Equipment docking method, object dragging platform, cleaning robot and smart home system

Abstract

The invention relates to an equipment docking method, a dragging platform, a cleaning robot and a smart home system, and relates to the technical field of smart home. The method comprises the steps that the cleaning robot responds to a target instruction and carries an object dragging platform to move to an area to which a base station belongs, and then the object dragging platform and the base station are in positioning cooperation and electric connection, so that the base station cooperates with the object dragging platform and / or the cleaning robot to execute a function task corresponding to the target instruction. According to the method, by means of the moving function of the cleaning robot, flexible butt joint of the cleaning robot carrying the object dragging platform and the base station is achieved, then the base station is cooperated to execute function tasks, and the cleaning robot can be in butt joint with the base station independently and can be in butt joint with the base station under the condition that the cleaning robot is combined with the object dragging platform; the base station is matched with the object dragging platform and / or the cleaning robot to execute the corresponding function task, so that the object dragging platform and the cleaning robot are more flexible and intelligent to use, and the diversity of the function task executed by the object dragging platform carried by the cleaning robot is improved.

Description

[0001] This application claims priority to the Chinese patent application filed on February 2, 2024, with application number 2024202697029 and named “Home Mobile Platform, Cleaning Robot and Cleaning System”. Technical Field

[0002] The present application relates to the field of smart home technology, and in particular to a device docking method, a towing platform, a cleaning robot and a smart home system. Background Art

[0003] With the continuous iteration and upgrading of intelligent technology, the application scenarios of intelligent robots have gradually broadened, and their functional forms have become more diverse. Among them, cleaning robots are a relatively common type of intelligent robots that can clean the floor through movement, mapping, obstacle avoidance and path planning.

[0004] However, the working mode of cleaning robots is relatively simple, especially in home scenarios, and they cannot work in conjunction with other household devices. Therefore, conventional cleaning robots can no longer meet people's demand for intelligent devices. When the working mode of the cleaning robot is simple, the working mode of the cleaning robot's corresponding base station is also relatively simple, and it can only cooperate with the cleaning robot for charging or dust collection. Summary of the invention

[0005] Based on this, it is necessary to provide a device docking method, a towing platform, a cleaning robot and a smart home system that can flexibly dock with a base station through a cleaning robot carrying a towing platform to achieve diversified work of the cleaning robot in response to the above technical problems.

[0006] In a first aspect, the present application provides a device docking method based on a smart home system, the smart home system including a cleaning robot, a mopping platform and a base station, the method comprising:

[0007] The cleaning robot responds to the target command and moves to the area to which the base station belongs, carrying the towing platform;

[0008] The towing platform is positioned, matched and electrically connected with the base station, so that the base station cooperates with the towing platform and / or the cleaning robot to perform functional tasks corresponding to the target instructions.

[0009] In one embodiment, before the towing platform is positioned, matched and electrically connected with the base station, the method further includes:

[0010] The cleaning robot receives a docking signal sent by the base station in the area to which the base station belongs, and / or the towing platform receives a docking signal sent by the base station in the area to which the base station belongs, and sends docking information to the cleaning robot according to the docking signal;

[0011] The cleaning robot determines the relative position information between the cleaning robot and the base station according to the docking signal and / or the docking information;

[0012] The cleaning robot moves toward the base station according to the relative position information.

[0013] In one embodiment, the relative position information includes a first relative direction and a relative distance, and the cleaning robot moves toward the base station according to the relative position information, including:

[0014] The cleaning robot moves to a docking area in the area to which the base station moves according to the first relative direction and relative distance;

[0015] When the relative distance is less than a preset threshold, the cleaning robot performs a precise docking operation with the base station.

[0016] In one embodiment, the docking signal is an infrared signal, the relative position information further includes a second relative direction, the rear end of the towing platform blocks the first infrared receiver at the rear end of the cleaning robot, and the cleaning robot performs a precise docking operation with the base station, including:

[0017] The cleaning robot carries the towing platform and rotates to a target angle, so that the towing platform receives an infrared signal through a second infrared receiver at the rear end, and sends docking information to the cleaning robot according to the infrared signal;

[0018] The cleaning robot determines a second relative direction with the base station according to the docking information, and moves toward the base station according to the second relative direction to an area where the towing platform and the base station are positioned, matched and electrically connected.

[0019] In one embodiment, the cleaning robot moves to a docking area in an area to which the base station belongs according to the first relative direction and the relative distance, including:

[0020] The cleaning robot receives the infrared signal through a third infrared receiver at the front end in the area to which the base station belongs;

[0021] The cleaning robot determines a first relative direction and a relative distance between the cleaning robot and the base station according to the infrared signal, and moves to a docking area in the area to which the base station belongs according to the first relative direction and the relative distance.

[0022] In one embodiment, a receiving angle of the second infrared receiver is smaller than a receiving angle of the third infrared receiver.

[0023] In one embodiment, the cleaning robot performs a precise docking operation with the base station, including:

[0024] The cleaning robot identifies the base station feature code on the base station through a laser radar or a camera, or the towing platform identifies the base station feature code on the base station through a laser radar or a camera, so that the cleaning robot obtains the base station feature code identified by the towing platform;

[0025] The cleaning robot moves to the area where the towing platform and the base station are positioned, matched and electrically connected according to the base station feature code; wherein the base station feature code is a structural feature code and / or a spray feature code.

[0026] In one embodiment, before the cleaning robot receives a docking signal sent by the base station in the area to which the base station belongs, and / or before the towing platform receives a docking signal sent by the base station in the area to which the base station belongs, the method further includes:

[0027] The cleaning robot sends a signal to the base station to instruct the base station to send a docking signal.

[0028] In a second aspect, the present application provides a method for connecting a towing platform to a base station, the method being applied to the towing platform, comprising:

[0029] When the towing platform is carried by the cleaning robot to the area to which the base station belongs, positioning cooperation and electrical connection are performed with the base station, so that the base station cooperates with the towing platform and / or the cleaning robot to perform corresponding functional tasks.

[0030] In one embodiment, the rear end of the towing platform blocks the first infrared receiver at the rear end of the cleaning robot, and the rear end of the towing platform is provided with a second infrared receiver. Before positioning and coordinating with the base station and electrically connecting the second infrared receiver, the method further includes:

[0031] When the cleaning robot moves toward the base station until the relative distance between the cleaning robot and the base station is less than a preset threshold, the cleaning robot is coordinated to perform a precise docking operation with the base station;

[0032] Among them, the precise docking operation between the cleaning robot and the base station includes:

[0033] After the towing platform is carried by the cleaning robot and rotated to the target angle, the second infrared receiver at the rear end receives the infrared signal sent by the base station in the area where the base station belongs, and sends docking information to the cleaning robot according to the infrared signal, so that the cleaning robot determines the second relative direction between the towing platform and the base station according to the docking information, and moves to the area where the towing platform and the base station are positioned, matched and electrically connected according to the second relative direction.

[0034] In a third aspect, the present application provides a method for connecting a cleaning robot to a base station, the method being applied to the cleaning robot, comprising:

[0035] In response to the target instruction, the towing platform is moved to the area where the base station belongs, so that the base station cooperates with the towing platform and / or the cleaning robot to perform the functional tasks corresponding to the target instruction while being positioned, matched and electrically connected with the towing platform.

[0036] In one embodiment, the first infrared receiver at the rear end of the cleaning robot is blocked by the rear end of the towing platform, and before the base station is positioned, matched and electrically connected with the towing platform, the method includes:

[0037] When the relative distance between the mobile phone and the base station is less than a preset threshold, a precise docking operation with the base station is performed;

[0038] Among them, the precise docking operation with the base station is performed, including:

[0039] The towed platform is rotated to a target angle so that the towed platform receives an infrared signal sent by the base station through a second infrared receiver at the rear end in the area where the base station belongs; receives docking information sent by the towed platform according to the infrared signal; determines a second relative direction with the base station according to the docking information, and moves to an area where the towed platform and the base station are positioned, matched and electrically connected according to the second relative direction.

[0040] In one of the embodiments, before moving toward the base station until the relative distance between the base station and the base station is less than a preset threshold, the method further includes:

[0041] In the area to which the base station belongs, a third infrared receiver at the front end of the cleaning robot receives an infrared signal sent by the base station;

[0042] The first relative direction and relative distance between the base station and the infrared signal are determined, and the mobile station moves to a docking area in the area to which the base station belongs according to the first relative direction and relative distance.

[0043] In a fourth aspect, the present application provides a towing platform, including:

[0044] The first docking module is used to position and electrically connect with the base station when the towing platform is carried by the cleaning robot to the area where the base station belongs, so that the base station performs corresponding functional tasks for the towing platform and / or the cleaning robot.

[0045] In a fifth aspect, the present application provides a cleaning robot, comprising:

[0046] The second docking module is used to respond to the target instruction and move the towing platform to the area where the base station belongs, so that the base station cooperates with the towing platform and / or the cleaning robot to perform the functional tasks corresponding to the target instruction while being positioned, matched and electrically connected with the towing platform.

[0047] In a sixth aspect, the present application provides a smart home system, comprising the towing platform of the fourth aspect, the cleaning robot and the base station of the fifth aspect, the base station cooperates with the towing platform and / or the cleaning robot to perform corresponding functional tasks.

[0048] In a seventh aspect, the present application provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of the first aspect, the second aspect or the third aspect when executing the computer program.

[0049] In an eighth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method of the first aspect, the second aspect or the third aspect when the computer program is executed by a processor.

[0050] In a ninth aspect, the present application further provides a computer program product, comprising a computer program, which implements the steps of the method of the first aspect, the second aspect or the third aspect when executed by a processor.

[0051] In the above-mentioned device docking method, towing platform, cleaning robot and smart home system, the cleaning robot responds to the target instruction, carries the towing platform and moves to the area to which the base station belongs, and then the towing platform and the base station are positioned, coordinated and electrically connected, so that the base station cooperates with the towing platform and / or the cleaning robot to perform the functional tasks corresponding to the target instruction. The present application utilizes the mobile function of the cleaning robot to realize the flexible docking of the cleaning robot carrying the towing platform and the base station, and then cooperates with the base station to perform functional tasks. In this way, the cleaning robot can not only dock with the base station alone, so that the base station cooperates with the cleaning robot to perform corresponding functional tasks, but also dock with the base station when combined with the towing platform, and the towing platform and the base station are positioned, coordinated and electrically connected, so that the base station cooperates with the towing platform and / or the cleaning robot to perform corresponding functional tasks, thereby making the use of the towing platform and the cleaning robot more flexible and intelligent, and thus helping to improve the diversity of the cleaning robot carrying the towing platform to perform functional tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 An application scenario diagram of a device docking method in an embodiment;

[0053] Figure 2 It is a schematic diagram of the structure of a cleaning robot and a dragging platform carrying household objects in one embodiment;

[0054] Figure 3 A schematic diagram of a process flow of a device docking method in an embodiment;

[0055] Figure 4 This is a schematic diagram of the structure of a towing platform in one embodiment;

[0056] Figure 5 is a schematic diagram of the structure of a base station in an embodiment;

[0057] Figure 6 is a schematic diagram of the structure of a cleaning robot in one embodiment;

[0058] Figure 7 is a schematic diagram of a process of docking with a base station in one embodiment;

[0059] Figure 8 is a schematic diagram of a process of docking with a base station in another embodiment;

[0060] Fig. 9 A schematic diagram of a precise docking process in an embodiment;

[0061] Fig.10 A schematic diagram of a process of docking signal interaction in an embodiment;

[0062] Fig.11 is a structural block diagram of a towing platform in one embodiment;

[0063] Fig.12 is a structural block diagram of a towing platform in another embodiment;

[0064] Fig.13 is a structural block diagram of a cleaning robot in one embodiment;

[0065] Fig.14 The present invention is a structural block diagram of a computer device for implementing a device docking method in an embodiment.

[0066] Reference numerals:

[0067] 100. Towing platform;

[0068] 110, first docking member; 120, first electrode sheet; 130, second infrared receiver; 140, dust collection channel;

[0069] 200, base station;

[0070] 210, dust inlet; 220, second docking member; 230, infrared signal transmitter; 240, second electrode sheet;

[0071] 300. Cleaning robot;

[0072] 310, dust outlet; 320, first infrared receiver;

[0073] 400. Household items. DETAILED DESCRIPTION

[0074] 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.

[0075] The device docking method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the towing platform 100, the base station 200 and the cleaning robot 300 are located in the same environment, such as a home indoor environment, and the towing platform 100, the base station 200 and the cleaning robot 300 are all equipped with wireless or wired communication functions.

[0076] The cleaning robot 300 is an intelligent robot with path planning, movement and obstacle avoidance functions, and can independently complete cleaning tasks such as sweeping and mopping. The towing platform 100 is a device independent of the cleaning robot 300, which can be used to carry objects. The towing platform 100 and the cleaning robot 300 can be connected in a coordinated manner, so that the towing platform 100 is located on the top of the cleaning robot 300 and moves under the drive of the cleaning robot 300. In a home indoor environment, such as Figure 2 As shown, the towing platform 100 can be used to carry household objects 400. The household objects 400 can be smart household objects with specific functions, such as cameras, humidifiers and air purifiers, etc., or ordinary household objects to be moved, such as tableware, paper towels, umbrellas and towels, etc. The base station 200 is the base station 200 corresponding to the cleaning robot 300, and can be used to charge and / or collect dust for the cleaning robot 300 and the towing platform 100 carried by the cleaning robot 300.

[0077] In one embodiment, Figure 3 As shown, a device docking method based on a smart home system is provided, the system includes a cleaning robot 300, a towing platform 100 and a base station 200, and the device docking method includes the following steps:

[0078] S301, the cleaning robot responds to the target instruction and moves to the area to which the base station belongs with the towing platform.

[0079] Specifically, the terminal (e.g., laptop, smart phone, tablet, smart speaker, smart watch), client (e.g., APP), server or towing platform 100 may send the target instruction to the cleaning robot 300. The cleaning robot 300 itself may also set the functional task and its triggering time and / or triggering condition to generate the target instruction. The triggering condition may be that the power of the towing platform 100 and / or the cleaning robot 300 is lower than a preset power threshold (e.g., 20%), or the dust box of the cleaning robot 300 is full.

[0080] The cleaning robot 300 may respond to the target command after docking and merging with the towing platform 100, or after responding to the target command, first move to the area where the towing platform 100 belongs to dock and merge with the towing platform 100, and then carry the towing platform 100 to the area where the base station belongs.

[0081] It can be understood that the area to which the base station belongs represents the approximate location of the base station 200, which refers to a smaller area of ​​the base station 200 in a home indoor environment. The cleaning robot 300 moves to this area through its own path planning, movement and obstacle avoidance functions, and can further automatically dock with the base station 200, and enable the towing platform 100 to be positioned, coordinated and electrically connected with the base station 200.

[0082] The cleaning robot 300 can first determine the area to which the base station belongs, and then move. For example, the target instruction contains the positioning information of the base station 200 issued together. The cleaning robot 300 identifies the target instruction, determines the area to which the base station belongs based on the positioning information, and then moves to the area to which the base station belongs. For another example, when the base station 200 uploads its own positioning information to the server in real time, the cleaning robot 300 responds to the target instruction, directly obtains the area to which the base station belongs from the server, and then moves to the area to which the base station belongs. For another example, the cleaning robot 300 has a built-in memory for storing map information of the environment in which the cleaning robot 300 is located, that is, map information of indoor home scenes, including the layout of indoor home scenes, and the current location information of the cleaning robot 300, the towing platform 100 and the base station 200. The cleaning robot 300 responds to the target instruction, according to the map information and the location information of the base station 200 on the map, and then moves to the area to which the base station belongs. It should be noted that the above-mentioned method of determining the area to which the base station belongs is only an example in this embodiment, and does not represent the limitation of the method in this embodiment.

[0083] The cleaning robot 300 can also keep moving in the home indoor environment based on the search function until it moves to the area where the base station belongs. For example, the cleaning robot 300 keeps moving in the indoor home scene, and identifies the base station 200 through Bluetooth signals, infrared signals or laser radar. When the base station 200 is identified at a close distance, it is determined that it has moved to the area where the base station belongs. Optionally, the cleaning robot 300 can also move randomly or along the wall until it moves to the area where the towing platform 100 belongs.

[0084] S302, the towing platform is positioned, coordinated and electrically connected with the base station, so that the base station cooperates with the towing platform and / or the cleaning robot to perform functional tasks corresponding to the target instruction.

[0085] Specifically, when the cleaning robot 300 carries the towing platform 100 and moves to the area of ​​the base station, the towing platform 100 moves toward the base station 200 until it moves to a suitable position so that the towing platform 100 and the base station 200 are positioned, matched and electrically connected.

[0086] Specifically, the towing platform 100 and the base station 200 can be positioned and matched through structural parts, such as Figure 4 and Figure 5 As shown, the towing platform 100 is configured with a first docking member 110, and the base station 200 is configured with a second docking member 220. One of the first docking member 110 and the second docking member 220 is a docking slot, and the other is a docking head. The docking head is inserted into the docking slot so that the towing platform 100 and the base station 200 can be positioned and matched, so as to improve the success rate and efficiency of the electrical connection between the towing platform 100 and the base station 200.

[0087] Optionally, the towing platform 100 and the base station 200 are positioned and matched by electrode sheets respectively arranged on the towing platform 100 and the base station 200. The towing platform 100 and / or the base station 200 are configured with elastic members capable of moving the electrode sheets in a horizontal direction, so that the towing platform 100 and the base station 200 are positioned and matched.

[0088] Specifically, during the process of positioning, matching and electrically connecting the towing platform 100 and the base station 200, the towing platform 100 can determine whether the first electrode sheet 120 on the first docking piece 110 of the towing platform 100 and the second electrode sheet 240 on the second docking piece 220 of the base station 200 are in contact with each other, thereby determining whether the towing platform 100 and the base station 200 are electrically connected, and sending the result of the electrical connection between the towing platform 100 and the base station 200 to the cleaning robot 300.

[0089] The towing platform 100 can determine whether the two electrodes are in contact through the voltage change collected by the ADC (Analog-to-Digital Converter), or detect whether the electrode sheets are in contact based on the level of the chip I / O (Input / Output) pins, and identify whether the device being electrically connected is the base station 200.

[0090] Optionally, during the process of positioning, matching and electrically connecting the towing platform 100 and the base station 200, the towing platform 100 can send the collected voltage of the first electrode sheet 120 to the cleaning robot 300. The cleaning robot 300 determines whether the electrode sheets of the towing platform 100 and the base station 200 are in contact through the voltage collected by the towing platform 100, thereby determining whether the towing platform 100 and the base station 200 are electrically connected.

[0091] Specifically, after the towing platform 100 and the base station 200 are positioned, matched and electrically connected, the cleaning robot 300 stops moving toward the base station 200, so that the base station 200 cooperates with the towing platform 100 and / or the cleaning robot 300 to perform the functional tasks corresponding to the target instructions. The functional tasks may be charging tasks and cleaning tasks, and the cleaning tasks may be dust collection, cleaning mops or changing water, etc.

[0092] Optional, such as Figure 4 , Figure 5 and Figure 6 As shown, the towing platform 100 is also provided with a dust collection channel 140. After the towing platform 100 and the base station 200 are positioned, matched and electrically connected, the dust outlet 310 of the cleaning robot 300 is connected with the dust inlet 210 of the base station 200 through the dust collection channel 140, and the base station 200 collects dust for the cleaning robot 300 through the towing platform 100, and the dust and garbage in the dust box of the cleaning robot 300 pass through the dust outlet 310 and the dust collection channel 140 of the towing platform 100 and then through the dust inlet 210 to be adsorbed into the base station 200. For example, in one scenario, when the towing platform 100 carries a humidifier, the cleaning robot 300 carries the towing platform 100 to humidify the whole house while sweeping the floor. When the cleaning robot 300 detects that the dust box is full of garbage, the cleaning robot 300 generates a target instruction, stops sweeping the floor, and carries the towing platform 100 to the area where the base station belongs, so that the towing platform 100 and the base station 200 are positioned, matched and electrically connected, so that the base station 200 collects dust for the cleaning robot 300 through the towing platform 100.

[0093] Optionally, the base station 200 is connected to the mains, and the towing platform 100 has a battery. After the towing platform 100 and the base station 200 are electrically connected through the electrode sheet, the transmission of electrical signals can be achieved through a physical channel, so that energy interaction is performed between the towing platform 100 and the base station 200 through the electrode sheet; the base station 200 charges the towing platform 100 through the electrode sheet.

[0094] Optionally, one end of the towing platform 100 that is docked with the cleaning robot 300 has a third electrode sheet, and accordingly, the cleaning robot 300 is electrically connected to the third electrode sheet of the towing platform 100 through the fourth electrode sheet, and the base station 200 charges the cleaning robot 300 through the towing platform 100, and the towing platform 100 obtains electrical energy from the base station 200 while charging the cleaning robot 300.

[0095] For example, in another scenario, when the cleaning robot 300 is performing the sweeping work alone, the towing platform 100 detects that its own power is less than 20%, and sends a target instruction to the cleaning robot 300, the target instruction is to charge the towing platform 100, the cleaning robot 300 identifies the target instruction, and based on the target instruction, determines that it needs to carry the towing platform 100 to dock with the base station 200, stops performing the sweeping work, first moves to the area where the towing platform 100 belongs to dock and combine with the towing platform 100, and then carries the towing platform 100 to move to the area where the base station belongs, so that the towing platform 100 and the base station 200 are positioned, matched and electrically connected, so that the base station 200 charges the towing platform 100. In actual applications, the mapping relationship between the target instruction and the functional task that needs to be docked with the base station 200 can be pre-set.

[0096] It should be noted that the above-mentioned corresponding functional tasks can be executed separately or simultaneously. In particular, the base station 200 can perform information exchange through wireless or wired communication in the process of cooperating with the towing platform 100 and / or the cleaning robot 300 to perform the functional tasks corresponding to the target instructions. The wired communication includes communication through the contact between the first electrode sheet 120 and the second electrode sheet 240, and communication between the third electrode sheet and the fourth electrode sheet.

[0097] In the above embodiment, the cleaning robot 300 responds to the target instruction, carries the towing platform 100 and moves to the area to which the base station belongs, and the towing platform 100 is positioned, matched and electrically connected with the base station 200, so that the base station 200 cooperates with the towing platform 100 and / or the cleaning robot 300 to perform the functional tasks corresponding to the target instruction. This embodiment uses the mobile function of the cleaning robot 300, so that the towing platform 100 can be positioned, matched and electrically connected with the base station 200 when the cleaning robot 300 and the towing platform 100 are combined, so that the base station 200 cooperates with the towing platform 100 and / or the cleaning robot 300 to perform the corresponding functional tasks, thereby making the use of the towing platform 100 and the cleaning robot 300 more flexible and intelligent.

[0098] As an optional implementation manner in this embodiment, the cleaning robot 300 responds to the target instruction and determines whether it needs to merge with the towing platform 100 based on the target instruction. If so, it determines whether it is currently merged with the towing platform 100. If it is not merged with the towing platform 100, it first moves to the area where the towing platform 100 belongs to complete docking and merger with the towing platform 100, and then moves to the area where the base station belongs to position the towing platform 100 and electrically connects with the base station 200. Correspondingly, if not, it determines whether it is currently detached from the towing platform 100. If it is not detached from the towing platform 100, it first detaches from the towing platform 100 and then moves to the area where the base station belongs. At this time, the cleaning robot 300 can be positioned, matched and electrically connected with the base station 200.

[0099] Therefore, when the cleaning robot 300 receives the target instruction, it can first determine the target state between the towing platform 100, that is, the combined state or the separated state, based on the type of the target instruction, and then perform the steps of the device docking method in the target state, that is, the cleaning robot 300 directly carries the towing platform 100 to move when it has been combined with the towing platform 100, so that the towing platform 100 and the base station 200 are positioned, matched and electrically connected, so that the base station 200 cooperates with the towing platform 100 and the cleaning robot 300 to perform corresponding functional tasks, or when it is not necessary to combine with the towing platform 100, it is positioned, matched and electrically connected with the base station 200 alone, so that the base station 200 cooperates with the cleaning robot 300 alone to perform corresponding functional tasks, which meets the actual application scenario. In the above embodiments, the mobile function of the cleaning robot 300 is used in different scenarios to ensure the efficiency and accuracy of docking with the base station 200, thereby ensuring that the base station 200 smoothly performs functional tasks.

[0100] In order to ensure that the cleaning robot 300 is accurately docked with the base station 200, and thus the towing platform 100 and the base station 200 are accurately positioned, matched and electrically connected, based on the above embodiments, in one embodiment, the relative position information between the two can be determined based on the docking signal, and then the docking process is performed based on the relative position information, so that the towing platform 100 and the base station 200 are positioned, matched and electrically connected. Figure 7 As shown, before the towing platform 100 is positioned, matched and electrically connected with the base station 200, the method further includes:

[0101] S701, the cleaning robot receives a docking signal sent by the base station in the area to which the base station belongs.

[0102] The docking signal sent by the base station may be a Bluetooth signal, an infrared signal, etc., which is not limited in this embodiment.

[0103] S702: The cleaning robot determines relative position information between the cleaning robot and the base station according to the docking signal.

[0104] Optionally, the cleaning robot 300 identifies the RSSI (Received Signal Strength Indicator) of the Bluetooth signal, determines the relative distance between the cleaning robot 300 and the base station 200 based on the RSSI, and identifies the signal phase of the Bluetooth signal, determines the relative direction between the cleaning robot 300 and the base station 200 based on the signal phase, thereby obtaining the relative position information between the cleaning robot 300 and the base station 200.

[0105] Optionally, the cleaning robot 300 is equipped with multiple infrared receivers, such as Figure 5 As shown, the base station 200 is configured with an infrared signal transmitter 230. The infrared signal transmitter 230 on the base station 200 can transmit infrared signals of a specific frequency, and the infrared receiver can receive the infrared signals of the specific frequency. Therefore, based on the intensity difference corresponding to each infrared receiver, the relative distance between the cleaning robot 300 and the base station 200 can be determined, and based on the direction in which the infrared signal transmitter 230 of the base station 200 sends the infrared signal, the relative direction between the cleaning robot 300 and the base station 200 can be determined, thereby obtaining the relative position information between the cleaning robot 300 and the base station 200.

[0106] S703, the cleaning robot moves toward the base station according to the relative position information.

[0107] When the relative direction in the relative position information is determined, the cleaning robot 300 moves in the relative direction to achieve the movement of the towing platform 100 to the base station 200, and when the relative distance in the relative position information is determined, the moving distance can be accurately determined, and then the towing platform 100 and the base station 200 are positioned and electrically connected. Further, the base station 200 can be positioned and electrically connected with the towing platform 100.

[0108] Optionally, when the cleaning robot 300 carries the towing platform 100 and moves toward the base station 200 , the cleaning robot 300 may continuously receive infrared signals emitted by the base station 200 to update the relative position information.

[0109] Or in another embodiment, Figure 8 As shown, before the towing platform 100 and the base station 200 are positioned, matched and electrically connected, the following steps are included:

[0110] S801, the towing platform receives a docking signal sent by the base station in the area to which the base station belongs.

[0111] Optionally, the towing platform 100 is provided with an infrared receiver for receiving infrared signals sent by the base station 200 .

[0112] S802, the object-pulling platform sends docking information to the cleaning robot according to the docking signal.

[0113] The docking information includes the docking signal received by the towing platform 100, the relative position information between the towing platform 100 and the base station 200 determined by the towing platform 100 according to the received docking signal, etc. The towing platform 100 may be located on top of the cleaning robot 300, and the relative position information between the towing platform 100 and the base station 200 is the same as the relative position information between the cleaning robot 300 and the base station 200.

[0114] S803: The cleaning robot determines relative position information between the cleaning robot and the base station according to the docking information, and moves toward the base station according to the relative position information.

[0115] Optionally, the towing platform 100 sends the received docking information to the cleaning robot 300 via wireless or wired communication, so that the cleaning robot 300 determines the relative distance and relative direction between the cleaning robot 300 and the base station 200 according to the docking information, thereby obtaining the relative position information between the cleaning robot 300 and the base station 200.

[0116] When the cleaning robot 300 determines the relative direction (e.g., the first relative direction, the second relative direction) in the relative position information, it carries the towing platform 100 and moves toward the base station 200 along the relative direction. When the cleaning robot 300 determines the relative distance in the relative position information, it can accurately determine the distance of movement and then reach the position where the towing platform 100 is positioned, matched, and electrically connected to the base station 200. Further, the base station 200 can be positioned, matched, and electrically connected to the towing platform 100.

[0117] Optionally, when the cleaning robot 300 carries the towing platform 100 and moves toward the base station 200 , the towing platform 100 can continuously receive infrared signals emitted by the base station 200 to update the relative position information.

[0118] In this embodiment, the cleaning robot 300 receives a docking signal sent by the base station 200 in the area to which the base station belongs, and / or the towing platform 100 receives a docking signal sent by the base station 200 in the area to which the base station belongs, and sends docking information to the cleaning robot 300 according to the docking signal, so that the cleaning robot 300 determines the relative position information between the cleaning robot 300 and the base station 200 according to the docking signal and / or the docking information, and moves toward the base station 200 according to the relative position information. When the cleaning robot 300 carries the towing platform 100 and the base station 200 are in the same area, the cleaning robot 300 can carry the towing platform 100 and automatically dock with the base station 200, thereby realizing automatic positioning, coordination and electrical connection between the towing platform 100 and the base station 200, without manual operation, and is suitable for smart home scenarios.

[0119] Based on the above embodiments, in one embodiment, if the cleaning robot 300 detects that the mopping platform 100 and the base station 200 have not completed positioning and electrical connection successfully for more than a preset time or detects an obstacle, it moves a preset distance away from the base station 200 according to the relative position information and returns to execute the step of moving the cleaning robot 300 toward the base station 200 according to the relative position information.

[0120] For example, after the cleaning robot 300 moves toward the base station 200 according to the relative position information, if the towing platform 100 has not completed positioning, coordination and electrical connection with the base station 200 for more than 30 seconds, or an obstacle is detected during the movement toward the base station 200, the cleaning robot 300 moves away from the base station 200 by a preset distance according to the relative position information, and returns to execute the above-mentioned step of moving toward the base station 200 according to the relative position information and subsequent steps. Furthermore, if the step of moving toward the base station 200 according to the relative position information is repeated for more than 5 minutes and the towing platform 100 has not completed positioning, coordination and electrical connection with the base station 200, a fault is reported. Optionally, if the step of moving toward the base station 200 according to the relative position information is repeated for 5 times and the towing platform 100 has not completed positioning, coordination and electrical connection with the base station 200, a fault is reported.

[0121] Therefore, when the towing platform 100 cannot be successfully positioned, coordinated and electrically connected with the base station 200, problems that may arise in the docking process can be automatically avoided, and an alarm can be issued in time when it cannot be avoided, thereby improving the entire device docking process and enhancing the reliability of device docking.

[0122] In order to ensure accurate docking with the base station 200, based on the above embodiment, in one embodiment, the relative position information includes a first relative direction and a relative distance, and a preset threshold corresponding to the relative distance can be provided, and the cleaning robot 300 moves toward the base station 200 more accurately according to the relative position information, such as Fig. 9 As shown, including:

[0123] S901: The cleaning robot moves to a docking area in an area to which a base station belongs according to a first relative direction and a relative distance.

[0124] The cleaning robot 300 can be configured with two sets of infrared receivers with different receiving angles at the front and rear ends, respectively. After receiving the infrared signal emitted by the base station 200 through the infrared receiver with a larger receiving angle, the docking area in the area to which the base station belongs is determined, and then the first relative direction and relative distance between the cleaning robot 300 and the towing platform 100 are determined, and the robot moves to the docking area in the area to which the base station belongs according to the relative direction, wherein the docking area corresponds to the area corresponding to the second docking member 220 of the base station 200.

[0125] Optionally, the towing platform 100 can also receive an infrared signal emitted by the base station 200 in the area where the base station belongs, and send docking information to the cleaning robot 300 based on the infrared signal, so that the cleaning robot 300 determines the first relative direction and relative distance between it and the base station 200, and then moves in the relative direction to the docking area in the area where the base station belongs.

[0126] S902: When the relative distance is less than a preset threshold, the cleaning robot performs a precise docking operation with the base station.

[0127] The cleaning robot 300 continuously determines the real-time relative distance between itself and the base station 200 based on the infrared signal received by the cleaning robot 300 or the infrared signal received by the towing platform 100, and compares the real-time relative distance with a preset threshold value. When the relative distance is less than the preset threshold value, the cleaning robot 300 starts to carry the towing platform 100 to perform a precise docking operation with the base station 200.

[0128] In this embodiment, the cleaning robot 300 moves to the docking area of ​​the base station area according to the first relative direction and relative distance. When the relative distance is less than a preset threshold, the cleaning robot 300 carries the towing platform 100 to perform a precise docking operation with the base station 200, which can further improve the accuracy and efficiency of the docking of the cleaning robot 300 or the towing platform 100 with the base station 200, so that the towing platform 100 and the base station 200 can be smoothly positioned, matched and electrically connected, thereby ensuring the smooth execution of functional tasks.

[0129] In order to improve the accuracy and efficiency of the docking between the cleaning robot 300 carrying the towing platform 100 and the base station 200, thereby improving the accuracy and efficiency of the positioning, coordination and electrical connection between the towing platform 100 and the base station 200, the corresponding infrared receivers configured on both the cleaning robot 300 and the towing platform 100 can be used and used conditionally to improve the accuracy and rationality of the infrared signal interaction in the entire docking process.

[0130] Based on the above embodiment, in one embodiment, the docking signal is an infrared signal, and the relative position information includes a second relative direction, such as Figure 4 and Figure 6 As shown, a first infrared receiver 320 can be set at the rear end of the cleaning robot 300, the rear end of the towing platform 100 blocks the first infrared receiver 320, and a second infrared receiver 130 is set at the rear end of the towing platform 100; wherein the angles of the first infrared receiver 320 and the second infrared receiver 130 are smaller, and the angles of the first infrared receiver 320 and the second infrared receiver 130 can be the same.

[0131] In this embodiment, the cleaning robot 300 performs a precise docking operation with the base station 200, including: the cleaning robot 300 carries the towing platform 100 and rotates to a target angle, so that the towing platform 100 receives an infrared signal through the second infrared receiver 130 at the rear end, and sends docking information to the cleaning robot 300 according to the infrared signal; the cleaning robot 300 determines a second relative direction with the base station 200 according to the docking information, and moves to an area where the towing platform 100 and the base station 200 are positioned, matched and electrically connected according to the second relative direction.

[0132] The target angle is a preset value, which can be 180 degrees. For example, the cleaning robot 300 carries the towing platform 100 and rotates 180 degrees, so that the second infrared receiver 130 on the towing platform 100 faces the base station 200, and then the towing platform 100 receives the infrared signal emitted by the base station 200 through the second infrared receiver 130, and sends docking information to the cleaning robot 300 according to the infrared signal; further, the cleaning robot 300 determines the relative position information between the base station 200 and the base station 200 according to the docking information, and moves to the base station 200 according to the relative position information to the area where the towing platform 100 and the base station 200 are positioned, matched and electrically connected; wherein the area where the towing platform 100 and the base station 200 are positioned, matched and electrically connected is the area to which the second docking piece 220 of the base station 200 belongs.

[0133] It should be noted that, without the need to merge with the towing platform 100, the cleaning robot 300 can dock with the base station 200 alone, and can receive the infrared signal sent by the base station 200 through the first infrared receiver 320 of the cleaning robot 300 in the docking area, and determine the relative position information between the cleaning robot 300 and the base station 200 based on the infrared signal, and move toward the base station 200 according to the relative position information.

[0134] In this embodiment, since the rear end of the towing platform 100 is also configured with an installation structure that carries the first docking member 110 and the dust collection channel 140, when the cleaning robot 300 and the towing platform 100 are combined, the first infrared receiver 320 at the rear end of the cleaning robot 300 is blocked by the installation structure at the rear end of the towing platform 100. At this time, the infrared signal sent by the base station 200 can be received by the second infrared receiver 130 at the rear end of the towing platform 100, so that the cleaning robot 300 can also confirm the relative position information between the cleaning robot 300 and the base station 200 according to the docking information, thereby improving the flexibility of use of the towing platform 100 and the cleaning robot 300; at the same time, since the receiving angle of the second infrared receiver 130 is small, the interference of the environment can be reduced, and then the relative position information between the cleaning robot 300 and the base station 200 can be accurately determined according to the docking information, thereby improving the efficiency of positioning, matching and electrical connection between the towing platform 100 and the base station 200.

[0135] In the present application, the front in the front and back refers to the direction in which the cleaning robot 300 moves when carrying the towing platform 100 in normal operation (mopping or sweeping the floor), and the rear refers to the direction opposite to the direction in which the cleaning robot 300 moves when carrying the towing platform 100 in normal operation (mopping or sweeping the floor); in addition, the front end of the cleaning robot 300 may also be provided with an obstacle avoidance sensor, a front collision component and a side brush.

[0136] Based on the above embodiments, in one embodiment, optionally, the cleaning robot 300 receives an infrared signal through a third infrared receiver at the front end in the area to which the base station belongs, and determines the first relative direction and the relative distance between the cleaning robot 300 and the base station 200 according to the infrared signal, and moves to the docking area in the area to which the base station belongs according to the first relative direction and the relative distance.

[0137] The receiving angle of the second infrared receiver 130 is smaller than the receiving angle of the third infrared receiver.

[0138] In this embodiment, since the receiving angle of the third infrared receiver is large, it can be used to efficiently determine the first relative direction and relative distance of the cleaning robot 300 relative to the base station 200. The receiving angle of the second infrared receiver 130 is small and is less affected by the environment. Therefore, the determined second relative direction of the cleaning robot 300 relative to the base station 200 is more accurate. The relative position information of the cleaning robot 300 relative to the base station 200 is determined by the cooperation between the second infrared receiver 130 and the third infrared receiver, thereby improving the efficiency of equipment docking.

[0139] On the basis of the above embodiments, in one embodiment, the cleaning robot 300 performs precise docking with the base station 200, including: the cleaning robot 300 identifies the base station 200 feature code on the base station 200 through a laser radar or a camera, or the towing platform 100 identifies the base station 200 feature code on the base station 200 through a laser radar or a camera, and the cleaning robot 300 obtains the base station 200 feature code identified by the towing platform 100; the cleaning robot 300 moves to the area where the towing platform 100 and the base station 200 are positioned, matched and electrically connected according to the base station 200 feature code; wherein the base station 200 feature code includes at least one of a structural feature code and a spray feature code.

[0140] The laser radar or camera can be installed on the cleaning robot 300 or on the towing platform 100, and this embodiment does not limit this. When the cleaning robot 300 and the towing platform 100 are combined and located in the area of ​​the base station, the installed laser radar or camera can scan the base station 200 feature code on the base station 200, and then the cleaning robot 300 or the towing platform 100 can recognize the base station 200 feature code and determine the relative position information between the base station 200. Further, the cleaning robot 300 carries the towing platform 100 to dock with the base station 200 based on the relative position information, so that the towing platform 100 and the base station 200 are positioned, matched and electrically connected.

[0141] Therefore, the cleaning robot 300 or the mopping platform 100 may also be docked with the base station 200 without the docking signal, thereby broadening the application scenarios of device docking and providing a flexible docking method.

[0142] In order to dock the cleaning robot 300 with the towing platform 100 and the base station 200 so that the towing platform 100 and the base station 200 can be positioned, matched and electrically connected more accurately, based on the above embodiments, in one embodiment, as Fig.10 As shown, before the base station 200 sends the docking signal, the device docking method further includes:

[0143] S1001, the cleaning robot sends a signal to the base station to send instructions.

[0144] Specifically, the cleaning robot 300 may send a signal transmission instruction to the base station 200 via wireless communication.

[0145] Optionally, when the cleaning robot 300 carries the towing platform 100 and moves to the area where the base station belongs, when the cleaning robot 300 moves within the Bluetooth connection range of the base station 200, the cleaning robot 300 establishes a Bluetooth connection with the base station 200. After the connection is successful, the cleaning robot 300 sends a signal sending instruction to the base station 200 via Bluetooth communication.

[0146] S1002, the base station sends a docking signal.

[0147] Specifically, when the base station 200 receives a signal sending instruction sent by the cleaning robot 300, the base station 200 sends a docking signal.

[0148] In this embodiment, the cleaning robot 300 sends a signal sending instruction to the base station 200 to instruct the base station 200 to send a docking signal. In a home environment, there are multiple devices that can be docked (such as a dust collection base station, a water exchange base station, a towing platform, etc.). When the docking signals of multiple docking devices are all infrared signals, the cleaning robot 300 instructs the device to be docked to transmit an infrared signal, and other devices that do not need to be docked turn off the infrared signal, which can avoid infrared signal interference from other devices and avoid mistaken docking with other devices, thereby improving the cleaning robot 300 carrying the towing platform 100 and the base station 20 0 docking, so as to increase the success rate of positioning, matching and electrical connection between the towing platform 100 and the base station 200; when the base station 200 does not receive the signal sending instruction, the base station 200 can be in a low power consumption mode. In the low power consumption mode, the base station 200 turns off the infrared transmission, reduces the Bluetooth broadcast frequency, etc. After receiving the signal sending instruction, the base station 200 switches from the low power consumption mode to the normal working mode. In the normal working mode, the base station 200 turns on the infrared transmission and increases the Bluetooth broadcast frequency. Therefore, this embodiment can improve the success rate of positioning, matching and electrical connection with the base station 200 and can also reduce the power consumption of the base station 200.

[0149] In one embodiment, a device docking method for a towing platform 100 and a base station 200 is provided, which is applied to the towing platform 100, including: when the towing platform 100 is carried by the cleaning robot 300 to the area to which the base station belongs, positioning and electrically connecting with the base station 200, so that the base station 200 cooperates with the towing platform 100 and / or the cleaning robot 300 to perform corresponding functional tasks.

[0150] Optionally, the rear end of the towing platform 100 blocks the first infrared receiver 320 at the rear end of the cleaning robot 300, and a second infrared receiver 130 is provided at the rear end of the towing platform 100. Before positioning, cooperating and electrically connecting with the base station 200, the device docking method further includes: when the cleaning robot 300 moves toward the base station 200 and the relative distance between the cleaning robot 300 and the base station 200 is less than a preset threshold, cooperating with the cleaning robot 300 to perform a precise docking operation with the base station 200.

[0151] Among them, cooperating with the cleaning robot 300 to perform a precise docking operation with the base station 200 includes: after the towing platform 100 is carried by the cleaning robot 300 and rotated to a target angle, the second infrared receiver 130 at the rear end receives an infrared signal sent by the base station 200 in the area to which the base station belongs, and sends docking information to the cleaning robot 300 according to the infrared signal, so that the cleaning robot 300 determines a second relative direction with the base station 200 according to the docking information, and moves to the area where the towing platform 100 and the base station 200 are positioned, matched and electrically connected according to the second relative direction.

[0152] The specific process of the above steps can be found in the description of the above method embodiment. The implementation principles and technical effects are similar and will not be repeated here.

[0153] In one embodiment, a device docking method for a cleaning robot 300 and a base station 200 is provided, which is applied to the cleaning robot 300, and includes: in response to a target instruction, carrying a towing platform 100 and moving to an area to which the base station belongs, so that the base station 200 cooperates with the towing platform 100 and / or the cleaning robot 300 to perform functional tasks corresponding to the target instruction while being positioned, matched and electrically connected with the towing platform 100.

[0154] Optionally, the first infrared receiver 320 at the rear end of the cleaning robot 300 is blocked by the rear end of the towing platform 100. Before the base station 200 is positioned, matched and electrically connected to the towing platform 100, the device docking method further includes: when moving toward the base station 200 until the relative distance between the base station 200 and the base station 200 is less than a preset threshold, performing a precise docking operation with the base station 200.

[0155] The precise docking operation with the base station 200 includes: rotating the towing platform 100 to a target angle so that the towing platform 100 receives an infrared signal sent by the base station 200 through the second infrared receiver 130 at the rear end in the area where the base station belongs; receiving docking information sent by the towing platform 100 according to the infrared signal; determining a second relative direction with the base station 200 according to the docking information, and moving to an area where the towing platform 100 and the base station 200 are positioned, matched and electrically connected according to the second relative direction.

[0156] Optionally, before moving toward the base station 200 until the relative distance between the base station 200 and the base station 200 is less than a preset threshold, the device docking method also includes: receiving an infrared signal sent by the base station 200 through a third infrared receiver at the front end of the cleaning robot 300 in the area to which the base station belongs; determining a first relative direction and relative distance between the base station 200 and the base station 200 according to the infrared signal, and moving to the docking area in the area to which the base station belongs according to the first relative direction and relative distance.

[0157] The specific process of the above steps can be found in the description of the above method embodiment. The implementation principles and technical effects are similar and will not be repeated here.

[0158] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0159] Based on the same inventive concept, the embodiment of the present application also provides a cleaning robot 300 and a towing platform 100 for implementing the above-mentioned device docking method. The implementation solution for solving the problem provided is similar to the implementation solution recorded in the above-mentioned method. Therefore, the specific limitations in the one or more cleaning robot 300 and towing platform 100 embodiments provided below can refer to the limitations on the device docking method above, and will not be repeated here.

[0160] In one embodiment, a towing platform 100 is provided. Fig.11 As shown, including:

[0161] The first docking module 150 is used to position and electrically connect with the base station 200 when the towing platform 100 is carried to the area of ​​the base station by the cleaning robot 300, so that the base station 200 can perform corresponding functional tasks for the towing platform 100 and / or the cleaning robot 300.

[0162] In one embodiment, the base station 200 sends an infrared signal, the rear end of the towing platform 100 blocks the first infrared receiver 320 at the rear end of the cleaning robot 300, and the rear end of the towing platform 100 is provided with a second infrared receiver 130. The first docking module 150 may include:

[0163] The first precise docking unit 151 is used to cooperate with the cleaning robot 300 to perform a precise docking operation with the base station 200 when the cleaning robot 300 moves toward the base station 200 until the relative distance between the cleaning robot 300 and the base station 200 is less than a preset threshold.

[0164] Among them, cooperating with the cleaning robot 300 to perform a precise docking operation with the base station 200 includes: after the towing platform 100 is carried by the cleaning robot 300 and rotated to a target angle, an infrared signal is received by the second infrared receiver 130 in the area to which the base station belongs, and docking information is sent to the cleaning robot 300 according to the infrared signal, so that the cleaning robot 300 determines a second relative direction with the base station 200 according to the docking information, and moves to the area where the towing platform 100 and the base station 200 are positioned, matched and electrically connected according to the second relative direction.

[0165] In one embodiment, Fig.11 On the basis of Fig.12 As shown, the above-mentioned towing platform 100 also includes:

[0166] The signal transmission module 160 is used to receive the infrared signal sent by the base station 200, and send docking information to the cleaning robot 300 according to the infrared signal, so that the cleaning robot 300 determines the first relative direction and relative distance between it and the base station 200 according to the docking information, and moves to the docking area of ​​the area where the base station belongs.

[0167] In one embodiment, a cleaning robot 300 is provided. Fig.13 As shown, including:

[0168] The second docking module 330 is used to carry the towing platform 100 to the area of ​​the base station in response to the target instruction, so that the base station 200 cooperates with the towing platform 100 and / or the cleaning robot 300 to perform the functional tasks corresponding to the target instruction when the base station 200 is positioned, matched and electrically connected to the towing platform 100.

[0169] In one embodiment, the base station 200 sends an infrared signal, and the first infrared receiver 320 at the rear end of the cleaning robot 300 is blocked by the rear end of the towing platform 100. The second docking module 330 may include:

[0170] The second precise docking unit 331 is configured to perform a precise docking operation with the base station 200 when the relative distance between the base station 200 and the base station 200 is less than a preset threshold;

[0171] The precise docking operation with the base station 200 includes:

[0172] The towing platform 100 is rotated to a target angle so that the towing platform 100 receives infrared signals through the second infrared receiver 130 at the rear end in the area where the base station belongs;

[0173] Receiving docking information sent by the towing platform 100 according to the infrared signal;

[0174] The second relative direction with respect to the base station 200 is determined according to the docking information, and the towing platform 100 is moved to the area where the towing platform 100 and the base station 200 are positioned, matched and electrically connected according to the second relative direction.

[0175] In one embodiment, the cleaning robot 300 further includes:

[0176] The signal receiving module is used to receive the infrared signal sent by the base station 200 through the third infrared receiver at the front end of the cleaning robot 300 in the area where the base station belongs.

[0177] The position determination module is used to determine a first relative direction and a relative distance between the base station 200 and the infrared signal.

[0178] The initial movement module is used to move to the docking area of ​​the area to which the base station belongs according to the first relative direction and the relative distance.

[0179] Each module in the cleaning robot 300 and the towing platform 100 can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the cleaning robot 300 and the towing platform 100 in the form of hardware, or can be stored in the memory in the cleaning robot 300 and the towing platform 100 in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0180] In one embodiment, a smart home system is provided, including a cleaning robot 300 and a towing platform 100; the cleaning robot 300 moves to an area to which a base station belongs in response to a target instruction; wherein the cleaning robot 300 carries the towing platform 100; the towing platform 100 and / or the cleaning robot 300 are docked with the base station 200, so that the base station 200 performs functional tasks corresponding to the target instruction on the towing platform 100 and / or the cleaning robot 300.

[0181] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.14As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a device docking method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse, etc.

[0182] Those skilled in the art will understand that Fig.14 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0183] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above-mentioned device docking method when executing the computer program.

[0184] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned device docking method are implemented.

[0185] In one embodiment, a computer program product is provided, including a computer program, which implements the steps of the above-mentioned device docking method when executed by a processor.

[0186] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0187] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0188] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A device docking method based on a smart home system, characterized in that: The smart home system includes a cleaning robot, a towing platform and a base station, and the method includes: The cleaning robot responds to the target instruction and carries the towing platform to move to the area to which the base station belongs; The towing platform is positioned, matched and electrically connected to the base station, so that the base station cooperates with the towing platform and / or the cleaning robot to perform the functional task corresponding to the target instruction.

2. The method according to claim 1, characterized in that Before the towing platform is positioned, matched and electrically connected with the base station, the method further includes: The cleaning robot receives a docking signal sent by the base station in the area to which the base station belongs, and / or the towing platform receives a docking signal sent by the base station in the area to which the base station belongs, and sends docking information to the cleaning robot according to the docking signal; The cleaning robot determines relative position information between the cleaning robot and the base station according to the docking signal and / or the docking information; The cleaning robot moves toward the base station according to the relative position information.

3. The method according to claim 2, characterized in that The relative position information includes a first relative direction and a relative distance, and the cleaning robot moves toward the base station according to the relative position information, including: The cleaning robot moves to a docking area in the area to which the base station belongs according to the first relative direction and the relative distance; When the relative distance is smaller than a preset threshold, the cleaning robot performs a precise docking operation with the base station.

4. The method according to claim 3, characterized in that The docking signal is an infrared signal, the relative position information further includes a second relative direction, the rear end of the towing platform blocks the first infrared receiver at the rear end of the cleaning robot, and the cleaning robot performs a precise docking operation with the base station, including: The cleaning robot carries the towing platform and rotates to a target angle, so that the towing platform receives the infrared signal through a second infrared receiver at the rear end, and sends docking information to the cleaning robot according to the infrared signal; The cleaning robot determines a second relative direction with the base station according to the docking information, and moves to an area where the towing platform and the base station are positioned, matched and electrically connected according to the second relative direction.

5. The method according to claim 4, characterized in that The cleaning robot moves to a docking area in an area to which the base station belongs according to the first relative direction and the relative distance, including: The cleaning robot receives the infrared signal through a third infrared receiver at the front end in the area to which the base station belongs; The cleaning robot determines a first relative direction and a relative distance between the cleaning robot and the base station according to the infrared signal, and moves to a docking area in an area to which the base station belongs according to the first relative direction and the relative distance.

6. The method according to claim 5, characterized in that A receiving angle of the second infrared receiver is smaller than a receiving angle of the third infrared receiver.

7. The method according to claim 3, characterized in that The cleaning robot performs a precise docking operation with the base station, including: The cleaning robot identifies the base station feature code on the base station through a laser radar or a camera, or the towing platform identifies the base station feature code on the base station through a laser radar or a camera, so that the cleaning robot obtains the base station feature code identified by the towing platform; The cleaning robot moves to an area where the towing platform is positioned, matched and electrically connected with the base station according to the base station feature code; wherein the base station feature code is a structural feature code and / or a spray feature code.

8. According to the method of any one of claims 2 to 6, the cleaning robot receives a docking signal sent by the base station in the area to which the base station belongs, and / or before the towing platform receives a docking signal sent by the base station in the area to which the base station belongs, the method further comprises: The cleaning robot sends a signal sending instruction to the base station to instruct the base station to send a docking signal.

9. A method for connecting a towing platform to a base station, characterized in that: Applied to a towing platform, the method comprises: When the towing platform is carried by the cleaning robot to the area to which the base station belongs, positioning cooperation and electrical connection are performed with the base station, so that the base station cooperates with the towing platform and / or the cleaning robot to perform corresponding functional tasks.

10. The method according to claim 9, characterized in that The rear end of the towing platform blocks the first infrared receiver at the rear end of the cleaning robot, and the rear end of the towing platform is provided with a second infrared receiver. Before positioning and coordinating with the base station and electrically connecting with the base station, the method further includes: When the cleaning robot moves toward the base station until the relative distance between the cleaning robot and the base station is less than a preset threshold, cooperate with the cleaning robot to perform a precise docking operation with the base station; Wherein, the step of cooperating with the cleaning robot to perform a precise docking operation with the base station includes: After the towing platform is carried by the cleaning robot and rotated to the target angle, the towing platform receives the infrared signal sent by the base station through the second infrared receiver at the rear end in the area where the base station belongs, and sends docking information to the cleaning robot according to the infrared signal, so that the cleaning robot determines the second relative direction between the towing platform and the base station according to the docking information, and moves to the area where the towing platform and the base station are positioned, matched and electrically connected according to the second relative direction.

11. A method for connecting a cleaning robot to a base station, characterized in that: Applied to a cleaning robot, the method comprises: In response to the target instruction, the towing platform is moved to the area where the base station belongs, so that the base station cooperates with the towing platform and / or the cleaning robot to perform the functional tasks corresponding to the target instruction while being positioned, matched and electrically connected with the towing platform.

12. The method according to claim 11, characterized in that The first infrared receiver at the rear end of the cleaning robot is blocked by the rear end of the towing platform. Before the base station is positioned, matched and electrically connected with the towing platform, the method further includes: When the relative distance between the base station and the base station is less than a preset threshold, performing a precise docking operation with the base station; The performing of the precise docking operation with the base station includes: The towing platform is carried and rotated to a target angle, so that the towing platform receives an infrared signal sent by the base station through a second infrared receiver at the rear end in the area where the base station belongs; receives docking information sent by the towing platform according to the infrared signal; determines a second relative direction between the towing platform and the base station according to the docking information, and moves to an area where the towing platform and the base station are positioned, matched and electrically connected according to the second relative direction.

13. The method according to claim 12, characterized in that Before moving toward the base station until the relative distance between the base station and the base station is less than a preset threshold, the method further includes: Receiving the infrared signal sent by the base station through a third infrared receiver at the front end of the cleaning robot in the area to which the base station belongs; A first relative direction and a relative distance between the base station and the infrared signal are determined, and the mobile station moves to a docking area in an area to which the base station belongs according to the first relative direction and the relative distance.

14. A towing platform, characterized in that: include: The first docking module is used to position and electrically connect with the base station when the towing platform is carried by the cleaning robot to the area where the base station belongs, so that the base station performs corresponding functional tasks for the towing platform and / or the cleaning robot.

15. A cleaning robot, characterized in that: include: The second docking module is used to respond to the target instruction and carry the towing platform to the area where the base station belongs, so that the base station cooperates with the towing platform and / or the cleaning robot to perform the functional tasks corresponding to the target instruction while being positioned, matched and electrically connected with the towing platform.

16. A smart home system, characterized in that: It comprises the towing platform according to claim 14, the cleaning robot and the base station according to claim 15; The base station cooperates with the towing platform and / or the cleaning robot to perform corresponding functional tasks.

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