# US 2023/0067501 A1 · Method and Device of Charging Control, Storage Medium, and Cleaning Robot

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- Number: US 2023/0067501 A1
- Document ID: US20230067501A1
- Status: Published application
- Kind: A1
- Application number: 17/799,065
- Filed: 2021-01-11
- Published: 2023-03-02
- Earliest claimed: 2020-04-07
- Assignees: Beijing Roborock Technology Co., Ltd.
- Applicants: Beijing Roborock Technology Co., Ltd.
- Inventors: Xinyu Han
- Web page: https://patentgrep.com/patent/US20230067501A1

## CPC

- A47L 9/2873: {Docking units or charging stations (for autonomous or robotic vacuum cleaners A47L2201/02)}
- A47L 9/2805: {Parameters or conditions being sensed}
- A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles}
- A47L 11/4011: {Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor}
- H02J 7/685: {using connection detecting circuits (H02J7/68 takes precedence)}
- H02J 7/731: {specially adapted for holding portable devices containing batteries (H02J7/751 takes precedence)}
- A47L 2201/022: Recharging of batteries
- A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08)
- H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY

## Abstract

A charging control method, applicable to a cleaning robot, includes: detecting a charging status of the cleaning robot; braking the cleaning robot in response to detecting that the cleaning robot is being charged, so as to lock a drive wheel of the cleaning robot; monitoring an unlocking trigger operation; and unlocking the cleaning robot in response to detecting the unlocking trigger operation.

## Claims

### Claim at position 1

1-14. (canceled)

### Claim 15

A charging control method, applicable to a cleaning robot, wherein the method comprises:
detecting a charging status of the cleaning robot;
locking a drive wheel of the cleaning robot in response to detecting that the cleaning robot is being charged;
unlocking the drive wheel of the cleaning robot in response to detecting an unlocking trigger operation, wherein the unlocking trigger operation comprises one of following:
rotation of the drive wheel of the cleaning robot under action of an external force,
charging of the cleaning robot completing, and
an instruction received by the cleaning robot and used to start a cleaning mode.

### Claim 16 (depends on 15)

The method according to claim 15, further comprising:
monitoring a status of the drive wheel of the cleaning robot; and
determining that the unlocking trigger operation is detected in response to detecting the rotation of the drive wheel of the cleaning robot.

### Claim 17 (depends on 15)

The method according to claim 15, further comprising:
monitoring a charging process of the cleaning robot; and
determining that the unlocking trigger operation is detected in response to detecting that the charging of the cleaning robot is completed.

### Claim 18 (depends on 15)

The method according to claim 15, further comprising:
monitoring an instruction received by the cleaning robot; and
determining that the unlocking trigger operation is detected, in response to detecting that the cleaning robot receives the instruction to start a cleaning mode.

### Claim 19 (depends on 15)

The method according to claim 15, further comprising:
determining whether the charging of the cleaning robot is completed in response to the unlocking of the drive wheel;
docking the cleaning robot into a charging dock in response to that the charging of the cleaning robot is not completed,
unlocking the drive wheel in response to detecting that the cleaning robot is being charged; and
waiting to receive an instruction, or performing an instruction received before and used to start the cleaning mode, in response to detecting that the charging of the cleaning robot is completed.

### Claim 20

A cleaning robot, comprising a memory, a processor, and a computer program that is stored in the memory and that is executable by the processor, wherein when the program is executed by the processor, cause the processor to configured to:
detect a charging status of a cleaning robot;
lock a drive wheel of the cleaning robot in response to detecting that the cleaning robot is being charged;
unlock the drive wheel of the cleaning robot in response to detecting an unlocking trigger operation, wherein the unlocking trigger operation comprises one of following:
rotation of the drive wheel of the cleaning robot under action of an external force,
charging of the cleaning robot completing, and
an instruction received by the cleaning robot and used to start a cleaning mode.

### Claim 21 (depends on 20)

The cleaning robot according to claim 20, wherein the processor is further configured to:
monitor a status of the drive wheel of the cleaning robot; and
determine that the unlocking trigger operation is detected in response to detecting the rotation of the drive wheel of the cleaning robot.

### Claim 22 (depends on 20)

The cleaning robot according to claim 20, wherein the processor is further configured to:
monitor a charging process of the cleaning robot; and
determine that the unlocking trigger operation is detected in response to detecting that the charging of the cleaning robot is completed.

### Claim 23 (depends on 20)

The cleaning robot according to claim 20, wherein the processor is further configured to:
monitor an instruction received by the cleaning robot; and
determine that the unlocking trigger operation is detected, in response to detecting that the cleaning robot receives the instruction to start the cleaning mode.

### Claim 24 (depends on 20)

The cleaning robot according to claim 20, wherein the processor is further configured to:
determine whether the charging of the cleaning robot is completed in response to the unlocking of the drive wheel;
dock the cleaning robot into a charging dock in response to that the charging of the cleaning robot is not completed,
unlock the drive wheel in response to detecting that the cleaning robot is being charged; and
wait to receive an instruction, or perform an instruction received before and used to start the cleaning mode, in response to detecting that the charging of the cleaning robot is completed.

### Claim 25

A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, cause the processor to configured to:
detect a charging status of a cleaning robot;
lock a drive wheel of the cleaning robot in response to detecting that the cleaning robot is being charged;
unlock the drive wheel of the cleaning robot in response to detecting an unlocking trigger operation, wherein the unlocking trigger operation comprises one of following:
rotation of the drive wheel of the cleaning robot under action of an external force,
charging of the cleaning robot completing, and
an instruction received by the cleaning robot and used to start a cleaning mode.

### Claim 26 (depends on 25)

The non-transitory computer-readable storage medium according to claim 25, wherein the processor is further configured to:
monitor a status of the drive wheel of the cleaning robot; and
determine that the unlocking trigger operation is detected in response to detecting the rotation of the drive wheel of the cleaning robot.

### Claim 27 (depends on 25)

The non-transitory computer-readable storage medium according to claim 25, wherein the processor is further configured to:
monitor a charging process of the cleaning robot; and
determine that the unlocking trigger operation is detected in response to detecting that the charging of the cleaning robot is completed.

### Claim 28 (depends on 25)

The non-transitory computer-readable storage medium according to claim 25, wherein the processor is further configured to:
monitor an instruction received by the cleaning robot; and
determine that the unlocking trigger operation is detected, in response to detecting that the cleaning robot receives the instruction to start the cleaning mode.

### Claim 29 (depends on 25)

The non-transitory computer-readable storage medium according to claim 25, wherein the processor is further configured to:
determine whether the charging of the cleaning robot is completed in response to the unlocking of the drive wheel;
dock the cleaning robot into a charging dock in response to that the charging of the cleaning robot is not completed,
unlock the drive wheel in response to detecting that the cleaning robot is being charged; and
wait to receive an instruction, or perform an instruction received before and used to start the cleaning mode, in response to detecting that the charging of the cleaning robot is completed.