Method and device for moving base station of sweeping robot

Abstract

The present application discloses a method and device for moving a base station of a sweeping robot, relating to the field of smart home / intelligent home technology. The method comprises: receiving first map information and real-time cleaning information sent by the sweeping robot, including the sweeping robot's location information, surrounding environment information, historical cleaning trajectory, and amount cleaned; determining the sweeping robot's cleaning mode based on the historical cleaning trajectory, determining the remaining cleaning amount based on the amount cleaned and the rated cleaning amount, and determining the self-cleaning position based on the remaining cleaning amount, the cleaning mode, the sweeping robot's surrounding environment information, and the sweeping robot's location information; determining the base station's docking position based on the self-cleaning position and the sweeping robot's surrounding environment information and moving to the docking position. The present application enables the base station to automatically analyze and obtain the sweeping robot's next self-cleaning position, and move to the docking position determined based on the self-cleaning position, greatly improving the sweeping and mopping efficiency of the sweeping robot.

Description

Technical Field

[0001] The present application relates to the field of smart home / intelligent home technology, and in particular to a method and device for moving a base station of a sweeping robot. Background Art

[0002] Self-cleaning robot vacuums with a base station are becoming increasingly popular. These base stations, equipped with fresh water and wastewater tanks, automatically clean and dry the mop within the base station. Compared to conventional integrated vacuums that mop the entire house with a single mop, these robots offer enhanced cleaning capabilities. The mop is rewashed during the cleaning process, ensuring a consistently clean surface and covering a wider area.

[0003] However, the existing base station is immovable. When the sweeping robot needs to clean the mop, it needs to move to the position of the base station, clean the mop, and then continue the cleaning process, which undoubtedly reduces the sweeping and mopping efficiency of the sweeping robot. Summary of the Invention

[0004] The present application provides a method and device for moving the base station of a sweeping robot, which is used to solve the problem in the prior art that the base station is immovable and the sweeping robot needs to move to the position of the base station when it needs to clean the mop, clean the mop, and then continue the cleaning process, which reduces the sweeping and mopping efficiency of the sweeping robot. The base station automatically analyzes and obtains the next self-cleaning position of the sweeping robot, and moves to a docking position determined according to the self-cleaning position, so that the sweeping robot can carry out the next mop cleaning in time, thereby greatly improving the sweeping and mopping efficiency of the sweeping robot.

[0005] The present application provides a method for moving a base station of a sweeping robot, comprising: receiving first map information and real-time cleaning information sent by the sweeping robot; wherein, the first map information includes the position information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes a historical cleaning trajectory and a cleaned amount; determining a cleaning mode of the sweeping robot according to the historical cleaning trajectory, determining a remaining cleaning amount according to the cleaned amount and the rated cleaning amount, and determining a self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot; determining a docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, and driving the base station to move from the current position to the docking position.

[0006] According to a method for moving a base station of a sweeping robot provided in the present application, the docking position of the base station is determined based on the self-cleaning position and the surrounding environment information of the sweeping robot, including: obtaining obstacle information based on the surrounding environment information of the sweeping robot; determining a first position point at which the obstacle information and the distance information from the self-cleaning position meet preset conditions, and using the first position point as the docking position of the base station.

[0007] According to a method for moving a base station of a sweeping robot provided in the present application, the self-cleaning position is determined based on the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot, including: estimating the future cleaning trajectory of the sweeping robot based on the surrounding environment information of the sweeping robot, the position information of the sweeping robot and the cleaning mode of the sweeping robot; predicting a second position point at which the remaining cleaning amount is completed based on the future cleaning trajectory and the remaining cleaning amount; and determining the second position point as the self-cleaning position.

[0008] According to a method for moving a base station of a sweeping robot provided in the present application, the cleaned amount includes the cleaning time, the rated cleaning amount includes the rated cleaning time, and the remaining cleaning amount includes the remaining cleaning time; or, the cleaned amount includes the cleaned area, the rated cleaning amount includes the rated cleaning area, and the remaining cleaning amount includes the remaining cleaning area.

[0009] According to a method for moving a base station of a sweeping robot provided in the present application, driving the base station to move from a current position to the docking position includes: autonomously identifying the environment through a sensor to obtain second map information; wherein the second map information includes obstacle information; determining a moving path from the current position to the docking position based on the obstacle information; and driving the base station to move from the current position to the docking position based on the moving path.

[0010] According to a method for moving a base station of a sweeping robot provided in the present application, autonomously identifying the environment through a sensor and obtaining the second map information includes: mapping the surrounding environment through a radar sensor and obtaining the second map information.

[0011] According to a method for moving a base station of a sweeping robot provided in the present application, the second map information also includes partition information; the method also includes: receiving area names for the partitions in the second map information, and storing the area names and the corresponding partition information in the second map information.

[0012] The present application also provides a mobile device for the base station of a sweeping robot, comprising: an information receiving module, used to: receive first map information and real-time cleaning information sent by the sweeping robot; wherein, the first map information includes the position information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes the historical cleaning trajectory and the amount cleaned; a position determination module, used to: determine the cleaning mode of the sweeping robot according to the historical cleaning trajectory, determine the remaining cleaning amount according to the amount cleaned and the rated cleaning amount, and determine the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot; a movement control module, used to: determine the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, and drive the base station to move from the current position to the docking position.

[0013] The present application also provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the method for moving the base station of any of the above-mentioned sweeping robots through the computer program.

[0014] The present application also provides a computer-readable storage medium, which includes a stored program, wherein when the program is run, it executes the method for moving the base station of the sweeping robot as described in any one of the above.

[0015] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the method for moving the base station of the sweeping robot as described in any one of the above.

[0016] The present application provides a method and device for moving the base station of a sweeping robot, which receives first map information and real-time cleaning information sent by the sweeping robot, wherein the first map information includes the position information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes the historical cleaning trajectory and the amount cleaned, determines the cleaning mode of the sweeping robot according to the historical cleaning trajectory, determines the remaining cleaning amount according to the amount cleaned and the rated cleaning amount, determines the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot, determines the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, drives the base station to move from the current position to the docking position, realizes that the base station automatically analyzes the next self-cleaning position of the sweeping robot, and moves to the docking position determined according to the self-cleaning position, so that the sweeping robot can perform the next mopping and cleaning in time, thereby greatly improving the sweeping and mopping efficiency of the sweeping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 1 is a schematic diagram of a hardware environment for a method for moving a base station of a sweeping robot according to an embodiment of the present application;

[0020] Figure 2 1 is a flow chart of a method for moving a base station of a sweeping robot provided in an embodiment of the present application;

[0021] Figure 3 This is a schematic structural diagram of a mobile device of a base station of a sweeping robot provided in an embodiment of the present application;

[0022] Figure 4 It is a structural diagram of the electronic device provided in this application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] According to one aspect of the embodiment of the present application, a method for moving the base station of a sweeping robot is provided. The method for moving the base station of the sweeping robot is widely used in smart home (Smart Home), smart home, smart home device ecology, smart residence (Intelligence House) ecology and other whole-house intelligent digital control application scenarios. Optionally, in this embodiment, the above-mentioned method for moving the base station of the sweeping robot can be applied to Figure 1 In the hardware environment shown in FIG. 1 , which is composed of a terminal device 102 and a server 104. Figure 1 As shown, the server 104 is connected to the terminal device 102 via a network, and can be used to provide services (such as application services, etc.) for the terminal or the client installed on the terminal. A database can be set up on the server or independently of the server to provide data storage services for the server 104. Cloud computing and / or edge computing services can be configured on the server or independently of the server to provide data computing services for the server 104.

[0026] The aforementioned network may include, but is not limited to, at least one of the following: a wired network and a wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: a wide area network, a metropolitan area network, and a local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity) and Bluetooth. The terminal device 102 may be, but is not limited to, a PC, a mobile phone, a tablet computer, a smart air conditioner, a smart range hood, a smart refrigerator, a smart oven, a smart stove, a smart washing machine, a smart water heater, a smart washing machine, a smart dishwasher, a smart projection device, a smart TV, a smart clothes drying rack, smart curtains, smart audio and video, a smart socket, a smart speaker, a smart fresh air device, smart kitchen and bathroom equipment, smart bathroom equipment, a smart sweeping robot, a smart window cleaning robot, a smart mopping robot, a smart air purifier, a smart steamer, a smart microwave oven, a smart kitchen treasure, a smart purifier, a smart water dispenser, a smart door lock, etc.

[0027] Figure 2 1 is a flow chart of the method for moving the base station of the sweeping robot provided in the embodiment of the present application. Figure 2 As shown, the method includes:

[0028] Step S1, receiving first map information and real-time cleaning information sent by the sweeping robot; wherein, the first map information includes the location information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes the historical cleaning trajectory and the amount cleaned.

[0029] The method for moving the base station of a sweeping robot provided in the embodiment of the present application can be applied to the base station in a sweeping robot system to control the movement of the base station.

[0030] The base station can receive first map information and real-time cleaning information sent by the sweeping robot in real time through the WiFi module and the home Internet of Things. The first map information includes the current location information of the sweeping robot and information about the surrounding environment of the sweeping robot. The location information of the sweeping robot can be the location coordinates of the sweeping robot. The surrounding environment information of the sweeping robot includes obstacle information, which can include, for example, the location of furniture and walls. Real-time cleaning information includes historical cleaning tracks and the amount of cleaning completed. The sweeping robot can send real-time cleaning information to the base station in real time. The historical cleaning tracks and the amount of cleaning completed refer to the cleaning tracks and the amount of cleaning completed at the time the real-time cleaning information is sent. The amount of cleaning completed is the amount of cleaning completed after the last mop cleaning. The historical cleaning track can be the cleaning track after the last mop cleaning was completed, or it can include previous cleaning tracks. For example, during the cleaning process, multiple mop cleanings are performed, and the cleaning tracks after multiple mop cleanings can be combined as the historical cleaning track.

[0031] Step S2: determine the cleaning mode of the sweeping robot according to the historical cleaning trajectory, determine the remaining cleaning amount according to the cleaned amount and the rated cleaning amount, and determine the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot.

[0032] The robot vacuum's cleaning mode is determined based on historical cleaning trajectories. By analyzing historical cleaning trajectories and acquiring their characteristics, the robot vacuum's cleaning mode can be determined. Examples of cleaning modes include automatic cleaning and edge cleaning. In automatic cleaning mode, the robot vacuum performs random, automatic cleaning based on the environment. In edge cleaning mode, the robot vacuum automatically cleans along the edges of walls.

[0033] The remaining cleaning volume is determined based on the volume cleaned and the rated cleaning volume. The rated cleaning volume refers to the maximum amount of cleaning that can be done between one mop cleaning cycle and the next. The difference between the rated cleaning volume and the volume cleaned is the remaining cleaning volume. In other words, how much can be cleaned before the next mop cleaning cycle.

[0034] The self-cleaning position is determined based on the remaining cleaning volume, cleaning mode, surrounding environment information of the sweeping robot, and the position information of the sweeping robot. The self-cleaning position is the position where the mop will perform self-cleaning next time, which can also be called the water supply and drainage position.

[0035] Step S3: determining a docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, and driving the base station to move from the current position to the docking position.

[0036] After determining the self-cleaning position, the base station's docking position is determined based on the self-cleaning position and the robot's surrounding environment. The base station's docking position can be the self-cleaning position or a location near the self-cleaning position that meets certain conditions. The base station's drive module can be used to drive the base station from its current position to the docking position.

[0037] The moving method of the base station of the sweeping robot provided in the embodiment of the present application receives first map information and real-time cleaning information sent by the sweeping robot, the first map information includes the position information of the sweeping robot and the surrounding environment information of the sweeping robot, the real-time cleaning information includes the historical cleaning trajectory and the amount cleaned, determines the cleaning mode of the sweeping robot according to the historical cleaning trajectory, determines the remaining cleaning amount according to the amount cleaned and the rated cleaning amount, determines the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot, determines the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, drives the base station to move from the current position to the docking position, realizes that the base station automatically analyzes and obtains the next self-cleaning position of the sweeping robot, and moves to the docking position determined according to the self-cleaning position, so that the sweeping robot can perform the next mopping and cleaning in time, thereby greatly improving the sweeping and mopping efficiency of the sweeping robot.

[0038] According to an embodiment of the present application, a method for moving a base station of a sweeping robot is provided, wherein the docking position of the base station is determined based on the self-cleaning position and the surrounding environment information of the sweeping robot, including: obtaining obstacle information based on the surrounding environment information of the sweeping robot; determining a first position point at which the obstacle information and the distance information from the self-cleaning position meet preset conditions, and using the first position point as the docking position of the base station.

[0039] When determining the docking position of the base station based on the self-cleaning position and the surrounding environment information of the sweeping robot, the obstacle information is obtained based on the surrounding environment information of the sweeping robot, and the first position point where the obstacle information and the distance information from the self-cleaning position meet the preset conditions is determined. This first position point can be the self-cleaning position or a position point near the self-cleaning position, and the first position point is determined to be the docking position of the base station.

[0040] The docking location has few surrounding obstacles, making it easy for the base station to dock and move to the docking location. When determining a first location point whose obstacle information and distance information from the self-cleaning location meet preset conditions, the principle is that the first location point should not be too far from the self-cleaning location and that there should be few surrounding obstacles. The preset conditions can be set as the distance between the first location point and the self-cleaning location is less than a preset distance threshold and there are minimal surrounding obstacles.

[0041] The method for moving the base station of a sweeping robot provided in an embodiment of the present application obtains obstacle information based on the surrounding environment information of the sweeping robot, determines a first position point where the obstacle information and the distance information from the self-cleaning position meet preset conditions, and uses the first position point as the docking position of the base station, thereby realizing the reasonable determination of the docking position of the base station.

[0042] According to a method for moving a base station of a sweeping robot provided in an embodiment of the present application, the self-cleaning position is determined based on the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot, including: estimating the future cleaning trajectory of the sweeping robot based on the surrounding environment information of the sweeping robot, the position information of the sweeping robot and the cleaning mode of the sweeping robot; predicting a second position point at which the remaining cleaning amount is completed based on the future cleaning trajectory and the remaining cleaning amount; and determining the second position point as the self-cleaning position.

[0043] When determining the self-cleaning position based on the remaining cleaning volume, cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot, the future cleaning trajectory of the sweeping robot is first estimated based on the surrounding environment information of the sweeping robot, the position information of the sweeping robot and the cleaning mode of the sweeping robot. The future cleaning trajectory is the estimated next cleaning trajectory of the sweeping robot. The next cleaning trajectory will start from the current position of the sweeping robot. In the known cleaning mode, the cleaning trajectory of the sweeping robot can be estimated based on the surrounding environment information of the sweeping robot (such as the position of the wall and the position of other obstacles), thereby obtaining the future cleaning trajectory of the sweeping robot.

[0044] The cleaning trajectory and the cleaning amount have a corresponding relationship. According to the future cleaning trajectory and the remaining cleaning amount, a second position point where the remaining cleaning amount is completed is predicted, and the second position point is determined as the self-cleaning position.

[0045] The method for moving the base station of a sweeping robot provided in an embodiment of the present application estimates the future cleaning trajectory of the sweeping robot based on the surrounding environment information of the sweeping robot, the position information of the sweeping robot and the cleaning mode of the sweeping robot, and predicts the second position point at which the remaining cleaning amount is completed based on the future cleaning trajectory and the remaining cleaning amount, and determines the second position point as the self-cleaning position, thereby improving the accuracy of the self-cleaning position determination.

[0046] According to a method for moving a base station of a sweeping robot provided in an embodiment of the present application, the cleaned amount includes the cleaning time, the rated cleaning amount includes the rated cleaning time, and the remaining cleaning amount includes the remaining cleaning time; or, the cleaned amount includes the cleaned area, the rated cleaning amount includes the rated cleaning area, and the remaining cleaning amount includes the remaining cleaning area.

[0047] The cleaning volume can be expressed in terms of cleaned area or cleaning time. When the cleaning volume is expressed in terms of cleaning time, the cleaned volume is the cleaning time, the rated cleaning volume is the rated cleaning time, and the remaining cleaning volume is the remaining cleaning time. When the cleaning volume is expressed in terms of cleaned area, the cleaned volume is the cleaned area, the rated cleaning volume is the rated cleaning area, and the remaining cleaning volume is the remaining cleaning area.

[0048] The method for moving the base station of the sweeping robot provided in the embodiment of the present application improves the flexibility of processing by using the cleaning time or the cleaning area to represent the cleaning amount.

[0049] According to a method for moving a base station of a sweeping robot provided in an embodiment of the present application, driving the base station to move from a current position to the docking position includes: autonomously identifying the environment through a sensor to obtain second map information; wherein the second map information includes obstacle information; determining a moving path from the current position to the docking position based on the obstacle information; and driving the base station to move from the current position to the docking position based on the moving path.

[0050] The base station uses internal sensors to autonomously identify its environment and obtain secondary map information, which includes obstacle information. Based on this obstacle information, it determines a movement path from its current location to its docking location. This movement path can be a path with fewer obstacles. The base station is driven to move from its current location to its docking location based on the movement path. While moving from its current location to its docking location based on the movement path, the base station uses ultrasonic sensors and anti-collision sensors to avoid obstacles.

[0051] The method for moving the base station of a sweeping robot provided in an embodiment of the present application performs autonomous environmental identification through sensors to obtain second map information, where the second map information includes obstacle information. The moving path from the current position to the docking position is determined based on the obstacle information, and the base station is driven to move from the current position to the docking position based on the moving path, thereby improving the rationality of the moving path of the base station when it moves from the current position to the docking position.

[0052] According to a method for moving a base station of a sweeping robot provided in an embodiment of the present application, autonomously identifying the environment through a sensor and obtaining the second map information includes: mapping the surrounding environment through a radar sensor and obtaining the second map information.

[0053] The base station can rely on radar sensors to quickly map the surrounding environment, including identifying obstacles in the environment and obtaining secondary map information.

[0054] The method for moving the base station of the sweeping robot provided in the embodiment of the present application uses a radar sensor to map the surrounding environment and obtain second map information, providing a basis for rationally determining the moving path from the current position to the docking position.

[0055] According to a method for moving a base station of a sweeping robot provided in an embodiment of the present application, the second map information also includes partition information; the method also includes: receiving area names for the partitions in the second map information, and storing the area names and the corresponding partition information in the second map information.

[0056] The second map information also includes partition information. For example, indoor areas can be partitioned using wall information detected by the radar sensor, allowing for autonomous identification of indoor areas. Users can name indoor areas through the app. After the base station receives the user's name for the partition in the second map information, it stores the area name and the corresponding partition information in the second map information. The partitioned and named map is saved in real time.

[0057] The method for moving the base station of the sweeping robot provided in the embodiment of the present application improves the content richness of the second map information by receiving the area names of the partitions in the second map information and storing the area names and the corresponding partitions in the second map information.

[0058] The moving device of the base station of the sweeping robot provided in the present application is described below. The moving device of the base station of the sweeping robot described below and the moving method of the base station of the sweeping robot described above can refer to each other.

[0059] Figure 3 Schematic diagram of the structure of a mobile device of a base station of a sweeping robot provided in an embodiment of the present application. Figure 3 As shown, the device includes an information receiving module 10, a position determining module 20 and a movement control module 30, wherein: the information receiving module 10 is used to: receive first map information and real-time cleaning information sent by the sweeping robot; wherein, the first map information includes the position information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes historical cleaning tracks and the amount cleaned; the position determining module 20 is used to: determine the cleaning mode of the sweeping robot according to the historical cleaning tracks, determine the remaining cleaning amount according to the amount cleaned and the rated cleaning amount, and determine the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot; the movement control module 30 is used to: determine the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, and drive the base station to move from the current position to the docking position.

[0060] The mobile device of the base station of the sweeping robot provided in the embodiment of the present application receives first map information and real-time cleaning information sent by the sweeping robot, the first map information including the position information of the sweeping robot and the surrounding environment information of the sweeping robot, the real-time cleaning information including the historical cleaning trajectory and the amount cleaned, determines the cleaning mode of the sweeping robot according to the historical cleaning trajectory, determines the remaining cleaning amount according to the amount cleaned and the rated cleaning amount, determines the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot, determines the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, drives the base station to move from the current position to the docking position, realizes that the base station automatically analyzes the next self-cleaning position of the sweeping robot, and moves to the docking position determined according to the self-cleaning position, so that the sweeping robot can perform the next mopping and cleaning in time, thereby greatly improving the sweeping and mopping efficiency of the sweeping robot.

[0061] According to a mobile device of a base station of a sweeping robot provided in an embodiment of the present application, when the mobile control module 30 is used to determine the docking position of the base station based on the self-cleaning position and the surrounding environment information of the sweeping robot, it is specifically used to: obtain obstacle information based on the surrounding environment information of the sweeping robot; determine a first position point where the obstacle information and the distance information from the self-cleaning position meet preset conditions, and use the first position point as the docking position of the base station.

[0062] The mobile device of the base station of the sweeping robot provided in the embodiment of the present application obtains obstacle information based on the surrounding environment information of the sweeping robot, determines the first position point where the obstacle information and the distance information from the self-cleaning position meet preset conditions, and uses the first position point as the docking position of the base station, thereby realizing the reasonable determination of the docking position of the base station.

[0063] According to a mobile device of a base station of a sweeping robot provided in an embodiment of the present application, the position determination module 20, when used to determine the self-cleaning position based on the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot, is specifically used to: estimate the future cleaning trajectory of the sweeping robot based on the surrounding environment information of the sweeping robot, the position information of the sweeping robot and the cleaning mode of the sweeping robot; predict a second position point at which the remaining cleaning amount is completed based on the future cleaning trajectory and the remaining cleaning amount; and determine the second position point as the self-cleaning position.

[0064] The mobile device of the base station of the sweeping robot provided in the embodiment of the present application estimates the future cleaning trajectory of the sweeping robot based on the surrounding environment information of the sweeping robot, the position information of the sweeping robot and the cleaning mode of the sweeping robot, and predicts the second position point after the remaining cleaning amount is completed based on the future cleaning trajectory and the remaining cleaning amount, and determines the second position point as the self-cleaning position, thereby improving the accuracy of the self-cleaning position determination.

[0065] According to a mobile device of a base station of a sweeping robot provided in an embodiment of the present application, the cleaned amount includes the cleaning time, the rated cleaning amount includes the rated cleaning time, and the remaining cleaning amount includes the remaining cleaning time; or, the cleaned amount includes the cleaned area, the rated cleaning amount includes the rated cleaning area, and the remaining cleaning amount includes the remaining cleaning area.

[0066] The mobile device of the base station of the sweeping robot provided in the embodiment of the present application improves the processing flexibility by using the cleaning time or the cleaning area to represent the cleaning amount.

[0067] According to a mobile device of a base station of a sweeping robot provided in an embodiment of the present application, the mobile control module 30, when used to drive the base station to move from a current position to the docking position, is specifically used to: autonomously identify the environment through a sensor to obtain second map information; wherein the second map information includes obstacle information; determine a moving path from the current position to the docking position based on the obstacle information; and drive the base station from the current position to the docking position according to the moving path.

[0068] The mobile device of the base station of the sweeping robot provided in the embodiment of the present application autonomously identifies the environment through sensors and obtains second map information, the second map information including obstacle information, determines the moving path from the current position to the docking position based on the obstacle information, and drives the base station from the current position to the docking position according to the moving path, thereby improving the rationality of the moving path of the base station when it moves from the current position to the docking position.

[0069] According to a mobile device of a base station of a sweeping robot provided in an embodiment of the present application, when the mobile control module 30 is used to autonomously identify the environment through a sensor and obtain the second map information, it is specifically used to: map the surrounding environment through a radar sensor and obtain the second map information.

[0070] The mobile device of the base station of the sweeping robot provided in the embodiment of the present application maps the surrounding environment through a radar sensor and obtains second map information, providing a basis for rationally determining the moving path from the current position to the docking position.

[0071] According to a mobile device of a base station of a sweeping robot provided by an embodiment of the present application, the second map information also includes partition information; the device also includes an area naming module, which is used to: receive area names for partitions in the second map information, and store the area names and the corresponding partition information in the second map information.

[0072] The mobile device of the base station of the sweeping robot provided in the embodiment of the present application receives the area names of the partitions in the second map information, stores the area names and the corresponding partitions in the second map information, thereby improving the content richness of the second map information.

[0073] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call the logic instructions in the memory 430 to execute the moving method of the base station of the sweeping robot, which method includes: receiving first map information and real-time cleaning information sent by the sweeping robot; wherein, the first map information includes the position information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes historical cleaning tracks and the amount cleaned; determining the cleaning mode of the sweeping robot according to the historical cleaning tracks, determining the remaining cleaning amount according to the amount cleaned and the rated cleaning amount, and determining the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot; determining the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, and driving the base station to move from the current position to the docking position.

[0074] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, 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, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0075] On the other hand, the present application also provides a computer program product, which includes a computer program, which can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for moving the base station of the sweeping robot provided by the above methods, the method including: receiving first map information and real-time cleaning information sent by the sweeping robot; wherein, the first map information includes the position information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes historical cleaning trajectory and the amount cleaned; determining the cleaning mode of the sweeping robot according to the historical cleaning trajectory, determining the remaining cleaning amount according to the amount cleaned and the rated cleaning amount, and determining the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot; determining the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, and driving the base station to move from the current position to the docking position.

[0076] On the other hand, the present application also provides a computer-readable storage medium, which includes a stored program, wherein the program, when running, executes the method for moving the base station of the sweeping robot provided by the above-mentioned methods, the method including: receiving first map information and real-time cleaning information sent by the sweeping robot; wherein, the first map information includes the position information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes historical cleaning tracks and the amount cleaned; determining the cleaning mode of the sweeping robot according to the historical cleaning tracks, determining the remaining cleaning amount according to the amount cleaned and the rated cleaning amount, and determining the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the sweeping robot and the position information of the sweeping robot; determining the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, and driving the base station to move from the current position to the docking position.

[0077] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0078] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain parts of the embodiments.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 application.

Claims

1. A method for moving a base station of a sweeping robot, characterized in that: include: Receive first map information and real-time cleaning information sent by the sweeping robot; wherein the first map information includes the location information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes the historical cleaning track and the amount of cleaning; determining a cleaning mode of the sweeping robot according to the historical cleaning trajectory, determining a remaining cleaning amount according to the cleaned amount and the rated cleaning amount, and determining a self-cleaning position according to the remaining cleaning amount, the cleaning mode, information about the surrounding environment of the sweeping robot, and position information of the sweeping robot; The docking position of the base station is determined according to the self-cleaning position and the surrounding environment information of the sweeping robot, and the base station is driven to move from the current position to the docking position.

2. The method for moving the base station of the sweeping robot according to claim 1, characterized in that: The determining the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot includes: Obtaining obstacle information based on the surrounding environment information of the sweeping robot; A first position point is determined, where the obstacle information and the distance information from the self-cleaning position meet preset conditions, and the first position point is used as the docking position of the base station.

3. The method for moving the base station of the sweeping robot according to claim 1, characterized in that: The determining of the self-cleaning position according to the remaining cleaning amount, the cleaning mode, the surrounding environment information of the cleaning robot and the position information of the cleaning robot includes: estimating a future cleaning trajectory of the cleaning robot based on surrounding environment information of the cleaning robot, location information of the cleaning robot, and a cleaning mode of the cleaning robot; Predicting a second position point at which the remaining cleaning amount is completed based on the future cleaning trajectory and the remaining cleaning amount; The second position point is determined as the self-cleaning position.

4. The method for moving the base station of the sweeping robot according to claim 1, characterized in that: The cleaned amount includes the cleaned time, the rated cleaned amount includes the rated cleaned time, and the remaining cleaned amount includes the remaining cleaned time; Alternatively, the cleaned amount includes the cleaned area, the rated cleaning amount includes the rated cleaning area, and the remaining cleaning amount includes the remaining cleaning area.

5. The method for moving the base station of the sweeping robot according to claim 1, characterized in that: Driving the base station to move from the current position to the docking position includes: Autonomously identifying the environment through sensors to obtain second map information; wherein the second map information includes obstacle information; determining a moving path from the current position to the docking position according to the obstacle information; The base station is driven to move from the current position to the parking position according to the moving path.

6. The method for moving the base station of the sweeping robot according to claim 5, characterized in that: The autonomously identifying the environment through the sensor to obtain the second map information includes: The surrounding environment is mapped using a radar sensor to obtain the second map information.

7. The method for moving the base station of the sweeping robot according to claim 5, characterized in that: The second map information further includes partition information; and the method further includes: An area name for a partition in the second map information is received, and the area name and the corresponding partition information are stored in the second map information in correspondence with each other.

8. A mobile device for a base station of a sweeping robot, characterized in that: include: An information receiving module is configured to receive first map information and real-time cleaning information sent by the sweeping robot; wherein the first map information includes the location information of the sweeping robot and the surrounding environment information of the sweeping robot, and the real-time cleaning information includes the historical cleaning trajectory and the amount of cleaning completed; a position determination module, configured to: determine a cleaning mode of the sweeping robot according to the historical cleaning trajectory, determine a remaining cleaning amount according to the cleaned amount and the rated cleaning amount, and determine a self-cleaning position according to the remaining cleaning amount, the cleaning mode, information about the surrounding environment of the sweeping robot, and position information of the sweeping robot; The mobile control module is used to determine the docking position of the base station according to the self-cleaning position and the surrounding environment information of the sweeping robot, and drive the base station to move from the current position to the docking position.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 7 when executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 7 through the computer program.

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