Base station moving method, device, base station and storage medium of sweeping robot

Abstract

The present invention provides a base station moving method, device, base station and storage medium of a sweeping robot. The method receives information to be processed sent by the sweeping robot, processes the information to be processed, obtains target position information, moves to a position corresponding to the target position information, sends the target position information to the sweeping robot, so that the sweeping robot moves to a position corresponding to the target position information, and adjusts the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed. In this way, both the base station and the sweeping robot can move, thereby completing the adjustment of the state of the sweeping robot. Compared with the solution in which only the sweeping robot moves, the cleaning efficiency of the sweeping robot can be improved and the user experience can be improved.

Description

Technical Field

[0001] The present invention relates to the field of smart home / intelligent family technology, and in particular to a base station movement method, device, base station and storage medium of a sweeping robot. Background Art

[0002] With the development of science and technology, the proportion of smart home appliances in users' daily lives is getting higher and higher, especially sweeping devices, which can help users clean their living areas, greatly facilitating people's lives.

[0003] The current sweeping devices can be divided into sweeping robots and base stations, wherein the sweeping robots are used to clean the living area, and the base stations are used to charge the sweeping robots, change water, etc. However, the current sweeping devices usually require the sweeping robots to find the location of the base stations to complete operations such as charging and changing water, which reduces the sweeping efficiency of the sweeping robots and the user experience. Summary of the invention

[0004] The present invention provides a base station moving method and device of a sweeping robot, a base station and a storage medium, so as to solve the defects of low cleaning efficiency and low user experience of the sweeping robot in the prior art, thereby improving the cleaning efficiency of the sweeping robot and improving the user experience.

[0005] The present invention provides a base station moving method of a sweeping robot, which is applied to a base station, and the method comprises:

[0006] Receive the pending information sent by the sweeping robot;

[0007] Processing the information to be processed, obtaining target location information, and moving to a location corresponding to the target location information;

[0008] Sending the target position information to the cleaning robot, so that the cleaning robot moves to a position corresponding to the target position information;

[0009] The state to be adjusted of the cleaning robot is adjusted, wherein the state to be adjusted is a state determined based on the information to be processed.

[0010] According to a base station moving method of a sweeping robot provided by the present invention, the information to be processed includes: a trajectory map and cleaning information;

[0011] The step of processing the information to be processed to obtain target location information includes:

[0012] Based on the cleaning information, determining state information to be adjusted;

[0013] Determine the current state information to be adjusted based on the state information to be adjusted and the preset selection rule;

[0014] Based on the trajectory map and the current state information to be adjusted, target location information is acquired.

[0015] According to a base station moving method of a cleaning robot provided by the present invention, the cleaning information includes a cleaning mode and cleaning operation information, wherein the cleaning operation information includes a cleaning area and / or a cleaning time;

[0016] The step of determining the state information to be adjusted based on the cleaning information includes:

[0017] Based on the cleaning mode and the cleaning operation information, the amount of electricity to be adjusted and the amount of water to be adjusted are determined.

[0018] According to a base station moving method of a cleaning robot provided by the present invention, the cleaning information includes a cleaning mode and cleaning consumption information, wherein the cleaning consumption information includes remaining power information and remaining water information;

[0019] The step of determining the state information to be adjusted based on the cleaning information includes:

[0020] Based on the cleaning mode and the cleaning consumption information, the amount of electricity to be adjusted and the amount of water to be adjusted are determined.

[0021] According to a method for moving a base station of a sweeping robot provided by the present invention, the step of selecting a route with fewer obstacles as the current moving route according to the target position information and the pre-acquired area map includes:

[0022] According to the pre-acquired regional map, determining the current movement trajectory corresponding to the regional map from the pre-stored base station movement trajectory;

[0023] Based on the target location information and the current movement trajectory, a current movement route is determined.

[0024] The present invention also provides a base station moving device of a sweeping robot, which is applied to a base station, and the device comprises:

[0025] A receiving module, used for receiving information to be processed sent by the sweeping robot;

[0026] A moving module, used to process the information to be processed, obtain target location information, and move to a location corresponding to the target location information;

[0027] A sending module, used for sending the target position information to the cleaning robot, so that the cleaning robot moves to a position corresponding to the target position information;

[0028] An adjustment module is used to adjust the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed.

[0029] The present invention also provides a base station, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the base station moving method of any of the above-mentioned sweeping robots are implemented.

[0030] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the base station moving method of the sweeping robot as described in any one of the above are implemented.

[0031] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the base station moving method of any one of the above-mentioned cleaning robot are implemented.

[0032] The base station moving method, device, base station and storage medium of the sweeping robot provided by the present invention receive the information to be processed sent by the sweeping robot, process the information to be processed, obtain the target position information, and move to the position corresponding to the target position information, send the target position information to the sweeping robot to make the sweeping robot move to the position corresponding to the target position information, and adjust the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed.

[0033] In this way, the base station can receive the information to be processed sent by the sweeping robot, and then obtain the target position information based on the information to be processed. The base station and the sweeping robot can move to the position corresponding to the target position information, and then the base station can adjust the current state of the sweeping robot. In other words, both the base station and the sweeping robot can move, so as to complete the adjustment of the state of the sweeping robot. Compared with the solution in which only the sweeping robot moves, the cleaning efficiency of the sweeping robot can be improved and the user experience can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a flow chart of the base station moving method of the sweeping robot provided by the present invention;

[0036] Figure 2 It is a structural schematic diagram of the base station moving device of the sweeping robot provided by the present invention;

[0037] Figure 3 It is a structural schematic diagram of a base station provided by the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In order to improve the cleaning efficiency of a sweeping robot and enhance the user experience, the embodiments of the present invention provide a sweeping robot base station movement method, device, base station, non-transitory computer-readable storage medium and computer program product. Figure 1 A base station moving method of a sweeping robot provided in an embodiment of the present invention is introduced.

[0040] like Figure 1 As shown, an embodiment of the present invention provides a base station moving method of a sweeping robot, the method is applied to the base station, and the method includes:

[0041] S101, receiving information to be processed sent by a sweeping robot.

[0042] S102, processing the information to be processed, acquiring target position information, and moving to a position corresponding to the target position information.

[0043] S103: Send the target position information to the cleaning robot, so that the cleaning robot moves to a position corresponding to the target position information.

[0044] S104: Adjust the state to be adjusted of the cleaning robot.

[0045] The state to be adjusted is a state determined based on the information to be processed.

[0046] It can be seen that in this embodiment, the base station can receive the information to be processed sent by the sweeping robot, and then obtain the target position information based on the information to be processed. The base station and the sweeping robot can move to the position corresponding to the target position information, and then the base station can adjust the current state of the sweeping robot. In this way, both the base station and the sweeping robot can move, thereby completing the adjustment of the state of the sweeping robot. Compared with the solution in which only the sweeping robot moves, the cleaning efficiency of the sweeping robot can be improved and the user experience can be improved.

[0047] When the sweeping robot and the base station are in operation, in order for the base station to obtain the operation status of the sweeping robot, the base station and the sweeping robot may establish a connection, and then the base station may receive the to-be-processed information sent by the sweeping robot.

[0048] In one implementation, the base station and the sweeping robot may both be connected to the WiFi (Wireless-Fidelity) of the user's living area, so that the WiFi module of the base station may receive the information to be processed sent by the sweeping robot.

[0049] In another embodiment, the base station and the sweeping robot may also be connected via Bluetooth, and then the Bluetooth module of the base station may receive the information to be processed sent by the sweeping robot.

[0050] Among them, the information to be processed may include information when the sweeping robot is in an operating state. For example, the information to be processed may include track map, cleaning mode information, cleaning time information, cleaning area information, remaining power information, remaining water information, garbage storage box remaining information, etc. These are all reasonable and are not specifically limited here.

[0051] After acquiring the information to be processed, the base station may execute the above step S102, that is, process the information to be processed, acquire the target location information, and move to the location corresponding to the target location information.

[0052] In one embodiment, the base station can determine the state of the sweeping robot that needs to be adjusted according to the type of information to be processed, that is, determine the state to be adjusted, and then determine the target location information according to the state to be adjusted and the trajectory map. The state to be adjusted can be the power state to be adjusted and / or the water state to be adjusted.

[0053] After obtaining the target location information, the base station can determine the movement mode to the target location information, and move to the position corresponding to the target location information according to the movement mode. The base station can also send the target location information to the sweeping robot, and the sweeping robot can move to the position corresponding to the target location information after receiving the target location information.

[0054] In this way, after the base station and the sweeping robot both reach the position corresponding to the target position information, the base station can adjust the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed.

[0055] In one embodiment, the state to be adjusted may be a power state to be adjusted, and the base station may adjust the power state to be adjusted of the sweeping robot, that is, the base station may charge the sweeping robot, thereby completing the adjustment of the power state of the sweeping robot so that the sweeping robot can perform subsequent cleaning.

[0056] In another embodiment, the state to be adjusted may be a water volume state to be adjusted, and the base station may adjust the water volume state to be adjusted of the sweeping robot, that is, the base station may perform water supply and / or water discharge operations for the sweeping robot, thereby completing the adjustment of the water volume state of the sweeping robot, so that the sweeping robot can perform subsequent cleaning.

[0057] In another embodiment, the state to be adjusted can be a power state to be adjusted and a water state to be adjusted. The base station can adjust the power state to be adjusted and the water state to be adjusted of the sweeping robot, that is, the base station can charge the sweeping robot and perform water supply and / or water discharge operations, thereby completing the adjustment of the power state and water state of the sweeping robot, so that the sweeping robot can perform subsequent cleaning.

[0058] The execution order of the above step "moving to the position corresponding to the target position information" and the above step S103 can be executed simultaneously or non-simultaneously. For example, the "moving to the position corresponding to the target position information" can be executed first, and then the step S103 can be executed. Alternatively, the step S103 can be executed first, and then the "moving to the position corresponding to the target position information" can be executed.

[0059] It can be seen that in this embodiment, both the base station and the sweeping robot can move, so that the state of the sweeping robot can be adjusted. Compared with the solution in which only the sweeping robot moves, the cleaning efficiency of the sweeping robot can be improved and the user experience can be improved.

[0060] As an implementation of an embodiment of the present invention, the above-mentioned information to be processed may include a track map and cleaning information. The cleaning information is information generated by the cleaning robot when cleaning. The track map is a map corresponding to the cleaning robot when cleaning.

[0061] The track map may include at least one of a track map of the cleaning robot that has been running this time, a track map of the cleaning robot that is about to run this time, and a historical running track map of the cleaning robot.

[0062] The above step of processing the information to be processed to obtain the target location information may include:

[0063] Based on the cleaning information, state information to be adjusted is determined.

[0064] After the cleaning information is acquired, the state information to be adjusted can be determined according to the cleaning information. In one embodiment, the state information to be adjusted can be determined in a corresponding manner according to the type of the cleaning information, wherein the state information to be adjusted is information that can be adjusted.

[0065] Based on the state information to be adjusted and a preset selection rule, current state information to be adjusted is determined.

[0066] After the state information to be adjusted is obtained, since the state information to be adjusted may include information of various states that can be adjusted, there may be information of states that need to be adjusted as soon as possible, and there may also be information of states that do not need to be adjusted as soon as possible.

[0067] Therefore, in order to ensure the cleaning efficiency of the sweeping robot, the current state information to be adjusted can be determined based on the state information to be adjusted and the preset selection rules. The state information to be adjusted includes the power information to be adjusted and the water volume information to be adjusted. The current state information to be adjusted is the information of the state to be adjusted, and the current state information to be adjusted can include the power information to be adjusted and / or the water volume information to be adjusted.

[0068] The preset selection rules may include preset power selection rules and preset water selection rules. The following methods may be used to determine the current state information to be adjusted:

[0069] In the first way, when the power information to be adjusted indicates that the current remaining power to maintain the sweeping robot in the current operating mode is less than the preset time threshold, the power information to be adjusted can be used as the current state information to be adjusted. The preset time threshold can be the time for the sweeping robot to clean, or it can be a time threshold pre-set according to the area map.

[0070] In the second way, when the water volume information to be adjusted indicates that the current remaining water volume is lower than a preset time threshold to maintain the sweeping robot working in the current operating mode, the water volume information to be adjusted can be used as the current state information to be adjusted.

[0071] In a third manner, when the information on the water volume to be adjusted indicates that the sweeping robot has not changed the water for a preset water changing time, the information on the water volume to be adjusted may be used as the current state information to be adjusted.

[0072] In a fourth manner, when the water volume information to be adjusted indicates that the sweeping robot has cleaned an area reaching a preset cleaning area threshold without changing the water, the water volume information to be adjusted may be used as the current state information to be adjusted.

[0073] In a fifth manner, when the power information to be adjusted indicates that the current remaining power maintains the area that the sweeping robot can clean in the current operating mode to be less than the preset area threshold, the power information to be adjusted can be used as the current state information to be adjusted. The preset area threshold can be the area to be cleaned by the sweeping robot, or can be an area threshold pre-set according to an area map.

[0074] In a sixth manner, when the water volume information to be adjusted indicates that the current remaining water volume is lower than a preset area threshold to maintain the sweeping robot working in the current operating mode, the water volume information to be adjusted can be used as the current state information to be adjusted.

[0075] Among them, at least one of the above six methods can be used to determine the current state information to be adjusted.

[0076] Based on the trajectory map and the current state information to be adjusted, target location information is acquired.

[0077] After determining the current state information to be adjusted, the target position information can be obtained based on the track map and the current state information to be adjusted. The target position information can be obtained by using a corresponding acquisition method according to the type of the track map.

[0078] Several methods for obtaining target location information are introduced below.

[0079] The first acquisition method is that when the trajectory map includes the trajectory map of the sweeping robot that has been running this time, the area to be cleaned that the sweeping robot is about to clean can be determined based on the pre-acquired area map, and the target position information can be determined from the area to be cleaned according to the current state information to be adjusted.

[0080] The second acquisition method is that when the trajectory map includes the trajectory map that the sweeping robot is about to run for this cleaning, a point can be selected from the trajectory map that the sweeping robot is about to run for this cleaning according to the current state information to be adjusted, and the position information of the point is used as the target position information.

[0081] The third acquisition method is that when the trajectory map includes the historical operation trajectory map of the sweeping robot, the current trajectory map corresponding to the current environment of the sweeping robot can be determined from the historical operation trajectory map, and then, according to the current state information to be adjusted, a point is selected from the current trajectory map, and the position information of the point is used as the target position information.

[0082] The fourth acquisition method is that when the trajectory map includes any two of the trajectory map of the sweeping robot that has been running this time, the trajectory map of the sweeping robot that is about to run this time, and the historical operation trajectory map of the sweeping robot, the above-mentioned first acquisition method, second acquisition method, and third acquisition method can be used accordingly to obtain the target position information.

[0083] The fifth acquisition method is to use at least one of the first acquisition method, the second acquisition method, and the third acquisition method to obtain the target location information when the trajectory map includes the trajectory map of the sweeping robot that has been running this time, the trajectory map of the sweeping robot that is about to run this time, and the historical operation trajectory map of the sweeping robot.

[0084] For the fourth and fifth acquisition methods mentioned above, when the target location information corresponding to different acquisition methods is inconsistent, the target location information corresponding to the acquisition method with the highest weight information can be used as the target location information for subsequent base station movement based on the preset weight information.

[0085] It can be seen that in this embodiment, the current state information to be adjusted can be determined first, and then the target position information can be obtained according to the trajectory map and the current state information to be adjusted. In this way, when the sweeping robot needs to adjust its state, the state of the sweeping robot can be adjusted in time through the base station, thereby improving the cleaning efficiency of the sweeping robot and improving the user experience.

[0086] As an implementation manner of an embodiment of the present invention, the above-mentioned cleaning information may include a cleaning mode and cleaning operation information, wherein the cleaning operation information may include a cleaning area and / or a cleaning time.

[0087] The step of determining the state information to be adjusted based on the cleaning information may include:

[0088] Based on the cleaning mode and the cleaning operation information, the amount of electricity to be adjusted and the amount of water to be adjusted are determined.

[0089] In one embodiment, when the cleaning operation information is the cleaning area, the cleaning area may be a cleaned area and an area to be cleaned. The base station may determine the amount of electricity and water consumed by the cleaned area according to the cleaning mode, determine the remaining amount of electricity and the remaining amount of water, calculate the area that can be cleaned by the remaining amount of electricity according to the cleaning mode, the remaining amount of electricity and the remaining amount of water as the amount of electricity to be adjusted, and calculate the area that can be cleaned by the remaining amount of water as the amount of water to be adjusted.

[0090] Furthermore, when performing the subsequent step of determining the current state information to be adjusted based on the state information to be adjusted and the preset selection rule, the area to be cleaned can be used as the preset area threshold.

[0091] In another embodiment, when the cleaning mode indicates that the current mode is floor washing, and when the cleaning operation information is the cleaned area, the cleaned area can be used as the water volume information to be adjusted.

[0092] As an implementation mode, when the cleaning operation information is the cleaning time, the cleaning time may be the cleaning time and the time to be cleaned. The base station may determine the amount of electricity and water consumed during the cleaning time according to the cleaning mode, determine the remaining amount of electricity and the remaining amount of water, calculate the time that the remaining amount of electricity can be used for cleaning according to the cleaning mode, the remaining amount of electricity and the remaining amount of water as the amount of electricity to be adjusted, and calculate the time that the remaining amount of water can be used for cleaning as the amount of water to be adjusted.

[0093] Furthermore, when executing the subsequent step of determining the current state information to be adjusted based on the state information to be adjusted and the preset selection rule, the time to be cleaned can be used as the preset area threshold.

[0094] As another implementation, when the cleaning mode indicates that the current mode is floor washing, and when the cleaning operation information is the cleaning time, the cleaning time may be used as the time information to be adjusted.

[0095] When the cleaning operation information is the cleaning area and the cleaning time, the power information and the water volume information to be adjusted can be determined in combination with the above cleaning operation information being the cleaning area and the cleaning operation information being the cleaning time.

[0096] It can be seen that in this embodiment, the power amount information and the water amount information to be adjusted can be quickly determined based on the cleaning mode and the cleaning operation information, so as to subsequently determine the target position information.

[0097] As an implementation mode of an embodiment of the present invention, the above-mentioned cleaning information may include a cleaning mode and cleaning consumption information, wherein the cleaning consumption information may include remaining power information and remaining water information.

[0098] The step of determining the state information to be adjusted based on the cleaning information may include:

[0099] Based on the cleaning mode and the cleaning consumption information, the amount of electricity to be adjusted and the amount of water to be adjusted are determined.

[0100] In one embodiment, the corresponding water consumption rate and power consumption rate can be determined based on the cleaning mode, and the power information to be adjusted can be determined based on the remaining power information and the power consumption rate. The water information to be adjusted can be determined based on the remaining water information and the water consumption rate.

[0101] The power consumption rate may be the power consumed per unit time and / or the power consumed per unit area. The water consumption rate may be the water consumed per unit time and / or the water consumed per unit area.

[0102] When performing the subsequent step of determining the current state information to be adjusted based on the state information to be adjusted and the preset selection rule, the time threshold preset according to the area map can be used as the preset time threshold. The area threshold preset according to the area map can be used as the preset area threshold.

[0103] It can be seen that in this embodiment, the amount of electricity to be adjusted and the amount of water to be adjusted can be quickly determined based on the cleaning mode and the cleaning consumption information, so as to subsequently determine the target location information.

[0104] As an implementation manner of an embodiment of the present invention, the step of moving to the position corresponding to the target position information may include:

[0105] According to the target location information and the pre-acquired area map, a route with fewer obstacles is selected as the current moving route.

[0106] According to the current moving route, move to the position corresponding to the target position information.

[0107] In one embodiment, the pre-acquired area map includes marked obstacle information. Before moving to the position corresponding to the target position information, the base station can select a route with fewer obstacles as the current moving route based on the target position information and the pre-acquired area map.

[0108] In the process of moving to the position corresponding to the target position information according to the current moving route, the base station can collect current obstacle information in real time through sensors installed on itself, and adjust the current moving route in real time according to the current obstacle information, so as to reach the position corresponding to the target position information, that is, to achieve point-to-point movement to the target position information.

[0109] As an implementation manner of an embodiment of the present invention, the step of selecting a route with fewer obstacles as the current moving route according to the target location information and the pre-acquired area map may include:

[0110] According to the pre-acquired regional map, the current movement trajectory corresponding to the regional map is determined from the pre-stored base station movement trajectory, wherein the pre-stored base station movement trajectory corresponds to the regional map, and the current movement trajectory may include at least one.

[0111] Based on the target location information and the current movement trajectory, a current movement route is determined.

[0112] When the target location information is located in the current moving trajectory, the base station can move to the current moving trajectory including the target location information, and then use the trajectory corresponding to the current position of the base station in the current moving trajectory including the target location information to the position corresponding to the target location information as the current moving route.

[0113] When there are multiple current moving trajectories that include target location information, the base station can determine the current moving trajectory that is closest, and then the base station can move to the current moving trajectory that is closest and includes the target location information, and use the trajectory corresponding to the current position of the base station in the current moving trajectory including the target location information to the position corresponding to the target location information as the current moving route.

[0114] The base station moving device of the cleaning robot provided by the present invention is described below. The base station moving device of the cleaning robot described below and the base station moving method of the cleaning robot described above can be referred to each other.

[0115] like Figure 2 As shown, an embodiment of the present invention provides a base station moving device of a sweeping robot, which is applied to a base station, and the device includes:

[0116] The receiving module 210 is used to receive the to-be-processed information sent by the sweeping robot.

[0117] The moving module 220 is used to process the information to be processed, obtain target position information, and move to a position corresponding to the target position information.

[0118] The sending module 230 is used to send the target position information to the cleaning robot, so that the cleaning robot moves to the position corresponding to the target position information.

[0119] The adjustment module 240 is used to adjust the state to be adjusted of the cleaning robot.

[0120] The state to be adjusted is a state determined based on the information to be processed.

[0121] It can be seen that in this embodiment, by receiving the information to be processed sent by the sweeping robot, processing the information to be processed, obtaining the target position information, and moving to the position corresponding to the target position information, the target position information is sent to the sweeping robot to make the sweeping robot move to the position corresponding to the target position information, and adjusting the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed.

[0122] In this way, the base station can receive the information to be processed sent by the sweeping robot, and then obtain the target position information based on the information to be processed. The base station and the sweeping robot can move to the position corresponding to the target position information, and then the base station can adjust the current state of the sweeping robot. In other words, both the base station and the sweeping robot can move, so as to complete the adjustment of the state of the sweeping robot. Compared with the solution in which only the sweeping robot moves, the cleaning efficiency of the sweeping robot can be improved and the user experience can be improved.

[0123] As an implementation manner of an embodiment of the present invention, the above-mentioned information to be processed includes: a track map and cleaning information.

[0124] The mobile module 220 may include:

[0125] The first determining unit is used to determine the state information to be adjusted based on the cleaning information.

[0126] The second determining unit is used to determine the current state information to be adjusted based on the state information to be adjusted and a preset selection rule.

[0127] An acquisition unit is used to acquire target location information based on the trajectory map and the current state information to be adjusted.

[0128] As an implementation of an embodiment of the present invention, the cleaning information includes a cleaning mode and cleaning operation information, wherein the cleaning operation information includes a cleaning area and / or a cleaning time.

[0129] The first determination unit is specifically used to determine the amount of electricity to be adjusted and the amount of water to be adjusted based on the cleaning mode and the cleaning operation information.

[0130] As an implementation of an embodiment of the present invention, the cleaning information includes a cleaning mode and cleaning consumption information, wherein the cleaning consumption information includes remaining power information and remaining water information.

[0131] The first determination unit is specifically used to determine the amount of electricity to be adjusted and the amount of water to be adjusted based on the cleaning mode and the cleaning consumption information.

[0132] As an implementation of the embodiment of the present invention, the mobile module 220 may further include:

[0133] The selection unit is used to select a route with fewer obstacles as the current moving route according to the target location information and a pre-acquired area map.

[0134] The moving unit is used to move to the position corresponding to the target position information according to the current moving route.

[0135] As an implementation manner of the embodiment of the present invention, the above-mentioned mobile unit is specifically used to determine the current movement trajectory corresponding to the area map from the pre-stored base station movement trajectory according to the pre-acquired area map.

[0136] Based on the target location information and the current movement trajectory, a current movement route is determined.

[0137] Figure 3 An example of a physical structure diagram of a base station is shown in FIG. Figure 3 As shown, the base station may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the base station moving method of the sweeping robot, the method comprising: receiving the information to be processed sent by the sweeping robot, processing the information to be processed, obtaining the target position information, and moving to the position corresponding to the target position information, sending the target position information to the sweeping robot so that the sweeping robot moves to the position corresponding to the target position information, and adjusting the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed.

[0138] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0139] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program 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 of the sweeping robot provided by the above-mentioned methods, and the method includes: receiving information to be processed sent by the sweeping robot, processing the information to be processed, obtaining target position information, and moving to a position corresponding to the target position information, sending the target position information to the sweeping robot so that the sweeping robot moves to a position corresponding to the target position information, and adjusting the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed.

[0140] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the base station movement method of the sweeping robot provided by the above-mentioned methods. The method includes: receiving information to be processed sent by the sweeping robot, processing the information to be processed, obtaining target position information, and moving to a position corresponding to the target position information, sending the target position information to the sweeping robot so that the sweeping robot moves to a position corresponding to the target position information, and adjusting the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed.

[0141] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0142] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for moving a base station of a sweeping robot, characterized in that: Applied to a base station, the method comprises: Receive the pending information sent by the sweeping robot; Processing the information to be processed, obtaining target location information, and moving to a location corresponding to the target location information; Sending the target position information to the cleaning robot, so that the cleaning robot moves to a position corresponding to the target position information; Adjusting the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed; Wherein, the information to be processed includes: track map and cleaning information; The step of processing the information to be processed to obtain the target position information includes: determining the state information to be adjusted based on the cleaning information; determining the current state information to be adjusted based on the state information to be adjusted and a preset selection rule; and obtaining the target position information based on the trajectory map and the current state information to be adjusted; The cleaning information includes a cleaning mode and cleaning operation information, wherein the cleaning operation information includes a cleaning area and / or a cleaning time; The step of determining the state information to be adjusted based on the cleaning information includes: Based on the cleaning mode and the cleaning operation information, determining the amount of electricity to be adjusted and the amount of water to be adjusted; Based on the trajectory map and the current state information to be adjusted, obtaining target location information includes: The first acquisition method: when the trajectory map includes the trajectory map of the cleaning robot that has been running this time, the area to be cleaned that the cleaning robot is about to clean is determined based on the pre-acquired area map, and the target position information is determined from the area to be cleaned according to the current state information to be adjusted; The second acquisition method: when the trajectory map includes the trajectory map that the sweeping robot is about to run for this cleaning, according to the current state information to be adjusted, a point is selected from the trajectory map that the sweeping robot is about to run for this cleaning, and the position information of the point is used as the target position information; The third acquisition method: when the trajectory map includes a historical operation trajectory map of the sweeping robot, a current trajectory map corresponding to the environment in which the sweeping robot is currently located is determined from the historical operation trajectory map, and then a point is selected from the current trajectory map according to the current state information to be adjusted, and the position information of the point is used as the target position information; A fourth acquisition method, when the trajectory map includes any two of the trajectory map of the sweeping robot that has been run in this cleaning, the trajectory map of the sweeping robot that is about to run in this cleaning, and the historical operation trajectory map of the sweeping robot, any two of the first acquisition method, the second acquisition method, and the third acquisition method can be used to obtain the target position information; Fifth acquisition method: when the trajectory map includes the trajectory map of the sweeping robot that has been run in this cleaning, the trajectory map of the sweeping robot that is about to run in this cleaning, and the historical operation trajectory map of the sweeping robot, at least one of the first acquisition method, the second acquisition method, and the third acquisition method can be used to acquire the target position information; For the fourth acquisition method and the fifth acquisition method, when the target location information corresponding to different acquisition methods is inconsistent, based on the preset weight information, the target location information corresponding to the acquisition method with the highest weight information is used as the target location information for subsequent base station movement.

2. The base station moving method of the sweeping robot according to claim 1, characterized in that: The cleaning information includes a cleaning mode and cleaning consumption information, wherein the cleaning consumption information includes remaining power information and remaining water information; The step of determining the state information to be adjusted based on the cleaning information includes: Based on the cleaning mode and the cleaning consumption information, the amount of electricity to be adjusted and the amount of water to be adjusted are determined.

3. The base station moving method of the sweeping robot according to any one of claims 1-2, characterized in that: The step of moving to the position corresponding to the target position information includes: According to the target location information and the pre-acquired area map, a route with fewer obstacles is selected as the current moving route; According to the current moving route, move to the position corresponding to the target position information.

4. The base station moving method of the sweeping robot according to claim 3, characterized in that: The step of selecting a route with fewer obstacles as the current moving route according to the target location information and the pre-acquired area map includes: According to the pre-acquired regional map, determining the current movement trajectory corresponding to the regional map from the pre-stored base station movement trajectory; Based on the target location information and the current movement trajectory, a current movement route is determined.

5. A base station mobile device for a sweeping robot, characterized in that: Applied to a base station, the device comprises: A receiving module, used for receiving information to be processed sent by the sweeping robot; A moving module, used to process the information to be processed, obtain target location information, and move to a location corresponding to the target location information; A sending module, used for sending the target position information to the cleaning robot, so that the cleaning robot moves to a position corresponding to the target position information; An adjustment module, used for adjusting the state to be adjusted of the sweeping robot, wherein the state to be adjusted is a state determined based on the information to be processed; Wherein, the information to be processed includes: track map and cleaning information; The mobile module comprises: A first determining unit, configured to determine state information to be adjusted based on the cleaning information; A second determining unit, configured to determine current state information to be adjusted based on the state information to be adjusted and a preset selection rule; An acquisition unit, configured to acquire target location information based on the trajectory map and the current state information to be adjusted; The cleaning information includes a cleaning mode and cleaning operation information, wherein the cleaning operation information includes a cleaning area and / or a cleaning time; The first determining unit is specifically configured to determine the amount of electricity to be adjusted and the amount of water to be adjusted based on the cleaning mode and the cleaning operation information; The acquisition unit is specifically used for: The first acquisition method: when the trajectory map includes the trajectory map of the cleaning robot that has been running this time, the area to be cleaned that the cleaning robot is about to clean is determined based on the pre-acquired area map, and the target position information is determined from the area to be cleaned according to the current state information to be adjusted; The second acquisition method: when the trajectory map includes the trajectory map that the sweeping robot is about to run for this cleaning, according to the current state information to be adjusted, a point is selected from the trajectory map that the sweeping robot is about to run for this cleaning, and the position information of the point is used as the target position information; The third acquisition method: when the trajectory map includes a historical operation trajectory map of the sweeping robot, a current trajectory map corresponding to the environment in which the sweeping robot is currently located is determined from the historical operation trajectory map, and then a point is selected from the current trajectory map according to the current state information to be adjusted, and the position information of the point is used as the target position information; A fourth acquisition method, when the trajectory map includes any two of the trajectory map of the sweeping robot that has been run in this cleaning, the trajectory map of the sweeping robot that is about to run in this cleaning, and the historical operation trajectory map of the sweeping robot, any two of the first acquisition method, the second acquisition method, and the third acquisition method can be used to obtain the target position information; Fifth acquisition method: when the trajectory map includes the trajectory map of the sweeping robot that has been run in this cleaning, the trajectory map of the sweeping robot that is about to run in this cleaning, and the historical operation trajectory map of the sweeping robot, at least one of the first acquisition method, the second acquisition method, and the third acquisition method can be used to acquire the target position information; For the fourth acquisition method and the fifth acquisition method, when the target location information corresponding to different acquisition methods is inconsistent, based on the preset weight information, the target location information corresponding to the acquisition method with the highest weight information is used as the target location information for subsequent base station movement.

6. A base station, 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, the steps of the base station moving method of the cleaning robot as described in any one of claims 1 to 4 are implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the base station moving method of the cleaning robot as claimed in any one of claims 1 to 4 are implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the base station moving method of the cleaning robot as claimed in any one of claims 1 to 4 are implemented.

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