Method for pairing a robot with a base station

Abstract

The application provides a pairing method of a robot and a base station, comprising: responding to a pairing trigger instruction, pairing inquiry information is broadcasted through wireless; first reply information for the pairing inquiry information is received; wherein the first reply information indicates that pairing is needed, the first reply information comprises to-be-paired relationship information, and the to-be-paired relationship information comprises a base station address of a first reply information initiator and a robot address; a pairing instruction is sent to the base station returning the first reply information; wherein the pairing instruction comprises hotspot connection information of the robot; pairing completion information for the pairing instruction is received, the to-be-paired relationship information is taken as local pairing relationship information, and pairing is determined to be ended. According to the application, the robot and the base station can respond to the pairing trigger instruction, confirm whether pairing between each other is needed by comparing previous pairing relationship information of each other, so that pairing can be conveniently and quickly completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, in particular to a pairing method of a robot and a base station. BACKGROUND

[0002] Both the cleaning robot and the base station for charging the cleaning robot are installed with a Wi-Fi communication module, and the cleaning robot and the base station are connected through an AP-STA (Access Point-Station) mode networking, so as to realize the communication between each other. The cleaning robot needs to upload the map data generated in the working process to the server, and also needs to communicate with the base station. Therefore, the cleaning robot can be set to an AP+STA working mode. Referring to Figure 1 The schematic diagram of the pairing of the robot and the base station provided by an embodiment of the present application is shown in FIG. 1. Figure 1 As shown in FIG. 1, the cleaning robot works in both the AP mode and the STA mode, and when the STA mode is turned on, the cleaning robot can be connected to the router, so as to communicate with the server through the router; and when the AP mode is turned on, the cleaning robot can be connected to the base station (the base station) set in the STA working mode.

[0003] The robot needs to establish a pairing relationship with the base station when it is factory-finished or when it works in a cleaning environment, so as to establish a connection with the paired base station. In addition, the robot and the base station can both be faulty, and the pairing relationship established needs to be changed after the fault occurs. Therefore, there is an urgent need for a quick and convenient pairing method between the robot and the base station. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a pairing method of a robot and a base station, for realizing the quick pairing between the robot and the base station.

[0005] In one aspect, the present application provides a pairing method of a robot and a base station, applied to the robot, comprising:

[0006] In response to a pairing trigger instruction, pairing inquiry information is broadcasted through wireless;

[0007] First reply information is received for the pairing inquiry information; wherein the first reply information indicates that pairing is needed, and the first reply information includes to-be-paired relationship information, and the to-be-paired relationship information includes a base station address and a robot address of the initiator of the first reply information;

[0008] A pairing instruction is sent to the base station returning the first reply information; wherein the pairing instruction includes hotspot connection information of the robot;

[0009] receiving pairing completion information corresponding to the pairing instruction, taking the to-be-paired relationship information as local pairing relationship information, and determining that pairing is ended.

[0010] In an embodiment, before the response to the pairing trigger instruction, the method further comprises: acquiring a docking signal of the robot and the base station, and generating the pairing trigger instruction.

[0011] In an embodiment, the acquisition of the docking signal of the robot and the base station and the generation of the pairing trigger instruction comprise:

[0012] detecting an electrical signal that the robot is charging in the base station, determining to generate the pairing trigger instruction; or, in response to an operation instruction for starting a pairing process, determining to generate the pairing trigger instruction; or, detecting that the robot enters the base station, determining to generate the pairing trigger instruction; or, detecting a signal for docking with the base station through a local infrared tube, determining to generate the pairing trigger instruction; or, detecting a signal for docking with the base station through a near field communication circuit, determining to generate the pairing trigger instruction.

[0013] In an embodiment, after the reception of the first reply information corresponding to the pairing inquiry information, the method further comprises:

[0014] outputting prompt information for performing pairing, and starting a listening task for an operation instruction for confirming pairing;

[0015] if the operation instruction for confirming pairing is listened to within a preset time length threshold, performing the step of sending a pairing instruction to the base station that returns the first reply information;

[0016] if the operation instruction for confirming pairing is not listened to within the time length threshold, determining that pairing is ended.

[0017] On the other hand, the present application provides a pairing method of a robot and a base station, applied to a base station, comprising:

[0018] in response to a pairing trigger instruction, receiving pairing inquiry information; wherein the pairing inquiry information comprises historical pairing relationship information, and the historical pairing relationship information comprises a robot address of a pairing inquiry information initiator and a base station address of a base station that establishes a pairing relationship with the pairing inquiry information initiator;

[0019] judging whether the historical pairing relationship information in the pairing inquiry information is the same as local pairing relationship information, and if not, returning a first reply information for indicating pairing; wherein the first reply information comprises to-be-paired relationship information, and the to-be-paired relationship information comprises a base station address of itself and a robot address of the pairing inquiry information initiator;

[0020] If a pairing instruction corresponding to the first reply information is received, updating local pairing relationship information based on the to-be-paired relationship information, recording hotspot connection information in the pairing instruction, and returning pairing completion information to the pairing instruction initiator.

[0021] In an embodiment, before the responding to the pairing trigger instruction, the method further comprises: acquiring a docking signal of the robot and the base station, and generating the pairing trigger instruction.

[0022] In an embodiment, the acquiring the docking signal of the robot and the base station, and generating the pairing trigger instruction comprises:

[0023] detecting a connection of the robot to a charging electrical signal, determining to generate the pairing trigger instruction; or, in response to an operation instruction for starting a pairing process, determining to generate the pairing trigger instruction; or, detecting that the robot enters the base station, determining to generate the pairing trigger instruction; or, detecting, through a local infrared tube, a signal of docking with the robot, determining to generate the pairing trigger instruction, or detecting, through a near field communication circuit, a signal of docking with the robot, determining to generate the pairing trigger instruction.

[0024] In an embodiment, after the judging whether the historical pairing relationship information in the pairing inquiry information and the local pairing relationship information are same, the method further comprises:

[0025] If same, returning second reply information indicating no need for pairing.

[0026] In an embodiment, the pairing inquiry information comprises a first trigger time stamp of the robot; wherein the first trigger time stamp indicates a time point of the robot responding to the pairing trigger instruction.

[0027] The judging whether the historical pairing relationship information in the pairing inquiry information and the local pairing relationship information are same comprises:

[0028] If at least two pairing inquiry information are received, determining absolute values of differences between the first trigger time stamp in each pairing inquiry information and a second trigger time stamp of itself; wherein the second trigger time stamp indicates a time point of the base station responding to the pairing trigger instruction.

[0029] Selecting pairing inquiry information corresponding to a minimum absolute value of difference, and judging whether the historical pairing relationship information in the selected pairing inquiry information and the local pairing relationship information are same.

[0030] In an embodiment, after the returning the first reply information indicating pairing, the method further comprises:

[0031] outputting prompt information responding to pairing;

[0032] If the operation instruction of stopping pairing is detected, it is determined that the pairing is ended.

[0033] In an embodiment, the method further comprises:

[0034] Connecting the robot as an access point through the recorded hotspot connection information.

[0035] Further, the application provides an electronic device, comprising:

[0036] a processor;

[0037] a memory for storing processor-executable instructions;

[0038] The processor is configured to execute the pairing method of the robot and the base station as described above.

[0039] In addition, the application further provides a cleaning system, comprising:

[0040] a robot for executing the pairing method of the robot and the base station as applied to the robot;

[0041] a base station for executing the pairing method of the robot and the base station as applied to the base station.

[0042] The application scheme, the robot and the base station can confirm whether pairing is needed between each other in response to the pairing trigger instruction through comparing the previous pairing relationship information, so that the pairing can be completed conveniently and quickly. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments of the application.

[0044] Figure 1 The pairing diagram of the robot and the base station provided by an embodiment of the application;

[0045] Figure 2 The structural schematic diagram of the electronic device provided by an embodiment of the application;

[0046] Figure 3 The flowchart of the pairing method of the robot and the base station provided by an embodiment of the application;

[0047] Figure 4 The format schematic diagram of the pairing inquiry information provided by an embodiment of the application;

[0048] Figure 5 The format schematic diagram of the first reply information provided by an embodiment of the application;

[0049] Figure 6This is a schematic diagram illustrating the format of the second response information provided in an embodiment of this application;

[0050] Figure 7 A schematic diagram illustrating the format of a pairing instruction provided in an embodiment of this application;

[0051] Figure 8 This is a schematic diagram illustrating the format of pairing completion information provided in one embodiment of this application;

[0052] Figure 9 A schematic flowchart illustrating a method for confirming a pairing process provided in an embodiment of this application;

[0053] Figure 10 This is a schematic diagram illustrating the format of end-pairing information provided in an embodiment of this application;

[0054] Figure 11 This is a schematic diagram illustrating a pairing scenario of multiple devices provided in one embodiment of this application;

[0055] Figure 12 A block diagram of a robot-base station pairing device provided in one embodiment of this application;

[0056] Figure 13 A block diagram of a robot-base station pairing device provided in another embodiment of this application. Detailed Implementation

[0057] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0058] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0059] like Figure 2 As shown, this embodiment provides an electronic device 1, including: at least one processor 11 and a memory 12. Figure 2 Taking a processor 11 as an example, the processor 11 and memory 12 are connected via a bus 10. The memory 12 stores instructions that can be executed by the processor 11. The instructions are executed by the processor 11 to enable the electronic device 1 to perform all or part of the processes of the methods described in the embodiments below. In one embodiment, the electronic device 1 may be a robot or a base station for performing a robot-base station pairing method.

[0060] The memory 12 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0061] The application further provides a computer readable storage medium, the storage medium storing a computer program, the computer program being executable by the processor 11 to complete the pairing method of the robot and the base station provided by the application.

[0062] Referring to Figure 3 The flowchart of the pairing method of the robot and the base station provided by an embodiment of the application is shown in Figure 3 The method can include the following steps 310-360.

[0063] Step 310: The robot broadcasts pairing inquiry information in response to a pairing trigger instruction.

[0064] The pairing inquiry information can be used to initiate verification on whether the pairing parties have been paired; the pairing inquiry information includes historical pairing relationship information, and the historical pairing relationship information includes the robot address of the initiator of the pairing inquiry information and the base station address of the base station that establishes a pairing relationship with the initiator of the pairing inquiry information.

[0065] The pairing trigger instruction is used to trigger the start of the pairing process. The pairing inquiry information is used to inquire whether to pair with the base station. Since the robot is not sure of the base station as the pairing object when pairing, the pairing inquiry information can be broadcast to all surrounding base stations in a wireless manner.

[0066] When the robot determines that the pairing trigger instruction is received, the robot can construct pairing inquiry information and broadcast the pairing inquiry information through Bluetooth, ZigBee or other wireless communication mode in response to the pairing trigger instruction. The pairing inquiry information constructed by the robot can include historical pairing relationship information, which is used to indicate the base station that has successfully paired before, and contains the robot address and the base station address. If the robot is paired for the first time, the historical pairing relationship information can only contain the robot address. The address here can be a MAC (Media Access Control Address) address.

[0067] For example, referring to Figure 4 The format of the pairing inquiry information provided by an embodiment of the present application is shown in FIG. 2. As shown in FIG. 2, the pairing inquiry information is in the form of a Bluetooth data packet, in which the local MAC1 address is the robot address, the time stamp is the time point of sending the pairing inquiry information, the opposite MAC2 address is the base station address, and ABA1 indicates whether the base station needs to be paired. Figure 4

[0068] In an embodiment, the robot can determine that the pairing trigger instruction exists in multiple ways.

[0069] For example, the robot can determine to generate the pairing trigger instruction when the robot enters the base station to start charging and detects an electrical signal that the robot starts to charge in the base station. In this case, the robot starts the pairing process every time it charges.

[0070] For example, the user can start the pairing process by physically pressing or virtually pressing the keys of the robot when the user needs to pair the robot with the base station (for example, by combining the key operation or by operating a plurality of keys in a predetermined order), so as to generate an operation instruction of starting the pairing process to the robot. The robot can determine to generate the pairing trigger instruction in response to the operation instruction. In this case, the user can manually control the robot to pair when needed.

[0071] For example, the robot can start pairing with the base station when the robot enters the base station. The robot can determine to generate the pairing trigger instruction when the robot detects that it enters the base station after entering the base station.

[0072] ​For example, the robot can be equipped with an infrared receiving tube for receiving optical signals, and the infrared transmitting tube on the base station for transmitting optical signals to communicate information. Specifically, the infrared transmitting tube on the base station transmits optical signals outward, and when the robot is docked with the base station, the infrared receiving tube of the robot receives the optical signals transmitted by the infrared transmitting tube, so that the internal circuit is turned on to form a current. The size of the current is proportional to the strength of the optical signal, and the strength of the optical signal is inversely proportional to the distance, that is, during the docking process of the robot and the base station, the closer to the base station, the stronger the optical signal received by the infrared receiving tube, and the greater the current formed in the infrared receiving tube. Therefore, when the current in the circuit of the infrared receiving tube reaches a certain threshold, it indicates that the robot has docked with the base station. At this time, the robot can determine to generate a pairing trigger instruction.

[0073] For example, when the robot detects the base station through the near field communication circuit (NFC), it can determine to generate a pairing trigger instruction. In this case, the pairing trigger mechanism can be realized by means of the NFC communication circuit.

[0074] Step 320: The base station receives the pairing inquiry information in response to the pairing trigger instruction, and judges whether the historical pairing relationship information in the pairing inquiry information is the same as the local pairing relationship information. If not, return the first reply information indicating pairing.

[0075] The first reply information indicates that pairing is needed. The first reply information includes to-be-paired relationship information, and the to-be-paired relationship information includes the base station address of itself and the robot address of the initiator of the pairing inquiry information.

[0076] The base station can also receive the pairing trigger instruction, which is used to trigger the base station to start the pairing process. When the base station determines that there is a pairing trigger instruction, it can start receiving the pairing inquiry information sent by the robot through Bluetooth, ZigBee or other wireless communication methods in response to the pairing trigger instruction.

[0077] The base station can parse the historical pairing relationship information from the pairing inquiry instruction, and judge whether the historical pairing relationship information is the same as the local pairing relationship information. Here, the local pairing relationship information is the pairing relationship information constructed according to the robot address and the base station address after the base station establishes a pairing relationship with the robot. If the base station has not completed pairing with any robot before, it can use its own base station address as the local pairing relationship information.

[0078] In one case, the historical pairing relationship information is different from the local pairing relationship information, in other words, at least one of the robot address and the base station address in the historical pairing relationship information is different from the robot address and the base station address in the local pairing relationship information. In this case, the base station can pair with the robot, and therefore, the base station constructs the pairing relationship information to be paired based on the base station address of the base station and the robot address in the pairing inquiry information, and constructs the first reply information indicating that pairing is needed based on the pairing relationship information to be paired, and then returns the first reply information to the robot sending the pairing inquiry information.

[0079] For example, referring to Figure 5 The format of the first reply information provided by one embodiment of the application is shown in FIG. 2, which is the format of the first reply information in the form of a Bluetooth data packet, wherein the local MAC2 is the base station address of the base station, the time stamp is the time point of sending the first reply information, the opposite MAC1 address is the robot address in the pairing inquiry information, and the ABA2 indicates that pairing is needed. Figure 5

[0080] In another case, the historical pairing relationship information is the same as the local pairing relationship information, in other words, the robot address and the base station address in the historical pairing relationship information are respectively the same as the robot address and the base station address in the local pairing relationship information. In this case, the base station has established a pairing relationship with the robot sending the pairing inquiry information before, and does not need to pair again. The base station can return the second reply information indicating that pairing is not needed to the robot.

[0081] For example, referring to Figure 6 The format of the second reply information provided by one embodiment of the application is shown in FIG. 3, which is the format of the second reply information in the form of a Bluetooth data packet, wherein the local MAC2 is the base station address of the base station, the time stamp is the time point of sending the second reply information, the opposite MAC1 address is the robot address in the pairing inquiry information, and the ABAB indicates that pairing is not needed. Figure 6

[0082] When the robot receives the second reply information, it can determine that a pairing relationship has been established with the base station, and can stop broadcasting the pairing inquiry information.

[0083] In one embodiment, the base station can determine that the pairing trigger instruction exists in various ways.

[0084] For example, when the robot enters the base station to start charging, the base station can determine to generate the pairing trigger instruction when detecting that the robot is connected to the charging of the base station. In this case, the base station starts the pairing process each time the robot starts charging.

[0085] ​​For example, the user can initiate the pairing process by pressing the physical or virtual button of the base station when pairing the robot with the base station, such as by combining the button operation or by operating a plurality of buttons in a predetermined order, to generate an operation instruction for initiating the pairing process of the base station, and the base station can determine to generate the pairing trigger instruction in response to the operation instruction. In this case, the user can manually control the base station to pair when needed.

[0086] For example, the base station can determine to generate the pairing trigger instruction when detecting that the robot enters the base station, to start pairing with the robot.

[0087] For example, the base station can be equipped with an infrared receiving tube for receiving optical signals, and communicate with the infrared transmitting tube carried by the robot for transmitting optical signals. Specifically, the infrared transmitting tube carried by the robot transmits optical signals outward, and when the base station is docked, the infrared receiving tube of the base station receives the optical signals transmitted by the infrared transmitting tube, so that the internal circuit is turned on to form a current. The size of the current is proportional to the strength of the optical signal, and the strength of the optical signal is inversely proportional to the distance, that is, the closer the robot is to the base station during docking, the stronger the optical signal received by the infrared receiving tube, and the greater the current formed in the infrared receiving tube. When the current in the internal circuit of the infrared receiving tube reaches a certain threshold, it indicates that the base station has been docked with the robot, and at this time, the base station can determine to generate the pairing trigger instruction.

[0088] For example, the base station can determine to generate the pairing trigger instruction when detecting the robot through the near field communication circuit. In this case, the pairing trigger mechanism can be realized by means of the NFC communication circuit.

[0089] Step 330: The robot receives the first reply information to the pairing inquiry information.

[0090] Step 340: The robot sends a pairing instruction to the base station that returns the first reply information.

[0091] The pairing instruction includes the hotspot connection information of the robot.

[0092] When the robot receives the first reply information, it can determine that pairing is needed. In this case, the robot can directly send a pairing instruction to the base station that returns the first reply information.

[0093] For example, Figure 7 The format of the pairing instruction provided by an embodiment of the present application is shown in the following table: Figure 7As shown, this is a pairing instruction in the form of a Bluetooth data packet, wherein the local MAC1 address is the robot address, the time stamp is the time point of sending the pairing instruction, the opposite MAC2 address is the base station address in the first reply information, and ABA3 indicates pairing; the fixed content field plus MAC1 can be used as the SSID (Service Set Identifier) of the robot hotspot, and the SSID plus the AP password can constitute the hotspot connection information.

[0094] Step 350: If the pairing instruction corresponding to the first reply information is received, the base station updates the local pairing relationship information based on the to-be-paired relationship information, records the hotspot connection information in the pairing instruction, and returns the pairing completion information to the initiator of the pairing instruction.

[0095] After receiving the pairing instruction, the base station can update the local pairing relationship information based on the to-be-paired relationship information, indicating that the pairing relationship in the to-be-paired relationship information is the current latest pairing relationship. The base station can parse the hotspot connection information from the pairing instruction and store it in the local memory. At this time, the base station side pairing process is complete, and the pairing completion information can be constructed and returned to the initiator of the pairing instruction.

[0096] An exemplary Figure 8 The format of the pairing completion information provided by an embodiment of the present application is shown in the schematic diagram as Figure 8 As shown, in addition to the pairing completion information in the form of a Bluetooth data packet, wherein the local MAC2 address is the base station address, the time stamp is the time point of sending the pairing completion information, the opposite MAC1 address is the robot address in the pairing instruction, and ABA4 indicates pairing completion.

[0097] Step 360: The robot receives the pairing completion information corresponding to the pairing instruction, takes the to-be-paired relationship information as the local pairing relationship information, and determines that the pairing is complete.

[0098] After receiving the pairing completion information, the robot can determine that the base station side completes the pairing. At this time, the robot can take the to-be-paired relationship information as the local pairing relationship information, take the pairing relationship in the to-be-paired relationship information as the current latest pairing relationship, and determine that the pairing process is complete and stop pairing.

[0099] Through the above measures, the robot and the base station can complete pairing in a very short time through wireless connection, and the pairing process does not require complex user operation and is easy to implement.

[0100] In an embodiment, after receiving the first reply information returned by the base station, the robot can inform the user of the pairing process currently being executed, so as to confirm whether pairing is needed by the user. Referring to Figure 9A flowchart of a confirmation method of a pairing process provided by an embodiment of the present application is shown in FIG. 9, which can include steps 910-930. Figure 9

[0101] Step 910: output prompt information for performing pairing, and start a listening task for an operation instruction for confirming pairing.

[0102] The prompt information is used to prompt the user that the pairing process is being performed, and to ask the user to confirm whether to continue pairing. The form of the prompt information can be voice, text, video, etc.

[0103] The robot can output the prompt information to the user terminal through voice playing, short message, etc. After outputting the prompt information, the robot can start the listening task for listening to the operation instruction issued by the user.

[0104] After the user views the prompt information, the user can issue the operation instruction for continuing pairing or ending pairing to the robot through a key, a remote control, etc.

[0105] Step 920: if the operation instruction for confirming pairing is listened to within a preset time threshold, perform the step of sending the pairing instruction to the base station that returns the first reply information.

[0106] The time threshold can be preconfigured as needed, and for example, the time threshold can be 10 seconds.

[0107] After starting the listening task, if the operation instruction for confirming pairing is listened to within the time threshold, the robot can continue to send the pairing instruction to the base station that returns the first reply information.

[0108] Step 930: if the operation instruction for confirming pairing is not listened to within the time threshold, determine that the pairing is ended.

[0109] If the operation instruction for confirming pairing is not listened to within the time threshold, for example, no operation instruction is listened to, or the instruction for ending pairing is listened to within the time threshold. In this case, the robot can determine that the pairing is ended, and can return the end pairing information to the base station, indicating to stop the pairing process. When the base station receives the end pairing information, the pairing process can be stopped.

[0110] For example, Figure 10 The format of the end pairing information provided by an embodiment of the present application is shown in FIG. 10, which is in the form of a Bluetooth data packet, where the local MAC1 address is the address of the robot, the time stamp is the time point of sending the end pairing information, the opposite MAC2 address is the address of the base station in the first reply information, and ABFF indicates the end of pairing. Figure 10 ​​

[0111] In an embodiment, in some scenarios, there can be multiple robots and multiple base stations pairing simultaneously, in which case, any base station can receive multiple pairing inquiry information broadcasted by robots, and the base station needs to select one robot to respond from the multiple robots. The pairing inquiry information includes a first trigger timestamp of the robot, which indicates the time point at which the robot responds to the pairing trigger instruction. Figure 4 The timestamp shown in FIG. 1 is the first trigger timestamp, in other words, the time point at which the robot responds to the pairing trigger instruction can be considered as the time point at which the pairing inquiry information is sent.

[0112] For any base station, if at least two pairing inquiry information are received, the base station can determine the absolute value of the difference between the first trigger timestamp in each pairing inquiry information and the second trigger timestamp of the base station. The second trigger timestamp indicates the time point at which the base station responds to the pairing trigger instruction.

[0113] After obtaining the absolute value of the difference corresponding to each pairing inquiry information, the base station can determine the minimum absolute value of the difference from the multiple absolute values of the difference, and can determine that the initiator of the pairing inquiry information corresponding to the minimum absolute value of the difference is the object to be responded to. The base station can select the pairing inquiry information corresponding to the minimum absolute value of the difference, and determine whether the historical pairing relationship information in the selected pairing inquiry information is the same as the local pairing relationship information.

[0114] Referring to Figure 11 The pairing scenario of multiple groups of devices provided by an embodiment of the present application is shown in FIG. 1, in which Figure 11 As shown in FIG. 1, three robots enter three base stations for charging at similar time points, thereby triggering the pairing process. The time point at which the first base station A1 responds to the pairing trigger instruction is A1_T1; the time point at which the second base station A2 responds to the pairing trigger instruction is A2_T1; the time point at which the third base station A3 responds to the pairing trigger instruction is A3_T1; the first trigger timestamp in the pairing inquiry information sent by the first robot B1 is B1_T2; the first trigger timestamp in the pairing inquiry information sent by the second robot B2 is B2_T2; and the first trigger timestamp in the pairing inquiry information sent by the third robot B3 is B3_T2.

[0115] In the embodiment, A1_T1 is 10:12:10:300; A2_T1 is 10:12:11:500; A3_T1 is 10:12:12:600; B1_T2 is 10:12:10:500; B2_T2 is 10:12:11:700; and B3_T2 is 10:12:12:800.

[0116] For the first base station A1, after receiving the three robots' pairing inquiry information, the absolute values of the differences corresponding to the three pairing inquiry information are calculated respectively.

[0117] Difference absolute value 1 = |A1_T1-B1_T2| = 0.2 seconds

[0118] Difference absolute value 2 = |A1_T1-B2_T2| = 1.4 seconds

[0119] Difference absolute value 3 = |A1_T1-B3_T2| = 2.5 seconds

[0120] Through the calculation, it can be determined that the first trigger timestamp of the first robot B1 is closest to the second trigger timestamp of the first base station A1, and thus, for the first base station A1, the robot B1 is the object that needs to be responded to. The base station A2 can determine that the robot B2 is the object that needs to be responded to, and the base station A3 can determine that the robot B3 is the object that needs to be responded to.

[0121] Through the above measures, in the scenario where multiple sets of devices enter the pairing process together, each base station can select the robot that actually should be responded to to perform the subsequent pairing process.

[0122] In an embodiment, after the robot broadcasts the pairing inquiry information, multiple base stations can enter the pairing process. In this case, the base station that actually should be paired with the robot can be selected manually.

[0123] After any base station returns the first reply information indicating pairing, the base station can output prompt information for responding to pairing, which indicates that the base station has requested to perform the pairing process. The prompt information can be in the form of voice broadcast, short message, indicator light, etc. When the user determines that the base station requests to perform the pairing process according to the prompt information output by the base station, the user can check the base stations that do not belong to the pairing object and issue an operation instruction for stopping pairing to the base station in the form of a button, a remote control, etc. If the base station detects the operation instruction for stopping pairing, the base station can determine that the pairing is completed.

[0124] Through the above measures, when multiple base stations request to perform the pairing process, the user can cancel the pairing work of the base stations that do not belong to the pairing object, so as to reserve only one base station to continue to perform the subsequent pairing process with the robot, thereby reducing the probability of incorrect pairing.

[0125] In an embodiment, after the base station completes pairing with the robot, the base station can connect the robot as an access point through the recorded hotspot connection information, so as to perform high-speed communication with the robot through the WIFI protocol.

[0126] The application also provides a cleaning system, which comprises a robot and a base station. The robot is used to perform the pairing method of the robot and the base station as described above, and the base station is used to perform the pairing method of the robot and the base station as described above.

[0127] Figure 12 is a block diagram of a pairing device of a robot and a base station according to an embodiment of the application, which is applied to a robot, as shown in the figure, the device can comprise: Figure 12

[0128] a broadcast module 1210, configured to broadcast pairing inquiry information in response to a pairing trigger instruction;

[0129] a first receiving module 1220, configured to receive first reply information in response to the pairing inquiry information; the first reply information indicates that pairing is needed, and the first reply information comprises to-be-paired relationship information, which comprises a base station address of a base station and a robot address of a robot of a first reply information initiator;

[0130] a sending module 1230, configured to send a pairing instruction to the base station that returns the first reply information; the pairing instruction comprises hotspot connection information of the robot;

[0131] a determination module 1240, configured to receive pairing completion information in response to the pairing instruction, take the to-be-paired relationship information as local pairing relationship information, and determine that pairing is ended.

[0132] Figure 13 is a block diagram of a pairing device of a robot and a base station according to another embodiment of the application, which is applied to a base station, as shown in the figure, the device can comprise: Figure 13

[0133] a second receiving module 1310, configured to receive pairing inquiry information in response to a pairing trigger instruction; the pairing inquiry information comprises historical pairing relationship information, and the historical pairing relationship information comprises a robot address of a robot of a pairing inquiry information initiator and a base station address of a base station that establishes a pairing relationship with the pairing inquiry information initiator;

[0134] a returning module 1320, configured to determine whether the historical pairing relationship information in the pairing inquiry information is the same as local pairing relationship information, and return first reply information indicating pairing if the historical pairing relationship information is different from the local pairing relationship information; the first reply information comprises to-be-paired relationship information, and the to-be-paired relationship information comprises a base station address of the base station and a robot address of the pairing inquiry information initiator;

[0135] ​​The recording module 1330 is configured to, if the pairing instruction corresponding to the first reply information is received, update the local pairing relationship information based on the to-be-paired relationship information, record the hotspot connection information in the pairing instruction, and return pairing completion information to the pairing instruction initiator.

[0136] The implementation process of the functions and roles of each module in the above device is specifically described in the implementation process of the corresponding steps in the pairing method of the robot and the base station, which will not be described here.

[0137] In several embodiments provided in the present application, the disclosed device and method can also be implemented in other ways. The device embodiments described above are only schematic. For example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the device, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. In some alternative implementation manners, the functions noted in the blocks can occur in different orders from those noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0138] In addition, each functional module in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0139] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

Claims

1. A method for pairing a robot with a base station, applied to a robot, characterized in that, include: In response to a pairing trigger command, pairing request information is broadcast wirelessly. The pairing request information includes a first trigger timestamp of the robot; wherein, the first trigger timestamp indicates the time point at which the robot responds to the pairing trigger command, and the first trigger timestamp is used to enable the base station to filter the initiator of the pairing request information that needs to be responded to; The first trigger timestamp is used to enable the base station to filter the initiator of the pairing query information that needs to be responded to. Specifically, if the base station receives at least two pairing query information, the base station determines the absolute value of the difference between the first trigger timestamp in each pairing query information and its own second trigger timestamp; wherein, the second trigger timestamp indicates the time point at which the base station responds to the pairing trigger command; the initiator of the pairing query information corresponding to the smallest absolute difference value is selected as the object that needs to be responded to. Receive a first response to the pairing request; wherein the first response indicates that pairing is required, and the first response includes information on the relationship to be paired, which includes the base station address and robot address of the initiator of the first response; Send a pairing instruction to the base station that returned the first reply information; wherein, the pairing instruction includes the robot's hotspot connection information; Receive pairing completion information in response to the pairing instruction, use the pairing relationship information to be paired as local pairing relationship information, and determine that pairing has ended.

2. The robot-base station pairing method according to claim 1, characterized in that, Prior to responding to the pairing trigger command, the method further includes: The docking signal between the robot and the base station is acquired, and the pairing trigger command is generated.

3. The robot-base station pairing method according to claim 2, characterized in that, The process of acquiring the docking signal between the robot and the base station and generating the pairing trigger command includes: Upon detecting the electrical signal of the robot charging at the base station, a pairing trigger command is generated; or, In response to the operation command to initiate the pairing process, determine whether to generate a pairing trigger command; or... Upon detecting that a robot has entered the base station, a pairing trigger command is generated; or, The signal connected to the base station is detected by the local infrared tube, and a pairing trigger command is generated accordingly; or... The signal connected to the base station is detected by the near-field communication circuit, and a pairing trigger command is generated.

4. The robot-base station pairing method according to claim 1, characterized in that, After receiving the first response information in response to the pairing inquiry information, the method further includes: Output a prompt message indicating that pairing has been performed, and start a listening task for operation commands to confirm pairing; If an operation command indicating confirmation of pairing is detected within a preset time threshold, the step of sending a pairing command to the base station that returned the first reply information is executed; If no confirmation instruction for pairing is received within the specified time threshold, the pairing process is considered complete.

5. A method for pairing a robot with a base station, applied to a base station, characterized in that, include: In response to a pairing trigger command, the system receives pairing request information; wherein the pairing request information includes historical pairing relationship information, which includes the robot address of the initiator of the pairing request information and the base station address of the base station that established a pairing relationship with the initiator of the pairing request information; the pairing request information includes a first trigger timestamp of the robot; wherein the first trigger timestamp indicates the time point at which the robot responds to the pairing trigger command, and the first trigger timestamp is used to enable the base station to filter the initiators of pairing request information that need to be responded to; Determining whether the historical pairing relationship information in the pairing request information is the same as the local pairing relationship information includes: if at least two pairing request information are received, determining the absolute value of the difference between the first trigger timestamp and its own second trigger timestamp in each pairing request information; wherein the second trigger timestamp indicates the time point at which the base station responds to the pairing trigger command; selecting the pairing request information corresponding to the smallest absolute difference, and determining whether the historical pairing relationship information in the selected pairing request information is the same as the local pairing relationship information; If they are different, return the first response information indicating pairing; wherein, the first response information includes the pairing relationship information, the pairing relationship information includes its own base station address, and the robot address of the pairing inquiry initiator; If a pairing instruction corresponding to the first reply information is received, the local pairing relationship information is updated based on the pairing relationship information, the hotspot connection information in the pairing instruction is recorded, and pairing completion information is returned to the pairing instruction initiator.

6. The robot-base station pairing method according to claim 5, characterized in that, Prior to responding to the pairing trigger command, the method further includes: The docking signal between the robot and the base station is acquired, and the pairing trigger command is generated.

7. The robot-base station pairing method according to claim 6, characterized in that, The process of acquiring the docking signal between the robot and the base station and generating the pairing trigger command includes: Upon detecting an electrical signal indicating that the robot is connected to its own charger, a pairing trigger command is generated; or, In response to the operation command to initiate the pairing process, determine whether to generate a pairing trigger command; or... Upon detecting that a robot has entered the base station, a pairing trigger command is generated; or, The signal indicating docking with the robot is detected by a local infrared sensor, which determines the generation of a pairing trigger command, or... The signal that the robot is docked is detected by the near-field communication circuit, and a pairing trigger command is generated.

8. The robot-base station pairing method according to claim 5, characterized in that, After determining whether the historical pairing information and the local pairing information in the pairing query information are the same, the method further includes: If they are the same, return a second response message indicating that no pairing is required.

9. The robot-base station pairing method according to claim 5, characterized in that, After returning the first response indicating a pairing, the method further includes: Output a matching prompt message; If a stop pairing command is detected, the pairing process is considered complete. And / or, After the base station completes pairing with the robot, the method further includes: Connect to the robot that serves as the access point using the recorded hotspot connection information.

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