A position offset determination method, apparatus, device, and storage medium

Abstract

The present disclosure provides a position deviation determination method, device, equipment and storage medium. The method comprises: if a set condition is met, the washing machine sends an acquisition instruction to a sweeper arranged below the washing machine, acquires a first position of the washing machine by means of a positioning function of the sweeper, and determines that the position of the washing machine deviates if a difference between the first position and an initial position of the washing machine is greater than a first threshold.

Description

Technical Field

[0001] This disclosure relates to the field of smart home technology, and in particular to a method, apparatus, device, and storage medium for determining position offset. Background Technology

[0002] With the increasing variety of smart home products, users are paying more and more attention to the ease of storage. Dual-wash stations combine a washing machine and a robot vacuum cleaner, solving the storage problem for the robot vacuum cleaner through stacking. However, during the washing and spin-drying processes, the washing machine in a dual-wash station may shift its position due to uneven ground and vibrations. If the ground is uneven after the shift, it will exacerbate vibrations during the washing process, generating significant noise and potentially damaging the motor. Therefore, a method for determining the positional offset of a dual-wash station is urgently needed. Summary of the Invention

[0003] In view of this, the present disclosure provides a method, apparatus, device and storage medium for determining position offset.

[0004] According to a first aspect of the present disclosure, a method for determining a position offset is provided, applied to a washing machine, wherein a base station for a sweeping robot is disposed below the washing machine, the method comprising:

[0005] Under certain conditions, a receiving instruction is sent to the sweeping machine. The receiving instruction is used to obtain the first position of the washing machine collected by the sweeping machine. The set conditions include time interval conditions and / or washing machine operating conditions.

[0006] Receive the first location sent by the sweeper;

[0007] If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted. The initial position is obtained from the sweeping robot, which is determined in advance by the sweeping robot based on the position of the base station.

[0008] In some embodiments, when the robot vacuum is in operation, the acquisition instruction includes a first acquisition instruction, which instructs the robot vacuum to collect image data of the washing machine on its path back to the base station, and to calculate a first position of the washing machine based on the image data.

[0009] In some embodiments, when the robot vacuum is in standby mode, the acquisition instruction includes a second acquisition instruction, which instructs the robot vacuum to emit a detection signal to acquire environmental information and calculate the first position of the washing machine based on the environmental information.

[0010] In some embodiments, after determining that the position of the washing machine has shifted, the method further includes sending a prompt message to the user, the prompt message indicating that the position of the washing machine has shifted.

[0011] In some embodiments, after determining that the position of the washing machine has shifted, the method further includes: before the washing machine is running, obtaining a first position of the washing machine collected by the sweeping robot; if the difference between the first position and the initial position of the washing machine is less than a second threshold, then updating the initial position of the washing machine to the first position, wherein the first threshold is greater than the second threshold.

[0012] In some embodiments, the setting conditions include at least one of the following:

[0013] The cumulative number of runs in the specified running mode reaches the set number;

[0014] The preset time has elapsed since the last position offset determination.

[0015] According to a second aspect of the present disclosure, a position offset determination method is provided, applied to a robotic vacuum cleaner, wherein the base station of the robotic vacuum cleaner is disposed below a washing machine, the method comprising:

[0016] In response to receiving an acquisition command, the first position of the washing machine is acquired, wherein the acquisition command is issued by the washing machine under set conditions;

[0017] The first position is sent to the washing machine, which then compares the first position with its initial position. If the difference between the first position and the initial position is greater than a first threshold, it is determined that the washing machine's position has shifted. The initial position is determined in advance by the sweeping robot based on the location of the base station and then sent to the washing machine.

[0018] In some embodiments, when the acquisition instruction is a first acquisition instruction, sending the first location to the washing machine includes: acquiring image data of the washing machine along the path back to the base station; calculating the first location of the washing machine based on the image data; and sending the first location to the washing machine.

[0019] In some embodiments, when the acquisition instruction is a second acquisition instruction, sending the first position to the washing machine includes: transmitting a detection signal to acquire environmental information; calculating the first position of the washing machine based on the environmental information; and sending the first position to the washing machine.

[0020] According to a third aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the methods described in the first aspect above.

[0021] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the methods described in the second aspect above.

[0022] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising:

[0023] processor;

[0024] Memory used to store processor-executable instructions;

[0025] The processor is configured to send an acquisition command to the robot vacuum cleaner when a set condition is met. The acquisition command is used to acquire the first position of the washing machine collected by the robot vacuum cleaner. The set condition includes a time interval condition and / or the operating condition of the washing machine.

[0026] Receive the first location sent by the sweeper;

[0027] If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted. The initial position is obtained from the sweeping robot, which is determined in advance by the sweeping robot based on the position of the base station.

[0028] According to a sixth aspect of the present disclosure, an electronic device is provided, comprising:

[0029] processor;

[0030] Memory used to store processor-executable instructions;

[0031] The processor is configured to: in response to receiving an acquisition instruction, acquire a first position of the washing machine, wherein the acquisition instruction is issued by the washing machine when set conditions are met;

[0032] The first position is sent to the washing machine, which then compares the first position with its initial position. If the difference between the first position and the initial position is greater than a first threshold, it is determined that the washing machine's position has shifted. The initial position is determined in advance by the sweeping robot based on the location of the base station and then sent to the washing machine.

[0033] The technical solutions provided in this disclosure can include the following beneficial effects:

[0034] When the washing machine meets the set conditions, it sends an acquisition command to the robot vacuum located below the washing machine. The robot vacuum uses its positioning function to obtain the first position of the washing machine. If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0037] Figure 1 A schematic diagram of a dual washing station provided for an exemplary embodiment of this disclosure;

[0038] Figure 2 This disclosure is a flowchart illustrating a method for determining the position offset of a washing machine according to an exemplary embodiment;

[0039] Figure 3 This is an interactive flowchart illustrating a position offset determination method according to an exemplary embodiment of the present disclosure;

[0040] Figure 4 This is a schematic diagram of the structure of a position offset determination device applied to a washing machine in an exemplary embodiment of the present disclosure;

[0041] Figure 5 This is a schematic diagram of the structure of a position offset determination device applied to a sweeping machine in an exemplary embodiment of this disclosure;

[0042] Figure 6 This is a schematic diagram of the structure of an electronic device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0044] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0045] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0046] Figure 1 A schematic diagram of a dual washing station provided as an exemplary embodiment of this disclosure, such as... Figure 1 As shown, a sweeper base station 102 is installed below the washing machine 101. During operation, especially during the spin-drying process, the washing machine in the dual-wash station is prone to vibration due to unevenly distributed clothing if the clothes are not placed evenly, causing the washing machine to shift. After a period of use, this shifting will accumulate, leading to increased vibration and damage to the motor.

[0047] To address the aforementioned technical problems, at least one embodiment of this disclosure provides a method for determining position offset. This method uses the positioning function of a sweeping robot located below the washing machine to obtain the current position of the washing machine, and determines whether the washing machine has experienced a position offset by comparing the current position with the initial position.

[0048] The position offset determination method of the present disclosure embodiment will be described in detail below with reference to the accompanying drawings.

[0049] Figure 2 This disclosure is a flowchart illustrating a method for determining the position offset of a washing machine according to an exemplary embodiment, as shown below. Figure 2 As shown, the exemplary embodiment method may include steps 201 to 203.

[0050] In step 201, if the set conditions are met, an acquisition command is sent to the sweeping machine.

[0051] The acquisition command is used to acquire the first position of the washing machine as collected by the sweeping robot. The first position of the washing machine can be obtained using sensors on the sweeping robot.

[0052] The set conditions may include time interval conditions and / or washing machine operating conditions.

[0053] In one possible implementation, the setting conditions include at least one of the following:

[0054] The cumulative number of runs in the specified running mode reaches the set number;

[0055] The preset time has elapsed since the last position offset determination.

[0056] The specified operating mode may include a washing mode and a spin-drying mode. Those skilled in the art should understand that the specified operating mode can also be other operating modes, and this embodiment is not limited to any particular mode.

[0057] For example, assuming the operating mode is spin-dry mode and the number of cycles is set to 30, when the washing machine is detected to have accumulated 30 cycles in spin-dry mode, a retrieval command is sent to the pre-matched sweeping robot, that is, a retrieval command is sent to the sweeping robot located below the washing machine, in order to obtain the first position of the washing machine collected by the sweeping robot.

[0058] In step 202, the first position sent by the sweeping machine is received.

[0059] In step 203, if the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted.

[0060] The initial position is obtained from the sweeping machine, which is determined in advance by the sweeping machine based on the location of the base station.

[0061] Understandably, since the washing machine and the robot vacuum's base station are integrated into a single unit—meaning they are fixedly installed—the vibrations of the washing machine during operation will cause both the washing machine and the robot vacuum to move synchronously. Therefore, the washing machine's location can be the location of the robot vacuum's base station. In other words, the initial position and first location of the washing machine can be obtained from the indoor map generated by the robot vacuum.

[0062] In one possible embodiment, the robot vacuum cleaner can send the initial position to the washing machine after determining it, so that the washing machine can store the initial position for subsequent judgment.

[0063] In another possible embodiment, an initial position can be stored in the robot vacuum cleaner and carried along when sending the first position to the washing machine.

[0064] In other words, for a washing machine, the initial position can be obtained either after the robot vacuum has determined its initial position, or it can be obtained when the offset is determined.

[0065] When the positional offset accumulates to a certain level, the user can be prompted to return the washing machine to its original position to reduce motor wear caused by the offset. Therefore, the first threshold in this embodiment is the critical value for sending a prompt message to the user, that is, the cumulative value after multiple positional offsets, which can be determined according to the actual situation.

[0066] Therefore, when it is determined that the difference between the first position and the initial position of the washing machine is greater than a first threshold, that is, after it is determined that the position of the washing machine has shifted, the method may further include: sending a prompt message to the user, the prompt message being used to indicate that the position of the washing machine has shifted.

[0067] In this embodiment, when certain conditions are met, the washing machine sends an acquisition command to a robotic vacuum cleaner positioned below it. The robotic vacuum cleaner uses its positioning function to obtain the washing machine's first position. If the difference between the first position and the washing machine's initial position exceeds a first threshold, it is determined that the washing machine's position has shifted. This solves the problem of determining whether the washing machine has shifted its position.

[0068] Because the robot vacuum's state varies, it acquires the washing machine's position differently. Therefore, when the washing machine meets set conditions, different acquisition commands can be sent to the robot vacuum based on its state. Specifically, when the washing machine meets set conditions, it sends a detection signal to the robot vacuum to determine its state. If the robot vacuum is in operating mode, a first acquisition command is sent; if the robot vacuum is in standby mode, a second acquisition command is sent. The following embodiments will explain the meaning of each acquisition command.

[0069] When the sweeping robot is in operation, the acquisition instruction includes a first acquisition instruction, which instructs the sweeping robot to collect image data of the washing machine on its path back to the base station, and to calculate the first position of the washing machine based on the image data.

[0070] The working state may include a cleaning state. When the robot vacuum is performing a cleaning task, it may be located at any position on the drawn indoor map. Therefore, the robot vacuum can be instructed to collect image data of the washing machine on the path back to the base station, and calculate the location coordinates of the washing machine, i.e., the first position, based on the image data.

[0071] In one possible embodiment, the first acquisition instruction can also be used to instruct the robot vacuum cleaner to collect image data of the washing machine on its path back to the base station, and to send the image data to the washing machine. The washing machine can receive the image data sent by the robot vacuum cleaner and calculate its first position based on the image data.

[0072] When the robot vacuum is in standby mode, the acquisition instruction includes a second acquisition instruction, which instructs the robot vacuum to emit a detection signal to acquire environmental information and calculate the first position of the washing machine based on the environmental information.

[0073] The standby state can refer to the robot vacuum being located within its base station. In this case, the robot vacuum can be instructed to transmit a detection signal to obtain environmental information and calculate the first position of the washing machine based on the environmental information.

[0074] In one possible embodiment, the second acquisition instruction can also be used to instruct the robot vacuum cleaner to emit a detection signal to acquire environmental information and send the environmental information to the washing machine. The washing machine can receive the environmental information sent by the robot vacuum cleaner and determine its first position based on the environmental information.

[0075] In this embodiment, the initial position of the washing machine can be the location of the outer edge of the base station entrance below, the center point of the washing machine's projection on the ground, or other easily identifiable location specified by the user in the indoor map drawn by the robot vacuum cleaner. Those skilled in the art should understand that the initial position and the first position of the washing machine should refer to the same reference point at different times; that is, when the outer edge of the base station entrance is used as the reference point, both the initial position and the first position refer to the location of the outer edge of the base station entrance.

[0076] When the washing machine is running for the first time, the initial position of the washing machine can be the initial placement position of the washing machine. During subsequent operation, the user will return the washing machine to its original position according to the prompts. The position after returning to its original position may not coincide with the initial placement position. In this case, the initial position can be manually updated by the user, or the initial position can be updated through the following embodiments.

[0077] In some embodiments, after determining that the position of the washing machine has shifted, the method may further include: before the washing machine is running, obtaining a first position of the washing machine collected by the sweeping robot; if the difference between the first position and the initial position of the washing machine is less than a second threshold, then updating the initial position of the washing machine to the first position.

[0078] If the first threshold is greater than the second threshold, and if the difference between the first position and the initial position of the washing machine is greater than the first threshold, and then the difference between the first position and the initial position of the washing machine is less than the second threshold, it indicates that the washing machine has been moved by the user. Therefore, the first position is updated using the initial position of the washing machine. The method for obtaining the first position of the washing machine can be found in the aforementioned embodiments, and will not be repeated here.

[0079] The following embodiments will provide a detailed description of the position offset determination method applied to a sweeping robot according to the present disclosure.

[0080] In this embodiment of the disclosure, the determination of the position offset of the sweeping robot may include:

[0081] In response to receiving an acquisition command, the first position of the washing machine is acquired, wherein the acquisition command is issued by the washing machine under set conditions;

[0082] The first position is sent to the washing machine, which then compares the first position with its initial position. If the difference between the first position and the initial position is greater than a first threshold, it is determined that the washing machine's position has shifted. The initial position is determined in advance by the sweeping robot based on the location of the base station and then sent to the washing machine.

[0083] In some embodiments, when the acquisition instruction is a first acquisition instruction, sending the first location to the washing machine may include: acquiring image data of the washing machine along the path back to the base station; calculating the first location of the washing machine based on the image data; and sending the first location to the washing machine.

[0084] In some embodiments, when the acquisition instruction is a second acquisition instruction, sending the first position to the washing machine may include: transmitting a detection signal to acquire environmental information; calculating the first position of the washing machine based on the environmental information; and sending the first position to the washing machine.

[0085] For ease of understanding, the following embodiments will be combined with Figure 3 The interaction process between the washing machine and the robot vacuum cleaner is explained.

[0086] Figure 3 This is an interactive flowchart illustrating a position offset determination method according to an exemplary embodiment of this disclosure, such as... Figure 3 As shown, the method for determining the position offset includes the following steps 301 to 305.

[0087] In step 301, the washing machine sends an acquisition command to the sweeping machine when the set conditions are met.

[0088] The acquisition instruction is used to acquire the first position of the washing machine collected by the sweeping machine, and the setting conditions include time interval conditions and / or washing machine operating conditions.

[0089] In step 302, upon receiving an acquisition command, the sweeping robot acquires the first position of the washing machine.

[0090] In step 303, the sweeper sends the first location to the washing machine.

[0091] In step 304, the washing machine receives the first location sent by the sweeper;

[0092] In step 305, the washing machine compares the obtained first position with the initial position of the washing machine. If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted.

[0093] The specific implementation process of each of the above steps can be found in the aforementioned embodiments, and will not be repeated here.

[0094] In this embodiment, when certain conditions are met, the washing machine sends an acquisition command to a robotic vacuum cleaner positioned below it. The robotic vacuum cleaner uses its positioning function to obtain the washing machine's first position. If the difference between the first position and the washing machine's initial position exceeds a first threshold, it is determined that the washing machine's position has shifted. This solves the problem of determining whether the washing machine has shifted its position.

[0095] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should know that this disclosure is not limited to the described order of actions, because according to this disclosure, some steps may be performed in other orders or simultaneously.

[0096] Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by this disclosure.

[0097] Corresponding to the aforementioned application function implementation method embodiments, this disclosure also provides embodiments of application function implementation apparatus and corresponding terminals.

[0098] Figure 4 This is a schematic diagram of the structure of a position offset determination device applied to a washing machine in an exemplary embodiment of this disclosure, as shown below. Figure 4 As shown, the position offset device may include:

[0099] The acquisition instruction sending unit 401 is used to send an acquisition instruction to the sweeping machine when the set conditions are met. The acquisition instruction is used to acquire the first position of the washing machine collected by the sweeping machine. The set conditions include time interval conditions and / or washing machine operating conditions.

[0100] The first position receiving unit 402 is used to receive the first position sent by the sweeping machine;

[0101] The determination unit 403 is used to determine that the position of the washing machine has shifted if the difference between the first position and the initial position of the washing machine is greater than a first threshold. The initial position is obtained from the sweeping machine and is determined in advance by the sweeping machine based on the position of the base station.

[0102] In some embodiments, when the robot vacuum is in operation, the acquisition instruction includes a first acquisition instruction, which instructs the robot vacuum to collect image data of the washing machine on its path back to the base station, and to calculate a first position of the washing machine based on the image data.

[0103] In some embodiments, when the robot vacuum is in standby mode, the acquisition instruction includes a second acquisition instruction, which instructs the robot vacuum to emit a detection signal to acquire environmental information and calculate the first position of the washing machine based on the environmental information.

[0104] In some embodiments, the device further includes a prompting unit, which is configured to send a prompting message to a user after determining that the position of the washing machine has shifted, the prompting message indicating that the position of the washing machine has shifted.

[0105] In some embodiments, the device further includes an updating unit, which is configured to, after determining that the position of the washing machine has shifted, obtain a first position of the washing machine collected by the sweeping robot before the washing machine is running; if the difference between the first position and the initial position of the washing machine is less than a second threshold, update the initial position of the washing machine to the first position, wherein the first threshold is greater than the second threshold.

[0106] In some embodiments, the setting conditions include at least one of the following:

[0107] The cumulative number of runs in the specified running mode reaches the set number;

[0108] The preset time has elapsed since the last position offset determination.

[0109] Figure 5This is a schematic diagram of the structure of a position offset determination device applied to a sweeping machine in an exemplary embodiment of this disclosure, as shown below. Figure 5 As shown, the position offset device may include:

[0110] The receiving and acquiring instruction unit 501 is used to acquire the first position of the washing machine when an acquisition instruction is received, wherein the acquisition instruction is issued by the washing machine when set conditions are met;

[0111] The first position sending unit 502 is used to send the first position to the washing machine, so that the washing machine compares the first position with the initial position of the washing machine. If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted. The initial position is determined in advance by the sweeping robot based on the position of the base station and sent to the washing machine.

[0112] In some embodiments, when the acquisition instruction is a first acquisition instruction, the sending first location unit 502 is used to collect image data of the washing machine in the path returning to the base station; calculate the first location of the washing machine based on the image data; and send the first location to the washing machine.

[0113] In some embodiments, when the acquisition instruction is a second acquisition instruction, the sending first position unit 502 is used to transmit a detection signal to acquire environmental information; calculate the first position of the washing machine based on the environmental information; and send the first position to the washing machine.

[0114] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0115] Accordingly, this disclosure provides a washing machine, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to:

[0116] Under certain conditions, a receiving instruction is sent to the sweeping machine. The receiving instruction is used to obtain the first position of the washing machine collected by the sweeping machine. The set conditions include time interval conditions and / or washing machine operating conditions.

[0117] Receive the first location sent by the sweeper;

[0118] If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted. The initial position is obtained from the sweeping robot, which is determined in advance by the sweeping robot based on the position of the base station.

[0119] Accordingly, this disclosure provides a sweeping machine, including:

[0120] processor;

[0121] Memory used to store processor-executable instructions;

[0122] The processor is configured to: in response to receiving an acquisition instruction, acquire a first position of the washing machine, wherein the acquisition instruction is issued by the washing machine when set conditions are met;

[0123] The first position is sent to the washing machine, which then compares the first position with its initial position. If the difference between the first position and the initial position is greater than a first threshold, it is determined that the washing machine's position has shifted. The initial position is determined in advance by the sweeping robot based on the location of the base station and then sent to the washing machine.

[0124] Figure 6 This is a schematic diagram illustrating the structure of an electronic device 600 according to an exemplary embodiment. For example, the electronic device 600 may be a user device, specifically a washing machine, a robot vacuum cleaner, etc.

[0125] Reference Figure 6 The electronic device 600 may include one or more of the following components: a processing component 602, a memory 604, a power supply component 606, a multimedia component 608, an audio component 610, an input / output (I / O) interface 612, a sensor component 614, and a communication component 616.

[0126] Processing component 602 typically controls the overall operation of electronic device 600, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 602 may include one or more modules to facilitate interaction between processing component 602 and other components. For example, processing component 602 may include a multimedia module to facilitate interaction between multimedia component 608 and processing component 602.

[0127] Memory 604 is configured to store various types of data to support the operation of device 600. Examples of this data include instructions for any application or method operating on electronic device 600, contact data, phonebook data, messages, pictures, videos, etc. Memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0128] Power supply component 606 provides power to various components of electronic device 600. Power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 600.

[0129] Multimedia component 608 includes a screen that provides an output interface between the aforementioned electronic device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 608 includes a front-facing camera and / or a rear-facing camera. When the electronic device 600 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0130] Audio component 610 is configured to output and / or input audio signals. For example, audio component 610 includes a microphone (MIC) configured to receive external audio signals when electronic device 600 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 604 or transmitted via communication component 616. In some embodiments, audio component 610 also includes a speaker for outputting audio signals.

[0131] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0132] Sensor assembly 614 includes one or more sensors for providing state assessments of various aspects of electronic device 600. For example, sensor assembly 614 can detect the on / off state of electronic device 600, the relative positioning of components such as the display and keypad of electronic device 600, changes in position of electronic device 600 or a component of electronic device 600, the presence or absence of user contact with electronic device 600, orientation or acceleration / deceleration of electronic device 600, and temperature changes of electronic device 600. Sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 614 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0133] Communication component 616 is configured to facilitate wired or wireless communication between electronic device 600 and other devices. Electronic device 600 can access wireless networks based on communication standards, such as WiFi, 4G or 5G, 4G LTE, 5G NR, or combinations thereof. In one exemplary embodiment, communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the aforementioned communication component 616 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0134] In an exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0135] In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, such as a memory 604 including instructions, which, when executed by a processor 620 of an electronic device 600, enables the electronic device 600 to perform a position offset determination method, the method comprising:

[0136] Under certain conditions, a receiving instruction is sent to the sweeping machine. The receiving instruction is used to obtain the first position of the washing machine collected by the sweeping machine. The set conditions include time interval conditions and / or washing machine operating conditions.

[0137] Receive the first location sent by the sweeper;

[0138] If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted. The initial position is obtained from the sweeping robot, which is determined in advance by the sweeping robot based on the position of the base station.

[0139] The non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0140] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0141] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for determining position offset, characterized in that, Applied to a washing machine, wherein a base station for a sweeping robot is disposed below the washing machine, the method includes: Under certain conditions, a receiving instruction is sent to the sweeping machine. The receiving instruction is used to obtain the first position of the washing machine collected by the sweeping machine. The set conditions include time interval conditions and / or washing machine operating conditions. Receive the first location sent by the sweeper; If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted. The initial position is obtained from the sweeping robot, which is determined in advance by the sweeping robot based on the position of the base station.

2. The method according to claim 1, characterized in that, When the sweeping robot is in operation, the acquisition instruction includes a first acquisition instruction, which instructs the sweeping robot to collect image data of the washing machine on its path back to the base station, and to calculate the first position of the washing machine based on the image data.

3. The method according to claim 1, characterized in that, When the robot vacuum is in standby mode, the acquisition instruction includes a second acquisition instruction, which instructs the robot vacuum to emit a detection signal to acquire environmental information and calculate the first position of the washing machine based on the environmental information.

4. The method according to claim 1, characterized in that, After determining that the position of the washing machine has shifted, the method further includes: A notification message is sent to the user, indicating that the washing machine's position has shifted.

5. The method according to claim 1, characterized in that, After determining that the position of the washing machine has shifted, the method further includes: Before the washing machine starts running, the first position of the washing machine is acquired by the sweeping robot. If the difference between the first position and the initial position of the washing machine is less than a second threshold, then the initial position of the washing machine is updated to the first position, where the first threshold is greater than the second threshold.

6. The method according to claim 1, characterized in that, The setting conditions include at least one of the following: The cumulative number of runs in the specified running mode reaches the set number; The preset time has elapsed since the last position offset determination.

7. A method for determining position offset, characterized in that, Applied to a floor sweeper, wherein the base station of the floor sweeper is located below the washing machine, the method includes: In response to receiving an acquisition command, the first position of the washing machine is acquired, wherein the acquisition command is issued by the washing machine under set conditions; The first position is sent to the washing machine, which then compares the first position with its initial position. If the difference between the first position and the initial position is greater than a first threshold, it is determined that the washing machine's position has shifted. The initial position is determined in advance by the sweeping robot based on the location of the base station and then sent to the washing machine.

8. The method according to claim 7, characterized in that, When the acquisition instruction is a first acquisition instruction, sending the first location to the washing machine includes: Image data of the washing machine is collected along the path back to the base station; Calculate the first position of the washing machine based on the image data; The first location is sent to the washing machine.

9. The method according to claim 7, characterized in that, When the acquisition instruction is a second acquisition instruction, sending the first location to the washing machine includes: Transmit detection signals to obtain environmental information; The first position of the washing machine is calculated based on the environmental information; The first location is sent to the washing machine.

10. A position offset determining device, characterized in that, An application to a washing machine, wherein a base station for a sweeping robot is installed below the washing machine, the device comprising: The first sending unit is used to send an acquisition instruction to the sweeping machine when the set conditions are met. The acquisition instruction is used to acquire the first position of the washing machine collected by the sweeping machine. The set conditions include time interval conditions and / or washing machine operating conditions. The first receiving unit is used to receive the first position sent by the sweeping machine; The determination unit is configured to determine that the position of the washing machine has shifted if the difference between the first position and the initial position of the washing machine is greater than a first threshold. The initial position is obtained from the sweeping machine and is determined in advance by the sweeping machine based on the position of the base station.

11. A position offset determining device, characterized in that, An application to a floor sweeper, wherein the base station of the floor sweeper is located below the washing machine, the device includes: The second receiving unit is used to acquire the first position of the washing machine when it receives an acquisition instruction, wherein the acquisition instruction is issued by the washing machine when set conditions are met. The second sending unit is used to send the first position to the washing machine, so that the washing machine compares the first position with the initial position of the washing machine. If the difference between the first position and the initial position of the washing machine is greater than a first threshold, it is determined that the position of the washing machine has shifted. The initial position is determined in advance by the sweeping robot based on the position of the base station and then sent to the washing machine.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the method of any one of claims 1 to 6, or the method of any one of claims 7 to 9.

13. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the method according to any one of claims 1 to 6, or the method according to any one of claims 7 to 9.

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