Method for repositioning a cleaning robot, cleaning robot and storage medium

Abstract

The application relates to a method for repositioning a cleaning robot, the cleaning robot and a storage medium. The method comprises the following steps: in the case that the cleaning robot and a platform for carrying household articles have been combined and the repositioning of the cleaning robot fails, the cleaning robot is controlled to separate from the platform for carrying household articles; the platform for carrying household articles is used for carrying household articles, and the cleaning robot is used for moving the platform for carrying household articles after the combination; a target positioning point is determined according to the current position of the cleaning robot; the cleaning robot is controlled to move to the target positioning point, and repositioning is performed at the target positioning point. By adopting the method, the repositioning success rate of the cleaning robot can be improved in the process of the combination of the cleaning robot and the platform for carrying household articles for performing a task.

Description

Technical Field

[0001] This application relates to the field of equipment positioning technology, and in particular to a repositioning method for a cleaning robot, the cleaning robot, and a storage medium. Background Technology

[0002] During navigation, if a cleaning robot experiences a power outage, changes in its environment, or is moved, its positioning information may be lost. In such cases, the cleaning robot needs to reconfirm its position in the global environment, a process known as relocation.

[0003] In existing technologies, cleaning robots determine their position in a global environmental map by scanning the current environment and searching for matching environmental features based on the scan results. However, the success rate of relocation is low when part of the scanning angle of the sensors used by the cleaning robot to scan the environment is obstructed. Summary of the Invention

[0004] Therefore, it is necessary to provide a repositioning method for a cleaning robot, a cleaning robot, and a storage medium to address the aforementioned technical problems, thereby improving the repositioning success rate of the cleaning robot during the process of the cleaning robot docking with the towing platform to perform tasks.

[0005] In a first aspect, this application provides a repositioning method for a cleaning robot, comprising:

[0006] If the cleaning robot and the mopping platform have already been combined and the cleaning robot fails to reposition itself, the cleaning robot and the mopping platform will be separated. The mopping platform is used to carry household items, and the cleaning robot is used to move the mopping platform after it is combined with the platform.

[0007] Determine the target location point at the current location of the cleaning robot;

[0008] Control the cleaning robot to move to the target location and reposition it at the target location.

[0009] In one embodiment, after the target location point is relocated, the method further includes:

[0010] If repositioning fails, the process returns to the step of determining the target positioning point at the current location of the cleaning robot until the preset repositioning stop condition is met.

[0011] In one embodiment, the preset stop relocation condition includes at least one of the following:

[0012] Cleaning robot successfully repositioned;

[0013] The number of relocation attempts has reached the preset limit.

[0014] The cumulative time after the cleaning robot is separated from the mopping platform reaches the preset time limit.

[0015] In one embodiment, determining the target location point at the current location of the cleaning robot includes:

[0016] Determine the direction away from the towing platform as the direction of the target positioning point;

[0017] Accordingly, controlling the cleaning robot to move to the target location includes:

[0018] Control the cleaning robot to move a first preset distance away from the mopping platform;

[0019] Alternatively, within the detection range of the cleaning robot's current location, identify the first and second obstacles that are closest to the cleaning robot, and determine the direction of the midpoint of the line connecting the first and second obstacles as the direction of the target positioning point.

[0020] Accordingly, controlling the cleaning robot to move to the target positioning point includes:

[0021] Control the cleaning robot to move a second preset distance toward the midpoint of the line connecting the first obstacle and the second obstacle.

[0022] In one embodiment, determining the target location point at the current location of the cleaning robot includes:

[0023] Within the detection range of the cleaning robot's current location, a target location that meets preset conditions is selected; wherein, the preset conditions include that obstacles within a first preset range of the target location have straight edges;

[0024] Determine the target location point based on the target location.

[0025] In one embodiment, the preset conditions further include: there are no obstacles within a second preset range of the target location; the second preset range is smaller than the first preset range.

[0026] In one embodiment, obstacles within a first preset range of the target location have straight edges, including:

[0027] The number of straight edges of obstacles within the first preset range of the target location is greater than a preset number threshold, and / or the length of the straight edges is greater than a length threshold.

[0028] In one embodiment, after the target location point is relocated, the method further includes:

[0029] If repositioning is successful, the docking signal sent by the towing platform will be received at the location where repositioning was successful.

[0030] Based on the docking signal, the cleaning robot is controlled to move to the location of the dragging platform and merge with it to carry the dragging platform to perform work tasks.

[0031] In one embodiment, the method further includes:

[0032] If no docking signal is received from the towing platform at the successfully repositioned location, the cleaning robot is controlled to move to the location of the base station corresponding to the cleaning robot and dock with the base station, or the cleaning robot is controlled to standby at the successfully repositioned location.

[0033] In one embodiment, a first coupling is provided at the bottom of the mopping platform, and a second coupling is provided at the top of the cleaning robot. Controlling the separation of the cleaning robot from the mopping platform includes:

[0034] The second connecting member is controlled to separate from the first connecting member which moves vertically upward, or the second connecting member is controlled to move vertically downward and separate from the first connecting member, so that the cleaning robot is separated from the towing platform.

[0035] Secondly, this application also provides a repositioning device for a cleaning robot, comprising:

[0036] The separation module is used to control the separation of the cleaning robot and the mopping platform when the cleaning robot has been combined with the mopping platform and the cleaning robot fails to reposition itself. The mopping platform is used to carry household items, and the cleaning robot is used to move the mopping platform after it is combined with the mopping platform.

[0037] The target positioning point determination module is used to determine the target positioning point at the current location of the cleaning robot;

[0038] The repositioning module is used to control the cleaning robot to move to the target positioning point and reposition itself at the target positioning point.

[0039] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0040] If the cleaning robot and the mopping platform have already been combined and the cleaning robot fails to reposition itself, the cleaning robot and the mopping platform will be separated. The mopping platform is used to carry household items, and the cleaning robot is used to move the mopping platform after it is combined with the platform.

[0041] Determine the target location point at the current location of the cleaning robot;

[0042] Control the cleaning robot to move to the target location and reposition it at the target location.

[0043] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0044] If the cleaning robot and the mopping platform have already been combined and the cleaning robot fails to reposition itself, the cleaning robot and the mopping platform will be separated. The mopping platform is used to carry household items, and the cleaning robot is used to move the mopping platform after it is combined with the platform.

[0045] Determine the target location point at the current location of the cleaning robot;

[0046] Control the cleaning robot to move to the target location and reposition it at the target location.

[0047] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0048] If the cleaning robot and the mopping platform have already been combined and the cleaning robot fails to reposition itself, the cleaning robot and the mopping platform will be separated. The mopping platform is used to carry household items, and the cleaning robot is used to move the mopping platform after it is combined with the platform.

[0049] Determine the target location point at the current location of the cleaning robot;

[0050] Control the cleaning robot to move to the target location and reposition it at the target location.

[0051] The aforementioned repositioning method for the cleaning robot, along with the cleaning robot and storage medium, addresses the issue of the cleaning robot and its separation from the platform after the cleaning robot and platform have been integrated and repositioning has failed. After separation, a target positioning point is determined at the cleaning robot's current location. The cleaning robot is then moved to the target positioning point and repositioned there. Throughout this process, because the cleaning robot has already separated from the platform and moved to a new location during repositioning at the target point, interference from the platform's structure with the cleaning robot's repositioning is avoided, thus improving the repositioning success rate. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a diagram illustrating the application environment of a relocation method for a cleaning robot in one embodiment.

[0054] Figure 2 This is a flowchart illustrating a repositioning method for a cleaning robot in one embodiment;

[0055] Figure 3A This is a structural diagram of the base of the dragging platform in one embodiment;

[0056] Figure 3B This is a structural diagram of a cleaning robot in one embodiment;

[0057] Figure 3C This is a structural diagram of the dragging platform after it is docked with the cleaning robot in one embodiment;

[0058] Figure 4 This is a flowchart illustrating the steps of controlling a cleaning robot to move to a target location point in one embodiment;

[0059] Figure 5 This is a schematic diagram of the process of controlling a cleaning robot to move to a target positioning point in one embodiment;

[0060] Figure 6 This is a flowchart illustrating the steps for determining the target location in one embodiment;

[0061] Figure 7 This is a flowchart illustrating the steps for determining the target location in another embodiment;

[0062] Figure 8 This is a schematic diagram of the target location of a cleaning robot in one embodiment;

[0063] Figure 9 This is a flowchart illustrating the steps of combining the cleaning robot and the mopping platform in one embodiment;

[0064] Figure 10 This is a flowchart illustrating the repositioning method for a cleaning robot in another embodiment;

[0065] Figure 11 This is a structural block diagram of the repositioning device of a cleaning robot in one embodiment;

[0066] Figure 12This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0068] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application. In the description of this application, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0069] The repositioning method for cleaning robots provided in this application can be applied to cleaning robots or servers, and can be applied to, for example... Figure 1 In the application environment shown, terminal 102, cleaning robot 200, and server 104 communicate via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed on a cloud server or other network server. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, etc., and cleaning robot 200 includes, but is not limited to, sweeping robots, mopping robots, and combined sweeping and mopping robots. Server 104 can be implemented using a standalone server or a server cluster composed of multiple servers. Furthermore, server 104 can be integrated into terminal 102, or server 104 can be set up separately from terminal 102.

[0070] In one exemplary embodiment, such as Figure 2 As shown, a repositioning method for a cleaning robot is provided, which can be applied to... Figure 1 Taking the cleaning robot 200 as an example, the process includes the following steps:

[0071] S210: When the cleaning robot and the mopping platform have been combined and the cleaning robot fails to reposition itself, control the cleaning robot to separate from the mopping platform.

[0072] The dragging platform is used to carry household items, and the cleaning robot is used to move the dragging platform after it is combined with the dragging platform.

[0073] It should be noted that if the cleaning robot cannot obtain its own location information at its current location, then the robot's relocation is considered to have failed. Here, the cleaning robot's current location refers to its location at the current moment. It is understandable that for a moving cleaning robot, its current location will be different at different times.

[0074] It should be noted that the items carried by the mopping platform can be household appliances such as humidifiers, air purifiers, or cameras. Household items can also be non-equipment items such as tableware, tissues, umbrellas, and towels. The household items and the mopping platform are two separate items; that is, the household items located on top of the mopping platform are detachable, and users can flexibly replace the household items on the mopping platform.

[0075] In one alternative implementation, if the cleaning robot cannot obtain its own positioning information at the current moment, it determines whether the cleaning robot is attached to the dragging platform. If so, it controls the cleaning robot to separate from the dragging platform; otherwise, it moves to the next position for repositioning.

[0076] In one alternative implementation, when the cleaning robot is detected to be attached to the towing platform, the repositioning status of the cleaning robot is monitored in real time, and if the repositioning of the cleaning robot fails, the cleaning robot is controlled to separate from the towing platform.

[0077] To help those skilled in the art understand the process of combining and separating the cleaning robot and the towing platform, see [link to relevant documentation]. Figure 3A The diagram shows the structure of the base of the towing platform, and Figure 3B The diagram shown illustrates the structure of the cleaning robot and provides a brief overview of the assembly and disassembly process of the cleaning robot and the towing platform.

[0078] Specifically, when the cleaning robot 200 and the mopping platform 100 are combined, they can automatically combine through the first connecting member 110 configured on the mopping platform 100 and the second connecting member 210 configured on the cleaning robot 200, thereby achieving the combination of the mopping platform 100 and the cleaning robot 200. The first connecting member 110 and / or the second connecting member 210 can be driveable components. For example, the first connecting member 110 can be a snap-fit ​​component (such as a snap-fit ​​block, snap-fit ​​post, or snap-fit ​​hook), and the second connecting member 210 can be a matching snap-fit ​​hole; or the first connecting member can be a snap-fit ​​hole, and the second connecting member 210 can be a matching snap-fit ​​component. The first connecting member 110 and the second connecting member 210 can also be magnetically connected components.

[0079] Optionally, the first connecting member 110 is disposed at the bottom or side of the mopping platform 100, and the second connecting member 210 is disposed at the top or side of the cleaning robot 200. Thus, when the first connecting member 110 is a snap-fit ​​component and the second connecting member 210 is a snap-fit ​​hole, the snap-fit ​​component of the mopping platform 100 moves downwards; when the first connecting member is a snap-fit ​​hole and the second connecting member is a snap-fit ​​component, the snap-fit ​​component of the cleaning robot 200 moves upwards, thereby achieving automatic engagement of the first connecting member 110 and the second connecting member 210. The structural diagram of the cleaning robot 200 after its assembly with the mopping platform 100 can be shown as follows. Figure 3C As shown in the image. The dragging platform carries 300 household items.

[0080] After the cleaning robot 200 and the mopping platform 100 are combined, the cleaning robot 200, due to its autonomous movement capability, can move the mopping platform 100 above it, and also move the household items 300 on top of the mopping platform 100. When the household items are home appliances 300, the appliances 300, carried on the mopping platform 100, can perform functions such as whole-house humidification, targeted humidification, or targeted air purification as they move with the cleaning robot 200. When the household items are non-equipment items, the cleaning robot 200's mobile positioning function enables the transport and transfer of these items.

[0081] The process of controlling the separation of the cleaning robot from the carrying platform is described in detail below:

[0082] In one alternative implementation, the second connector is controlled to separate from the vertically upward-moving first connector, or the second connector is controlled to move vertically downward and separate from the first connector, so that the cleaning robot is separated from the towing platform.

[0083] Specifically, the first coupling 110 is disposed at the bottom of the dragging platform 100, and the second coupling 210 is disposed at the top of the cleaning robot 200. When the first coupling 110 is a snap-fit ​​component and the second coupling 210 is a snap-fit ​​hole, when the cleaning robot 200 fails to reposition, the cleaning robot 200 sends a separation command to the dragging platform 100, so that the snap-fit ​​component of the dragging platform 100 moves vertically upward, and the snap-fit ​​hole of the cleaning robot 200 separates from the snap-fit ​​component of the dragging platform 100. When the first coupling is a snap-fit ​​hole and the second coupling is a snap-fit ​​component, when the cleaning robot 200 fails to reposition, the snap-fit ​​component of the cleaning robot 200 is controlled to move vertically downward, separating from the snap-fit ​​hole of the dragging platform 100.

[0084] It is worth noting that during the repositioning process, the cleaning robot's LiDAR scans the surrounding environment 360°. However, after the cleaning robot is combined with the mopping platform, some angles of the cleaning robot's LiDAR scan are obstructed by parts of the mopping platform's structure. For example, see [continued]. Figure 3A The diagram shows the structure of the dragging platform base. The dragging platform 100 is supported by multiple movable support structures 120. These movable support structures 120 can obstruct part of the LiDAR scanning angle, easily causing the cleaning robot 200 to fail to reposition. Therefore, in the event of a repositioning failure, to improve the success rate of the cleaning robot's repositioning, it is necessary to control the cleaning robot to separate from the dragging platform. After separation, the robot moves to a new position and attempts repositioning again. If the cleaning robot successfully repositions while reattached to the dragging platform, to improve work efficiency, the cleaning robot does not need to separate from the dragging platform again and can directly carry the dragging platform to perform its work tasks.

[0085] S220 determines the target location point at the current location of the cleaning robot.

[0086] The target location point is the position used for repositioning. Understandably, if the cleaning robot fails to reposition itself at its current location, it can move to another location to attempt repositioning.

[0087] For example, one of the locations at a preset reference distance from the current position of the cleaning robot can be used as the target positioning point. For example, the preset reference distance can be determined based on human experience or through a large number of experiments, and this application does not impose any limitations on it.

[0088] S230 controls the cleaning robot to move to the target positioning point and reposition itself at the target positioning point.

[0089] It should be noted that after the cleaning robot separates from the mopping platform, its surroundings will be partially obstructed by the platform's structure. Therefore, the cleaning robot can only move backward or forward in place to move away from the platform's coverage area. For this reason, when controlling the cleaning robot to move to the target location, it is first necessary to control it to move away from the platform's coverage area.

[0090] For example, in this embodiment, the cleaning robot can be controlled to move a first preset distance away from the dragging platform in order to get rid of the obstruction of part of the dragging platform's structure and then move to the target positioning point.

[0091] In one alternative implementation, the direction away from the dragging platform can also be determined as the direction of the target positioning point; accordingly, controlling the cleaning robot to move to the target positioning point includes: controlling the cleaning robot to move a first preset distance away from the dragging platform.

[0092] It should be noted that the cleaning robot moves away from the mopping platform; that is, the cleaning robot performs backward or forward movement at the position where it is separated from the mopping platform. The position reached by the cleaning robot after moving a first preset distance is the target positioning point. Furthermore, when the cleaning robot moves to the target positioning point, it is controlled to reposition itself at the target positioning point. The first preset distance can be determined based on human experience or through extensive experimentation; this application does not impose any limitations on it. For example, the first preset distance can be 50cm.

[0093] In the aforementioned repositioning method for the cleaning robot, if the cleaning robot and the towing platform have already merged and the cleaning robot's repositioning has failed, the cleaning robot is first separated from the towing platform. After separation, a target positioning point is determined at the cleaning robot's current location. Furthermore, the cleaning robot is moved to the target positioning point and repositioned there. Throughout this process, because the cleaning robot has already separated from the towing platform and moved to a new position while repositioning at the target positioning point, interference from parts of the towing platform's structure on the cleaning robot's repositioning can be avoided, thus improving the success rate of the cleaning robot's repositioning.

[0094] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, after step S230, that is, after repositioning at the target positioning point, the method further includes: if repositioning fails, returning to the step of determining the target positioning point at the current position of the cleaning robot, until a preset stop repositioning condition is met.

[0095] The preset repositioning stop conditions include at least one of the following: the cleaning robot successfully repositions; the number of repositioning attempts reaches a preset maximum; the cumulative time after the cleaning robot separates from the mopping platform reaches a preset maximum. The preset maximum number of attempts and the preset maximum duration can be determined based on human experience or through extensive experimentation; this application does not impose any limitations on these. For example, the preset maximum number of attempts could be 10, and the preset maximum duration could be 10 minutes.

[0096] It should be noted that in this embodiment, if the cleaning robot fails to reposition after moving to the target positioning point, the current target positioning point can be taken as the current position of the cleaning robot, and the process of determining the next target positioning point can continue until a preset repositioning stop condition is met. That is, each time the step of determining the target positioning point at the current position of the cleaning robot is executed, the current position of the cleaning robot is different from the current position when the step was executed last time. For example, if the position of the cleaning robot after separating from the mopping platform is taken as position 1, and the target positioning point determined at position 1 is position 2, then the cleaning robot moves to position 2 for repositioning. After the repositioning of the cleaning robot at position 2 fails, the current position of the cleaning robot is position 2, not position 1. Furthermore, the next target positioning point is determined at position 2.

[0097] Understandably, during the process of re-determining the target location point, the previously determined target location point will not be used as the new target location point.

[0098] In the above embodiments, if the cleaning robot fails to reposition at the target positioning point, it can continue to determine the next target positioning point at its current location and move to the next target positioning point for repositioning, thereby increasing the probability of successful repositioning of the cleaning robot.

[0099] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, detailed steps are provided for controlling a cleaning robot to move to a target positioning point.

[0100] See Figure 4 As shown, step S220, which is the step of determining the target positioning point at the current location of the cleaning robot, includes:

[0101] S410, within the detection range of the cleaning robot's current location, identify the first obstacle and the second obstacle, and determine the direction of the midpoint of the line connecting the first obstacle and the second obstacle as the direction of the target positioning point.

[0102] Specifically, the detection range of the cleaning robot's current location refers to the range that the cleaning robot can detect at its current location using environmental sensors. The cleaning robot can use the data obtained from environmental sensors to create a map and locate itself. Environmental sensors can include LiDAR sensors, vision sensors, and ultrasonic sensors, etc.

[0103] For example, if the environmental sensor is a lidar sensor and the lidar sensor has a detection range of 5m, then the detection range of the current location of the cleaning robot is a circular area with a radius of 5m centered on the cleaning robot.

[0104] It should be noted that the cleaning robot may detect multiple obstacles within its current detection range. The first obstacle and the second obstacle are the two obstacles closest to the cleaning robot's current location; alternatively, one of the first and second obstacles may be the obstacle with the shortest distance to the cleaning robot, and the other may be the obstacle with the second shortest distance. This application does not limit the types of the first and second obstacles.

[0105] For example, if the cleaning robot fails to relocate to its current position, it scans the surrounding objects and determines the positions of obstacles within the robot's area. Then, based on the position information of each obstacle and the current position of the cleaning robot, it determines the distance between each obstacle and the robot. Further, the two obstacles closest to the cleaning robot are designated as the first obstacle and the second obstacle.

[0106] For example, based on the position information of the first obstacle and the second obstacle, the position information of the midpoint of the line connecting the first obstacle and the second obstacle is determined, and further, the direction of the midpoint is used as the target movement direction of the cleaning robot.

[0107] Accordingly, step S230, namely the step of controlling the cleaning robot to move to the target positioning point, includes:

[0108] S420: Control the cleaning robot to move a second preset distance toward the midpoint of the line connecting the first obstacle and the second obstacle.

[0109] In one alternative implementation, if the cleaning robot is blocked by an obstacle while moving along the target direction, it is controlled to stop moving. It is understood that after the cleaning robot stops moving, its current position is the target location point.

[0110] In one optional implementation, if no obstacles obstruct the robot's movement along the target direction, the robot can be controlled to move a second preset distance along the target direction. In this case, the position of the cleaning robot after it stops moving is the target positioning point. The second preset distance can be determined based on human experience or through extensive experimentation; this application does not impose any limitations on it. For example, the second preset distance can be the same as or different from the first preset distance. For instance, the second preset distance could be 50cm.

[0111] In one alternative implementation, the midpoint between the first obstacle and the second obstacle can be directly used as the target positioning point, and the cleaning robot can be controlled to move to that midpoint.

[0112] In one optional implementation, this embodiment can also determine the third obstacle with the shortest distance to the cleaning robot within the detection range of the cleaning robot's current location, and use the direction away from the third obstacle as the direction of the target positioning point; control the cleaning robot to move a third preset distance in the direction away from the third obstacle. The third preset distance can be determined based on human experience or through extensive experimentation; this application does not impose any limitations on it. For example, the third preset distance can be the same as or different from the first preset distance. For instance, the third preset distance can be 50cm.

[0113] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, another specific method for controlling the cleaning robot to move to the target positioning point is provided.

[0114] See Figure 5 As shown, step S220, which is the step of controlling the cleaning robot to move to the target positioning point, includes:

[0115] S510 selects a target location that meets preset conditions within the detection range of the cleaning robot's current location.

[0116] The preset conditions include that obstacles within a first preset range of the target location have straight edges.

[0117] Specifically, the first preset range of the target location can be the range that the cleaning robot can detect at the target location through environmental sensors, such as 5m; the first preset range can also be set based on human experience.

[0118] It should be noted that when it is necessary to determine the target location, at least one candidate location can be identified within the detection range of the current location of the cleaning robot. It is then determined whether each candidate location meets the preset conditions, and the candidate location that meets the preset conditions is taken as the target location.

[0119] To further explain, when it is necessary to determine at least one candidate location from the detection range, an appropriate candidate location determination rule can be selected based on the actual situation of the cleaning robot and the historical experience of the robot maintenance personnel. Then, at least one candidate location can be determined from the detection range according to the candidate location determination rule.

[0120] As an example, various environmental data (such as the location, shape, and size of obstacles) within the detection range can be collected by the lidar sensor on the cleaning robot to construct a local environmental map. Then, according to the EVG (Extended Voronoi Graph) algorithm, the target position of the obstacle with a straight edge within a first preset range can be calculated in the local environmental map.

[0121] As an example, the candidate location determination rule can also be as follows: randomly select a preset number of locations as candidate locations within the detection range, and determine whether the distance between any two candidate locations is greater than a preset distance threshold. If not, select new candidate locations to ensure that there are no candidate locations in each candidate location whose distance from other candidate locations is less than the distance threshold. Furthermore, after determining at least one candidate location, determine whether the obstacles within a first preset range of each candidate location have straight edges. If the obstacles within the first preset range of a candidate location have straight edges, then the candidate location is taken as the target location.

[0122] S520: Determine the target location point based on the target location.

[0123] In one optional implementation, if only one target location is determined by S510, this target location is used as the target positioning point, and a movement trajectory for the cleaning robot from its current location to the target positioning point is planned. This movement trajectory must ensure that the cleaning robot moves to the target positioning point without colliding with obstacles. Then, the cleaning robot is controlled to move along the movement trajectory to the target positioning point so that the cleaning robot can be repositioned at the target positioning point.

[0124] In one optional implementation, if at least two target locations are determined by S510, the target location closest to the current location of the cleaning robot can be used as the target positioning point, and the cleaning robot can be controlled to move to the target positioning point so that the cleaning robot can be repositioned at the target positioning point. In this process, by using the target location closest to the current location of the cleaning robot as the target positioning point, the time required for the cleaning robot to move to the target positioning point is reduced, thereby improving the efficiency of the cleaning robot's repositioning.

[0125] Of course, in this embodiment, if there are at least two target locations, one of the target locations can be randomly selected as the target location point.

[0126] In the above embodiments, a target positioning point that meets preset conditions is selected within the detection range of the current location of the cleaning robot. Then, the robot moves to the target positioning point and searches for environmental features that match the environment of the target positioning point in the pre-built global environmental map of the cleaning robot. This allows the cleaning robot to be repositioned at the target positioning point. Since obstacles within the first preset range of the target location have straight edges, such as walls, sofas, and beds, the positions of these obstacles are usually not easily changed. Therefore, the cleaning robot can identify obstacles with straight-line features at the target positioning point, thereby more effectively searching for environmental features in the global environmental map to find environmental features that match the obstacles in the environment of the target positioning point. This results in a more accurate repositioning operation and improves the success rate of the cleaning robot's repositioning.

[0127] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, in order to ensure that the cleaning robot moves to the target positioning point without colliding with obstacles, the preset conditions required in step S510 further include: there are no obstacles within a second preset range of the target location; the second preset range is smaller than the first preset range, so as to ensure that no obstacles affect the passage of the cleaning robot during the movement to the target positioning point, thereby ensuring the repositioning success rate of the cleaning robot.

[0128] It should be noted that the second preset range includes the first preset radius and the second preset radius. In this case, the optional embodiment also provides a specific method for determining the target location.

[0129] See Figure 6 The steps for determining the target location shown include:

[0130] S610, determine whether there is a target location within the first preset radius that is free of obstacles within the detection range.

[0131] It should be noted that, in order to ensure that the cleaning robot is not affected by obstacles during its movement to the target location, a first candidate position that meets the preset conditions can be selected within the detection range of the cleaning robot's current location. Then, for each first candidate position, it is determined whether there are obstacles within a first preset radius. If there are, the first candidate position is determined not to be the target position; if not, the first candidate position is taken as the target position.

[0132] Specifically, "within the first preset radius" refers to a circular area with the first candidate position as the center and a first preset radius. For example, "within the first preset radius" can be a circular area with the first candidate position as the center and a radius of 1m.

[0133] In one alternative implementation, environmental point cloud data containing a first candidate location can be acquired by a lidar sensor mounted on the cleaning robot, and then the environmental point cloud data can be used to determine whether there are obstacles within a first preset radius at the first candidate location.

[0134] In another alternative implementation, when determining whether there are obstacles within the first preset radius of the first candidate location, an environmental image containing the first candidate location can be obtained by a vision sensor installed on the cleaning robot, and then the environmental image can be used to determine whether there are obstacles within the first preset radius of the first candidate location.

[0135] For example, a judgment model can be pre-trained by inputting an environmental image containing a first candidate location into the judgment model and obtaining the output result of the judgment model. This output result is used to characterize whether there is an obstacle within a first preset radius at the first candidate location. The judgment model can be trained using sample images labeled with the distance between obstacles and sample locations; the model type of the judgment model is not limited here.

[0136] In step S610, if none of the first candidate positions is the target position, i.e., there is no target position without obstacles within the first preset radius, then the following step S620 is executed:

[0137] S620, if it does not exist, select a target location within the second preset radius where there are no obstacles.

[0138] The first preset radius is greater than the second preset radius.

[0139] It should be noted that, in order to ensure that the target positioning point can be successfully determined in the future, so as to ensure that the cleaning robot can be repositioned at the target positioning point, if the target position cannot be selected according to the first preset radius, a second candidate position that meets the preset conditions can be selected within the detection range of the current position of the cleaning robot. Then, for each second candidate position, it is determined whether there is an obstacle within the second preset radius; if there is, it is determined that the second candidate position is not the target position; if not, the second candidate position is taken as the target position.

[0140] As an example, if the first preset radius is one meter and the second preset radius is fifty centimeters, then within the detection range, if there is a target location without obstacles within a circular area with a radius of one meter, if so, step S520 is executed; if not, a target location without obstacles within a circular area with a radius of fifty centimeters is selected.

[0141] In the above embodiments, by using a first preset radius and a second preset radius, if the target position cannot be selected based on the first preset radius, it is determined whether there is a position without obstacles within the second preset radius. This achieves a more precise selection of the target position without obstacles within the second preset range, ensuring the smooth determination of the target position, preventing obstacles from affecting the cleaning robot's passage to the target positioning point, and improving the success rate of the cleaning robot's repositioning.

[0142] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, in order to further ensure the success rate of repositioning the target location point determined according to the target location, in step S510, it is necessary to ensure that the straight edges of obstacles included in the first preset range of the target location have the following limitations: the number of straight edges of obstacles in the first preset range of the target location is greater than a preset number threshold, and / or, the length of the straight edges is greater than a length threshold.

[0143] It should be noted that the number of straight edges of obstacles within the first preset range of the target location refers to the total number of straight edges of all obstacles within the first preset range centered on the target location. The preset number threshold can be set or adjusted based on human experience; the length threshold can be set or adjusted based on the actual situation of the obstacles. For example, if the length threshold is set based on the length of a non-moving wall, then obstacles with straight edges exceeding the length threshold are considered walls. As an example, the length threshold could be one of 80cm-120cm.

[0144] In this embodiment, the more straight edges there are, the better the cleaning robot can identify straight features in the environment for relocation; obstacles with longer straight edges are less likely to be moved. Therefore, by selecting target locations where the number of straight edges is greater than a preset threshold, and / or the length of the straight edges is greater than a length threshold, the success rate of the cleaning robot's relocation can be improved.

[0145] Furthermore, when it is necessary to select a target location within the detection range of the current location of the cleaning robot, this optional embodiment also provides another specific method for determining the target location.

[0146] See Figure 7 The steps for determining the target location shown include:

[0147] S710 acquires a local map of the environment at the current location of the cleaning robot.

[0148] It should be noted that the local environmental map refers to the map that the cleaning robot can obtain at its current location. Therefore, when it is necessary to obtain a local environmental map of the local environment where the cleaning robot is currently located, the cleaning robot can use environmental sensors to detect the environment at its current location in order to obtain a local environmental map of the local environment where the cleaning robot is currently located.

[0149] To further explain, when it is necessary to obtain a local environmental map of the cleaning robot's current location, if a storage device storing local environmental maps exists, the local environmental map of the cleaning robot's current location can be obtained from the storage device. Specifically, when obtaining the local environmental map of the cleaning robot's current location from the storage device, a map retrieval request can be sent to the storage device. The map retrieval request carries a search identifier for the cleaning robot or the local environment of the cleaning robot's current location. This allows the storage device, upon receiving the map retrieval request, to search for the candidate local map corresponding to the search identifier among at least one candidate local maps stored in its storage. The candidate local map corresponding to the search identifier found is the local environmental map of the cleaning robot's current location, and the storage device sends the local environmental map to the cleaning robot.

[0150] The storage device can be a cloud storage device or a local storage device integrated on the cleaning robot. There is no limitation on the type of storage device. The search identifier refers to the unique identifier used to distinguish the cleaning robot from other robots, or the unique identifier of the local environment in which the cleaning robot is located from other environments.

[0151] S720 selects target locations that meet preset conditions based on a local environmental map.

[0152] Specifically, the cleaning robot selects a target location that meets preset conditions in a local environmental map.

[0153] In this embodiment, the local environmental map can accumulate multiple frames of data, which can eliminate the influence of noise from some environmental sensors. Therefore, selecting a target location that meets the preset conditions based on the local environmental map will be more accurate, thereby improving the success rate of relocation.

[0154] It should be noted that in this step, when it is necessary to select a target location that meets the preset conditions based on the local environmental map, the following may be included: If there is no target location in the local environmental map, the cleaning robot is controlled to move through the door to the second room area based on the position of the door in the local environmental map. The door connects the first room area where the cleaning robot is currently located and the second room area; in the second room area, the robot returns to perform the step of obtaining the local environmental map at its current location.

[0155] In one embodiment, such as Figure 8 As shown, if the cleaning robot takes target location 1 in the first room area as the target positioning point, after moving to target location 1, it acquires a local environmental map at target location 1 based on the detection range of the environmental sensors, and searches for environmental features matching the local environmental map in the global environmental map to reposition at target location 1. If repositioning at target location 1 fails, a target location that meets preset conditions is selected in the local environmental map of target location 1. If target location 2 is taken as the next target positioning point, the robot moves to target location 2, acquires and updates the local environmental map at target location 2, and repositions at target location 2. If repositioning at target location 2 fails, a target location that meets preset conditions is selected in the local environmental map of target location 2. If there is no target location in the local environmental map of target location 2, the robot is controlled to move through the door to the second room area based on the position of the door in the local environmental map. In the second room area, the local environmental map is acquired and updated, and a target location that meets preset conditions is selected. If target location 3 is taken as the target positioning point, the robot moves to target location 3, acquires and updates the local environmental map at target location 3, and repositions at target location 3.

[0156] In this embodiment, if there is no target location in the local environmental map, the cleaning robot is controlled to move through the door to the second room area based on the location of the door in the local environmental map, and a target location is selected in the second room area. This allows the cleaning robot to select a target location over a wider range for relocation if relocation fails, thereby improving the overall relocation success rate of the cleaning robot.

[0157] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, after the target positioning point is repositioned, the following steps are further included:

[0158] See Figure 9 The steps shown for combining the cleaning robot with the mopping platform include:

[0159] S910, if repositioning is successful, will receive the docking signal sent by the towing platform at the location where repositioning was successful.

[0160] The docking signal can be an infrared signal, a Bluetooth signal, or a structural feature code set on the dragging platform. This structural feature code can be identified by the cleaning robot's LiDAR. This application does not impose any limitations on this.

[0161] Optionally, when the docking signal is an infrared signal, the cleaning robot can receive infrared signals sent by infrared transmitters set at different locations on the mopping platform, and determine the position information of the mopping platform based on each infrared signal and the different code values ​​corresponding to the infrared signal.

[0162] In one alternative implementation, upon successful repositioning of the cleaning robot, a repositioning success signal can be sent to the dragging platform to instruct the dragging platform to send a docking signal to the cleaning robot. If the dragging platform still needs to perform tasks, it sends a docking signal after receiving the repositioning success signal to instruct the cleaning robot to move to the location of the dragging platform and carry the dragging platform to continue performing tasks.

[0163] In one alternative implementation, during the repositioning process of the cleaning robot, the towing platform continuously sends docking signals to the cleaning robot, and responds to the most recently received docking signal if the cleaning robot is successfully repositioned.

[0164] The S920, based on the docking signal, controls the cleaning robot to move to the position of the dragging platform and merge with it to carry the dragging platform to perform work tasks.

[0165] Specifically, based on the docking signal, the position information of the mopping platform is determined, and the cleaning robot is controlled to move towards the position of the mopping platform. When the cleaning robot is detected to have reached the position of the mopping platform, it is controlled to merge with the mopping platform. The specific merging method has been described in detail in the above embodiments and will not be repeated here.

[0166] It should be noted that if the docking signal sent by the towing platform is not received at the successfully repositioned location, the cleaning robot will be controlled to move to the location of the base station corresponding to the cleaning robot and dock with the base station, or the cleaning robot will be controlled to standby at the successfully repositioned location.

[0167] It is understandable that the cleaning robot may not receive a docking signal from the mopping platform at the successfully repositioned location, which could be due to at least one of the following two situations: First, the mopping platform's corresponding task was suspended during the cleaning robot's repositioning process, and the cleaning robot no longer needs to carry it. Second, the location where the cleaning robot successfully repositioned is too far from the location of the mopping platform, preventing the cleaning robot from receiving the docking signal. In this case, the cleaning robot can be controlled to remain idle at the successfully repositioned location, awaiting a new cleaning task.

[0168] Optionally, to avoid the cleaning robot from idling for too long at the successfully repositioned location, resulting in insufficient battery power, the cleaning robot can be controlled to move to the location of the base station corresponding to the cleaning robot and dock with the base station to perform cleaning or charging if it does not receive a docking signal from the dragging platform.

[0169] Optionally, in this embodiment, if no docking signal is received from the dragging platform, the cleaning robot can be controlled to standby at the successfully repositioned location. After a preset standby time, or if the cleaning robot's current battery level is lower than a preset safe battery threshold, the cleaning robot can be controlled to move to the location of its corresponding base station and dock with the base station for cleaning or charging. The preset time and preset safe battery threshold can be determined based on human experience or through extensive experimentation; this application does not impose any limitations on them. For example, the preset time could be 30 minutes, and the preset safe battery threshold could be 20% battery level.

[0170] The above embodiments describe the subsequent steps after the cleaning robot successfully repositions itself: if it receives a docking signal from the mopping platform, it moves to the mopping platform and merges with it. If it does not receive a docking signal from the mopping platform, it either stays in place or returns to the base station.

[0171] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the repositioning method of the cleaning robot provided by this application is described in detail.

[0172] See Figure 10 The repositioning method for the cleaning robot shown includes:

[0173] S1010 controls the separation of the cleaning robot and the dragging platform when the cleaning robot has been combined and the repositioning of the cleaning robot fails.

[0174] The dragging platform is used to carry household items, and the cleaning robot is used to move the dragging platform after it is combined with the dragging platform.

[0175] S1020A determines the direction away from the towing platform as the direction of the target positioning point.

[0176] S1030A controls the cleaning robot to move a first preset distance away from the mopping platform in order to reach the target positioning point.

[0177] S1020B, within the detection range of the cleaning robot's current location, identifies the first obstacle and the second obstacle, and determines the direction of the midpoint of the line connecting the first obstacle and the second obstacle as the direction of the target positioning point.

[0178] S1030B controls the cleaning robot to move a second preset distance toward the midpoint of the line connecting the first obstacle and the second obstacle, so as to control the cleaning robot to move to the target positioning point.

[0179] S1020C: Within the detection range of the cleaning robot's current location, select a target location that meets preset conditions; and determine the target positioning point based on the target location.

[0180] Wherein, the number of straight edges of obstacles within the first preset range of the target location is greater than a preset number threshold, and / or the length of the straight edges is greater than a length threshold; there are no obstacles within the second preset range of the target location; the second preset range is smaller than the first preset range.

[0181] S1030C controls the cleaning robot to move to the target location.

[0182] S1040, relocate at the target location point. If relocation fails, return to execute S1020A, S1020B or S1020C until the preset stop relocation condition is met; if relocation is successful, execute S1060.

[0183] Among these, the cleaning robot successfully repositioned; the number of repositioning attempts reached the preset maximum; and the cumulative time after the cleaning robot separated from the mopping platform reached the preset maximum.

[0184] S1050: Receive the docking signal sent by the towing platform at the successfully repositioned location, and determine whether the docking signal has been received. If yes, proceed to S1060; otherwise, proceed to S1070.

[0185] S1060 controls the cleaning robot to move to the position of the dragging platform according to the docking signal, and merges with the dragging platform to carry the dragging platform to perform work tasks.

[0186] S1070 controls the cleaning robot to move to the location of the base station corresponding to the cleaning robot and connect to the base station, or controls the cleaning robot to standby at the location where the repositioning is successful.

[0187] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0188] Based on the same inventive concept, this application also provides a repositioning device for a cleaning robot to implement the repositioning method of the cleaning robot described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the repositioning device for a cleaning robot provided below can be found in the limitations of the repositioning method for the cleaning robot above, and will not be repeated here.

[0189] In one exemplary embodiment, such as Figure 11 As shown, a repositioning device for a cleaning robot is provided, comprising: a separation module 1110, a target positioning point determination module 1110, and a repositioning module 1130, wherein:

[0190] The separation module 1110 is used to control the separation of the cleaning robot and the towing platform when the cleaning robot and the towing platform have been combined and the cleaning robot fails to reposition itself.

[0191] The dragging platform is used to carry household items, and the cleaning robot is used to move the dragging platform after it is combined with the dragging platform.

[0192] The target positioning point determination module 1120 is used to determine the target positioning point at the current location of the cleaning robot.

[0193] The repositioning module 1130 is used to control the cleaning robot to move to the target positioning point and reposition at the target positioning point.

[0194] In one embodiment, the repositioning device of the cleaning robot further includes a repositioning module, which, after repositioning at the target positioning point, if repositioning fails, returns to the step of determining the target positioning point at the current position of the cleaning robot until a preset stop repositioning condition is met. The preset stop repositioning condition includes at least one of the following: the cleaning robot successfully repositions; the number of repositioning attempts reaches a preset maximum; the cumulative time after the cleaning robot is separated from the towing platform reaches a preset maximum.

[0195] In one embodiment, the target positioning point determination module 1120 is further configured to determine the direction away from the dragging platform as the direction of the target positioning point; correspondingly, the repositioning module 1130 is further configured to control the cleaning robot to move a first preset distance away from the dragging platform; the target positioning point determination module 1120 is further configured to determine the first obstacle and the second obstacle with the shortest distance to the cleaning robot within the detection range of the current position of the cleaning robot, and determine the direction of the midpoint of the line connecting the first obstacle and the second obstacle as the direction of the target positioning point; correspondingly, the repositioning module 1130 is further configured to control the cleaning robot to move a second preset distance in the direction of the midpoint of the line connecting the first obstacle and the second obstacle.

[0196] In one embodiment, the target positioning point determination module 1120 is further configured to select a target location that meets preset conditions within the detection range of the current location of the cleaning robot; wherein, the preset conditions include that obstacles within a first preset range of the target location have straight edges; and control the cleaning robot to move to the target positioning point according to the target location. The preset conditions also include: there are no obstacles within a second preset range of the target location; and the second preset range is smaller than the first preset range. The condition that obstacles within the first preset range of the target location have straight edges includes: the number of straight edges of obstacles within the first preset range of the target location is greater than a preset number threshold, and / or, the length of the straight edges is greater than a length threshold.

[0197] In one embodiment, the repositioning device of the cleaning robot further includes a docking module, including a signal receiving unit for receiving a docking signal sent by the dragging platform at the repositioning successful position if the repositioning is successful; and a docking unit for controlling the cleaning robot to move to the position of the dragging platform according to the docking signal and to merge with the dragging platform to carry the dragging platform to perform work tasks.

[0198] In one embodiment, the docking module further includes a return base station unit, which is used to control the cleaning robot to move to the location of the base station corresponding to the cleaning robot and dock with the base station if no docking signal sent by the dragging platform is received at the location where the repositioning is successful, or to control the cleaning robot to standby at the location where the repositioning is successful.

[0199] In one embodiment, a first connecting member is provided at the bottom of the dragging platform, and a second connecting member is provided at the top of the cleaning robot. The separation module 1110 is also used to control the second connecting member to separate from the vertically upward moving first connecting member, or to control the second connecting member to move vertically downward and separate from the first connecting member, so that the cleaning robot is separated from the dragging platform.

[0200] The modules in the repositioning device of the aforementioned cleaning robot can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0201] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 12 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a repositioning method for a cleaning robot. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0202] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0203] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0204] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0205] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0206] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0207] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0208] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A repositioning method for a cleaning robot, characterized in that, The method includes: If the cleaning robot and the mopping platform have been combined and the cleaning robot fails to reposition itself, the cleaning robot is controlled to separate from the mopping platform. The mopping platform is used to carry household items, and the cleaning robot is used to move the mopping platform after it has been combined with the mopping platform. Determine the target positioning point at the current location of the cleaning robot; The cleaning robot is controlled to move forward or backward to move away from the coverage area of ​​the dragging platform, and to move to the target positioning point for repositioning by scanning the surrounding environment with its lidar at the target positioning point; wherein the dragging platform is supported by multiple movable support structures located at the edge of the coverage area; after the cleaning robot and the dragging platform are combined, the multiple movable support structures block part of the lidar scanning angle.

2. The method according to claim 1, characterized in that, After repositioning at the target location point, the method further includes: If repositioning fails, the process returns to the step of determining the target positioning point at the current location of the cleaning robot until the preset repositioning stop condition is met.

3. The method according to claim 2, characterized in that, The preset stop relocation condition includes at least one of the following: The cleaning robot was successfully repositioned. The number of relocation attempts has reached the preset limit. The cumulative time after the cleaning robot is separated from the dragging platform reaches the preset time limit.

4. The method according to claim 1, characterized in that, Determining the target positioning point at the current location of the cleaning robot includes: The direction away from the towing platform is determined as the direction of the target positioning point; Accordingly, controlling the cleaning robot to move to the target positioning point includes: Control the cleaning robot to move a first preset distance away from the dragging platform; Alternatively, within the detection range of the current location of the cleaning robot, a first obstacle and a second obstacle are identified, and the direction of the midpoint of the line connecting the first obstacle and the second obstacle is determined as the direction of the target positioning point; Accordingly, controlling the cleaning robot to move to the target positioning point includes: The cleaning robot is controlled to move a second preset distance toward the midpoint of the line connecting the first obstacle and the second obstacle.

5. The method according to claim 1, characterized in that, Determining the target positioning point at the current location of the cleaning robot includes: Within the detection range of the current location of the cleaning robot, a target location that meets preset conditions is selected; wherein, the preset conditions include that obstacles within a first preset range of the target location have straight edges; Based on the target location, determine the target positioning point.

6. The method according to claim 5, characterized in that, The preset conditions also include: there are no obstacles within a second preset range of the target location; the second preset range is smaller than the first preset range.

7. The method according to claim 5, characterized in that, Obstacles within a first preset range of the target location have straight edges, including: The number of straight edges of obstacles within a first preset range of the target location is greater than a preset number threshold, and / or the length of the straight edges is greater than a length threshold.

8. The method according to any one of claims 1-7, characterized in that, After the target location point is relocated, the method further includes: If repositioning is successful, the docking signal sent by the towing platform will be received at the location where repositioning was successful. Based on the docking signal, the cleaning robot is controlled to move to the position of the dragging platform and merge with the dragging platform to carry the dragging platform to perform work tasks.

9. The method according to claim 8, characterized in that, The method further includes: If no docking signal is received from the towing platform at the successfully repositioned location, the cleaning robot is controlled to move to the location of the base station corresponding to the cleaning robot and dock with the base station; or, the cleaning robot is controlled to standby at the successfully repositioned location.

10. The method according to any one of claims 1-7, characterized in that, The bottom of the mopping platform is provided with a first connecting member, and the top of the cleaning robot is provided with a second connecting member. Controlling the separation of the cleaning robot from the mopping platform includes: The second connecting member is controlled to separate from the first connecting member which is moving vertically upward, or the second connecting member is controlled to move vertically downward and separate from the first connecting member, so that the cleaning robot is separated from the towing platform.

11. A cleaning robot, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed on the processor, performs the steps of the method according to any one of claims 1-10.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-10.

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