Piling method, device, system and robot for a robot vacuum cleaner

Abstract

The application relates to the technical field of sweeping robots, and provides a method, device and system for returning a sweeping robot to a base station and the sweeping robot, the method comprising: acquiring environment point cloud data, wherein the environment point cloud data is point cloud data of an environment in which a base station is located and scanned by the sweeping robot; determining the base station and a calibration object according to the environment point cloud data; determining placement offset information of the base station relative to the calibration object, wherein the placement offset information is used to represent an offset condition of an entering direction of the sweeping robot into the base station relative to a normal of the calibration object; and controlling the sweeping robot to perform a returning operation to the base station according to the placement offset information. The method can shorten the returning time of the sweeping robot to the base station and reduce the time for returning to the base station.

Description

Technical Field

[0001] This application relates to the field of sweeping robot technology, and in particular to a sweeping robot mounting method, device, system, and sweeping robot. Background Technology

[0002] Robotic vacuum cleaners are becoming increasingly common in homes. Their advantage lies in their ability to automatically return to a charging station (also known as a charging dock) to recharge after completing cleaning tasks or when their battery is low. However, in actual use, the charging station can be misaligned—for example, by being accidentally kicked by a user or by children playing—due to its relatively poor adhesion to the ground. This can lead to problems such as the robot vacuum failing to climb the dock due to misalignment, or the robot pushing against the dock and causing it to wander aimlessly. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, apparatus, system for mounting a sweeping robot on a stake, and a sweeping robot.

[0004] In a first aspect, embodiments of this application provide a method for mounting a sweeping robot on a designated docking station, comprising:

[0005] Acquire environmental point cloud data, which is the point cloud data of the environment where the base station is located, scanned by the sweeping robot;

[0006] Based on the environmental point cloud data, the base station and calibration objects are determined;

[0007] Determine the placement offset information of the base station relative to the calibration object, the placement offset information being used to indicate the offset of the entry direction of the sweeping robot into the base station relative to the normal of the calibration object;

[0008] Based on the placement offset information, the robot vacuum cleaner is controlled to perform a docking operation to return to the base station.

[0009] In one embodiment, determining the calibration object based on the environmental point cloud data includes:

[0010] Based on the environmental point cloud data, at least two target obstacles are identified;

[0011] Among at least two target obstacles, the target obstacle that meets the calibration conditions is selected as the calibration object.

[0012] In one embodiment, determining at least two target obstacles based on the environmental point cloud data includes:

[0013] Based on the environmental point cloud data, multiple obstacles were identified;

[0014] Multiple obstacles are fitted along a direction perpendicular to the normal of each obstacle to generate multiple line segments;

[0015] From the multiple line segments, line segments with a length greater than a preset length threshold are selected as target obstacles.

[0016] In one embodiment, selecting a target obstacle that meets the calibration criteria from at least two target obstacles as the calibration object includes:

[0017] Calculate the relative distance between each of the target obstacles and the base station;

[0018] Select the target obstacle with the smallest relative distance as the calibration object.

[0019] In one embodiment, determining the placement offset information of the base station relative to the calibration object includes:

[0020] Determine the centerline corresponding to the direction of entry;

[0021] The placement offset information is determined based on the center line and the normal of the calibration object.

[0022] In one embodiment, determining the placement offset information based on the centerline and the normal of the calibration object includes:

[0023] Determine the first normal vector of the centerline and the second normal vector of the normal to the calibration object;

[0024] The placement offset information is determined based on the first normal vector and the second normal vector.

[0025] In one embodiment, the placement offset information includes the angle between the centerline corresponding to the entry direction and the normal of the calibration object. The step of controlling the sweeping robot to perform a docking operation to return to the base station based on the placement offset information includes:

[0026] Determine whether the included angle is within the preset included angle range;

[0027] If so, control the sweeping robot to perform a docking operation to return to the base station;

[0028] If not, control the sweeping robot to push the base station so that the corner is within the preset corner range.

[0029] In one embodiment, the base station includes opposing first and second sides, and controlling the sweeping robot to push the base station such that the included angle is within a preset included angle range includes:

[0030] If it is detected that the first distance between the first side and the target is greater than the second distance between the second side and the target, then the robot vacuum cleaner is controlled to move to the first side and use the second side as a fixed part to push the first side closer to the target so that the angle is within a preset angle range;

[0031] If the first distance between the first side and the calibration object is detected to be less than or equal to the second distance between the second side and the calibration object, the robot vacuum cleaner is controlled to move to the second side and use the first side as a fixed part to push the second side closer to the calibration object so that the included angle is within a preset included angle range.

[0032] In one embodiment, before controlling the sweeping robot to perform the docking operation to return to the base station, the method further includes:

[0033] The base station is pushed in parallel towards the target object.

[0034] Secondly, embodiments of this application also provide a mounting device for a sweeping robot, comprising:

[0035] The acquisition module is used to acquire environmental point cloud data, which is the point cloud data of the environment where the sweeping robot scans the base station;

[0036] The first determining module is used to determine the base station and the calibration object based on the environmental point cloud data;

[0037] The second determining module is used to determine the placement offset information of the base station relative to the calibration object, wherein the placement offset information is used to indicate the offset of the entry direction of the sweeping robot into the base station relative to the normal of the calibration object;

[0038] The control module is used to control the sweeping robot to perform a docking operation to return to the base station based on the placement offset information.

[0039] Thirdly, this application also provides a docking system for a sweeping robot, including: a sweeping robot and a base station;

[0040] The robotic vacuum cleaner is used to acquire environmental point cloud data, which is the point cloud data of the environment where the base station is located, scanned by the robotic vacuum cleaner; and the base station and the calibration object are determined based on the environmental point cloud data.

[0041] The sweeping robot is also used to determine the placement offset information of the base station relative to the calibration object, the placement offset information being used to indicate the offset of the entry direction of the sweeping robot into the base station relative to the normal of the calibration object; and according to the placement offset information, to perform a stake-mounting operation to return to the base station.

[0042] Fourthly, this application also provides a sweeping robot, the vehicle including a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the above-described sweeping robot mounting method.

[0043] Fifthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed on a processor, implements the above-described method for mounting a sweeping robot.

[0044] The embodiments of this application have the following beneficial effects:

[0045] The method for mounting a robotic vacuum cleaner to a charging station in this embodiment first determines the relationship between the charging station and the target object based on point cloud data of the environment where the charging station is located. It then further determines the placement offset of the charging station relative to the target object, thereby controlling the robotic vacuum cleaner to move the charging station closer to the target object to stabilize its position. Finally, it performs the mounting operation, achieving a rapid return to the charging station. This method provides a novel way for robotic vacuum cleaners to mount charging stations, shortening the mounting time and improving mounting efficiency. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating the method for mounting a sweeping robot to a stake according to an embodiment of this application is shown;

[0048] Figure 2 A flowchart illustrating the method for determining target obstacles in a sweeping robot mounting method according to an embodiment of this application is shown.

[0049] Figure 3 This diagram illustrates a method for mounting a sweeping robot according to an embodiment of the present application, in which the base station is placed at an angle.

[0050] Figure 4 This illustration shows a schematic diagram of a sweeping robot pushing a base station to move, according to an embodiment of this application.

[0051] Figure 5 This illustration shows a schematic diagram of a base station being pushed forward and placed close to a calibration object according to an embodiment of this application.

[0052] Figure 6A schematic diagram of the mounting device for a sweeping robot according to an embodiment of this application is shown;

[0053] Figure 7 A schematic diagram of a sweeping robot according to an embodiment of this application is shown.

[0054] Explanation of key component symbols:

[0055] 10-Sweeping robot; 20-Base station; 30-Calibration object; 100-Pile mounting device; 110-Acquisition module; 120-First determination module; 130-Second determination module; 140-Control module; 11-Memory; 12-Processor; 13-LiDAR. Detailed Implementation

[0056] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0057] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0058] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0059] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0060] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0061] In response to the possibility that the charging base station 20 may be misaligned when the robot vacuum cleaner 10 returns to the base station 20 for charging, this application proposes a method for the robot vacuum cleaner to be charged. This method mainly utilizes the lidar installed on the robot vacuum cleaner 10 to obtain environmental point cloud information, and then determines the placement of the base station 20 based on the point cloud data. This allows the robot vacuum cleaner 10 to push the base station 20, enabling it to be charged quickly.

[0062] Please refer to Figure 1 As an example, the method for mounting the sweeping robot on its dock includes steps S110 to S140:

[0063] S110, acquire environmental point cloud data, the environmental point cloud data being the point cloud data of the environment where the sweeping robot 10 is located, scanned by the base station 20.

[0064] As an example, the robotic vacuum cleaner 10 is equipped with a lidar. When it returns to the vicinity of the base station 20, in order to shorten the time for remounting, the lidar can be used to obtain point cloud data of the environment where the base station 20 is located, and then the placement status of the base station 20 can be determined based on the point cloud data. At the same time, considering that the position of the base station 20 may change, in order to quickly locate the pose of the base station 20, the relative position of the base station 20 will also be determined by the corresponding calibration object 30.

[0065] S120, based on the environmental point cloud data, determine the base station 20 and the calibration object 30.

[0066] The marker 30 refers to an object that can be used to mark the relative position of the base station 20. For example, the marker 30 may include, but is not limited to, a wall near the base station 20, or a long obstacle such as next to a sofa. This is because, considering that the base station 20 is not small and needs to be plugged in to work, it is often placed near a wall, sofa, or other similar location.

[0067] In one implementation, the base station 20 is determined by extracting corresponding point cloud data from the point cloud data based on the shape features of the base station 20, thereby determining the pose of the base station 20 in the current environment. This pose includes the position and orientation of the base station 20 relative to the robotic vacuum cleaner 10.

[0068] In one implementation, when determining the calibration object 30, at least two target obstacles can be identified based on the environmental point cloud data; then, among the at least two target obstacles, the target obstacle that meets the calibration object conditions is selected as the calibration object 30. It can be understood that by first selecting multiple target obstacles, the approximate location of the base station 20 can be quickly determined.

[0069] In one implementation, the determination of the aforementioned target obstacle is as follows: Figure 2 As shown, the following sub-steps may be included: S210, based on the environmental point cloud data, first determine multiple obstacles; S220, fit the multiple obstacles along the normal to each obstacle to generate multiple line segments; S230, select line segments with a length greater than a preset length threshold from the multiple line segments as target obstacles.

[0070] It is understandable that, considering that a prerequisite for an obstacle to be considered a target obstacle is that it needs to be long enough, such as a wall, the length of the obstacle is used as a screening criterion to identify suitable target obstacles from the environment.

[0071] Furthermore, after acquiring at least two target obstacles, the relative distance between each target obstacle and the base station 20 is calculated; then, the target obstacle corresponding to the smallest relative distance is selected as the required calibration object 30, so that the position and attitude of the base station 20 relative to the calibration object 30 can be determined.

[0072] S130, determine the placement offset information of base station 20 relative to the calibration object 30, the placement offset information is used to indicate the offset of the entry direction of the sweeping robot 10 into base station 20 relative to the normal direction of calibration object 30.

[0073] It can be understood that the entry direction of the robotic vacuum cleaner 10 into the base station 20 is used to indicate the relative posture of the robotic vacuum cleaner 10 when approaching the base station 20. Exemplarily, when determining the placement offset information of the base station 20 relative to the calibration object 30, the centerline corresponding to the entry direction of the robotic vacuum cleaner 10 into the base station 20 is first determined; then, the placement offset information is determined based on the centerline and the normal of the selected calibration object 30. Specifically, a first normal vector of the centerline and a second normal vector of the normal of the calibration object 30 can be determined; then, the placement offset information is determined based on the first and second normal vectors.

[0074] like Figure 3 As shown, after determining the positions of the calibrator 30 and the base station 20, by first determining the center line corresponding to the entry direction and combining it with the normal of the calibrator 30, the placement offset information between the base station 20 and the calibrator 30 can be obtained. For example, it can be represented by the angle between the center line corresponding to the entry direction and the normal of the calibrator 30.

[0075] S140, based on the placement offset information, control the sweeping robot 10 to perform a pile-up operation to return to the base station 20.

[0076] Taking the aforementioned included angle as an example, exemplarily, when controlling the sweeping robot 10 to perform the docking operation, such as Figure 3 As shown, it can be first determined whether the included angle is within the preset included angle range; if so, the robot vacuum cleaner 10 is controlled to perform the mounting operation to return to the base station 20; if not, the robot vacuum cleaner 10 is controlled to push the base station 20 so that the included angle is within the preset included angle range. The preset included angle range is usually a small angle range, such as no more than 5 to 10 degrees, which can be obtained based on actual testing or experience, and is not limited here.

[0077] It is understandable that by first determining whether the offset between base station 20 and calibration object 30 is too large, if the offset is not too large, the base station can be directly installed; otherwise, if the offset is too large, in order to facilitate the robot vacuum cleaner 10 to be installed directly in front of base station 20, the base station 20 can be moved to a position where its back is as close as possible to parallel with calibration object 30.

[0078] The base station 20 includes a first side and a second side arranged opposite to each other. Preferably, the center line corresponding to the approach direction of the base station 20 divides the base station 20 into a first side and a second side, i.e., left and right halves. In one embodiment, when controlling the sweeping robot 10 to push the base station 20, in a first case, if it is detected that the first distance between the first side of the base station 20 and the calibration object 30 is greater than the second distance between its second side and the calibration object 30, then the sweeping robot 10 is controlled to move towards the first side and use the second side as a fixed part, such as... Figure 4 As shown in (a), the first side of the base station 20 is pushed closer to the calibration object 30, so that the angle between the centerline and the normal of the calibration object 30 is within a preset angle range. At this time, the back of the base station 20 is substantially parallel to the calibration object 30, as shown in (a). Figure 4 As shown in (b).

[0079] Understandably, when the robotic vacuum cleaner 10 moves towards the first side, it can move along the position furthest from the base station 20 and the calibration object 30. Exemplarily, it can determine the position of the obstacle, the base station 20, by building a corresponding point cloud image based on real-time acquired environmental point cloud data, and then find the corresponding position belonging to the base station 20 and furthest from the calibration object 30. This position can be a single point or a small area formed by several points; there is no limitation here. Upon reaching this position, the robotic vacuum cleaner 10 will make contact with that position of the base station 20, and then determine the direction of the thrust based on the angle between the centerline and the normal of the calibration object 30, such as using the direction that reduces the angle as the thrust direction.

[0080] In another scenario, if the first distance between the first side of base station 20 and the calibration object 30 is detected to be less than or equal to the second distance between the second side and the calibration object 30, the robot vacuum cleaner 10 is controlled to move towards the second side and use the first side as a fixed part, pushing the second side of base station 20 closer to the calibration object 30, so that the angle between the centerline and the normal of the calibration object 30 is within the aforementioned preset angle range. Similarly, at this time, the back of base station 20 and the calibration object 30 are essentially parallel. It can be understood that since the second side and the first side are located on opposite sides of the centerline, the process of moving to the second side can be referred to the process of moving to the first side described above, and therefore will not be repeated here.

[0081] As an optional solution, if the distance between base station 20 and calibration object 30 is large, exceeding a preset value, then before controlling the sweeping robot 10 to perform the mounting operation to return to base station 20, the method further includes: pushing base station 20 parallel towards calibration object 30 until base station 20 is in contact with calibration object 30 and then stopping. Figure 5 As shown.

[0082] It is understandable that since the base station 20 is against the wall, it will not move arbitrarily due to the pushing force brought by the sweeping robot 10 during the pile-up process, which makes it easier for the sweeping robot 10 to complete the pile-up process.

[0083] The proposed method for mounting a robotic vacuum cleaner on a marker 30 in this embodiment determines the relationship between the base station 20 and the marker 30 based on point cloud data of the environment where the base station 20 is located, and further determines the placement offset of the base station 20 relative to the marker 30. This allows the robotic vacuum cleaner 10 to control the base station 20 to move closer to the marker 30 to stabilize its position, and finally execute the mounting operation, thus achieving a rapid return to the base station 20. This method avoids the problem of the base station 20 being constantly pushed around by the robotic vacuum cleaner 10 during the mounting process, which leads to a long mounting time, thereby improving the return to the base station 20 and the mounting efficiency.

[0084] Please refer to Figure 6 Based on the methods of the above embodiments, this embodiment proposes a docking device for a sweeping robot. Exemplarily, the docking device 100 includes:

[0085] The acquisition module 110 is used to acquire environmental point cloud data, which is the point cloud data of the environment where the sweeping robot 10 is located by scanning the base station 20.

[0086] The first determining module 120 is used to determine the base station 20 and the calibration object 30 based on the environmental point cloud data.

[0087] The second determining module 130 is used to determine the placement offset information of the base station 20 relative to the calibration object 30. The placement offset information is used to indicate the offset of the entry direction of the sweeping robot 10 into the base station 20 relative to the normal of the calibration object 30.

[0088] The control module 140 is used to control the sweeping robot 10 to perform a pile-up operation to return to the base station 20 based on the placement offset information.

[0089] It is understood that the pile driving device in this embodiment corresponds to the pile driving method in the above embodiment. The optional methods in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0090] Please refer to Figure 7 This is a schematic diagram of the structure of the sweeping robot 10 proposed in this application embodiment. Exemplarily, the sweeping robot 10 may include a memory 11, a processor 12, and a lidar 13. The lidar 13 is used to acquire point cloud data of the surrounding environment so that the sweeping robot 10 can perform corresponding processing. The memory stores a computer program, and the processor runs the computer program to enable the sweeping robot 10 to perform the functions of the various modules in the sweeping robot mounting method or the sweeping robot mounting device described above.

[0091] The memory 11 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 11 stores computer programs, and the processor 12 can execute the computer programs accordingly after receiving execution instructions.

[0092] The processor 12 can be an integrated circuit chip with signal processing capabilities. The processor 12 can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0093] This application also provides a docking system for a robotic vacuum cleaner, comprising: a robotic vacuum cleaner 10 and a base station 20; specifically, the robotic vacuum cleaner 10 is used to acquire environmental point cloud data, wherein the environmental point cloud data is the point cloud data of the environment in which the robotic vacuum cleaner 10 scans the base station 20; then, based on the environmental point cloud data, the base station 20 and the calibration object 30 are determined; next, the robotic vacuum cleaner 10 is also used to determine the placement offset information of the base station 20 relative to the calibration object 30, wherein the placement offset information is used to indicate the offset of the entry direction of the robotic vacuum cleaner 10 into the base station 20 relative to the normal direction of the calibration object 30; finally, the robotic vacuum cleaner 10 performs a docking operation to return to the base station 20 based on the placement offset information.

[0094] This application also provides a readable storage medium for storing the computer program used in the above-described robotic vacuum cleaner 10.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0096] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0097] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, essentially, or the part that contributes to the prior art, or a portion 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 smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. 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.

[0098] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for mounting a sweeping robot on a designated docking station, characterized in that, include: Acquire environmental point cloud data, which is the point cloud data of the environment where the base station is located, scanned by the sweeping robot; Based on the environmental point cloud data, the base station and the calibration object are determined; the base station includes a first side and a second side facing each other; The placement offset information of the base station relative to the calibration object is determined. The placement offset information is used to indicate the offset of the entry direction of the sweeping robot into the base station relative to the normal of the calibration object. The placement offset information includes the angle between the center line corresponding to the entry direction and the normal of the calibration object. Based on the placement offset information, the robot vacuum cleaner is controlled to perform a docking operation to return to the base station, including: Determine whether the included angle is within the preset included angle range; If not, control the sweeping robot to push the base station so that the corner is within a preset angle range; specifically, if it is detected that the first distance between the first side and the target is greater than the second distance between the second side and the target, control the sweeping robot to move to the first side and use the second side as a fixed part to push the first side closer to the target so that the corner is within a preset angle range; If the first distance between the first side and the calibration object is detected to be less than or equal to the second distance between the second side and the calibration object, the robot vacuum cleaner is controlled to move to the second side and use the first side as a fixed part to push the second side closer to the calibration object so that the included angle is within a preset included angle range.

2. The pile driving method according to claim 1, characterized in that, The step of determining the calibration object based on the environmental point cloud data includes: Based on the environmental point cloud data, at least two target obstacles are identified; Among at least two target obstacles, the target obstacle that meets the calibration conditions is selected as the calibration object.

3. The pile driving method according to claim 2, characterized in that, The step of determining at least two target obstacles based on the environmental point cloud data includes: Based on the environmental point cloud data, multiple obstacles were identified; Multiple obstacles are fitted along a direction perpendicular to the normal of each obstacle to generate multiple line segments; From the multiple line segments, line segments with a length greater than a preset length threshold are selected as target obstacles.

4. The pile driving method according to claim 2, characterized in that, Selecting a target obstacle that meets the calibration criteria from at least two target obstacles as the calibration object includes: Calculate the relative distance between each of the target obstacles and the base station; Select the target obstacle with the smallest relative distance as the calibration object.

5. The pile driving method according to claim 1, characterized in that, Determining the placement offset information of the base station relative to the calibration object includes: Determine the centerline corresponding to the direction of entry; The placement offset information is determined based on the center line and the normal of the calibration object.

6. The pile driving method according to claim 5, characterized in that, The step of determining the placement offset information based on the center line and the normal of the calibration object includes: Determine the first normal vector of the centerline and the second normal vector of the normal to the calibration object; The placement offset information is determined based on the first normal vector and the second normal vector.

7. The pile driving method according to any one of claims 1 to 6, characterized in that, The method further includes: If the included angle is within the preset included angle range, the robot vacuum cleaner is controlled to perform a pile-up operation to return to the base station.

8. The pile driving method according to claim 7, characterized in that, Before controlling the sweeping robot to perform the docking operation to return to the base station, the method further includes: The base station is pushed in parallel towards the target object.

9. A mounting device for a sweeping robot, characterized in that, include: The acquisition module is used to acquire environmental point cloud data, which is the point cloud data of the environment where the sweeping robot scans the base station; The first determining module is used to determine the base station and the calibration object based on the environmental point cloud data; the base station includes a first side and a second side facing each other; The second determining module is used to determine the placement offset information of the base station relative to the calibration object. The placement offset information is used to indicate the offset of the entry direction of the sweeping robot into the base station relative to the normal of the calibration object. The placement offset information includes the angle between the center line corresponding to the entry direction and the normal of the calibration object. The control module is used to control the robotic vacuum cleaner to perform a docking operation to return to the base station based on the placement offset information, including: determining whether the included angle is within a preset included angle range; if not, controlling the robotic vacuum cleaner to push the base station so that the included angle is within the preset included angle range; including: If it is detected that the first distance between the first side and the target is greater than the second distance between the second side and the target, then the robot vacuum cleaner is controlled to move to the first side and use the second side as a fixed part to push the first side closer to the target so that the angle is within a preset angle range; If the first distance between the first side and the calibration object is detected to be less than or equal to the second distance between the second side and the calibration object, the robot vacuum cleaner is controlled to move to the second side and use the first side as a fixed part to push the second side closer to the calibration object so that the included angle is within a preset included angle range.

10. A mounting system for a sweeping robot, characterized in that, include: Robotic vacuum cleaners and base stations; The robotic vacuum cleaner is used to acquire environmental point cloud data, which is the point cloud data of the environment where the base station is located, scanned by the robotic vacuum cleaner; and the base station and the calibration object are determined based on the environmental point cloud data. The sweeping robot is also used to determine the placement offset information of the base station relative to the calibration object, the placement offset information being used to indicate the offset of the entry direction of the sweeping robot into the base station relative to the normal of the calibration object; and according to the placement offset information, to perform a stake-mounting operation to return to the base station; The placement offset information includes the angle between the centerline corresponding to the direction of entry and the normal of the calibrator, and the base station includes a first side and a second side opposite to each other; The step of controlling the sweeping robot to perform a docking operation to return to the base station based on the placement offset information includes: Determine whether the included angle is within a preset included angle range; if not, control the sweeping robot to push the base station so that the included angle is within the preset included angle range; specifically including: If it is detected that the first distance between the first side and the target is greater than the second distance between the second side and the target, then the robot vacuum cleaner is controlled to move to the first side and use the second side as a fixed part to push the first side closer to the target so that the angle is within a preset angle range; If the first distance between the first side and the calibration object is detected to be less than or equal to the second distance between the second side and the calibration object, the robot vacuum cleaner is controlled to move to the second side and use the first side as a fixed part to push the second side closer to the calibration object so that the included angle is within a preset included angle range.

11. A sweeping robot, characterized in that, The sweeping robot includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the sweeping robot's mounting method according to any one of claims 1-8.

12. A readable storage medium, characterized in that, It stores a computer program, which, when executed on a processor, implements the method for mounting the sweeping robot according to any one of claims 1-8.

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