The present application claims the benefit of Chinese Patent Application No. 202510304412.2 filed on March 14, 2025, the contents of which are incorporated herein by reference.

The present disclosure relates to the technical field of cleaning robots, and in particular to a working method of a cleaning robot system, a cleaning robot system, a machine-readable storage medium, and an electronic device.

With the development of artificial intelligence technologies, cleaning robots have emerged. A cleaning robot is an intelligent household appliance that can automatically perform cleaning tasks using a certain level of artificial intelligence. The cleaning robot has a built-in rechargeable battery, which needs to be charged before a cleaning task, thereby ensuring that the cleaning robot has sufficient power to drive and perform the cleaning task.

The issue of endurance has long plagued engineers working on cleaning robots, especially those equipped with motor-driven functional modules, for example, those equipped with multi-functional robotic arms. Because each joint of the multi-functional robotic arm requires a motor, power consumption is very high and severely impacts the endurance.

To address the issue of endurance, the current solution is to directly increase the capacity of the battery. However, the battery costs will be increased significantly if the capacity of the battery is increased.

An objective of embodiments of the present disclosure is to provide a working method of a cleaning robot system, a cleaning robot system, a machine-readable storage medium and an electronic device. The working method of the cleaning robot system enables unlimited endurance during a cleaning task and can improve the endurance capability without increasing the battery capacity, thereby greatly reducing battery costs. Fast charging is performed during a backwashing time without extra waiting for charging, thereby improving the operating efficiency of the cleaning robot.

To achieve the above objective, a first aspect of the present application provides a working method of a cleaning robot system. The cleaning robot system includes a cleaning robot and a base station. The method includes:

• in the process of the cleaning robot performing a cleaning task, when a cleaning component of the cleaning robot needs to be cleaned, controlling the cleaning robot to return to the base station, such that the base station cleans the cleaning component; and
• in the process of the base station cleaning the cleaning component, charging the cleaning robot in a fast-charging mode.

In an embodiment of the present application, the working method further includes:
after the base station completes the cleaning of the cleaning component, controlling the cleaning robot to stop charging and to leave the base station and resume the cleaning task.

In an embodiment of the present application, the working method further includes:
in the process of the cleaning robot performing the cleaning task, charging the cleaning robot only in the process of the base station cleaning the cleaning component, and controlling the cleaning robot to continuously perform the cleaning task during the remaining time until the cleaning task is completed.

In an embodiment of the present application, time required for charging the cleaning robot in the fast-charging mode is less than or equal to time required for cleaning the cleaning component.

In an embodiment of the present application, the base station includes a charging power supply equipped with the fast-charging mode; and
charging the cleaning robot in the fast-charging mode includes:
charging, by the charging power supply, the cleaning robot in the fast-charging mode within a preset time range.

In an embodiment of the present application, the preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is time required for the base station to clean the cleaning component.

In an embodiment of the present application, the working method further includes:
after the cleaning robot completes the cleaning task, charging the cleaning robot in a regular charging mode.

In an embodiment of the present application, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes:

• obtaining a battery level to be replenished, and ascertaining a replenishment parameter based on the battery level to be replenished; and
• in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode based on the replenishment parameter.

In an embodiment of the present application, the replenishment parameter includes a replenishment current and/or a replenishment time.

In an embodiment of the present application, obtaining the battery level to be replenished includes:
ascertaining the battery level to be replenished based on a current remaining workload and a current battery level of the cleaning robot.

In an embodiment of the present application, ascertaining the battery level to be replenished based on the current remaining workload and the current battery level of the cleaning robot includes:

• determining whether the current battery level of the cleaning robot is insufficient based on the current remaining workload; and
• in response to determining that the current battery level of the cleaning robot is insufficient, ascertaining the battery level to be replenished based on the current battery level of the cleaning robot and the current remaining workload.

In an embodiment of the present application, the cleaning component is a mop pad and/or a cleaning brush.

In an embodiment of the present application, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes:

• when the base station starts cleaning the cleaning component, starting charging the cleaning robot in the fast-charging mode; and
• when the base station finishes cleaning the cleaning component, stopping charging the cleaning robot in the fast-charging mode.

In an embodiment of the present application, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes:
in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode, determining in real time whether a battery of the cleaning robot is fully charged, and in response to determining that the battery is fully charged, stopping charging the cleaning robot in the fast-charging mode.

A second aspect of the present application provides a cleaning robot system, including a cleaning robot, a base station, and a control unit, where the control unit is configured to perform the method as described above, the cleaning robot includes at least a battery, a cleaning component, and a driving unit, the battery is configured to supply power to the driving unit, and the base station is configured to charge the battery of the cleaning robot and to clean the cleaning component of the cleaning robot.

In an embodiment of the present application, the cleaning robot further includes an active obstacle-crossing device configured to assist the cleaning robot in crossing an obstacle of a particular height.

In an embodiment of the present application, the active obstacle-crossing device includes at least a driving motor and a support member, the driving motor being configured to drive the support member to support the cleaning robot to a preset height, and the driving motor being powered by the battery.

In an embodiment of the present application, the cleaning robot further includes a robotic arm device configured to assist in cleaning.

In an embodiment of the present application, the robotic arm device includes at least joint driving motors configured to drive respective joints of the robotic arm device, the joint driving motors being powered by the battery.

A third aspect of the present application provides an electronic device, including:

• at least one processor; and
• a memory connected to the at least one processor,
• where the memory stores instructions executable by the at least one processor, and upon executing the instructions stored in the memory, the at least one processor implements the working method of the cleaning robot system as described above.

A fourth aspect of the present application provides a machine-readable storage medium having instructions stored therein, where the instructions, when executed by a processor, cause the processor to be configured to perform the working method of the cleaning robot system as described above.

With the above technical solutions, in the process of the cleaning robot performing the cleaning task, when the cleaning component of the cleaning robot needs to be cleaned, the cleaning robot is controlled to return to the base station, such that the base station cleans the cleaning component; and in the process of the base station cleaning the cleaning component, the cleaning robot is charged in the fast-charging mode. Based on the fact that the cleaning component needs to return to the base station regularly for cleaning, during the backwashing time, the high-power fast-charging technology is used to rapidly replenish the electric energy consumed in the previous operation, so as to enables unlimited endurance during the cleaning task, thereby significantly improving the endurance capability of the cleaning robot. Even when the replenished energy is equal to the previously consumed energy, the capacity of the battery can also be significantly reduced, and the feature of unlimited endurance can be achieved with only the battery level required to complete one backwashing cycle. The endurance capability can be improved without increasing the battery capacity, thereby greatly reducing battery costs and reducing space occupation of the entire machine. Fast charging is performed during a backwashing time without extra waiting for charging, thereby improving the operating efficiency of the cleaning robot. Since the base station only charges the battery at high power within a short period of time and operates intermittently, power costs can be reduced significantly. In addition, fast charging during the backwashing time results in limited heat accumulation and easier heat dissipation.

Other features and advantages of the embodiments of the present disclosure will be described in detail in the following detailed description.

The accompanying drawings are intended to provide a further understanding of the embodiments of the present disclosure, and form a part of this specification. The accompanying drawings, together with the following detailed description, serve to explain the embodiments of the present disclosure, but do not constitute a limitation to the embodiments of the present disclosure. In the drawings:
FIG. 1 schematically shows a schematic flowchart of a working method of a cleaning robot system according to an embodiment of the present application.

Specific implementations of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementations described herein are only intended to illustrate and explain the embodiments of the present disclosure, and are not intended to limit the embodiments of the present disclosure.

It should be noted that the acquisition, transmission, storage, use, processing, and the like of data in the technical solutions of the present application shall all comply with relevant provisions of national laws and regulations. In the embodiments of the present application, some existing solutions in the industry, such as software, assemblies and models, may be mentioned. Such solutions should be considered as illustrative only, and are merely intended to explain the feasibility in implementing the technical solutions of the present application, rather than implying that the applicant has already used or will necessarily use these solutions.

It should be noted that if directional indications (such as upper, lower, left, right, front and rear) are involved in the embodiments of the present application, the directional indications are only used to explain the relative positional relationships, movement situations, and the like between components in a specific posture (for example, as shown in the accompanying drawings). When the specific posture changes, the directional indications will change accordingly.

In addition, if descriptions such as "first", "second" and the like are involved in the embodiments of the present application, the descriptions such as "first", "second" and the like are merely for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions of the various embodiments may be combined, provided that such combinations can be implemented by a person of ordinary skill in the art. When a combination of the technical solutions is contradictory or impracticable, such a combination should be regarded as non-existent and does not fall within the scope of protection of the present application.

An embodiment provides a working method of a cleaning robot system, in which a cleaning robot is rapidly recharged within a short backwashing period of the cleaning robot and resumes operation after cleaning is finished, resulting in significantly reduced costs, easier heat dissipation and no need to wait for charging.

It should be noted that the backwashing mentioned in the embodiment refers to a process in which the cleaning robot returns to the base station to clean the cleaning component.

Referring to FIG. 1, FIG. 1 schematically shows a schematic flowchart of a working method of a cleaning robot system according to an embodiment of the present application. An embodiment provides a working method of a cleaning robot system. The cleaning robot includes a cleaning robot and a base station. The method includes the following steps.

In step 210, in the process of the cleaning robot performing a cleaning task, when a cleaning component of the cleaning robot needs to be cleaned, the cleaning robot is controlled to return to the base station, such that the base station cleans the cleaning component.

In the embodiment, the cleaning robot needs to return to the base station regularly to clean the cleaning component in the process of performing the cleaning task. The cleaning component may be a mop pad, a cleaning brush and other components that need to return to the base station regularly for treatment. A battery on the cleaning robot may be a lithium-ion battery or a new battery, such as a lithium-ion supercapacitor and other batteries having long cycle lives, which will not be limited in the embodiment. The battery can provide electric energy for the cleaning robot to perform the cleaning operation. The base station is configured to charge the battery of the cleaning robot and to clean the cleaning component of the cleaning robot. In the process of the cleaning robot performing the cleaning task, when the cleaning component needs to be cleaned when a certain period of time has elapsed or when a certain area has been cleaned, the cleaning robot may be controlled to return to the base station. The control may be performed by the cleaning robot itself to return to the base station or by the base station or by a third party, etc., which will not be limited in the embodiment.

In step 220, in the process of the base station cleaning the cleaning component, charging the cleaning robot in a fast-charging mode.

In the embodiment, the fast-charging mode refers to a charging mode in which the base station can replenish the battery with a large quantity of charge within a short period of time, thereby achieving high-power fast charging. Common technical modes include high-voltage fast charging, high-current fast charging, multi-charging-protocol fast charging and the like. In practice, charging power may be adjusted by the base station or the cleaning robot to realize the fast-charging mode.

For example, when the cleaning robot cleans an area of 15 square meters per cycle in a standard mode, with a battery consumption of 10%, about a 5% battery level can be fast replenished during a backwashing time of approximately 2 minutes. In this case, a net battery consumption per 15-square-meter cleaning cycle is equivalent to only 5%. Originally, a full 100% battery level would enable the cleaning robot to theoretically complete ten 15-square-meter cleaning cycles, i.e., 150 square meters in total. With the scheme of fast charging during backwashing, the cleaning robot can complete twenty 15-square-meter cleaning cycles, i.e., 300 square meters, simply doubling the endurance.

In some embodiments, the working method further includes: after the base station completes the cleaning of the cleaning component, controlling the cleaning robot to stop charging and to leave the base station and resume the cleaning task.

In the embodiment, after the base station completes the cleaning of the cleaning component, the charging of the cleaning robot is stopped simultaneously, and the cleaning robot resumes the cleaning task. Based on the fact that the cleaning robot needs to return to the base station regularly for cleaning, the battery is charged for a short period of time in which the cleaning robots returns to the base station for cleaning. After cleaning, the cleaning robot resumes operation without waiting for charging, thereby realizing fast charging during backwashing. Since the cleaning robot may return to the base station multiple times for cleaning when performing the cleaning task, multiple cycles of fast charging during backwashing can be realized.

In some embodiments, the working method further includes: in the process of the cleaning robot performing the cleaning task, charging the cleaning robot only in the process of the base station cleaning the cleaning component, and controlling the cleaning robot to continuously perform the cleaning task during the remaining time until the cleaning task is completed.

In the embodiment, in the process of the cleaning robot performing the cleaning task, the cleaning robot is charged only while the cleaning component is being cleaned, and the cleaning robot continuously performs the cleaning task during the remaining time without returning to the base station for charging, thereby reducing time spent specifically on charging during the cleaning task and improving the cleaning efficiency.

In some embodiments, time required for charging the cleaning robot in the fast-charging mode is less than or equal to time required for cleaning the cleaning component.

In the embodiment, the cleaning robot may be charged in the fast-charging mode during the entire cleaning period of the cleaning component, or during a portion of the cleaning period, which may be specifically set according to actual requirements to adapt to different scenarios.

In some embodiments, the cleaning component may be a mop pad and/or a cleaning brush.

In the embodiment, the cleaning robot may be charged in the fast-charging mode in the process of the base station cleaning the mop pad, or in the process of the base station cleaning the cleaning brush, or in the process of the base station cleaning both the mop pad and the cleaning brush, thereby accommodating various usage scenarios of the cleaning robot.

In some embodiments, the base station includes a charging power supply equipped with the fast-charging mode; and correspondingly, charging the cleaning robot in the fast-charging mode includes:
charging, by the charging power supply, the cleaning robot in the fast-charging mode within a preset time range.

In the embodiment, the preset time range may be empirically determined in advance, or may be determined based on the time at which the base station cleans the cleaning component every time. When the cleaning robot returns to the base station to clean the cleaning component, the battery may be properly connected to the charging power supply in the base station. The charging power supply only needs to adopt a technical standard capable of withstanding fast charging within a preset time range. During fast charging, the charging power supply may rapidly charge the battery within the preset time range, which eliminates the need for a power supply with sustained high-power charging, thereby reducing power supply costs. In addition, fast charging during the backwashing time results in limited heat accumulation, easier heat dissipation and relatively controllable temperature, which can significantly reduce charging power supply costs.

The preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is time required for the base station to clean the cleaning component.

In the embodiment, the preset cleaning time may be empirically determined. For example, when the cleaning time is 2 minutes, the preset time range may be set to 2 minutes or less.

It should be noted that in practice, any charging power supply capable of withstanding fast charging within the preset time range may be selected.

In some embodiments, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes the following steps.

First, a battery level to be replenished is obtained, and a replenishment parameter is ascertained based on the battery level to be replenished.

In the embodiment, the battery level to be replenished may be first obtained by the cleaning robot prior to charging. The battery level to be replenished refers to a battery level required to complete remaining workload. The battery level to be replenished may be calculated by means of an algorithm in the cleaning robot. The cleaning robot obtains the battery level to be replenished, and then may send the battery level to be replenished to the base station before the cleaning robot returns to the base station, or after the cleaning robot returns to the base station and before the battery is charged in the fast-charging mode.

In some embodiments, obtaining the battery level to be replenished includes: ascertaining the battery level to be replenished based on a current remaining workload and a current battery level of the cleaning robot.

In the embodiment, the cleaning robot may determine the current remaining workload and the current battery level based on a current operation status, and further may estimate required battery level based on power consumption during cleaning, so as to obtain the battery level to be replenished. Based on the current remaining workload and the current battery level of the cleaning robot, the battery level to be replenished can be determined accurately, thereby facilitating more precise calculation of the replenishment parameter.

In some embodiments, ascertaining the battery level to be replenished based on the current remaining workload and the current battery level of the cleaning robot includes:

• first, determining whether the current battery level of the cleaning robot is insufficient based on the current remaining workload; and
• second, in response to determining that the current battery level of the cleaning robot is insufficient, ascertaining the battery level to be replenished based on the current battery level of the cleaning robot and the current remaining workload.

In the embodiment, it is possible to first determine the required battery level based on the current remaining workload, compare it with the current battery level to determine whether the current battery level is insufficient, and further determine the battery level to be replenished in response to determining that the current battery level is insufficient. It is unnecessary to determine the battery level to be replenished when the current battery level is sufficient.

By determining whether the current battery level is insufficient and calculating the battery level to be replenished only when the current battery level is insufficient, the calculation efficiency is improved.

The replenishment parameter refers to current or charging time that can be used for battery level replenishment, that is, the replenishment parameter includes a replenishment current and/or a replenishment time. The replenishment time may be calculated based on the battery level to be replenished and charging amount per unit time, and the replenishment current may be calculated based on the battery level to be replenished and charging voltage. The replenishment current and the replenishment time may be calculated simultaneously, or the replenishment current or the replenishment time may be calculated, which may be specifically set according to actual requirements. The process of calculating the replenishment current and the replenishment time belongs to the prior art and will not be repeated herein.

Second, in the process of the base station cleaning the cleaning component, the cleaning robot is charged in the fast-charging mode based on the replenishment parameter.

In the embodiment, after the replenishment parameter is calculated, the cleaning robot may be rapidly charged based on the replenishment parameter in the process of the base station cleaning the cleaning component. For example, when the replenishment parameter is the replenishment current, the battery may be rapidly charged based on the replenishment current.

By obtaining the battery level to be replenished, ascertaining the replenishment parameter based on the battery level to be replenished, and in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode based on the replenishment parameter, the charging strategy can be adjusted during charging based on the current battery level of the battery to realize fast charging, thereby protecting the cycle life of the battery.

It should be noted that when the energy to be replenished is equal to the previously consumed energy, the capacity of the battery can also be significantly reduced, and the feature of unlimited endurance can be achieved with only the battery level required to complete one backwashing cycle.

In some embodiments, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes:

• first, when the base station starts cleaning the cleaning component, starting charging the cleaning robot in the fast-charging mode; and
• second, when the base station finishes cleaning the cleaning component, stopping charging the cleaning robot in the fast-charging mode.

In the embodiment, when the base station starts cleaning the cleaning component, the fast-charging mode is simultaneously activated to charge the cleaning robot; and when the base station finishes cleaning the cleaning component, charging the cleaning robot in the fast-charging mode is simultaneously terminated. The cleaning robot is charged throughout the entire process of cleaning the cleaning component, such that the cleaning robot can be more sufficiently charged.

In some embodiments, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes:
in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode, determining in real time whether a battery of the cleaning robot is fully charged, and in response to determining that the battery is fully charged, stopping charging the cleaning robot in the fast-charging mode.

In the embodiment, determining in real time whether the battery is fully charged may involve obtaining the battery level in real time and determining whether the battery capacity has been reached. If yes, the battery is fully charged; otherwise, the battery is not fully charged. If the battery is fully charged, charging in the fast-charging mode is terminated; otherwise, charging in the fast-charging mode is continued.

By charging the cleaning robot in the fast-charging mode during cleaning of the cleaning component and determining in real time whether the battery is fully charged, it is possible to stop charging the battery in the fast-charging mode in response to determining that the battery is fully charged, thereby avoiding overcharging of the battery of the cleaning robot and prolonging the service life of the battery.

In the above-described implementation, in the process of the cleaning robot performing the cleaning task, when the cleaning component of the cleaning robot needs to be cleaned, the cleaning robot is controlled to return to the base station, such that the base station cleans the cleaning component; and in the process of the base station cleaning the cleaning component, the cleaning robot is charged in the fast-charging mode. Based on the fact that the cleaning component needs to return to the base station regularly for cleaning, during the backwashing time, the high-power fast-charging technology is used to rapidly replenish the electric energy consumed in the previous operation, so as to enables unlimited endurance during the cleaning task, thereby significantly improving the endurance capability of the cleaning robot. Even when the replenished energy is equal to the previously consumed energy, the capacity of the battery can also be significantly reduced, and the feature of unlimited endurance can be achieved with only the battery level required to complete one backwashing cycle. The endurance capability can be improved without increasing the battery capacity, thereby greatly reducing battery costs and reducing space occupation of the entire machine. Fast charging is performed during a backwashing time without extra waiting for charging, thereby improving the operating efficiency of the cleaning robot. Since the base station only charges the battery at high power within a short period of time and operates intermittently, power costs can be reduced significantly. In addition, fast charging during the backwashing time results in limited heat accumulation and easier heat dissipation.

In some embodiments, the method further includes:
after the cleaning robot completes the cleaning task, charging the battery in a regular charging mode.

In the embodiment, the regular charging mode refers to charging the battery using a relatively standard and gentle charging method, typically including three modes, namely, a constant-current charging mode, a constant-voltage charging mode, and a constant-current and constant-voltage combined charging mode.

The battery is charged in the fast-charging mode in the process of the base station cleaning the cleaning component, and the battery is charged in the regular charging mode after the cleaning robot completes the cleaning operation, such that fast charging is performed only during backwashing intervals of the cleaning robot, and the regular charging mode is used after the cleaning work is finished. The combination of fast-charging mode and the regular charging mode can maintain the cycle life of the battery.

An embodiment provides a cleaning robot system, including a cleaning robot, a base station, and a control unit, where the control unit is configured to perform the method as described above, the cleaning robot includes at least a battery, a cleaning component, and a driving unit, the battery is configured to supply power to the driving unit, and the base station is configured to charge the battery of the cleaning robot and to clean the cleaning component of the cleaning robot.

In the embodiment, the control unit may be disposed at the base station or on the cleaning robot, which will not be limited in the embodiment. The control unit, based on the fact that the cleaning component needs to return to the base station regularly for cleaning, during the backwashing time, uses the high-power fast-charging technology to rapidly replenish the electric energy consumed in the previous operation, so as to enables unlimited endurance during the cleaning task, thereby significantly improving the endurance capability of the cleaning robot. Even when the replenished energy is equal to the previously consumed energy, the capacity of the battery can also be significantly reduced, and the feature of infinite endurance can be achieved with only the battery level required to complete one backwashing cycle. The endurance capability can be improved without increasing the battery capacity, thereby greatly reducing battery costs and reducing space occupation of the entire machine. Fast charging is performed during a backwashing time without extra waiting for charging, thereby improving the operating efficiency of the cleaning robot. Since the base station only charges the battery at high power within a short period of time and operates intermittently, power costs can be reduced significantly. In addition, fast charging during the backwashing time results in limited heat accumulation and easier heat dissipation.

In some embodiments, the cleaning robot further includes an active obstacle-crossing device configured to assist the cleaning robot in crossing an obstacle of a particular height.

In the embodiment, the active obstacle-crossing device may be a motor-driven functional module, such as a wheel-leg obstacle-crossing functional module and a chassis-lifting functional module. The provision of the active obstacle-crossing device enables the cleaning robot to actively cross the obstacle in the process of performing the cleaning task, thereby increasing the cleaning coverage and reducing the frequency of manual intervention.

In some embodiments, the active obstacle-crossing device includes at least a driving motor and a support member, the driving motor being configured to drive the support member to support the cleaning robot to a preset height, and the driving motor being powered by the battery.

In the embodiment, the preset height may be empirically set, and the driving motor and the support member may be connected by a linkage mechanism or a lead screw. When a laser radar in the cleaning robot detects the obstacle, such as a threshold/a carpet edge, an obstacle-crossing mode is triggered, a cleaning motor is suspended, and the battery power is centrally allocated to the driving motor. The driving motor drives the lead screw to rotate, the support member is pushed to extend, and a chassis of the robot is lifted to the preset height (e.g., 20 mm, 40 mm, 50 mm, 60 mm, 80 mm, etc.). A driving wheel is accelerated in a lifted state, and cooperates with a thrust provided by the support member to enable the cleaning robot to cross the obstacle. After the obstacle is crossed, the support member is retracted to a stowed position, and a regular cleaning mode is restored.

Since the active obstacle-crossing device is additionally provided with the driving motor, the power consumption of the cleaning robot may increase, which reduces the endurance of the cleaning robot. The working method of the cleaning robot system described above can be used to support long-term continuous operation of the robot provided with the active obstacle-crossing device, thereby improving the obstacle-crossing capability and the cleaning efficiency of the cleaning robot.

In some embodiments, the cleaning robot further includes a robotic arm device configured to assist in cleaning.

In the embodiment, the robotic arm device may be a multi-functional robotic arm, for example, a 6-degree-of-freedom robotic arm, which can be used for simulating a manual wiping action and covering vertical surfaces, such as wall surfaces and glass. The provision of the robotic arm device enables the cleaning robot to expand its spatial cleaning capability in the process of executing the cleaning task, thereby further increasing the cleaning coverage and reducing the frequency of manual intervention.

In some embodiments, the robotic arm device includes at least joint driving motors configured to drive respective joints of the robotic arm device, the joint driving motors being powered by the battery.

In the embodiment, the power consumption is high since each joint of the robotic arm device requires a motor, which severely impacts the endurance. Charging by using the working method of the cleaning robot system described above can support long-term continuous operation of the cleaning component, the driving unit and the robotic arm device of the cleaning robot, thereby improving the cleaning efficiency in garbage storage.

In some embodiments, the cleaning robot may further include a chassis lifting device, and the chassis lifting device may include at least a driving motor and a chassis support mechanism. The driving motor is configured to drive the chassis support mechanism to lift a body of the cleaning robot by a preset height relative to a driving wheel, so as to facilitate crossing of the obstacle by the cleaning robot. The driving motor is powered by the battery. Since the chassis lifting device is additionally provided with the driving motor, the power consumption of the cleaning robot may increase, which reduces the endurance of the cleaning robot. The working method of the cleaning robot system described above can be used to support long-term continuous operation of the robot provided with the active obstacle-crossing device, thereby improving the obstacle-crossing capability and the cleaning efficiency of the cleaning robot.

Of course, in some embodiments, the cleaning robot may further include one or more of the robotic arm device, the active obstacle-crossing device and the chassis lifting device. With the working method and system provided in the above embodiments, the electric energy required for the cleaning operation and various devices of the cleaning robot and the battery level required by each device can be supplied for a long period of time, thereby effectively improving the endurance capability of the cleaning robot.

An embodiment of the present disclosure provides a machine-readable storage medium having a program stored therein, where the program, when executed by a processor, causes the working method of the cleaning robot system to be implemented.

An embodiment of the present disclosure provides a processor configured to run a program, where the program, when executed, causes the working method of the cleaning robot system to be implemented.

An embodiment of the present application provides an electronic device, including: at least one processor; and a memory connected to the at least one processor, where the memory stores instructions executable by the at least one processor, and upon executing the instructions stored in the memory, the at least one processor implements the working method of the cleaning robot system as described above. The cleaning robot system includes a cleaning robot and a base station. The processor, when executing the instructions, implements the following steps:

• in the process of the cleaning robot performing a cleaning task, when a cleaning component of the cleaning robot needs to be cleaned, controlling the cleaning robot to return to the base station, such that the base station cleans the cleaning component; and
• in the process of the base station cleaning the cleaning component, charging the cleaning robot in a fast-charging mode.

In an embodiment, the following step is included:
after the base station completes the cleaning of the cleaning component, controlling the cleaning robot to stop charging and to leave the base station and resume the cleaning task.

In an embodiment, the following step is included:
in the process of the cleaning robot performing the cleaning task, charging the cleaning robot only in the process of the base station cleaning the cleaning component, and controlling the cleaning robot to continuously perform the cleaning task during the remaining time until the cleaning task is completed.

In an embodiment, time required for charging the cleaning robot in the fast-charging mode is less than or equal to time required for cleaning the cleaning component.

In an embodiment, the base station includes a charging power supply equipped with the fast-charging mode; and
charging the cleaning robot in the fast-charging mode includes:
charging, by the charging power supply, the cleaning robot in the fast-charging mode within a preset time range.

In an embodiment, the preset time range is less than or equal to a preset cleaning time, and the preset cleaning time is time required for the base station to clean the cleaning component.

In an embodiment, the following step is included:
after the cleaning robot completes the cleaning task, charging the cleaning robot in a regular charging mode.

In an embodiment, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes:

• obtaining a battery level to be replenished, and ascertaining a replenishment parameter based on the battery level to be replenished; and
• in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode based on the replenishment parameter.

In an embodiment, the replenishment parameter includes a replenishment current and/or a replenishment time.

In an embodiment, obtaining the battery level to be replenished includes:
ascertaining the battery level to be replenished based on a current remaining workload and a current battery level of the cleaning robot.

In an embodiment, ascertaining the battery level to be replenished based on the current remaining workload and the current battery level of the cleaning robot includes:

• determining whether the current battery level of the cleaning robot is insufficient based on the current remaining workload; and
• in response to determining that the current battery level of the cleaning robot is insufficient, ascertaining the battery level to be replenished based on the current battery level of the cleaning robot and the current remaining workload.

In an embodiment, the cleaning component is a mop pad and/or a cleaning brush.

In an embodiment, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes:

• when the base station starts cleaning the cleaning component, starting charging the cleaning robot in the fast-charging mode; and
• when the base station finishes cleaning the cleaning component, stopping charging the cleaning robot in the fast-charging mode.

In an embodiment, in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode includes:
in the process of the base station cleaning the cleaning component, charging the cleaning robot in the fast-charging mode, determining in real time whether a battery of the cleaning robot is fully charged, and in response to determining that the battery is fully charged, stopping charging the cleaning robot in the fast-charging mode.

It should be appreciated by those skilled in the art that the embodiments of the present application may be provided as a method, a system or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program codes embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of the method, the apparatus (system) and the computer program product according to the embodiments of the present application. It should be understood that each process and/or block in the flowcharts and/or block diagrams, and combinations of processes and/or blocks in the flowcharts and/or block diagrams, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, when executed by the processor of the computer or other programmable data processing apparatus, create means for implementing functions specified in one or more processes of the flowcharts and/or in one or more blocks of the block diagrams.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the functions specified in one or more processes of the flowcharts and/or one or more blocks of the block diagrams.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented processing, such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more processes of the flowcharts and/or one or more blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, a network interface, and memory.

The memory may include non-permanent memory in the form of computer-readable media, such as random access memory (RAM), and/or nonvolatile memory, e.g., read-only memory (ROM) or flash memory. The memory is an example of a computer-readable medium.

Computer-readable media include both permanent and non-permanent and removable and non-removable media that may be implemented in any method or technology for storage of information. The information may be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, the computer-readable media do not include transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that, the terms "include", "comprise", or any other variants thereof are intended to cover the non-exclusive inclusion, such that a process, method, article or apparatus including a series of elements includes not only those elements, but also other elements not expressly listed or elements inherent to such a process, method, article or apparatus. Without further limitation, an element defined by the phrase "including a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

The above descriptions are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and variations may be made to the present application. Any modification, equivalent substitution, improvement, and the like made within the spirit and principle of the present application shall be included into the scope of the claims of the present application.