Control method of cleaning robot

Patent metadata

Field	Value
Publication number	US-12016502-B2
Application number	US-201816955620-A
Country	US
Kind code	B2
Filing date	Oct 29, 2018
Priority date	Dec 26, 2017
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A control method of a cleaning robot, where the cleaning robot includes a top part, a bottom part, and a vacuumizing assembly for air extraction, the bottom part of the cleaning robot is provided with at least two rows of driving wheels being respectively provided on both sides of the bottom part of the cleaning robot, and the cleaning robot includes a cleaning mode for cleaning the driving wheel; the method including: performing a cleaning mode of the cleaning robot; and after the cleaning robot performs the cleaning mode, turning off the vacuumizing assembly or maintaining the vacuumizing assembly in a turned off state, and starting and rotating at least one row of the driving wheels.

First claim

What is claimed is:

1. A control method of a cleaning robot, wherein the cleaning robot comprises a top part, a bottom part and a vacuumizing assembly for air extraction, the bottom part of the cleaning robot is provided with at least two driving wheels being respectively provided on both sides of the bottom part of the cleaning robot, and the cleaning robot comprises a cleaning mode for cleaning the driving wheel; wherein the vacuumizing assembly makes the cleaning robot to be adsorbed on a working plane when the vacuumizing assembly works;
the method comprising:
receiving a command from a user to begin a cleaning mode for cleaning the driving wheel;
turning off the vacuumizing assembly to enable the cleaning robot to be lifted; and
maintaining the vacuumizing assembly in a turned off state after the cleaning robot being lifted, and starting and rotating at least one of the two driving wheels for cleaning.

2. The control method of the cleaning robot according to claim 1 , wherein before starting and rotating at least one of the two driving wheels comprises:
acquiring an included angle Θ between the bottom part of the cleaning robot and the working plane, wherein the included angle Θ is an acute angle or a right angle;
when 0<Θ≤90°, starting and rotating at least one of the two driving wheels while maintaining the vacuumizing assembly in a turned off state.

3. The control method of the cleaning robot according to claim 2 , wherein two driving wheels are provided, and the starting and rotating at least one of the two driving wheels comprises:
when 0<Θ≤30°, rotating only one of the two driving wheels;
when 30<Θ≤50°, rotating both two driving wheels in one direction;
when 50<Θ≤90°, rotating both two driving wheels in a forward direction and in a backward direction alternately.

4. The control method of the cleaning robot according to claim 3 , wherein when 0<Θ≤30°, if driving wheel alternation information is received, the driving wheel in a stopped state starts and rotates, and the driving wheel in a rotating state stops moving.

5. The control method of the cleaning robot according to claim 3 , wherein a period of the driving wheel rotating in the forward direction and a period of the driving wheel rotating in the backward direction are consistent.

6. The control method of the cleaning robot according to claim 3 , wherein the cleaning robot comprises a cleaning unit for cleaning the driving wheel, and when 0<Θ≤90°, turning on the cleaning unit to clean the driving wheel.

7. The control method of the cleaning robot according to claim 6 , wherein the cleaning unit is a water spraying device or a brush or a cleaning cloth.

8. The control method of the cleaning robot according to claim 2 , wherein the acquiring an included angle Θ between the bottom part of the cleaning robot and a working plane comprises:
acquiring the included angle Θ between the bottom part of the cleaning robot and the working plane through a sensor, wherein the sensor comprises at least one of: a gyroscope sensor, a geomagnetic sensor and an acceleration sensor.

9. The control method of the cleaning robot according to claim 1 , wherein the starting and rotating at least one of the two driving wheels comprises: judging whether stop information or recovery information is received or not, and stopping rotation of the driving wheel after the stop information is received; restarting the driving wheel to rotate when the recovery information is received, wherein direction of rotation is in consistence with the direction before stopped.

10. The control method of the cleaning robot according to claim 1 , wherein the cleaning robot comprises at least one of: a glass wiping robot and a solar panel cleaning robot.

11. A computer-readable storage medium having stored a computer program thereon, when the computer program is executed by a computer, the control method of the cleaning robot according to claim 1 is implemented.

12. A cleaning robot, comprising a top part, a bottom part, a vacuumizing assembly for air extraction, at least two driving wheels are respectively provided on both sides of the bottom part of the cleaning robot, a memory and a processor, wherein the cleaning robot comprises a cleaning mode for cleaning the driving wheel; wherein the vacuumizing assembly makes the cleaning robot to be adsorbed on a working plane when the vacuumizing assembly works; the memory stores one or more computer instructions, and the processer executes the one or more computer instructions to implement:
receiving a command from a user to begin the cleaning mode for cleaning the driving wheel;
turning off the vacuumizing assembly to enable the cleaning robot to be lifted; and
maintaining the vacuumizing assembly in a turned off state after the cleaning robot being lifted, and controlling at least one of the two driving wheels to start and rotate for cleaning.

13. The cleaning robot according to claim 12 , wherein before starting and rotating at least one of the two driving wheels comprises:
acquiring an included angle Θ between the bottom part of the cleaning robot and the working plane, wherein the included angle Θ is an acute angle or a right angle;
when 0<Θ≤90°, starting and rotating at least one of the two driving wheels while maintaining the vacuumizing assembly in a turned off state.

14. The cleaning robot according to claim 13 , wherein the controlling at least one of the two driving wheels to start and rotate comprises:
when 0<Θ≤30°, rotating only one of the two driving wheels;
when 30<Θ≤50°, rotating both two driving wheels in one direction;
when 50<Θ≤90°, rotating both two driving wheels in a forward direction and in a backward direction alternately.

15. The cleaning robot according to claim 14 , wherein when 0<Θ≤30°, if driving wheel alternation information is received, the driving wheel in a stopped state starts and rotates, and the driving wheel in a rotating state stops moving.

16. The cleaning robot according to claim 13 , wherein the acquiring an included angle Θ between the bottom part of the cleaning robot and a working plane comprises:
acquiring the included angle Θ between the bottom part of the cleaning robot and the working plane through a sensor, wherein the sensor comprises at least one of: a gyroscope sensor, a geomagnetic sensor and an acceleration sensor.

17. The cleaning robot according to claim 12 , wherein a period of the driving wheel rotating in the forward direction and a period of the driving wheel rotating in the backward direction are consistent.

18. The cleaning robot according to claim 17 , wherein the cleaning unit is a water spraying device or a brush or a cleaning cloth.

19. The cleaning robot according to claim 12 , wherein the cleaning robot comprises a cleaning unit for cleaning the driving wheel, and when 0<Θ≤90°, turning on the cleaning unit to clean the driving wheel.

20. The cleaning robot according to claim 12 , wherein the starting and rotating at least one of the two driving wheels comprises: judging whether stop information or recovery information is received or not, and stopping rotation of the driving wheel after the stop information is received; restarting the driving wheel to rotate when the recovery information is received, wherein direction of rotation is in consistence with the direction before stopped.

Assignees

• Ecovacs Robotics Co Ltd

Inventors

• Tang Jinju

Classifications

• A47L2201/06

  Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning · CPC title

• A47L9/2836

  characterised by the parts which are controlled · CPC title

• A47L9/009

  Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles · CPC title

• Y02E10/50

  Photovoltaic [PV] energy · CPC title

• H02S40/10

  Cleaning arrangements · CPC title