Base station moving method and device of a robot sweeper and the robot sweeper

Abstract

The application provides a base station moving method and device of a sweeping robot and the sweeping robot. Whether the base station has a moving capability is determined. If the base station has the moving capability, the base station sends position information to be moved, and moves to a position corresponding to the position information to be moved. If the base station does not have the moving capability, environment information is collected, and the position information to be moved is determined based on the environment information. The base station is connected to a fixing device and is moved to the position corresponding to the position information to be moved. If the base station and the sweeping robot are both located at the position corresponding to the position information to be moved, the base station is used for charging operation and / or water adjustment operation. In this way, the base station and the sweeping robot can be moved to the position corresponding to the position information to be moved, and the charging operation and / or the water adjustment operation can be performed. Compared with a scheme in which the base station is not movable, the cleaning efficiency of the sweeping robot can be improved, and the use experience of a user can be improved.

Description

Technical Field

[0001] This invention relates to the field of smart home / intelligent home technology, and in particular to a base station movement method, device, and robot vacuum cleaner. Background Technology

[0002] With the development of technology, smart home appliances are playing an increasingly important role in users' daily lives, especially vacuum cleaners, which can help users clean their living areas and greatly facilitate people's lives.

[0003] Current sweeping devices can be divided into robotic vacuum cleaners and base stations. Robotic vacuum cleaners are used to clean living areas, while base stations are used for charging, refilling water, and other functions. However, in current sweeping devices, the base station cannot be moved, which affects its ability to charge and refill water for the robotic vacuum cleaner, reducing its cleaning efficiency and lowering the user experience. Summary of the Invention

[0004] This invention provides a base station movement method, device, and robot vacuum cleaner to address the shortcomings of low cleaning efficiency and poor user experience in existing robot vacuum cleaners, thereby improving the cleaning efficiency and user experience of robot vacuum cleaners.

[0005] This invention provides a base station movement method for a robotic vacuum cleaner, applicable to robotic vacuum cleaners, the method comprising:

[0006] Determine whether the base station has mobility capabilities;

[0007] When the base station has the mobility capability, it receives the location information to be moved sent by the base station and moves to the location corresponding to the location information to be moved.

[0008] When the base station does not have the mobility capability, environmental information is collected, and the location information to be moved is determined based on the environmental information. The base station is then connected to the base station via a fixed device, and the base station is moved to the location corresponding to the location information to be moved.

[0009] When both the base station and the sweeping robot are located at the positions corresponding to the location information to be moved, charging and / or water volume adjustment operations are performed through the base station.

[0010] According to the present invention, a base station movement method for a sweeping robot is provided, wherein the environmental information includes fixed obstacle information and non-fixed obstacle information;

[0011] The step of determining the location information to be moved based on the environmental information includes:

[0012] Based on the information of the fixed obstacles, the information of the non-fixed obstacles, the current operating status information, and the historical location information, the location information to be moved is determined.

[0013] According to the base station movement method of a sweeping robot provided by the present invention, the historical location information includes at least one;

[0014] The step of determining the location information to be moved based on the fixed obstacle information, the non-fixed obstacle information, the current operating status information, and the historical location information includes:

[0015] Determine whether there is any historical location information that does not overlap with the information on the non-fixed obstacle;

[0016] In the case where there is historical location information that does not overlap with the non-fixed obstacle information, the location information to be moved is determined based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used, wherein the historical location information to be used is the historical location information that does not overlap with the non-fixed obstacle information.

[0017] In the absence of historical location information that does not overlap with the non-fixed obstacle information, based on the fixed obstacle information, the non-fixed obstacle information, and the current operating status information, location information that meets preset location conditions is selected as the location information to be moved.

[0018] According to a base station movement method for a sweeping robot provided by the present invention, the step of determining the location information to be moved based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used includes:

[0019] Based on the current operating status information, determine the predicted distance;

[0020] Based on the information about the fixed obstacles and the information about the non-fixed obstacles, the actual distance is determined;

[0021] The location information to be moved is determined based on the relationship between the location information to be moved, the predicted distance, and the actual distance.

[0022] According to a base station movement method for a sweeping robot provided by the present invention, the step of determining the location information to be moved based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used includes:

[0023] Based on the historical location information to be used, obtain the historical route to be used;

[0024] After connecting to the base station via the fixed device, based on the updated current operating status information, the fixed obstacle information, and the non-fixed obstacle information, a historical route to be used that meets the preset route conditions is determined, and the historical location information to be used corresponding to the historical route to be used that meets the preset route conditions is used as the location information to be moved.

[0025] According to a base station movement method for a sweeping robot provided by the present invention, before the step of receiving the location information to be moved sent by the base station, the method further includes:

[0026] The operation map and the cleaning information generated during this operation are sent to the base station so that the base station can determine the movement location information based on the operation map and the cleaning information.

[0027] The present invention also provides a base station mobile device for a sweeping robot, which is applied to a sweeping robot, and the device includes:

[0028] The determination module is used to determine whether the base station has mobility capabilities;

[0029] The receiving module is configured to receive the location information to be moved sent by the base station when the base station has the mobility capability, and move to the location corresponding to the location information to be moved.

[0030] The driving module is used to collect environmental information when the base station does not have the mobility capability, determine the location information to be moved based on the environmental information, connect to the base station through a fixed device, and drive the base station to move to the location corresponding to the location information to be moved.

[0031] The adjustment module is used to perform charging and / or water volume adjustment operations through the base station when both the base station and the sweeping robot are located at the positions corresponding to the position information to be moved.

[0032] The present invention also provides a sweeping robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the base station movement method of any of the sweeping robots described above.

[0033] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the base station movement method for a sweeping robot as described above.

[0034] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the base station movement method of any of the above-described sweeping robot methods.

[0035] The present invention provides a base station movement method, device, and sweeping robot. By determining whether the base station has mobility capability, if the base station has mobility capability, the sweeping robot receives the location information to be moved sent by the base station and moves to the location corresponding to the location information to be moved. If the base station does not have mobility capability, environmental information is collected, and the location information to be moved is determined based on the environmental information. The sweeping robot is connected to the base station through a fixed device and moves the base station to the location corresponding to the location information to be moved. When both the base station and the sweeping robot are located at the location corresponding to the location information to be moved, the sweeping robot performs charging operation and / or water volume adjustment operation through the base station.

[0036] In this way, the base station and the robotic vacuum cleaner can move to the location corresponding to the desired location information to perform charging and / or water volume adjustment operations. Compared to solutions where the base station cannot move, this improves the cleaning efficiency of the robotic vacuum cleaner and enhances the user experience. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is one of the flowcharts illustrating the base station movement method for the ground robot provided by the present invention;

[0039] Figure 2 This is the second flowchart illustrating the base station movement method for the ground robot provided by the present invention;

[0040] Figure 3 This is a schematic diagram of the base station mobile device of the ground robot provided by the present invention;

[0041] Figure 4 This is a structural schematic diagram of the sweeping robot provided by the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this 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 this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] To improve the cleaning efficiency and user experience of robotic vacuum cleaners, this invention provides a base station movement method, apparatus, robotic vacuum cleaner, non-transitory computer-readable storage medium, and computer program product for robotic vacuum cleaners. The following is in conjunction with… Figure 1 This invention provides a method for moving the base station of a sweeping robot according to an embodiment of the invention.

[0044] like Figure 1 As shown, this embodiment of the invention provides a base station movement method for a robotic vacuum cleaner. The method is applied to a robotic vacuum cleaner and includes:

[0045] S101, determine whether the base station has mobility capability.

[0046] When both the robot vacuum and the base station are in operation, in order to ensure timely charging and / or water volume adjustment for the robot vacuum, thereby guaranteeing the cleaning efficiency of the robot vacuum and the user experience, the robot vacuum can determine whether the base station has mobility.

[0047] In one embodiment, the robotic vacuum cleaner may pre-store mobility information, wherein the mobility information is information characterizing whether the base station has mobility capabilities. Therefore, the robotic vacuum cleaner can determine whether the base station corresponding to it has mobility capabilities, and if it does, execute step S102. If it does not have mobility capabilities, it can execute step S103.

[0048] The pre-stored mobility information can be the mobility information stored when the robot vacuum cleaner leaves the factory.

[0049] In another implementation, the robotic vacuum cleaner can obtain base station movement information preset by the user. If the robotic vacuum cleaner determines that the base station movement information indicates that the base station can be moved, it can consider that the base station has mobility capabilities and therefore can execute step S102. If the robotic vacuum cleaner determines that the base station movement information indicates that the base station cannot be moved, it can consider that the base station does not have mobility capabilities and therefore can execute step S103.

[0050] In this approach, the ability to actively move a base station is determined based on the user-defined base station mobility information, thus improving the user experience. Robotic vacuum cleaners can receive base station mobility information sent by mobile devices such as smartphones, computers, and tablets. All of these are reasonable and will not be specifically limited here.

[0051] S102, receive the location information to be moved sent by the base station, and move to the location corresponding to the location information to be moved.

[0052] If the base station has mobility, it means that both the robot vacuum cleaner and the base station can move actively. In this case, in order to facilitate subsequent charging and / or water volume adjustment operations for the robot vacuum cleaner, it can receive the location information to be moved sent by the base station and move to the location information to be moved.

[0053] In one implementation, after acquiring the target location information, the robot vacuum cleaner can determine whether the target location information is on the trajectory that the robot vacuum cleaner is about to run. If the target location information is on the trajectory that the robot vacuum cleaner is about to run, it can run according to the trajectory that the robot vacuum cleaner is about to run, thereby reaching the position corresponding to the location information to be moved.

[0054] If the target location is not on the trajectory to be taken, the robot vacuum cleaner can use its installed sensors to scan obstacles in real time, thereby determining the route with the fewest obstacles and moving to the location corresponding to the target location.

[0055] If the base station can move actively, before receiving the location information to be moved sent by the base station as described above, the robot vacuum cleaner can send the running map and the cleaning information generated during the current operation to the base station. The base station can determine the location information to be moved based on the running map and the cleaning information.

[0056] After determining the location to be moved, the base station can move to the location corresponding to the location information and send the location information to the robot vacuum cleaner. The robot vacuum cleaner can then perform step S102 as described above. The location represented by the location information is an open area, that is, a location without obstacles.

[0057] S103, collect environmental information, determine the location information to be moved based on the environmental information, connect to the base station through a fixed device, and move the base station to the location corresponding to the location information to be moved.

[0058] If the base station is not mobile, it means that the base station cannot move actively. In order to facilitate the base station to charge the robot vacuum cleaner and / or adjust the water volume in open areas, the robot vacuum cleaner can collect environmental information.

[0059] After collecting environmental information, the location to be moved can be determined based on the environmental information. Since the base station cannot move actively, the robot vacuum cleaner can connect to the base station through a fixed device and drive the base station to the location corresponding to the location to be moved.

[0060] S104, when both the base station and the sweeping robot are located at the positions corresponding to the position information to be moved, the charging operation and / or water volume adjustment operation are performed through the base station.

[0061] When the base station has mobility capabilities, it can determine the adjustment information needed for the robotic vacuum cleaner based on the cleaning information sent by the robot. Then, based on this adjustment information, it can perform charging and / or water volume adjustments.

[0062] When the base station is not mobile, it can determine the current status information of the robot vacuum cleaner after connecting to it via a fixed device, and then perform charging and / or water volume adjustment operations based on the current status information.

[0063] In one implementation, if the information to be adjusted or the current status information indicates that the remaining battery power of the robot vacuum cleaner is lower than a preset battery power threshold, the robot vacuum cleaner can be charged.

[0064] If the pending adjustment information or current status information indicates that the remaining water level of the robot vacuum is lower than the preset water level threshold, the robot vacuum can be refilled with water. If the pending adjustment information or current status information indicates that the robot vacuum has not had its water changed for a preset period of time, the robot vacuum can be drained into the water, and then refilled with water after draining.

[0065] In this way, the base station and the robotic vacuum cleaner can move to the location corresponding to the desired location information to perform charging and / or water volume adjustment operations. Compared to solutions where the base station cannot move, this improves the cleaning efficiency of the robotic vacuum cleaner and enhances the user experience.

[0066] As one embodiment of the present invention, the aforementioned environmental information may include fixed obstacle information and non-fixed obstacle information. The fixed obstacle information may be information about obstacles already stored on the current area map. That is, information about obstacles collected and stored by the robot vacuum cleaner during previous cleaning processes.

[0067] Non-fixed obstacle information refers to obstacle information that is not stored on the current area map. In other words, it's information about obstacles that the robot vacuum cleaner did not store during previous cleaning operations.

[0068] As one implementation method, when the robot vacuum cleaner performs its first cleaning cycle, it can scan the current area map for obstacles. On subsequent cleaning cycles, the obstacle information from the second scan is compared with that from the first scan. Obstacles with identical location information and outlines meeting preset consistency criteria are designated as fixed obstacles and stored for use in the next cleaning cycle. In other words, the robot vacuum cleaner can update the fixed obstacle information each time it performs a cleaning cycle.

[0069] The steps described above for determining the location information to be moved based on the environmental information may include:

[0070] Based on the information of the fixed obstacles, the information of the non-fixed obstacles, the current operating status information, and the historical location information, the location information to be moved is determined.

[0071] The current operating status information refers to the operating status of the robot vacuum cleaner during this cleaning cycle. The historical location information refers to the movement location information of the robot vacuum cleaner during previous cleaning cycles.

[0072] When the robot vacuum cleaner runs for the first time and performs its cleaning operation, it can play voice prompts for the user to set the location for charging and / or water level adjustment, and use the user-set location as its movement location information. Then, when the robot vacuum cleaner performs its second cleaning operation, the movement location information from the first run can be used as its historical location information.

[0073] In one implementation, historical location information may include at least one, such as Figure 2 As shown, the step of determining the location information to be moved based on the fixed obstacle information, non-fixed obstacle information, and historical location information may include:

[0074] S201 determines whether there is historical location information that does not overlap with the information on the non-fixed obstacle.

[0075] Historical location information refers to the location of the base station and the robot vacuum cleaner during overcharging and / or water adjustment operations, while fixed obstacle information refers to the information of obstacles whose positions remain unchanged in the current area map.

[0076] Therefore, after obtaining information about non-fixed obstacles and historical location information, it can be determined whether there is historical location information that overlaps with the non-fixed obstacle information. If there is historical location information that does not overlap with the non-fixed obstacle information, it means that during the current cleaning operation, the location corresponding to the non-overlapping historical location information is still an open area. The base station and the robot vacuum cleaner can perform charging operations and / or water volume adjustment operations at the location corresponding to the non-overlapping historical location information. Therefore, if there is historical location information that does not overlap with the non-fixed obstacle information, step S202 can be executed.

[0077] If the information on non-fixed obstacles overlaps with the historical location information, it indicates that the locations corresponding to the historical location information are not open areas during this cleaning operation. In order to ensure that the base station can perform charging operations and / or water volume adjustment operations for the robot vacuum cleaner, step S203 can be executed if there is no historical location information that does not overlap with the information on non-fixed obstacles.

[0078] S202, based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used, determine the location information to be moved.

[0079] In the case where historical location information that does not overlap with non-fixed obstacle information exists, i.e., when there is historical location information to be used, the first method can determine whether the robot vacuum can move to the location corresponding to the historical location information to be used based on the current operating status information. Here, the historical location information to be used refers to historical location information that does not overlap with non-fixed obstacle information.

[0080] In one implementation, if the historical location information to be used includes one location, it can be determined whether the robot vacuum cleaner can move to the location corresponding to the historical location information to be used based on the current operating status information.

[0081] In another implementation, when there are multiple historical location information entries to be used, the historical location information that meets the preset distance condition can be determined from these multiple entries. Then, based on the current operating status information, it can be determined whether the robot vacuum cleaner can move to the location corresponding to the historical location information that meets the preset distance condition.

[0082] The preset distance condition can be either being the closest possible location to the base station, or meeting a preset distance threshold. These are all reasonable options and will not be specifically limited here.

[0083] In one implementation, the current operating status information may include operating mode, operating time, remaining battery power, and remaining water volume. The predicted distance that the robot vacuum cleaner can move can be determined based on the operating mode, operating time, remaining battery power, and remaining water volume. The predicted distance includes the predicted distance corresponding to the battery level and the predicted distance corresponding to the water volume.

[0084] Based on information about fixed and non-fixed obstacles, the distance the robot vacuum cleaner travels to the base station is determined, and the sum of the distance the robot vacuum cleaner travels with the base station to the location corresponding to the location information to be moved is used as the actual distance. Then, based on the relationship between the actual distance and the predicted distance, the location information to be moved can be determined.

[0085] If the actual distance is greater than the minimum predicted distance, the robot vacuum cannot move to the location corresponding to the historical information to be used. If the actual distance is not greater than the minimum predicted distance, the robot vacuum can move to the location corresponding to the historical information to be used.

[0086] If it is determined that the robot vacuum can move to the location corresponding to the historical information to be used, the historical information to be used can be identified as the location information to be moved. Then, during the movement, obstacle information can be scanned in real time, and the robot can move to the location corresponding to the location information to be moved.

[0087] In one implementation, the robotic vacuum cleaner can be equipped with a temperature sensor. During its movement, it can determine whether obstacles such as people or pets, which the temperature sensor can detect, are present. If such obstacles are present, the robot can wait for a preset waiting time until the person or pet is no longer on the path before continuing to move. If, after the preset waiting time, the person or pet is still on the path, the robot can fine-tune its path to reach the location corresponding to the desired location.

[0088] If it is determined that the robot vacuum cleaner cannot move to the location corresponding to the historical information to be used, step S203 can be executed, which is to select the location information that meets the preset location conditions as the location information to be moved based on the fixed obstacle information, non-fixed obstacle information and current running status information.

[0089] The second method involves obtaining the historical route to be used based on the historical location information to be used. In one implementation, if the historical location information to be used includes one instance, the historical route to be used may include at least one instance. In another implementation, if the historical location information to be used includes multiple instances, each historical route to be used may include at least one instance.

[0090] After connecting to the base station via the fixed device, based on the current operating status information, a historical route to be used that meets the preset route conditions is determined, and the historical location information corresponding to the historical route to be used that meets the preset route conditions is used as the location information to be moved.

[0091] Once the historical route to be used is obtained, the robotic vacuum cleaner can first move to the location corresponding to the base station and connect to the base station via a fixed device. After the robotic vacuum cleaner connects to the base station via the fixed device, it can update its current operating status information, obtaining the updated current operating status information. This updated current operating status information is the operating status information of the robotic vacuum cleaner after connecting to the base station via the fixed device.

[0092] Furthermore, the robot vacuum cleaner can determine a historical route that meets the preset route conditions based on the updated current operating status information and non-fixed obstacle information.

[0093] In one implementation, it can be determined whether the information on non-fixed obstacles overlaps with the historical route to be used. If they overlap, it can be determined that there is no historical route to be used that meets the preset route conditions.

[0094] In cases where there is non-overlapping historical routes, these non-overlapping routes are used as historical routes to be verified. Based on the updated current operating status information, the updated predicted distance that the robot vacuum can travel can be determined. This updated predicted distance includes the predicted distance corresponding to battery level and the predicted distance corresponding to water level.

[0095] Based on information about fixed and non-fixed obstacles, the distance that the robot vacuum cleaner moves the base station to the historical route to be verified, and the distance value that the robot vacuum cleaner moves the base station to the historical location information to be used corresponding to the historical route to be verified are determined and used as the updated actual distance.

[0096] Furthermore, based on the relationship between the updated predicted distance and the updated actual distance, the location information to be moved can be determined. If the updated actual distance is greater than the minimum distance in the updated predicted distance, it is determined that the robot vacuum cannot move to the location corresponding to the historical location information to be used along the historical route to be verified. If the updated actual distance is not greater than the minimum distance in the updated predicted distance, it is determined that the robot vacuum can move to the location corresponding to the historical location information to be used along the historical route to be verified.

[0097] If it is determined that the robot vacuum can move to the location corresponding to the historical location information to be used, the historical location information to be used can be determined as the location information to be moved. Then, during the movement, obstacle information can be scanned in real time and the robot can move to the location corresponding to the location information to be moved.

[0098] If it is determined that the robot vacuum cleaner cannot move to the location corresponding to the historical location information to be used for the historical route to be verified, step S203 can be executed, which is to select the location information that meets the preset location conditions as the location information to be moved based on the fixed obstacle information, non-fixed obstacle information and current running status information.

[0099] S203, based on the fixed obstacle information, the non-fixed obstacle information and the current operating status information, select the location information that meets the preset location conditions as the location information to be moved.

[0100] In the absence of historical location information that does not overlap with non-fixed obstacle information, or in the presence of historical location information that does not overlap with non-fixed obstacle information and it is determined that the robot vacuum cleaner cannot move to the location corresponding to the historical information to be used, location information that meets the preset location conditions can be determined from the current area map based on fixed obstacle information, non-fixed obstacle information, and current operating status information, and used as the location information to be moved.

[0101] The preset location conditions can be that there are no obstacles, the corresponding area is larger than a preset area threshold, and the current operating status information can ensure that the robot vacuum can move to the desired location when there are few obstacles.

[0102] In other words, based on information about fixed obstacles, information about non-fixed obstacles, and information about the current operating status, a relatively open area can be determined from the current area map, and the location that the robot vacuum cleaner moves to via a route with fewer obstacles can be used as the location to be moved.

[0103] In one implementation, after determining the location information to be moved, the robot vacuum cleaner can mark the location information in its stored area map so that it can subsequently move the base station to the location corresponding to the location information to be moved.

[0104] As can be seen, in this embodiment, it is possible to determine whether there is historical location information that does not overlap with the information of non-fixed obstacles, and then determine the location information to be moved, so that the sweeping robot can drive the base station to the location corresponding to the location information to be moved.

[0105] In the solution provided by this invention, when the base station has no active movement function, the sweeping robot performs a preliminary map scan. Through the fixing device between the sweeping robot and the base station, the sweeping robot drives the base station to the position corresponding to the position information to be moved. During the movement, the sweeping robot can effectively avoid obstacles through the sensor module and the anti-collision module, and update its position in the current area map in real time through the precise positioning module and the WiFi (Wireless-Fidelity) module.

[0106] The base station moving device of the sweeping robot provided by the present invention will be described below. The base station moving device of the sweeping robot described below and the base station moving method of the sweeping robot described above can be referred to in correspondence.

[0107] like Figure 3 As shown, this embodiment of the invention provides a base station mobile device for a sweeping robot, applied to a sweeping robot, the device comprising:

[0108] The determination module 310 is used to determine whether the base station has mobility capability;

[0109] The receiving module 320 is configured to receive the location information to be moved sent by the base station when the base station has the mobility capability, and move to the location corresponding to the location information to be moved.

[0110] The driving module 330 is used to collect environmental information when the base station does not have the mobility capability, and determine the location information to be moved based on the environmental information, connect to the base station through a fixed device, and drive the base station to move to the location corresponding to the location information to be moved.

[0111] The adjustment module 340 is used to perform charging and / or water volume adjustment operations through the base station when both the base station and the sweeping robot are located at the positions corresponding to the position information to be moved.

[0112] As can be seen, the base station mobile device for the sweeping robot provided by the present invention can determine whether the base station has mobility capability. If the base station has mobility capability, it can receive the location information to be moved sent by the base station and move to the location corresponding to the location information to be moved. If the base station does not have mobility capability, it can collect environmental information and determine the location information to be moved based on the environmental information. It can then connect to the base station through a fixed device and drive the base station to move to the location corresponding to the location information to be moved. When both the base station and the sweeping robot are located at the location corresponding to the location information to be moved, the base station can perform charging operations and / or water volume adjustment operations.

[0113] In this way, the base station and the robotic vacuum cleaner can move to the location corresponding to the desired location information to perform charging and / or water volume adjustment operations. Compared to solutions where the base station cannot move, this improves the cleaning efficiency of the robotic vacuum cleaner and enhances the user experience.

[0114] As one embodiment of the present invention, the above-mentioned environmental information includes fixed obstacle information and non-fixed obstacle information.

[0115] The aforementioned driving module 330 may include: a position information determination unit, used to determine the position information to be moved based on the fixed obstacle information, the non-fixed obstacle information, the current operating status information, and the historical position information.

[0116] As one embodiment of the present invention, the above-mentioned historical location information includes at least one.

[0117] The aforementioned location information determination unit may include:

[0118] The first determining subunit is used to determine whether there is historical location information that does not overlap with the non-fixed obstacle information.

[0119] The second determining subunit is used to determine the location information to be moved based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used, when there is historical location information that does not overlap with the non-fixed obstacle information.

[0120] The historical location information to be used is the historical location information that does not overlap with the non-fixed obstacle information.

[0121] The third determining subunit is used to select, based on the fixed obstacle information, the non-fixed obstacle information, and the current operating status information, a location information that meets preset location conditions as the location information to be moved, in the absence of historical location information that does not overlap with the non-fixed obstacle information.

[0122] As one embodiment of the present invention, the second determining subunit is specifically used to determine the predicted distance based on the current operating status information;

[0123] Based on the information about the fixed obstacles and the information about the non-fixed obstacles, the actual distance is determined;

[0124] The location information to be moved is determined based on the relationship between the location information to be moved, the predicted distance, and the actual distance.

[0125] As one embodiment of the present invention, the second determining subunit is specifically used to obtain the historical route to be used based on the historical location information to be used;

[0126] After connecting to the base station via the fixed device, based on the updated current operating status information, the fixed obstacle information, and the non-fixed obstacle information, a historical route to be used that meets the preset route conditions is determined, and the historical location information to be used corresponding to the historical route to be used that meets the preset route conditions is used as the location information to be moved.

[0127] As one embodiment of the present invention, the above-mentioned apparatus may further include:

[0128] The sending module is used to send the running map and the cleaning information generated in this operation to the base station before receiving the moving location information sent by the base station, so that the base station can determine the moving location information based on the running map and the cleaning information.

[0129] Figure 4 An example is a schematic diagram of the physical structure of a robotic vacuum cleaner, such as... Figure 4As shown, the robotic vacuum cleaner may include a processor 410, a communication interface 420, a memory 430, and a communication bus 440. The processor 410, communication interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a base station movement method for the robotic vacuum cleaner. This method includes: determining whether the base station has mobility capability; if the base station has mobility capability, receiving the location information to be moved sent by the base station and moving to the location corresponding to the location information; if the base station does not have mobility capability, collecting environmental information and determining the location information to be moved based on the environmental information; connecting to the base station through a fixed device and moving the base station to the location corresponding to the location information; and when both the base station and the robotic vacuum cleaner are located at the location corresponding to the location information, performing charging and / or water volume adjustment operations through the base station.

[0130] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0131] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the base station movement method for the sweeping robot provided by the above methods. The method includes: determining whether the base station has the ability to move; if the base station has the ability to move, receiving the location information to be moved sent by the base station and moving to the location corresponding to the location information to be moved; if the base station does not have the ability to move, collecting environmental information and determining the location information to be moved based on the environmental information; connecting to the base station through a fixed device and driving the base station to move to the location corresponding to the location information to be moved; and when both the base station and the sweeping robot are located at the location corresponding to the location information to be moved, performing charging operation and / or water volume adjustment operation through the base station.

[0132] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a base station movement method for a sweeping robot provided by the above methods. The method includes: determining whether the base station has mobility capability; if the base station has mobility capability, receiving the location information to be moved sent by the base station and moving to the location corresponding to the location information to be moved; if the base station does not have mobility capability, collecting environmental information and determining the location information to be moved based on the environmental information; connecting to the base station through a fixing device and driving the base station to move to the location corresponding to the location information to be moved; and when both the base station and the sweeping robot are located at the location corresponding to the location information to be moved, performing charging operation and / or water volume adjustment operation through the base station.

[0133] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0134] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; 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; and these 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.

Claims

1. A method for moving the base station of a robotic vacuum cleaner, characterized in that, Applied to robotic vacuum cleaners, the method includes: Determine whether the base station has mobility capabilities; When the base station has the mobility capability, it receives the location information to be moved sent by the base station and moves to the location corresponding to the location information to be moved. When the base station does not have the mobility capability, environmental information is collected, and the location information to be moved is determined based on the environmental information. The base station is then connected to the base station via a fixed device, and the base station is moved to the location corresponding to the location information to be moved. When both the base station and the sweeping robot are located at the positions corresponding to the location information to be moved, charging and / or water volume adjustment operations are performed through the base station. The environmental information includes information on fixed obstacles and information on non-fixed obstacles; The step of determining the location information to be moved based on the environmental information includes: Based on the fixed obstacle information, the non-fixed obstacle information, the current operating status information, and the historical location information, the location information to be moved is determined; The historical location information includes at least one; The step of determining the location information to be moved based on the fixed obstacle information, the non-fixed obstacle information, the current operating status information, and the historical location information includes: Determine whether there is any historical location information that does not overlap with the information on the non-fixed obstacle; In the case where there is historical location information that does not overlap with the non-fixed obstacle information, the location information to be moved is determined based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used, wherein the historical location information to be used is the historical location information that does not overlap with the non-fixed obstacle information. In the absence of historical location information that does not overlap with the non-fixed obstacle information, based on the fixed obstacle information, the non-fixed obstacle information, and the current operating status information, location information that meets preset location conditions is selected as the location information to be moved. The step of determining the location information to be moved based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used includes: Based on the current operating status information, determine the predicted distance; Based on the information about the fixed obstacles and the information about the non-fixed obstacles, the actual distance is determined; The location information to be moved is determined based on the relationship between the location information to be moved, the predicted distance, and the actual distance.

2. The base station movement method for a sweeping robot according to claim 1, characterized in that, The step of determining the location information to be moved based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used includes: Based on the historical location information to be used, obtain the historical route to be used; After connecting to the base station via the fixed device, based on the updated current operating status information, the fixed obstacle information, and the non-fixed obstacle information, a historical route to be used that meets the preset route conditions is determined, and the historical location information to be used corresponding to the historical route to be used that meets the preset route conditions is used as the location information to be moved.

3. The base station movement method for a sweeping robot according to claim 1 or 2, characterized in that, Before the step of receiving the location information to be moved sent by the base station, the method further includes: The operation map and the cleaning information generated during this operation are sent to the base station so that the base station can determine the movement location information based on the operation map and the cleaning information.

4. A base station mobile device for a sweeping robot, characterized in that, The device, used in a robotic vacuum cleaner, includes: The determination module is used to determine whether the base station has mobility capabilities; The receiving module is configured to receive the location information to be moved sent by the base station when the base station has the mobility capability, and move to the location corresponding to the location information to be moved. The driving module is used to collect environmental information when the base station does not have the mobility capability, determine the location information to be moved based on the environmental information, connect to the base station through a fixed device, and drive the base station to move to the location corresponding to the location information to be moved. The adjustment module is used to perform charging and / or water volume adjustment operations through the base station when both the base station and the sweeping robot are located at the positions corresponding to the position information to be moved. The environmental information includes information on fixed obstacles and information on non-fixed obstacles; The step of determining the location information to be moved based on the environmental information includes: Based on the fixed obstacle information, the non-fixed obstacle information, the current operating status information, and the historical location information, the location information to be moved is determined; The historical location information includes at least one; The step of determining the location information to be moved based on the fixed obstacle information, the non-fixed obstacle information, the current operating status information, and the historical location information includes: Determine whether there is any historical location information that does not overlap with the information on the non-fixed obstacle; In the case where there is historical location information that does not overlap with the non-fixed obstacle information, the location information to be moved is determined based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used, wherein the historical location information to be used is the historical location information that does not overlap with the non-fixed obstacle information. In the absence of historical location information that does not overlap with the non-fixed obstacle information, based on the fixed obstacle information, the non-fixed obstacle information, and the current operating status information, location information that meets preset location conditions is selected as the location information to be moved. The step of determining the location information to be moved based on the current operating status information, the fixed obstacle information, the non-fixed obstacle information, and the historical location information to be used includes: Based on the current operating status information, determine the predicted distance; Based on the information about the fixed obstacles and the information about the non-fixed obstacles, the actual distance is determined; The location information to be moved is determined based on the relationship between the location information to be moved, the predicted distance, and the actual distance.

5. A robotic vacuum cleaner, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the base station movement method for the sweeping robot as described in any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the base station movement method for the sweeping robot as described in any one of claims 1 to 3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the base station movement method for the sweeping robot as described in any one of claims 1 to 3.

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