Pile alignment control method, pile alignment control equipment and cleaning system

Abstract

The embodiment of the invention discloses a pile alignment control method, pile alignment control equipment and a cleaning system. The pile alignment control method comprises the following steps that a robot is controlled to return to a base station; if it is detected that the robot and the base station meet the preset condition, whether an in-place signal generated by an in-place sensor is obtained or not is judged; when the in-place signal is obtained, the robot is controlled to stop moving; and when the in-place signal is not obtained, the robot is controlled to conduct deviation rectifying motion, and the step of judging whether the in-place signal generated by the in-place sensor is obtained or not is executed again. In the process that the robot returns to the base station, the robot only needs to be roughly aligned with the base station at first, accurate alignment does not need to be considered during returning, the robot can meet high-precision pile alignment through deviation rectifying motion, the one-time butt joint success rate of the robot and the base station is increased at the same time, and therefore the requirement for precision of an emitting light path of the base station is low, and the cost is low. Therefore, the cost can be reduced.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a pile control method, pile control equipment and a cleaning system. Background Art

[0002] In the related technology, the robot and the base station are guided by infrared signals. When the robot is close to the base station, the robot will find the position aligned with the central axis of the base station by receiving the code value sent by the middle infrared lamp bead, and return to the base station along the central axis. Then the robot and the base station are accurately aligned through the guiding structure.

[0003] However, since the robot needs to find the central axis and align its body before returning to the base station, the accuracy of the base station's transmitting optical path is required to be high, which inevitably requires higher manufacturing and assembly accuracy, and thus the cost is higher. Summary of the invention

[0004] The embodiments of the present application provide a pile control method, a pile control device and a cleaning system, which can achieve precise alignment while reducing costs.

[0005] In a first aspect, an embodiment of the present application provides a pile control method, comprising the following steps:

[0006] Control the robot to return to the base station;

[0007] If it is detected that the robot and the base station meet the preset conditions, it is determined whether the arrival signal generated by the arrival sensor is obtained;

[0008] When the arrival signal is obtained, the robot is controlled to stop moving;

[0009] When the in-position signal is not obtained, the robot is controlled to perform a deviation-correcting movement, and the step of determining whether the in-position signal generated by the in-position sensor is obtained is re-executed.

[0010] In the pile control method of the embodiment of the present application, during the process of the robot returning to the base station, the robot first only needs to be roughly aligned with the base station, without considering precise alignment during the return. After returning to the base station, the robot performs a deviation correction movement when it fails to obtain an in-position signal, and adjusts the angle of the robot relative to the base station, thereby completing precise docking with the base station. In other words, the robot does not need to find the central axis before returning to the base station. Through the deviation correction movement, the robot can meet the high-precision pile alignment while improving the one-time docking success rate with the base station. Therefore, the accuracy requirements for the transmission optical path of the base station are relatively low, thereby reducing costs.

[0011] In a second aspect, an embodiment of the present application provides a pile control device, the pile control device comprising:

[0012] A mobile control unit, used to control the robot to return to the base station;

[0013] A signal acquisition unit, used to determine whether a position signal generated by a position sensor is acquired when it is detected that the robot and the base station meet preset conditions;

[0014] A deviation correction control unit is used to control the robot to stop moving when an in-position signal is obtained; when an in-position signal is not obtained, the robot is controlled to perform deviation correction movement;

[0015] The signal acquisition unit is further used to re-execute the step of determining whether the in-position signal generated by the in-position sensor is acquired.

[0016] In a third aspect, an embodiment of the present application provides a cleaning system, which includes a base station, a robot and an in-place sensor, the base station includes a first in-place structure; the robot includes a second in-place structure, and after the robot returns to the base station, the first in-place structure and the second in-place structure cooperate with each other; the in-place sensor is arranged on at least one of the base station and the robot, and after the first in-place structure and the second in-place structure cooperate with each other, the in-place sensor generates an in-place signal; wherein, after the robot returns to the base station, based on the condition that the in-place sensor does not generate an in-place signal, the robot rotates and adjusts its position in the base station until the first in-place structure and the second in-place structure cooperate with each other, so that the in-place sensor generates an in-place signal.

[0017] The first in-position structure and the second in-position structure of the embodiment of the present application do not need to be aligned in the initial stage of the robot's return. Therefore, in the process of the robot returning to the base station, the robot first only needs to be roughly aligned with the base station, and there is no need to consider precise alignment when returning. After returning to the base station, when the robot fails to obtain the in-position signal, it rotates and adjusts its position in the base station to complete precise docking with the base station. In other words, the robot does not need to find the central axis before returning to the base station. By rotating and adjusting its position in the base station, the robot can improve the one-time docking success rate with the base station while meeting the high-precision pile alignment. Therefore, the accuracy requirements for the base station's transmitting optical path are relatively low, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a process of a pile control method in an embodiment of the present application;

[0020] Figure 2This is a flow chart of a pile control method in another embodiment of the present application;

[0021] Figure 3 This is a flow chart of a pile control method in another embodiment of the present application;

[0022] Figure 4 This is a flow chart of a pile control method in another embodiment of the present application;

[0023] Figure 5 is a structural schematic diagram of a pile control device in an embodiment of the present application;

[0024] Figure 6 This is a schematic diagram of the structure of a cleaning system in one embodiment of the present application;

[0025] Figure 7 A schematic diagram of a partially exploded structure of a cleaning system in one embodiment of the present application;

[0026] Figure 8 It is a schematic diagram of a partially exploded structure of a cleaning system in another embodiment of the present application;

[0027] Fig. 9 for Figure 8 A schematic diagram of the enlarged structure at A in the middle;

[0028] Fig.10 This is a schematic diagram of the structure of a robot in one embodiment of the present application.

[0029] Explanation of the reference numerals: 100, cleaning system; 110, base station; 110a, docking chamber; 110b, accommodating groove; 111, protruding structure; 111a, limiting inclined plane; 112, base; 112a, bearing surface; 1121, uphill section; 1122, bearing section; 113, main body; 114, infrared transmitting module; 115, clean water adding nozzle; 116, sewage discharge nozzle; 117, power supply pin; 120, robot; 120a, inclined sliding surface; 120b, clean water adding port; 120c, sewage discharge port; 121, groove structure; 122, infrared receiving module; 123, driving wheel; 124, power receiving pin; 130, in-position sensor; 130a, inclined avoidance surface; 1, pile control device; 11, mobile control unit; 12, signal acquisition unit; 13, deviation correction control unit. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] In the related art, when the robot returns to the base station, the robot and the base station need to be pre-aligned. If the error of the pre-alignment between the robot and the base station is large, the robot and the base station will not be able to complete the pile alignment. In the scenario where the pile alignment accuracy is very high, the success rate of one pile alignment is limited. If the pre-alignment accuracy of the robot and the base station is improved from the optical path hardware, the cost is high. The present application discloses a pile alignment control method. In the process of the robot returning to the base station, the robot first only needs to be roughly aligned with the base station to ensure that the robot can return to the base station. After returning to the base station, if the robot is not aligned with the base station, the robot is controlled to perform a correction movement to adjust the angle of the robot relative to the base station, and the feedback signal of the in-place sensor is used to determine whether the robot is aligned with the base station, so that the robot can meet the high-precision pile alignment while improving the success rate of the robot and the base station pile alignment. Since the robot can improve the success rate of docking with the base station through the correction movement, the robot does not need to perform high-precision pre-alignment before returning to the base station, so the accuracy requirements for the transmitting optical path of the base station are low, which can reduce costs.

[0032] In a first aspect, an embodiment of the present application provides a method for controlling a pile, which is applied to a robot 120 to improve the probability of successful docking between the robot 120 and the base station 110. The robot 120 may be a cleaning robot, a patrol robot, etc. The robot 120 and the base station 110 may be in-place matched through an in-place structure to improve the alignment accuracy between the robot 120 and the base station 110. The in-place structure may exemplarily be a limiting protrusion and a limiting groove.

[0033] like Figure 1 As shown, the pile control method includes the steps of:

[0034] S101 , controlling the robot 120 to return to the base station 110 .

[0035] The robot 120 moves from a position far from the base station 110 to a position close to the base station 110 , and then returns to the base station 110 .

[0036] S102 , if it is detected that the robot 120 and the base station 110 meet the preset conditions, it is determined whether a location signal generated by the location sensor 130 is obtained.

[0037] The preset conditions of the robot 120 and the base station 110 can be configured as follows: the robot 120 is located in the base station 110, or the robot 120 is close to the base station 110, or the robot 120 triggers a corresponding signal. The robot 120 performs a rough alignment in the process of returning to the base station 110, and it is not necessary to require the robot 120 to perform a precise alignment in the process of returning to the base station 110. Rough alignment refers to the accuracy that can be achieved by general infrared alignment.

[0038] Exemplarily, satisfying the preset conditions can trigger an electrical signal for the robot 120 for the base station 110 to charge the robot 120. At this time, both the base station 110 and the robot 120 can receive the charging signal. The fact that the robot 120 triggers the charging signal indicates that the robot 120 is located in the base station 110 and that the robot 120 is roughly aligned with the base station 110.

[0039] Meeting the preset condition means that the robot 120 or the base station 110 receives a photoelectric signal. For example, a photoelectric transmitter is provided on one of the robot 120 and the base station 110, and a photoelectric receiver is provided on the other. When the photoelectric receiver receives the photoelectric signal sent by the photoelectric transmitter, it means that the robot 120 and the base station 110 are roughly aligned.

[0040] Meeting the preset condition means that the robot 120 or the base station 110 senses that the Hall signal exceeds a certain threshold. For example, a permanent magnet is provided on one of the robot 120 and the base station 110, and a Hall sensor is provided on the other. When the distance between the permanent magnet and the Hall sensor is within a certain range, the Hall signal received by the Hall sensor exceeds a certain threshold, indicating that the robot 120 and the base station 110 are roughly aligned.

[0041] Meeting the preset condition means that the pressure signal triggered by the robot 120 reaches a certain threshold. For example, a pressure sensor is provided on the base of the base station 110. When the robot 120 moves to the base of the base station 110, the pressure signal of the pressure sensor reaches a certain threshold, which indicates that the robot 120 is located inside the base station 110.

[0042] The in-place sensor 130 is used to detect whether the robot 120 is in place with the base station 110. When the robot 120 is in place with the base station 110, the in-place sensor 130 is triggered and generates an in-place signal. When the robot 120 is not in place with the base station 110, the in-place sensor 130 is not triggered and does not generate a signal.

[0043] S103, when the arrival signal is obtained, the robot 120 is controlled to stop moving.

[0044] S104, when the in-position signal is not obtained, the robot 120 is controlled to perform a deviation correction movement, and the step of determining whether the in-position signal generated by the in-position sensor 130 is obtained is re-executed.

[0045] When the robot 120 is located in the base station 110 , or when the robot 120 is close to the base station 110 , a detection signal is acquired to obtain the alignment state of the robot 120 and the base station 110 .

[0046] It should be noted that step S103 and step S104 are parallel steps and there is no order of precedence.

[0047] It is understandable that the purpose of the deviation correction movement is to enable the robot 120 to achieve high-precision matching with the base station 110. When the in-place sensor 130 generates an in-place signal, it means that the robot 120 and the base station 110 have achieved high-precision matching, and the robot 120 should stop moving. If the in-place sensor 130 does not generate an in-place signal, it means that the robot 120 and the base station 110 have not achieved high-precision matching, and the robot 120 can try to perform the next deviation correction movement. The deviation correction movement is that the robot 120 rotates in the base station 110 so that the robot 120 and the base station 110 can achieve precise alignment.

[0048] In the pile control method of the embodiment of the present application, during the process of the robot 120 returning to the base station 110, the robot 120 first only needs to be roughly aligned with the base station 110, and there is no need to consider precise alignment when returning. After returning to the base station 110, the robot 120 performs a corrective movement when the in-position signal is not obtained, and adjusts the angle of the robot 120 relative to the base station 110, thereby completing the precise docking with the base station 110. In other words, the robot 120 does not need to find the central axis before returning to the base station 110. The robot 120 can improve the one-time docking success rate with the base station 110 while meeting the high-precision pile alignment through the corrective movement. Therefore, the accuracy requirements for the transmission optical path of the base station 110 are relatively low, thereby reducing costs.

[0049] like Figure 2 As shown, in some embodiments, the steps of controlling the robot 120 to perform a deviation correction movement include:

[0050] S201, controlling the robot 120 to rotate along a first preset direction by a first preset angle.

[0051] The first rotation direction may be counterclockwise, and the first angle may be 8°, 9°, 10°, 11°, 12°, etc., which are not specifically limited here.

[0052] S202, controlling the robot 120 to rotate along a second preset direction by a second preset angle to complete a deviation correction movement, wherein the second preset direction is opposite to the first preset direction.

[0053] The second rotation direction may be clockwise, and the second angle may be 8°, 9°, 10°, 11°, 12°, etc., which are not specifically limited here.

[0054] In the pile control method of the embodiment of the present application, the robot 120 first rotates in a counterclockwise direction and then rotates in a clockwise direction.

[0055] Generally speaking, the alignment deviation between the robot 120 and the base station 110 is within 1°. By reciprocatingly rotating the robot 120 , the robot 120 and the base station 110 can be aligned exactly through the positioning structure.

[0056] When the in-place structure is a weak limit, the robot 120 and the base station 100 can continue to rotate after rotating to the position where they are matched. At this time, the first preset angle is the same as the second preset angle. Under the intervention of the in-place structure, the robot 120 reciprocates, causing the position of the robot 120 relative to the base station 110 to deflect slightly, thereby aligning with the base station 110.

[0057] Alternatively, the robot 120 is not fully in place with the base station 100, and the robot 120 is reciprocated to make the robot 120 and the base station 100 fully in place. For example, the robot 120 is plugged and matched with the base station 100, but the robot 120 and the base station 100 are not fully plugged in place, so that the robot 120 is left or right relative to the base station 100, and the robot 120 is reciprocated to make the robot and the base station 100 fully plugged in place.

[0058] When the in-place structure is a strong limit, the robot 120 and the base station 100 cannot continue to rotate after they are rotated to the position to match. At this time, the first preset angle and the second preset angle can be different. The robot 120 is in place after rotating to be engaged with the base station 110.

[0059] like Figure 3 As shown, in some embodiments, the steps of controlling the robot 120 to perform a deviation correction movement include:

[0060] S301, controlling the robot 120 to rotate along a first preset direction by a first preset angle.

[0061] The first rotation direction may be counterclockwise, and the first angle may be 8°, 9°, 10°, 11°, 12°, etc., which are not specifically limited here.

[0062] S302, controlling the robot 120 to rotate along a second preset direction by a second preset angle, where the second preset direction is opposite to the first preset direction.

[0063] The second rotation direction may be clockwise, and the second angle may be 8°, 9°, 10°, 11°, 12°, etc., which are not specifically limited here.

[0064] S303, re-determine whether the arrival signal generated by the arrival sensor 130 is obtained.

[0065] S304, when the arrival signal is obtained, the robot 120 is controlled to stop moving.

[0066] By acquiring the detection signal generated by the position sensor 130 again, it is detected whether the robot 120 and the base station 110 have completed high-precision matching. If the robot 120 and the base station 100 are still not accurately aligned after the above correction steps, the following correction steps are performed to increase the probability of the robot 120 and the base station 110 completing accurate docking.

[0067] S305: When the in-position signal is not obtained, control the robot 120 to rotate along the second preset direction by a third preset angle.

[0068] The third angle may be 8°, 9°, 10°, 11°, 12°, etc., and is not specifically limited here.

[0069] S306, controlling the robot 120 to rotate along the first preset direction by a fourth preset angle to complete a deviation-correcting movement.

[0070] The fourth angle may be 8°, 9°, 10°, 11°, 12°, etc., and is not specifically limited here.

[0071] When there is a deflection angle between the robot 120 and the base station 110 , the robot 120 may deflect counterclockwise or clockwise relative to the base station 110 .

[0072] Generally speaking, the alignment deviation between the robot 120 and the base station 110 is within 1°. By reciprocating the robot 120 , the robot 120 and the base station 110 can be aligned exactly through the positioning structure.

[0073] When the in-place structure is a weak limit, the robot 120 and the base station 100 can continue to rotate after rotating to the position to match, at this time the first preset angle is the same as the second preset angle, the third preset angle is the same as the fourth preset angle, and under the intervention of the in-place structure, the robot 120 reciprocates, causing the position of the robot 120 relative to the base station 110 to deflect slightly, thereby aligning with the base station 110.

[0074] Alternatively, the robot 120 is not fully in place with the base station 100, and the robot 120 is reciprocated to make the robot 120 and the base station 100 fully in place. For example, the robot 120 is plugged and matched with the base station 100, but the robot 120 and the base station 100 are not fully plugged in place, so that the robot 120 is left or right relative to the base station 100, and the robot 120 is reciprocated to make the robot and the base station 100 fully plugged in place.

[0075] When the in-place structure is a strong limit, the robot 120 and the base station 100 cannot continue to rotate after they are rotated to the position to match. At this time, the first preset angle and the second preset angle may be different, and the third preset angle and the fourth preset angle may be different. The robot 120 is in place after rotating to be engaged with the base station 110.

[0076] When the robot 120 first rotates counterclockwise and can align with the base station 110, the robot 120 stops moving. When the robot 120 first rotates counterclockwise and cannot align with the base station 110, the robot 120 first rotates clockwise and then counterclockwise.

[0077] By rotating the robot 120 counterclockwise and clockwise, the probability of the robot 120 and the base station 110 completing accurate docking can be increased.

[0078] In some embodiments, after the robot 120 is controlled to perform a corrective movement, and after one corrective movement is completed, the step of determining whether the in-position signal generated by the in-position sensor 130 is obtained is re-executed. In the embodiment of the present application, it is possible to determine whether the in-position signal is obtained after one corrective movement is performed, without having to determine whether the in-position signal is obtained in real time, and the tolerance for the processing transmission delay of the in-position signal is higher.

[0079] In some embodiments, after re-executing the step of determining whether the in-position signal generated by the in-position sensor is obtained, the following steps are included:

[0080] S401, if the in-position signal is still not obtained, the corrective movement is performed again, and when the number of corrective movements of the robot 120 exceeds the preset number and the in-position signal is still not obtained, the robot 120 is controlled to exit the base station 110, and the step of controlling the robot 120 to return to the base station 110 is re-executed.

[0081] If the robot 120 performs multiple corrective movements and the in-position sensor 130 still does not generate an in-position signal, it means that the corrective movement can no longer enable the robot 120 to complete high-precision coordination with the base station 110, and it is meaningless for the robot 120 to continue to perform corrective movements. At this time, the cleaning machine first exits the base station 110 and then returns to the base station 110, and the success rate of the robot 120 and the base station 110 completing high-precision coordination will be higher. The preset number of times can be exemplarily 3 times, etc., and is not specifically limited here.

[0082] In some embodiments, after a single deviation correction movement is completed, before the step of re-determining whether to obtain the in-position signal generated by the in-position sensor, the step further includes:

[0083] S501, controlling the robot 120 to stop moving in situ for a first preset time period.

[0084] Generally speaking, the base station 110 has an infrared transmitting module 114, and the robot 120 has an infrared receiving module 122. The infrared coding signal emitted by the infrared transmitting module 114 has a certain stroboscopic property, and the infrared coding signal needs to pass through multiple nodes from emission to processing, which is relatively time-consuming. Specifically, the infrared transmitting module 114 needs to emit an infrared coding signal first, and then the infrared receiving module 122 receives the infrared coding signal, and transmits the infrared coding signal to the deviation correction control unit of the robot 120. The deviation correction control unit processes the infrared coding signal and controls the movement of the driving wheel 123 according to the processing result. It will also cause a reception delay. Therefore, there is a time delay in the process of sending a signal from the infrared transmitting module 114 to control the movement of the driving wheel 123 of the robot 120, and the robot 120 is in continuous motion during this period, which will cause the robot 120 to have a position error.

[0085] Similarly, after the in-position sensor 130 is triggered, the control module filters and calculates the signal of the in-position sensor 130, and then the robot 120 receives the in-position signal and controls the driving wheel 123 to stop moving. This process also has a delay. Therefore, it is possible that the robot 120 and the base station 110 have completed precise docking, the in-position sensor 130 has been triggered, and the robot 120 continues to move due to the delay in receiving the in-position signal, and the robot 120 deviates again after the precise docking with the base station 110.

[0086] After each deviation correction movement of the robot 120, there is a delay in the robot 120 receiving the arrival signal. Therefore, the first preset time length is set to include the time required for the arrival signal transmission, filtering, and processing, so as to avoid the situation where the robot 120 deviates from the base station 110 again after being accurately docked due to the delay in receiving the arrival signal by the robot 120. For example, if the delay time for the robot 120 to receive the arrival signal is 1S, the first preset time length needs to be greater than the delay time for the robot 120 to receive the arrival signal, for example, the first preset time length is 3S.

[0087] In some embodiments, detecting that the robot 120 and the base station 110 meet a preset condition includes:

[0088] S601, the distance between the robot 120 and the base station 110 is less than a preset distance, and then the time for the robot 120 to perform the return motion reaches a second preset time length.

[0089] When the robot 120 returns to the base station 110, the timing starts when the distance between the robot 120 and the base station 110 is less than the preset distance. After the second preset time, it is detected whether the in-position sensor 130 generates an in-position signal. The second preset time is usually longer than the first preset time. The preset distance can be 50 centimeters, which is not limited here. The preset distance can be measured by the laser radar of the robot 120.

[0090] The second preset duration of the embodiment of the present application includes both the time required for the robot 120 to move from the preset distance from the base station 110 to the base station 110 and the time required for the transmission, filtering, and processing of the arrival signal, thereby avoiding the situation where the robot 120 deviates from the base station 110 again after being accurately docked due to the delay of the arrival signal. For example, it takes 2 seconds for the robot 120 to move from the preset distance from the base station 110 to the base station 110, and the delay time for the robot 120 to receive the arrival signal is 1 second. The second preset duration needs to be greater than the sum of the two times, for example, the second preset duration is 5 seconds.

[0091] In some embodiments, if it is detected that the robot 120 and the base station 110 meet the preset conditions, the angle deviation between the central axis of the robot 120 and the alignment reference line of the base station 110 is less than 1 degree. It should be noted that the general robot can achieve an accuracy error of less than 1 degree by returning the infrared signal to the base station, so this limitation will not increase the cost.

[0092] For example, a limiting groove is set at the bottom of the robot 120, and a limiting convex portion is set on the base station 110. When the robot 120 returns to the base station 110, it is assumed that the angle deviation between the central axis of the robot 120 and the alignment reference line of the base station 110 is 0.5 degrees, that is, the angle deviation between the limiting groove and the limiting convex portion is 0.5 degrees. The robot 120 first rotates counterclockwise by 10 degrees. When the robot 120 rotates counterclockwise by 0.5 degrees, the limiting groove and the limiting convex part cooperate. Then the robot 120 continues to rotate so that the limiting groove and the limiting convex part are separated, until the counterclockwise rotation reaches 10 degrees and the robot 120 stops rotating. Then the robot 120 rotates clockwise by 10 degrees. When the robot 120 rotates clockwise by 9.5 degrees, the limiting groove and the limiting convex part cooperate. Then the robot 120 continues to rotate by 0.5 degrees and stops. It should be noted that after the robot 120 continues to rotate by 0.5 degrees, the limiting groove and the limiting convex part are not completely separated. Therefore, when the robot 120 stops rotating, under the action of the gravity of the robot 120, the limiting groove and the limiting convex part re-engage in place, so that the robot 120 and the base station 110 are precisely aligned. The limiting groove and the limiting convex part need to be configured so that the limiting groove and the limiting convex part rotate from fully in place to completely separated, and the angle of rotation of the robot 120 needs to be greater than 1 degree.

[0093] like Figure 4 As shown, in some embodiments, the robot 120 is controlled according to Figure 4 The process steps return to base station 110, Figure 4 The process forms a complete closed loop.

[0094] Specifically, the robot 120 is controlled to return to the base station 110. If it is detected that the robot 120 and the base station 110 meet the preset conditions, it is determined whether the in-position signal generated by the in-position sensor 130 is obtained. When the in-position signal is obtained, the robot 120 is controlled to stop moving. When the in-position signal is not obtained, the robot 120 is controlled to rotate along a first preset direction by a first preset angle. The robot 120 is controlled to rotate along a second preset direction by a second preset angle, the second preset direction being opposite to the first preset direction, and the robot is controlled to stop moving in place for a first preset time.

[0095] Re-determine whether the in-position signal generated by the in-position sensor 130 is obtained. When the in-position signal is obtained, control the robot 120 to stop moving; when the in-position signal is not obtained, control the robot 120 to rotate along the second preset direction by a third preset angle, and control the robot 120 to rotate along the first preset direction by a fourth preset angle to complete a correcting movement, and control the robot to stop moving in place for a first preset time.

[0096] Re-execute the step of determining whether the in-position signal generated by the in-position sensor is obtained. When the in-position signal is obtained, control the robot 120 to stop moving; if the in-position signal is still not obtained, determine whether the number of corrective movements performed by the robot 120 exceeds the preset number of times. If it does not exceed the preset number of times, perform the corrective movement again; if it exceeds the preset number of times, control the robot 120 to exit the base station 110, and re-execute the step of controlling the robot 120 to return to the base station 110.

[0097] In some embodiments, controlling the robot 120 to perform a deviation correction movement and re-executing the step of determining whether the in-position signal generated by the in-position sensor 130 is obtained includes:

[0098] S601, controlling the robot 120 to rotate along a preset mode, and continuously determining whether the in-position signal is obtained.

[0099] Generally speaking, the higher the frequency of obtaining the in-place signal, the smaller the detection delay error. The preset mode can be that the robot 120 continues to rotate in one direction, for example, the robot 120 rotates counterclockwise all the time until it stops rotating after obtaining the in-place signal. The preset mode can also be that the robot 120 rotates a certain angle in one direction, and then rotates another angle in the opposite direction. For example, after the robot 120 rotates 3 degrees counterclockwise, if the in-place signal is still not obtained, it rotates 6 degrees clockwise until it stops rotating after obtaining the in-place signal. In this embodiment, the alignment speed of the robot 120 is relatively faster, but the processing transmission delay requirements for the in-place signal are relatively high.

[0100] like Figure 5As shown, a second aspect of an embodiment of the present application provides a pile control device 1 , which includes a movement control unit 11 , a signal acquisition unit 112 and a deviation correction control unit 13 .

[0101] The mobile control unit 11 is used to control the robot 120 to return to the base station 110 .

[0102] The signal acquisition unit 12 is used to determine whether the in-position signal generated by the in-position sensor 130 is acquired when it is detected that the robot 120 and the base station 110 meet the preset conditions.

[0103] The deviation correction control unit 13 is used to control the robot 120 to stop moving when an in-position signal is obtained, and to control the robot 120 to perform a deviation correction movement when no in-position signal is obtained.

[0104] In the related art, the robot and the base station are docked through infrared signals. However, due to the limited positioning accuracy of infrared signals, only low-precision docking between the robot and the base station can be achieved by relying on infrared signals. If high-precision docking is required, the robot and the base station need to cooperate with each other through a guide structure to achieve precise alignment. For example, a guide groove is set on the robot and a guide rib is set on the base station. When the robot returns to the base station, the guide rib and the guide groove cooperate to guide the robot to dock with the base station with high precision. However, in order to ensure the success rate of docking between the robot and the base station, that is, to ensure the success rate of cooperation between the guide rib and the guide groove, the guide groove needs to be set larger, so that the guide groove occupies more internal space of the robot.

[0105] like Figure 6-10 As shown, a third aspect of an embodiment of the present application provides a cleaning system 100 , which includes a base station 110 , a robot 120 , and a location sensor 130 .

[0106] The base station 110 is used to supply or discharge sewage to the robot 120. Exemplarily, the base station 110 can be used to charge the robot 120, replenish clean water, pump sewage, pump dust, clean the roller brush, clean the mop, etc. The base station 110 may have a docking chamber 110a, or may not have a docking chamber 110a. The base station 110 is provided with a docking chamber 110a, which is conducive to docking with the robot 120. The following is an example of the base station 110 having a docking chamber 110a. The base station 110 includes a first in-place structure, and the first in-place structure can be arranged in the docking chamber 110a. The first in-place structure can be one of a groove structure 121 and a protruding structure 111. It can be understood that the base station 110 has a certain limiting effect on the robot 120, and the robot 120 cannot continue to move when it retreats to abut against the inner wall of the docking chamber 110a. Generally speaking, the robot 120 can return to the base station 110 relatively easily, but it is difficult to ensure the alignment angle between the robot 120 and the base station 110 , that is, there is a deflection angle between the robot 120 and the base station 110 .

[0107] The robot 120 is used to clean the floor. Exemplarily, the robot 120 can vacuum, sweep, mop, etc. the floor. The robot 120 includes a second positioning structure, and the first positioning structure cooperates with the second positioning structure to enable the robot 120 to dock with the base station 110 with high precision. The second positioning structure can be another one of the groove structure 121 and the protrusion structure 111. After the robot 120 returns to the docking cavity 110a, the protrusion structure 111 can be embedded in the groove structure 121. Through the cooperation of the protrusion structure 111 and the groove structure 121, the robot 120 and the base station 110 can be accurately aligned.

[0108] The docking accuracy of the robot 120 and the base station 110 depends on the limiting accuracy of the first and second positioning structures, for example, depends on the matching accuracy of the groove structure 121 and the protrusion structure 111. Since the first and second positioning structures are physically matched, it is relatively easy to ensure the matching accuracy of the first and second positioning structures, that is, the docking accuracy of the robot 120 and the base station 110 can be ensured.

[0109] The in-place sensor 130 is disposed on at least one of the robot 120 and the base station 110. After the first in-place structure and the second in-place structure cooperate with each other, the in-place sensor 130 generates an in-place signal. For example, the in-place sensor 130 can be disposed on the groove structure 121, or the in-place sensor 130 can be disposed on the protruding structure 111, or the in-place sensor 130 can be disposed on both the groove structure 121 and the protruding structure 111. After the protruding structure 111 is embedded in the groove structure 121, the in-place sensor 130 is triggered by the protruding structure 111 or the groove structure 121 to generate an in-place signal. It is understandable that the in-place sensor 130 can also be disposed on other parts of the base station 110 or the robot 120.

[0110] The in-place sensor 130 is used to detect whether the robot 120 and the base station 110 are docked in place. When the protruding structure 111 is embedded in the groove structure 121, it means that the robot 120 and the base station 110 are docked in place, the in-place sensor 130 is triggered, and the in-place sensor 130 generates an in-place signal. When the protruding structure 111 is not embedded in the groove structure 121, it means that the robot 120 and the base station 110 are not docked in place, the in-place sensor 130 is not triggered, and the in-place sensor 130 does not generate an in-place signal. The in-place sensor 130 can be illustratively a micro switch, and when the protruding structure 111 is embedded in the groove structure 121, the micro switch is pressed and triggered. When the micro switch is triggered, the base station 110 can perform actions such as replenishing clean water, sucking sewage, removing dust, charging, and washing mops on the robot 120.

[0111] After the robot 120 returns to the base station 110, if the in-position sensor 130 is not triggered and does not send out an in-position signal, based on the condition that the in-position sensor 130 does not generate an in-position signal, the robot 120 rotates and adjusts its position in the base station 110 until the first in-position structure and the second in-position structure cooperate with each other, so that the in-position sensor 130 generates an in-position signal.

[0112] Adjusting the position of the robot 120 in the base station 110 may illustratively include rotating the robot 120 in the docking cavity 110 a , and withdrawing the robot 120 from the docking cavity 110 a and returning to the docking cavity 110 a of the base station 110 .

[0113] In the process of returning the robot 120 to the base station 110, the robot 120 first only needs to return to the base station 110 without the need for precise alignment. After returning to the base station 110, the robot 120 begins to adjust the angle relative to the base station 110, thereby completing the precise alignment with the base station 110. In the process of returning the robot 120 to the base station 110, if the robot 120 and the base station 110 are exactly aligned, the first in-place structure and the second in-place structure cooperate with each other. If the robot 120 is not aligned with the base station 110 (there is a deflection angle between the robot 120 and the base station 110), the first in-place structure and the second in-place structure are spaced apart in the circumferential direction of the robot 120.

[0114] In summary, the first in-position structure and the second in-position structure of the embodiment of the present application do not need to be aligned in the initial stage of the return of the robot 120. Therefore, in the process of the robot 120 returning to the base station 110, the robot 120 first only needs to be roughly aligned with the base station 110, and there is no need to consider precise alignment when returning. After returning to the base station 110, when the robot 120 fails to obtain the in-position signal, the robot 120 rotates and adjusts its position in the base station 110, thereby completing the precise docking with the base station 110. In other words, the robot 120 does not need to find the central axis before returning to the base station 110. By rotating and adjusting its position in the base station 110, the robot 120 can improve the one-time docking success rate with the base station 110 while meeting the high-precision pile alignment. Therefore, the accuracy requirements for the transmission optical path of the base station 110 are relatively low, thereby reducing costs.

[0115] In addition, the first and second in-place structures of the embodiment of the present application can be designed to be relatively small, so that the internal space of the robot 120 is less occupied, the outer wall of the robot 120 is more complete, and it is not easy to interfere with obstacles during operation. Moreover, the embodiment of the present application has a high success rate by coordinating the physical structure of the first and second in-place structures.

[0116] like Figure 7-10 As shown, in some embodiments, the first positioning structure includes a limiting convex portion provided in the docking cavity 110a, and the second positioning structure includes a limiting groove provided on the surface of the robot 120. Compared with providing a limiting convex portion on the robot 120, providing a limiting groove on the robot 120 can more likely prevent the robot 120 from colliding when moving.

[0117] The limiting groove and the limiting convex part have a good limiting effect, and the limiting groove is integrally formed with the shell of the robot 120, and the limiting convex part can be integrally formed with the shell of the base station 110, which is relatively easy to manufacture and has a low production cost. In addition, the matching accuracy of the limiting groove and the limiting convex part is relatively high. For example, the matching clearance of the injection-molded limiting groove and the limiting convex part can easily reach 0.1mm, so that the docking accuracy of the robot 120 and the base station 110 is relatively high, which can meet the accuracy requirements of adding clean water and discharging sewage.

[0118] The in-place sensor 130 is arranged on the limiting protrusion, and the in-place sensor 130 can be triggered to generate an in-place signal by contacting the groove wall of the limiting groove. The in-place sensor 130 is triggered only when the limiting protrusion cooperates with the limiting groove, thereby reducing the probability of false triggering.

[0119] In some alternative embodiments, the first in-place structure may be a plurality of photoelectric transmitters, and the second in-place structure may be a plurality of photoelectric receivers, and the orientations of the plurality of photoelectric transmitters are not parallel, thereby limiting the matching accuracy of the first in-place structure and the second in-place structure in a three-dimensional direction. When the plurality of photoelectric receivers are aligned with the plurality of photoelectric transmitters one by one, each photoelectric receiver can receive the photoelectric signal emitted by the corresponding photoelectric transmitter, and at this time, the first in-place structure and the second in-place structure are matched with each other.

[0120] The first in-place structure may be a first electromagnet, and the second in-place structure may be a second electromagnet. The first electromagnet and the second electromagnet are configured so that when they are magnetically connected, they can maintain a relatively high precision (for example, 0.1 mm) relative to each other. When the first electromagnet and the second electromagnet are magnetically connected, the first in-place structure and the second in-place structure cooperate with each other to be in place.

[0121] like Figure 7-10 As shown, in some embodiments, the base station 110 includes a base 112 and a main body 113, the base 112 has a bearing surface 112a for bearing the robot 120, and the limiting protrusion is arranged on the base 112 and protrudes from the bearing surface 112a. The main body 113 is arranged on the base 112, and together with the base 112, a docking cavity 110a is formed. After the robot 120 returns to the base station 110, the base 112 carries the robot 120, and the limiting protrusion can be embedded in the limiting groove.

[0122] like Figure 7-10As shown, in some embodiments, the position sensor 130 is arranged on the top surface of the limiting protrusion, so that the position sensor 130 can detect whether the limiting protrusion and the limiting groove are in place in the vertical dimension. The robot 120 has an inclined sliding surface 120a arranged at its tail end. In the direction away from the center of the robot 120, the height distance between the inclined sliding surface 120a and the bottom surface of the robot 120 gradually increases, and the limiting groove is opened on the inclined sliding surface 120a.

[0123] The limiting groove has an opening. Since the limiting groove is provided on the inclined sliding surface 120a, the opening is oriented in both the vertical direction and the horizontal direction, so that the limiting groove can be plugged and matched with the limiting protrusion along the vertical direction or the horizontal direction. If the robot 120 is exactly aligned with the base station 110 when returning, the limiting groove moves in the horizontal direction relative to the limiting protrusion and is in full engagement with the limiting protrusion. If the robot 120 is not aligned with the base station 110 when returning, the robot 120 needs to rotate until the limiting groove is aligned with the limiting protrusion so as to be in full engagement with the limiting protrusion. In addition, when the limiting groove is in full engagement with the limiting protrusion, if the robot 120 needs to exit the base station 110 for cleaning operations, the robot 120 can exit directly, and the limiting protrusion will not affect the robot 120 entering and exiting the base station 110.

[0124] In some embodiments, the limiting groove may only have an opening in the horizontal direction, and the limiting protrusion is configured to be retractable. When the robot 120 is ready to return to the base station 110, the limiting protrusion is retracted into the base 112. When the robot 120 returns to the base station 110, the limiting protrusion extends, and the limiting protrusion abuts against the bottom wall of the robot 120, and the robot 120 is partially tilted. At this time, by rotating the robot 120, when the limiting groove is rotated to align with the limiting protrusion, the robot 120 falls under the action of gravity, so that the limiting protrusion fits with the limiting groove to achieve in-place fit. If the robot 120 needs to exit the base station 110 for cleaning operations, the limiting protrusion must first be retracted into the base 112, and then the robot 120 can exit.

[0125] When adjusting the position of the robot 120 in the docking cavity 110a, the robot 120 rotates in the docking cavity 110a, and the inclined sliding surface 120a can slide against the limiting protrusion but is not enough to contact the in-position sensor 130 until the limiting protrusion is embedded in the limiting groove.

[0126] like Figure 7-10 As shown, in some embodiments, along the embedding direction of the limiting protrusion into the limiting groove, the area of ​​the cross section of the limiting protrusion perpendicular to the embedding direction gradually decreases.

[0127] For example, the size of the top surface of the limiting protrusion in the circumferential direction of the robot 120 is smaller than the size of the bottom surface of the limiting protrusion in the circumferential direction of the robot 120. Correspondingly, the size of the bottom wall of the limiting groove in the circumferential direction of the robot 120 is smaller than the size of the opening of the limiting groove in the circumferential direction of the robot 120. The relatively large opening of the limiting groove and the relatively small top surface of the limiting protrusion are easier to achieve plug-in matching. In this way, the robot 120 does not need to rotate until the limiting groove and the limiting protrusion are completely aligned, but only needs to rotate until the limiting groove and the limiting protrusion are roughly aligned, and the limiting groove will slide down to fit in place with the limiting protrusion.

[0128] like Fig. 9 As shown, in some embodiments, the in-place sensor 130 has an inclined avoidance surface 130a for avoiding the inclined sliding surface 120a, and the inclined avoidance surface 130a is arranged parallel to the inclined sliding surface 120a to prevent the inclined sliding surface 120a from contacting the in-place sensor 130 when sliding with the limiting protrusion.

[0129] like Figure 7-10 As shown, in some embodiments, the base 112 includes an upslope section 1121 and a bearing section 1122. The upslope section 1121 is located outside the main body 113. The closer to the docking cavity 110a, the higher the slope of the upslope section. The bearing section 1122 is located in the docking cavity 110a and connected to the upslope section 1121. The limiting protrusion is set on the bearing section 1122.

[0130] When the robot 120 passes through the uphill section 1121 and the bearing section 1122 and enters the docking cavity 110a, the tail end of the robot 120 with the limiting groove is in a tilted state. Thus, the robot 120 can move to press against the limiting convex part. Alternatively, the limiting convex part is provided with a limiting inclined surface 111a, so that the robot 120 can move to press against the limiting convex part through the limiting inclined surface 111a.

[0131] It should be noted that at this time, the robot 120 is only partially lifted, and the driving wheel 123 of the robot 120 is not off the ground, because the robot 120 can still be driven to move. Since the limiting protrusion and the limiting groove are arranged at intervals in the circumferential direction of the robot 120, when the limiting groove is rotated to align with the limiting protrusion, the robot 120 falls under the action of gravity, so that the limiting protrusion fits with the limiting groove to achieve in-place fit.

[0132] like Figure 7-10As shown, in some embodiments, the base station 110 further includes an infrared transmitting module 114, and the infrared transmitting module 114 is disposed in the docking chamber 110a. The robot 120 further includes an infrared receiving module 122, and the infrared transmitting module 114 is used to send an infrared coded signal to the infrared receiving module 122 to guide the robot 120 to move toward the docking chamber 110a. Specifically, the infrared transmitting module 114 contains a number of infrared transmitting lamps, and the signal code value emitted by each lamp is different. A machine identification code is formed through hexadecimal conversion to identify the partition in front of the base station 110. An infrared receiving lamp group is designed inside the infrared receiving module 122, and the infrared receiving lamp group receives the infrared signal code value emitted by the infrared transmitting module 114, thereby determining the position of the robot 120, so that the robot 120 can adjust its own position and return to the base station 110.

[0133] It is understandable that the alignment accuracy of the robot 120 and the base station 110 varies depending on the type of the selected infrared emitting module 114 and the infrared receiving module 122. Generally speaking, the higher the cost of the infrared emitting module 114 and the infrared receiving module 122, the higher the alignment accuracy of the robot 120 and the base station 110, and the lower the cost of the infrared emitting module 114 and the infrared receiving module 122, the lower the alignment accuracy of the robot 120 and the base station 110.

[0134] The cleaning system 100 of the embodiment of the present application has lower requirements on the alignment accuracy of the infrared transmitting module 114 and the infrared receiving module 122, thereby reducing costs.

[0135] like Figure 7-10 As shown, in some embodiments, the robot 120 has a clean water addition port 120b, and the base station 110 has a clean water addition port 115 arranged in the docking cavity 110a. When the in-position sensor 130 generates an in-position signal, the clean water addition port 115 docks with the clean water addition port 120b, so that the base station 110 can replenish clean water to the robot 120.

[0136] The robot 120 has a sewage outlet 120c, and the base station 110 has a sewage outlet 116 disposed in the docking chamber 110a. When the in-position sensor 130 generates an in-position signal, the sewage outlet 116 docks with the sewage outlet 120c, so that the cleaning machine can discharge sewage to the base station 110.

[0137] The robot 120 further includes a power receiving pin 124 . The base station 110 has a power supply pin 117 disposed in the docking cavity 110 a . When the arrival sensor 130 generates an arrival signal, the power receiving pin 124 docks with the power supply pin 117 to charge the robot 120 through the base station 110 .

[0138] For some base stations 110 that only have a charging function, the connection accuracy requirements for the robot 120 and the base station 110 are not high. For example, the size of the power receiving pin 124 of the robot 120 and the size of the power supply pin 117 of the base station 110 can be set larger, so that the power receiving pin 124 and the power supply pin 117 have better fault tolerance. Even if the robot 120 has a certain deflection relative to the base station 110, the power receiving pin 124 and the power supply pin 117 can also abut against each other, so that the robot 120 can be charged. However, when the robot 120 and the base station 110 have a waterway docking requirement, the docking accuracy requirements for the robot 120 and the base station 110 are higher, especially for double waterway docking, the docking accuracy requirements are higher.

[0139] like Figure 7-10 As shown, in some embodiments, a receiving groove 110 b is provided on the base 112 , and the robot 120 includes a driving wheel 123 . When the protruding structure 111 is embedded in the groove structure 121 , the driving wheel 123 is received in the receiving groove 110 b .

[0140] In the related art, the robot 120 has the functions of vacuuming and mopping. In order to improve the mopping efficiency of the robot 120, the mopping part of the robot 120 is usually a roller mop. The dust box of the robot 120 has a dust discharge port, which can be set on the bottom wall or side wall of the robot 120. In order to maximize the coverage length of the roller mop, the dust discharge port is usually set on the bottom wall of the robot 120. The base 112 is correspondingly provided with a dust suction port. When the dust suction port is connected to the dust discharge port, the garbage in the dust box can be sucked. When the dust suction port is aligned with the dust discharge port, the limiting protrusion is also aligned with the limiting groove.

[0141] In order to enhance the sealing performance of the dust suction port and the dust discharge port, the robot 120 needs to be able to move downward relative to the base 112 when the dust suction port and the dust discharge port are aligned, so that the dust suction port and the dust discharge port can be relatively close to each other to achieve a better sealing effect. Therefore, a receiving groove 110b is provided on the base 112, and when the driving wheel 123 of the robot 120 is received in the receiving groove 110b, the robot 120 can move downward relative to the base 112.

[0142] It should be noted that the accommodating groove 110 b also has a certain limiting effect on the driving wheel 123 , so that the protruding structure 111 has a greater probability of being embedded in the groove structure 121 , thereby improving the probability of successful docking between the robot 120 and the base station 110 .

[0143] The process of the robot 120 returning to the base station 110 is as follows: the robot 120 is on the flat ground and is preparing to return to the base station 110; the robot 120 is climbing the slope; the driving wheel 123 of the robot 120 reaches the highest point; the driving wheel 123 of the robot 120 falls into the receiving groove 110b. After the driving wheel 123 of the robot 120 falls into the receiving groove 110b, if the limiting protrusion and the limiting groove are in place, the in-place sensor 130 sends an in-place signal, and the robot 120 stops moving. If the limiting protrusion and the limiting groove are not in place, the in-place sensor 130 does not send an in-place signal, and the robot 120 rotates to make the limiting protrusion and the limiting groove complete the in-place match.

[0144] Furthermore, a sealing rubber ring may be provided around the dust suction port or the dust exhaust port to improve the sealing effect.

[0145] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0146] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A pile control method, characterized in that: The following steps are involved: Control the robot to return to the base station; If it is detected that the robot and the base station meet the preset conditions, determining whether a position signal generated by a position sensor is obtained; When the in-position signal is obtained, controlling the robot to stop moving; When the in-place signal is not obtained, the robot is controlled to perform a deviation-correcting movement, and the step of determining whether the in-place signal generated by the in-place sensor is obtained is re-executed.

2. The pile control method according to claim 1, characterized in that: The step of controlling the robot to perform deviation-correcting motion comprises: Controlling the robot to rotate along a first preset direction and by a first preset angle; The robot is controlled to rotate along a second preset direction and a second preset angle to complete the deviation-correcting movement once, wherein the second preset direction is opposite to the first preset direction.

3. The pile control method according to claim 1, characterized in that: The step of controlling the robot to perform deviation-correcting motion comprises: Controlling the robot to rotate along a first preset direction and by a first preset angle; Controlling the robot to rotate along a second preset direction and by a second preset angle, wherein the second preset direction is opposite to the first preset direction; Re-determine whether the arrival signal generated by the arrival sensor is obtained; When the in-position signal is obtained, controlling the robot to stop moving; When the in-position signal is not obtained, controlling the robot to rotate along the second preset direction by a third preset angle; The robot is controlled to rotate along the first preset direction by a fourth preset angle to complete a deviation-correcting movement.

4. The pile control method according to claim 2 or 3, characterized in that: After the deviation-correcting movement is completed once, the step of determining whether the in-position signal generated by the in-position sensor is obtained is executed again.

5. The pile control method according to claim 1, characterized in that: The step of controlling the robot to perform a deviation-correcting movement and re-executing the step of determining whether an in-position signal generated by an in-position sensor is obtained comprises: The robot is controlled to rotate along a preset mode, and it is continuously determined whether the in-position signal is obtained.

6. The pile control method according to claim 1, characterized in that: After re-executing the step of determining whether the in-position signal generated by the in-position sensor is obtained, if the in-position signal is still not obtained, the corrective movement is performed again, and when the number of corrective movements of the robot exceeds a preset number and the in-position signal is still not obtained, the robot is controlled to exit the base station, and the step of controlling the robot to return to the base station is re-executed.

7. The pile control method according to claim 1, characterized in that: After the single deviation correction movement is completed, before the step of re-determining whether to obtain the in-position signal generated by the in-position sensor, the method further includes: The robot is controlled to stop moving in situ for a first preset time period.

8. The pile control method according to claim 1, characterized in that: The detecting that the robot and the base station meet a preset condition includes: The distance between the robot and the base station is less than a preset distance, and then the time for the robot to perform the return motion reaches a second preset time length.

9. The pile control method according to any one of claims 1 to 8, characterized in that: If it is detected that the robot and the base station meet a preset condition, the angle deviation between the central axis of the robot and the alignment reference line of the base station is less than 1 degree.

10. A pile control device, characterized in that: include: A mobile control unit, used to control the robot to return to the base station; A signal acquisition unit, configured to determine whether a position signal generated by a position sensor is acquired when it is detected that the robot and the base station meet a preset condition; A deviation correction control unit, used to control the robot to stop moving when the in-place signal is obtained; and to control the robot to perform deviation correction movement when the in-place signal is not obtained; The signal acquisition unit is further used to re-execute the step of determining whether the in-position signal generated by the in-position sensor is acquired.

11. A cleaning system, characterized in that: include: A base station, including a first position-arriving structure; The robot comprises a second positioning structure, and after the robot returns to the base station, the first positioning structure and the second positioning structure cooperate with each other; An in-place sensor is disposed on at least one of the base station and the robot, and after the first in-place structure and the second in-place structure cooperate with each other, the in-place sensor generates an in-place signal; Wherein, after the robot returns to the base station, based on the condition that the in-place sensor does not generate an in-place signal, the robot rotates and adjusts its position in the base station until the first in-place structure cooperates with the second in-place structure, so that the in-place sensor generates the in-place signal.

12. The cleaning system according to claim 11, characterized in that The cleaning system applies the pile control method as described in any one of claims 1-9.

13. The cleaning system according to claim 11, characterized in that The first positioning structure comprises a limiting convex portion arranged in the base station, and the second positioning structure comprises a limiting groove arranged on the surface of the robot; Wherein, the in-position sensor is arranged on at least one of the limiting protrusion or the groove wall of the limiting groove, and can be triggered to generate the in-position signal by contacting the groove wall of the limiting groove or the limiting protrusion.

14. The cleaning system according to claim 13, characterized in that The base station comprises: A base having a bearing surface for bearing the robot, wherein the limiting protrusion is arranged on the base and protrudes from the bearing surface; and A main body, arranged on the base; Wherein, after the robot returns to the base station, the base supports the robot, and the limiting protrusion can be embedded in the limiting groove.

15. The cleaning system according to claim 14, characterized in that The in-position sensor is arranged on the top surface of the position-limiting protrusion; The robot has an inclined sliding surface arranged at its tail end, and the height distance between the inclined sliding surface and the bottom surface of the robot gradually increases in a direction away from the center of the robot, and the limiting groove is provided on the inclined sliding surface; The robot rotates to adjust its position in the base station, and the inclined sliding surface can slide and abut against the limiting protrusion but does not contact the in-position sensor until the limiting protrusion is embedded in the limiting groove.

16. The cleaning system according to claim 15, characterized in that Along the embedding direction of the limiting protrusion into the limiting groove, the area of ​​the cross section of the limiting protrusion perpendicular to the embedding direction gradually decreases; and / or The in-position sensor has an inclined avoidance surface for avoiding the inclined sliding surface, and the inclined avoidance surface is arranged parallel to the inclined sliding surface to prevent the inclined sliding surface from contacting the in-position sensor when sliding with the limiting protrusion; and / or The base is provided with a receiving groove, the robot comprises a driving wheel, and when the protrusion structure is embedded in the groove structure, the driving wheel is received in the receiving groove.

17. The cleaning system according to claim 16, characterized in that The base comprises: an uphill section, located outside the main body, the closer to the main body, the higher the slope of the uphill section; and A bearing section connected to the uphill section, wherein the limiting protrusion is arranged on the bearing section; Wherein, when the robot passes through the uphill section and the load-bearing section and enters the base station, the tail end of the robot having the limiting groove is in a tilted state.

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