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

Abstract

The application relates to a device docking method, a mop platform, a cleaning robot and an intelligent home system, and relates to the technical field of intelligent homes. The method comprises the following steps: the cleaning robot moves to the area belonging to the base station in response to a target instruction, and then the mop platform is positioned and matched with the base station and is electrically connected, so that the base station cooperates with the mop platform and / or the cleaning robot to execute a function task corresponding to the target instruction. The method utilizes the moving function of the cleaning robot, realizes flexible docking of the cleaning robot carrying the mop platform and the base station, and then cooperates with the base station to execute a function task. The cleaning robot can not only be docked with the base station alone, but also can be docked with the base station in the integrated state of the mop platform, so that the base station cooperates with the mop platform and / or the cleaning robot to execute a corresponding function task, thereby making the use of the mop platform and the cleaning robot more flexible and intelligent, and then being beneficial to improving the diversity of the cleaning robot carrying the mop platform to execute a function task.

Description

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

[0002] This application relates to the field of smart home technology, and in particular to a device docking method, a mopping platform, a cleaning robot, and a smart home system. Background Technology

[0003] With the continuous iteration and upgrading of intelligent technologies, the application scenarios of intelligent robots are gradually expanding, and their functional forms are becoming increasingly diversified. Among them, cleaning robots are a relatively common type of intelligent robot, which can clean the ground through movement, mapping, obstacle avoidance, and path planning.

[0004] However, cleaning robots have a relatively simple working method, especially in home settings, and cannot work in conjunction with other home appliances. Therefore, conventional cleaning robots can no longer meet people's needs for intelligent devices. Given the limited working method of cleaning robots, the working method of the corresponding base stations is also relatively limited, only able to assist cleaning robots in charging or dust collection. Summary of the Invention

[0005] Therefore, it is necessary to address the aforementioned technical issues by providing a device docking method, a dragging platform, a cleaning robot, and a smart home system that enable the cleaning robot to flexibly connect with a base station via a dragging platform, thereby achieving diversified operations for the cleaning robot.

[0006] Firstly, this application provides a device docking method based on a smart home system, wherein the smart home system includes a cleaning robot, a mopping platform, and a base station, and the method includes:

[0007] The cleaning robot responds to the target command and moves to the area where the base station is located, carrying the dragging platform;

[0008] The towing platform coordinates with the base station for positioning and electrical connection, enabling the base station to cooperate with the towing platform and / or cleaning robot to perform the functional tasks corresponding to the target instructions.

[0009] In one embodiment, before the towing platform coordinates with the base station for positioning and electrical connection, the method further includes:

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

[0011] The cleaning robot determines its relative position with the base station based on docking signals and / or docking information.

[0012] The cleaning robot moves toward the base station based on its relative position information.

[0013] In one embodiment, the relative position information includes a first relative direction and a relative distance. The cleaning robot moves towards the base station based on the relative position information, including:

[0014] Based on the first relative direction and relative distance, the cleaning robot moves to the docking area within the region where the base station is located;

[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, and the relative position information also 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. The cleaning robot performs a precise docking operation with the base station, including:

[0017] The cleaning robot rotates the dragging platform to a target angle so that the dragging platform receives infrared signals through the second infrared receiver at the rear end, and sends docking information to the cleaning robot based on the infrared signals;

[0018] The cleaning robot determines the second relative direction between itself and the base station based on the docking information, and moves towards the base station according to the second relative direction to the area where the dragging platform and the base station are positioned, coordinated and electrically connected.

[0019] In one embodiment, the cleaning robot moves to the docking area within the region to which the base station belongs, based on a first relative direction and relative distance, including:

[0020] The cleaning robot receives infrared signals in the area covered by the base station via a third infrared receiver at its front end.

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

[0022] In one embodiment, the receiving angle of the second infrared receiver is smaller than that 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 uses LiDAR or a camera to identify the base station feature code on the base station, or the mopping platform uses LiDAR or a camera to identify the base station feature code on the base station, so that the cleaning robot can obtain the base station feature code identified by the mopping platform.

[0025] The cleaning robot moves to the area where it coordinates with the base station and makes electrical connections based on the base station's feature code; the base station feature code is a structural feature code and / or a spray coating feature code.

[0026] In one embodiment, before the cleaning robot receives a docking signal from the base station in the area where the base station is located, and / or before the towing platform receives the docking signal from the base station in the area where the base station is located, 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] Secondly, this application provides a device docking method between a towing platform and a base station, the method being applied to the towing platform, including:

[0029] When the mopping platform is carried to the area of ​​the base station by the cleaning robot, it will coordinate with the base station for positioning and electrical connection, so that the base station can cooperate with the mopping platform and / or the cleaning robot to perform corresponding functional tasks.

[0030] In one embodiment, the rear end of the dragging platform obstructs the first infrared receiver at the rear end of the cleaning robot, and a second infrared receiver is provided at the rear end of the dragging platform. Before positioning and electrical connection with the base station, the method further includes:

[0031] When the cleaning robot moves towards the base station and the relative distance between them is less than a preset threshold, the cleaning robot will perform a precise docking operation with the base station.

[0032] This includes coordinating with cleaning robots to perform precise docking operations with base stations, including:

[0033] After the cleaning robot carries the towing platform and rotates it to the target angle, it receives the infrared signal sent by the base station through the second infrared receiver at the back end in the area where the base station is located. Based on the infrared signal, it sends docking information to the cleaning robot so that the cleaning robot can determine the second relative direction between itself and the base station according to the docking information. Based on the second relative direction, it moves to the area where the towing platform and the base station are positioned, coordinated and electrically connected.

[0034] Thirdly, this application provides a device docking method between a cleaning robot and a base station, the method being applied to a cleaning robot, including:

[0035] In response to the target command, the platform is moved to the area of ​​the base station, so that the base station can cooperate with the platform and / or the cleaning robot to perform the functional tasks corresponding to the target command, under the condition of positioning and electrical connection with the platform.

[0036] In one embodiment, the first infrared receiver at the rear of the cleaning robot is blocked by the rear of the dragging platform. Before the base station and the dragging platform perform positioning coordination and electrical connection, the method includes:

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

[0038] This includes performing precise docking operations with the base station, including:

[0039] The towing platform is rotated to the target angle so that it receives infrared signals sent by the base station through the second infrared receiver at the back end within the area of ​​the base station; it receives docking information sent by the towing platform based on the infrared signals; it determines the second relative direction with the base station based on the docking information, and moves to the area where the towing platform and the base station are positioned, coordinated, and electrically connected according to the second relative direction.

[0040] In one embodiment, before moving towards the base station to a relative distance of less than a preset threshold, the method further includes:

[0041] The cleaning robot receives infrared signals sent by the base station in the area where the base station is located via a third infrared receiver at the front end.

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

[0043] Fourthly, this application provides a dragging platform, comprising:

[0044] The first docking module is used to coordinate with the base station for positioning and electrical connection when the towing platform is carried to the area of ​​the base station by the cleaning robot, so that the base station can perform corresponding functional tasks on the towing platform and / or the cleaning robot.

[0045] Fifthly, this application provides a cleaning robot, comprising:

[0046] The second docking module is used to respond to the target command and move the towing platform to the area where the base station is located, so that the base station can cooperate with the towing platform and / or cleaning robot to perform the functional tasks corresponding to the target command when it is positioned and electrically connected with the towing platform.

[0047] Sixthly, this application provides a smart home system, including a mopping platform (as described in the fourth aspect), a cleaning robot (as described in the fifth aspect), and a base station, wherein the base station works in conjunction with the mopping platform and / or the cleaning robot to perform corresponding functional tasks.

[0048] In a seventh aspect, this application provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the methods described in the first, second, or third aspects above.

[0049] Eighthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the methods described in the first, second, or third aspects above.

[0050] Ninthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods described in the first, second, or third aspects above.

[0051] The aforementioned device docking method, mopping platform, cleaning robot, and smart home system involve a cleaning robot responding to a target command, carrying the mopping platform to the area of ​​the base station, and then the mopping platform and base station coordinating and electrically connecting to enable the base station to perform the functional tasks corresponding to the target command in conjunction with the mopping platform and / or the cleaning robot. This application utilizes the mobility of the cleaning robot to enable flexible docking between the cleaning robot carrying the mopping platform and the base station, thereby cooperating with the base station to perform functional tasks. In this way, the cleaning robot can not only dock with the base station independently to enable the base station to perform corresponding functional tasks in conjunction with the cleaning robot, but also dock with the base station while integrated with the mopping platform. Through the positioning and electrical connection between the mopping platform and the base station, the base station can perform corresponding functional tasks in conjunction with the mopping platform and / or the cleaning robot. This makes the use of the mopping platform and the cleaning robot more flexible and intelligent, thereby improving the versatility of the functional tasks performed by the cleaning robot carrying the mopping platform. Attached Figure Description

[0052] Figure 1 This is an application scenario diagram of the device docking method in one embodiment;

[0053] Figure 2 This is a schematic diagram of the structure of a cleaning robot and a mopping platform carrying household items in one embodiment;

[0054] Figure 3 This is a flowchart illustrating a device docking method in one embodiment;

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

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

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

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

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

[0060] Figure 9 This is a schematic diagram of a precise docking process in one embodiment;

[0061] Figure 10 This is a schematic diagram of the signal interaction process in one embodiment;

[0062] Figure 11 This is a structural block diagram of the dragging platform in one embodiment;

[0063] Figure 12 This is a structural block diagram of the dragging platform in another embodiment;

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

[0065] Figure 14 This is a structural block diagram of a computer device implementing the device docking method in one embodiment.

[0066] Figure label:

[0067] 100. Carrying platform;

[0068] 110. First docking component; 120. First electrode plate; 130. Second infrared receiver; 140. Dust collection channel;

[0069] 200. Base station;

[0070] 210. Dust inlet; 220. Second docking part; 230. Infrared signal transmitter; 240. Second electrode plate;

[0071] 300. Cleaning robot;

[0072] 310. Dust outlet; 320. First infrared receiver;

[0073] 400. Home furnishings. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

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

[0076] The cleaning robot 300 is an intelligent robot with path planning, movement, and obstacle avoidance functions, capable of independently performing cleaning tasks such as sweeping and mopping. The mopping platform 100 is a separate device from the cleaning robot 300, used to carry objects. The mopping platform 100 can be connected to the cleaning robot 300, allowing it to sit on top of the cleaning robot 300 and move under its drive. In a home indoor environment, such as... Figure 2 As shown, the mopping platform 100 can be used to carry household items 400. These items can be smart home devices with specific functions, such as cameras, humidifiers, and air purifiers, or ordinary household items to be moved, such as tableware, tissues, umbrellas, and towels. The base station 200 corresponds to the cleaning robot 300 and can be used for charging and / or dust collection of the cleaning robot 300 and its mopping platform 100.

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

[0078] S301, the cleaning robot responds to the target command and moves to the area where the base station is located, carrying the dragging platform.

[0079] Specifically, a terminal (e.g., a laptop, smartphone, tablet, smart speaker, smartwatch), client (e.g., an app), server, or mopping platform 100 can send the target instruction to the cleaning robot 300. The cleaning robot 300 itself can also be configured with functional tasks and their trigger times and / or trigger conditions to generate the target instruction. The trigger conditions can be that the battery level of the mopping platform 100 and / or the cleaning robot 300 is below a preset battery threshold (e.g., 20%), or that the dustbin of the cleaning robot 300 is full.

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

[0081] It is understandable that the area to which the base station belongs represents the approximate location of the base station 200, which refers to a small area of ​​the base station 200 in the indoor environment of a home. The cleaning robot 300 moves to this area through its own path planning, movement and obstacle avoidance functions, and can then automatically dock with the base station 200, enabling the dragging platform 100 to coordinate with the base station 200 and make electrical connections.

[0082] The cleaning robot 300 can first determine the area to which the base station belongs before moving. For example, the target instruction includes the location information of the base station 200, which is also sent. The cleaning robot 300 recognizes the target instruction, determines the area to which the base station belongs based on the location information, and then moves to that area. Alternatively, if the base station 200 uploads its location information to the server in real time, the cleaning robot 300 responds to the target instruction by directly obtaining the area to which the base station belongs from the server and then moves to that area. Furthermore, the cleaning robot 300 has a built-in memory for storing map information of its environment, i.e., map information of the indoor home scene, including the layout of the indoor home scene, and the current location information of the cleaning robot 300, the mopping platform 100, and the base station 200. Responding to the target instruction, the cleaning robot 300 moves to the area to which the base station belongs based on the map information and the location information of the base station 200 on the map. It should be noted that the above methods for determining the area to which the base station belongs are only examples in this embodiment and do not represent a limitation of the method in this embodiment.

[0083] The cleaning robot 300 can also use a search function to keep moving within a home environment until it reaches the area belonging to the base station. For example, the cleaning robot 300 keeps moving in an indoor home setting while identifying the base station 200 via Bluetooth, infrared, or LiDAR signals. Upon detecting the base station 200 at close range, it determines that it has moved to the area belonging to the base station. Optionally, the cleaning robot 300 can also move randomly or along a wall until it reaches the area belonging to the mopping platform 100.

[0084] S302, the towing platform coordinates with the base station for positioning and electrical connection, so that the base station can cooperate with the towing platform and / or cleaning robot to perform the functional tasks corresponding to the target instructions.

[0085] Specifically, when the cleaning robot 300 moves the dragging platform 100 to the area where the base station is located, it moves the dragging platform 100 towards the base station 200 until it reaches a suitable position so that the dragging platform 100 and the base station 200 can be positioned and electrically connected.

[0086] Specifically, the towing platform 100 and the base station 200 can be positioned and coordinated through structural components, such as... Figure 4 and Figure 5 As shown, the towing platform 100 is equipped with a first docking component 110, and the base station 200 is equipped with a second docking component 220. One of the first docking component 110 and the second docking component 220 is a docking slot, and the other is a connector. The connector is inserted into the docking slot so that the towing platform 100 and the base station 200 can be positioned and engaged, thereby improving 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 engaged by electrode plates respectively provided on the towing platform 100 and the base station 200. The towing platform 100 and / or the base station 200 are equipped with elastic elements that enable the electrode plates to move in the horizontal direction, so that the towing platform 100 and the base station 200 are positioned and engaged.

[0088] Specifically, during the positioning and electrical connection process between the towing platform 100 and the base station 200, the towing platform 100 can determine whether the first electrode plate 120 on the first docking part 110 of the towing platform 100 and the second electrode plate 240 on the second docking part 220 of the base station 200 have achieved electrical connection by detecting whether they are in contact. This determines whether the towing platform 100 and the base station 200 have achieved electrical connection, and the result of the electrical connection between the towing platform 100 and the base station 200 is sent to the cleaning robot 300.

[0089] The dragging platform 100 can determine whether the electrode plates are in contact by collecting voltage changes from the ADC (Analog-to-Digital Converter), or by detecting whether the electrode plates are in contact based on the high or low 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 positioning and electrical connection process between the towing platform 100 and the base station 200, the towing platform 100 can send the voltage of the first electrode plate 120 collected to the cleaning robot 300. The cleaning robot 300 uses the voltage collected by the towing platform 100 to determine whether the electrode plates of the towing platform 100 and the base station 200 are in contact, thereby determining whether the towing platform 100 and the base station 200 have achieved electrical connection.

[0091] Specifically, after the mopping platform 100 and the base station 200 achieve positioning coordination and electrical connection, the cleaning robot 300 stops moving towards the base station 200, so that the base station 200 can cooperate with the mopping platform 100 and / or the cleaning robot 300 to execute the functional tasks corresponding to the target instructions. These functional tasks can include charging tasks and cleaning tasks, such as dust collection, cleaning the mop, or changing the water.

[0092] Optional, such as Figure 4 , Figure 5 and Figure 6 As shown, the dragging platform 100 is also equipped with a dust collection channel 140. After the dragging platform 100 and the base station 200 achieve positioning coordination and electrical connection, the dust outlet 310 of the cleaning robot 300 is connected to the dust inlet 210 of the base station 200 through the dust collection channel 140. The base station 200 collects dust from the cleaning robot 300 through the dragging platform 100. The dust and debris in the dust box of the cleaning robot 300 are adsorbed into the base station 200 through the dust outlet 310, the dust collection channel 140 of the dragging platform 100, and the dust inlet 210. For example, in one scenario, when the mopping platform 100 carries a humidifier, the cleaning robot 300 carries the mopping platform 100 to humidify the whole house while sweeping. When the cleaning robot 300 detects that the dust box is full, it generates a target command, stops sweeping, and moves the mopping platform 100 to the area of ​​the base station. This allows the mopping platform 100 to coordinate with the base station 200 and establish an electrical connection, so that the base station 200 can collect dust from the cleaning robot 300 through the mopping platform 100.

[0093] Optionally, the base station 200 is connected to mains power, and the towing platform 100 has a battery. After the towing platform 100 and the base station 200 are electrically connected through electrode plates, electrical signals can be transmitted through a physical channel, enabling energy interaction between the towing platform 100 and the base station 200 through the electrode plates; the base station 200 charges the towing platform 100 through the electrode plates.

[0094] Optionally, the end of the dragging platform 100 that connects to the cleaning robot 300 has a third electrode plate. Correspondingly, the cleaning robot 300 is electrically connected to the third electrode plate of the dragging platform 100 through a fourth electrode plate. The base station 200 charges the cleaning robot 300 through the dragging platform 100, and the dragging platform 100 charges the cleaning robot 300 while obtaining power from the base station 200.

[0095] For example, in another scenario, when the cleaning robot 300 is performing its sweeping task alone, the mopping platform 100 detects that its battery level is below 20% and sends a target command to the cleaning robot 300. This target command is to charge the mopping platform 100. The cleaning robot 300 recognizes this target command and determines that it needs to dock with the base station 200 while carrying the mopping platform 100. It stops sweeping, moves to the area where the mopping platform 100 is located, docks and merges with it, and then moves with the mopping platform 100 to the area of ​​the base station, enabling the mopping platform 100 and the base station 200 to be positioned, coordinated, and electrically connected, thus allowing the base station 200 to charge the mopping platform 100. In practical applications, the mapping relationship between the target command and the functional task that needs to dock with the base station 200 can be pre-set.

[0096] It should be noted that the aforementioned corresponding functional tasks can be executed individually or simultaneously. Specifically, during the execution of the target instruction-corresponding functional tasks by the base station 200 in conjunction with the towing platform 100 and / or the cleaning robot 300, information exchange can be conducted via wireless or wired communication. Wired communication includes communication through contact between the first electrode plate 120 and the second electrode plate 240, and communication through contact between the third and fourth electrode plates.

[0097] In the above embodiment, the cleaning robot 300, in response to a target command, moves the dragging platform 100 to the area of ​​the base station. The dragging platform 100 and the base station 200 are positioned, coordinated, and electrically connected, enabling the base station 200 to cooperate with the dragging platform 100 and / or the cleaning robot 300 to perform the functional tasks corresponding to the target command. This embodiment utilizes the mobility of the cleaning robot 300, allowing the dragging platform 100 to be positioned, coordinated, and electrically connected with the base station 200 while the cleaning robot 300 and the dragging platform 100 are combined, enabling the base station 200 to cooperate with the dragging platform 100 and / or the cleaning robot 300 to perform corresponding functional tasks, thereby making the use of the dragging platform 100 and the cleaning robot 300 more flexible and intelligent.

[0098] As an optional implementation in this embodiment, the cleaning robot 300 responds to the target command and determines whether it needs to merge with the dragging platform 100 based on the target command. If so, it determines whether it is currently merged with the dragging platform 100. If it is not merged with the dragging platform 100, it first moves to the area where the dragging platform 100 belongs and completes docking and merging with the dragging platform 100, and then moves to the area where the base station belongs so that the dragging platform 100 and the base station 200 can perform positioning cooperation and electrical connection. Correspondingly, if not, it determines whether it is currently detached from the dragging platform 100. If it is not detached from the dragging platform 100, it can first detach from the dragging platform 100 and then move to the area where the base station belongs. At this time, the cleaning robot 300 can independently position and cooperate with the base station 200 and perform electrical connection.

[0099] Therefore, upon receiving a target instruction, the cleaning robot 300 can first determine the target state with the dragging platform 100 based on the type of the target instruction, i.e., a combined state or a detached state. Then, in the target state, it executes the steps of the device docking method. That is, when the cleaning robot 300 is already combined with the dragging platform 100, it directly carries the dragging platform 100 to move, enabling the dragging platform 100 to be positioned, coordinated, and electrically connected with the base station 200. This allows the base station 200 to cooperate with the dragging platform 100 and the cleaning robot 300 to perform corresponding functional tasks. Alternatively, when it does not need to be combined with the dragging platform 100, it can independently position, coordinate, and electrically connect with the base station 200, allowing the base station 200 to independently cooperate with the cleaning robot 300 to perform corresponding functional tasks, which aligns with practical application scenarios. In the above embodiments, the cleaning robot 300's mobility function is utilized in different scenarios, ensuring the efficiency and accuracy of docking with the base station 200, thereby ensuring the base station 200 can smoothly perform its functional tasks.

[0100] To ensure accurate docking between the cleaning robot 300 and the base station 200, and thus enable accurate positioning and electrical connection between the dragging platform 100 and the base station 200, in one embodiment, based on the above embodiments, the relative position information between the two can be determined based on the docking signal, and then the docking process can be executed based on the relative position information to enable the dragging platform 100 and the base station 200 to achieve positioning and electrical connection. Figure 7 As shown, before the towing platform 100 and base station 200 perform positioning coordination and electrical connection, the method further includes:

[0101] S701, the cleaning robot receives docking signals sent by the base station in the area where the base station is located.

[0102] The docking signal sent by the base station can be a Bluetooth signal, an infrared signal, etc., and this embodiment does not limit this.

[0103] The S702 cleaning robot determines its relative position information with the base station based on 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, an infrared signal transmitter 230 is configured on the base station 200. The infrared signal transmitter 230 on the base station 200 can emit infrared signals of a specific frequency, and the infrared receiver can receive the infrared signals of that 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. Based on the direction of the infrared signal emitted by the infrared signal transmitter 230 of the base station 200, 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 based on relative position information.

[0107] Once the relative direction in the relative position information is determined, the cleaning robot 300 moves in that direction to carry the dragging platform 100 towards the base station 200. Furthermore, once the relative distance in the relative position information is determined, the robot can accurately determine the distance it will travel and reach the position where the dragging platform 100 and the base station 200 can be positioned and electrically connected. The base station 200 can then perform positioning and electrical connection with the dragging platform 100.

[0108] Optionally, when the cleaning robot 300 moves towards the base station 200 carrying the dragging platform 100, the cleaning robot 300 can continuously receive infrared signals emitted by the base station 200 to update its relative position information.

[0109] Or in another embodiment, such as Figure 8 As shown, before the towing platform 100 and base station 200 perform positioning coordination and electrical connection, the following steps are included:

[0110] S801, the towing platform receives the docking signal sent by the base station in the area where the base station is located.

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

[0112] S802, the towing platform sends docking information to the cleaning robot based on the docking signal.

[0113] The docking information includes docking signals received by the towing platform 100 and the relative position information between the towing platform 100 and the base station 200 determined by the towing platform 100 based on the received docking signals. The towing platform 100 can 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 its relative position with the base station based on the docking information, and moves toward the base station based on 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 can determine the relative distance and relative direction between itself and the base station 200 based on the docking information, thereby obtaining the relative position information between the cleaning robot 300 and the base station 200.

[0116] Once the relative direction (e.g., a first relative direction, a second relative direction) is determined in the relative position information, the cleaning robot 300 carries the towing platform 100 along that direction towards the base station 200. Furthermore, once the relative distance is determined in the relative position information, the robot can accurately determine the distance it will travel and then reach the position where the towing platform 100 and the base station 200 can perform positioning coordination and electrical connection. The base station 200 can then perform positioning coordination and electrical connection with the towing platform 100.

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

[0118] In this embodiment, the cleaning robot 300 receives a docking signal sent by the base station 200 in the area where the base station is located, and / or the mopping platform 100 receives a docking signal sent by the base station 200 in the area where the base station is located, 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 itself and the base station 200 according to the docking signal and / or docking information, and moves towards the base station 200 according to the relative position information. When the cleaning robot 300 carrying the mopping platform 100 and the base station 200 are in the same area, the cleaning robot 300 carrying the mopping platform 100 can automatically dock with the base station 200, thereby realizing automatic positioning and electrical connection between the mopping platform 100 and the base station 200 without human operation, which is suitable for smart home scenarios.

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

[0120] For example, after the cleaning robot 300 moves towards the base station 200 based on relative position information, if the dragging platform 100 fails to complete positioning and electrical connection with the base station 200 within 30 seconds, or if an obstacle is detected during the movement towards the base station 200, it will move a preset distance away from the base station 200 based on the relative position information and return to execute the steps of moving towards the base station 200 based on relative position information and subsequent steps. Furthermore, if the dragging platform 100 fails to complete positioning and electrical connection with the base station 200 after repeating the steps of moving towards the base station 200 based on relative position information for more than 5 minutes, a fault will be reported. Optionally, if the steps of moving towards the base station 200 based on relative position information are repeated 5 times and the dragging platform 100 still fails to complete positioning and electrical connection with the base station 200, a fault will be reported.

[0121] Therefore, if the towing platform 100 cannot be successfully positioned and electrically connected with the base station 200, it can automatically avoid potential problems in the docking process and promptly alarm in cases where it cannot be avoided, thus improving the entire equipment docking process and enhancing the reliability of equipment docking.

[0122] To ensure accurate docking with base station 200, based on the above embodiments, in one embodiment, the relative position information includes a first relative direction and a relative distance. A preset threshold corresponding to the relative distance can be provided, allowing the cleaning robot 300 to move more precisely towards base station 200 based on the relative position information. Figure 9 As shown, it includes:

[0123] S901, the cleaning robot moves to the docking area in the region to which the base station belongs, based on the first relative direction and relative distance.

[0124] The cleaning robot 300 can be equipped with two pairs of infrared receivers with different receiving angles at its front and rear ends. The receiver with the larger receiving angle receives the infrared signal emitted by the base station 200, determines the docking area within the area to which the base station belongs, and then determines the first relative direction and relative distance between the cleaning robot 300 and the dragging platform 100. Based on the relative direction, the robot moves to the docking area within the area to which the base station belongs. This docking area corresponds to the area of ​​the second docking component 220 of the base station 200.

[0125] Optionally, the towing platform 100 can also receive infrared signals emitted by the base station 200 in the area where the base station is located, and send docking information to the cleaning robot 300 according to the infrared signals, so that the cleaning robot 300 can determine the first relative direction and relative distance between itself and the base station 200, and move in the relative direction to the docking area where the base station is located.

[0126] When the relative distance is less than a preset threshold, the S902 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 signals received by the cleaning robot 300 or the infrared signals received by the dragging platform 100, and compares the real-time relative distance with a preset threshold. When the relative distance is less than the preset threshold, the cleaning robot 300 begins to carry the dragging 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 based on the first relative direction and relative distance. When the relative distance is less than a preset threshold, the cleaning robot 300 carries the dragging platform 100 to perform a precise docking operation with the base station 200. This can further improve the accuracy and efficiency of docking between the cleaning robot 300 or the dragging platform 100 and the base station 200, so that the dragging platform 100 and the base station 200 can be positioned and electrically connected smoothly, thereby ensuring the smooth execution of functional tasks.

[0129] To improve the accuracy and efficiency of docking between the cleaning robot 300 carrying the towing platform 100 and the base station 200, thereby improving the accuracy and efficiency of positioning 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 under different conditions to improve the precision and rationality of infrared signal interaction in the entire docking process.

[0130] Based on the above embodiments, 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 dragging platform 100 can block the first infrared receiver 320, and a second infrared receiver 130 can be set at the rear end of the dragging platform 100; wherein the angle between the first infrared receiver 320 and the second infrared receiver 130 is small, and the angle between the first infrared receiver 320 and the second infrared receiver 130 can be the same.

[0131] In this embodiment, the precise docking operation between the cleaning robot 300 and the base station 200 includes: the cleaning robot 300 rotating the dragging platform 100 by a target angle so that the dragging platform 100 receives infrared signals through the second infrared receiver 130 at the rear end, and sends docking information to the cleaning robot 300 according to the infrared signals; the cleaning robot 300 determines the second relative direction between itself and the base station 200 according to the docking information, and moves to the area where the dragging platform 100 and the base station 200 are positioned, coordinated 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 rotates the dragging platform 100 by 180 degrees so that the second infrared receiver 130 on the dragging platform 100 faces the base station 200. Then, the dragging 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 itself and the base station 200 according to the docking information, and moves towards the base station 200 to the area where the dragging platform 100 and the base station 200 perform positioning and electrical connection. The area where the dragging platform 100 and the base station 200 perform positioning and electrical connection is the area of ​​the second docking part 220 of the base station 200.

[0133] It should be noted that, without needing to be combined with the mopping platform 100, the cleaning robot 300 can dock with the base station 200 independently. In the docking area, the cleaning robot 300 can receive infrared signals sent by the base station 200 through its first infrared receiver 320, determine its relative position information with the base station 200 based on the infrared signal, and move towards the base station 200 based on the relative position information.

[0134] In this embodiment, since the rear end of the dragging platform 100 is also equipped with an installation structure that supports the first docking component 110 and the dust collection channel 140, when the cleaning robot 300 and the dragging 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 dragging platform 100. At this time, the second infrared receiver 130 at the rear end of the dragging platform 100 can receive the infrared signal sent by the base station 200, so that the cleaning robot 300 can also confirm the relative position information between itself and the base station 200 according to the docking information, thereby improving the flexibility of the use of the dragging platform 100 and the cleaning robot 300. At the same time, since the receiving angle of the second infrared receiver 130 is small, environmental interference can be reduced, and 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 the positioning and electrical connection between the dragging platform 100 and the base station 200.

[0135] In this application, "front" in "front and back" refers to the direction in which the cleaning robot 300 carrying the mopping platform 100 moves during normal operation (mopping or sweeping), and "back" refers to the direction opposite to the direction in which the cleaning robot 300 carrying the mopping platform 100 moves during normal operation (mopping or sweeping). In addition, the front end of the cleaning robot 300 may also be equipped 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 infrared signals through a third infrared receiver at the front end in the area where the base station is located, and determines the first relative direction and relative distance between itself and the base station 200 according to the infrared signals, and moves to the docking area in the area where the base station is located according to the first relative direction and relative distance.

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

[0138] In this embodiment, since the receiving angle of the third infrared receiver is relatively 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 relatively small and less affected by environmental interference. Therefore, the second relative direction of the cleaning robot 300 relative to the base station 200 is more accurate. By cooperating with the second infrared receiver 130 and the third infrared receiver, the relative position information of the cleaning robot 300 relative to the base station 200 is determined, thereby improving the efficiency of device docking.

[0139] Based on the above embodiments, in one embodiment, the precise docking of the cleaning robot 300 with the base station 200 includes: the cleaning robot 300 identifying the base station 200 feature code on the base station 200 using a lidar or camera, or the dragging platform 100 identifying the base station 200 feature code on the base station 200 using a lidar or camera; the cleaning robot 300 acquiring the base station 200 feature code identified by the dragging platform 100; the cleaning robot 300 moving to the area where the dragging platform 100 and the base station 200 perform positioning, coordination, and electrical connection 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 sprayed feature code.

[0140] The lidar or camera can be installed on the cleaning robot 300 or the mopping platform 100; this embodiment does not impose any restrictions on this. When the cleaning robot 300 and the mopping platform 100 are combined and located in the area of ​​the base station, the installed lidar or camera can scan the base station 200's signature code. The cleaning robot 300 or the mopping platform 100 can then identify the base station 200's signature code and determine their relative position information. Furthermore, based on the relative position information, the cleaning robot 300 carries the mopping platform 100 to dock with the base station 200, thereby enabling the mopping platform 100 and the base station 200 to perform positioning coordination and electrical connection.

[0141] Therefore, the cleaning robot 300 or the dragging platform 100 can also dock with the base station 200 without relying on docking signals, which broadens the application scenarios of device docking and provides a flexible docking method.

[0142] To enable more precise positioning and electrical connection between the cleaning robot 300 carrying the mopping platform 100 and the base station 200, and in addition to the above embodiments, in one embodiment, such as... Figure 10 As shown, before the base station 200 sends the docking signal, the device docking method also includes:

[0143] S1001, the cleaning robot sends a signal transmission command to the base station.

[0144] Specifically, the cleaning robot 300 can send signals and commands to the base station 200 via wireless communication.

[0145] Optionally, during the process of the cleaning robot 300 carrying the dragging platform 100 moving to the area where the base station is located, when the cleaning robot 300 moves into the range of the Bluetooth connection of the base station 200, the cleaning robot 300 connects with the base station 200 via Bluetooth. After the connection is successful, the cleaning robot 300 sends a signal to the base station 200 via Bluetooth communication.

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

[0147] Specifically, when base station 200 receives a signal transmission command from cleaning robot 300, base station 200 sends a docking signal.

[0148] In this embodiment, the cleaning robot 300 sends a signal transmission command to the base station 200 to instruct the base station 200 to send a docking signal. In a home environment where multiple dockable devices exist simultaneously (such as dust collection base stations, water exchange base stations, and mopping platforms), and the docking signals of multiple docking devices are all infrared signals, the cleaning robot 300 instructs the device it needs to dock with to emit an infrared signal, while other devices that do not need to dock with it turn off their infrared signals. This avoids interference from other devices' infrared signals and prevents accidental docking with other devices, thereby improving the docking efficiency of the cleaning robot 300 carrying the mopping platform 100 with the base station 200. Zero-interaction is used to improve the success rate of positioning coordination and electrical connection between the towing platform 100 and the base station 200. When the base station 200 does not receive a signal transmission command, the base station 200 can be in a low-power mode. In the low-power mode, the base station 200 turns off infrared transmission and reduces the Bluetooth broadcast frequency. After receiving a signal transmission command, the base station 200 switches from the low-power mode to the normal working mode. In the normal working mode, the base station 200 turns on infrared transmission and increases the Bluetooth broadcast frequency. Therefore, this embodiment can improve the success rate of positioning coordination and electrical connection with the base station 200 while also reducing the power consumption of the base station 200.

[0149] In one embodiment, a device docking method for a dragging platform 100 and a base station 200 is provided, applied to the dragging platform 100, including: when the dragging platform 100 is carried to the area of ​​the base station by the cleaning robot 300, positioning and electrical connection are performed with the base station 200, so that the base station 200 cooperates with the dragging platform 100 and / or the cleaning robot 300 to perform corresponding functional tasks.

[0150] Optionally, the rear end of the mopping platform 100 may obstruct the first infrared receiver 320 at the rear end of the cleaning robot 300, and the rear end of the mopping platform 100 may be provided with a second infrared receiver 130. Before positioning and electrical connection with the base station 200, the device docking method may further include: when the relative distance between the cleaning robot 300 and the base station 200 is less than a preset threshold, the cleaning robot 300 may perform a precise docking operation with the base station 200.

[0151] The precise docking operation between the cleaning robot 300 and the base station 200 includes: after the towing platform 100 is rotated to the target angle by the cleaning robot 300, it receives the 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 is located, and sends docking information to the cleaning robot 300 according to the infrared signal, so that the cleaning robot 300 determines the second relative direction between itself and 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 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 embodiments. The implementation principle and technical effect 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, applied to the cleaning robot 300, including: in response to a target instruction, carrying a towing platform 100 to the area to which the base station belongs, so that the base station 200, in the case of positioning and electrical connection with the towing platform 100, cooperates with the towing platform 100 and / or the cleaning robot 300 to perform the functional tasks corresponding to the target instruction.

[0154] Optionally, if the first infrared receiver 320 at the rear of the cleaning robot 300 is blocked by the rear of the dragging platform 100, before the base station 200 and the dragging platform 100 perform positioning coordination and electrical connection, the device docking method further includes: performing a precise docking operation with the base station 200 when the robot moves towards the base station 200 until the relative distance between the robot and the base station 200 is less than a preset threshold.

[0155] The precise docking operation with base station 200 includes: rotating the towing platform 100 to a target angle so that the towing platform 100 receives infrared signals sent by base station 200 through the second infrared receiver 130 at the rear end in the area where the base station is located; receiving docking information sent by towing platform 100 based on the infrared signals; determining the second relative direction between towing platform 100 and base station 200 based on the docking information; and moving to the area where towing platform 100 and base station 200 perform positioning and electrical connection based on the second relative direction.

[0156] Optionally, before moving towards the base station 200 to a relative distance of less than a preset threshold, the device docking method further includes: receiving infrared signals sent by the base station 200 through a third infrared receiver at the front end of the cleaning robot 300 in the area where the base station is located; determining the first relative direction and relative distance between the robot and the base station 200 based on the infrared signals; and moving to the docking area in the area where the base station is located based on 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 embodiments. The implementation principle and technical effect are similar, and will not be repeated here.

[0158] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

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

[0160] In one embodiment, a dragging platform 100 is provided, such as Figure 11 As shown, it includes:

[0161] The first docking module 150 is used to perform positioning and electrical connection 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 on the towing platform 100 and / or the cleaning robot 300.

[0162] In one embodiment, the base station 200 transmits an infrared signal, the rear end of the mopping platform 100 blocks the first infrared receiver 320 at the rear end of the cleaning robot 300, and the rear end of the mopping platform 100 is provided with a second infrared receiver 130. The aforementioned 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 relative distance between the cleaning robot 300 and the base station 200 is less than a preset threshold.

[0164] The precise docking operation between the cleaning robot 300 and the base station 200 includes: after the towing platform 100 is rotated to the target angle by the cleaning robot 300, it receives infrared signals through the second infrared receiver 130 in the area where the base station is located, and sends docking information to the cleaning robot 300 according to the infrared signals, so that the cleaning robot 300 determines the second relative direction between itself and 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 and electrically connected according to the second relative direction.

[0165] In one embodiment, in Figure 11 On the basis of, such as Figure 12 As shown, the aforementioned towing platform 100 also includes:

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

[0167] In one embodiment, a cleaning robot 300 is provided, such as Figure 13 As shown, it includes:

[0168] The second docking module 330 is used to respond to the target command and move the towing platform 100 to the area where the base station belongs, so that the base station 200 can cooperate with the towing platform 100 and / or the cleaning robot 300 to perform the functional tasks corresponding to the target command when the base station 200 is positioned and electrically connected to the towing platform 100.

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

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

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

[0172] The carrying platform 100 is rotated to the target angle so that the carrying platform 100 receives infrared signals through the second infrared receiver 130 at the back end in the area where the base station is located.

[0173] Receive docking information sent by the towing platform 100 based on infrared signals;

[0174] Based on the docking information, the second relative direction between the platform 100 and the base station 200 is determined, and the platform 100 moves to the area where it coordinates with the base station 200 for positioning and electrical connection.

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

[0176] The signal receiving module is used to receive infrared signals 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 is located.

[0177] The location determination module is used to determine the first relative direction and relative distance between itself and the base station 200 based on the infrared signal.

[0178] The initial motion module is used to move to the docking area of ​​the base station's region according to the first relative direction and relative distance.

[0179] Each module in the cleaning robot 300 and the mopping platform 100 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the cleaning robot 300 and the mopping platform 100 in hardware form, or stored in the memory of the cleaning robot 300 and the mopping platform 100 in software form, so that the processor can call and execute the corresponding operations of each module.

[0180] In one embodiment, a smart home system is provided, including a cleaning robot 300 and a mopping platform 100; the cleaning robot 300 moves to the area of ​​a base station in response to a target command; wherein the cleaning robot 300 carries the mopping platform 100; the mopping platform 100 and / or the cleaning robot 300 are connected to a base station 200 so that the base station 200 performs the functional tasks corresponding to the target command on the mopping platform 100 and / or the cleaning robot 300.

[0181] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 14As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a device docking method. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad located on the computer device casing, or an external keyboard, touchpad, or mouse.

[0182] Those skilled in the art will understand that Figure 14 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0183] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the device docking method described above.

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

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

[0186] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0187] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended 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 mopping platform, and a base station. The mopping platform is a device independent of the cleaning robot and is used to carry household items. The method includes: The cleaning robot responds to a target command and moves the dragging platform to the area where the base station is located; wherein the dragging platform is located on top of the cleaning robot and moves under the drive of the cleaning robot; The dragging platform is positioned and electrically connected to the base station, so that the base station can cooperate with the dragging platform and / or the cleaning robot to perform the functional tasks corresponding to the target command. The towing platform is equipped with a dust collection channel, which connects the dust outlet of the cleaning robot to the dust inlet of the base station.

2. The method according to claim 1, characterized in that, Before the towing platform coordinates with the base station for positioning and electrical connection, the method further includes: The cleaning robot receives a docking signal sent by the base station in the area where the base station is located, and / or the towing platform receives a docking signal sent by the base station in the area where the base station is located, and sends docking information to the cleaning robot according to the docking signal; The cleaning robot determines its relative position information with the base station based on the docking signal and / or the docking information. The cleaning robot moves toward the base station based on 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. The cleaning robot moves towards the base station based on the relative position information, including: The cleaning robot moves to the docking area in the region to which the base station belongs, based on the first relative direction and the relative distance; When the relative distance is less 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, and the relative position information also 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. The cleaning robot performs a precise docking operation with the base station, including: The cleaning robot rotates the dragging platform to a target angle so that the dragging platform receives the infrared signal through the second infrared receiver at the rear end and sends docking information to the cleaning robot based on the infrared signal; The cleaning robot determines a second relative direction with the base station based on the docking information, and moves to the area where the towing platform and the base station are positioned, coordinated, and electrically connected according to the second relative direction.

5. The method according to claim 4, characterized in that, The cleaning robot moves to the docking area in the region to which the base station belongs, based on the first relative direction and the relative distance, including: The cleaning robot receives the infrared signal in the area where the base station is located via a third infrared receiver at its front end; The cleaning robot determines the first relative direction and relative distance between itself and the base station based on the infrared signal, and moves to the docking area in the region to which the base station belongs based on the first relative direction and the relative distance.

6. The method according to claim 5, characterized in that, The receiving angle of the second infrared receiver is smaller than that 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 using a LiDAR or camera, or the mopping platform identifies the base station feature code on the base station using a LiDAR or camera, so that the cleaning robot can obtain the base station feature code identified by the mopping platform. The cleaning robot moves to the area where the towing platform and the base station are positioned and electrically connected according to the base station's feature code; wherein, the base station feature code is a structural feature code and / or a spray coating feature code.

8. The method according to any one of claims 2-6, wherein 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 the 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 to the base station, instructing the base station to send a docking signal.

9. A method for interfacing a cargo-dragging platform with a base station, characterized in that, The method, applied to a mopping platform—a device independent of the cleaning robot—for carrying household items, includes: When the mopping platform is carried to the area of ​​the base station by the cleaning robot, it is positioned and electrically connected with the base station so that the base station can cooperate with the mopping platform and / or the cleaning robot to perform corresponding functional tasks; wherein, the mopping platform is located on top of the cleaning robot and moves under the drive of the cleaning robot; The towing platform is equipped with a dust collection channel, which connects the dust outlet of the cleaning robot to the dust inlet of the base station.

10. The method according to claim 9, characterized in that, The rear end of the mopping platform obstructs the first infrared receiver at the rear end of the cleaning robot, and a second infrared receiver is provided at the rear end of the mopping platform. Before positioning and electrical connection with the base station, the method further includes: When the cleaning robot moves toward the base station to a relative distance of less than a preset threshold, it will cooperate with the cleaning robot to perform a precise docking operation with the base station. The step of cooperating with the cleaning robot to perform precise docking with the base station includes: After being carried by the cleaning robot and rotated to the target angle, the towing platform receives infrared signals sent by the base station through a second infrared receiver at the rear end in the area where the base station is located. Based on the infrared signals, it sends docking information to the cleaning robot, so that the cleaning robot determines the second relative direction between itself and the base station according to the docking information, and moves to the area where the towing platform and the base station are positioned, coordinated and electrically connected according to the second relative direction.

11. A method for device docking between a cleaning robot and a base station, characterized in that, Applied to cleaning robots, the method includes: In response to a target command, the mopping platform is moved to the area of ​​the base station, so that the base station, in conjunction with the mopping platform and / or the cleaning robot, performs the functional tasks corresponding to the target command, under the condition of positioning cooperation and electrical connection with the mopping platform; wherein, the mopping platform is located on top of the cleaning robot and moves under the drive of the cleaning robot; the mopping platform is a device independent of the cleaning robot, and the mopping platform is used to carry household items; the mopping platform is provided with a dust collection channel, which is used to connect the dust outlet of the cleaning robot with the dust inlet of the base station.

12. The method according to claim 11, characterized in that, Before the first infrared receiver at the rear of the cleaning robot is blocked by the rear of the dragging platform, and before the base station performs positioning coordination and electrical connection with the dragging platform, the method further includes: If the relative distance between the operator and the base station is less than a preset threshold when the operator moves toward the base station, a precise docking operation with the base station is performed. The precise docking operation with the base station includes: The towing platform is rotated to a target angle so that it receives infrared signals sent by the base station through a second infrared receiver at the rear end within the area of ​​the base station; docking information sent by the towing platform based on the infrared signals is received; a second relative direction between the towing platform and the base station is determined based on the docking information; and the towing platform moves to the area where it can perform positioning and electrical connection with the base station based on the second relative direction.

13. The method according to claim 12, characterized in that, Before moving towards the base station to a point where the relative distance to the base station is less than a preset threshold, the method further includes: The cleaning robot receives infrared signals sent by the base station through a third infrared receiver at the front end of the robot within the area where the base station is located. The first relative direction and relative distance between the infrared signal and the base station are determined, and the device moves to the docking area in the region to which the base station belongs based on the first relative direction and the relative distance.

14. A towing platform, characterized in that, include: The first docking module is used to coordinate with the base station and make electrical connections when the mopping platform is carried to the area of ​​the base station by the cleaning robot, so that the base station can perform corresponding functional tasks on the mopping platform and / or the cleaning robot; wherein, the mopping platform is located on top of the cleaning robot and moves under the drive of the cleaning robot, and the mopping platform is a device independent of the cleaning robot, used to carry household items; A dust collection channel is used to connect the dust outlet of the cleaning robot to the dust inlet of the base station.

15. A cleaning robot, characterized in that, include: The second docking module is used to respond to a target command by moving the dragging platform located on top of the cleaning robot to the area of ​​the base station, so that the base station can cooperate with the dragging platform and / or the cleaning robot to perform the functional tasks corresponding to the target command when positioning and electrical connection is established with the dragging platform; wherein, the dragging platform is provided with a dust collection channel, which is used to connect the dust outlet of the cleaning robot with the dust inlet of the base station.

16. A smart home system, characterized in that, Includes the towing platform of claim 14, the cleaning robot of claim 15, and the base station; The base station works in conjunction with the dragging platform and / or the cleaning robot to perform corresponding functional tasks.

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