Floor washing robot base station pairing method, device, system and medium

Abstract

The application discloses a floor cleaning robot base station pairing method, device, system and medium, and the method comprises the following steps: receiving a pairing instruction sent by a floor cleaning robot; judging whether the number of currently paired devices of the base station reaches a preset value; if the number of currently paired devices of the base station reaches the preset value, judging whether there is a paired device meeting a preset update strategy among all the currently paired devices of the base station; if there is at least one paired device meeting the preset update strategy, recording all the paired devices meeting the preset update strategy as target devices; canceling the pairing between all the target devices and the base station, and establishing the pairing between the floor cleaning robot and the base station. The application realizes the effect that one base station provides pairing services for multiple floor cleaning robots, improves the utilization rate of the base station, and improves the use convenience of the floor cleaning robot.

Description

Technical Field

[0001] This invention relates to the field of floor cleaning robots, and more particularly to a method, apparatus, system, and medium for pairing floor cleaning robot base stations. Background Technology

[0002] A floor cleaning robot, also known as an automatic cleaning machine, intelligent vacuum cleaner, or floor cleaning robot vacuum cleaner, is a type of smart home appliance that uses artificial intelligence to automatically clean floors both indoors and outdoors. Generally, when the robot's consumables (such as water or cleaning solution) run out or after its work is completed, it needs to return to the base station for replenishment or maintenance. The base station can provide services such as wastewater collection, refilling with fresh water, and cleaning components. In current technology, when multiple floor cleaning robots exist in the same environment, a one-to-one network configuration of multiple base stations and robots is often used. Each base station can only serve one robot, which can easily lead to excessive consumption of base station resources and reduced ease of use for the robots. Summary of the Invention

[0003] Therefore, it is necessary to provide a method, device, system and medium for pairing base stations with floor cleaning robots to address the above-mentioned technical problems, so as to solve the problems of excessive consumption of base station resources and reduced ease of use of floor cleaning robots.

[0004] A method for pairing base stations for floor cleaning robots includes:

[0005] Receive pairing instructions from the floor cleaning robot and determine whether the number of devices currently paired with the base station has reached a preset value;

[0006] If the number of currently paired devices of the base station reaches a preset value, then it is determined whether there is a paired device that conforms to the preset update strategy among all the currently paired devices of the base station;

[0007] If there is at least one paired device that conforms to the preset update strategy, then all paired devices that conform to the preset update strategy are recorded as target devices;

[0008] Cancel the pairing of all target devices with the base station, and establish a pairing between the floor cleaning robot and the base station.

[0009] Optionally, the system receives a pairing instruction from the floor cleaning robot and determines whether the number of devices currently paired with the base station has reached a preset value.

[0010] If the number of currently paired devices of the base station reaches a preset value, then it is determined whether there is a paired device that conforms to the preset update strategy among all the currently paired devices of the base station;

[0011] If there is at least one paired device that conforms to the preset update strategy, then all paired devices that conform to the preset update strategy are recorded as target devices;

[0012] Cancel the pairing of all target devices with the base station, and establish a pairing between the floor cleaning robot and the base station.

[0013] Optionally, after determining whether the number of currently paired devices at the base station has reached a preset value, the method further includes:

[0014] If the number of paired devices at the base station has not reached the preset value, then a pairing is established between the floor cleaning robot and the base station.

[0015] Optionally, after determining whether there is a paired device that conforms to a preset update strategy among all the paired devices currently paired with the base station, the method further includes:

[0016] If no paired device that matches the preset update strategy is found, a pairing failure message is sent to the floor cleaning robot.

[0017] Optionally, determining whether there is a paired device that conforms to a preset update policy among all the paired devices currently paired with the base station includes:

[0018] When the paired device currently paired with the base station is scrapped, damaged, or exceeds the preset signal range of the base station, the paired device is confirmed to meet the preset update strategy;

[0019] If the paired device currently paired with the base station is not scrapped or damaged, and does not exceed the preset signal range of the base station, it is confirmed that the paired device does not meet the preset update strategy.

[0020] Optionally, determining whether the number of currently paired devices at the base station has reached a preset value includes:

[0021] Detect whether the floor cleaning robot conforms to the preset base station matching strategy;

[0022] If the base station matching strategy is met, then it is determined whether the number of devices paired with the base station has reached a preset value.

[0023] Optionally, detecting whether the floor cleaning robot conforms to a preset base station matching strategy includes:

[0024] Obtain the first communication signal type and first pairing interface type of the floor cleaning robot contained in the pairing instruction;

[0025] When the first communication signal type matches the second communication signal type of the base station, and the first pairing interface type matches the second pairing interface type of the base station, it is confirmed that the floor cleaning robot conforms to the preset base station matching strategy.

[0026] If the first communication signal type does not match the second communication signal type of the base station, or if the first pairing interface type does not match the second pairing interface type of the base station, it is confirmed that the floor cleaning robot does not conform to the preset base station matching strategy.

[0027] Optionally, after detecting whether the floor cleaning robot conforms to the preset base station matching strategy, the method further includes:

[0028] If the matching strategy of the base station is not met, a pairing failure message is sent to the floor cleaning robot.

[0029] A floor cleaning robot base station pairing device includes:

[0030] The receiving module is used to receive pairing instructions sent by the floor cleaning robot and determine whether the number of devices currently paired with the base station has reached a preset value.

[0031] The judgment module is used to determine whether there is a paired device that conforms to a preset update strategy among all the paired devices currently paired with the base station if the number of currently paired devices of the base station reaches a preset value.

[0032] The recording module is used to record all paired devices that conform to the preset update strategy as target devices if there is at least one paired device that conforms to the preset update strategy.

[0033] The pairing module is used to cancel the pairing of all the target devices with the base station and establish a pairing between the floor cleaning robot and the base station.

[0034] A base station pairing system includes a floor cleaning robot and a base station, wherein the base station includes a control module for performing the above-described floor cleaning robot base station pairing method.

[0035] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described floor cleaning robot base station pairing method.

[0036] The above-mentioned method, apparatus, system, and medium for pairing floor cleaning robot base stations include: receiving a pairing instruction sent by the floor cleaning robot; determining whether the number of currently paired devices at the base station has reached a preset value; if the number of currently paired devices at the base station has reached the preset value, determining whether there is a paired device that conforms to a preset update strategy among all the currently paired devices; if there is at least one paired device that conforms to the preset update strategy, recording all the paired devices that conform to the preset update strategy as target devices; canceling the pairing of all target devices with the base station, and establishing a pairing between the floor cleaning robot and the base station.

[0037] In this invention, when a pairing instruction is received from a floor cleaning robot that is not paired with a base station, if the number of currently paired devices (such as floor cleaning robots that are already paired with the base station) reaches a preset value, the paired devices that meet the preset update strategy can be unpaired, and the floor cleaning robot that sent the pairing instruction can be paired with the base station. This achieves the effect of one base station providing pairing services for multiple floor cleaning robots, thereby improving the utilization rate of the base station. At the same time, floor cleaning robots paired with the same base station can make adaptive adjustments according to the preset update strategy, further improving the utilization rate of the base station and the ease of use of the floor cleaning robots. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic flowchart of a floor cleaning robot base station pairing method in one embodiment of the present invention.

[0040] Figure 2 This is a flowchart illustrating step S100 of the floor cleaning robot base station pairing method in another embodiment of the present invention.

[0041] Figure 3 This is a flowchart illustrating step S110 of the floor cleaning robot base station pairing method in one embodiment of the present invention.

[0042] Figure 4 This is a schematic diagram of a floor cleaning robot base station pairing device in one embodiment of the present invention. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] like Figure 1 As shown, the present invention provides a method for pairing a floor cleaning robot base station, comprising the following steps:

[0045] S100: Receive a pairing command sent by the floor cleaning robot and determine whether the number of devices currently paired with the base station has reached a preset value. Understandably, the pairing command includes a pairing request from the floor cleaning robot to the base station, and may also include information such as the type of floor cleaning robot. The pairing command is issued by a floor cleaning robot that is not paired with the base station. The pairing command can be automatically generated by the floor cleaning robot when it needs base station service (e.g., when it needs charging); the pairing command can also be generated after the user triggers a preset physical button on the floor cleaning robot or a virtual button on the floor cleaning robot's display screen through a preset method (e.g., pressing, sliding, clicking); the pairing command can also be triggered by a timer. Understandably, the preset value can also be set according to requirements. The base station can pair with one or more devices simultaneously, and the preset value can be greater than or equal to one, for example, three, five, or ten devices. The preset value refers to the upper limit of the number of devices that the base station can pair with. Understandably, when the number of devices paired with the base station reaches the upper limit, the number of devices currently paired with the base station reaches the preset value.

[0046] S200: If the number of currently paired devices with the base station reaches a preset value, then it is determined whether there is a paired device that conforms to a preset update strategy among all the currently paired devices with the base station. It can be understood that if the number of currently paired devices with the base station reaches the preset value, it means that the number of paired devices with the base station has reached its upper limit. If pairing of the floor cleaning robot is required, it is necessary to check whether there is a paired device that conforms to the preset update strategy among all the currently paired devices, and then cancel the pairing between the paired device that conforms to the preset update strategy and the base station, thus providing a possibility for pairing the floor cleaning robot that sends a pairing command.

[0047] In some embodiments, step S200, determining whether there is a paired device that conforms to a preset update strategy among all the paired devices currently paired with the base station, includes: confirming that the paired device conforms to the preset update strategy when the paired device currently paired with the base station is scrapped, damaged, or exceeds the preset signal range of the base station. Conversely, confirming that the paired device does not conform to the preset update strategy when the paired device currently paired with the base station is neither scrapped nor damaged, and does not exceed the preset signal range of the base station. It can be understood that in this embodiment, the preset update strategy includes, but is not limited to, situations where the paired device currently paired with the base station is scrapped, damaged, or exceeds the preset signal range of the base station (determined according to the actual signal range of the base station). The preset update strategy also includes, but is not limited to, situations where the paired device currently paired with the base station needs to disconnect from the base station for maintenance or replacement of consumables, or situations where the paired device currently paired with the base station has been out of contact with the base station for more than a preset number of days. In some embodiments, the preset number of days includes 60 to 120 days, preferably 90 days. In some embodiments, the failure or damage of a paired device includes the paired device failing to complete a cleaning task.

[0048] S300: If there is at least one paired device that conforms to the preset update strategy, then all paired devices that conform to the preset update strategy are recorded as target devices. It is understood that all paired devices that conform to the preset update strategy will be recorded as target devices; therefore, the existence of at least one paired device that conforms to the preset update strategy indicates that the target device can be one or more devices.

[0049] S400, cancel all pairings between the target devices and the base station, and establish a pairing between the floor cleaning robot and the base station. Understandably, if at least one of the paired devices conforms to the preset update strategy, it indicates that the paired device (target device) conforming to the preset update strategy may have various problems and cannot continue to pair with the base station. In this case, all pairings between the target devices and the base station can be canceled. After canceling the pairing of at least one target device with the base station, the number of currently paired devices on the base station will be less than a preset value and will not reach the upper limit. Therefore, at this time, a pairing can be established between the floor cleaning robot sending the pairing command and the base station.

[0050] The floor cleaning robot base station pairing method provided by this invention, when receiving a pairing instruction from a floor cleaning robot that is not paired with a base station, if the number of currently paired devices (such as floor cleaning robots already paired with the base station) reaches a preset value, can unpair the paired devices that meet the preset update strategy and then pair the floor cleaning robot that sent the pairing instruction with the base station. This achieves the effect of one base station providing pairing services for multiple floor cleaning robots, thereby improving the utilization rate of the base station. At the same time, floor cleaning robots paired with the same base station can make adaptive adjustments according to the preset update strategy, further improving the utilization rate of the base station and the ease of use of the floor cleaning robot.

[0051] In some embodiments, after establishing the pairing between the floor cleaning robot and the base station in step S400, the method further includes:

[0052] Perform an information update operation; the information update operation includes deleting all first pairing information between the target device and the base station from the preset storage area of ​​the base station, and storing the second pairing information between the floor cleaning robot and the base station in the preset storage area of ​​the base station;

[0053] An update message corresponding to the information update operation is sent to the cloud server, so that the cloud server can update the pairing data corresponding to the base station based on the update message. The update message may include the deletion of the first pairing information and the addition of the second pairing information.

[0054] In this embodiment, the first pairing information includes information such as the first port or first number of the target device and its connection status with the base station; the second pairing information includes information such as the second port or second number of the floor cleaning robot and its connection status with the base station. Understandably, after canceling all pairings between the target devices and the base station, the base station can delete the first pairing information with the target devices; and after establishing a pairing between the floor cleaning robot and the base station, the second pairing information with the floor cleaning robot will be stored. The cloud server and the base station's preset storage area information are updated synchronously for easy access when needed.

[0055] In some embodiments, after determining whether the number of currently paired devices of the base station has reached a preset value in step S100, the following steps are further included:

[0056] If the number of devices currently paired with the base station has not reached a preset value, then a pairing is established between the floor cleaning robot and the base station. It can be understood that the base station can simultaneously pair with one or more devices (the maximum number that can be paired is a preset value). If the number of devices currently paired with the base station has not reached the preset value, the base station can continue to pair with new devices (such as the floor cleaning robot sending delivery instructions), and therefore a pairing can be directly established between the floor cleaning robot and the base station.

[0057] In some embodiments, after determining whether there is a paired device that conforms to a preset update policy among all the paired devices currently paired with the base station in step S200, the method further includes:

[0058] If no paired device conforms to the preset update strategy, a pairing failure message is sent to the floor cleaning robot. Understandably, when the number of paired devices at a base station reaches a preset value (i.e., the maximum number of paired devices at the base station is reached), and there are no paired devices conforming to the preset update strategy at the base station, all paired devices remain paired with the base station. Therefore, the base station will directly send a pairing failure message to the floor cleaning robot to indicate that the number of paired devices at the base station has reached its limit and cannot pair with other devices. After receiving the pairing failure message, the floor cleaning robot can travel to the location of other base stations to continue sending pairing commands to pair with base stations in other areas.

[0059] like Figure 2 As shown, in some embodiments, step S100, determining whether the number of currently paired devices of the base station has reached a preset value, includes:

[0060] S110, Detect whether the floor cleaning robot conforms to the preset base station matching strategy. Understandably, in step S100, the pairing instruction also includes, but is not limited to, information such as the communication signal type and / or pairing interface type of the floor cleaning robot. Specifically, the communication signal type is used to determine whether the communication signal type of the floor cleaning robot matches that of the base station; the pairing interface type is used to determine whether the pairing interface type of the floor cleaning robot matches that of the base station.

[0061] S120, if the base station matching strategy is met, then determine whether the number of paired devices with the base station has reached a preset value. Understandably, if the base station matching strategy is met, it means that the floor cleaning robot and the base station can communicate and dock, at which point the subsequent steps can be performed, namely, determining whether the number of paired devices with the base station has reached a preset value.

[0062] like Figure 3As shown, in some embodiments, step S110, detecting whether the floor cleaning robot conforms to a preset base station matching strategy, includes:

[0063] S111, Obtain the first communication signal type and first pairing interface type of the floor cleaning robot contained in the pairing instruction. The first communication signal type may refer to the wireless signal frequency band currently used by the floor cleaning robot; the first pairing interface type may refer to the interface data for pairing the floor cleaning robot with the base station, such as the charging interface type.

[0064] S112, when the first communication signal type matches the second communication signal type of the base station, and the first pairing interface types all match the second pairing interface types of the base station, it is confirmed that the floor cleaning robot conforms to the preset base station matching strategy. Here, the second communication signal type can refer to the wireless signal frequency band currently used by the base station, such as the 433MHz wireless frequency band; the second pairing interface type can refer to the interface data for base station connection and pairing, such as a power plug interface type. It can be understood that if the first communication signal type matches the second communication signal type of the base station, and the first pairing interface types all match the second pairing interface types of the base station, it indicates that the floor cleaning robot and the base station can normally communicate wirelessly and interface with each other normally.

[0065] S113, if the first communication signal type does not match the second communication signal type of the base station, or if all the first pairing interface types do not match the second pairing interface types of the base station, it is confirmed that the floor cleaning robot does not conform to the preset base station matching strategy. Understandably, if the first communication signal type does not match the second communication signal type of the base station, it means that the floor cleaning robot cannot wirelessly communicate with the base station; if all the first pairing interface types do not match the second pairing interface types of the base station, it means that the floor cleaning robot cannot properly interface with the base station. Any of the above mismatch situations will cause the floor cleaning robot to not conform to the preset base station matching strategy.

[0066] In some embodiments, after detecting whether the floor cleaning robot conforms to the preset base station matching strategy, step S110 further includes...

[0067] If the pairing does not conform to the base station matching strategy, a pairing failure message is sent to the floor cleaning robot. It is understood that if the pairing does not conform to the base station matching strategy, it means that the floor cleaning robot cannot communicate normally with the base station or that the interface between the floor cleaning robot and the base station cannot connect normally. Therefore, after receiving the pairing failure message, the floor cleaning robot can travel to the location of other base stations to continue sending pairing commands in order to pair with other base stations that conform to the base station matching strategy.

[0068] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0069] like Figure 4 As shown, in some embodiments, a floor cleaning robot base station pairing device is also provided, comprising:

[0070] The receiving module 10 is used to receive the pairing command sent by the floor cleaning robot and determine whether the number of currently paired devices at the base station has reached a preset value.

[0071] The judgment module 20 is used to determine whether there is a paired device that conforms to a preset update strategy among all the paired devices currently paired with the base station if the number of currently paired devices of the base station reaches a preset value.

[0072] The recording module 30 is used to record all the paired devices that conform to the preset update strategy as target devices if there is at least one paired device that conforms to the preset update strategy.

[0073] The pairing module 40 is used to cancel the pairing of all the target devices with the base station and establish a pairing between the floor cleaning robot and the base station.

[0074] The floor cleaning robot base station pairing device provided by this invention, when receiving a pairing instruction from a floor cleaning robot that is not paired with a base station, if the number of currently paired devices (such as floor cleaning robots already paired with the base station) reaches a preset value, can unpair the paired devices that meet the preset update strategy and then pair the floor cleaning robot that sent the pairing instruction with the base station. This achieves the effect of one base station providing pairing services for multiple floor cleaning robots, thereby improving the utilization rate of the base station. At the same time, floor cleaning robots paired with the same base station can make adaptive adjustments according to the preset update strategy, further improving the utilization rate of the base station and the ease of use of the floor cleaning robot.

[0075] Furthermore, the receiving module 10 includes:

[0076] The pairing submodule is used to establish a pairing between the floor cleaning robot and the base station if the number of currently paired devices at the base station has not reached a preset value.

[0077] Furthermore, the judgment module 20 includes:

[0078] The first prompt submodule is used to send a pairing failure prompt message to the floor cleaning robot if there is no paired device that meets the preset update strategy.

[0079] Furthermore, the judgment module 20 also includes:

[0080] The first confirmation submodule is used to confirm that the paired device conforms to the preset update strategy when the paired device currently paired with the base station is scrapped, damaged, disconnected from the base station for more than a preset number of days, or exceeds the preset signal range of the base station.

[0081] The second confirmation submodule is used to confirm that the paired device does not conform to the preset update strategy when the paired device currently paired with the base station is not scrapped or damaged and does not exceed the preset signal range of the base station.

[0082] Furthermore, the receiving module 10 also includes:

[0083] The detection submodule is used to detect whether the floor cleaning robot conforms to the preset base station matching strategy;

[0084] The judgment submodule is used to determine whether the number of devices paired with the base station has reached a preset value if the base station matching strategy is met.

[0085] Furthermore, the detection of whether the floor cleaning robot conforms to the preset base station matching strategy includes:

[0086] The acquisition submodule is used to acquire the first communication signal type and the first pairing interface type of the floor cleaning robot contained in the pairing instruction;

[0087] The third confirmation submodule is used to confirm that the floor cleaning robot conforms to the preset base station matching strategy when the first communication signal type matches the second communication signal type of the base station and the first pairing interface type matches the second pairing interface type of the base station.

[0088] The fourth confirmation submodule is used to confirm that the floor cleaning robot does not conform to the preset base station matching strategy when the first communication signal type does not match the second communication signal type of the base station, or when the first pairing interface type does not match the second pairing interface type of the base station.

[0089] Furthermore, after detecting whether the floor cleaning robot conforms to the preset base station matching strategy, the method further includes:

[0090] The second prompt submodule is used to send a pairing failure prompt message to the floor cleaning robot if the matching strategy of the base station is not met.

[0091] In some embodiments, a base station pairing system is also provided, including a floor cleaning robot and a base station, wherein the base station includes a control module for performing the above-described floor cleaning robot base station pairing method.

[0092] The execution functions of this control module correspond one-to-one with the floor cleaning robot base station pairing method in the above embodiments. Specific limitations of the control module can be found in the limitations of the floor cleaning robot base station pairing method described above, and will not be repeated here. Each sub-module in the above control module can be implemented entirely or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in or independent of the processor in the control module in hardware form, or it can be stored in the memory of the control module in software form, so that the processor can call and execute the operations corresponding to each sub-module.

[0093] In some embodiments, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, performs the following steps:

[0094] Receive pairing instructions from the floor cleaning robot and determine whether the number of devices currently paired with the base station has reached a preset value;

[0095] If the number of currently paired devices of the base station reaches a preset value, then it is determined whether there is a paired device that conforms to the preset update strategy among all the currently paired devices of the base station;

[0096] If there is at least one paired device that conforms to the preset update strategy, then all paired devices that conform to the preset update strategy are recorded as target devices;

[0097] Cancel the pairing of all target devices with the base station, and establish a pairing between the floor cleaning robot and the base station.

[0098] 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 instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0099] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0100] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for pairing base stations for a floor cleaning robot, characterized in that, include: The system receives a pairing instruction from the floor cleaning robot and determines whether the number of paired devices at the base station has reached a preset value. The pairing instruction includes a pairing request to the base station, the communication signal type of the floor cleaning robot, and / or the pairing interface type. The communication signal type is used to determine whether the communication signal type of the floor cleaning robot matches that of the base station, and the pairing interface type is used to determine whether the pairing interface type of the floor cleaning robot matches that of the base station. If the number of currently paired devices of the base station reaches a preset value, then it is determined whether there is a paired device that conforms to a preset update strategy among all the currently paired devices of the base station. The preset update strategy includes the currently paired devices of the base station being scrapped, damaged, or exceeding the preset signal range of the base station. If there is at least one paired device that conforms to the preset update strategy, then all paired devices that conform to the preset update strategy are recorded as target devices; Cancel the pairing of all target devices with the base station, and establish a pairing between the floor cleaning robot and the base station; If no paired device that matches the preset update strategy is found, a pairing failure message is sent to the floor cleaning robot. The step of determining whether the number of currently paired devices at the base station has reached a preset value includes: Detect whether the floor cleaning robot conforms to the preset base station matching strategy; If the base station matching strategy is met, then it is determined whether the number of devices paired with the base station has reached a preset value. The detection of whether the floor cleaning robot conforms to the preset base station matching strategy includes: The first communication signal type and the first pairing interface type of the floor cleaning robot contained in the pairing instruction are obtained. The first communication signal type is the wireless signal frequency band currently used by the floor cleaning robot, and the first pairing interface type is the interface data of the floor cleaning robot connecting and pairing with the base station. When the first communication signal type matches the second communication signal type of the base station, and the first pairing interface type matches the second pairing interface type of the base station, it is confirmed that the floor cleaning robot conforms to the preset base station matching strategy. If the first communication signal type does not match the second communication signal type of the base station, or if the first pairing interface type does not match the second pairing interface type of the base station, it is confirmed that the floor cleaning robot does not conform to the preset base station matching strategy.

2. The method for pairing base stations of a floor cleaning robot as described in claim 1, characterized in that, After determining whether the number of currently paired devices at the base station has reached a preset value, the method further includes: If the number of paired devices at the base station has not reached the preset value, then a pairing is established between the floor cleaning robot and the base station.

3. The method for pairing base stations for floor cleaning robots as described in claim 1, characterized in that, The step of determining whether there is a paired device that conforms to a preset update policy among all the paired devices currently paired with the base station includes: When the paired device currently paired with the base station is scrapped, damaged, or exceeds the preset signal range of the base station, the paired device is confirmed to meet the preset update strategy; If the paired device currently paired with the base station is not scrapped or damaged, and does not exceed the preset signal range of the base station, it is confirmed that the paired device does not meet the preset update strategy.

4. The method for pairing base stations for floor cleaning robots as described in claim 1, characterized in that, After detecting whether the floor cleaning robot conforms to the preset base station matching strategy, the method further includes: If the matching strategy of the base station is not met, a pairing failure message is sent to the floor cleaning robot.

5. A pairing device for a floor cleaning robot base station, characterized in that, include: The receiving module is used to receive pairing instructions sent by the floor cleaning robot, and to determine whether the number of devices currently paired with the base station has reached a preset value. The pairing instructions include a pairing request to the base station, the communication signal type of the floor cleaning robot, and / or the pairing interface type. The communication signal type is used to determine whether the communication signal type of the floor cleaning robot matches that of the base station; the pairing interface type is used to determine whether the pairing interface type of the floor cleaning robot matches that of the base station. The judgment module is used to determine whether there is a paired device that conforms to a preset update strategy among all the paired devices currently paired with the base station if the number of currently paired devices of the base station reaches a preset value. The preset update strategy includes the currently paired devices of the base station being scrapped, damaged, or exceeding the preset signal range of the base station. The recording module is used to record all paired devices that conform to the preset update strategy as target devices if there is at least one paired device that conforms to the preset update strategy. A pairing module is used to cancel the pairing of all the target devices with the base station and establish a pairing between the floor cleaning robot and the base station; The first prompt submodule is used to send a pairing failure prompt message to the floor cleaning robot if there is no paired device that meets the preset update strategy. The receiving module further includes: The detection submodule is used to detect whether the floor cleaning robot conforms to the preset base station matching strategy; The judgment submodule is used to determine whether the number of devices paired with the base station has reached a preset value if the base station matching strategy is met. The detection of whether the floor cleaning robot conforms to the preset base station matching strategy includes: The acquisition submodule is used to acquire the first communication signal type and the first pairing interface type of the floor cleaning robot contained in the pairing instruction. The first communication signal type is the wireless signal frequency band currently used by the floor cleaning robot, and the first pairing interface type is the interface data of the floor cleaning robot connecting and pairing with the base station. The third confirmation submodule is used to confirm that the floor cleaning robot conforms to the preset base station matching strategy when the first communication signal type matches the second communication signal type of the base station and the first pairing interface type matches the second pairing interface type of the base station. The fourth confirmation submodule is used to confirm that the floor cleaning robot does not conform to the preset base station matching strategy when the first communication signal type does not match the second communication signal type of the base station, or when the first pairing interface type does not match the second pairing interface type of the base station.

6. A base station pairing system, characterized in that, It includes a floor cleaning robot and a base station, the base station including a control module for performing the floor cleaning robot base station pairing method as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the floor cleaning robot base station pairing method as described in any one of claims 1 to 4.

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