Control method for cleaning robots
An embodiment of the invention provides a cleaning robot including a light detector and a controller. The light detector detects a light beam. The controller is coupled to the light detector to control the cleaning robot. When the controller determines that the light beam is being output by a charging station, the controller controls the cleaning robot to move to the charging station along a first boundary of the light beam, which is substantially perpendicular to the charging station.
1. A cleaning robot, comprising:
a light detector to detect a light beam; and
a controller coupled to the light detector, wherein when the controller determines that the light beam is being output by a charging station, the controller controls the cleaning robot to move to the charging station along a first boundary of the light beam, which is substantially perpendicular to the charging station, wherein the light detector comprises a rib, when the cleaning robot moves to the charging station along the first boundary of the light beam, the light beam is blocked by the rib such that the light detector does not detect the light beam during the movement of the cleaning robot,
wherein the light detector is a non-omnidirectional light detector.
2. The cleaning robot as claimed in claim 1 , wherein when a distance between the cleaning robot and the charging robot is less than a predetermined distance, the controller stops the cleaning robot and controls the cleaning robot to spin to a predetermined angle, and then the cleaning robot moves backwards to enter the charging station.
3. The cleaning robot as claimed in claim 1 , wherein, the light beam is a first light beam, and when a distance between the cleaning robot and the charging robot is less than a predetermined distance, the charging station outputs a second light beam, and when the light detector detects the second light beam, the controller stops the cleaning robot and controls the cleaning robot to spin to a predetermined angle, and then the cleaning robot moves backwards to enter the charging station.
4. The cleaning robot as claimed in claim 1 , further comprising:
a wireless signal detector to detect a wireless signal output by the charging station, wherein when a strength of the wireless signal is larger than a predetermined value, the controller stops the cleaning robot and controls the cleaning robot to spin to a predetermined angle, and then the cleaning robot moves backwards to enter the charging station.
5. The cleaning robot as claimed in claim 1 , further comprising:
a first light detector disposed at a left side of the light detector; and
a second light detector disposed at a right side of the light detector, wherein the first light detector is aimed at the first boundary and when the second light detector detects the light beam, the controller controls the cleaning robot to spin right.
6. The cleaning robot as claimed in claim 1 , wherein when the light detector detects a second light beam output by a light generating device, the controller controls the cleaning robot to move to the light generating device along the second light beam.
7. The cleaning robot as claimed in claim 1 , wherein when the controller determines that the cleaning robot does not need to be charged, the controller controls the cleaning robot to move according to a predetermined direction.
8. The cleaning robot as claimed in claim 1 , wherein when a fail count for which the cleaning robot does not correctly connect to the charging station is larger than a predetermined value or when a predetermined time for which the cleaning robot is connected to the charging station has been reached, the cleaning robot leaves the charging station.
9. The cleaning robot as claimed in claim 1 , wherein when the cleaning robot electrically connects to the charging station and the controller does not detect the charging voltage after a predetermined amount of time, the cleaning robot moves forwards for a predetermined distance, and re-enters the charging station to eclectically connect to the charging station to charge the cleaning robot.
10. A charging system, comprising:
a charging station emitting a first light beam having a second boundary and a first boundary which is substantially perpendicular to the charging station; and
a cleaning robot, comprising:
a light detector; and
a controller coupled to the light detector to receive a detection result of the light detector, wherein when the light detector detects the first light beam, the controller controls the cleaning robot to move to the charging station along the first boundary, wherein the light detector comprises a rib, when the cleaning robot moves to the charging station along the first boundary of the light beam, the light beam is blocked by the rib such that the light detector does not detect the light beam during the movement of the cleaning robot,
wherein the light detector is a non-omnidirectional light detector.
11. The charging system as claimed in claim 10 , wherein when a distance between the cleaning robot and the charging robot is less than a predetermined distance, the controller stops the cleaning robot and controls the cleaning robot to spin to a predetermined angle, and then the cleaning robot moves backwards to enter the charging station.
12. The charging system as claimed in claim 10 , wherein when a distance between the cleaning robot and the charging robot is less than a predetermined distance, the charging station outputs a second light beam, and when the light detector detects the second light beam, the controller stops the cleaning robot and controls the cleaning robot to spin to a predetermined angle, and then the cleaning robot moves backwards to enter the charging station.
13. The charging system as claimed in claim 10 , wherein the cleaning robot further comprises a wireless signal detector to detect a wireless signal output by the charging station, and when a strength of the wireless signal is larger than a predetermined value, the controller stops the cleaning robot and controls the cleaning robot to spin to a predetermined angle, and then the cleaning robot moves backwards to enter the charging station.
14. The charging system as claimed in claim 10 , wherein the cleaning robot further comprises:
a first light detector disposed at a left side of the light detector; and
a second light detector disposed at a right side of the light detector, wherein the first light detector is aimed at the first boundary and when the second light detector detects the light beam, the controller controls the cleaning robot to spin right.
15. The charging system as claimed in claim 10 , wherein when the cleaning robot electrically connects to the charging station and the controller does not detect the charging voltage after a predetermined amount of time, the cleaning robot leaves the charging station.