WO2019128441A1 - 一种清洁机器人的控制方法 - Google Patents

一种清洁机器人的控制方法 Download PDF

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Publication number
WO2019128441A1
WO2019128441A1 PCT/CN2018/112315 CN2018112315W WO2019128441A1 WO 2019128441 A1 WO2019128441 A1 WO 2019128441A1 CN 2018112315 W CN2018112315 W CN 2018112315W WO 2019128441 A1 WO2019128441 A1 WO 2019128441A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning robot
control method
robot
driving wheel
Prior art date
Application number
PCT/CN2018/112315
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English (en)
French (fr)
Inventor
汤进举
Original Assignee
科沃斯机器人股份有限公司
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Publication date
Application filed by 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Priority to US16/955,620 priority Critical patent/US20210000311A1/en
Publication of WO2019128441A1 publication Critical patent/WO2019128441A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the present application relates to a control method for a cleaning robot, and more particularly to a control method for a cleaning robot that can work on various surfaces such as a home window, a glass curtain wall, and a solar panel.
  • Cleaning robots that perform cleaning on smooth surfaces such as household windows, glass curtain walls, or solar panels are usually attached to a smooth surface by a suction cup, and then the track is driven by a wheel to travel on a smooth surface and by smoothing the cloth on a smooth surface. Remove dirt, dust, etc. Therefore, it is inevitable that the crawler belt is easily contaminated with dirt and dirt, and must be cleaned regularly.
  • the wheels and tracks of the cleaning robot cannot be rotated, which results in incomplete cleaning.
  • the suction cup will start working at the same time. Although the wheels and tracks are also rotating, the wheels and tracks cannot be cleaned. Therefore, it is necessary to design a way in which the wheels rotate but the suction cups do not work.
  • the present application proposes a control method for a cleaning robot that can work on various surfaces such as a home window, a glass curtain wall, and a solar panel, and in particular, a control method for cleaning a crawler of a cleaning robot .
  • a control method of a cleaning robot comprising a top portion and a bottom portion, the cleaning robot further comprising an evacuation assembly for pumping air, the cleaning robot having at least two rows of drive wheels disposed at a bottom thereof and being disposed in the cleaning
  • the cleaning robot includes a cleaning mode for cleaning the driving wheel; the method includes: cleaning the robot into a cleaning mode; when the cleaning robot enters the cleaning mode, the vacuuming assembly is turned off or maintained in a closed state, At least one of the rows of drive wheels is activated and rotated.
  • the “cleaning robot enters the cleaning mode” includes: closing the vacuuming assembly and the driving wheel; acquiring an angle ⁇ between the bottom of the cleaning robot and the working surface, wherein the angle ⁇ is an acute angle or Right angle; when 0 ⁇ ⁇ ⁇ 90 °, the cleaning robot enters the cleaning mode.
  • the driving wheel is provided with two columns, and the “at least one column of the driving wheel is activated and rotated” specifically includes: when 0 ⁇ 30°, there is only one row of driving wheels rotating; ⁇ ⁇ 50°, both rows of driving wheels rotate and both rotate in one direction; when 50 ⁇ ⁇ ⁇ 90°, both rows of driving wheels rotate and the forward rotation and the reverse rotation alternate.
  • the time during which the drive wheel rotates in the forward direction and the length of time for the reverse rotation remain the same.
  • the cleaning robot includes a cleaning unit for cleaning the driving wheel, and the “cleaning robot enters the cleaning mode when 0 ⁇ 90°” specifically includes: the cleaning unit is turned on and The drive wheel is cleaned.
  • the cleaning unit is a water spray device or a brush or a cleaning cloth.
  • the “acquiring the angle ⁇ between the bottom of the cleaning robot and the work surface” includes: acquiring, by the sensor, an angle ⁇ between the bottom of the cleaning robot and the work surface, the sensor including a gyro sensor, Geomagnetic sensor, acceleration sensor.
  • the “at least one column of the driving wheel is activated and rotated” specifically includes: determining whether stop information or recovery information is received, and when receiving the stop information, the driving wheel stops rotating; when receiving After the information is restored, the drive wheel begins to rotate again, and the direction of rotation coincides with the direction before the stop.
  • the cleaning robot includes a glass-wiping robot or a solar panel cleaning robot.
  • the present application also provides a cleaning robot, wherein the cleaning robot includes a top portion and a bottom portion, the cleaning robot further includes an evacuation assembly for pumping air, the cleaning robot is provided with at least two rows of driving wheels at the bottom and is disposed on the cleaning robot Cleaning the two sides of the bottom of the robot, the cleaning robot further comprising a memory and a processor, wherein the cleaning robot comprises a cleaning mode for cleaning the driving wheel; the memory is for storing one or more computer instructions, wherein And implementing the one or more computer instructions by the processor:
  • the vacuuming assembly is controlled to be closed or maintained in a closed state, and at least one of the driving wheels is controlled to be activated and rotated.
  • the present application also provides a computer readable storage medium storing a computer program, wherein the computer program causes the computer to execute the control method of the cleaning robot as described in any one of the above.
  • the beneficial effects of the present application are: by measuring the angle between the bottom of the cleaning robot and the angle ⁇ between the bottom and the horizontal plane, the cleaning robot enters the cleaning mode, and then the vacuuming assembly is closed or kept closed, so that the driving wheel rotates. Therefore, the driving wheel can be cleaned by external cleaning or self-cleaning, which is convenient and efficient.
  • FIG. 2 is a schematic structural view of a cleaning robot provided by the present application.
  • the present application designs a control method for a cleaning robot.
  • the cleaning robot includes a glass cleaning robot or a solar panel cleaning robot.
  • the cleaning robot can work on a variety of surfaces, such as glass curtain walls, household windows, solar panels, and the like.
  • the cleaning robot includes a top portion and a bottom portion, the bottom portion is provided with at least two rows of driving wheels and is disposed on both sides of the bottom of the cleaning robot, and the cleaning robot further includes an evacuation assembly for pumping air.
  • the driving wheel is provided with two rows, and the driving wheel rotates to drive the crawler belt movement.
  • the present application is mainly used to clean the dirt on the crawler belt.
  • the cleaning robot includes a cleaning mode for cleaning the driving wheel.
  • the control method of the cleaning robot specifically includes:
  • the evacuation assembly is closed or maintained in a closed state, and at least one of the rows of drive wheels is activated and rotated.
  • the vacuuming assembly does not work, thereby facilitating its removal from the attached surface, or preventing its work from affecting cleaning, and then at least one row of driving wheels is activated and rotated so as to pass
  • the drive wheel is cleaned by an external cleaning device or an internal cleaning device.
  • the "cleaning robot enters the cleaning mode" further includes:
  • the cleaning robot When 0 ⁇ ⁇ ⁇ 90 °, the cleaning robot enters the cleaning mode.
  • the foregoing “at least one column of the driving wheel is started and rotated” specifically includes:
  • both rows of drive wheels rotate and both rotate in one direction;
  • the drive wheel in the stopped state is activated and rotated, and the drive wheel in the rotated state stops moving. That is, when 0 ⁇ ⁇ ⁇ 30 °, only one row of driving wheels is rotating, and if it is to be replaced with another row of driving wheels, the driving wheel alternate information is sent to the cleaning robot.
  • the above “at least one column of the driving wheel is started and rotated” specifically includes: determining whether stop information or recovery information is received, and when receiving the stop information, the driving wheel stops rotating; after receiving the recovery information, the driving wheel The rotation is restarted and the direction of rotation coincides with the direction before the stop.
  • the driving wheel can be stopped by rotating the driving robot to stop the rotation, and the dirt exposed to the driving wheel can be carefully cleaned. After the cleaning is completed, a recovery message can be sent to the cleaning robot, so that the drive wheel restarts and the direction of rotation coincides with the direction before the stop.
  • the drive wheel can be cleaned by external cleaning or self-cleaning.
  • the outer cleaning process may be performed by a human hand to scrub the driving wheel by using a rag during the rotation of the driving wheel by a rag or the like.
  • the cleaning robot includes a cleaning unit for cleaning the driving wheel, and the “cleaning robot enters the cleaning mode when 0 ⁇ 90°” specifically includes:
  • the cleaning unit is turned on and cleans the drive wheel.
  • the cleaning unit is a water spray device or a brush or a cleaning cloth, and the water spray device, a brush or a cleaning cloth is disposed inside the cleaning robot, and after entering the cleaning mode, the cleaning unit Start working and actively clean the drive wheel.
  • the “acquiring the angle ⁇ between the bottom of the cleaning robot and the work surface” includes: acquiring an angle ⁇ between the bottom of the cleaning robot and the work surface by the sensor, the sensor including the gyro sensor, the geomagnetic sensor, and the acceleration sensor .
  • the purpose of the present application can also be achieved if other sensors can sense the angle ⁇ .
  • the present application preferably employs a gyro sensor that uses a momentum-sensitive housing of a high-speed slewing body to detect an angular motion relative to an inertial space about one or two axes orthogonal to the axis of rotation.
  • a gyro sensor that uses a momentum-sensitive housing of a high-speed slewing body to detect an angular motion relative to an inertial space about one or two axes orthogonal to the axis of rotation.
  • the angular motion detecting robot made by other principles also functions as a gyro sensor.
  • the Gyro Sensor is an easy-to-use free-space and gesture-based positioning and control robot that accurately detects direction and angle.
  • the cleaning robot When the cleaning robot is cleaned on the glass, it is usually sucked on the smooth surface by the suction cup, and then the crawler belt is driven by the driving wheel to travel on the smooth surface. If the cleaning wheel and the crawler are not checked in advance, the cleaning of the driving wheel may occur. In case of dust, etc., it may cause problems such as incomplete cleaning when cleaning. When this problem occurs, the cleaning wheel can be cleaned according to the need to start the cleaning mode. In the above process, even if there is dirt on a row of driving wheels, By cleaning the cleaning robot by rotating the cleaning robot by 0-30°, the efficiency of the cleaning robot during the cleaning process is ensured.
  • the driving wheel drives the crawler on the smooth surface.
  • the crawler belt is easily contaminated with dirt and dirt, and must be cleaned regularly.
  • the driving wheel and the track of the cleaning robot cannot be rotated, which results in incomplete cleaning.
  • the suction cup will start working at the same time.
  • the driving wheel and the crawler are also rotating, the driving wheel and the crawler cannot be cleaned.
  • the cleaning robot is first determined to enter the cleaning mode.
  • the vacuuming assembly is closed or maintained in a closed state to prevent its work from affecting the driving wheel.
  • At least one row of drive wheels is activated and rotated to facilitate cleaning of the drive wheels.
  • the cleaning robot comprises a top portion and a bottom portion, the cleaning robot further comprising an evacuation assembly 11 for pumping air, the cleaning robot bottom being provided with at least two rows of drive wheels 12 and being disposed in the Clean the sides of the bottom of the robot.
  • the cleaning robot includes a cleaning mode that cleans the drive wheels.
  • the cleaning robot further includes processors 13 and 14.
  • the memory 14 is configured to store a program supporting the cleaning robot to execute the control method provided in the above method embodiments, and the processor 13 is configured to execute the program stored in the memory 14.
  • the program includes one or more computer instructions, wherein the one or more computer instructions are executed by the processor 13 to enable the following steps:
  • the vacuuming assembly is controlled to be closed or maintained in a closed state, and at least one of the driving wheels is controlled to be activated and rotated.
  • the processor 13 is further configured to perform all or part of the steps in the foregoing embodiments.
  • the embodiment of the present application provides a computer storage medium for storing computer software instructions for cleaning a robot, which includes a program involved in executing the control method of the cleaning robot in the foregoing method embodiments.
  • the cleaning robot can include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-persistent memory, random access memory (RAM), and/or non-volatile memory in a computer readable medium, such as read only memory (ROM) or flash memory.
  • RAM random access memory
  • ROM read only memory
  • Memory is an example of a computer readable medium.
  • Computer readable media includes both permanent and non-persistent, removable and non-removable media.
  • Information storage can be implemented by any method or technology.
  • the information can be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of storage media for cleaning robots include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only.
  • EEPROM electrically erasable programmable read only memory
  • flash memory or other memory technology
  • CD-ROM compact disc
  • DVD digital versatile disc
  • magnetic tape cartridges magnetic tape storage or other magnetic storage devices or any other non-transportable media that can be used to store information that can be accessed by the cleaning robot.

Abstract

一种清洁机器人的控制方法，清洁机器人包含顶部及底部，还包括用于抽气的抽真空组件(11)，清洁机器人底部设置有至少两列驱动轮(12)且分设于清洁机器人底部的两侧，清洁机器人包括清洁驱动轮(12)的清洁模式；控制方法包括：清洁机器人进入清洁模式；当清洁机器人进入清洁模式后，抽真空组件(11)关闭或维持关闭状态，至少一列驱动轮(12)启动并旋转。因而使得清洁机器人进入清洁模式后，即可使得驱动轮(12)旋转、抽真空组件(11)不工作，以对驱动轮(12)进行清洁，使用起来更加方便快捷，更加人性化。

Description

一种清洁机器人的控制方法
交叉引用
本申请引用于2017年12月26日递交的名称为“多介质智能清洁机器人的控制方法”的第201711437819.4号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及一种清洁机器人的控制方法，特别是一种可在多种表面如家用窗户、玻璃幕墙、太阳能板上工作的清洁机器人的控制方法。
背景技术
在家用窗户、玻璃幕墙或或者太阳能板上等光滑表面进行清洁工作的清洁机器人通常是通过吸盘吸附在光滑表面上，然后通过轮子带动履带在光滑表面上行进，并通过清洁布料等对光滑表面上的污垢、灰尘等进行清除。因而，在所难免的，履带上容易沾染脏污，藏污纳垢，必须定时进行清理。但是在清洁机器人关电停机的过程中，清洁机器人的轮子及履带均无法旋转，这就造成了清洁不完全。而在开机后，吸盘也会同时开始工作，虽然轮子及履带也在旋转，但是无法对轮子及履带进行清洁。因此，必须设计一种轮子旋转但是吸盘不工作的工作方式。
发明内容
为了解决上述问题之一，本申请提出了一种可在多种表面如家用窗户、 玻璃幕墙、太阳能板上工作的清洁机器人的控制方法，具体为，可对清洁机器人的履带进行清洁的控制方法。
为了实现上述目的，本申请一实施方式提供的技术方案如下：
一种清洁机器人的控制方法，所述清洁机器人包含顶部及底部，所述清洁机器人还包括用于抽气的抽真空组件，所述清洁机器人底部设置有至少两列驱动轮且分设于所述清洁机器人底部的两侧，所述清洁机器人包括清洁驱动轮的清洁模式；所述方法包括：清洁机器人进入清洁模式；当所述清洁机器人进入清洁模式后，所述抽真空组件关闭或维持关闭状态，至少一列所述驱动轮启动并旋转。
作为本申请的进一步改进，所述“清洁机器人进入清洁模式”包括：关闭抽真空组件及驱动轮；获取清洁机器人底部和工作面之间的夹角θ，其中，所述夹角θ取锐角或直角；当0＜θ≤90°时，清洁机器人进入清洁模式。
作为本申请的进一步改进，所述驱动轮设置有两列，所述“至少一列所述驱动轮启动并旋转”具体包括：当0＜θ≤30°，有且只有一列驱动轮旋转；当30＜θ≤50°，两列驱动轮均旋转且均朝一个方向旋转；当50＜θ≤90°，两列驱动轮均旋转且正向旋转和反向旋转交替进行。
作为本申请的进一步改进，当0＜θ≤30°，若接收到驱动轮交替信息时，则处于停止状态的驱动轮启动并旋转，处于旋转状态的驱动轮停止运动。
作为本申请的进一步改进，所述驱动轮正向旋转的时间和反向旋转的时间长度保持一致。
作为本申请的进一步改进，所述清洁机器人包括用以清洁驱动轮的清洁单元，所述“当0＜θ≤90°时，清洁机器人进入清洁模式”具体包括：所述清洁单元开启并对所述驱动轮进行清洁。
作为本申请的进一步改进，所述清洁单元为喷水装置或毛刷或清洁布。
作为本申请的进一步改进，所述“获取清洁机器人底部和工作面之间 的夹角θ”包括：通过传感器获取清洁机器人底部和工作面之间的夹角θ，所述传感器包括陀螺仪传感器、地磁传感器、加速度传感器。
作为本申请的进一步改进，所述“至少一列所述驱动轮启动并旋转”具体包括：判断是否接收到停止信息或恢复信息，当接收到停止信息后，所述驱动轮停止旋转；当接收到恢复信息后，所述驱动轮重新开始旋转，并且旋转方向与停止前的方向一致。
作为本申请的进一步改进，所述清洁机器人包括擦玻璃机器人或太阳能电池板清洁机器人。
本申请还提供一种清洁机器人，其中，所述清洁机器人包含顶部及底部，所述清洁机器人还包括用于抽气的抽真空组件，所述清洁机器人底部设置有至少两列驱动轮且分设于所述清洁机器人底部的两侧，所述清洁机器人还包括存储器和处理器，其特征在于，所述清洁机器人包括清洁驱动轮的清洁模式；所述存储器用于存储一条或多条计算机指令，其中，所述一条或多条计算机指令被所述处理器执行时实现：
控制所述清洁机器人进入清洁模式；
当所述清洁机器人进入清洁模式后，控制所述抽真空组件关闭或维持关闭状态，控制至少一列所述驱动轮启动并旋转。
本申请还提供一种存储有计算机程序的计算机可读存储介质，其中，所述计算机程序使计算机执行时实现如上任一项所述的清洁机器人的控制方法。
本申请的有益效果：通过对清洁机器人的底部的朝向及底部与水平面之间夹角θ的测量，使得所述清洁机器人进入清洁模式，则将抽真空组件关闭或保持关闭，而使得驱动轮旋转，因而可通过外清洁或自清洁对驱动轮进行清洁，方便高效。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部 分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本申请控制方法的流程图；
图2为本申请提供的清洁机器人的结构组成示意图。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面结合具体实施例对本申请进行详细描述。
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的机器人或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请的描述中，除非另有规定和限定，需要说明的是，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是机械连接或电连接，也可以是两个元件内部的连通，可以是直接相连，也可以通过中间媒介间接相连，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。
如图1所示，本申请设计了一种清洁机器人的控制方法。所述清洁机器人包括擦玻璃机器人或太阳能电池板清洁机器人。因而所述清洁机器人可在多种表面上工作行进，如玻璃幕墙、家用窗户、太阳能电池板等。所述清洁机器人包含顶部及底部，所述底部设置有至少两列驱动轮且分设于所述清洁 机器人底部的两侧，所述清洁机器人还包括有用于抽气的抽真空组件。另外，在本实施方式中，所述驱动轮设置有两列，且所述驱动轮旋转以带动履带运动，本申请主要用以清洁所述履带上的脏污。
所述清洁机器人包括清洁驱动轮的清洁模式，具体的，所述清洁机器人的控制方法具体包括：
清洁机器人进入清洁模式；
当所述清洁机器人进入清洁模式后，所述抽真空组件关闭或维持关闭状态，至少一列所述驱动轮启动并旋转。
因此，所述清洁机器人进入清洁模式后，所述抽真空组件不工作，从而方便其从附着的表面上取下，或防止其工作影响清洁，然后，至少一列驱动轮启动并旋转，从而可通过外界的清洁装置或内部的清洁装置对驱动轮进行清洁。
所述“清洁机器人进入清洁模式”还包括：
关闭抽真空组件及驱动轮；
获取清洁机器人底部和工作面之间的夹角θ，其中，所述夹角θ取锐角或直角；
当0＜θ≤90°时，清洁机器人进入清洁模式。
由于抽真空组件在工作状态下，所述清洁机器人与工作面之间保持吸附状态，难以将所述清洁机器人从工作面之间抬起。因此，在进入清洁模式的过程中，必须先关闭抽真空组件及驱动轮。获取清洁机器人底部和工作面之间的夹角θ，若θ＝0时，说明清洁机器人依然附着在工作面表面上，若0＜θ≤90°时，说明清洁机器人已经被抬起，从而判断其进入清洁模式。需要说明的是，清洁机器人底部和工作面之间的夹角θ必然有相对的两个角，在本申请中只取锐角或直角，以防止发生歧义。并且，工作面即指清洁机器人所工作的面。
具体的，上述“至少一列所述驱动轮启动并旋转”具体包括：
当0＜θ≤30°，有且只有一列驱动轮旋转；
当30＜θ≤50°，两列驱动轮均旋转且均朝一个方向旋转；
当50＜θ≤90°，两列驱动轮均旋转且正向旋转和反向旋转交替进行。
并且，当0＜θ≤30°，若接收到驱动轮交替信息时，则处于停止状态的驱动轮启动并旋转，处于旋转状态的驱动轮停止运动。即，当0＜θ≤30°，只有一列驱动轮在旋转，若要换成另一列驱动轮旋转，则向所述清洁机器人发出驱动轮交替信息即可。
并且，若有需要两列驱动轮正向旋转或反向旋转交替进行的，所述驱动轮正向旋转的时间和反向旋转的时间长度保持一致。
上述“至少一列所述驱动轮启动并旋转”具体包括：判断是否接收到停止信息或恢复信息，当接收到停止信息后，所述驱动轮停止旋转；当接收到恢复信息后，所述驱动轮重新开始旋转，并且旋转方向与停止前的方向一致。当在驱动轮旋转过程中遇到有难以清洗的脏污，即可通过向清洁机器人发出停止信息，使驱动轮停止旋转，对驱动轮暴露在外的脏污进行细致的清洗。在清洗完成后，即可向清洁机器人发出恢复信息，从而驱动轮重新开始旋转，并且旋转方向与停止前的方向一致。
另外，在本实施方式中，可通过外清洁或自清洁对驱动轮进行清洗。具体的，外清洁的过程可通过抹布等，由人力在在驱动轮旋转过程中使用抹布对驱动轮进行擦洗。自清洁的过程中，所述清洁机器人包括用以清洁驱动轮的清洁单元，则所述“当0＜θ≤90°时，清洁机器人进入清洁模式”具体包括：
所述清洁单元开启并对所述驱动轮进行清洁。在本实施方式中，所述清洁单元为喷水装置或毛刷或清洁布等，上述喷水装置、毛刷或清洁布等设置于所述清洁机器人内部，在进入清洁模式后，上述清洁单元开始工作并主动对驱动轮进行清洗。
并且，所述“获取清洁机器人底部和工作面之间的夹角θ”包括：通过传感器获取清洁机器人底部和工作面之间的夹角θ，所述传感器包括陀螺仪传感器、地磁传感器、加速度传感器。当然，若有其他传感器可感测其夹角θ，也 可达到本申请的目的。
具体的，本申请优选采用陀螺仪传感器，所述陀螺仪传感器是用高速回转体的动量矩敏感壳体相对惯性空间绕正交于自转轴的一个或二个轴的角运动检测机器人。当然，利用其他原理制成的角运动检测机器人起同样功能的也称陀螺仪传感器。陀螺仪传感器是一个简单易用的基于自由空间和手势的定位和控制机器人，可精确检测方向及角度。
具体来说，以下提供不同的工作场景对本申请的有益效果做进一步地说明。当清洁机器人在玻璃上清洁时，通常是通过吸盘吸附在光滑表面上，然后通过驱动轮带动履带在光滑表面上行进，如不提前检查驱动轮及履带就开始清洁会出现驱动轮上有脏污、灰尘等情况，在清洁时会造成清洁不彻底等问题，当出现该问题时，可根据需要启动清洁模式清洁驱动轮，在上述过程中，即使遇到一列驱动轮上有脏污，也可通过将所述清洁机器人旋转0-30°对一列驱动轮进行清洁，保证了清洁机器人在清洁过程中的效率。
其次，驱动轮带动履带在光滑表面上行进，在所难免的，履带上容易沾染脏污，藏污纳垢，必须定时进行清理。但是在清洁机器人关电停机的过程中，清洁机器人的驱动轮及履带均无法旋转，这就造成了清洁不完全。而在开机后，吸盘也会同时开始工作，虽然驱动轮及履带也在旋转，但是无法对驱动轮及履带进行清洁。当出现该问题时，也可根据需要启动清洁模式清洁驱动轮。避免了清洁不彻底和需要人手动去清洁驱动轮的情况，使用更快捷更人性化。
综上所述，本申请的清洁机器人的控制方法中，先判断所述清洁机器人进入清洁模式，当清洁机器人进入清洁模式后，则抽真空组件关闭或维持关闭状态，防止其工作影响驱动轮，而至少一列驱动轮启动并旋转，从而方便对驱动轮进行清洁。
在一个可能的设计中，所述清洁机器人包含顶部及底部，所述清洁机器人还包括用于抽气的抽真空组件11，所述清洁机器人底部设置有至少两列驱 动轮12且分设于所述清洁机器人底部的两侧。所述清洁机器人包括清洁驱动轮的清洁模式。如图2所示，所述清洁机器人还包括处理器13和14。其中，所述存储器14用于存储支持清洁机器人执行上述各方法实施例中提供的控制方法的程序，所述处理器13被配置为用于执行所述存储器14中存储的程序。
所述程序包括一条或多条计算机指令，其中，所述一条或多条计算机指令被所述处理器13执行时能够实现如下步骤：
控制所述清洁机器人进入清洁模式；
当所述清洁机器人进入清洁模式后，控制所述抽真空组件关闭或维持关闭状态，控制至少一列所述驱动轮启动并旋转。
可选地，所述处理器13还用于执行前述各实施例中的全部或部分步骤。
另外，本申请实施例提供了一种计算机存储介质，用于储存清洁机器人所用的计算机软件指令，其包含用于执行上述各方法实施例中清洁机器人的控制方法所涉及的程序。
在一个典型的配置中，清洁机器人可以包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。
清洁机器人的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被清洁机器人访问的信息。
应当理解，虽然本说明书按照实施例加以描述，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施例。
上文所列出的一系列的详细说明仅仅是针对本申请的可行性实施例的具体说明，并非用以限制本申请的保护范围，凡未脱离本申请技艺精神所作的等效实施例或变更均应包含在本申请的保护范围之内。

Claims (12)

  1. 一种清洁机器人的控制方法，所述清洁机器人包含顶部及底部，所述清洁机器人还包括用于抽气的抽真空组件，所述清洁机器人底部设置有至少两列驱动轮且分设于所述清洁机器人底部的两侧，其特征在于：所述清洁机器人包括清洁驱动轮的清洁模式；所述方法包括：
    清洁机器人进入清洁模式；
    当所述清洁机器人进入清洁模式后，所述抽真空组件关闭或维持关闭状态，至少一列所述驱动轮启动并旋转。
  2. 根据权利要求1所述的清洁机器人的控制方法，其特征在于：所述“清洁机器人进入清洁模式”包括：
    关闭抽真空组件及驱动轮；
    获取清洁机器人底部和工作面之间的夹角θ，其中，所述夹角θ取锐角或直角；
    当0＜θ≤90°时，清洁机器人进入清洁模式。
  3. 根据权利要求2所述的清洁机器人的控制方法，其特征在于：所述驱动轮设置有两列，所述“至少一列所述驱动轮启动并旋转”具体包括：
    当0＜θ≤30°，有且只有一列驱动轮旋转；
    当30＜θ≤50°，两列驱动轮均旋转且均朝一个方向旋转；
    当50＜θ≤90°，两列驱动轮均旋转且正向旋转和反向旋转交替进行。
  4. 根据权利要求3所述的清洁机器人的控制方法，其特征在于：当0＜θ≤30°，若接收到驱动轮交替信息时，则处于停止状态的驱动轮启动并旋转，处于旋转状态的驱动轮停止运动。
  5. 根据权利要求3所述的清洁机器人的控制方法，其特征在于：所述驱动轮正向旋转的时间和反向旋转的时间长度保持一致。
  6. 根据权利要求3所述的清洁机器人的控制方法，其特征在于：所述清洁机器人包括用以清洁驱动轮的清洁单元，所述“当0＜θ≤90°时，清洁机 器人进入清洁模式”具体包括：
    所述清洁单元开启并对所述驱动轮进行清洁。
  7. 根据权利要求6所述的清洁机器人的控制方法，其特征在于：所述清洁单元为喷水装置或毛刷或清洁布。
  8. 根据权利要求2所述的清洁机器人的控制方法，其特征在于：所述“获取清洁机器人底部和工作面之间的夹角θ”包括：
    通过传感器获取清洁机器人底部和工作面之间的夹角θ，所述传感器包括陀螺仪传感器、地磁传感器、加速度传感器。
  9. 根据权利要求1所述的清洁机器人的控制方法，其特征在于：所述“至少一列所述驱动轮启动并旋转”具体包括：判断是否接收到停止信息或恢复信息，当接收到停止信息后，所述驱动轮停止旋转；当接收到恢复信息后，所述驱动轮重新开始旋转，并且旋转方向与停止前的方向一致。
  10. 根据权利要求1所述的清洁机器人的控制方法，其特征在于：所述清洁机器人包括擦玻璃机器人或太阳能电池板清洁机器人。
  11. 一种清洁机器人，其中，所述清洁机器人包含顶部及底部，所述清洁机器人还包括用于抽气的抽真空组件，所述清洁机器人底部设置有至少两列驱动轮且分设于所述清洁机器人底部的两侧，所述清洁机器人还包括存储器和处理器，其特征在于，所述清洁机器人包括清洁驱动轮的清洁模式；所述存储器用于存储一条或多条计算机指令，其中，所述一条或多条计算机指令被所述处理器执行时实现：
    控制所述清洁机器人进入清洁模式；
    当所述清洁机器人进入清洁模式后，控制所述抽真空组件关闭或维持关闭状态，控制至少一列所述驱动轮启动并旋转。
  12. 一种存储有计算机程序的计算机可读存储介质，其中，所述计算机程序使计算机执行时实现如权利要求1至10中任一项所述的控制方法。
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