CN116269096A - Recharging detection method of cleaning robot and cleaning robot - Google Patents

Recharging detection method of cleaning robot and cleaning robot Download PDF

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Publication number
CN116269096A
CN116269096A CN202310270266.7A CN202310270266A CN116269096A CN 116269096 A CN116269096 A CN 116269096A CN 202310270266 A CN202310270266 A CN 202310270266A CN 116269096 A CN116269096 A CN 116269096A
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CN
China
Prior art keywords
recharging
obstacle
cleaning robot
signal
base station
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Pending
Application number
CN202310270266.7A
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Chinese (zh)
Inventor
尹志远
陈宇帆
李昂
郭盖华
周伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen LD Robot Co Ltd
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Shenzhen LD Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Shenzhen LD Robot Co Ltd filed Critical Shenzhen LD Robot Co Ltd
Priority to CN202310270266.7A priority Critical patent/CN116269096A/en
Publication of CN116269096A publication Critical patent/CN116269096A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a recharging detection method of a cleaning robot and the cleaning robot.

Description

Recharging detection method of cleaning robot and cleaning robot
Technical Field
The invention relates to the technical field of robot recharging, in particular to a recharging detection method of a cleaning robot and the cleaning robot.
Background
When the cleaning robot finishes the cleaning task or has insufficient electric quantity, the cleaning robot can return to the base station for charging so as to ensure that the electric quantity is sufficient before the next cleaning task is executed or smoothly finish the cleaning task, and the cleaning efficiency can be improved.
At present, the condition that the cleaning robot can not receive the recharging signal sent by the base station or can not receive the complete recharging signal possibly occurs in the recharging process, at this time, the cleaning robot can not judge what causes are caused, and the charging work of the current base station can be abandoned after multiple times of trial and error of receiving the recharging signal, so that the charging efficiency of the cleaning robot is obviously affected.
Disclosure of Invention
The invention provides a recharging detection method of a cleaning robot and the cleaning robot, and aims to solve the technical problem that the cleaning robot cannot judge the reason and solve the problem in the prior art after receiving no recharging signal of a base station.
In order to solve the technical problems, the invention provides a recharging detection method of a cleaning robot, comprising the following steps:
when the cleaning robot is in a recharging state, judging whether communication information of a base station can be received or not;
if the communication information can be received, judging that the base station is in a normal working state according to the communication information,
Judging whether a recharging area corresponding to the base station is blocked by an obstacle or not;
if the recharging area is shielded by an obstacle, moving the obstacle out of the recharging area;
and entering the recharging area to charge.
In a specific embodiment, the method for determining whether the recharging area is blocked by an obstacle includes:
judging whether a recharging signal sent by the base station can be obtained or not;
if the cleaning robot can acquire the complete recharging signal, judging that the recharging area is not shielded by an obstacle, and enabling the cleaning robot to directly enter the recharging area;
if the cleaning robot acquires the incomplete recharging signal or fails to acquire the recharging signal, judging whether the cleaning robot collides with the obstacle or not in the process that the cleaning robot moves to the base station or the recharging area;
if the cleaning robot collides with the obstacle, judging that the recharging area is shielded by the obstacle;
if the cleaning robot does not collide with the obstacle, the cleaning robot directly enters the recharging area.
In a specific embodiment, the recharging signal includes a first side recharging signal, a first intermediate recharging signal, a second intermediate recharging signal, and a second side recharging signal, where the first side recharging signal, the first intermediate recharging signal, the second intermediate recharging signal, and the second side recharging signal continuously cover an area from a first side of the base station to a second side of the base station through a front side of the base station, and the first intermediate recharging signal and the second intermediate recharging signal cover the recharging area; if the recharging area is blocked by an obstacle, the method for moving the obstacle out of the recharging area corresponding to the base station comprises the following steps:
if the cleaning robot cannot acquire the recharging signal, the cleaning robot moves to one side of the obstacle and moves the obstacle to the other side of the obstacle;
judging whether the cleaning robot can acquire a first intermediate recharging signal and a second intermediate recharging signal at the same time;
if the cleaning robot can acquire a first intermediate recharging signal and a second intermediate recharging signal at the same time, determining that the obstacle is moved out of the recharging area;
If the cleaning robot cannot acquire the first intermediate recharging signal and the second intermediate recharging signal at the same time, the cleaning robot continues to move the obstacle until the first intermediate recharging signal and the second intermediate recharging signal are acquired at the same time.
In a specific embodiment, if the cleaning robot cannot acquire the recharging signal, the cleaning robot moves to one side of the base station and moves the obstacle to the other side of the base station, and then further includes:
judging whether the cleaning robot acquires the first side recharging signal or the second side recharging signal in the process that the cleaning robot moves the obstacle from one side to the other side of the obstacle;
if the cleaning robot acquires the first side recharging signal, the cleaning robot moves the obstacle from the first side of the obstacle to the second side of the obstacle until the first middle recharging signal and the second middle recharging signal are acquired at the same time;
if the cleaning robot acquires the second side recharging signal, the cleaning robot moves the obstacle from the second side of the obstacle to the first side of the obstacle until the first middle recharging signal and the second middle recharging signal are acquired at the same time.
In an embodiment, if the recharging area is blocked by an obstacle, the method for moving the obstacle out of the recharging area corresponding to the base station further includes:
if the cleaning robot acquires the recharging signals of the preset quantity, the cleaning robot moves to one side of acquiring the recharging signals and moves the obstacle to the other side of the base station;
judging whether the cleaning robot can acquire a first intermediate recharging signal and a second intermediate recharging signal at the same time;
if the cleaning robot can acquire a first intermediate recharging signal and a second intermediate recharging signal at the same time, determining that the obstacle is moved out of the recharging area;
if the cleaning robot cannot acquire the first intermediate recharging signal and the second intermediate recharging signal at the same time, the cleaning robot continues to move the obstacle until the first intermediate recharging signal and the second intermediate recharging signal are acquired at the same time.
In one embodiment of the present invention, in one embodiment,
before judging whether the communication information of the base station can be received, the method further comprises the following steps:
acquiring a map containing first position points of the base station;
and after judging that the cleaning robot cannot acquire the recharging signal, the method further comprises the following steps:
Determining a second location point on the map, a linear distance between the second location point and the first location point being less than or equal to a distance threshold;
the cleaning robot moves to the second position point and moves from the second position point to the first position point along a preset path;
in the moving process of the cleaning robot, determining the change condition of the communication signal intensity of the cleaning robot and the base station according to the communication information of the cleaning robot and the base station;
judging whether the change condition of the communication signal strength accords with a preset change rule or not;
if the change rule accords with the preset change rule, judging that the base station is not moved;
if the change rule does not accord with the preset change rule, the base station is judged to be moved.
In a specific embodiment, the method for moving the obstacle outside the recharging area further comprises:
identifying a material of the obstacle;
judging whether the material of the barrier accords with a preset material type or not;
if the material of the obstacle meets the preset material type, moving the obstacle in a preset action;
and if the material of the barrier does not accord with the preset material type, determining that the barrier cannot move.
In a specific embodiment, the method for moving the obstacle outside the recharging area further comprises:
judging whether the cleaning robot changes in speed or acceleration and displacement does not change in the process of moving the obstacle by the cleaning robot;
if the speed or the acceleration of the cleaning robot changes and the displacement of the cleaning robot does not change, judging that the cleaning robot cannot move the obstacle;
otherwise the cleaning robot continues to move the obstacle.
In a specific embodiment, after the cleaning robot collides with the obstacle, the method further includes:
the cleaning robot moves around the obstacle to acquire the size and position of the obstacle;
judging the shielding condition of the obstacle to the recharging area according to the size and the position of the obstacle and whether the recharging signal is acquired or not, and determining the direction of moving the obstacle according to the shielding condition.
In order to solve the above technical problems, another technical solution adopted by the present invention is to provide a cleaning robot, which is characterized by comprising:
a robot main body;
The processor is arranged on the robot main body and used for judging whether the communication information of the base station can be received when the cleaning robot is in a recharging state;
the wireless signal transceiver is arranged on the robot main body, is in communication connection with the processor and is used for receiving communication information of the base station, and the processor is also used for judging whether a recharging area corresponding to the base station is blocked by an obstacle after judging that the base station is in a normal working state according to the communication information;
and the controller is arranged on the robot main body, is in communication connection with the processor, and is used for controlling the robot main body to move the obstacle to the outside of the recharging area when the recharging area is shielded by the obstacle, and controlling the robot main body to enter the recharging area so as to charge.
The recharging detection method of the cleaning robot comprises the steps of judging whether communication information of a base station can be received when the cleaning robot is in a recharging state, judging whether a recharging area corresponding to the base station is shielded by an obstacle after judging that the base station is in a normal working state according to the communication information if the communication information can be received, moving the obstacle out of the recharging area to enter the recharging area to charge if the recharging area is shielded by the obstacle, avoiding continuous time waste and energy attempt of the cleaning robot to enter the base station by judging whether the base station is in the normal working state, enabling the cleaning robot to smoothly realize charging by judging that the recharging area is shielded by the obstacle and moving the obstacle out of the recharging area, obviously improving recharging efficiency, saving recharging time and improving recharging intelligence of the cleaning robot.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a flow chart of an embodiment of a recharging detection method of a cleaning robot according to the present invention;
FIG. 2 is a flowchart of another embodiment of a recharging detection method of a cleaning robot according to the present invention;
FIG. 3 is a schematic diagram of a base station in another embodiment of a recharging detection method of a cleaning robot according to the present invention;
fig. 4 is a schematic structural view of a base station, a cleaning robot, and an obstacle in another embodiment of a recharging detection method of the cleaning robot of the present invention;
fig. 5 is a schematic structural view of a base station, a cleaning robot, and an obstacle in another embodiment of a recharging detection method of the cleaning robot of the present invention;
FIG. 6 is a flowchart of another embodiment of a recharging detection method of the cleaning robot of the present invention;
fig. 7 is a schematic view of a base station and a cleaning robot in an embodiment of the cleaning robot of the present invention;
FIG. 8 is a schematic view of a structure of an embodiment of the cleaning robot of the present invention;
fig. 9 is a schematic structural view of an embodiment of the device with memory function of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
The terms "first," "second," and the like in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. And the term "and/or" is merely an association relation describing the association object, and indicates that three relations may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Referring to fig. 1, an embodiment of a recharging detection method of a cleaning robot of the present invention includes:
and S110, judging whether communication information of the base station can be received or not when the cleaning robot is in a recharging state.
In this embodiment, the cleaning robot may receive the communication information of the base station through the wireless signal transceiver, and the wireless signal transceiver may use Wi-Fi wireless signals, bluetooth wireless signals, 4G and 5G signals, etc., where the coverage of indoor signals is larger and less affected by obstacles.
And S120, if the communication information can be received, judging whether the base station is in a normal working state according to the communication information.
By judging whether the base station is in a normal working state or not, the cleaning robot can stop trying to enter the base station when judging that the base station is in an abnormal working state, so that the problem that other base stations are found or the base station cannot work normally is solved, the continuous waste of time and energy of the cleaning robot can be avoided, the recharging efficiency is improved, the recharging time is saved, and the recharging intelligence of the cleaning robot is improved.
And S130, if the base station is in a normal working state, judging whether the recharging area corresponding to the base station is blocked by an obstacle.
In this embodiment, the cleaning robot may determine whether the recharging area is shielded by the obstacle according to whether a collision with the obstacle occurs.
In other embodiments, the cleaning robot may also determine whether the recharging area has an obstacle directly through an image acquired by the image sensor, a distance between the ranging sensor and a front object, and the like, which is not limited herein.
And S140, if the recharging area is blocked by the obstacle, moving the obstacle out of the recharging area.
In this embodiment, the cleaning robot may move the obstacle out of the recharging area by directly acting on the obstacle, wherein the way of acting on the obstacle includes collision, pushing, or a combination of both.
S150, entering a recharging area to charge.
At present, after the cleaning robot encounters an obstacle, a bypass mode is generally adopted to continuously find a recharging signal, and the recharging work is abandoned after the recharging signal is not obtained, the situation that the recharging signal is completely shielded by the obstacle is not considered, the situation that the obstacle can be removed by the cleaning robot is also not considered, a great deal of time and energy are wasted by the cleaning robot to find the recharging signal, the obstacle is also required to be manually cleared, and the intelligent degree of the cleaning robot is affected. And in this application embodiment through judging the area of recharging sheltered from by the barrier and shift out the barrier and recharge the area, can make cleaning robot realize charging smoothly, further improve the efficiency of recharging, save the time of recharging, improve cleaning robot and recharge the intelligent.
Referring to fig. 2, another embodiment of a recharging detection method of a cleaning robot of the present invention includes:
and S210, when the cleaning robot is in a recharging state, judging whether communication information of the base station can be received.
S221, if the communication information can be received, judging whether the base station is in a normal working state or not according to the communication information.
The communication information can represent the communication condition between the cleaning robot and the base station, and the base station can be indicated to be in a normal working state after the cleaning robot receives the communication information.
In some embodiments, determining whether the base station is in a normal operating state according to the communication information may include:
s2211, if the communication information received by the cleaning robot does not contain any information of the base station with any problem, the base station is judged to be in a normal working state.
S2212, if the communication information received by the cleaning robot contains the information that the base station has problems, the base station is judged to be in an abnormal working state.
The communication information comprises information that the base station has problems, and the information that the base station has problems can be in a working state, the base station can not provide normal power for the cleaning robot, or the base station has faults and the like. In this embodiment, after the base station is determined to be in an abnormal working state, the cleaning robot does not attempt to enter the base station any more, so that detection work of subsequently determining whether an obstacle exists or not is omitted.
And S222, if the cleaning robot cannot receive the communication information of the base station, the cleaning robot moves to the base station until the cleaning robot can receive the communication information of the base station.
In this embodiment, the cleaning robot may store a map of the working area and a first position point of the base station on the map, and after the cleaning robot enters the recharging state, the cleaning robot may move to the base station, and when the distance between the cleaning robot and the base station is less than or equal to the communication distance (i.e., the distance from which the cleaning robot can receive the communication information sent by the base station), communication connection can be established with the base station, so that it is possible to avoid that communication connection cannot be established between the cleaning robot and the base station due to too far distance, blocking by a wall or an obstacle, and the number of times that the cleaning robot sends a communication connection request to the base station can be reduced.
S231, if the base station is in a normal working state, judging whether a recharging signal sent by the base station can be obtained.
In this embodiment, if the base station is in the normal working state, the cleaning robot can continue to move to the first position point of the base station on the map, without waiting in situ, so that recharging efficiency can be improved.
In this embodiment, the recharging signal may be an infrared signal, and may cover a part of the area.
Referring to fig. 3, in this embodiment, the base station 10 may be provided with four infrared emitting lamps for emitting infrared recharging signals outwards, and the cleaning robot enters the base station 10 for charging after performing action adjustment according to the received infrared recharging signals. Specifically, the infrared transmitting device may include a first infrared transmitting lamp 101, a second infrared transmitting lamp 102, a third infrared transmitting lamp 103 and a fourth infrared transmitting lamp 104, where the first infrared transmitting lamp 101 is disposed on a first side of the base station 10 (may be the right side of the base station 10 shown in fig. 3) and is used for transmitting a first side recharging signal, the second infrared transmitting lamp 102 and the third infrared transmitting lamp 103 are disposed in the middle of the base station 10 and are respectively used for transmitting a first middle recharging signal and a second middle recharging signal, and the fourth infrared transmitting lamp 104 is disposed on a second side of the base station 10 and is used for transmitting a second side recharging signal.
The recharging signal may include a first side recharging signal, a first middle recharging signal, a second middle recharging signal, and a second side recharging signal that are sequentially overlapped, where the first side recharging signal, the first middle recharging signal, the second middle recharging signal, and the second side recharging signal continuously overlap an area (a hatched portion in the drawing) from the first side of the base station 10 to the second side of the base station 10 through the front side of the base station 10, and the first middle recharging signal and the second middle recharging signal overlap the recharging area (an area where the charging connector 105 of the base station 10 is located), and there may be signal overlap between the first middle recharging signal and the second middle recharging signal.
S232, if the base station is in an abnormal working state, the charging of the base station is abandoned.
S241, if the cleaning robot can acquire a complete recharging signal, judging that the recharging area is not shielded by the obstacle, and enabling the cleaning robot to directly enter the recharging area.
In this embodiment, the cleaning robot can obtain a complete recharging signal, that is, the cleaning robot can obtain a first side recharging signal, a first middle recharging signal, a second middle recharging signal and a second side recharging signal.
S242, if the cleaning robot acquires an incomplete recharging signal or cannot acquire the recharging signal, judging whether the cleaning robot collides with an obstacle in the process that the cleaning robot moves to a base station or a recharging area.
In this embodiment, if the cleaning robot acquires an incomplete recharging signal, the cleaning robot may determine the approximate position of the recharging area, and may directly move to the recharging area or move to the base station. If the cleaning robot cannot acquire the recharging signal, the position of the recharging area cannot be judged, and the cleaning robot can move to the base station based on the map information.
In the present embodiment, the cleaning robot may judge whether a collision with an obstacle occurs through a collision sensor, a pressure sensor, or the like.
S250, if the cleaning robot collides with the obstacle, the recharging area is judged to be blocked by the obstacle.
In this embodiment, when the cleaning robot determines whether the recharging signal can be received, the cleaning robot is very close to the recharging area, and if the incomplete recharging signal is acquired or the recharging signal is not acquired and collides with the obstacle, it may be determined that the recharging area is blocked by the obstacle.
S241, if the cleaning robot does not collide with the obstacle, judging that the recharging area is not shielded by the obstacle, and enabling the cleaning robot to directly enter the recharging area.
In this embodiment, if the cleaning robot does not collide with the obstacle, the obstacle may not block the recharging area, but block other areas covered by the recharging signal (for example, the area covered by the recharging signal on the first side and/or the recharging signal on the second side), at this time, the cleaning robot may acquire the recharging signal on the first middle and the recharging signal on the second middle, and the obstacle does not affect the cleaning robot to enter the recharging area. The cleaning robot directly enters the recharging area without detecting the obstacle again, so that recharging efficiency can be improved.
In this embodiment, after determining that the recharging area is blocked by the obstacle, the method further includes:
And S261, if the cleaning robot cannot acquire the recharging signal, the cleaning robot moves to one side of the obstacle and moves the obstacle to the other side of the obstacle.
Referring to fig. 4, in the present embodiment, if the cleaning robot 20 cannot acquire the recharging signal, the obstacle 30 blocks all of the first side recharging signal, the first middle recharging signal, the second middle recharging signal and the second side recharging signal, and it can be determined that the obstacle 30 is located in front of the base station 10, and the cleaning robot 20 moves to one side of the obstacle 30 and moves the obstacle 30 to the other side of the obstacle 30 along the width direction (left-right direction as shown in fig. 4) of the base station 10.
Referring to fig. 5, in some embodiments, the cleaning robot 20 may further move the obstacle 30 outside the recharging area on one side of the obstacle 30 in a direction inclined from the width direction of the base station 10 toward the other side of the obstacle 30.
In other embodiments, the direction of moving the obstacle 30 is not limited to the above two directions, and it is only necessary to ensure that the cleaning robot 20 can move the obstacle 30 and then receive the required recharging signal, and the specific moving direction is determined according to whether the cleaning robot 20 can move the obstacle 30 (influenced by the placement position, shape, size, etc. of the obstacle 30 around the base station 10). During the movement, the cleaning robot 20 may determine the movement of the obstacle 30 by attempting to move the obstacle 30, thereby determining the desired movement direction. Similar to that shown in fig. 4, the cleaning robot 20 may be positioned at the left side of the obstacle 30 and move in a left-to-right direction. When the cleaning robot 20 moves in the movement direction similar to that of fig. 4, the movement direction may be changed to the movement direction similar to that of fig. 5 according to the movement situation.
In the present embodiment, the cleaning robot may collide with the obstacle in a multiple forward and backward manner to apply a multiple interval force to the obstacle.
In other embodiments, the cleaning robot may also push the obstacle in a continuous forward manner to apply a continuous force to the obstacle; in other embodiments, the above 2 cases may coexist.
S262, judging whether the cleaning robot can acquire the first intermediate recharging signal and the second intermediate recharging signal at the same time.
S263, if the cleaning robot can simultaneously acquire the first intermediate recharging signal and the second intermediate recharging signal, the obstacle is moved out of the recharging area.
S264, if the cleaning robot cannot acquire the first intermediate recharging signal and the second intermediate recharging signal at the same time, the cleaning robot continues to move the obstacle until the first intermediate recharging signal and the second intermediate recharging signal are acquired at the same time.
In this embodiment, the cleaning robot gradually eliminates the shielding of the recharging signal by the obstacle during the movement of the obstacle, and only after completely eliminating the first intermediate recharging signal and the second intermediate recharging signal by the obstacle, the recharging area is completely exposed.
In this embodiment, the cleaning robot may further include, during movement of the obstacle:
s310, judging whether the cleaning robot acquires the first side recharging signal or the second side recharging signal.
S320, if the cleaning robot acquires the first side recharging signal, the cleaning robot moves the obstacle from the first side of the obstacle to the second side of the obstacle until the first middle recharging signal and the second middle recharging signal are acquired at the same time.
S330, if the cleaning robot acquires the second side recharging signal, the cleaning robot moves the obstacle from the second side of the obstacle to the first side of the obstacle until the first middle recharging signal and the second middle recharging signal are acquired at the same time.
In this embodiment, the cleaning robot is described as moving the obstacle from the first side (may be the right side of the obstacle shown in fig. 4) to the second side (may be the left side of the obstacle shown in fig. 4), and the cleaning robot generally receives the first side recharging signal during moving the obstacle, so that the cleaning robot can continue to move the obstacle from the first side to the second side of the obstacle, but due to the shape, size, placement position, stress point, stress magnitude, collision with other objects, etc., the cleaning robot may receive the second side signal, and at this time, the cleaning robot may move to the second side of the obstacle, and the second side of the obstacle moves the obstacle, so that the recharging area is completely exposed, and the efficiency of the cleaning robot for moving the obstacle can be improved.
In this embodiment, after determining that the recharging area is blocked by the obstacle, the method further includes:
and S270, if the cleaning robot acquires the preset number of recharging signals, the cleaning robot moves to the side where the recharging signals are acquired, and moves the obstacle to the other side of the obstacle.
In this embodiment, the preset number may be 1, 2, 3, or 4. According to the recharging signal obtained by the cleaning robot, the following multiple conditions can be classified:
s271, if the cleaning robot acquires the first side recharging signal, the cleaning robot moves to the first side of the obstacle and moves the obstacle to the second side of the obstacle.
And S272, if the cleaning robot acquires the second side recharging signal, the cleaning robot moves to the second side of the obstacle and moves the obstacle to the first side of the obstacle.
In this embodiment, if the cleaning robot can acquire the first side recharging signal or the second side recharging signal, but cannot acquire the first middle recharging signal and the second middle recharging signal, it may be determined that the obstacle is located in front of the base station and at least one side of the base station is not shielded, and the cleaning robot may move to the side of the base station that is not shielded, so as to move the obstacle, and efficiency of the cleaning robot for removing the obstacle may be improved.
S273, if the cleaning robot can acquire the first side recharging signal and the second side recharging signal at the same time, the cleaning robot can move to the first side or the second side of the obstacle to move the obstacle.
And S274, if the cleaning robot acquires the first middle recharging signal or the second middle recharging signal, the cleaning robot moves to an area covered by the acquired recharging signal and moves the obstacle to the side of the base station.
In this embodiment, if the cleaning robot can only acquire the first middle recharging signal or the second middle recharging signal, but cannot acquire the first side recharging signal or the second side recharging signal, it may be determined that the obstacle is located at two sides of the base station and the part of the recharging area is blocked, and the cleaning robot may move to the area covered by the first middle recharging signal or the second middle recharging signal, and move the obstacle to two sides of the base station, so that the efficiency of the cleaning robot for removing the obstacle can be improved.
S275, if the cleaning robot acquires the first side recharging signal and the first middle recharging signal, the cleaning robot moves the first side of the base station and moves the obstacle to the second side of the base station.
S276, if the cleaning robot acquires the second side recharging signal and the second middle recharging signal, the cleaning robot moves the second side of the base station and moves the obstacle to the first side of the base station.
In this embodiment, if the cleaning robot can only acquire the first side recharging signal and the first middle recharging signal, or can only acquire the second side recharging signal and the second middle recharging signal, it may be determined that the obstacle is located at one side of the base station and the part of the recharging area is blocked, and the cleaning robot may move to one side of the base station that is not blocked, so as to remove the obstacle, and efficiency of the cleaning robot for removing the obstacle may be improved.
In the above steps S271 to S276, the manner in which the cleaning robot moves the obstacle may be referred to the above step S261, and will not be described here.
In the above steps S271 to S276, the moving obstacle moving process may further include:
s262, judging whether the cleaning robot can acquire the first intermediate recharging signal and the second intermediate recharging signal at the same time.
S263, if the cleaning robot can simultaneously acquire the first intermediate recharging signal and the second intermediate recharging signal, the obstacle is moved out of the recharging area.
S264, if the cleaning robot cannot acquire the first intermediate recharging signal and the second intermediate recharging signal at the same time, the cleaning robot continues to move the obstacle until the first intermediate recharging signal and the second intermediate recharging signal are acquired at the same time.
S280, entering a recharging area to charge.
In this embodiment, the method for the cleaning robot to move the obstacle out of the recharging area may further include:
s410, identifying the material of the obstacle.
S420, judging whether the material of the barrier accords with the preset material type.
S430, if the material of the obstacle meets the preset material type, moving the obstacle by a preset action.
S440, if the material of the obstacle does not accord with the preset material type, determining that the obstacle cannot move.
In this embodiment, the predetermined material type may be light and soft materials such as cardboard box and rubber, and such obstacle collides with the cleaning robot, and the cleaning robot is not damaged or is less damaged, so that the obstacle can be moved by the predetermined actions such as collision and pushing.
In this embodiment, the preset material type may be a material with a certain weight and hardness, such as plastic, hollow metal, etc., so that the burden on the cleaning robot is reduced by moving the obstacle through the pushing action.
If the material of the obstacle does not accord with the preset material type, the obstacle is made of heavy and hard materials such as solid metal, the obstacle is determined to be unable to move, and a signal which can not move can be fed back, so that the cleaning robot can be protected.
In the present embodiment, the cleaning robot can recognize the material of the obstacle by an ultrasonic sensor, an image sensor, a pressure sensor, or the like.
In this embodiment, the method for moving the obstacle to the outside of the recharging area by the cleaning robot further includes:
s510, judging whether the cleaning robot changes in speed or acceleration and does not change in displacement in the process of moving the obstacle by the cleaning robot.
S520, if the speed or acceleration of the cleaning robot changes and the displacement of the cleaning robot does not change, it is determined that the cleaning robot cannot move the obstacle.
S530, otherwise, the cleaning robot continues to move the obstacle.
In the present embodiment, for example, the cleaning robot may be provided with an inertial measurement unit (IMU, inertial Measurement Unit) that may be used to detect acceleration of the cleaning robot, and a ranging sensor that may be used to detect a displacement distance of the cleaning robot. If the acceleration data detected by the inertial measurement unit changes and the displacement distance detected by the ranging sensor does not change, the cleaning robot can be judged to be incapable of moving the obstacle, and the cleaning robot can search other base stations to charge or report errors.
In this embodiment, after the cleaning robot collides with the obstacle, it may further include:
s610, the cleaning robot moves around the obstacle to acquire the size and position of the obstacle.
S620, judging the shielding condition of the obstacle to the recharging area according to the size and the position of the obstacle and whether a recharging signal is acquired, and determining the direction of moving the obstacle according to the shielding condition.
In this embodiment, by acquiring the size and the position of the obstacle, the accuracy of the determination of the shielding condition of the recharging area by the cleaning robot can be further improved.
In this embodiment, the determining whether the communication information of the base station can be received may further include: a map is acquired that includes a first location point of a base station.
In this embodiment, the first location point of the base station may be manually input, or a locator may be set on the base station to send the first location point to the cleaning robot, or the first location point may be recorded by the cleaning robot in the process of mapping.
Referring to fig. 6, in the present embodiment, after determining that the cleaning robot cannot acquire the recharging signal after step S231, the method may further include:
s710, determining a second position point on the map, wherein the linear distance between the second position point and the first position point is smaller than or equal to a distance threshold value.
S720, the cleaning robot moves to a second position point and moves from the second position point to the first position point along a preset path.
In this embodiment, the preset path may refer to a straight path from the second location point to the first location point, or a path where the intensity of the communication signal varies with the distance may be determined. The distance threshold may be less than or equal to a communication distance between the cleaning robot and the base station, so that the communication signal is stable during the movement of the cleaning robot from the second position point to the first position point.
And S730, in the movement process of the cleaning robot, determining the change condition of the communication signal intensity r of the cleaning robot and the base station according to the communication information of the cleaning robot and the base station.
In this embodiment, the communication information may include a transmission power PT of the wireless signal of the base station, and a reception power PR of the wireless signal of the cleaning robot, r= (pr×n)/PT, where n is a propagation factor of the wireless signal.
S740, judging whether the change condition of the communication signal intensity r accords with a preset change rule.
S750, if the preset change rule is met, judging that the base station is not moved.
S760, if the preset change rule is not met, the base station is judged to be moved.
For example, in the present embodiment, if the communication signal intensity r becomes gradually stronger during the movement of the cleaning robot to the first location point, it indicates that the cleaning robot is actually approaching the base station, the location of the base station is not moved, otherwise the base station is not already at the first location point.
Because the distance between the cleaning robot and the first position point may be far, the intensity of the communication signal may be poor, and the communication signal intensity may be affected by the obstacle on the motion path. Through making cleaning robot move to the second position point earlier, then follow the route that presets and move to first position point to the route that presets moves, when can avoiding cleaning robot to walk, the condition that the appearance was walked around or is crooked walking, and then can make the in-process communication signal of motion more stable, and the judgement of the change condition of communication signal intensity is more accurate.
Referring to fig. 7 and 8, an embodiment of the cleaning robot 20 of the present invention includes a robot main body 201, a wireless signal transceiver 202, a processor 203, and a controller 204, where the processor 203 is disposed on the robot main body 201 and is configured to determine whether communication information of a base station can be received when the cleaning robot is in a recharging state, the wireless signal transceiver 202 is disposed on the robot main body 201 and is in communication connection with the processor 203 and is configured to communicate information, the processor 203 is further configured to determine whether a recharging area corresponding to the base station 10 is blocked by an obstacle according to the communication information after determining that the base station 10 is in a normal working state, and the controller 204 is disposed on the robot main body and is in communication connection with the processor 203 and is configured to control the robot main body 201 to move the obstacle out of the recharging area when the recharging area is blocked by the obstacle and to control the robot main body 201 to enter the recharging area for charging.
Through judging whether the base station is in normal operating condition, can avoid cleaning robot to continue waste time and energy to try to get into this base station, through judging that the area of recharging is sheltered from by the barrier and shifts out the barrier and recharge the area, can make cleaning robot realize charging smoothly, obviously improve the efficiency of recharging, save the time of recharging, improve cleaning robot and recharge the intelligent.
Referring to fig. 9, the apparatus 40 with a storage function of the present invention stores program data 401, and the program data 301 can be executed to implement the recharging detection method of the cleaning robot as described above.
Through judging whether the base station is in normal operating condition, can avoid cleaning robot to continue waste time and energy to try to get into this base station, through judging that the area of recharging is sheltered from by the barrier and shifts out the barrier and recharge the area, can make cleaning robot realize charging smoothly, obviously improve the efficiency of recharging, save the time of recharging, improve cleaning robot and recharge the intelligent.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.

Claims (10)

1. A recharging detection method of a cleaning robot, comprising:
when the cleaning robot is in a recharging state, judging whether communication information of a base station can be received or not;
if the communication information can be received, judging that the base station is in a normal working state according to the communication information ， Judging whether a recharging area corresponding to the base station is blocked by an obstacle or not;
if the recharging area is shielded by an obstacle, moving the obstacle out of the recharging area;
and entering the recharging area to charge.
2. The method of claim 1, wherein determining whether the recharging area is obscured by an obstruction comprises:
judging whether a recharging signal sent by the base station can be obtained or not;
if the cleaning robot can acquire the complete recharging signal, judging that the recharging area is not shielded by an obstacle, and enabling the cleaning robot to directly enter the recharging area;
if the cleaning robot acquires the incomplete recharging signal or fails to acquire the recharging signal, judging whether the cleaning robot collides with the obstacle or not in the process that the cleaning robot moves to the base station or the recharging area;
If the cleaning robot collides with the obstacle, judging that the recharging area is shielded by the obstacle;
if the cleaning robot does not collide with the obstacle, the cleaning robot directly enters the recharging area.
3. A method according to claim 2, characterized in thatThe recharging signal comprises a first side recharging signal, a first middle recharging signal, a second middle recharging signal and a second side recharging signal, and the first side recharging signal, the first middle recharging signal, the second middle recharging signal and the second side recharging signal continuously cover an area from the first side of the base station to the second side of the base station through the front side of the base station ， The first intermediate recharging signal and the second intermediate recharging signal cover the recharging area; if the recharging area is blocked by an obstacle, the method for moving the obstacle out of the recharging area corresponding to the base station comprises the following steps:
if the cleaning robot cannot acquire the recharging signal, the cleaning robot moves to one side of the obstacle and moves the obstacle to the other side of the obstacle;
Judging whether the cleaning robot can acquire a first intermediate recharging signal and a second intermediate recharging signal at the same time;
if the cleaning robot can acquire a first intermediate recharging signal and a second intermediate recharging signal at the same time, determining that the obstacle is moved out of the recharging area;
if the cleaning robot cannot acquire the first intermediate recharging signal and the second intermediate recharging signal at the same time, the cleaning robot continues to move the obstacle until the first intermediate recharging signal and the second intermediate recharging signal are acquired at the same time.
4. A method according to claim 3, wherein if the cleaning robot does not acquire the recharging signal, the cleaning robot moves to one side of the obstacle and moves the obstacle to the other side of the obstacle, and further comprising:
judging whether the cleaning robot acquires the first side recharging signal or the second side recharging signal in the process that the cleaning robot moves the obstacle from one side to the other side of the obstacle;
if the cleaning robot acquires the first side recharging signal, the cleaning robot moves the obstacle from the first side of the obstacle to the second side of the obstacle until the first middle recharging signal and the second middle recharging signal are acquired at the same time;
If the cleaning robot acquires the second side recharging signal, the cleaning robot moves the obstacle from the second side of the obstacle to the first side of the base station until the first middle recharging signal and the second middle recharging signal are acquired at the same time.
5. The method of claim 3, wherein if the recharging area is blocked by an obstacle, the method of moving the obstacle outside the recharging area corresponding to the base station further comprises:
if the cleaning robot acquires the recharging signals of the preset quantity, the cleaning robot moves to one side of acquiring the recharging signals and moves the obstacle to the other side of the obstacle;
judging whether the cleaning robot can acquire a first intermediate recharging signal and a second intermediate recharging signal at the same time;
if the cleaning robot can acquire a first intermediate recharging signal and a second intermediate recharging signal at the same time, determining that the obstacle is moved out of the recharging area;
if the cleaning robot cannot acquire the first intermediate recharging signal and the second intermediate recharging signal at the same time, the cleaning robot continues to move the obstacle until the first intermediate recharging signal and the second intermediate recharging signal are acquired at the same time.
6. The method of claim 2, wherein the step of determining the position of the substrate comprises,
before judging whether the communication information of the base station can be received, the method further comprises the following steps:
acquiring a map containing first position points of the base station;
and after judging that the cleaning robot cannot acquire the recharging signal, the method further comprises the following steps:
determining a second location point on the map, a linear distance between the second location point and the first location point being less than or equal to a distance threshold;
the cleaning robot moves to the second position point and moves from the second position point to the first position point along a preset path;
in the moving process of the cleaning robot, determining the change condition of the communication signal intensity of the cleaning robot and the base station according to the communication information of the cleaning robot and the base station;
judging whether the change condition of the communication signal strength accords with a preset change rule or not;
if the change rule accords with the preset change rule, judging that the base station is not moved;
if the change rule does not accord with the preset change rule, the base station is judged to be moved.
7. The method of claim 1, wherein the method of moving the obstacle outside the recharging area further comprises:
Identifying a material of the obstacle;
judging whether the material of the barrier accords with a preset material type or not;
if the material of the obstacle meets the preset material type, moving the obstacle in a preset action;
and if the material of the barrier does not accord with the preset material type, determining that the barrier cannot move.
8. The method of claim 1, wherein the method of moving the obstacle outside the recharging area further comprises:
judging whether the cleaning robot changes in speed or acceleration and displacement does not change in the process of moving the obstacle by the cleaning robot;
if the speed or the acceleration of the cleaning robot changes and the displacement of the cleaning robot does not change, judging that the cleaning robot cannot move the obstacle;
otherwise the cleaning robot continues to move the obstacle.
9. The method of claim 2, wherein the cleaning robot further comprises, after collision with the obstacle:
the cleaning robot moves around the obstacle to acquire the size and position of the obstacle;
Judging the shielding condition of the obstacle to the recharging area according to the size and the position of the obstacle and whether the recharging signal is acquired or not, and determining the direction of moving the obstacle according to the shielding condition.
10. A cleaning robot, comprising:
a robot main body;
the processor is arranged on the robot main body and used for judging whether the communication information of the base station can be received when the cleaning robot is in a recharging state;
the wireless signal transceiver is arranged on the robot main body, is in communication connection with the processor and is used for judging whether a recharging area corresponding to the base station is blocked by an obstacle or not after the base station is in a normal working state according to the communication information;
and the controller is arranged on the robot main body, is in communication connection with the processor, and is used for controlling the robot main body to move the obstacle to the outside of the recharging area when the recharging area is shielded by the obstacle, and controlling the robot main body to enter the recharging area so as to charge.
CN202310270266.7A 2023-03-13 2023-03-13 Recharging detection method of cleaning robot and cleaning robot Pending CN116269096A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310270266.7A CN116269096A (en) 2023-03-13 2023-03-13 Recharging detection method of cleaning robot and cleaning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310270266.7A CN116269096A (en) 2023-03-13 2023-03-13 Recharging detection method of cleaning robot and cleaning robot

Publications (1)

Publication Number Publication Date
CN116269096A true CN116269096A (en) 2023-06-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310270266.7A Pending CN116269096A (en) 2023-03-13 2023-03-13 Recharging detection method of cleaning robot and cleaning robot

Country Status (1)

Country Link
CN (1) CN116269096A (en)

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