# US 2026/0083293 A1 · Charging control method, non-transitory computer-readable storage medium and cleaning robot

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- Number: US 2026/0083293 A1
- Document ID: US20260083293A1
- Status: Published application
- Kind: A1
- Application number: 19/402,778
- Filed: 2025-11-26
- Published: 2026-03-26
- 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/US20260083293A1

## 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, a non-transitory computer-readable storage medium, and a cleaning robot are provided. The method includes: detecting a charging status of the cleaning robot; in response to detecting that the cleaning robot is being charged, braking and locking the cleaning robot; monitoring a preset unlocking trigger operation, the preset unlocking trigger operation includes at least one of: rotation of the driving wheel under action of an external force, the cleaning robot completing charging, or the cleaning robot receiving an instruction for indicating to start a cleaning mode; in response to monitoring the preset unlocking trigger operation, unlocking the driving wheel; where monitoring the preset unlocking trigger operation includes: monitoring a status of the driving wheel; and in response to monitoring that the driving wheel rotates, determining that the unlocking trigger operation is detected.

## Claims

### Claim 1

A charging control method, applicable to a cleaning robot, comprising:
detecting a charging status of the cleaning robot;
in response to detecting that the cleaning robot is being charged, braking and locking the cleaning robot such that a driving wheel of the cleaning robot is electromagnetically locked;
monitoring a preset unlocking trigger operation, wherein the preset unlocking trigger operation comprises at least one of:
rotation of the driving wheel of the cleaning robot under action of an external force,
the cleaning robot completing charging, or
the cleaning robot receiving an instruction for indicating to start a cleaning mode;
in response to monitoring the preset unlocking trigger operation, unlocking the driving wheel of the cleaning robot;
wherein monitoring the preset unlocking trigger operation comprises:
monitoring a status of the driving wheel of the cleaning robot; and
in response to monitoring that the driving wheel of the cleaning robot rotates, determining that the unlocking trigger operation is detected.

### Claim 2 (depends on 1)

The method according to claim 1, wherein monitoring the preset unlocking trigger operation comprises:
monitoring a charging progress of the cleaning robot; and
in response to monitoring that the cleaning robot completes charging, determining that the unlocking trigger operation is detected.

### Claim 3 (depends on 1)

The method according to claim 1, wherein monitoring the preset unlocking trigger operation comprises:
monitoring an instruction received by the cleaning robot; and
in response to monitoring that the cleaning robot receives the instruction for indicating to start the cleaning mode, determining that the unlocking trigger operation is detected.

### Claim 4 (depends on 1)

The method according to claim 1, further comprising:
in response to that the driving wheel of the cleaning robot is unlocked, determining whether the cleaning robot completes charging;
in a case that the cleaning robot completes charging, docking the cleaning robot into a charging dock and charging the cleaning robot; and in response to detecting that the cleaning robot is being charged, locking the driving wheel; and
in a case that the cleaning robot does not complete charging, waiting to receive a working instruction, or performing the instruction received for indicating to start the cleaning mode.

### Claim 5

A non-transitory computer-readable storage medium storing a computer program thereon, wherein, when executed by a processor, the computer program causes the processor to:
detect a charging status of a cleaning robot;
in response to detecting that the cleaning robot is being charged, brake and lock the cleaning robot such that a driving wheel of the cleaning robot is electromagnetically locked;
monitor a preset unlocking trigger operation, wherein the preset unlocking trigger operation comprises at least one of:
rotation of the driving wheel of the cleaning robot under action of an external force,
the cleaning robot completing charging, or
the cleaning robot receiving an instruction for indicating to start a cleaning mode;
in response to monitoring the preset unlocking trigger operation, unlock the driving wheel of the cleaning robot;
wherein the processor is further configured to:
monitor a status of the driving wheel of the cleaning robot; and
in response to monitoring that the driving wheel of the cleaning robot rotates, determine that the unlocking trigger operation is detected.

### Claim 6 (depends on 5)

The non-transitory computer-readable storage medium according to claim 5, wherein the processor is further configured to:
monitor a charging progress of the cleaning robot; and
in response to monitoring that the cleaning robot completes charging, determine that the unlocking trigger operation is detected.

### Claim 7 (depends on 5)

The non-transitory computer-readable storage medium according to claim 5, wherein the processor is further configured to:
monitor an instruction received by the cleaning robot; and
in response to monitoring that the cleaning robot receives the instruction for indicating to start the cleaning mode, determine that the unlocking trigger operation is detected.

### Claim 8 (depends on 5)

The non-transitory computer-readable storage medium according to claim 5, wherein the processor is further configured to:
determine whether the cleaning robot completes charging;
in a case that the cleaning robot completes charging, dock the cleaning robot into a charging dock and charge the cleaning robot; and in response to detecting that the cleaning robot is being charged, lock the driving wheel; and
in a case that the cleaning robot does not complete charging, wait to receive a working instruction, or perform the instruction received for indicating to start the cleaning mode.

### Claim 9

A cleaning robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor,
wherein when the processor executes the program, the processor is configured to:
detect a charging status of a cleaning robot;
in response to detecting that the cleaning robot is being charged, brake and lock the cleaning robot such that a driving wheel of the cleaning robot is electromagnetically locked;
monitor a preset unlocking trigger operation, wherein the preset unlocking trigger operation comprises at least one of:
rotation of the driving wheel of the cleaning robot under action of an external force,
the cleaning robot completing charging, or
the cleaning robot receiving an instruction for indicating to start a cleaning mode;
in response to monitoring the preset unlocking trigger operation, unlock the driving wheel of the cleaning robot;
wherein the processor is further configured to:
monitor a status of the driving wheel of the cleaning robot; and
in response to monitoring that the driving wheel of the cleaning robot rotates, determine that the unlocking trigger operation is detected.

### Claim 10 (depends on 9)

The cleaning robot according to claim 9, wherein the processor is further configured to:
monitor a charging progress of the cleaning robot; and
in response to monitoring that the cleaning robot completes charging, determine that the unlocking trigger operation is detected.

### Claim 11 (depends on 9)

The cleaning robot according to claim 9, wherein the processor is further configured to:
monitor an instruction received by the cleaning robot; and
in response to monitoring that the cleaning robot receives the instruction for indicating to start the cleaning mode, determine that the unlocking trigger operation is detected.

### Claim 12 (depends on 9)

The cleaning robot according to claim 9, wherein the processor is further configured to:
determine whether the cleaning robot completes charging;
in a case that the cleaning robot completes charging, dock the cleaning robot into a charging dock and charge the cleaning robot; and in response to detecting that the cleaning robot is being charged, lock the driving wheel; and
in a case that the cleaning robot does not complete charging, wait to receive a working instruction, or perform the instruction received for indicating to start the cleaning mode.