Cleaning robot automatic docking method and system

Abstract

The application provides a cleaning robot automatic station searching method and system, the cleaning robot automatic station searching method comprises the following steps: obtaining local positioning information; searching for a workstation meeting service within a limited range; selecting the priority of local station searching and server station searching; and searching for the workstation step by step according to the priority. The cleaning robot automatic station searching method and system can search for a workstation meeting service within a limited range through local positioning information, comprehensively evaluate and select the priority of local station searching and server station searching, fully utilize the advantages and disadvantages of local station searching and server station searching, dynamically allocate the cleaning robot to the workstation meeting service in real time and accurately, reduce the data processing pressure of the server, and improve the efficiency and success rate of station searching.

Description

Automatic Station-Finding Method and System for Cleaning Robots Technical Field

[0001] This application belongs to the field of robotics technology, and more specifically, relates to a method and system for automatic station finding of a cleaning robot. Background Technology

[0002] With the technological development of the Internet of Things era, the new modern cleaning robot is equipped with a collision-free sensing system, self-rescue anti-jamming function, automatic charging, autonomous navigation path planning, wide-angle camera (120°), and infrared sensing device, and integrates functions such as watering, sweeping, mopping, disinfection, and drying.

[0003] Meanwhile, the new modern cleaning robot is also equipped with a workstation. The cleaning robot can automatically navigate to find a nearby workstation, which will automatically provide services such as adding water, draining sewage, charging, and dust removal to improve the cleaning robot's long-term automated cleaning capability.

[0004] In existing technologies, the method for cleaning robots to automatically find workstations is to obtain their own location, query the nearest workstation, and navigate there. If the workstation is occupied or cannot meet all service needs, the robot will automatically navigate to the next nearby workstation.

[0005] However, in large public places such as ports and airports, the number of cleaning robots and workstations equipped in the cleaning system is large, and there are cleaning robots and workstations of different models, functions and service types. The efficiency of cleaning robots finding workstations through the existing workstation finding methods is low. Summary of the Invention

[0006] The purpose of this application is to provide a method and system for automatic station finding of a cleaning robot, so as to solve the technical problem of low efficiency in the existing technology of cleaning robot station finding process.

[0007] To achieve the above objectives, the technical solution adopted in this application is: to provide an automatic station-finding method for a cleaning robot, comprising the following steps:

[0008] Obtain the device's location information;

[0009] Search for workstations within a specified range that meet the service requirements;

[0010] Choose the priority between local site search and server-side site search;

[0011] Search for stations step by step according to priority.

[0012] Preferably, the defined range is less than or equal to the maximum coverage range of the local wireless network.

[0013] Preferred method for prioritizing local site search versus server-side site search includes the following steps:

[0014] The success rate of local site search is evaluated based on the number of workstations that can provide services within a limited range and the distance. If the success rate is greater than the set threshold, local site search is given priority; otherwise, server-side site search is given priority.

[0015] Preferably, the local site search method includes the following steps:

[0016] This device broadcasts service request signals via point-to-multipoint wireless broadcasting.

[0017] An idle workstation receives a service request signal.

[0018] Upon receiving a service request signal, the workstation relays the feedback to the local machine via point-to-point wireless broadcast.

[0019] This machine determines the target site and alternative sites.

[0020] Preferably, the server-side site search method includes:

[0021] The device sends a service request signal and its location information to the server via a wireless network.

[0022] The server retrieves the current status of all workstations that meet the service requirements;

[0023] The server determines the target site and alternative sites based on the local location information.

[0024] The target site and alternative sites are fed back to the local machine.

[0025] Preferably, after determining the target site and alternative targets, the process further includes the following steps:

[0026] Change the status of the target site to ready.

[0027] Preferably, after searching for stations step by step according to priority, the process also includes the following steps:

[0028] If the target site is not found through step-by-step site search, and there are multiple service requests, then the number of service requests is reduced, and the priority of local site search and server-side site search is re-selected to complete the service requests one by one.

[0029] Preferably, after searching for stations step by step according to priority, the process also includes the following steps:

[0030] If the target site is not found through the step-by-step search, and the service request is only a single item, the machine will enter a sleep waiting state and repeat the above steps periodically.

[0031] Preferably, before obtaining the local location information, the following steps are also included:

[0032] Add a new workstation ID to the server;

[0033] The workstation ID is associated with the service type and location information.

[0034] Synchronously update the list of workstations with built-in storage on the local machine.

[0035] This application also provides an automatic station-finding system for cleaning robots. The automatic station-finding system for cleaning robots includes a workstation, a server, and a cleaning robot. The cleaning robot can obtain its own positioning information, search for workstations within a limited range that meet its service requirements, select the priority between local station-finding and server-side station-finding, and find stations level by level according to the priority.

[0036] Compared with existing technologies, the automatic station-finding method and system for cleaning robots provided in this application can fully utilize the advantages and disadvantages of local station-finding and server-side station-finding by searching for workstations that meet the service requirements within a limited range using local positioning information and comprehensively evaluating the priority of local station-finding and server-side station-finding. This allows for real-time, accurate, and dynamic allocation of cleaning robots to workstations that meet the service requirements, reducing the data processing pressure on the server side and improving the efficiency and success rate of station-finding. Attached Figure Description

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

[0038] Figure 1 is a flowchart illustrating the automatic station-finding method for cleaning robots provided in an embodiment of this application;

[0039] Figure 2 is a schematic flowchart of the local site search method provided in an embodiment of this application;

[0040] Figure 3 is a schematic flowchart of the server-side site search method provided in an embodiment of this application;

[0041] Figure 4 is a schematic diagram of the automatic station-finding system for cleaning robots provided in an embodiment of this application. Detailed Implementation

[0042] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0043] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0044] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0046] Please refer to Figure 1 for a description of the automatic station-finding method for a cleaning robot provided in this application embodiment. The automatic station-finding method for a cleaning robot includes:

[0047] Step S1: Obtain the device's location information;

[0048] Step S2: Search for workstations within the specified range that meet the service requirements;

[0049] Step S3: Select the priority between local site search and server-side site search;

[0050] Step S4: Search for stations level by level according to priority.

[0051] It is understandable that in step S1, after obtaining the local positioning information of the cleaning robot, the location can be determined.

[0052] In step S2, by querying the workstation distribution map stored on the local machine, the number of workstations that meet the service requirements within a certain range can be queried.

[0053] It is worth noting that the service needs of cleaning robots may include charging needs, water filling needs, sewage disposal needs, etc., and the cleaning robot may issue one or more service requests.

[0054] Each workstation can meet different needs of the cleaning robot, and each workstation can meet one or more of the service needs.

[0055] For example, if the cleaning robot only has a low battery problem, it will only issue a charging request and search for all workstations within its range that can meet the charging requirement. If the cleaning robot has both a low clean water supply and an overflowing sewage supply, it will issue both a water filling request and a sewage discharge request and search for all workstations within its range that can meet both water filling and sewage discharge requests simultaneously.

[0056] In steps S3 and S4, since the local machine can locate nearby workstations via wireless broadcast on the intranet, it can directly interact with these workstations to obtain their current status. Local priority offers advantages such as network stability and fast response speed, but its disadvantage is limited range, failing to cover all workstations. The server-side approach, on the other hand, has the advantage of covering all workstations, but its disadvantage lies in its reliance on the external network. The local machine's signal must first pass through the server, waiting for the server to obtain the status of all workstations before sending the list of available workstations back to the local machine. Simultaneously, the server also needs to send signals to selected workstations to change their status to ready or standby. This entire process takes a considerable amount of time and is highly susceptible to fluctuations in the external network. When the number of cleaning robots and workstations is large, it places significant pressure on the server's data processing capabilities.

[0057] Therefore, by first searching for workstations within a limited range that meet the service requirements, and determining the number of workstations and their distances, if the success rate of local workstation search is assessed as high, local workstation search can be prioritized. The robot directly interacts with nearby workstations to determine their status. If a local workstation search is successful, the robot proceeds directly to that workstation, thus improving search speed. If local workstation search fails, server-side workstation search is then performed. If the success rate of local workstation search is assessed as low, server-side workstation search can be prioritized. The server obtains the status of all workstations and selects the best workstation that meets the service requirements for the cleaning robot.

[0058] Compared with existing technologies, the automatic station-finding method for cleaning robots provided in this application searches for workstations that meet the service requirements within a limited range using the local positioning information, comprehensively evaluates and selects the priority of local station-finding versus server-side station-finding, and can fully utilize the advantages and disadvantages of local station-finding versus server-side station-finding. It can dynamically and accurately allocate cleaning robots to workstations that meet the service requirements in real time, reduce the data processing pressure on the server, and improve the efficiency and success rate of station-finding.

[0059] In another embodiment of this application, in step S2, the defined range is less than or equal to the maximum coverage range of the local wireless network.

[0060] It is understandable that, since the workstations that meet the service requirements within the searched range are in an unknown state in step S2, when the searched range is less than or equal to the maximum coverage range of the local search station's wireless network, it is ensured that all the searched workstations can receive the local search station's wireless network signal.

[0061] In another embodiment of this application, a method for prioritizing local site search versus server-side site search includes the following steps:

[0062] The success rate of local site search is evaluated based on the number of workstations that can provide services within a limited range and the distance. If the success rate is greater than the set threshold, local site search is given priority; otherwise, server-side site search is given priority.

[0063] In another embodiment of this application, referring to FIG2, the local station search method in step S3 includes the following steps:

[0064] This device broadcasts service request signals via point-to-multipoint wireless broadcasting.

[0065] An idle workstation receives a service request signal.

[0066] Upon receiving a service request signal, the workstation relays the feedback to the local machine via point-to-point wireless broadcast.

[0067] This machine determines the target site and alternative sites.

[0068] Understandably, the local machine broadcasts service request signals via point-to-multipoint wireless broadcasting. This wireless broadcast covers all workstations within a limited range. Idle workstations receive the service request signals, while non-idle workstations may not receive them or may receive them but not respond. The point-to-point wireless broadcast feedback to the local machine reduces line occupation. In this way, the local machine can obtain a list of idle workstation IDs within the limited range. By querying the workstation distribution map information stored on the local machine, the optimal target and alternative targets can be determined.

[0069] In another embodiment of this application, referring to Figure 3, the server-side site search method in step S3 includes:

[0070] The device sends a service request signal and its location information to the server via a wireless network.

[0071] The server retrieves the current status of all workstations that meet the service requirements;

[0072] The server determines the target site and alternative sites based on the local location information.

[0073] The target site and alternative sites are fed back to the local machine.

[0074] Understandably, since the server has coverage of all workstations and stores information on all registered workstations, the server first filters out workstation IDs that can meet the service requirements based on the service needs, and then retrieves the current status of all workstations that meet the service requirements. In this way, the server can filter out workstations that do not match the service, are unavailable, or are too far away, thus achieving the purpose of comprehensive coordination and dynamic scheduling.

[0075] In another embodiment of this application, after determining the target and alternative targets in step S3, the method further includes the following step:

[0076] Change the status of the target site to ready.

[0077] Understandably, changing the status of the target station to the ready state can prevent the same workstation from becoming the target station of multiple cleaning robots at the same time.

[0078] In another embodiment of this application, after step S4, which involves searching for stations step by step according to priority, the following step is also included:

[0079] If the target site is not found through step-by-step site search, and there are multiple service requests, then the number of service requests is reduced, and the priority of local site search and server-side site search is re-selected to complete the service requests one by one.

[0080] Understandably, if a workstation is busy, too far away, or too few, and a target workstation cannot be found through a step-by-step search, the number of service requests should be reduced, and these requests should be fulfilled one by one. For example, a charging request or a water refill request can be changed to a charging-only request. This can improve the success rate of finding a workstation. Once the charging request is met, the machine can then search for an available workstation that meets the water refill request, thus achieving flexible scheduling.

[0081] In another embodiment of this application, after step S4, which involves searching for stations step by step according to priority, the following step is also included:

[0082] If the target site is not found through the step-by-step search, and the service request is only a single item, the machine will enter a sleep waiting state and repeat the above steps periodically.

[0083] Understandably, if the target station is not found through step-by-step station search and the service demand is only one, the system enters a sleep state and waits, periodically searching for the target station again to reduce power consumption and queue up.

[0084] In another embodiment of this application, before obtaining the local location information in step S1, the following step is further included:

[0085] Add a new workstation ID to the server;

[0086] The workstation ID is associated with the service type and location information.

[0087] Synchronously update the list of workstations with built-in storage on the local machine.

[0088] Understandably, each workstation has a fixed ID, and the workstation ID is associated with the type of service and location information. The workstation list in the local built-in storage is updated synchronously to keep the workstation, server, and local machine consistent.

[0089] Please refer to Figure 4. This application also provides an automatic station-finding system for cleaning robots. The automatic station-finding system for cleaning robots includes: a workstation, a server, and a cleaning robot. The cleaning robot can obtain its own positioning information, search for workstations within a limited range that meet its service requirements, select the priority between local station-finding and server-side station-finding, and find stations level by level according to the priority.

[0090] Compared with existing technologies, the automatic station-finding system for cleaning robots provided in this application searches for workstations that meet service requirements within a limited range using the cleaning robot's local positioning information. It comprehensively evaluates and selects the priority between local station-finding and server-side station-finding, which can make full use of the advantages and disadvantages of local station-finding and server-side station-finding. It can dynamically and accurately allocate cleaning robots to workstations that meet service requirements in real time, reduce the data processing pressure on the server, and improve the efficiency and success rate of station-finding.

[0091] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for automatic station finding of a cleaning robot, applied to a cleaning robot with multiple service needs, characterized in that, The steps include: adding a new workstation ID on the server, associating the workstation ID with the type of service and location information, and synchronously updating the workstation list in the machine's built-in storage; wherein, the service requirements of the cleaning robot include one or more, and each workstation can meet one or more of the service requirements; obtaining the machine's location information; searching for workstations that meet the service within a limited range by querying the workstation distribution map stored on the machine; selecting the priority between local and server-side workstation search, including the steps of: evaluating the success rate of local workstation search based on the number of workstations that meet the service within the limited range and the distance; if the success rate is greater than a set threshold, local workstation search is prioritized, otherwise server-side workstation search is prioritized; the local workstation search includes the steps of: the machine using point-to-multipoint wireless... A service request signal is broadcast; an idle workstation receives the service request signal; upon receiving the service request signal, the workstation relays it back to itself via point-to-point wireless broadcast; the workstation determines the target and alternative targets; the server-side site search includes the following steps: the workstation sends a service request signal and its location information to the server via a wireless network; the server retrieves the current status of all workstations that meet the service requirements; the server determines the target and alternative targets based on the workstation's location information; the target and alternative targets are relayed back to the workstation; site search is performed step-by-step according to priority; if no target is found during step-by-step site search, and there are multiple service requests, the number of service requests is reduced, and the priority between local site search and server-side site search is re-selected to complete the service requests one by one.

2. The automatic station-finding method for cleaning robots as described in claim 1, characterized in that, The defined range is less than or equal to the maximum coverage range of the local wireless network.

3. The automatic station-finding method for cleaning robots as described in claim 1, characterized in that, After determining the target site and alternative targets, the process also includes the step of changing the status of the target site to the ready state.

4. The automatic station-finding method for cleaning robots as described in claim 1, characterized in that, After searching for a site step by step according to priority, the process also includes the following steps: if no site is found through step-by-step search and the service request is a single item, the local machine enters a sleep waiting state and repeats the above steps periodically.

5. An automatic station-finding system for a cleaning robot, characterized in that, The automatic station-finding method for cleaning robots as described in claim 1 includes: a workstation, a server, and a cleaning robot. The cleaning robot is able to obtain its own positioning information, search for workstations within a limited range that meet its service requirements, select the priority between local station finding and server-side station finding, and find stations step by step according to the priority.

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