life of the rolling brush motor is damaged. To protect the brush motor, the conventional protection logic is: and when the feedback current of the rolling brush motor is larger than a current threshold value and lasts for a certain period of time, the rolling brush motor stops working. After a period of time, the roller brush motor is restarted. The excessive current is also called overcurrent, and the current threshold is, for example, an upper limit value of the brush current. And triggering an alarm when the overcurrent times exceed the preset times, and stopping the cleaning robot.

Generally, in the cleaning process, users often desire the cleaning robot to clean more areas to the greatest extent and to cope with more complex working conditions. Obviously, traditional motor protection logic can not face severe working conditions and can not clean to the greatest extent due to frequent triggering.

Based on this, the embodiment of the application provides a control method, equipment and readable storage medium of a cleaning robot, when the current of a target motor is overlarge, the current of the target motor is classified, so that the reliable and stable operation of the target motor is ensured to the greatest extent, the alarm frequency of the cleaning robot is reduced, and the cleaning robot is ensured to smoothly complete the cleaning task.

Fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present application. Referring to fig. 1, the cleaning robot 100 includes at least an apparatus body 11, a travel mechanism 12, an edge brush assembly 13, a blower assembly, a memory, and a processor (not shown) disposed on the apparatus body 11. In addition, the cleaning robot 100 further includes a roll brush assembly 14, a wiper blade assembly 15, a dust box, various sensors, and the like, which are provided on the apparatus body 11.

In fig. 1, the traveling mechanism 12 may be a driving wheel, a universal wheel, or the like, mainly for controlling autonomous movement of the apparatus body 11.

The device body 11 is also provided with a sweeping component for executing a sweeping task and a mopping component for executing a mopping task. The sweeping assembly at least comprises a fan assembly, a dust box, an edge brush assembly 13, a rolling brush assembly 14 and the like; the mopping assembly at least comprises a mopping disc assembly 15, a water supply assembly and the like, wherein the mopping disc assembly 15 comprises cleaning cloth, a transmission mechanism and the like, and the water supply assembly comprises a water pump, a pipeline, a valve, a water tank and the like. The dust box may be fixed to the apparatus body 11, or may be detachably disposed on the apparatus body 11.

The cleaning robot 100 may individually control the sweeping assembly to perform a sweeping task, may individually control the mopping assembly to perform a mopping task, or may control the sweeping assembly and the mopping assembly to simultaneously perform a sweeping and mopping task. In fig. 1, the side brush assembly 13, the roller brush assembly 14 and the wiper blade assembly 15 are all disposed at the bottom of the apparatus body 11, and the roller brush assembly 14 and the side brush assembly 13 are disposed in front of the wiper blade assembly 15 with respect to the advancing direction of the apparatus body 11. Based on this arrangement, the cleaning robot 100 can achieve the effect of sweeping and then mopping in the case of simultaneously performing the sweeping task and the mopping task.

The processor executes computer instructions stored in the memory to control the travel mechanism 12 and the sensors to perform corresponding operations, to control the cleaning robot 100 to perform corresponding actions or to perform corresponding task tasks. The sensors include, but are not limited to: laser radar, camera, ultrasonic sensor, look down sensor, side view sensor, mechanical strike plate etc.. Lidar includes laser direct structuring (Laser Direct Structuring, LDS) sensors, time of Flight (Flight) sensors, and the like.

In fig. 1, the cleaning robot is provided with a plurality of motors (not shown), such as a main motor communicated with the dust box, a roll brush motor for driving the roll brush assembly 14 to rotate, a wiper motor for driving the wiper assembly 15 to rotate, and the like. When the main motor works, negative pressure is formed in the dust box, and garbage on the working surface enters the dust box through the dust collection opening under the action of the negative pressure.

The roller brush assembly 14 is driven to rotate when the roller brush motor is operated, thereby cleaning dirt on the working surface during the traveling of the cleaning robot 100. The greater the voltage of the roller brush motor, the faster the rotational speed of the roller brush motor, which in turn, causes the rotational speed of the roller brush assembly 14 to be faster.

When the tray motor works, the tray assembly 15 is driven to rotate, so that the working surface is wiped, and the effect of mopping is achieved. The higher the voltage of the wiper motor, the faster the rotating speed of the wiper assembly 15, and the greater the wiping force of the wiper assembly 15 on the working surface.

In the embodiment of the application, the target motor is a motor arranged on the cleaning robot and used for driving the cleaning assembly, and when the cleaning assembly is a rolling brush assembly, the target motor is a rolling brush motor used for driving the rolling brush assembly; when the cleaning assembly is a wiper assembly, the target motor is a wiper motor for driving the wiper assembly; when the cleaning assembly is a dust extraction assembly, the target motor is a main motor for driving the dust extraction assembly to create a negative pressure.

In the normal working process of the cleaning robot, the feedback current of the target motor is continuously detected, and when the feedback current is longer than the upper limit threshold value, the working voltage of the target motor is reduced, so that more areas can be cleaned as much as possible and various severe working conditions can be dealt with, and meanwhile, the purpose of protecting the target motor is achieved. And when the feedback current is smaller than the lower limit threshold value for a long time, the working voltage of the target motor is increased so as to improve the cleaning quality.

Although the apparatus body 11 of the cleaning robot 100 in fig. 1 is circular. However, the embodiment of the present application is not limited thereto, and in other possible implementations, the device body 11 may be square, irregular, or the like. For example, fig. 2 is another structural schematic diagram of a cleaning robot provided in an embodiment of the present application. Referring to fig. 2, the apparatus body 11 is square.

Fig. 3 is a schematic architecture diagram of a cleaning system according to an embodiment of the present application. Referring to fig. 3, the cleaning system 1000 includes a cleaning robot 100 and a workstation 200. The workstation 200 is placed or secured in a wall or the like, and the workstation 200 is also referred to as a base, maintenance station, dust station, charging station, dust collection station, cleaning station, charging stake, or the like. The cleaning robot 100 performs the operations of charging, adding water, drying a mop, removing foreign materials on the rolling brush assembly, and the like at the workstation 200.

The cleaning method according to the embodiment of the present application will be described in detail based on the description of fig. 1 to 3. For example, please refer to fig. 4. Fig. 4 is a flow chart of a cleaning method provided in an embodiment of the present application. The embodiment comprises the following steps:

401. when the cleaning robot works normally, determining feedback current of a target motor, wherein working voltage of the target motor is first voltage when the cleaning robot works normally, the target motor is used for driving a cleaning assembly, and the feedback current is current fed back to the target motor when the target motor drives the cleaning assembly to work.

In this embodiment of the present application, the first voltage is a working voltage of the target motor when the cleaning robot works normally, and is specifically related to a model of the cleaning robot and the like. In the working process of the cleaning robot, the target motor drives the cleaning assembly, the cleaning assembly feeds back current to the target motor, and the cleaning robot monitors the feedback current of the target motor.

Normally, the feedback current of the target motor is in a current interval, and two end points of the current interval are respectively a first preset current Y1 and a second preset current Y2. That is, if no abnormal condition occurs, the second preset current is equal to or less than the feedback current is equal to or less than Y1. Wherein the first preset current Y1 is an upper limit threshold value of the feedback current of the target motor, and the second preset current Y2 is a lower limit threshold value of the feedback current of the target motor, and the specific values of Y1 and Y2 are related to the model of the cleaning robot and the like.

When the target motor is a roll brush motor, the abnormal conditions include: the rolling brush component is wound by hair, ropes and the like; the work surface is a first type of work surface, i.e. the friction of the work surface is greater than a first threshold, such as a long-hair carpet or the like; uneven working surface, etc.; the working surface is provided with oil stains, water stains and the like, so that the friction force of the working surface is smaller than a second threshold value.

When the target motor is a motor with a wiper, the abnormal conditions include: the smearing plate component is wound by hair, ropes and the like; the working surface is uneven.

402. And adjusting the working voltage according to the feedback current so as to control the rotating speed of the target motor.

After the cleaning robot obtains the feedback current of the target motor, if the feedback current is relatively large, the working voltage of the target motor is reduced, so that the rotating speed of the target motor is reduced, and the target motor is prevented from alarming due to overcurrent. If the feedback current is smaller, the working voltage of the target motor is increased, so that the rotating speed of the target motor is increased, the rotating speed of a component driven by the target motor is increased, and the aim of increasing the cleaning force is fulfilled. The component driven by the target motor is a rolling brush component or a wiping disc component; alternatively, when the target motor is the main motor for generating negative pressure, increasing the operating voltage can generate a greater negative pressure within the dust box.

According to the control method for the cleaning robot, when the cleaning robot works normally, the working voltage of the target motor is the first voltage, the cleaning robot obtains the feedback current of the target motor, and the working voltage is adjusted according to the feedback current so as to control the rotating speed of the target motor. By adopting the scheme, the cleaning robot adjusts the working voltage of the target motor according to the feedback current of the target motor, carries out grading treatment on the current of the target motor, and maximally ensures the reliable and stable operation of the target motor so as to reduce the alarm frequency of the cleaning robot, ensure that the cleaning robot smoothly completes the cleaning task and simultaneously improve the service life of the target motor.

Optionally, in the above embodiment, when the cleaning robot adjusts the working voltage of the target motor according to the feedback current of the target motor, first, the type of the working surface is determined according to the feedback current. Then, the operating voltage of the target motor is adjusted according to the type of the working surface. Different types of working surfaces are different working conditions.

For example, the cleaning robot determines whether the feedback current is greater than a first preset current and whether the duration is greater than a first duration. If the feedback current is greater than the first preset current and the duration is greater than the first duration, the default working surface is a first type of working surface, i.e., a working surface having a friction force greater than a first threshold, such as a carpet, uneven working surface, etc. At this time, the cleaning robot adjusts the operation voltage of the target motor from the first voltage to the second voltage, thereby reducing the operation voltage of the target motor.

For another example, the cleaning robot determines whether the feedback current is less than a second preset current and whether the duration is greater than a second duration. If the feedback current is smaller than the second preset current and the duration is longer than the second duration, the default working surface is a second type working surface, i.e. a working surface with friction force smaller than a second threshold, such as a tile with greasy dirt, water stains, etc. At this time, the cleaning robot adjusts the operating voltage of the target motor from the first voltage to the third voltage, thereby increasing the operating voltage of the target motor. The second threshold is less than the first threshold and the first duration is less than or equal to the second duration.

For another example, the feedback current is greater than the first preset current but the duration is less than or equal to the first duration; or the feedback current is smaller than or equal to the first preset current, but larger than or equal to the second preset current; or, if the feedback current is less than the second preset current and the duration is less than or equal to the second duration, the default working surface of the cleaning robot is a third type of working surface, i.e. a working surface with friction between the first threshold and the second threshold, such as a wood floor surface, a floor tile surface, etc. At this time, the target motor of the cleaning robot is kept unchanged in the supply voltage, i.e., continues to operate at the first voltage.

By adopting the scheme, the cleaning robot adjusts the working voltage of the target motor according to the type of the working surface corresponding to the feedback current, so that the working voltage of the target motor is matched with the working surface, the target motor is prevented from stopping working due to overcurrent, more areas can be cleaned to the greatest extent, and more complicated working conditions can be met.

Optionally, in the above embodiment, after the cleaning robot adjusts the working voltage of the target motor, the feedback current of the target motor is also obtained again, and whether an alarm occurs or not is determined according to the feedback current. Triggering an alarm when the feedback current meets the alarm condition; and when the feedback current meets the weight determination condition, the type of the working surface is determined again, and the working voltage of the target motor is adjusted according to the type of the working surface determined again.

In this embodiment, the working voltage of the target motor is adjusted whether the working voltage is reduced to the second voltage or the working voltage is increased to the third voltage.

After adjustment, the cleaning robot acquires feedback current of the target motor, and judges whether the feedback current is larger than a first preset current or not and whether the duration is longer than a first duration or not. If the feedback current is larger than the first preset current and the duration is longer than the first duration, adding 1 to the overcurrent times, namely accumulating the overcurrent times. Then, the cleaning robot judges whether the accumulated overcurrent times are larger than preset times. When the accumulated overcurrent times are greater than the preset times, the cleaning robot considers that the alarm condition of the target motor is met, the alarm is triggered, and the work is stopped. When the accumulated overcurrent times are smaller than or equal to the preset times, the cleaning robot continues to monitor the feedback current. The preset number of times is, for example, 10 times, 8 times, 15 times, etc., which is not limited in the embodiment of the present application.

For example, the first duration is 5 seconds, the feedback current is greater than the first preset current and lasts for 55 seconds, and the first duration is 5 seconds, and after the feedback current is obtained for the first time, the number of times of overcurrent is increased by 1 every 5 seconds. After the 10 th accumulated overcurrent times, the accumulated overcurrent times reach 10 times. After the 11 th accumulated overcurrent times, the accumulated overcurrent times are more than 10 times, so that an alarm is triggered, the target motor stops rotating, and the cleaning robot stops working.

In addition, after the working voltage of the target motor is adjusted, if the feedback current is smaller than or equal to the first preset current, or if the feedback current is larger than the first preset current but the duration is smaller than or equal to the first duration, the redetermining condition is met. At this time, the cleaning robot redetermines the type of the working surface, and adjusts the working voltage of the target motor according to the redetermined type.

For example, the feedback current is less than or equal to a first preset current; alternatively, the first time period is 5 seconds, the feedback current is greater than the first preset current, but only for 4 seconds, and the cleaning robot satisfies the redetermining condition. At this time, the cleaning robot recognizes whether the work surface is the first type of work surface using a sensor or the like. If the working surface is a first type working surface with larger friction force, whether the cleaning robot leaves the first type working surface or not is monitored, and after the cleaning robot leaves the first type working surface, the working voltage of the target voltage is switched to the first voltage.

When the working surface is not the first type of working surface, the feedback current is larger than the first preset current, which may be caused by the reason that the rolling brush assembly is wound by wires such as hair and the working surface is uneven. At this time, after the cleaning robot works for a preset period of time, the working voltage is switched to the first voltage.

By adopting the scheme, after the working voltage of the target motor is adjusted, the cleaning robot determines whether to trigger an alarm, reconfirm the type of the working surface and the like according to the feedback current, so that erroneous judgment and the like are avoided, and the purposes of timely adjusting the working voltage of the target motor and improving the cleaning quality are realized.

The above describes in detail how to adjust the operating voltage of the target motor in combination with the feedback current and the type of the operating surface of the target motor. Next, a control method of the cleaning robot according to the embodiment of the present application will be described in detail from the viewpoint of adjusting the operating voltage according to the feedback current.

Optionally, in the foregoing embodiment, in the process of adjusting the working voltage by the cleaning robot according to the feedback current, when the feedback current is greater than a first preset current and the duration is longer than a first duration, the cleaning robot adjusts the working voltage to a second voltage, where the second voltage is smaller than the first voltage.

Illustratively, a first preset current and a second preset current are stored in the cleaning robot in advance, wherein the first preset current is an upper limit threshold value, and the second preset current is a lower limit threshold value. And in normal operation, namely when the working voltage of the target motor is the first voltage, the cleaning robot obtains the feedback current of the target motor and compares the feedback current with a first preset current. If the feedback current is greater than the first preset current and the duration is greater than the first duration, the cleaning robot is currently located on the carpet, the working surface is uneven, the rolling brush assembly is wound, or the like. At this time, the cleaning robot switches the operation voltage of the target motor from the first voltage to the second voltage, thereby lowering the operation voltage.

By adopting the scheme, when the feedback current is larger than the first preset current and at least lasts for a first time period, the cleaning robot reduces the working voltage of the target motor so as to reduce the rotating speed of the target motor, and the cleaning robot is prevented from frequently triggering the alarm logic to stop working, so that the cleaning robot cleans more areas as much as possible.

Optionally, in the foregoing embodiment, in the process of adjusting the working voltage by the cleaning robot according to the feedback current, when the feedback current is smaller than a second preset current and the duration is longer than a second duration, the working voltage is adjusted to a third voltage, where the third voltage is greater than the first voltage.

For example, when the cleaning robot is operating normally, that is, when the operating voltage of the target motor is the first voltage, the cleaning robot obtains the feedback current of the target motor, and compares the feedback current with the second preset current. If the feedback current is smaller than the second preset current and the duration is longer than the second duration, the fact that the cleaning robot is currently located on a working face with small friction force, such as a working face of a wood floor with oil stains and water stains, and toilet paper is attached to the ground is indicated. At this time, the cleaning robot switches the operation voltage of the target motor from the first voltage to the third voltage, thereby increasing the operation voltage.

By adopting the scheme, when the feedback current is smaller than the second preset current and at least lasts for a second time, the cleaning robot increases the working voltage of the target motor so as to increase the rotating speed of the target motor, increase the cleaning force of the cleaning robot and achieve the aim of improving the cleaning quality.

Optionally, when the feedback current meets any one of preset conditions, the cleaning robot keeps the working voltage of the target motor unchanged as the first voltage. The preset conditions comprise:

a: the feedback current is between the first preset current and the second preset current.

When the feedback current meets a preset condition A, the cleaning robot is in a normal working state, and the working surface is a conventional working surface, namely a working surface with friction force between a first threshold value and a second threshold value and is relatively flat; meanwhile, the target motor-driven components, such as the roller brush component, the wiper disc component and the like, are not wound. Thus, the target motor continues to operate normally at the first voltage, cleaning as much area as possible.

B: the feedback current is less than the second preset current but for a duration less than or equal to a second duration.

When the feedback current meets the preset condition B, the cleaning robot enters a working surface with small friction. However, the cleaning robot is not located on a work surface with little friction for a long time, but is quickly moved out and re-enters the conventional work surface. At this time, it is not necessary to raise the operating voltage of the target motor.

C: the feedback current is greater than the first preset current but for a duration less than or equal to a first duration.

When the feedback current satisfies the condition C, it is indicated that the cleaning robot enters a working surface where the friction force is relatively large. However, the cleaning robot is not located on a working surface with high friction for a long time, but is quickly moved out to re-enter a conventional working surface. Alternatively, the roller brush assembly is wound, etc., but quickly breaks loose from the winding. At this time, it is not necessary to reduce the operating voltage of the target motor.

For example, the cleaning robot moves out quickly after entering the carpet area; for another example, the target motor is a rolling brush motor, and the hair wires are wound on the rolling brush assembly, but the hair wires are disconnected within a first time period; for another example, the target motor is a trowel motor, and the trowel assembly is wound with the knitting wool that the user loses on the ground, but the knitting wool is separated from the trowel assembly within a first period of time.

By adopting the scheme, when the feedback current is between the first preset value and the second preset value or the feedback current is increased or decreased in a short period, the working voltage of the target motor is kept unchanged, so that the target motor works under normal voltage as much as possible, and the aim of protecting the target motor is fulfilled.

Optionally, in the above embodiment, the operating voltage of the target motor may be adjusted, for example, switched from the first voltage to the second voltage; for another example, the first voltage is switched to the third voltage. After the working voltage of the target motor is adjusted, the cleaning robot obtains the feedback current of the target motor.

Thereafter, the cleaning robot monitors the feedback current. If the feedback current is larger than the first preset current and the duration time is longer than the first duration time, the overcurrent times of the target motor are accumulated. And then judging whether the accumulated overcurrent times are larger than preset times or not. When the accumulated overcurrent times are greater than the preset times, an alarm is triggered, and meanwhile, the cleaning robot stops working. And when the accumulated overcurrent times are smaller than or equal to the preset times, continuing to monitor the feedback current.

For example, when the operating voltage is adjusted, the feedback current will also change in normal cases, that is, the feedback current of the target motor is different before and after the operating voltage is adjusted. For example, if the operating voltage of the target motor is reduced from the first voltage to the second voltage, the feedback current is theoretically reduced. If the operating voltage of the target motor is increased from the first voltage to the second voltage, the feedback current theoretically increases.

After the cleaning robot obtains the feedback current, the feedback current is compared with a first preset current and a second preset current. And when the feedback current is larger than the first preset current and the duration is longer than the first duration, considering that the overcurrent occurs once. For example, from the initial detection of the feedback current after the voltage adjustment, the feedback current is found to be greater than the first preset current, the first preset current lasts for 55 seconds, the first time is 5 seconds, and the accumulated overcurrent times are greater than 10 times after 55 seconds, so that an alarm is triggered, the target motor stops rotating, and the cleaning robot stops working.

Within 55 seconds, the cleaning robot continues to monitor the feedback current because the accumulated overcurrent times are less than or equal to the preset times.

By adopting the scheme, after the working voltage of the target motor is adjusted, the cleaning robot continuously monitors the feedback current to judge whether to trigger an alarm or not, so that the purposes of timely triggering the alarm and protecting the target motor are realized.

Optionally, in the above embodiment, after the operation voltage of the target motor is adjusted, if the feedback current is less than or equal to the first preset current and the feedback current is greater than or equal to the second preset current, the operation voltage of the target motor is kept unchanged after the adjustment.

For example, after the operating voltage of the target motor is adjusted, the operating voltage may be the second voltage or the third voltage. The feedback current may vary due to the variation of the operating voltage. If the feedback current is between the first preset current and the second preset current, the working voltage of the target motor is adjusted, and the current working condition is adapted.

For example, before the target motor operating voltage is adjusted, the cleaning robot is located on a first type of working surface such as a carpet where the friction force is relatively large, and the feedback current is relatively large. After the working voltage of the target motor is reduced to the second voltage, the feedback current is reduced, and the feedback current is not a large current any more, so that the alarm logic is not easy to trigger. At this time, the target motor continues to operate at the second voltage, avoiding the cleaning robot from stopping operating due to the alarm logic of the target motor being triggered.

For another example, before the working voltage of the target motor is adjusted, the cleaning robot is positioned on a working surface with small friction force, and the feedback current is small. After the target motor operating voltage is increased to the third voltage, the feedback current is increased, not a small current, but between the first preset current and the second preset current. At this time, the target motor continues to operate at the third voltage, improving the cleaning force of the cleaning robot.

By adopting the scheme, after the working voltage of the target motor is adjusted, if the feedback current is between the upper limit threshold value and the lower limit threshold value, the working voltage of the target motor is kept unchanged, the aim of improving the cleaning quality is fulfilled, and meanwhile, the alarm logic is not easy to trigger, so that more areas can be cleaned as much as possible, and more working conditions can be faced.

Optionally, in the foregoing embodiment, after adjusting the working voltage of the target motor, if the feedback current is less than or equal to the second preset current, the working voltage of the target motor is increased.

For example, after the operating voltage of the target motor is adjusted, the operating voltage may be the second voltage or the third voltage. As the operating voltage changes, the feedback current may also change. If the feedback current is smaller than the second preset current, the adjusted working voltage is too small, and the working voltage is increased by a little.

For example, before the target motor operating voltage is adjusted, the cleaning robot is located on a first type of working surface such as a carpet where the friction force is relatively large, and the feedback current is relatively large. And after the working voltage of the target motor is reduced to the second voltage, the feedback current is reduced and is smaller than the second preset current. Indicating that the magnitude of the operating voltage drop is too large. At this time, the cleaning robot increases the operating voltage of the target motor, and the increased operating voltage is between the second voltage and the third voltage.

For another example, before the working voltage of the target motor is adjusted, the cleaning robot is positioned on the working surface of the second type, and the feedback current is small. After the operating voltage of the target motor is increased to the third voltage, the feedback current is increased, but is still less than the second preset current. The boost amplitude of the operating voltage of the target motor is illustrated to be too small. At this time, the cleaning robot continues to increase the operating voltage of the target motor, and the increased operating voltage is greater than the third voltage.

After the working voltage of the target motor is adjusted, if the feedback current is smaller than the second preset current, the cleaning robot increases the working voltage of the target motor, so that the working voltage of the target motor is matched with the working surface, the situation that the cleaning robot cannot complete a cleaning task due to too small working voltage of the target motor is avoided, the cleaning efficiency is improved, and meanwhile, the cleaning robot can deal with more complicated working conditions is avoided.

Optionally, in the foregoing embodiment, after the operating voltage of the target motor is adjusted, if the feedback current is less than or equal to a first preset current, or if the feedback current is greater than the first preset current but the duration is less than or equal to a first duration, the overcurrent times are cleared. Thereafter, the cleaning robot recognizes the type of the work surface. When the cleaning robot is positioned on the first type of working surface, the cleaning robot is continuously monitored, and after the cleaning robot moves out of the first type of working surface, the working voltage of the target motor is adjusted to be the first voltage.

After the working voltage of the target motor is adjusted, if the feedback current is between the first preset current and the second preset current, the working voltage of the target motor is adapted to the current working surface. At this time, the cleaning robot clears the number of times of overcurrent of the target motor. Then, it is detected whether the working surface is a first type of working surface, that is, whether the working surface is a working surface with a large friction force, by using an ultrasonic sensor or the like. When the working surface is the first type of working surface, if the cleaning robot moves out of the first type of working surface, the working voltage of the target motor is restored to the first voltage.

By adopting the scheme, when the cleaning robot is detected to leave the first type working surface, the working voltage of the target motor is timely recovered to the first voltage, so that the aim of protecting the target motor is fulfilled.

In an alternative embodiment, when the working surface is not the first type of working surface and the working time of the cleaning robot on the working surface is longer than a preset time period, the working voltage of the target motor is adjusted to be the first voltage.

After the working voltage of the target motor is adjusted, if the feedback current is between the first preset current and the second preset current, the working voltage of the target motor is adapted to the current working surface. At this time, the cleaning robot clears the number of times of overcurrent of the target motor. Then, it is detected whether the working surface is a first type of working surface, that is, whether the working surface is a working surface with a large friction force, by using an ultrasonic sensor or the like. When the work surface is not a first type of work surface, for example, when the work surface is a second type or a third type of work surface, the cleaning robot accumulates the operation time period on the work surface. And when the working time length is longer than the preset time length, adjusting the working voltage of the target motor to be the first voltage. When the working time length is less than or equal to the preset time length, keeping the working voltage of the target motor to be the adjusted voltage, and continuing to clean until the working time length is longer than the preset time length. The preset duration is, for example, 10 minutes, and the embodiment of the application is not limited.

By adopting the scheme, when the time length of other types of working surfaces of the cleaning robot exceeds the preset time length, the working voltage of the target motor is timely recovered to the first voltage, and the purpose of protecting the target motor is achieved.

Fig. 5 is another flowchart of a control method of the cleaning robot provided in the embodiment of the present application. The embodiment comprises the following steps:

501. when a target motor of the cleaning robot works under a first voltage, a feedback current of the target motor is obtained.

502. Judging whether the feedback current is larger than the first preset current Y1, if so, executing step 503; if the feedback current is less than or equal to the first preset current, step 512 is performed.

503. Judging whether the duration of the feedback current is longer than the first time length T1, and if the duration of the feedback current is longer than the first time length T1, executing step 504; if the duration of the feedback current is less than or equal to the first time length T1, step 501 is performed.

504. The operating voltage of the target motor is switched to the second voltage X2.

505. And obtaining the feedback current of the target motor.

And after the working voltage of the target motor is adjusted, the feedback current is acquired again.

506. Judging whether the feedback current is larger than the first preset current Y1, and if the feedback current is larger than the first preset current Y1, executing step 507; if the feedback current is less than or equal to the first preset current, step 511 is performed.

507. Judging whether the duration of the feedback current is longer than a first time length T1, if so, executing step 508; if the duration of the feedback current is less than or equal to the first time period T1, step 511 is performed.

508. And accumulating the overcurrent times.

509. Judging whether the overcurrent times are greater than preset times, and if the overcurrent times are greater than the preset times, executing step 510; if the number of times of overcurrent is less than or equal to the preset number of times, step 505 is executed.

510. Triggering an alarm.

511. The number of overcurrents is cleared, after which step 512 is performed.

512. Judging whether the feedback current is smaller than the second preset current Y2, and if the feedback current is smaller than the second preset current Y2, executing step 517; if the feedback current is greater than or equal to the second preset current, step 513 is performed.

513. Maintaining the operating voltage of the target motor at the adjusted voltage, continuing to clean and executing step 514.

514. Judging whether the working surface is a first type of working surface, if so, executing step 515; if the work surface is not the first type of work surface, then step 518 is performed.

515. Judging whether the cleaning robot leaves the first type of working surface, and if so, executing step 516; if the cleaning robot does not leave the first type of work surface, step 505 is performed.

516. The operating voltage of the target motor is restored to the first voltage.

517. The operating voltage of the target motor is raised, after which step 505 is performed.

For example, the operating voltage of the target motor is raised to the third voltage X3.

518. And acquiring the working time of the cleaning robot.

519. Judging whether the working time length is longer than the preset time length, if so, executing step 516; if the working time is less than or equal to the preset time, step 518 is performed.

In the above embodiment, each target motor is independently controlled. That is, when the target motor is a roll brush motor, the feedback current is a current fed back to the roll brush motor by the roll brush assembly, and the cleaning robot adjusts an operating voltage of the roll brush motor according to the feedback current. When the target motor is a tray motor, the feedback current is the current fed back to the tray motor by the tray assembly, and the cleaning robot adjusts the working voltage of the tray motor according to the feedback current. However, the embodiments of the present application are not limited thereto. In other possible implementations, each target motor may be controlled in a coordinated manner.

For example, when the feedback current of the tray motor is greater than the first preset current, the cleaning robot reduces the working current of the tray motor, and if the feedback current of the roller brush motor is smaller, the working voltage of the roller brush motor is increased. The value of the first preset current (upper limit threshold) of the tray motor and the value of the first preset current of the rolling brush motor may be different, and the value of the second preset current (lower limit threshold) of the tray motor and the value of the first preset current of the rolling brush motor may be different according to actual settings. Therefore, when the working voltage of the tray motor is reduced and the cleaning force of the tray assembly is reduced, the working voltage of the rolling brush motor is increased, and the cleaning force of the rolling brush assembly is increased, so that the cleaning quality is ensured.

In the process of raising the working voltage of the rolling brush motor, the feedback current of the rolling brush motor is continuously monitored so as to avoid overcurrent of the rolling brush motor.

For another example, when the feedback current of the rolling brush motor is greater than the first preset current, the cleaning robot reduces the working current of the rolling brush motor, and if the feedback current of the main motor is smaller, the working voltage of the main motor is increased. The value of the first preset current (upper limit threshold) of the rolling brush motor and the value of the first preset current of the main motor may be different, and the value of the second preset current (lower limit threshold) of the rolling brush motor and the value of the first preset current of the main motor may be different according to actual settings. Therefore, when the working voltage of the rolling brush motor is reduced and the cleaning force of the rolling brush assembly is reduced, the working voltage of the main motor is increased, the cleaning force of the dust collection assembly is increased, and therefore the cleaning quality is guaranteed.

In the process of raising the working voltage of the main motor, the feedback current of the main motor is continuously monitored so as to avoid overcurrent of the main motor.

By adopting the scheme, the aim of ensuring the cleaning quality is fulfilled by carrying out linkage control on the target motor.

The cleaning robot provided by the embodiment of the application comprises: an apparatus body, a traveling mechanism, a target motor and a cleaning assembly which are arranged on the apparatus body; the travelling mechanism is used for driving the cleaning robot to travel; the target motor is used for driving the cleaning assembly; the cleaning assembly is used for executing cleaning tasks. The cleaning robot further comprises a memory and a processor; the memory is used for storing a computer program; the processor is coupled to the memory for executing the computer program in the memory to implement the method described above with respect to fig. 4 and related embodiments.

Fig. 6 is a further flowchart of a control method of the cleaning robot provided in the embodiment of the present application. The embodiment comprises the following steps:

601. the cleaning robot operates at a first voltage.

602, determining whether the type of the working surface changes according to the feedback current of the target motor, and if the cleaning robot enters the carpet area from the normal working surface, executing step 603; if the cleaning machine enters a smooth area from a normal work surface, then step 604 is performed; if the cleaning robot continues to operate on a normal work surface, step 605 is performed.

603. And adjusting the working voltage of the target motor to a second voltage, wherein the second voltage is smaller than the first voltage.

The working voltage is adjusted to be a second voltage, which is smaller than the first voltage, when the cleaning robot enters the carpet area from the normal working surface or if the feedback current of the target motor is larger than the first preset current for a first duration in the entering process.

604. And adjusting the working voltage of the target motor to be a third voltage, wherein the third voltage is larger than the first voltage.

The working voltage is adjusted to a third voltage, which is greater than the first voltage, when the cleaning machine enters the smooth area from the normal working surface, or when the feedback current of the target motor is smaller than the second preset current and the duration time is longer than the second duration time in the entering process.

605. The operation voltage of the target motor is kept unchanged at the first voltage.

The target motor is illustratively maintained operating at the first voltage when the feedback current of the target motor is between the first preset current and the second preset current.

According to the control method of the cleaning robot, in the working engineering of the cleaning robot, after the cleaning robot enters a carpet area from a normal working face, the working voltage of the target motor is reduced, and after the cleaning robot enters a smooth area from the normal working face, the working voltage of the target motor is increased. By adopting the scheme, the cleaning robot carries out grading treatment on the current of the target motor according to different working surfaces, so that the reliable and stable operation of the target motor is ensured to the greatest extent, the alarm frequency of the cleaning robot is reduced, the cleaning robot is ensured to smoothly finish the cleaning task, and the service life of the target motor is prolonged.

The control method of the cleaning robot will be described in detail below with reference to specific application scenarios.

Application scenario one:

fig. 7 is a schematic view of an application scenario of a cleaning robot control method according to an embodiment of the present application. Referring to fig. 7, a user's home has a circular carpet in front of the bed in one bedroom. The user has a floor sweeping robot at home, the floor sweeping robot is provided with a rolling brush motor and a rolling brush assembly, and the working voltage of the rolling brush motor in normal working is a first voltage X1; when the voltage needs to be reduced, the working voltage of the rolling brush motor is the second voltage X2; when the voltage needs to be boosted, the working voltage of the rolling brush motor is the third voltage X3. X3 > X1 > X2, for example, x1=10 volts (V), x2=6v, x3=12v. The feedback current of the roller brush motor has an upper threshold (first preset current Y1) and a lower threshold (second preset current Y2), y1=1800 milliamperes, y2=800 milliamperes. During normal operation, the feedback current of the rolling brush motor is between 800 milliamperes and 1800 milliamperes. If the feedback current is greater than 1800 milliamperes and lasts for 5 seconds, the overcurrent times are accumulated once.

In the cleaning process, the movement track of the cleaning robot is shown by an arrow in the figure. When the cleaning robot does not travel to the carpet area, the operating voltage of the roll brush motor is a first voltage, namely 10V, and the feedback current is 1200 Milliamperes (MA), for example. When the cleaning robot moves to position (1) on the carpet, the feedback current becomes 2000 milliamp due to the increase of friction. However, since the cleaning robot quickly removed the carpet, the feedback current was changed back to 1200 milliamps after 2 seconds. Therefore, the cleaning robot keeps the working voltage of the rolling brush motor unchanged at 10V, and continues cleaning.

When the cleaning robot moves to position (2) on the carpet, the feedback current becomes 2000 milliamperes and lasts for 5 seconds due to the increase of friction. The operating voltage of the brush motor of the cleaning robot is switched to the first voltage, i.e., 6V.

After the working voltage of the rolling brush motor is adjusted to 6V, the rolling brush component is continuously utilized to clean the carpet in the moving process of the cleaning robot. At this time, the feedback current of the brush motor is retrieved. The feedback current may be in several cases:

the feedback current is between the first preset current (1800) and the second preset current (800 milliamp), for example 1600 milliamp. The cleaning robot keeps the working voltage of the rolling brush motor unchanged at 6V, and continues to clean. When the cleaning robot moves to the position (3), the feedback current becomes larger as the friction force from the carpet becomes smaller, and the cleaning robot reduces the voltage of the rolling brush motor.

In case b, the feedback current is greater than the first preset current and lasts for a longer time.

For example, the feedback current is 1900 milliamps. Since the feedback current is still large, it is shown that the friction of the carpet is actually too large, such as a long-hair carpet. Further, if the 1900 milliamp current continues for a long time, for example, 55 seconds, the cleaning robot increases the number of overcurrent times of the brush motor by 1 every 5 seconds. After 11 th time, the overcurrent times are more than 10 preset times. At this time, the cleaning robot gives an alarm and stops working.

The feedback current is larger than the first preset current and lasts for a short time; alternatively, the feedback current is between the first preset current (1800) and the second preset current (800 milliamp), for example 1600 milliamp.

For example, the feedback current is 1900 milliamps, but the duration is relatively short, such as only 4 seconds, indicating that the friction is too great in small areas on the carpet, but the friction is moderate in the remaining areas. Alternatively, the feedback current is 1600 milliamps. In both cases, the cleaning robot clears the number of times of overcurrent. Thereafter, a sensor is used to determine whether the cleaning robot is indeed on the carpet. Since the cleaning robot is actually on the carpet, the operating voltage of the roll brush motor is restored to 10V when the cleaning robot leaves the carpet, i.e., travels to the position (3).

And d, the feedback current is smaller than the second preset current.

After the cleaning robot is at the position (2), the working voltage of the rolling brush motor is adjusted to be 6V, the feedback current is 600 mA and is smaller than the second preset current (800 mA), and the fact that the working voltage of the rolling brush motor drops too much is indicated, and the working voltage of the rolling brush motor needs to be improved. Therefore, the cleaning robot increases the voltage of the roll brush motor by a certain magnitude, for example, by 8V. And then detecting the feedback current of the rolling brush motor, and determining whether to alarm or not according to the feedback current.

When the cleaning robot is operated in an area other than the carpet, several situations may occur:

in case e, please continue to refer to fig. 7, when the cleaning robot cleans the area outside the carpet, if the friction force of the area outside the carpet is moderate and is between the first threshold (the friction force of the long-hair carpet) and the second threshold (the ground without water and oil stains and relatively flat), the working voltage of the rolling brush motor is kept unchanged at 10V, and the feedback current is between 800 milliamperes and 1800 milliamperes.

In case f, referring to fig. 7 again, when the cleaning robot cleans the area outside the carpet, if there is a region with relatively small friction outside the carpet, the region is shown as a dotted rectangle in the figure. The area is particularly smooth and has small friction force due to the fact that the area is sprayed with water or overturned with oil bottles and has liquid such as water, oil and the like. After the cleaning robot moves to the area, the feedback current is 600 milliamperes, is particularly small, and after the cleaning robot lasts for 4 seconds, the working voltage of the rolling brush motor is increased by the cleaning robot, so that the working voltage of the rolling brush motor is 12V.

And then, the cleaning robot continuously monitors the feedback current of the rolling brush motor, namely the feedback current of the rolling brush motor after voltage adjustment. Assuming that the feedback current of the roll brush motor is between 800 milliamps and 1800 milliamps, for example 1300 milliamps, the roll brush motor keeps the operating voltage at 12V unchanged and continues to clean.

Assuming that the feedback current of the rolling brush motor is still less than 800 milliamperes after the working voltage of the rolling brush motor is adjusted to be 12V, the cleaning robot continues to raise the working voltage of the rolling brush motor to a certain amplitude, for example, to 14V, if the voltage raising amplitude is insufficient. And then, the cleaning robot detects feedback current, and whether the current voltage is matched with the working surface or not is determined according to the feedback current.

And after the working voltage of the rolling brush motor is regulated to be 12V, the feedback current of the rolling brush motor is overlarge and is more than 1800 mA, so that the excessive voltage rise is indicated. The cleaning robot continues to monitor the feedback current, determines whether to alarm or not according to the feedback current, and the like. See for details the description of case c above and will not be repeated here.

And (2) an application scene II:

with continued reference to fig. 7, when the cleaning robot does not travel to the carpet area, the operating voltage of the rolling brush motor is a first voltage, i.e. 10V, and the feedback current is, for example, 1200 Milliamperes (MA). After traveling to position (4), the feedback current increases to 2000 milliamps for a duration of more than 5 seconds as the roller brush assembly is wrapped with hair. At this time, the cleaning robot reduces the operating voltage of the roll brush motor so that the operating voltage of the roll brush motor is 6V. Then, the cleaning robot detects a feedback current of the roll brush motor.

After the working voltage of the rolling brush motor is adjusted to 6V, the feedback current may have the following situations:

case g: and the feedback current is between 800 milliamperes and 1800 milliamperes, so that the cleaning robot keeps the working voltage of the rolling brush motor unchanged at 6V and continues to work.

Case h: and if the feedback current is more than 1800 milliamperes and the duration time is more than 5 seconds, accumulating the overcurrent times of the rolling brush motor. For example, if the feedback current of more than 1800 milliamps lasts 55 seconds, then the number of overcurrent increases by 1 every 5 seconds. And after the overcurrent times exceed the preset times, the cleaning robot alarms.

Case i: the feedback current is between 800 and 1800 milliamps, or the feedback current is greater than 1800 milliamps but is too short in duration, e.g., for 20 seconds, then the number of overcurrent is cleared. After that, the cleaning robot judges that it is not currently located on the carpet by using an ultrasonic sensor or the like. Therefore, the cleaning robot continues to operate, for example, for 10 minutes, with the roll brush motor at 6V. Thereafter, the operating voltage of the roll brush motor was restored to 10V.

Case j: and if the feedback current is less than 800 milliamperes, the cleaning robot considers that the voltage of the rolling brush motor is reduced too much, and the working voltage of the rolling brush motor needs to be increased. For example, the operating voltage of the brush motor is raised from 6V to 8V, and the feedback current is continuously monitored.

The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Fig. 8 is a schematic diagram of a control device of a cleaning robot according to an embodiment of the present application. The control device 800 of the cleaning robot includes: a determination module 81 and a processing module 82.

A determining module 81, configured to determine a feedback current of a target motor when the cleaning robot is operating normally, where an operating voltage of the target motor is a first voltage when the cleaning robot is operating normally, and the target motor is a motor for driving a cleaning component, and the feedback current is a current fed back to the target motor by the cleaning component when the cleaning component is driven by the target motor to operate;

and the processing module 82 is used for adjusting the working voltage according to the feedback current so as to control the rotating speed of the target motor.

In a possible implementation, the processing module 82 is configured to determine a type of the working surface according to the feedback current; when the working surface belongs to a first type, adjusting the working voltage to a second voltage, wherein the second voltage is smaller than the first voltage, and the friction force of the working surface of the first type is larger than a first threshold value; when the working surface belongs to a second type, the working voltage is adjusted to be a third voltage, the third voltage is larger than the first voltage, the friction force of the working surface of the second type is smaller than a second threshold, and the second threshold is smaller than the first threshold; when the working surface belongs to a third type, the working voltage is kept unchanged, and the friction force of the working surface of the third type is between a first threshold value and a second threshold value.

In a possible implementation manner, the processing module 82 is further configured to obtain a feedback current of the target motor after the operating voltage of the target motor is adjusted; triggering an alarm when the feedback current meets an alarm condition; when the feedback current meets the weight determining condition, the type of the working face is determined again, and the working voltage is adjusted according to the determined type; wherein the alarm condition comprises: the feedback current is larger than a first preset current, the duration time is longer than a first duration time, and the accumulated overcurrent frequency of the target motor is larger than a preset frequency; the redetermining conditions include at least one of the following conditions: the feedback current is less than or equal to a first preset current, or the feedback current is greater than the first preset current but for a duration less than or equal to a first duration.

In a possible implementation manner, the processing module 82 is configured to adjust the operating voltage to a second voltage when the feedback current is greater than a first preset current and the duration is greater than a first duration, where the second voltage is smaller than the first voltage.

In a possible implementation manner, the processing module 82 is configured to adjust the operating voltage to a third voltage when the feedback current is less than a second preset current and the duration is longer than a second duration, where the third voltage is greater than the first voltage.

In a possible implementation manner, the processing module 82 is further configured to re-acquire the feedback current of the target motor after the operating voltage of the target motor is adjusted; when the feedback current is larger than a first preset current and the duration time is longer than a first duration time, accumulating the overcurrent times of the target motor; when the overcurrent times are greater than preset times, triggering an alarm.

In a possible implementation manner, the processing module 82 is further configured to clear the number of times of overcurrent when the feedback current is less than or equal to a first preset current, or when the feedback current is greater than the first preset current but the duration is less than or equal to a first duration; when the cleaning robot is positioned on the first type of working surface, the working voltage of the target motor is adjusted to be a first voltage after the cleaning robot moves out of the first type of working surface.

In a possible implementation manner, the processing module 82 is further configured to adjust the operating voltage of the target motor to the first voltage when the working surface is not the first type of working surface and the working time of the cleaning robot on the working surface is longer than a preset time period.

In a possible implementation manner, the processing module 82 is further configured to keep the operating voltage of the target motor unchanged after the adjustment when the feedback current is less than or equal to a first preset current and the feedback current is greater than or equal to a second preset current.

In a possible implementation manner, the processing module 82 is further configured to increase the operating voltage of the target motor when the feedback current is less than or equal to a second preset current.

In a possible implementation manner, the processing module 82 is further configured to keep the operating voltage of the target motor unchanged at the first voltage when the feedback current meets a preset condition, where the preset condition includes any one of the following conditions:

the feedback current is between the first preset current and the second preset current;

the feedback current is smaller than the second preset current but the duration is smaller than or equal to a second duration;

the feedback current is greater than the first preset current but for a duration less than or equal to a first duration.

In a possible implementation, when the cleaning assembly is a roller brush assembly, the target motor is a roller brush motor for driving the roller brush assembly; when the cleaning assembly is a wiper assembly, the target motor is a wiper motor for driving the wiper assembly; when the cleaning assembly is a dust extraction assembly, the target motor is a main motor for driving the dust extraction assembly to create a negative pressure.

The control device for the cleaning robot provided in the embodiment of the present application may perform the motion of the cleaning robot in the above embodiment, and its implementation principle and technical effect are similar, and will not be described herein again.

Embodiments of the present application also provide a computer-readable storage medium having stored therein computer instructions which, when executed by a processor, are used to implement a control method as implemented by the cleaning robot.

The embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, implements a control method as implemented by a cleaning robot as described above.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A control method of a cleaning robot, which is applied to a cleaning robot having a target motor, the method comprising:

when the cleaning robot works normally, determining feedback current of a target motor, wherein working voltage of the target motor is first voltage when the cleaning robot works normally, the target motor is used for driving a cleaning assembly, and the feedback current is current fed back to the target motor when the target motor drives the cleaning assembly to work;

adjusting the working voltage according to the feedback current to control the rotating speed of the target motor;

the adjusting the operating voltage according to the feedback current includes:

determining the type of the working surface according to the feedback current;

when the working surface belongs to a first type, adjusting the working voltage to a second voltage, wherein the second voltage is smaller than the first voltage, and the friction force of the working surface of the first type is larger than a first threshold value;

When the working surface belongs to a second type, the working voltage is adjusted to be a third voltage, the third voltage is larger than the first voltage, the friction force of the working surface of the second type is smaller than a second threshold, and the second threshold is smaller than the first threshold;

when the working surface belongs to a third type, the working voltage is kept unchanged, and the friction force of the working surface of the third type is between a first threshold value and a second threshold value.

2. The method as recited in claim 1, further comprising:

when the working voltage of the target motor is adjusted, obtaining the feedback current of the target motor;

triggering an alarm when the feedback current meets an alarm condition;

when the feedback current meets the weight determining condition, the type of the working face is determined again, and the working voltage is adjusted according to the determined type;

wherein the alarm condition comprises: the feedback current is larger than a first preset current, the duration time is longer than a first duration time, and the accumulated overcurrent frequency of the target motor is larger than a preset frequency;

the redetermining conditions include at least one of the following conditions: the feedback current is less than or equal to a first preset current, or the feedback current is greater than the first preset current but for a duration less than or equal to a first duration.

3. The method of claim 1, wherein said adjusting said operating voltage in accordance with said feedback current comprises:

and when the feedback current is larger than a first preset current and the duration time is longer than a first duration time, adjusting the working voltage to a second voltage, wherein the second voltage is smaller than the first voltage.

4. The method of claim 1, wherein said adjusting said operating voltage in accordance with said feedback current comprises:

and when the feedback current is smaller than a second preset current and the duration time is longer than a second duration time, adjusting the working voltage to a third voltage, wherein the third voltage is larger than the first voltage.

5. The method according to claim 3 or 4, further comprising:

when the working voltage of the target motor is adjusted, the feedback current of the target motor is acquired again;

when the feedback current is larger than a first preset current and the duration time is longer than a first duration time, accumulating the overcurrent times of the target motor;

when the overcurrent times are greater than preset times, triggering an alarm.

6. The method as recited in claim 5, further comprising:

When the feedback current is smaller than or equal to a first preset current, or when the feedback current is larger than the first preset current but the duration is smaller than or equal to a first duration, clearing the overcurrent times;

when the cleaning robot is positioned on the first type of working surface, the working voltage of the target motor is adjusted to be a first voltage after the cleaning robot moves out of the first type of working surface.

7. The method as recited in claim 6, further comprising:

and when the working surface is not the first type of working surface and the working time of the cleaning robot on the working surface is longer than the preset time, adjusting the working voltage of the target motor to be a first voltage.

8. The method as recited in claim 5, further comprising:

and when the feedback current is smaller than or equal to a first preset current and the feedback current is larger than or equal to a second preset current, keeping the working voltage of the target motor unchanged after adjustment.

9. The method as recited in claim 8, further comprising:

and when the feedback current is smaller than or equal to a second preset current, increasing the working voltage of the target motor.

10. The method according to claim 3 or 4, further comprising:

when the feedback current meets a preset condition, keeping the working voltage of the target motor unchanged as a first voltage, wherein the preset condition comprises any one of the following conditions:

the feedback current is between a first preset current and a second preset current;

the feedback current is smaller than a second preset current and the duration is smaller than or equal to a second duration;

the feedback current is greater than a first preset current but for a duration less than or equal to a first duration.

11. The method according to claim 1 to 4, wherein,

when the cleaning assembly is a roller brush assembly, the target motor is a roller brush motor for driving the roller brush assembly;

when the cleaning assembly is a wiper assembly, the target motor is a wiper motor for driving the wiper assembly;

when the cleaning assembly is a dust extraction assembly, the target motor is a main motor for driving the dust extraction assembly to create a negative pressure.

12. A control device of a cleaning robot, comprising:

The processing module is used for adjusting the working voltage according to the feedback current so as to control the rotating speed of the target motor;

the processing module is specifically used for determining the type of the working surface according to the feedback current; when the working surface belongs to a first type, adjusting the working voltage to a second voltage, wherein the second voltage is smaller than the first voltage, and the friction force of the working surface of the first type is larger than a first threshold value; when the working surface belongs to a second type, the working voltage is adjusted to be a third voltage, the third voltage is larger than the first voltage, the friction force of the working surface of the second type is smaller than a second threshold, and the second threshold is smaller than the first threshold; when the working surface belongs to a third type, the working voltage is kept unchanged, and the friction force of the working surface of the third type is between a first threshold value and a second threshold value.

13. A cleaning robot, comprising: an apparatus body, a traveling mechanism, a target motor and a cleaning assembly which are arranged on the apparatus body;

the travelling mechanism is used for driving the cleaning robot to travel;

the target motor is used for driving the cleaning assembly;

The cleaning component is used for executing cleaning tasks;

14. The robot of claim 13, wherein the target motor comprises a roller brush motor and a wiper motor, the cleaning assembly comprises a roller brush assembly and a wiper assembly, and the processor is further configured to:

when the feedback current of the tray motor is larger than a first preset current, the working voltage of the rolling brush motor is increased.

15. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method according to any one of claims 1 to 11.