Article dragging platform and cleaning robot equipment combination method and intelligent home system

Abstract

The invention relates to an object dragging platform and cleaning robot equipment combination method and a smart home system, and relates to the technical field of smart home. The method comprises the steps that a first connector of the object dragging platform and a second connector of the cleaning robot are automatically combined, and the object dragging platform and the cleaning robot are combined, so that the object dragging platform is carried by the cleaning robot to execute a work task; the object dragging platform is used for bearing household objects. According to the method, through automatic combination of the object dragging platform and the cleaning robot, the diversity of tasks executed by the cleaning robot is improved, that is, the cleaning robot can independently execute the tasks and can also carry different types of household objects to move through the object dragging platform, so that the cleaning robot and the different types of household objects jointly execute the tasks; the cleaning robot does not need to be in direct butt joint with the household objects, and the types of the household objects are not limited, so that the method can be applied to wider application scenes, and diversified requirements of users are met.

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 method for integrating a towing platform and 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 coordination with other household devices. Therefore, conventional cleaning robots can no longer meet people's demand for intelligent devices. Summary of the invention

[0005] Based on this, it is necessary to provide a towing platform that can automatically combine with a cleaning robot to address the above-mentioned technical problems, so that when the cleaning robot and the towing platform are combined, a towing platform and a cleaning robot equipment combination method and a smart home system that can realize the diversified work of the cleaning robot are provided.

[0006] In a first aspect, the present application provides a method for combining a towing platform and a cleaning robot, the method being applied to the towing platform, comprising:

[0007] The towing platform is automatically combined with the cleaning robot by the first combining piece of the towing platform and the second combining piece of the cleaning robot, so that the towing platform is carried by the cleaning robot to perform the work task;

[0008] Among them, the towing platform is used to carry household items.

[0009] In one embodiment, the first combining piece of the towing platform is automatically combined with the second combining piece of the cleaning robot, including:

[0010] The first combination piece of the object-dragging platform is controlled to move toward the second combination piece of the cleaning robot and be fixed to the second combination piece, or to cooperate with the second combination piece that moves to the first combination piece and be fixed to the second combination piece.

[0011] In one embodiment, controlling the first combination member of the towing platform to move toward the second combination member of the cleaning robot includes:

[0012] The first combining piece of the object-dragging platform is controlled to move vertically downward and be embedded in or attached to the second combining piece of the cleaning robot.

[0013] In one embodiment, before controlling the first coupling member of the towing platform to move toward the second coupling member of the cleaning robot and fix the first coupling member to the second coupling member, the method further includes:

[0014] Detecting whether a first driving mechanism for driving the first coupling member operates normally;

[0015] Accordingly, controlling the first combination member of the towing platform to move toward the second combination member of the cleaning robot and to be fixed to the second combination member includes:

[0016] When the first driving mechanism operates normally, the first combining component of the object-dragging platform is driven to move toward the second combining component of the cleaning robot and is fixed to the second combining component.

[0017] In one embodiment, after the towing platform is combined with the cleaning robot and before the towing platform is carried by the cleaning robot to perform the work task, the method further includes:

[0018] Detecting whether the first detection device of the towing platform is triggered;

[0019] If so, a successful fusion notification is sent to the cleaning robot.

[0020] In one embodiment, the method further comprises:

[0021] If the first detection device is not detected to be triggered for more than a preset number of combinations or a preset time, a combination failure notification is sent to the cleaning robot and / or the terminal.

[0022] In one embodiment, after sending a notification of successful integration to the cleaning robot, the method further includes:

[0023] In response to the separation instruction, the first coupling member of the towing platform is automatically separated from the second coupling member of the cleaning robot, and the towing platform is separated from the cleaning robot, so that the cleaning robot performs an independent task.

[0024] In one embodiment, the first coupling member of the towing platform and the second coupling member of the cleaning robot are automatically separated, including:

[0025] The first combination member of the towing platform is controlled to move in a direction away from the second combination member and separate from the second combination member, or to separate from the second combination member moving in a direction away from the first combination member.

[0026] In one embodiment, after the cleaning robot is separated and before the cleaning robot performs an independent task, the method further includes:

[0027] Detecting whether the second detection device of the towing platform is triggered;

[0028] If so, a successful disengagement notification is sent to the cleaning robot.

[0029] In one embodiment, before the first combining piece of the towing platform is automatically combined with the second combining piece of the cleaning robot, the method further comprises:

[0030] When the cleaning robot moves to the area to which the towing platform belongs based on the received target instruction, the cleaning robot docks with the cleaning robot.

[0031] In a second aspect, the present application provides a method for combining a towing platform and a cleaning robot, the method being applied to the cleaning robot, comprising:

[0032] The second combining piece of the cleaning robot is automatically combined with the first combining piece of the towing platform to combine with the towing platform, so that the cleaning robot carries the towing platform to perform work tasks;

[0033] Among them, the towing platform is used to carry household items.

[0034] In one embodiment, the second combining member of the cleaning robot is automatically combined with the first combining member of the towing platform, including:

[0035] The first combination piece of the object-dragging platform that moves to the second combination piece of the cleaning robot cooperates with the first combination piece and is fixed to the first combination piece, or the second combination piece is controlled to move toward the first combination piece and is fixed to the first combination piece.

[0036] In one embodiment, controlling the second combining member to move toward the first combining member includes:

[0037] The second combining member is controlled to move vertically upward so that the second combining member is embedded in or attached to the first combining member.

[0038] In one embodiment, before controlling the second combining member to move toward the first combining member and to be fixed to the first combining member, the method further includes:

[0039] Detecting whether the second driving mechanism of the cleaning robot operates normally;

[0040] Accordingly, controlling the second combining member to move toward the first combining member and fix with the first combining member includes:

[0041] When the second driving mechanism operates normally, the second combining member is driven to move toward the first combining member and is fixed to the first combining member.

[0042] In one embodiment, after the combination with the towing platform, the method further includes:

[0043] Receive the successful fusion notification sent by the drag platform;

[0044] After receiving the successful fusion notification sent by the towing platform, the method further includes:

[0045] The second combining part of the cleaning robot is automatically separated from the first combining part of the towing platform, and the cleaning robot is separated from the towing platform to perform an independent task.

[0046] In one embodiment, the second coupling member of the cleaning robot is automatically separated from the first coupling member of the towing platform, including:

[0047] The first combining member of the towing platform moving in a direction away from the second combining member is separated, or the second combining member is controlled to move in a direction away from the first combining member and separated from the first combining member.

[0048] In one embodiment, after detaching from the towing platform and before performing an independent task, the method further includes:

[0049] Receive the successful detachment notification sent by the towing platform.

[0050] In one embodiment, before the second combining member of the cleaning robot is automatically combined with the first combining member of the towing platform, the method further comprises:

[0051] In response to the target instruction, the device moves to the area where the towing platform belongs and docks with the towing platform.

[0052] In a third aspect, the present application provides a towing platform, including:

[0053] The first combining module is used to automatically combine with the cleaning robot through the first combining piece of the towing platform and the second combining piece of the cleaning robot, so that the towing platform can be carried by the cleaning robot to perform the work task;

[0054] Among them, the towing platform is used to carry household items.

[0055] In a fourth aspect, the present application provides a cleaning robot, comprising:

[0056] The second combining module is used to automatically combine with the first combining member of the towing platform through the second combining member of the cleaning robot, and combine with the towing platform, so that the cleaning robot carries the towing platform to perform work tasks;

[0057] Among them, the towing platform is used to carry household items.

[0058] In a fifth aspect, the present application provides a smart home system, comprising the towing platform of the third aspect and the cleaning robot of the fourth aspect.

[0059] In a sixth aspect, the present application provides a computer device, including 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 or the second aspect when executing the computer program.

[0060] In a seventh 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 or the second aspect when the computer program is executed by a processor.

[0061] In an eighth 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 or the second aspect when the computer program is executed by a processor.

[0062] The above-mentioned device combination method of the towing platform and the cleaning robot and the smart home system, through the automatic combination of the first combination piece of the towing platform and the second combination piece of the cleaning robot, the towing platform and the cleaning robot are combined, so that the towing platform is carried by the cleaning robot to perform work tasks; wherein the towing platform is used to carry household objects. The present application can remotely control the automatic combination of the towing platform and the cleaning robot without manual control, so that the combination process of the cleaning robot and the towing platform is more intelligent and convenient, suitable for intelligent home scenes, and the automatic combination improves the diversity of the work tasks performed by the cleaning robot, that is, the cleaning robot can carry different types of household objects through the towing platform to move, so as to perform work tasks together with different types of household objects. At the same time, driven by the cleaning robot, household objects can be transferred from one location to another location, or from one room to another room, so that the working range of household objects can be effectively expanded. In addition, household objects can be moved with the help of the cooperation of the cleaning robot and the towing platform, which has the advantages of saving time and effort compared to relying on manpower to carry household objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is an application scenario diagram of a device integration method in an embodiment;

[0064] Figure 2 It is a flowchart of a method for combining a towing platform and a cleaning robot in one embodiment;

[0065] Figure 3 This is a schematic diagram of the structure of a towing platform in one embodiment;

[0066] Figure 4 is a schematic structural diagram of a cleaning robot in one embodiment;

[0067] Figure 5 It is a schematic diagram of the structure of a cleaning robot and a dragging platform carrying household objects in one embodiment;

[0068] Figure 6 A schematic diagram of a process for detecting whether the fusion is successful in one embodiment;

[0069] Figure 7 A schematic diagram of a process flow of device disengagement in one embodiment;

[0070] Figure 8 A schematic diagram of a process flow of a device integration method in another embodiment;

[0071] Fig. 9 An interactive schematic diagram of a device integration method in one embodiment;

[0072] Fig.10 is a structural block diagram of a towing platform in one embodiment;

[0073] Fig.11 is a structural block diagram of a towing platform in another embodiment;

[0074] Fig.12 is a structural block diagram of a towing platform in yet another embodiment;

[0075] Fig.13 is a structural block diagram of a towing platform in yet another embodiment;

[0076] Fig.14 is a structural block diagram of a cleaning robot in one embodiment;

[0077] Fig.15 The present invention is a structural block diagram of a computer device for implementing a device integration method in an embodiment.

[0078] Reference numerals:

[0079] 100. Towing platform;

[0080] 110. first combining member; 120. movable supporting structure;

[0081] 200. Cleaning robot;

[0082] 210, second combining member;

[0083] 300. Household items. DETAILED DESCRIPTION

[0084] 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.

[0085] The device integration method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the cleaning robot 200 is an intelligent cleaning 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 200, which can be used to carry objects. The towing platform 100 and the cleaning robot 200 are located in the same environment, for example, the towing platform 100 and the cleaning robot 200 are both located in a home indoor environment, and the towing platform 100 and the cleaning robot 200 are both equipped with wireless communication and / or wired communication functions. The towing platform 100 is used to carry household objects 300, which can be smart household objects with specific functions, such as cameras, humidifiers and air purifiers, or ordinary household objects to be moved, such as tableware, paper towels, umbrellas and towels.

[0086] Optionally, a base station corresponding to the cleaning robot 200 may also be provided in the same environment, and the base station is used to charge and / or clean the cleaning robot 200 and the towing platform 100 carried by the cleaning robot 200. For example, the base station may be a charging base station or a dust collection base station, etc.

[0087] In one embodiment, a method for combining a towing platform and a cleaning robot is provided, which is applied to the towing platform, such as Figure 2 As shown, including:

[0088] S201, the first combining component of the towing platform is automatically combined with the second combining component of the cleaning robot to form a whole with the cleaning robot.

[0089] Specifically, Figure 3 and Figure 4 As shown, when the cleaning robot 200 is combined with the towing platform 100, the towing platform 100 and the cleaning robot 200 can be combined automatically by the first combining member 110 configured on the towing platform 100 and the second combining member 210 configured on the cleaning robot 200. The first combining member 110 and / or the second combining member 210 can be components that can be driven to move. For example, the first combining member 110 can be a clamping member (such as a clamping block, a clamping column, a clamping hook, etc.), and the second combining member 210 can be a matching clamping hole, or the first combining member can be a clamping hole, and the second combining member 210 can be a matching clamping member; the first combining member 110 and the second combining member 210 can also be magnetic members that are magnetically connected.

[0090] Optionally, the first coupling member 110 is arranged at the bottom or side of the towing platform 100, and the second coupling member 210 is arranged at the top or side of the cleaning robot 200. In this way, when the first coupling member 110 is a clamping member and the second coupling member 210 is a clamping hole, the clamping member of the towing platform 100 moves downward; when the first coupling member is a clamping hole and the second coupling member is a clamping member, the clamping member of the cleaning robot 200 moves upward, so that the first coupling member 110 and the second coupling member 210 can be automatically coupled.

[0091] S202, the towing platform is carried by the cleaning robot to perform work tasks.

[0092] After the object-carrying platform 100 and the cleaning robot 200 are successfully combined by the first combining member 110 and the second combining member 210 being automatically combined, Figure 5 As shown, when the towing platform 100 carries household objects 300, the cleaning robot 200 can move with the household objects 300 via the towing platform 100, thereby performing work tasks such as transportation, monitoring, humidification or purification; when the towing platform 100 does not carry the household objects 300, the cleaning robot 200 can also move with the towing platform 100, thereby performing work tasks such as charging the towing platform 100.

[0093] For example, in one scenario, the work task is one of the humidification tasks such as whole-house humidification and fixed-point humidification. When the towing platform 100 carries a humidifier, the cleaning robot 200 can carry the humidifier through the towing platform 100 and move it throughout the house or to the designated humidification area to complete the work task.

[0094] In the above embodiment, the towing platform 100 and the cleaning robot 200 are combined by automatically combining the first coupling member 110 of the towing platform 100 and the second coupling member 210 of the cleaning robot 200, so that the towing platform 100 is carried by the cleaning robot 200 to perform work tasks; wherein the towing platform 100 is used to carry household objects. In this embodiment, the towing platform 100 and the cleaning robot 200 are automatically combined to improve the diversity of tasks performed by the cleaning robot 200, that is, the cleaning robot 200 can perform tasks alone, or it can carry different types of household objects through the towing platform 100 to move, so as to perform tasks together with different types of household objects. Since the cleaning robot 200 does not need to directly dock with the household objects, the types of household objects are not limited, and it can be applied to a wider range of application scenarios to meet the diverse needs of users.

[0095] In order to ensure that the cleaning robot 200 and the towing platform 100 are accurately combined, based on the above embodiments, in one embodiment, the above S501 includes: controlling the first combining component 110 of the towing platform 100 to move toward the second combining component 210 of the cleaning robot 200 and be fixed to the second combining component 210, or cooperating with the second combining component 210 that moves to the first combining component 110 and being fixed to the second combining component 210.

[0096] Specifically, when the cleaning robot 200 is located in a suitable combined position, the second combining component 210 of the cleaning robot 200 can remain stationary, and accordingly, the towing platform 100 can control the first combining component 110 to move toward the second combining component 210 of the cleaning robot 200, so that the first combining component 110 contacts the second combining component 210 and is automatically fixed thereto, or the first combining component 110 of the towing platform 100 remains stationary, and accordingly, the cleaning robot 200 can control the second combining component 210 to move toward the first combining component, so that the second combining component 210 contacts the first combining component 110 and is automatically fixed thereto, or, the first combining component 110 and the second combining component 210 can both move toward each other, thereby contacting each other and being automatically fixed thereto.

[0097] Optionally, the appropriate combination position may be directly below the towing platform 100 , so that the towing platform 100 can control the first combination piece of the towing platform 100 to move vertically downward and embed or fit into the second combination piece of the cleaning robot 200 .

[0098] Correspondingly, when the first coupling member 110 is a vertically extending columnar coupling member, and the second coupling member 210 is a groove-shaped coupling hole corresponding to the position of the first coupling member 110, the towing platform 100 controls the first coupling member 110 of the towing platform 100 to move vertically downward and embed into the second coupling member 210 of the cleaning robot 200; when the first coupling member and the second coupling member are magnetic members that can be magnetically connected, the towing platform 100 can control the first coupling member of the towing platform 100 to move vertically downward and fit into the second coupling member of the cleaning robot 200.

[0099] In this embodiment, the towing platform 100 can control the first coupling component 110 to move toward the second coupling component 210 of the cleaning robot 200 and be fixed to the second coupling component 210, or cooperate with the second coupling component 210 that moves to the first coupling component 110 and is fixed to the second coupling component 210. The cleaning robot 200 and the towing platform 100 are automatically combined without human operation, which is suitable for smart home scenarios.

[0100] In order to ensure that the cleaning robot 200 and the towing platform 100 are smoothly combined, based on the above embodiment, in one embodiment, before the first connecting member 110 and the second connecting member 210 are automatically combined, it is possible to first detect whether the corresponding driving mechanism is operating normally, that is, the towing platform 100 detects whether the first driving mechanism for driving the first connecting member 110 is operating normally. The first connecting member 110 may be a clamping member, and correspondingly, the first driving mechanism may be a lifting motor for driving the clamping member to rise or fall.

[0101] Furthermore, when the first driving mechanism operates normally, the first coupling member 110 of the towing platform 100 is driven to move toward the second coupling member 210 and is fixed to the second coupling member 210 .

[0102] For example, the first driving mechanism is a lifting motor, and the towing platform 100 detects whether the lifting motor is in a faulty state. If not, the lifting motor drives the connecting piece to move vertically downward until it contacts the connecting hole of the cleaning robot 200 and automatically connects with it.

[0103] Optionally, when it is detected that the first driving mechanism is operating abnormally, the step of automatically combining the first combining member 110 and the second combining member 210 is suspended, and a fault alarm process is performed.

[0104] It should be noted that the towing platform 100 can directly report the fault through voice, buzzer and / or status light, or send an abnormal notification to the terminal and / or cleaning robot 200 so that the user and / or cleaning robot 200 can perform subsequent operations.

[0105] In this embodiment, in order to prevent the first combining member and the second combining member from failing to combine automatically, the specific driving mechanism is tested before executing the corresponding steps, thereby ensuring the reliability of the device combination and improving the entire device combination process.

[0106] As an optional implementation of the present embodiment, the cleaning robot 200 may also detect whether the second driving mechanism for driving the second connecting component 210 is operating normally before the first connecting component 110 and the second connecting component 210 are automatically combined, and then drive the second connecting component 210 to move toward the first connecting component 110 and fix it thereto when the second driving mechanism is operating normally, and perform fault reporting and processing when the second driving mechanism is operating abnormally.

[0107] In order to further ensure that the cleaning robot 200 and the towing platform 100 are smoothly combined, based on the above embodiment, in one embodiment, after the first combining member 110 and the second combining member 210 are automatically combined and before the towing platform 100 is carried by the cleaning robot 200 to perform a work task, the towing platform 100 can detect whether the combination with the cleaning robot 200 is successful, such as Figure 6 As shown, the above-mentioned device integration method also includes:

[0108] S601, detecting whether a first detection device of the towing platform is triggered.

[0109] The first detection device may be a micro switch or a photoelectric switch provided on the towing platform 100. Taking the photoelectric switch as an example, when the first detection device moves to the maximum stroke until the first detection device is blocked, it indicates that the first combination member 110 is fully extended from the towing platform 100. At this time, the first detection device sends an electrical signal, indicating that the first combination member 110 and the second combination member 210 are in place, and the towing platform 100 receives the corresponding electrical signal to determine that the combination is successful.

[0110] In other words, the towing platform 100 determines whether the first detection device is triggered by detecting whether the corresponding electrical signal is received.

[0111] S602: When it is detected that the first detection device is triggered, a merger success notification is sent to the cleaning robot.

[0112] The towing platform 100 sends a merger success notification to the cleaning robot 200 to indicate that the cleaning robot 200 can carry the towing platform 100 to move and perform work tasks.

[0113] Optionally, if the first detection device is not detected to be triggered for more than a preset number of combinations or a preset time, a combination failure notification is sent to the cleaning robot 200 and / or the terminal.

[0114] For example, the towing platform 100 controls the first combining member 110 to move vertically downward through the first driving mechanism, and detects whether a corresponding electrical signal is generated. If not, it means that the first combining member 110 is not successfully combined with the second combining member 210, and then the second combining member 210 is controlled to move vertically upward through the first driving mechanism, and the steps of combining the towing platform 100 and the cleaning robot 200 are repeated. When the step of combining the towing platform 100 and the cleaning robot 200 exceeds the preset number of times of combining, or the accumulated time in the process of repeatedly performing the step of combining the towing platform 100 and the cleaning robot 200 has reached the preset time, and the first detection device is still not detected to be triggered based on the electrical signal, it is determined that the combination fails.

[0115] Furthermore, the towing platform 100 sends a merger failure notification to the cleaning robot 200 and / or the terminal.

[0116] Optionally, if the first detection device is not detected to be triggered for more than a preset number of combinations or a preset time, a fault reporting process is performed.

[0117] In this embodiment, it is detected whether the first detection device of the towing platform 100 is triggered. When it is detected that the first detection device is triggered, a successful integration notification is sent to the cleaning robot 200. By exchanging data with the cleaning robot 200, the integration process can be standardized to ensure the accurate execution of each step. In this way, if a problem occurs during the integration process, a quick response can be made to perform subsequent operations, which is conducive to ensuring the reliability of equipment integration.

[0118] As an optional implementation in this embodiment, electrode sheets may also be provided on the first coupling member 110 of the towing platform 100 and the second coupling member 210 of the cleaning robot 200. The towing platform 100 determines whether the combination with the cleaning robot 200 is successful by detecting whether the electrode sheets of the two are in contact. When it is detected that the electrode sheets of the first coupling member 110 of the towing platform 100 and the second coupling member 210 of the cleaning robot 200 are in contact, it is determined that the combination with the cleaning robot 200 is successful, and a combination success notification is sent to the cleaning robot 200.

[0119] For example, an ADC (Analog-to-Digital Converter) is used to collect voltage changes to detect whether the electrode sheets are in contact, or the chip I / O (Input / Output) pin level is used to detect whether the electrode sheets are in contact, and to identify the combined device. In addition, when the electrode sheets are in contact, the power supply of the cleaning robot 200 and the towing platform 100 is turned on, and the cleaning robot 200 and the towing platform 100 are electrically connected, and the transmission of electrical signals can be realized through a physical channel, so that the towing platform 100 and the cleaning robot 200 interact with each other through the electrode sheets, so that the cleaning robot 200 can carry the towing platform 100 to perform work tasks. For example, the towing platform 100 has a battery that can store electrical energy. The towing platform 100 can use its own stored electrical energy to charge the cleaning robot 200 through the electrode sheets, or use the electrical energy stored by the cleaning robot 200 to charge the towing platform 100 through the electrode sheets; the electrode sheets can also be used for single-line communication and information transmission.

[0120] Therefore, by detecting whether the electrode sheets of the two are in contact, it is determined whether the combination with the cleaning robot 200 is successful. The towing platform 100 and the cleaning robot 200 can not only accurately determine whether the combination is successful, but also enable energy exchange and information exchange between the towing platform 100 and the cleaning robot 200 during the combined operation, thereby improving the work efficiency of the towing platform 100 and the cleaning robot 200 in performing work tasks.

[0121] In order to enable the cleaning robot 200 to independently perform work tasks without carrying the towing platform 100, based on the above embodiments, in one embodiment, after the towing platform 100 and the cleaning robot 200 are successfully combined, they can also automatically separate from the cleaning robot 200, such as Figure 7 As shown, the above-mentioned device integration method also includes:

[0122] S701, responding to a disengagement instruction.

[0123] The separation instruction may be a command sent to the towing platform 100 by any one of the terminals (e.g., laptop computers, smart phones, tablet computers, smart speakers, smart watches), clients (e.g., APPs), servers, or cleaning robots 200, directly instructing the towing platform 100 to separate from the cleaning robot 200. The towing platform 100 itself may also set a work task and its triggering time and / or triggering condition to generate a separation instruction.

[0124] Correspondingly, the cleaning robot 200 sends a separation instruction to the towing platform 100 when the cleaning robot 200 receives a target instruction for instructing the cleaning robot 200 to perform a corresponding work task. When the work task is for the cleaning robot 200 to perform an independent task alone, the cleaning robot 200 determines whether it is currently combined with the towing platform 100 for the target instruction of the independent task. If so, if it is determined that the towing platform 100 does not need to be carried to perform the independent task, the cleaning robot 200 sends a separation instruction to the towing platform 100, so that the towing platform 100 and the cleaning robot 200 are separated, ending the combined state, so that the cleaning robot 200 can perform the independent task alone; if not, the cleaning robot 200 can directly perform the independent task alone.

[0125] It should be noted that, after the towing platform 100 and the cleaning robot 200 are successfully combined, the separation command may be received when the towing platform 100 is carried by the cleaning robot 200 to perform the work task, or may be received when the towing platform 100 and the cleaning robot 200 have just been successfully combined and have not yet been carried by the cleaning robot 200 to perform the work task, or may be received after the towing platform 100 is carried by the cleaning robot 200 to perform the work task; accordingly, if the separation command is received when the towing platform 100 is carried by the cleaning robot 200 to perform the work task, the towing platform 100 and the cleaning robot 200 stop performing the work task and separate from the cleaning robot 200.

[0126] S702: The object-dragging platform is automatically separated from the cleaning robot by the first coupling member thereof and the second coupling member thereof.

[0127] After receiving the separation instruction, the towing platform 100 actively controls the first combining component 110 to separate from the second combining component 210 , and separates from the cleaning robot 200 .

[0128] Optionally, the towing platform 100 controls the first connecting member 110 of the towing platform 100 to move in a direction away from the second connecting member 210 and separate from the second connecting member 210 , or separate from the second connecting member 210 moving in a direction away from the first connecting member 110 .

[0129] For example, the towing platform 100 drives the first combination member to move vertically upward through the first driving mechanism, so that the first combination member 110 is separated from the second combination member 210, and then the towing platform 100 is separated from the cleaning robot 200. For another example, the cleaning robot 200 drives the second combination member 210 to move vertically downward through the second driving mechanism, so that the first combination member 110 is separated from the second combination member 210, and then the towing platform 100 is separated from the cleaning robot 200.

[0130] S703, the cleaning robot performs an independent task.

[0131] Optionally, the independent task is a task such as sweeping or mopping. Since the cleaning robot 200 itself has the function of sweeping or mopping, it can perform the independent task without combining with the towing platform 100. For another example, the independent task is to charge the cleaning robot 200, and the cleaning robot 200 can move independently to the base station to perform the independent task. It can be seen that in the above examples, it can be determined that the towing platform 100 does not need to be carried when performing independent tasks. In actual applications, the mapping relationship between the target instruction and the towing platform 100 that does not need to be carried can be pre-set.

[0132] In this embodiment, the towing platform 100 can actively separate from the cleaning robot 200 in response to a detachment command, or cooperate with the cleaning robot 200 to separate, so that the cleaning robot 200 can perform corresponding independent tasks alone without combining with the towing platform 100, which is in line with actual application scenarios.

[0133] As an optional implementation in this embodiment, after the towing platform 100 is separated from the cleaning robot 200 and before the cleaning robot 200 performs an independent task, the towing platform 100 detects whether the second detection device of the towing platform 100 is triggered. If so, a separation success notification is sent to the cleaning robot 200.

[0134] The second detection device may be a micro switch or a photoelectric switch provided on the towing platform 100. Taking the photoelectric switch as an example, when the first combination member 110 moves toward the minimum stroke to block the second detection device, it indicates that the first combination member 110 is completely retracted into the interior of the towing platform 100. At this time, the second detection device sends an electrical signal, indicating that the first combination member 110 and the second combination member 210 are successfully separated, and the towing platform 100 receives the corresponding electrical signal to determine that the separation is successful.

[0135] In other words, the towing platform 100 determines whether the second detection device is triggered by detecting whether the corresponding electrical signal is received.

[0136] Furthermore, when it is detected that the second detection device is triggered, the towing platform 100 sends a successful separation notification to the cleaning robot 200 to indicate that the cleaning robot 200 can move independently and perform independent tasks.

[0137] Optionally, if the second detection device is not detected to be triggered for more than a preset number of combinations or a preset time, a separation failure notification is sent to the cleaning robot 200 and / or the terminal, and a fault reporting process is performed.

[0138] Therefore, the towing platform 100 exchanges data with the cleaning robot 200 to standardize the disengagement process and ensure the accurate execution of each step. In this way, if a problem occurs in the disengagement process, it can respond quickly and perform subsequent operations, which is conducive to ensuring the reliability of equipment operation.

[0139] In one embodiment, the towing platform 100 first docks with the cleaning robot 200 and then merges with the cleaning robot 200. During the docking process, the towing platform 100 docks with the cleaning robot 200 when the cleaning robot 200 moves to the area to which the towing platform belongs based on the received target command.

[0140] Specifically, the terminal, client, server or towing platform 100 may issue the target instruction to the cleaning robot 200. The cleaning robot 200 itself may also set a functional task and its triggering time and / or triggering condition to generate the target instruction.

[0141] The target instruction may be an instruction for instructing the cleaning robot 200 to dock and / or merge with the towing platform 100, or an instruction for instructing the cleaning robot 200 to perform a work task.

[0142] For example, when the target instruction is an instruction for instructing the cleaning robot 200 to perform a work task, if the work task is a transport type task, since the cleaning robot 200 itself does not have a transport function, it needs to be combined with the towing platform 100, and then the towing platform 100 is used to perform the work task in collaboration; for another example, if the work task is a monitoring, humidification or purification type task, it also needs to be combined with the towing platform 100, and then the towing platform 100 carries household items with monitoring, humidification or purification functions to perform the corresponding work task; for another example, if the work task is to charge the towing platform 100, the cleaning robot 200 can carry the towing platform 100 to the base station to perform the work task. It can be seen that in the above examples, it can be determined that the towing platform 100 needs to be carried to perform the work task, and in actual applications, the mapping relationship between the target instruction and the towing platform 100 that needs to be carried can be pre-set.

[0143] The area to which the towing platform 100 belongs represents the approximate location of the towing platform 100 , and refers to a smaller area of ​​the towing platform 100 in a home indoor environment.

[0144] Optionally, the cleaning robot 200 has a built-in memory for storing map information of the environment in which the cleaning robot 200 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 200, the towing platform 100, the base station and other equipment. The towing platform 100 uploads the real-time location information to the server, so that the cleaning robot 200 obtains the location information of the towing platform 100 or the area to which the towing platform 100 belongs as determined by the server from the server, or when the cleaning robot 200 performs an independent cleaning task or builds a map, after running near the towing platform 100, it directly determines the location information of the towing platform 100 in the map information or the area to which the towing platform 100 belongs through the received communication signal (such as an infrared signal), and updates the map information stored in the memory, waiting to be called when responding to the target instruction.

[0145] Optionally, the cleaning robot 200 responds to the target instruction and directly obtains the location information of the towing platform 100 or the map information of the area to which the towing platform 100 determines from the server, or directly obtains the location information of the towing platform 100 or the map information of the area to which the towing platform 100 belongs from the built-in memory.

[0146] It is understandable that the area to which the towing platform 100 belongs may not exist in the map information of the cleaning robot 200. Therefore, the cleaning robot 200 needs to first detect whether the area to which the towing platform 100 belongs exists in the map information, and then execute different movement methods based on different results.

[0147] Furthermore, the cleaning robot 200 moves to the area where the towing platform 100 belongs according to the map information when there is an area where the towing platform 100 belongs, and moves to the area where the towing platform 100 belongs according to a preset path when there is no area where the towing platform 100 belongs.

[0148] For example, the cleaning robot 200 generates a target path for moving to the area where the towing platform 100 belongs based on its own mapping and path planning functions, and moves to the area where the towing platform 100 belongs according to the target path.

[0149] For another example, the cleaning robot 200 keeps moving in an indoor home scene according to a preset path, and identifies the towing platform 100 through Bluetooth signals, infrared signals or laser radar until it moves to the area where the towing platform 100 belongs. Optionally, the cleaning robot 200 can also move randomly or along a wall until it moves to the area where the towing platform 100 belongs.

[0150] Specifically, the docking process of the cleaning robot 200 and the towing platform 100 includes: the cleaning robot 200 moves toward the towing platform 100 in the area where the towing platform belongs, and performs positioning and cooperation with the towing platform 100 until the cleaning robot 200 is safely docked with the towing platform 100.

[0151] Correspondingly, the towing platform 100 cooperates with the cleaning robot 200 to complete the docking, thereby executing the subsequent integration process.

[0152] It is understandable that during the docking process between the cleaning robot 200 and the towing platform 100, the cleaning robot 200 can determine the real-time relative position information between the cleaning robot 200 and the towing platform 100 based on the docking signal sent by the towing platform 100, and then keep moving based on the real-time relative position information until it moves to a suitable combined position. The docking signal can be a Bluetooth signal, an infrared signal, etc., which is not limited in this embodiment.

[0153] Optionally, the cleaning robot 200 may continuously receive docking signals sent by the towing platform 100 to update the relative position information.

[0154] It should be noted that if Figure 3 As shown, a movable support structure 120 is also provided on the towing platform 100, wherein the movable support structure 120 may specifically include legs and universal wheels at the ends of the legs, which are used to support and drive the towing platform 100 to move. Since the towing platform 100 can be moved by the movable support structure 120 under the action of external force, the towing platform 100 is in a limited state during docking, in order to avoid the above-mentioned docking process and the subsequent combination process, the position of the towing platform 100 changes due to the push of the cleaning robot 200, resulting in the failure of docking and combination. Among them, the towing platform 100 maintains the limited state through the brake limit, that is, the towing platform 100 turns on the brake limit switch during the docking process.

[0155] In this embodiment, the towing platform 100 can be docked with the cleaning robot 200 that moves to the area where the towing platform 100 belongs, which provides a prerequisite for the towing platform 100 and the cleaning robot 200 to be combined.

[0156] In one embodiment, Figure 8 As shown, a method for combining a towing platform 100 and a cleaning robot 200 is provided, which is applied to the cleaning robot 200 and includes the following steps:

[0157] S801, the second combining part of the cleaning robot is automatically combined with the first combining part of the towing platform to form a whole with the towing platform.

[0158] In order to ensure that the cleaning robot 200 is accurately combined with the towing platform 100, the first combining component 110 of the towing platform 100 that moves to the second combining component 210 of the cleaning robot 200 can be matched with and fixed to the first combining component 110, or the second combining component 210 can be controlled to move toward the first combining component 110 and fixed to the first combining component 110, so that the second combining component 210 and the first combining component 110 are automatically combined.

[0159] Optionally, the second combining member is controlled to move vertically upward so that the second combining member is embedded in or attached to the first combining member.

[0160] For example, when the second coupling member is a vertically extending columnar coupling member and the first coupling member is a slot-shaped coupling hole corresponding to the position of the second coupling member, the second coupling member of the cleaning robot moves vertically upward and embeds into the first coupling member of the towing platform.

[0161] Optionally, before the first combining member 110 and the second combining member 210 are automatically combined, it is detected whether the second driving mechanism of the cleaning robot 200 operates normally.

[0162] For example, the cleaning robot 200 detects whether the second driving mechanism operates normally; if the second driving mechanism operates normally, the second driving mechanism drives the second coupling member 210 to move toward the first coupling member 110 and fix it to the first coupling member 110; otherwise, an alarm is performed.

[0163] Optionally, the cleaning robot 200 moves to the area where the towing platform 100 belongs in response to the target instruction, and docks with the towing platform 100 .

[0164] S802, the cleaning robot carries the towing platform to perform work tasks.

[0165] In order to further ensure that the cleaning robot 200 and the towing platform 100 are smoothly combined, on the basis of the above embodiments, in one embodiment, after the first combining member 110 and the second combining member 210 are automatically combined, and before the towing platform 100 is carried by the cleaning robot 200 to perform a work task, the towing platform 100 can detect whether the combination with the cleaning robot 200 is successful.

[0166] Correspondingly, the cleaning robot 200 receives the merger success notification sent by the mopping platform 100 .

[0167] On the other hand, the cleaning robot 200 can also detect whether the combination with the towing platform 100 is successful. Specifically, it detects whether the third detection device of the cleaning robot 200 is triggered; wherein the third detection device is triggered when the cleaning robot 200 and the towing platform 100 are successfully combined.

[0168] The third detection device may be a micro switch or a photoelectric switch provided on the cleaning robot 200. Taking the photoelectric switch as an example, when the second combination member moves to the maximum stroke until the third detection device is blocked, it indicates that the second combination member is fully extended from the cleaning robot 200. At this time, the third detection device sends an electrical signal, indicating that the second combination member and the first combination member are in place, and the cleaning robot 200 receives the corresponding electrical signal to determine that the combination is successful. At this time, the cleaning robot 200 can carry the towing platform 100 to perform work tasks.

[0169] In other words, the cleaning robot 200 determines whether the third detection device is triggered by detecting whether the corresponding electrical signal is received.

[0170] In this embodiment, the receiving device 100 sends a notification of successful integration when detecting that the first detection device is triggered, or actively detects whether the third detection device of the cleaning robot 200 is triggered, so as to determine whether the cleaning robot 200 is successfully integrated with the towing platform 100. Through data interaction, the integration process can be standardized to ensure the accurate execution of each step. In this way, if a problem occurs in the docking process, a quick response can be made to perform subsequent operations, which is conducive to ensuring the reliability of equipment integration.

[0171] As an optional implementation of this embodiment, if the towing platform 100 fails to detect that the first detection device is triggered for more than a preset number of combinations or a preset time, a combination failure notification is sent to the cleaning robot 200. Accordingly, the cleaning robot 200 receives the combination failure notification sent by the towing platform 100.

[0172] On the other hand, the cleaning robot 200 detects whether the combination with the towing platform 100 is successful based on the third detection device. If the third detection device is not detected to be triggered after exceeding a preset combination number or a preset time, a combination failure notification is sent to the towing platform 100 and / or the terminal.

[0173] As an optional implementation in this embodiment, electrode sheets may also be provided on the first coupling member 110 of the towing platform 100 and the second coupling member 210 of the cleaning robot 200. The cleaning robot 200 may also determine whether the combination with the towing platform 100 is successful by detecting whether the electrode sheets of the two are in contact. When it is detected that the electrode sheets of the first coupling member 110 of the towing platform 100 and the second coupling member 210 of the cleaning robot 200 are in contact, it is determined that the combination with the towing platform 100 is successful.

[0174] In order to enable the cleaning robot 200 to perform independent tasks without carrying the towing platform 100, based on the above embodiments, in one embodiment, after the cleaning robot 200 is combined with the towing platform 100, it can also automatically separate from the towing platform 100. Specifically, the second coupling member 210 of the cleaning robot 200 is automatically separated from the first coupling member 110 of the towing platform 100, and the cleaning robot 200 is separated from the towing platform 100 to perform independent tasks.

[0175] Optionally, the cleaning robot is separated from the first combining component of the object-dragging platform that moves in a direction away from the second combining component, or the second combining component is controlled to move in a direction away from the first combining component and separate from the first combining component.

[0176] In this embodiment, the cleaning robot 200 can actively separate from the towing platform 100, or cooperate with the towing platform 100 to separate, so that the cleaning robot 200 can perform corresponding independent tasks alone without combining with the towing platform 100, which is in line with actual application scenarios.

[0177] As an optional implementation in this embodiment, after the cleaning robot 200 is separated from the towing platform 100 and before performing an independent task, the towing platform 100 detects whether the second detection device is triggered. If so, a separation success notification is sent to the cleaning robot 200.

[0178] Correspondingly, the cleaning robot 200 receives the detachment success notification sent by the mopping platform 100 .

[0179] On the other hand, the cleaning robot 200 can detect whether the fourth detection device of the cleaning robot 200 is triggered; wherein the fourth detection device is triggered when the cleaning robot 200 is successfully separated from the towing platform 100 .

[0180] The fourth detection device may be a micro switch or a photoelectric switch provided on the cleaning robot 200. Taking the fourth detection device as a photoelectric switch as an example, when the second combination member moves toward the minimum stroke until the fourth detection member is blocked, it indicates that the second combination member is completely retracted to the cleaning robot 200. At this time, the fourth detection device sends an electrical signal, indicating that the second combination member and the first combination member are in place, and the cleaning robot 200 receives the corresponding electrical signal to determine that the separation is successful.

[0181] In other words, the cleaning robot 200 determines whether the fourth detection device is triggered by detecting whether the corresponding electrical signal is received.

[0182] Optionally, if the fourth detection device is not detected to be triggered for more than a preset number of combinations or a preset time, a separation failure notification is sent to the towing platform 100 and / or the terminal, and a fault reporting process is performed.

[0183] Therefore, the cleaning robot 200 exchanges data with the towing platform 100 to standardize the disengagement process and ensure the accurate execution of each step. In this way, if a problem occurs in the disengagement process, it can respond quickly and perform subsequent operations, which is conducive to ensuring the reliability of equipment operation.

[0184] In one embodiment, an optional example of a device integration method is provided, such as Fig. 9 As shown, the following steps are included:

[0185] The cleaning robot receives the target instruction sent by the terminal and moves to the area where the towing platform belongs according to the target instruction.

[0186] The cleaning robot receives a docking signal sent by the towing platform, and docks with the towing platform according to the docking signal.

[0187] After the docking is successful, the cleaning robot and the towing platform are combined: the cleaning robot cooperates with the first combining piece of the towing platform that moves to the second combining piece of the cleaning robot, so that the first combining piece is fixed to the second combining piece.

[0188] The cleaning robot carries a towing platform to perform work tasks.

[0189] Among them, the towing platform is used to carry household items.

[0190] 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.

[0191] 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.

[0192] Based on the same inventive concept, the embodiment of the present application further provides a towing platform 100 and a cleaning robot 200 for implementing the above-mentioned device combination method. The implementation scheme for solving the problem provided is similar to the implementation scheme recorded in the above-mentioned method. Therefore, the specific limitations in the embodiments of one or more towing platforms 100 and cleaning robots 200 provided below can refer to the limitations on the device combination method above, and will not be repeated here.

[0193] In one embodiment, Fig.10 As shown, a towing platform 100 is provided, and the towing platform 100 includes a first combined module 130, wherein:

[0194] The first combining module 130 is used to automatically combine with the cleaning robot 200 through the first combining member 110 of the towing platform 100 and the second combining member 210 of the cleaning robot 200, so that the towing platform 100 is carried by the cleaning robot 200 to perform work tasks.

[0195] The object-carrying platform 100 is used to carry household objects.

[0196] In one embodiment, Fig.10 On the basis of Fig.11 As shown, the first combined module 130 may include:

[0197] The first combining unit 131 is used to control the first combining component 110 of the object-dragging platform 100 to move toward the second combining component 210 of the cleaning robot 200 and to be fixed to the second combining component 210 .

[0198] The second combining unit 132 is used to control the first combining member 110 to cooperate with the second combining member 210 that moves to the first combining member 110 and to be fixed to the second combining member 210 .

[0199] In one embodiment, the first combining unit 131 is specifically used to control the first combining component 110 of the towing platform 100 to move vertically downward and embed or fit into the second combining component 210 of the cleaning robot 200 .

[0200] In one embodiment, Fig.10 On the basis of Fig.12 As shown, the above-mentioned towing platform 100 may further include:

[0201] The driving detection module 140 is used to detect whether the first driving mechanism for driving the first coupling member 110 operates normally.

[0202] In one embodiment, Fig.10 On the basis of Fig.13 As shown, the above-mentioned towing platform 100 may further include:

[0203] The combined detection module 150 is used to detect whether the first detection device of the towing platform 100 is triggered.

[0204] The notification sending module 160 is used to send a merger success notification to the cleaning robot 200 when the first detection device is triggered.

[0205] In one embodiment, the notification sending module 160 may also be used to send a combination failure notification to the cleaning robot 200 and / or the terminal when the first detection device is not detected to be triggered for more than a preset number of combinations or a preset time.

[0206] In one embodiment, the towing platform 100 may further include:

[0207] The device separation module is used to respond to the separation instruction, automatically separate the first coupling member 110 of the towing platform 100 from the second coupling member 210 of the cleaning robot 200, and separate from the cleaning robot 200, so that the cleaning robot 200 performs an independent task.

[0208] In one embodiment, the device separation module may include:

[0209] The first separation unit is used to control the first connecting member 110 of the towing platform 100 to move in a direction away from the second connecting member 210 and separate from the second connecting member 210 , or to separate from the second connecting member 210 moving in a direction away from the first connecting member 110 .

[0210] In one embodiment, the above-mentioned combination detection module 150 can also be used to detect whether the second detection device of the towing platform 100 is triggered; accordingly, the above-mentioned notification sending module 160 can also be used to send a separation success notification to the cleaning robot 200 when the second detection device is triggered.

[0211] In one embodiment, the towing platform 100 may further include:

[0212] The first docking module is used to dock with the cleaning robot 200 when the cleaning robot 200 moves to the area to which the object-dragging platform 100 belongs based on the received target instruction.

[0213] In one embodiment, Fig.14 As shown, a cleaning robot 200 is provided, comprising a second combined module 220, wherein:

[0214] The second combining module 220 is combined with the towing platform 100 through the second combining component 210 of the cleaning robot 200 and the first combining component 110 of the towing platform 100 automatically, so that the cleaning robot 200 carries the towing platform 100 to perform work tasks.

[0215] The object-carrying platform 100 is used to carry household objects.

[0216] In one embodiment, the second combined module 220 may include:

[0217] The third combining unit is used to control the second combining component 210 to cooperate with the first combining component 110 of the object-dragging platform 100 that moves to the second combining component 210 of the cleaning robot 200 and to be fixed to the first combining component 110 .

[0218] The fourth combining unit is used to control the second combining component 210 to move toward the first combining component 110 and to be fixed to the first combining component 110 .

[0219] In one embodiment, the fourth combining unit is specifically used to control the second combining component 210 to move vertically upward, so that the second combining component 110 is embedded in or attached to the first combining component 210 .

[0220] In one embodiment, the cleaning robot 200 may further include:

[0221] The notification receiving module is used to receive an abnormal notification sent by the towing platform 100.

[0222] The abnormal notification is used to indicate that the first driving mechanism of the towing platform 100 operates abnormally.

[0223] In one embodiment, the cleaning robot 200 may further include:

[0224] The drive detection module is used to detect whether the second drive mechanism of the cleaning robot 200 operates normally.

[0225] In one embodiment, the notification receiving module can also be used to receive a successful combination notification sent by the towing platform 100; the drive detection module can also be used to detect whether the third detection device of the cleaning robot 200 is triggered; wherein the third detection device is triggered when the cleaning robot 200 and the towing platform 100 are successfully combined.

[0226] In one embodiment, the cleaning robot 200 may further include:

[0227] The equipment separation module is separated from the towing platform 100 by the second coupling member 210 of the cleaning robot 200 and the first coupling member 110 of the towing platform 100 to automatically separate from the towing platform 100 to perform an independent task.

[0228] In one embodiment, the device separation module may include:

[0229] The second separation unit is used to separate from the first coupling member 110 of the towing platform 100 moving away from the second coupling member 210 , or to control the second coupling member 210 to move away from the first coupling member 110 and separate from the first coupling member 110 .

[0230] In one embodiment, the notification receiving module may also be used to receive a successful detachment notification sent by the towing platform 100;

[0231] In one embodiment, the cleaning robot 200 may further include a combination detection module, which may be used to detect whether a fourth detection device of the cleaning robot 200 is triggered; wherein the fourth detection device is triggered when the cleaning robot 200 is successfully separated from the towing platform 100.

[0232] In one embodiment, the cleaning robot 200 may further include:

[0233] The second docking module is used to move to the area where the towing platform 100 belongs and dock with the towing platform 100.

[0234] Each module in the above-mentioned towing platform 100 and cleaning robot 200 can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in the device in the form of hardware, or can be stored in a memory in the device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0235] In one embodiment, a smart home system is provided, including a towing platform 100 and a cleaning robot 200; the system automatically combines the first coupling member 110 of the towing platform 100 with the second coupling member 210 of the cleaning robot 200 to achieve the combination of the towing platform 100 and the cleaning robot 200, so that the towing platform 100 is carried by the cleaning robot 200 to perform work tasks; wherein the towing platform 100 is used to carry household objects.

[0236] 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.15 As 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 integration 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.

[0237] Those skilled in the art will understand that Fig.15 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.

[0238] In one embodiment, a towing platform is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned device integration method when executing the computer program.

[0239] In one embodiment, a cleaning robot is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned device integration method when executing the computer program.

[0240] 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 integration method are implemented.

[0241] In one embodiment, a computer program product is provided, including a computer program, which implements the steps of the above-mentioned device integration method when executed by a processor.

[0242] 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.

[0243] 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.

[0244] 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 method for combining a towing platform and a cleaning robot, characterized in that: Applied to a towing platform, the method comprises: The towing platform is automatically combined with the cleaning robot by the first combining piece of the towing platform and the second combining piece of the cleaning robot, so that the towing platform is carried by the cleaning robot to perform work tasks; Wherein, the towing platform is used for carrying household objects.

2. The method according to claim 1, characterized in that The automatic combination of the first combination piece of the towing platform and the second combination piece of the cleaning robot comprises: The first combination piece of the towing platform is controlled to move toward the second combination piece of the cleaning robot and be fixed to the second combination piece, or to cooperate with the second combination piece moved to the first combination piece and be fixed to the second combination piece.

3. The method according to claim 2, characterized in that The controlling the first combining part of the object-dragging platform to move toward the second combining part of the cleaning robot comprises: The first combining part of the object-dragging platform is controlled to move vertically downward and be embedded in or attached to the second combining part of the cleaning robot.

4. The method according to claim 2, characterized in that: Before controlling the first combination member of the towing platform to move toward the second combination member of the cleaning robot and fix with the second combination member, the method further includes: detecting whether a first driving mechanism for driving the first coupling member operates normally; Accordingly, the controlling the first combining member of the towing platform to move toward the second combining member of the cleaning robot and to be fixed to the second combining member includes: When the first driving mechanism operates normally, the first combining component of the object-dragging platform is driven to move toward the second combining component of the cleaning robot and is fixed to the second combining component.

5. The method according to any one of claims 1 to 4, characterized in that After the merging with the cleaning robot and before the towing platform is carried by the cleaning robot to perform a work task, the method further includes: Detecting whether a first detection device of the towing platform is triggered; If so, a successful fusion notification is sent to the cleaning robot.

6. The method according to claim 5, characterized in that After combining with the cleaning robot, the method further comprises: If the first detection device is not detected to be triggered for more than a preset number of combinations or a preset time, a combination failure notification is sent to the cleaning robot and / or the terminal.

7. The method according to claim 5, characterized in that After sending a notification of successful combination to the cleaning robot, the method further includes: In response to the separation instruction, the first coupling member of the towing platform is automatically separated from the second coupling member of the cleaning robot, and the towing platform is separated from the cleaning robot, so that the cleaning robot performs an independent task.

8. The method according to claim 7, characterized in that The automatic separation of the first combining part of the towing platform and the second combining part of the cleaning robot comprises: The first combining component of the towing platform is controlled to move in a direction away from the second combining component and separate from the second combining component, or to separate from the second combining component moving in a direction away from the first combining component.

9. The method according to claim 8, characterized in that After the separation from the cleaning robot and before the cleaning robot performs an independent task, the method further includes: Detecting whether a second detection device of the towing platform is triggered; If so, a successful separation notification is sent to the cleaning robot.

10. The method according to any one of claims 1 to 4, characterized in that Before the first combining piece of the towing platform is automatically combined with the second combining piece of the cleaning robot, the method further comprises: When the cleaning robot moves to the area to which the towing platform belongs based on the received target instruction, docking with the cleaning robot is performed.

11. A method for combining a towing platform and a cleaning robot, characterized in that: Applied to a cleaning robot, the method comprises: The second combining piece of the cleaning robot is automatically combined with the first combining piece of the towing platform to combine with the towing platform, so that the cleaning robot carries the towing platform to perform work tasks; Wherein, the towing platform is used for carrying household objects.

12. The method according to claim 11, characterized in that The second combining piece of the cleaning robot is automatically combined with the first combining piece of the towing platform, comprising: The first combining part of the object-dragging platform that moves to the second combining part of the cleaning robot cooperates with the first combining part and is fixed to the first combining part, or the second combining part is controlled to move toward the first combining part and be fixed to the first combining part.

13. The method according to claim 12, characterized in that The controlling the second combining member to move toward the first combining member comprises: The second combining member is controlled to move vertically upward so that the second combining member is embedded in or fitted with the first combining member.

14. The method according to claim 11, characterized in that Before controlling the second combining member to move toward the first combining member and to be fixed with the first combining member, the method further includes: Detecting whether the second driving mechanism of the cleaning robot operates normally; Correspondingly, controlling the second combining member to move toward the first combining member and to be fixed with the first combining member includes: When the second driving mechanism operates normally, the second combining member is driven to move toward the first combining member and is fixed to the first combining member.

15. The method according to any one of claims 11 to 14, characterized in that After the combination with the towing platform, the method further includes: Receiving a successful fusion notification sent by the towing platform; After receiving the notification of successful fusion sent by the towing platform, the method further includes: The second combining part of the cleaning robot is automatically separated from the first combining part of the towing platform, and the cleaning robot is separated from the towing platform to perform an independent task.

16. The method according to claim 15, characterized in that The automatic separation of the second combining part of the cleaning robot from the first combining part of the towing platform comprises: The first combining member of the towing platform is separated from the first combining member that moves in a direction away from the second combining member, or the second combining member is controlled to move in a direction away from the first combining member and is separated from the first combining member.

17. The method according to claim 15, characterized in that After the detachment from the towing platform and before the execution of an independent task, the method further comprises: Receive a successful detachment notification sent by the towing platform.

18. The method according to any one of claims 11 to 14, characterized in that: Before the second combining member of the cleaning robot is automatically combined with the first combining member of the towing platform, the method further includes: In response to the target instruction, the device moves to the area where the towing platform belongs and docks with the towing platform.

19. A towing platform, characterized in that: include: A first combining module is used to automatically combine with the cleaning robot through the first combining piece of the towing platform and the second combining piece of the cleaning robot, so that the towing platform can be carried by the cleaning robot to perform work tasks; Wherein, the towing platform is used for carrying household objects.

20. A cleaning robot, characterized in that: include: A second combining module is used to automatically combine with the first combining member of the towing platform through the second combining member of the cleaning robot, and to combine with the towing platform, so that the cleaning robot carries the towing platform to perform work tasks; Wherein, the towing platform is used for carrying household objects.

21. A smart home system, comprising the towing platform according to claim 19 and the cleaning robot according to claim 20.

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