Cleaning robot

Abstract

Embodiments of the present disclosure provide a cleaning robot. The cleaning robot includes: a chassis; a drive system; an energy storage unit, configured to be charged according to a predetermined amount in a case that the robot is located at a charging station; a navigation apparatus, configured to monitor a cleaned area in real time; and a control system, wherein the navigation apparatus reports the cleaned area to the control system, and the control system is configured to calculate and obtain a to-be-cleaned area according to the cleaned area, and control the energy storage unit to be charged according to the predetermined amount based on a to-be-cleaned area and a total power consumption factor.

What is claimed is: 
     
         1 . A cleaning robot, comprising:
 a chassis;   a drive system;   an energy storage unit, configured to be charged according to a predetermined amount in a case that the robot is located at a charging station;   a navigation apparatus, configured to monitor a cleaned area in real time; and   a control system, wherein the navigation apparatus reports the cleaned area to the control system, and the control system is configured to calculate and obtain a to-be-cleaned area according to the cleaned area, and control the energy storage unit to be charged according to the predetermined amount based on a to-be-cleaned area and a total power consumption factor.   
     
     
         2 . The cleaning robot according to  claim 1 , wherein the total power consumption factor is obtained by:
 determining a quotient of dividing total power consumption of cleaning a total area for latest N times by N as a total power consumption factor, wherein N is an integer greater than or equal to 1.   
     
     
         3 . The cleaning robot according to  claim 1 , wherein the navigation apparatus comprises:
 an optical receiver, disposed on an outer side of a machine body and configured to receive an optical signal emitted by the charging station; and   a laser distance sensor, disposed on a top surface of the machine body and configured to create a map and to avoid an obstacle.   
     
     
         4 . The cleaning robot according to  claim 3 , wherein the control system is configured to determine a difference between a total area and the cleaned area as the to-be-cleaned area, and the total area is obtained by one of following:
 for a global cleaning mode, determining a maximum area in which autonomous cleaning is completed in a history of global cleaning as the total area;   for a region-selection cleaning mode, determining a sum of areas of all selected regions as the total area; and   for a region-division cleaning mode, determining a sum of areas of all divided regions as the total area.   
     
     
         5 . The cleaning robot according to  claim 1 , wherein the predetermined charging amount equals to a product of the to-be-cleaned area, the total power consumption factor and M,
 wherein M indicates a buffering factor, ranging from 1 to 1.5.   
     
     
         6 . The cleaning robot according to  claim 5 , wherein the control system is further configured to:
 monitor remaining power of the energy storage unit in real time; and   change traveling characteristics of the robot to guide the robot to a charging station for charging in a case that the remaining power reaches a designated threshold.   
     
     
         7 . The cleaning robot according to  claim 1 , wherein the control system is further configured to:
 in a case that the obtained predetermined charging amount is greater than an upper limit value or less than a lower limit value, charge according to the upper limit value or the lower limit value.   
     
     
         8 . The cleaning robot according to  claim 1 , wherein the predetermined charging amount is 80% in a case that the total power consumption factor is unavailable. 
     
     
         9 . The cleaning robot according to  claim 7 , wherein the predetermined charging amount is 80% in a case that a quantity of times of charging is determined to be greater than a predetermined quantity of times. 
     
     
         10 . The cleaning robot according to  claim 1 , further comprising a main circuit board located inside the cleaning robot, wherein the control system is disposed on the main circuit board.