WO2021203789A1 - 充电控制方法、装置及存储介质、清洁机器人 - Google Patents

充电控制方法、装置及存储介质、清洁机器人 Download PDF

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Publication number
WO2021203789A1
WO2021203789A1 PCT/CN2021/071077 CN2021071077W WO2021203789A1 WO 2021203789 A1 WO2021203789 A1 WO 2021203789A1 CN 2021071077 W CN2021071077 W CN 2021071077W WO 2021203789 A1 WO2021203789 A1 WO 2021203789A1
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WO
WIPO (PCT)
Prior art keywords
cleaning robot
charging
driving wheel
trigger operation
monitoring
Prior art date
Application number
PCT/CN2021/071077
Other languages
English (en)
French (fr)
Inventor
韩馨宇
Original Assignee
北京石头世纪科技股份有限公司
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.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to US17/799,065 priority Critical patent/US20230067501A1/en
Priority to EP21784717.7A priority patent/EP4135148A4/en
Publication of WO2021203789A1 publication Critical patent/WO2021203789A1/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
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • 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
    • H02J7/00036—Charger exchanging data with battery
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L9/2805—Parameters or conditions being sensed
    • 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
    • H02J7/00045—Authentication, i.e. circuits for checking compatibility between one component, e.g. a battery or a battery charger, and another component, e.g. a power source
    • 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
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
    • 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
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0044—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction specially adapted for holding portable devices containing batteries
    • 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
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
    • 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
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • 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

Definitions

  • the present disclosure relates to the technical field of cleaning robot control, and in particular to a charging control method, device, storage medium, and cleaning robot.
  • robots can replace humans to complete part of the indoor work.
  • automatic cleaning equipment such as sweeping robots
  • sweeping robots is gradually applied and popularized.
  • the present invention is proposed to provide a charging control method, device, storage medium, and cleaning robot that overcome the above problems or at least partially solve the above problems.
  • One aspect of the present disclosure provides a charging control method applied to a cleaning robot, and the method includes:
  • the method further includes:
  • an unlocking action is performed to make the driving wheel of the cleaning robot enter an unlocked state.
  • the monitoring the preset unlocking trigger operation includes:
  • the monitoring the preset unlocking trigger operation includes:
  • the monitoring the preset unlocking trigger operation includes:
  • the method further includes:
  • the cleaning robot If the cleaning robot has not completed charging, it executes a pile-returning charging action, and when it is detected that the cleaning robot is charging, it executes a brake locking action.
  • a charging control device including:
  • the detection module is used to detect the charging status of the cleaning robot
  • the execution module is used to execute a brake lock action when it is detected that the cleaning robot is in a charging state, so that the driving wheel of the cleaning robot enters the lock state.
  • the device further includes:
  • the monitoring module is used to monitor the preset unlocking trigger operation after the driving wheel of the cleaning robot enters the locked state
  • the execution module is further configured to execute an unlocking action when an unlocking trigger operation is monitored, so that the driving wheel of the cleaning robot enters an unlocked state.
  • the monitoring module is used to monitor the state of the driving wheel of the cleaning robot, and when the driving wheel of the cleaning robot is monitored to rotate, it is determined that the unlocking trigger operation is monitored.
  • the monitoring module is configured to monitor the charging progress of the cleaning robot, and when it is monitored that the cleaning robot is fully charged, it is determined that an unlock trigger operation is monitored.
  • the monitoring module is configured to monitor the operation instruction received by the cleaning robot, and when it is detected that the cleaning robot receives an instruction to turn on the cleaning mode, it is determined that an unlock trigger operation is monitored.
  • the device further includes:
  • a judging module for judging whether the cleaning robot has completed charging after the driving wheel of the cleaning robot enters the unlocked state
  • the execution module is further configured to execute a back-to-pile charging action when the judgment result of the judgment module is that the cleaning robot has not completed charging, and execute a brake lock action when it is detected that the cleaning robot is charging.
  • the present disclosure also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are realized.
  • the present disclosure also provides a cleaning robot including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps of the above method when the program is executed.
  • the charging control method, device, storage medium, and cleaning robot provided by the embodiments of the present invention can cause the cleaning robot to perform a brake lock action when the cleaning robot enters the charging state, so that the driving wheel of the cleaning robot enters the electromagnetic lock
  • the cleaning robot can complete the normal charging, and then successfully complete the subsequent cleaning work, which improves the experience.
  • FIG. 1 is a flowchart of a charging control method according to an embodiment of the disclosure
  • FIG. 2 is a flowchart of another charging control method according to an embodiment of the disclosure.
  • FIG. 3 is a structural block diagram of a charging control device according to an embodiment of the disclosure.
  • FIG. 4 is a structural block diagram of another charging control device according to an embodiment of the disclosure.
  • FIG. 5 is a schematic diagram of a cleaning robot according to an embodiment of the disclosure.
  • the cleaning robot to which the technical solution of the present disclosure is applicable may (but is not limited to) automatic cleaning equipment such as a sweeping robot, a mopping robot, or a sweeping and dragging integrated robot.
  • the robot may include a machine main body, a sensing system, a control system, a driving system, and cleaning System, energy system and human-computer interaction system.
  • Fig. 1 schematically shows a flowchart of a charging control method according to an embodiment of the present disclosure.
  • the charging control method of the embodiment of the present disclosure, applied to a cleaning robot includes the following steps:
  • Step S11 Detect the charging state of the cleaning robot.
  • Step S12 When it is detected that the cleaning robot is in a charging state, perform a brake locking action, so that the driving wheel of the cleaning robot enters a locked state.
  • the cleaning robot is equipped with an automatic charging system.
  • the technical solution of the present disclosure detects the charging state of the cleaning robot in real time, and when it is detected that the cleaning robot starts to charge, executes a brake (for example, an electromagnetic brake) to lock the cleaning robot.
  • the driving wheel enters a locked state (for example, an electromagnetic locked state) to prevent the cleaning robot from accidentally falling out of the pile due to external forces or other factors.
  • the execution of the brake lock action is specifically realized by controlling the driving wheel motor to brake and lock with a certain torque, so that the driving wheel enters the locked state.
  • the charging control method provided by the embodiments of the present disclosure can cause the cleaning robot to perform a brake locking action when the cleaning robot enters the charging state, so that the driving wheel of the cleaning robot enters the locked state, and avoids the charging process due to the Accidental detachment of the pile caused by problems such as misalignment of the pile position ensures that the cleaning robot can complete the normal charging, and then smoothly completes the subsequent cleaning work, which improves the experience.
  • Fig. 2 schematically shows a flowchart of a charging control method according to another embodiment of the present disclosure.
  • the charging control method of the embodiment of the present disclosure, applied to a cleaning robot includes the following steps:
  • Step S11 Detect the charging state of the cleaning robot.
  • Step S12 When it is detected that the cleaning robot is in a charging state, perform a brake locking action, so that the driving wheel of the cleaning robot enters a locked state.
  • step S13 is executed
  • Step S13 Monitoring the preset unlocking trigger operation.
  • step S14 is executed, otherwise, the locked state of the driving wheel of the cleaning robot is continued to be maintained until the charging is completed.
  • Step S14 Perform an unlocking action to make the driving wheel of the cleaning robot enter the unlocked state.
  • the driving wheel of the cleaning robot may enter the unlocked state due to some triggering operations, for example: the cleaning robot is pushed by an external force, the cleaning robot completes charging, and receives Therefore, it is necessary to monitor the preset unlocking trigger operation, and execute the unlocking action when the aforementioned unlocking triggering operation is monitored, so that the driving wheel of the cleaning robot enters the unlocked state.
  • some triggering operations for example: the cleaning robot is pushed by an external force, the cleaning robot completes charging, and receives Therefore, it is necessary to monitor the preset unlocking trigger operation, and execute the unlocking action when the aforementioned unlocking triggering operation is monitored, so that the driving wheel of the cleaning robot enters the unlocked state.
  • the monitoring of the preset unlocking trigger operation includes monitoring the state of the driving wheel of the cleaning robot, and when the rotation of the driving wheel of the cleaning robot is monitored, it is determined that the monitoring is detected Unlock trigger operation.
  • the driving wheel when the cleaning robot is pushed by an external force, the driving wheel will be rotated by the external force.
  • the driving wheel motor actively and electrically unlocks the driving wheel.
  • the electromagnetic brake of the driving wheel rotates and passively cuts the magnetic line of induction to generate current.
  • the cleaning robot controls After detecting the abnormal current, the chip actively unlocks the electromagnetic brake of the driving wheel.
  • the method further includes:
  • the cleaning robot can execute the corresponding cleaning action according to the previously received instruction instructing to turn on the cleaning mode, or wait for the issuance of the work instruction.
  • the cleaning robot after the cleaning robot unlocks the driving wheel, it will determine whether the reason for unlocking is that the robot has completed charging normally. If the cleaning robot has not completed charging, it will search for piles again until the driving wheel is locked again after normal charging. To ensure the smooth completion of subsequent cleaning tasks, and to further improve user experience, if the cleaning robot has completed charging, it will wait for the issuance of work instructions to complete the new cleaning task, or if it has received an instruction to turn on the cleaning mode before, it will follow The previously received instruction to turn on the cleaning mode executes the corresponding cleaning action.
  • the monitoring of the preset unlocking trigger operation includes monitoring the charging progress of the cleaning robot, and when it is monitored that the cleaning robot is fully charged, it is determined that the unlocking triggering operation is monitored.
  • the monitoring of the preset unlocking trigger operation includes monitoring the operation instruction received by the cleaning robot, and when it is monitored that the cleaning robot receives an instruction instructing to turn on the cleaning mode, It is determined that an unlock trigger operation is detected.
  • the cleaning robot host control chip when the cleaning robot completes charging or receives an instruction to instruct the cleaning mode, such as a “start cleaning” instruction, the cleaning robot host control chip will also actively unlock the electromagnetic brake of the driving wheel.
  • Fig. 3 schematically shows a structural diagram of a charging control device according to an embodiment of the present disclosure.
  • the charging control device of the embodiment of the present disclosure includes a detection module 201 and an execution module 202, wherein:
  • the detection module 201 is used to detect the charging state of the cleaning robot
  • the execution module 202 is configured to execute a brake locking action when it is detected that the cleaning robot is in a charging state, so that the driving wheel of the cleaning robot enters a locked state.
  • the execution module 202 can make the cleaning robot perform a brake locking action when the cleaning robot enters the charging state, so that the driving wheel of the cleaning robot enters the locked state, avoiding the charging process .
  • Accidental detachment caused by problems such as misalignment of the upper pile position ensures that the cleaning robot can complete normal charging, and then smoothly complete the subsequent cleaning work, which improves the experience.
  • Fig. 4 schematically shows a structural diagram of a charging control device according to another embodiment of the present disclosure.
  • the charging control device of the embodiment of the present disclosure includes a detection module 201, an execution module 202, and a monitoring module 203, where:
  • the detection module 201 is used to detect the charging state of the cleaning robot
  • the execution module 202 is configured to execute a brake lock action when it is detected that the cleaning robot is in a charging state, so that the driving wheel of the cleaning robot enters the lock state;
  • the monitoring module 203 is configured to monitor the preset unlocking trigger operation after the driving wheel of the cleaning robot enters the locked state
  • execution module 202 is further configured to execute an unlocking action when the monitoring module 203 detects an unlocking trigger operation, so that the driving wheel of the cleaning robot enters an unlocked state.
  • the monitoring module 203 is configured to monitor the state of the driving wheel of the cleaning robot, and when the rotation of the driving wheel of the cleaning robot is monitored, it is determined that the unlocking trigger operation is monitored.
  • the charging control device further includes a judgment module not shown in the drawings;
  • the judgment module is used for judging whether the cleaning robot has completed charging after the driving wheel of the cleaning robot enters the unlocked state
  • the execution module 202 is further configured to execute a back-to-pile charging action when the judgment result of the judgment module is that the cleaning robot has not completed charging, and execute a brake when it is detected that the cleaning robot is charging Locking action.
  • the execution module 202 is configured to execute the corresponding cleaning action according to the received instruction to turn on the cleaning mode, or wait for the next work instruction. send.
  • the monitoring module 203 is configured to monitor the charging progress of the cleaning robot, and when it is monitored that the cleaning robot is fully charged, it is determined that an unlock trigger operation is monitored.
  • the monitoring module 203 is configured to monitor the operation instructions received by the cleaning robot, and when it is monitored that the cleaning robot receives an instruction to turn on the cleaning mode, it is determined that the unlock trigger is monitored operate.
  • the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.
  • the charging control method and device provided by the embodiments of the present disclosure can cause the cleaning robot to perform a brake locking action when the cleaning robot enters the charging state, so that the driving wheel of the cleaning robot enters the locked state, so as to avoid the charging process.
  • Accidental detachment of the pile caused by problems such as misalignment of the upper pile position ensures that the cleaning robot can complete normal charging, and then smoothly completes the subsequent cleaning work, which improves the experience.
  • embodiments of the present disclosure also provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method described above are implemented.
  • the module/unit integrated by the charging control device can be stored in a computer readable storage medium.
  • the present disclosure implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by instructing relevant hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, it can implement the steps of the foregoing method embodiments.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate forms.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunications signal, and software distribution media, etc.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electrical carrier signal telecommunications signal
  • software distribution media etc.
  • the content contained in the computer-readable medium can be appropriately added or deleted according to the requirements of the legislation and patent practice in the jurisdiction.
  • the computer-readable medium Does not include electrical carrier signals and telecommunication signals.
  • FIG. 5 is a schematic diagram of a cleaning robot provided by an embodiment of the disclosure.
  • the cleaning robot provided by the embodiment of the present disclosure includes a memory 301, a processor 302, and a computer program stored in the memory 301 and running on the processor 302.
  • the processor 302 implements the above-mentioned charging controls when the computer program is executed.
  • the steps in the method embodiment are, for example, the steps shown in FIG. 1 or FIG. 2.
  • the processor 302 executes the computer program, the functions of the modules/units in the foregoing embodiments of the charging control device are realized, for example, the detection module 201 and the execution module 202 shown in FIG. 3.
  • the computer program may be divided into one or more modules/units, and the one or more modules/units are stored in the memory and executed by the processor to complete the present disclosure.
  • the one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the charging control device.
  • the computer program can be divided into a detection module 201 and an execution module 202.
  • the schematic diagram 5 is only an example of a cleaning robot, and does not constitute a limitation on the cleaning robot. It may include more or less parts than those shown in the figure, or a combination of some parts, or different parts.
  • the cleaning robot may also include input and output devices, network access devices, buses, and the like.
  • the processor may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the processor is the control center of the cleaning robot, and various interfaces and lines are used to connect various parts of the entire cleaning robot.
  • the memory may be used to store the computer program and/or module, and the processor realizes the cleaning by running or executing the computer program and/or module stored in the memory and calling data stored in the memory.
  • the memory may mainly include a storage program area and a storage data area.
  • the storage program area may store an operating system, an application program required by at least one function (such as a sound playback function, an image playback function, etc.), etc.; the storage data area may store Data created based on the use of mobile phones (such as audio data, phone book, etc.), etc.
  • the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disks, memory, plug-in hard disks, smart media cards (SMC), and secure digital (SD) cards.
  • non-volatile memory such as hard disks, memory, plug-in hard disks, smart media cards (SMC), and secure digital (SD) cards.
  • Flash Card at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

Abstract

本公开实施例提供了一种充电控制方法、装置及存储介质、清洁机器人，其中，该方法包括：检测清洁机器人的充电状态；当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态。本公开能够在清洁机器人进入充电状态时，使清洁机器人通过执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态，避免充电过程中，由于上桩位置没对准等问题引起的意外脱桩，确保清洁机器人能够完成正常充电，进而顺利完成后续清扫工作，提升用于体验。 (图1)

Description

充电控制方法、装置及存储介质、清洁机器人
相关申请的交叉引用
本申请要求于2020年4月7日递交的中国专利申请第202010266733.5号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及清洁机器人控制技术领域，尤其涉及一种充电控制方法、装置及存储介质、清洁机器人。
背景技术
随着机器人技术的发展，机器人已经可以取代人类完成一部分室内的工作，例如，自动清洁设备(如扫地机器人)逐渐应用和普及。
目前，自动清洁设备在充电过程中，由于上桩位置没对准等问题，会引起设备在充电过程中意外脱桩，导致未能够正常充电，影响后续清扫，用户体验不好。
发明内容
鉴于上述问题，提出了本发明以便提供一种克服上述问题或者至少部分地解决上述问题的充电控制方法、装置及存储介质、清洁机器人。
本公开的一个方面，提供了一种充电控制方法，应用于清洁机器人，所述方法包括：
检测清洁机器人的充电状态；
当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态。
在一些实施例中，在所述清洁机器人的主动轮进入锁死状态之后，所述方法还包括：
对预设的解锁触发操作进行监测；
当监测到所述解锁触发操作时，执行解锁动作，以使所述清洁机器人的主动轮进入解锁状态。
在一些实施例中，所述对预设的解锁触发操作进行监测，包括：
对所述清洁机器人的驱动轮的状态进行监测；
当监测到所述清洁机器人的驱动轮发生转动时，判定监测到解锁触发操作。
在一些实施例中，所述对预设的解锁触发操作进行监测，包括：
对所述清洁机器人的充电进度进行监测；
当监测到所述清洁机器人完成充电时，判定监测到解锁触发操作。
在一些实施例中，所述对预设的解锁触发操作进行监测，包括：
对所述清洁机器人接收到的操作指令进行监测；
当监测到所述清洁机器人接收到指示开启清洁模式的指令时，判定监测到解锁触发操作。
在一些实施例中，在所述清洁机器人的主动轮进入解锁状态之后，所述方法还包括：
判断所述清洁机器人是否完成充电；
若所述清洁机器人未完成充电，则执行回桩充电动作，并在检测到所述清洁机器人进行充电时，执行刹车锁死动作。
本公开的另一个方面，提供了一种充电控制装置，所述装置包括：
检测模块，用于检测清洁机器人的充电状态；
执行模块，用于当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态。
在一些实施例中，所述装置还包括：
监测模块，用于在所述清洁机器人的主动轮进入锁死状态之后，对预设的解锁触发操作进行监测；
所述执行模块，还用于当监测到解锁触发操作时，执行解锁动作，以使所述清洁机器人的主动轮进入解锁状态。
在一些实施例中，所述监测模块，用于对所述清洁机器人的驱动轮的状态进行监测，当监测到所述清洁机器人的驱动轮发生转动时，判定监测到解锁触发操作。
在一些实施例中，所述监测模块，用于对所述清洁机器人的充电进度进行监测，当监测到所述清洁机器人完成充电时，判定监测到解锁触发操作。
在一些实施例中，所述监测模块，用于对所述清洁机器人接收到的操作指令进行监测，当监测到所述清洁机器人接收到指示开启清洁模式的指令时，判定监测到解锁触发操作。
在一些实施例中，所述装置还包括：
判断模块，用于在所述清洁机器人的主动轮进入解锁状态之后，判断所述清洁机器人是否完成充电；
所述执行模块，还用于当所述判断模块的判断结果为所述清洁机器人未完成充电时，执行回桩充电动作，并在检测到所述清洁机器人进行充电时，执行刹车锁死动作。
此外，本公开还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上所述方法的步骤。
此外，本公开还提供了一种清洁机器人，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上所述方法的步骤。
本发明实施例提供的充电控制方法、装置及存储介质、清洁机器人，能够在清洁机器人进入充电状态时，使清洁机器人通过执行刹车锁死动作，以使所述清洁机器人的主动轮进入电磁锁死状态，避免充电过程中，由于上桩位置没对准等问题引起的意外脱桩，确保清洁机器人能够完成正常充电，进而顺利完成后续清扫工作，提升用于体验。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可 依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的实施方式。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本公开的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1为本公开实施例的一种充电控制方法的流程图；
图2为本公开实施例的另一种充电控制方法的流程图；
图3为本公开实施例的一种充电控制装置的结构框图；
图4为本公开实施例的另一种充电控制装置的结构框图；
图5为本公开实施例的清洁机器人的示意图。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本公开所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非被特定定义，否则不会用理想化或过于正式的含义来解释。
本公开技术方案所适用的清洁机器人可以(但不限于)为扫地机器人、拖地机器人或扫拖一体式机器人等自动清洁设备，该机器人可以包含机器主体、感知系统、控制系统、驱动系统、清洁系统、能源系统和人机交互系统。
图1示意性示出了本公开一个实施例的充电控制方法的流程图。参照图1，本公开实施例的充电控制方法，应用于清洁机器人，包括以下步骤：
步骤S11、检测清洁机器人的充电状态。
步骤S12、当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态。
实际应用中，清洁机器人配有自动充电系统。在使用中，当电量快耗尽时或者本次清扫工作完成时，会自动返回充电桩进行充电。但是，自动清洁设备在充电过程中，由于上桩位置没对准等问题，会引起设备在充电过程中意外脱桩，导致未能够正常充电。为此，本公开技术方案通过对清洁机器人的充电状态进行实时检测，并在检测到所述清洁机器人开始进行充电时，执行刹车(例如，电磁刹车)锁死动作，以使所述清洁机器人的主动轮 进入锁死状态(例如，电磁锁死状态)，以防清洁机器人因外力或其他因素意外脱桩。
其中，执行刹车锁死动作，具体实现方式为控制主动轮马达以一定力矩刹车锁死，使主动轮进入锁死状态。
本公开实施例提供的充电控制方法，能够在清洁机器人进入充电状态时，使清洁机器人通过执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态，避免充电过程中，由于上桩位置没对准等问题引起的意外脱桩，确保清洁机器人能够完成正常充电，进而顺利完成后续清扫工作，提升用于体验。
图2示意性示出了本公开另一个实施例的充电控制方法的流程图。参照图2，本公开实施例的充电控制方法，应用于清洁机器人，包括以下步骤：
步骤S11、检测清洁机器人的充电状态。
步骤S12、当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态。
在所述清洁机器人的主动轮进入锁死状态之后，执行步骤S13；
步骤S13、对预设的解锁触发操作进行监测。
当监测到所述解锁触发操作时，执行步骤S14，否则，继续保持清洁机器人的主动轮的锁死状态，直到完成充电。
步骤S14、执行解锁动作，以使所述清洁机器人的主动轮进入解锁状态。
本实施例中，在所述清洁机器人的主动轮进入锁死状态之后，可能会因为一些触发操作使得清洁机器人的主动轮进入解锁状态，例如：清洁机器人被外力推动、清洁机器人完成充电、接收到“开始清扫”的命令等，因此需要对预设的解锁触发操作进行监测，并在监测到上述的解锁触发操作时，执行解锁动作，以使所述清洁机器人的主动轮进入解锁状态。
在一个实施例中，所述的对预设的解锁触发操作进行监测，包括对所述清洁机器人的驱动轮的状态进行监测，当监测到所述清洁机器人的驱动轮发生转动时，判定监测到解锁触发操作。
本实施例中，当清洁机器人被外力推动时，驱动轮会受到外力作用而转动，驱动轮马达主动电解锁主动轮，主动轮的电磁刹车机转动被动切割磁感线产生电流，清洁机器人的控制芯片在监测到电流异常后，主动解锁主动轮的电磁刹车。
在本公开实施例中，在所述清洁机器人的主动轮进入解锁状态之后，所述方法还包括：
判断所述清洁机器人是否完成充电；若所述清洁机器人未完成充电，则执行回桩充电动作，并在检测到所述清洁机器人进行充电时，执行刹车锁死动作。
进一步地，若判断结果为所述清洁机器人完成充电，则可以根据之前接收到的指示开启清洁模式的指令执行对应的清洁动作，或等待工作指令的下发。
本实施例中，清洁机器人在对主动轮解锁后，会判断解锁原因是否是机器人已经正常完成充电，若清洁机器人未完成充电，则会再次寻桩，直至正常充电后主动轮再次被锁定， 以保证顺利完成后续清扫工作，进一步提升用户体验，若清洁机器人已经完成充电，则等待工作指令的下发，以完成新的清扫任务，或是，若之前有接收到开启清洁模式的指令，则根据之前接收到的指示开启清洁模式的指令执行对应的清洁动作。
在一个实施例中，所述的对预设的解锁触发操作进行监测，包括对所述清洁机器人的充电进度进行监测，当监测到所述清洁机器人完成充电时，判定监测到解锁触发操作。
在一个实施例中，所述的对预设的解锁触发操作进行监测，包括对所述清洁机器人接收到的操作指令进行监测，当监测到所述清洁机器人接收到指示开启清洁模式的指令时，判定监测到解锁触发操作。
本实施例中，当清洁机器人完成充电或者接收到用于指示开启清洁模式的指令，例如：“开始清扫”指令，清洁机器人主机控制芯片也会主动解锁主动轮的电磁刹车。
对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本公开实施例并不受所描述的动作顺序的限制，因为依据本公开实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本公开实施例所必须的。
图3示意性示出了本公开一个实施例的充电控制装置的结构示意图。参照图3，本公开实施例的充电控制装置包括检测模块201和执行模块202，其中：
检测模块201，用于检测清洁机器人的充电状态；
执行模块202，用于当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态。
本公开实施例提供的充电控制装置，执行模块202能够在清洁机器人进入充电状态时，使清洁机器人通过执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态，避免充电过程中，由于上桩位置没对准等问题引起的意外脱桩，确保清洁机器人能够完成正常充电，进而顺利完成后续清扫工作，提升用于体验。
图4示意性示出了本公开另一个实施例的充电控制装置的结构示意图。参照图3，本公开实施例的充电控制装置包括检测模块201、执行模块202和监测模块203，其中：
检测模块201，用于检测清洁机器人的充电状态；
执行模块202，用于当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态；
监测模块203，用于在所述清洁机器人的主动轮进入锁死状态之后，对预设的解锁触发操作进行监测；
进一步地，所述执行模块202，还用于当监测模块203监测到解锁触发操作时，执行解锁动作，以使所述清洁机器人的主动轮进入解锁状态。
本公开一个实施例中，所述监测模块203，用于对所述清洁机器人的驱动轮的状态进行监测，当监测到所述清洁机器人的驱动轮发生转动时，判定监测到解锁触发操作。
本公开实施例中，所述充电控制装置还包括附图中未示出的判断模块；
所述的判断模块，用于在所述清洁机器人的主动轮进入解锁状态之后，判断所述清洁机器人是否完成充电；
相应地，所述执行模块202，还用于当所述判断模块的判断结果为所述清洁机器人未完成充电时，执行回桩充电动作，并在检测到所述清洁机器人进行充电时，执行刹车锁死动作。
进一步地，若所述判断模块的判断结果为所述清洁机器人完成充电，则所述执行模块202，用于根据接收到的指示开启清洁模式的指令执行对应的清洁动作，或等待工作指令的下发。
本公开一个实施例中，所述监测模块203，用于对所述清洁机器人的充电进度进行监测，当监测到所述清洁机器人完成充电时，判定监测到解锁触发操作。
本公开一个实施例中，所述监测模块203，用于对所述清洁机器人接收到的操作指令进行监测，当监测到所述清洁机器人接收到指示开启清洁模式的指令时，判定监测到解锁触发操作。
对于装置实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本公开实施例提供的充电控制方法、装置，能够在清洁机器人进入充电状态时，使清洁机器人通过执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态，避免充电过程中，由于上桩位置没对准等问题引起的意外脱桩，确保清洁机器人能够完成正常充电，进而顺利完成后续清扫工作，提升用于体验。
此外，本公开实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上所述方法的步骤。
本实施例中，所述充电控制装置集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号 以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
图5为本公开实施例提供的清洁机器人的示意图。本公开实施例提供的清洁机器人，包括存储器301、处理器302及存储在存储器301上并可在处理器302上运行的计算机程序，所述处理器302执行所述计算机程序时实现上述各个充电控制方法实施例中的步骤，例如图1或图2所示的步骤。或者，所述处理器302执行所述计算机程序时实现上述各充电控制装置实施例中各模块/单元的功能，例如图3所示的检测模块201和执行模块202。
示例性的，所述计算机程序可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器中，并由所述处理器执行，以完成本公开。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序在所述充电控制装置中的执行过程。例如，所述计算机程序可以被分割成检测模块201和执行模块202。
本领域技术人员可以理解，所述示意图5仅仅是清洁机器人的示例，并不构成对清洁机器人的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述清洁机器人还可以包括输入输出设备、网络接入设备、总线等。
所述处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，所述处理器是所述清洁机器人的控制中心，利用各种接口和线路连接整个清洁机器人的各个部分。
所述存储器可用于存储所述计算机程序和/或模块，所述处理器通过运行或执行存储在所述存储器内的计算机程序和/或模块，以及调用存储在存储器内的数据，实现所述清洁机器人的各种功能。所述存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
本领域的技术人员能够理解，尽管在此的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本公开的范围之内并且形成不同的实施例。例如，在所附的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
最后应说明的是：以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参 照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (14)

  1. 一种充电控制方法，应用于清洁机器人，其特征在于，所述方法包括：
    检测所述清洁机器人的充电状态；
    当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态。
  2. 根据权利要求1所述的方法，其特征在于，在所述清洁机器人的主动轮进入锁死状态之后，所述方法还包括：
    对预设的解锁触发操作进行监测；
    当监测到所述解锁触发操作时，执行解锁动作，以使所述清洁机器人的主动轮进入解锁状态。
  3. 根据权利要求2所述的方法，其特征在于，所述对预设的解锁触发操作进行监测，包括：
    对所述清洁机器人的驱动轮的状态进行监测；
    当监测到所述清洁机器人的驱动轮发生转动时，判定监测到所述解锁触发操作。
  4. 根据权利要求2所述的方法，其特征在于，所述对预设的解锁触发操作进行监测，包括：
    对所述清洁机器人的充电进度进行监测；
    当监测到所述清洁机器人完成充电时，判定监测到所述解锁触发操作。
  5. 根据权利要求2所述的方法，其特征在于，所述对预设的解锁触发操作进行监测，包括：
    对所述清洁机器人接收到的操作指令进行监测；
    当监测到所述清洁机器人接收到指示开启清洁模式的操作指令时，判定监测到所述解锁触发操作。
  6. 根据权利要求2或3所述的方法，其特征在于，在所述清洁机器人的主动轮进入解锁状态之后，所述方法还包括：
    判断所述清洁机器人是否完成充电；
    若所述清洁机器人未完成充电，则执行回桩充电动作，并在检测到所述清洁机器人进行充电时，执行刹车锁死动作。
  7. 一种充电控制装置，其特征在于，所述装置包括：
    检测模块，用于检测清洁机器人的充电状态；
    执行模块，用于当检测到所述清洁机器人处于充电状态时，执行刹车锁死动作，以使所述清洁机器人的主动轮进入锁死状态。
  8. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    监测模块，用于在所述清洁机器人的主动轮进入锁死状态之后，对预设的解锁触发操作进行监测；
    所述执行模块，还用于当监测到所述解锁触发操作时，执行解锁动作，以使所述清洁机器人的主动轮进入解锁状态。
  9. 根据权利要求8所述的装置，其特征在于，所述监测模块，用于对所述清洁机器人的驱动轮的状态进行监测，当监测到所述清洁机器人的驱动轮发生转动时，判定监测到所述解锁触发操作。
  10. 根据权利要求8所述的装置，其特征在于，所述监测模块，用于对所述清洁机器人的充电进度进行监测，当监测到所述清洁机器人完成充电时，判定监测到所述解锁触发操作。
  11. 根据权利要求8所述的装置，其特征在于，所述监测模块，用于对所述清洁机器人接收到的操作指令进行监测，当监测到所述清洁机器人接收到指示开启清洁模式的操作指令时，判定监测到所述解锁触发操作。
  12. 根据权利要求8或9任一项所述的装置，其特征在于，所述装置还包括：
    判断模块，用于在所述清洁机器人的主动轮进入解锁状态之后，判断所述清洁机器人是否完成充电；
    所述执行模块，还用于当所述判断模块的判断结果为所述清洁机器人未完成充电时，执行回桩充电动作，并在检测到所述清洁机器人进行充电时，执行刹车锁死动作。
  13. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-6任一项所述方法的步骤。
  14. 一种清洁机器人，包括存储器、处理器及存储在存储器上并在处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求1-6任一项所述方法的步骤。
PCT/CN2021/071077 2020-04-07 2021-01-11 充电控制方法、装置及存储介质、清洁机器人 WO2021203789A1 (zh)

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