Butt joint method of cleaning robot and object dragging platform and intelligent home system

Abstract

The invention relates to a butt joint method of a cleaning robot and an object dragging platform and a smart home system, and relates to the technical field of smart home. The method comprises the steps that the cleaning robot responds to a target instruction, moves to an area where an object dragging platform belongs and is in butt joint with the object dragging platform, so that the cleaning robot carries the object dragging platform to execute a work task; the object dragging platform is used for bearing household objects. According to the method, through flexible butt joint of the cleaning robot and the object dragging platform, 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 titled “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 docking a cleaning robot and a mopping platform 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 method for docking a cleaning robot and a towing platform and a smart home system that can flexibly dock the cleaning robot with the towing platform to achieve diversified work of the cleaning robot in response to the above technical problems.

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

[0007] In response to the target command, move to the area where the towing platform belongs;

[0008] Docking with the towing platform so that the cleaning robot can carry the towing platform to perform work tasks;

[0009] Among them, the towing platform is used to carry household items.

[0010] In one embodiment, docking with a towing platform includes:

[0011] Receive a docking signal sent by the towing platform, and determine the relative position information between the cleaning robot and the towing platform according to the docking signal;

[0012] According to the relative position information, the towing platform moves to position and cooperate with the towing platform in the limited state and electrically connect with the towing platform; wherein the towing platform maintains the limited state through the brake limit.

[0013] In one embodiment, the relative position information includes a relative direction and a relative distance, and moving toward the towing platform according to the relative position information includes:

[0014] According to the relative direction and relative distance, move to the docking area in the area where the towing platform belongs;

[0015] When the relative distance is less than a preset threshold, a precise docking operation with the towing platform is performed.

[0016] In one embodiment, after moving toward the towing platform according to the relative position information, the method further includes:

[0017] If it is detected that the docking with the towing platform is not successful within the preset time or an obstacle is detected, the towing platform moves away from the towing platform by a preset distance according to the relative direction, and returns to execute the step of moving toward the towing platform according to the relative position information.

[0018] In one embodiment, before positioning and electrically connecting with the towing platform in the limited position, the method further includes:

[0019] Send a brake limit command to the towing platform to instruct the towing platform to open the brake limit.

[0020] In one embodiment, after sending a brake limit instruction to the towing platform, the method further includes:

[0021] Receive the brake limit success notification sent by the towing platform to confirm that the towing platform is in the limit state.

[0022] In one embodiment, before receiving the docking signal sent by the towing platform, the method further includes:

[0023] A signal sending instruction is sent to the towing platform to instruct the towing platform to send a docking signal.

[0024] In one embodiment, after positioning and electrically connecting with the towing platform in the limited position, the method further includes:

[0025] If it is detected that the first electrode sheet of the cleaning robot is in contact with the second electrode sheet of the towing platform, it is confirmed that the docking with the towing platform is successful.

[0026] In one embodiment, moving to the area where the towing platform belongs includes:

[0027] Detect whether there is an area to which the towing platform belongs in the map information of the environment where the cleaning robot is located;

[0028] If it exists, move to the area where the towing platform belongs according to the map information;

[0029] If it does not exist, it will move to the area where the towing platform belongs according to the preset path.

[0030] In a second aspect, the present application provides a method for docking a cleaning robot and a towing platform, the method being applied to the towing platform, comprising:

[0031] 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 so that the towing platform is carried by the cleaning robot to perform the work task;

[0032] Among them, the towing platform is used to carry household items.

[0033] In one embodiment, docking with a cleaning robot includes:

[0034] Sending a docking signal to the cleaning robot, so that the cleaning robot determines relative position information between the cleaning robot and the towing platform according to the docking signal, and moves toward the towing platform according to the relative position information;

[0035] While maintaining the limit state through the brake limit, positioning cooperation and electrical connection are carried out with the cleaning robot.

[0036] In one embodiment, before the limit state is maintained by braking, the method further includes:

[0037] Receive the brake limit command sent by the cleaning robot.

[0038] In one embodiment, after receiving the brake limit instruction sent by the cleaning robot and before maintaining the limit state by the brake limit, the method further includes:

[0039] The brake limit is turned on to position the movable support structure of the towing platform; wherein the movable support structure is used to support and drive the towing platform to move.

[0040] In one embodiment, after the brake limit is turned on, the method further includes:

[0041] Send a brake limit success notification to the cleaning robot.

[0042] In one embodiment, before the limit state is maintained by braking, the method further includes:

[0043] If it is detected that the towing platform is in a stationary state for more than a preset time, the brake limit is activated to position the movable supporting structure of the towing platform.

[0044] In one embodiment, before the brake limit is turned on, the method further includes:

[0045] Check whether the brake limit drive mechanism of the towing platform is operating normally;

[0046] Accordingly, the brake limit is turned on, including:

[0047] When it is detected that the driving mechanism of the brake limit of the towing platform operates normally, the brake limit is opened.

[0048] In one embodiment, sending a docking signal to the cleaning robot includes:

[0049] Receive a signal sending instruction sent by the cleaning robot, and send a docking signal to the cleaning robot according to the signal sending instruction.

[0050] In one embodiment, after positioning and electrically connecting with the cleaning robot, the method further comprises:

[0051] If it is detected that the second electrode sheet of the towing platform is in contact with the first electrode sheet of the cleaning robot, it is confirmed that the docking with the cleaning robot is successful.

[0052] In a third aspect, the present application provides a cleaning robot, comprising:

[0053] A moving module, used for moving to the area to which the towing platform belongs in response to the target instruction;

[0054] The first docking module is used to dock with the towing platform so that the cleaning robot carries the towing platform to perform work tasks;

[0055] Among them, the towing platform is used to carry household items.

[0056] In a fourth aspect, the present application provides a towing platform, including:

[0057] a second docking module, which docks with the cleaning robot when the cleaning robot moves to the area to which the towing platform belongs based on the received target instruction, so that the towing platform is carried by the cleaning robot to perform the work task;

[0058] Among them, the towing platform is used to carry household items.

[0059] In a fifth aspect, the present application provides a smart home system, comprising the cleaning robot of the third aspect and the mopping platform of the fourth aspect.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] In the docking method and smart home system of the cleaning robot and the towing platform, the cleaning robot responds to the target command, moves to the area to which the towing platform belongs, and docks with the towing platform, so that the cleaning robot carries the towing platform to perform work tasks; wherein the towing platform is used to carry household objects. The present application improves the diversity of work tasks performed by the cleaning robot by flexibly docking the cleaning robot with the towing platform, that is, the cleaning robot can perform work tasks alone, or can carry different types of household objects to move through the towing platform, 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, 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. Compared with relying on manpower to carry household objects, it also has the advantages of saving time and effort, and can be applied to intelligent home scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is an application scenario diagram of a method for docking a cleaning robot and a towing platform in one embodiment;

[0065] Figure 2 is a schematic flow chart of a method for docking a cleaning robot and a towing platform in one embodiment;

[0066] Figure 3 is a schematic structural diagram of a cleaning robot in one embodiment;

[0067] Figure 4 This is a schematic diagram of the structure of a towing platform in one embodiment;

[0068] Figure 5 A schematic diagram of a cleaning robot and a mopping platform carrying household items in one embodiment;

[0069] Figure 6 A schematic diagram of a process of docking with a towing platform in one embodiment;

[0070] Figure 7 A schematic diagram of a process of accurately docking with a towing platform in one embodiment;

[0071] Figure 8 A schematic diagram of a flow chart of brake limit command interaction in an embodiment;

[0072] Fig. 9 It is a schematic diagram of a process of moving to the area to which the towing platform belongs in one embodiment;

[0073] Fig.10 A schematic diagram of a process of positioning, matching and electrical connection in one embodiment;

[0074] Fig.11 A schematic diagram of a process of opening a brake limit in an embodiment;

[0075] Fig.12 is an interactive schematic diagram of a method for docking a cleaning robot and a towing platform in one embodiment;

[0076] Fig.13 is a structural block diagram of a cleaning robot in one embodiment;

[0077] Fig.14 is a structural block diagram of a cleaning robot in another embodiment;

[0078] Fig.15 is a structural block diagram of a cleaning robot in yet another embodiment;

[0079] Fig.16 is a structural block diagram of a cleaning robot in yet another embodiment;

[0080] Fig.17 A structural block diagram of a cleaning robot in yet another embodiment;

[0081] Fig.18 is a structural block diagram of a towing platform in one embodiment;

[0082] Fig.19 is a structural block diagram of a towing platform in another embodiment;

[0083] Fig. 20 is a structural block diagram of a towing platform in yet another embodiment;

[0084] Fig.21 It is a structural block diagram of a towing platform in yet another embodiment;

[0085] Fig. 22 The present invention is a structural block diagram of a computer device for implementing a docking method in an embodiment.

[0086] Reference numerals:

[0087] 100. Cleaning robot;

[0088] 110, first combining member; 120, first docking member; 130, first electrode sheet;

[0089] 200, towing platform;

[0090] 210, movable supporting structure; 220, second combining member; 230, second docking member; 240, second electrode sheet;

[0091] 300. Household items. DETAILED DESCRIPTION

[0092] 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.

[0093] The device docking method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the cleaning robot 100 is an intelligent cleaning robot with path planning, movement and obstacle avoidance functions, which can independently complete cleaning tasks such as sweeping and mopping. The dragging platform 200 is a device independent of the cleaning robot 100, which can be used to carry objects. In a home indoor environment, the dragging platform 200 can be used to carry household objects 300. The cleaning robot 100 and the dragging platform 200 are located in the same environment. For example, the cleaning robot 100 and the dragging platform 200 are both located in a home indoor environment, and the cleaning robot 100 and the dragging platform 200 are both equipped with wireless communication and / or wired communication functions. The household objects 300 can be intelligent household objects with specific functions, such as cameras, humidifiers and air purifiers, etc., or they can be ordinary household objects to be moved, such as tableware, paper towels, umbrellas and towels.

[0094] Optionally, a base station corresponding to the cleaning robot 100 may also be provided in the same environment, and the base station is used to charge and / or clean the cleaning robot 100 and the towing platform 200. For example, the base station may be a charging base station or a dust collection base station.

[0095] In one embodiment, Figure 2 As shown, a method for docking a cleaning robot and a towing platform is provided, which is applied to the cleaning robot and includes the following steps:

[0096] S201, in response to a target instruction, moving to an area where a towing platform belongs.

[0097] Specifically, the terminal (e.g., laptop, smart phone, tablet computer, smart speaker, smart watch), client (e.g., APP), or the towing platform 200 can send the target instruction to the cleaning robot 100. The cleaning robot 100 itself can also set the work task and its trigger time and / or trigger condition to generate the target instruction.

[0098] The target instruction may be an instruction for instructing the cleaning robot 100 to dock with the object-dragging platform 200 , or an instruction for instructing the cleaning robot 100 to perform a work task corresponding to the target instruction.

[0099] It can be understood that the area to which the towing platform belongs represents the approximate location of the towing platform 200, which refers to a smaller area of ​​the towing platform 200 in a home indoor environment. The cleaning robot 100 moves to this area through its own path planning, movement and obstacle avoidance functions.

[0100] S202, docking with the towing platform, so that the cleaning robot carries the towing platform to perform work tasks.

[0101] Specifically, the cleaning robot 100 and the towing platform 200 perform a docking process: the cleaning robot 100 continues to move toward the towing platform 200 in the area where the towing platform belongs until it is safely docked with the towing platform 200. Further, after the cleaning robot 100 and the towing platform 200 are successfully docked, a fusion process is performed: Figure 3 and Figure 4 As shown, the first combining member 110 of the cleaning robot 100 is in contact with the second combining member 220 of the towing platform 200. When the first combining member 110 and the second combining member 220 are successfully combined, the cleaning robot 100 and the towing platform 200 are successfully combined.

[0102] Optionally, the first coupling member 110 of the cleaning robot 100 and / or the second coupling member 220 of the towing platform 200 may be components that can be driven to move, the first coupling member 110 of the cleaning robot 100 may be a snap-in hole set at the top of the cleaning robot 100, and the second coupling member 220 of the towing platform 200 may be a snap-in member set at the bottom of the towing platform 200. In this way, when the cleaning robot 100 reaches under the towing platform 200, the snap-in hole of the cleaning robot 100 moves upward, and / or the snap-in member of the towing platform 200 moves downward, thereby realizing the integration of the cleaning robot 100 and the towing platform 200.

[0103] Optionally, a detection switch is also provided on the towing platform 200. When the cleaning robot 100 sends a fusion instruction to the towing platform 200 or the towing platform 200 detects successful docking, the towing platform 200 lowers the second coupling member 220 downward. If the detection switch is not triggered within a preset time, the towing platform 200 raises the second coupling member 220 upward and repeats the step of lowering the second coupling member 220 downward until the detection switch is triggered. If the step of lowering the second coupling member 220 downward is repeated for multiple times and the detection switch is still not detected to be triggered, a fault is reported.

[0104] Optionally, the towing platform 200 lowers the second coupling member 220 downward until the first coupling member 110 of the cleaning robot 100 and the second coupling member 220 of the towing platform 200 are combined, and then a detection switch of the towing platform 200 is triggered, and the towing platform 200 determines that the cleaning robot 100 and the towing platform 200 are successfully combined, and sends the result of the successful combination to the cleaning robot 100.

[0105] In this way, Figure 5 As shown, after the cleaning robot 100 and the towing platform 200 are successfully docked and combined, when the towing platform 200 carries household objects 300, the cleaning robot 100 can move with the towing platform 200 to cooperate with the household objects 300 to perform tasks such as transportation, monitoring, humidification or purification; when the towing platform 200 does not carry household objects 300, the cleaning robot 100 can also move with the towing platform 200 to perform tasks such as charging the towing platform 200. It is understandable that the cleaning robot 100 can also perform tasks such as sweeping and mopping alone.

[0106] For example, in one scenario, the terminal triggers the generation of a target instruction for docking with the towing platform 200 in response to the user's operation, and then sends the target instruction to the corresponding cleaning robot 100. At the same time, the terminal generates a working instruction for mobile humidification, and sends the working instruction to the towing platform 200. The cleaning robot 100 receives the target instruction and moves to the area to which the towing platform belongs, docks and merges with the towing platform 200. After detecting that the docking and merger with the cleaning robot 100 are successful, the towing platform 200 sends the working instruction for mobile humidification to the cleaning robot 100. After receiving the instruction, the cleaning robot 100 carries a humidifier through the towing platform 200 for mobile humidification.

[0107] For another example, in another scenario, the terminal triggers the generation of a target instruction for mobile monitoring in response to the user's operation, and then sends the target instruction to the corresponding cleaning robot 100. The cleaning robot 100 identifies the target instruction, and when it determines that the task of performing mobile monitoring requires carrying the towing platform 200, it moves to the area to which the towing platform belongs, docks with the towing platform 200, and after docking and combining with the towing platform 200, the cleaning robot 100 performs mobile monitoring through the camera carried by the towing platform 200. In actual applications, the mapping relationship between the target instruction and the towing platform 200 that needs to be carried can be preset.

[0108] In the above embodiment, the cleaning robot 100 responds to the target instruction, moves to the area to which the towing platform belongs, and docks with the towing platform 200, so that the cleaning robot 100 carries the towing platform 200 to perform the work task; wherein the towing platform 200 is used to carry the household objects 300. In this embodiment, the cleaning robot 100 is flexibly docked with the towing platform 200 to improve the diversity of the tasks performed by the cleaning robot 100, that is, the cleaning robot 100 can perform tasks alone, or it can carry different types of household objects 300 through the towing platform 200 to move, so as to perform tasks together with different types of household objects 300. Since the cleaning robot 100 does not need to directly dock with the household objects 300, the types of household objects 300 are not limited, and it can be applied to a wider range of application scenarios to meet the diverse needs of users.

[0109] As an optional implementation in this embodiment, the cleaning robot responds to the target instruction and determines whether it is currently docked and combined with the towing platform. If so, if it is determined that the towing platform is required to perform the work task corresponding to the target instruction, the cleaning robot directly carries the towing platform to perform the work task without performing the step of docking with the towing platform. Correspondingly, if it is determined that the towing platform is not required to perform the work task corresponding to the target instruction, the cleaning robot can separate from the towing platform, end the combined state, and perform the work task alone.

[0110] For example, if the work task is sweeping or mopping, the cleaning robot 100 itself has the sweeping or mopping function, and can perform the work task without being combined with the towing platform 200; for another example, if the work task is to charge the cleaning robot 100, the cleaning robot 100 can move independently 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 200 is not required to perform the work task, and in actual applications, the mapping relationship between the target instruction and the towing platform 200 that is not required to be carried can be pre-set.

[0111] Therefore, the cleaning robot 100 can also directly carry the towing platform 200 to perform corresponding work tasks when it has been docked and combined with the towing platform 200, and can also perform corresponding independent tasks alone without docking and combining with the towing platform 200, which is in line with actual application scenarios.

[0112] In order to ensure accurate docking between the cleaning robot 100 and the towing platform 200, based on the above embodiments, in one embodiment, the relative position information between the two can be determined based on the docking signal, and then the docking process can be performed based on the relative position information, such as Figure 6 As shown, the above S201 includes:

[0113] S601, receiving a docking signal sent by the towing platform, and determining relative position information between the cleaning robot and the towing platform according to the docking signal.

[0114] The docking signal sent by the towing platform 200 may be a Bluetooth signal, an infrared signal, etc., which is not limited in this embodiment.

[0115] Optionally, the cleaning robot 100 receives a Bluetooth signal, and then identifies the RSSI (Received Signal Strength Indicator) of the Bluetooth signal, determines the relative distance between the cleaning robot 100 and the towing platform 200 based on the RSSI, and identifies the signal phase of the Bluetooth signal, and determines the relative direction (for example, the first relative direction, the second relative direction) between the cleaning robot 100 and the towing platform 200 based on the signal phase, thereby obtaining the relative position information between the cleaning robot 100 and the towing platform 200.

[0116] Optionally, the cleaning robot 100 is provided with a plurality of infrared receiving tubes, and an infrared signal transmitting tube is provided on one side of the towing platform 200. The infrared signal transmitting tube of the towing platform 200 can transmit an infrared signal of a specific frequency, and the infrared receiving tube can receive the infrared signal of the specific frequency. Therefore, based on the intensity difference corresponding to each infrared receiving tube, the relative distance between the cleaning robot 100 and the towing platform 200 can be determined, and based on the direction in which the infrared signal transmitting tube of the towing platform 200 transmits the infrared signal, the relative direction (including the first relative direction and the second relative direction) between the cleaning robot 100 and the towing platform 200 can be determined, thereby obtaining the relative position information between the cleaning robot 100 and the towing platform 200.

[0117] S602, moving toward the towing platform according to the relative position information, and performing positioning cooperation and electrical connection with the towing platform in a limited position state.

[0118] When the cleaning robot 100 determines the relative direction in the relative position information, it moves in the relative direction to move toward the towing platform 200 . When the cleaning robot 100 determines the relative distance in the relative position information, it can accurately determine the moving distance to move to a suitable docking distance.

[0119] Optionally, during the docking process between the cleaning robot 100 and the towing platform 200 , the cleaning robot 100 may continuously receive infrared signals emitted by the infrared signal transmitting tube of the towing platform 200 through the infrared receiving tube, so as to update the relative position information.

[0120] It is understandable that since the towing platform 200 can be moved by the movable support structure 210 under the action of external force, wherein the movable support structure 210 specifically includes legs and universal wheels at the ends of the legs. When the towing platform 200 is in a limited position state during docking, it can be avoided that the position of the towing platform 200 changes due to the push of the cleaning robot 100 during the docking process between the cleaning robot 100 and the towing platform 200, resulting in docking failure. Among them, the towing platform 200 maintains the limited position state through the brake limit, that is, the towing platform 200 turns on the brake limit switch during the docking process.

[0121] It should be noted that, in the present application, after the brake limit switch of the towing platform 200 is turned on, the brake limit switch can be automatically turned off after the cleaning robot 100 and the towing platform 200 are electrically connected, so that the cleaning robot 100 carries the towing platform 200 to perform work tasks; the brake limit can also be turned off through relevant user operations. For example, when the cleaning robot 100 is not docked and combined with the towing platform 200, the user moves the towing platform 200, and the towing platform 200 detects the movement through the built-in gyroscope, and the brake limit is automatically turned off, so that the user can manually push the towing platform 200 to move.

[0122] Specifically, the cleaning robot 100 and the object-carrying platform 200 can be positioned and matched through structural parts, such as Figure 3 and Figure 4 As shown, the cleaning robot 100 is provided with a first docking member 120, and the towing platform 200 is provided with a second docking member 230. The first docking member 120 and / or the second docking member 230 are provided with an elastic member for enabling the first docking member 120 and / or the second docking member 230 to move in a horizontal direction, so that the cleaning robot 100 and the towing platform 200 can be positioned and matched, so as to improve the success rate and efficiency of the cleaning robot 100 docking with the towing platform 200 during the movement. After the cleaning robot 100 and the towing platform 200 are positioned and matched, the cleaning robot 100 and the towing platform 200 are positionally limited, so that the first coupling member 110 of the cleaning robot 100 is strictly combined with the second coupling member 220 of the towing platform 200 at the corresponding position, which can improve the success rate of the cleaning robot 100 and the towing platform 200 being combined.

[0123] Optionally, the cleaning robot 100 and the towing platform 200 are positioned and matched by electrode sheets respectively provided on the cleaning robot 100 and the towing platform 200. The cleaning robot 100 and / or the towing platform 200 are provided with elastic members capable of moving the electrode sheets in a horizontal direction, so that the towing platform 200 and the cleaning robot 100 are positioned and matched.

[0124] Optionally, during the docking process between the cleaning robot 100 and the towing platform 200 , the first electrode sheet 130 of the cleaning robot 100 is electrically connected to the second electrode sheet 240 of the towing platform 200 .

[0125] In this embodiment, the cleaning robot 100 receives a docking signal sent by the towing platform 200, and determines the relative position information between the cleaning robot 100 and the towing platform 200 according to the docking signal, and moves toward the towing platform 200 according to the relative position information, and performs positioning cooperation and electrical connection with the towing platform 200 in a limited state. When the cleaning robot 100 and the towing platform 200 are in the same area, the cleaning robot 100 can achieve automatic docking with the towing platform 200 without manual operation, which is suitable for smart home scenarios and can also improve the stability and efficiency of the docking process.

[0126] In order to improve the success rate of the docking between the cleaning robot 100 and the towing platform 200, based on the above embodiments, in one embodiment, before receiving the docking signal sent by the towing platform 200, a signal sending instruction can be sent to the towing platform 200 to instruct the towing platform 200 to send a docking signal.

[0127] Optionally, taking the docking signal as an infrared signal as an example, after receiving the target instruction or after connecting to the towing platform 200 via Bluetooth, the towing platform 200 is instructed to transmit the infrared signal through wireless communication. When the towing platform 200 does not receive the signal sending instruction, the infrared signal is not transmitted.

[0128] In this embodiment, a signal sending instruction is sent to the towing platform 200 to instruct the towing platform 200 to send a docking signal. In a home environment, there are multiple devices that can be docked (such as a dust collection base station, a water exchange base station, a towing platform, etc.). When the docking signals of multiple docking devices are all infrared signals, according to the device that the cleaning robot 100 needs to dock, the device is instructed to transmit an infrared signal, and other devices that do not need to dock turn off the infrared signal, which can avoid infrared signal interference from other devices and avoid erroneous docking with other devices, thereby improving the success rate of docking with the towing platform 200; when the towing platform 200 does not receive the signal sending instruction, the towing platform 200 can be in a low power consumption mode. In the low power consumption mode, the towing platform 200 turns off infrared emission, reduces the Bluetooth broadcast frequency, etc. After receiving the signal sending instruction, the towing platform 200 switches from the low power consumption mode to the normal working mode. In the normal working mode, the towing platform 200 turns on infrared emission and increases the Bluetooth broadcast frequency. Therefore, this embodiment can improve the success rate of docking with the towing platform 200 and reduce the power consumption of the towing platform 200.

[0129] In order to ensure accurate docking between the cleaning robot 100 and the towing platform 200, based on the above embodiments, in one embodiment, the relative position information includes relative direction and relative distance, and a preset threshold corresponding to the relative distance can be provided to more accurately perform positioning, matching and electrical connection, such as Figure 7 As shown, the above S602 includes:

[0130] S701, moving to a docking area in the area to which the towing platform belongs according to a relative direction and a relative distance.

[0131] The cleaning robot 100 may be equipped with two groups of infrared receivers arranged in pairs with inconsistent receiving angles. The first infrared receiver group is arranged at the front end of the cleaning robot 100, and the second infrared receiver group is arranged at the rear end of the cleaning robot 100. After receiving the infrared signal emitted by the towing platform 200, the first infrared receiver group with a larger receiving angle determines the first relative direction and relative distance between the cleaning robot 100 and the towing platform 200, and moves to the docking area in the area to which the towing platform belongs according to the first relative direction and relative distance, wherein the docking area corresponds to the area corresponding to the second docking piece 230 of the towing platform 200.

[0132] It should be noted that, in the present application, the front in the front and back refers to the direction in which the cleaning robot 100 moves during normal operation (mopping or sweeping the floor), and the rear refers to the direction opposite to the direction in which the cleaning robot 100 moves during normal operation (mopping or sweeping the floor); in addition, the front end of the cleaning robot 100 may also be provided with an obstacle avoidance sensor, a front collision component and a side brush.

[0133] S702, when the relative distance is less than a preset threshold, performing a precise docking operation with the towing platform.

[0134] During the docking process, the cleaning robot 100 determines the relative distance based on the infrared signal in real time or at a fixed time, and compares the relative distance determined in real time or at a fixed time with a preset threshold. When the relative distance is less than the preset threshold, the cleaning robot 100 starts to perform a precise docking operation with the towing platform 200.

[0135] Specifically, the cleaning robot 100 receives the infrared signal emitted by the towing platform 200 through the first group of infrared receiver groups to determine the relative distance between the cleaning robot 100 and the towing platform 200, until the relative distance is less than a preset threshold, the cleaning robot 100 starts to perform the precise docking operation with the towing platform 200. The precise docking process specifically includes: after the cleaning robot 100 rotates to a specific angle, the cleaning robot 100 receives the infrared signal emitted by the towing platform 200 through the second group of infrared receiver groups with a small receiving angle, determines the second relative direction between the cleaning robot 100 and the towing platform 200, and moves toward the towing platform 200 according to the second relative direction, so as to perform positioning, matching and electrical connection with the second docking member 230 of the towing platform 200 through the first docking member 120 of the cleaning robot 100 configured at the same end as the second infrared receiver group.

[0136] Optionally, the process of performing precise docking may also include: after the cleaning robot 100 rotates to a specific angle, the cleaning robot 100 identifies the structural feature code and / or the spray feature code on the towing platform 200 through a laser radar or a camera, determines the relative direction between the cleaning robot 100 and the towing platform 200, and moves toward the towing platform 200 according to the relative direction.

[0137] In this embodiment, the cleaning robot 100 moves to the docking area in the area to which the towing platform belongs according to the relative direction and the relative distance, and performs a precise docking operation with the towing platform 200 when the relative distance is less than a preset threshold. Since the receiving angle of the first infrared receiver group is relatively large, it can be used to efficiently locate the relative position of the cleaning robot 100 relative to the towing platform 200; and the receiving angle of the second infrared receiver group is relatively small, so that the interference of the environment (such as infrared reflection, ambient light, stains and dust, etc.) can be reduced. The relative direction of the cleaning robot 100 and the towing platform 200 determined by the second infrared receiver group is more accurate, so that while reducing environmental interference, the efficiency of the docking of the cleaning robot 100 and the towing platform 200 can be further improved.

[0138] In the above embodiments, if it is detected that the docking with the towing platform 200 is not successful for more than the preset time or an obstacle is detected, the towing platform 200 moves away from the towing platform 200 by a preset distance according to the relative direction, and returns to the step of moving toward the towing platform 200 according to the relative position.

[0139] For example, after the cleaning robot 100 moves toward the towing platform 200 according to the relative position information, if it fails to dock with the towing platform 200 after more than 30 seconds, or an obstacle is detected during the movement toward the towing platform 200, it moves away from the towing platform 200 by a preset distance according to the relative direction, and returns to execute the step of moving toward the towing platform 200 according to the relative position and its subsequent steps. Further, if it fails to dock with the towing platform 200 after more than 5 minutes during the repeated execution of the process of moving toward the towing platform 200 according to the relative position, a fault is reported. Optionally, if the step of moving toward the towing platform 200 according to the relative position is repeated for 5 times and it still fails to dock with the towing platform 200, a fault is reported.

[0140] Therefore, when the cleaning robot 100 and the towing platform 200 cannot dock smoothly, problems that may occur during the docking process can be automatically avoided, and faults can be reported in time when they cannot be avoided, thereby improving the reliability of equipment operation and improving the entire equipment docking process.

[0141] Optionally, in the above embodiment, if it is detected that the first electrode sheet 130 of the cleaning robot 100 is in contact with the second electrode sheet 240 of the towing platform 200 , it is confirmed that the docking with the towing platform 200 is successful.

[0142] Generally, the voltage change of the first electrode sheet 130 of the cleaning robot 100 collected by the ADC (Analog-to-Digital Converter) can be used to determine whether the first electrode sheet 130 of the cleaning robot 100 is in contact with the second electrode sheet 240 of the towing platform 200. It is also possible to detect whether the electrode sheets are in contact based on the level of the chip I / O (Input / Output) pins, and identify whether the docked device is the towing platform 200. When the electrode sheets are in contact, the cleaning robot 100 is electrically connected to the towing platform 200, and the cleaning robot 100 confirms successful docking with the towing platform 200 through the detected electrical signal.

[0143] By detecting that the first electrode sheet 130 of the cleaning robot 100 is in contact with the second electrode sheet 240 of the towing platform 200, confirming that the docking with the towing platform 200 is successful, not only can the accuracy and simplicity of determining the successful docking be improved, but also the electrode sheet can be used for single-line communication and information transmission, and the towing platform 200 and the cleaning robot 100 can interact with each other through the electrode sheet, so that the cleaning robot 100 can subsequently carry the towing platform 200 to perform work tasks. For example, the towing platform 200 has a battery that can store electrical energy, and the towing platform 200 can use its own stored electrical energy to charge the cleaning robot 100 through the electrode sheet, or use the electrical energy stored by the cleaning robot 100 to charge the towing platform 200 through the electrode sheet.

[0144] In order to ensure accurate docking between the cleaning robot 100 and the towing platform 200, based on the above embodiments, in one embodiment, the towing platform 200 can be instructed to maintain a limited position through communication interaction, such as Figure 8 As shown, the above device docking method also includes:

[0145] S801, sending a brake limit instruction to the towing platform to instruct the towing platform to open the brake limit.

[0146] The towing platform 200 is provided with a brake limit switch, and the towing platform 200 maintains the limit state by turning on the brake limit switch.

[0147] Optionally, the purpose of instructing the towing platform 200 to start the brake limit is to ensure that the towing platform 200 will not be moved by external factors during the docking process. The cleaning robot 100 can send a brake limit instruction to the towing platform 200 before performing the positioning and electrical connection operations. In other words, the cleaning robot 100 can send a brake limit instruction to the towing platform 200 before moving to the towing platform 200, during the movement to the towing platform 200, after the movement ends, after receiving the target instruction, or after connecting to the towing platform 200 via Bluetooth.

[0148] Optionally, the towing platform 200 can be moved by the movable supporting structure 210 under the action of an external force. Instructing the towing platform 200 to turn on the brake limit can ensure that the position of the towing platform 200 will not change frequently during the docking process, thereby increasing the difficulty of docking. The cleaning robot 100 can send a brake limit instruction to the towing platform 200 before moving toward the towing platform 200, thereby achieving movement to the fixed position of the towing platform 200. It can also avoid the situation where the cleaning robot 100 and the towing platform 200 change their position due to the push of the cleaning robot 100 during the docking process, resulting in docking failure.

[0149] It should be noted that, since the towing platform 200 can be moved by the movable supporting structure 210 under the action of external force, when the cleaning robot 100 does not need to be carried for movement, the brake limit switch is in the closed state, and the towing platform 200 can be moved manually to transport the household object 300. By sending a brake limit instruction to the towing platform 200 to instruct the towing platform 200 to turn on the brake limit, the flexibility of the towing platform 200 can be improved.

[0150] S802, receiving a brake limit success notification sent by the towing platform to confirm that the towing platform is in a limit state.

[0151] After the towing platform 200 turns on the brake limit, it feeds back a brake limit success notification to the cleaning robot 100. Correspondingly, the cleaning robot 100 receives the brake limit success notification to confirm that the towing platform 200 is in a limit state.

[0152] Correspondingly, when the towing platform 200 is in a limited state, that is, the towing platform 200 cannot move, after receiving the brake limit success notification, the cleaning robot 100 starts to move toward the towing platform 200 and performs positioning, matching and electrical connection operations.

[0153] In this embodiment, a brake limit instruction is sent to the towing platform 200 to instruct the towing platform 200 to turn on the brake limit, and a brake limit success notification sent by the towing platform 200 is received to confirm that the towing platform 200 is in a limit state. By exchanging instructions with the towing platform 200, the docking process is 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, which is conducive to ensuring the reliability of equipment docking and improving the success rate of docking between the cleaning robot 100 and the towing platform 200.

[0154] In order to quickly move to the area of ​​the towing platform before docking with the towing platform 200 and shorten the overall device docking time, based on the above embodiment, in one embodiment, different moving methods can be adopted for different situations, such as Fig. 9 As shown, the above S201 also includes:

[0155] S901, detecting whether there is an area to which a towing platform belongs in the map information of the environment where the cleaning robot is located.

[0156] Optionally, the cleaning robot 100 has a built-in memory for storing map information of the environment in which the cleaning robot 100 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 100, the towing platform 200, the base station and other equipment. The towing platform 200 uploads the real-time location information to the server, so that the cleaning robot 100 obtains the location information of the towing platform 200 or the area to which the towing platform belongs determined by the server from the server, or when the cleaning robot 100 performs an independent cleaning task or builds a map, after running near the towing platform 200, it directly determines the location information of the towing platform 200 in the map information or the area to which the towing platform 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.

[0157] Optionally, the cleaning robot 100 responds to the target instruction and directly obtains the location information of the towing platform 200 or the map information of the area to which the towing platform belongs determined by the server from the server, or directly obtains the location information of the towing platform 200 or the map information of the area to which the towing platform belongs from the built-in memory.

[0158] It is understandable that the area to which the towing platform belongs may not exist in the map information of the cleaning robot 100. Therefore, the cleaning robot 100 needs to first detect whether the area to which the towing platform belongs exists in the map information, and then execute different movement methods based on different results.

[0159] S902: If there is an area where the towing platform belongs, move to the area where the towing platform belongs according to the map information.

[0160] In other words, it is determined whether there is an area where the towing platform belongs, and if so, the cleaning robot 100 moves to the area where the towing platform belongs according to the map information. For example, the cleaning robot 100 generates a target path to the area where the towing platform belongs based on its own mapping and path planning functions, and moves to the area where the towing platform belongs according to the target path.

[0161] S903: If the area to which the towing platform belongs does not exist, move to the area to which the towing platform belongs according to a preset path.

[0162] In other words, it is determined whether there is an area to which the towing platform belongs. If not, the cleaning robot 100 moves to the area to which the towing platform belongs according to a preset path, wherein the preset path is a preset search path of the cleaning robot 100. For example, the cleaning robot 100 keeps moving in an indoor home scene according to the preset path, and identifies the towing platform 200 through Bluetooth signals, infrared signals or laser radar until it moves to the area to which the towing platform belongs. Optionally, the cleaning robot 100 can also move randomly or along a wall until it moves to the area to which the towing platform belongs.

[0163] In this embodiment, it is detected whether there is an area to which the towing platform belongs in the map information of the environment in which the cleaning robot 100 is located. If there is an area to which the towing platform belongs, the cleaning robot 100 moves to the area to which the towing platform belongs according to the map information, which can improve the efficiency of finding the area to which the towing platform belongs, thereby improving the docking efficiency. If there is no area to which the towing platform belongs, the cleaning robot 100 moves to the area to which the towing platform belongs according to a preset path. Different moving methods are used to ensure that the cleaning robot 100 moves smoothly to the area to which the towing platform belongs, effectively utilize the moving function of the cleaning robot 100, and improve the degree of intelligence.

[0164] In one embodiment, a method for docking a cleaning robot 100 and a towing platform 200 is provided, which is applied to the towing platform 200, and includes: docking with the cleaning robot when the cleaning robot moves to the area to which the towing platform belongs based on the received target instruction, so that the towing platform is carried by the cleaning robot to perform the work task. The towing platform 200 is used to carry household objects 300.

[0165] In order to ensure accurate docking between the cleaning robot 100 and the object-carrying platform 200, based on the above embodiments, in one embodiment, Fig.10 As shown, the following steps are included:

[0166] S1001, sending a docking signal to the cleaning robot, so that the cleaning robot determines the relative position information between the cleaning robot and the towing platform according to the docking signal, and moves to the towing platform according to the relative position information.

[0167] S1002, while maintaining the limit state through the brake limit, positioning and electrically connecting with the cleaning robot 100.

[0168] Based on the above embodiment, in one embodiment, the towing platform 200 can be instructed to maintain the limited position through signaling interaction, such as Fig.11 As shown, the above device docking method also includes:

[0169] S1101, receiving a brake limit instruction sent by the cleaning robot.

[0170] The towing platform 200 is provided with a brake limit switch, and the towing platform 200 maintains the limit state by turning on the brake limit switch. The towing platform 200 is also provided with a movable support structure 210 for supporting and driving the towing platform 200 to move.

[0171] S1102, start the brake limit to position the movable support structure of the towing platform.

[0172] The movable support structure 210 is used to support and drive the towing platform 200 to move. After receiving the brake limit instruction, the towing platform 200 turns on the brake limit to position the movable support structure 210, ensuring that the movable support structure 210 is in a limit state to prevent the towing platform 200 from moving through the movable support structure 210.

[0173] S1103, sending a brake limit success notification to the cleaning robot.

[0174] In another embodiment, if it is detected that the towing platform 200 is in a stationary state for more than a preset time, the brake limit is activated to position the movable support structure 210 of the towing platform 200 .

[0175] Among them, the static state is a state in which the towing platform 200 is not moved by an external force. The gyroscope sensor detects that it is not moved. At this time, there is no need to receive a brake limit instruction sent by the cleaning robot 100, and the brake limit can be automatically opened to prevent the towing platform 200 from moving with the movable support structure 210.

[0176] Optionally, based on the above embodiment, before the brake limit is activated, it is first detected whether the driving mechanism of the brake limit of the towing platform 200 is operating normally, and then the brake limit is activated when it is detected that the driving mechanism of the brake limit of the towing platform 200 is operating normally; when it is detected that the driving mechanism of the brake limit of the towing platform 200 is faulty, a fault is reported for processing.

[0177] In another embodiment, before sending a docking signal to the cleaning robot 100 , the object-pulling platform 200 may first receive a signal sending instruction sent by the cleaning robot 100 , and then send a docking signal to the cleaning robot 100 according to the signal sending instruction.

[0178] In another embodiment, after the towing platform 200 and the cleaning robot 100 are positioned, matched and electrically connected, if it is detected that the second electrode sheet 240 of the towing platform 200 is in contact with the first electrode sheet 130 of the cleaning robot 100 , it is confirmed that the docking with the cleaning robot 100 is successful.

[0179] 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.

[0180] In one embodiment, an optional example of a device docking method is provided, such as Fig.12 As shown, the following steps are included:

[0181] The cleaning robot receives the target instruction sent by the terminal, and detects whether there is an area to which the towing platform belongs in the map information of the environment according to the target instruction.

[0182] If it exists, the cleaning robot will move to the area where the towing platform belongs according to the map information.

[0183] If it does not exist, the cleaning robot moves to the area where the towing platform belongs according to the preset path.

[0184] The cleaning robot receives a docking signal sent by the towing platform, and determines a relative direction and a relative distance between the cleaning robot and the towing platform according to the docking signal.

[0185] The towing platform receives the brake limit instruction sent by the cleaning robot, and opens the brake limit according to the brake limit instruction.

[0186] The cleaning robot receives a brake limit success notification sent by the towing platform, and determines that the towing platform is in a limit state according to the brake limit success notification.

[0187] The cleaning robot moves toward the object-dragging platform in a limited position according to the relative direction.

[0188] When reaching the position for positioning, matching and electrical connection with the towing platform, the cleaning robot performs positioning, matching and electrical connection operations with the towing platform.

[0189] After successful docking and integration, the cleaning robot carries the towing platform to perform its work tasks.

[0190] Among them, the towing platform is used to carry household items.

[0191] 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.

[0192] 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.

[0193] Based on the same inventive concept, the embodiments of the present application also provide a cleaning robot and a towing platform for implementing the docking method involved above. The implementation scheme for solving the problem provided is similar to the implementation scheme recorded in the above method. Therefore, the specific limitations in one or more cleaning robot and towing platform embodiments provided below can refer to the limitations on the docking method above, and will not be repeated here.

[0194] In one embodiment, Fig.13 As shown, a cleaning robot 100 is provided, comprising a moving module 140 and a first docking module 150, wherein:

[0195] The moving module 140 is used to move to the area where the towing platform belongs in response to the target instruction.

[0196] The first docking module 150 is used to dock with the towing platform 200 so that the cleaning robot 100 carries the towing platform 200 to perform work tasks.

[0197] The object-carrying platform 200 is used to carry household objects 300 .

[0198] In one embodiment, Fig.13 On the basis of Fig.14 As shown, the first docking module 150 may include:

[0199] The position determination unit 151 is used to receive a docking signal sent by the towing platform 200 and determine the relative position information between the cleaning robot 100 and the towing platform 200 according to the docking signal.

[0200] The first device docking unit 152 moves toward the towing platform 200 according to the relative position information, and performs positioning cooperation and electrical connection with the towing platform 200 in the limited position state.

[0201] The towing platform 200 maintains a limited position by means of a brake limiter.

[0202] In one embodiment, the relative position information includes a relative direction and a relative distance, and the first device docking unit 152 may include:

[0203] The moving subunit is used to move to the docking area in the area where the towing platform belongs according to the relative direction and relative distance.

[0204] The docking subunit is used to perform a precise docking operation with the towing platform 200 when the relative distance is less than a preset threshold.

[0205] In one embodiment, Fig.13 On the basis of Fig.15 As shown, the cleaning robot 100 may further include:

[0206] The re-docking module 160 is used to move away from the towing platform 200 by a preset distance according to the relative direction when it is detected that the docking with the towing platform 200 has not been successful for more than a preset time or an obstacle is detected, and return to the step of moving toward the towing platform 200 in a limited state according to the relative position information.

[0207] In one embodiment, Fig.13 On the basis of Fig.16 As shown, the cleaning robot 100 may further include:

[0208] The instruction sending module 170 is used to send a brake limit instruction to the towing platform 200 to instruct the towing platform 200 to open the brake limit.

[0209] The notification receiving module 180 is used to receive a brake limit success notification sent by the towing platform 200 to confirm that the towing platform 200 is in a limit state.

[0210] In one embodiment, the first device docking unit 152 may include:

[0211] The docking determination subunit is used to confirm that the docking with the towing platform 200 is successful when it is detected that the first electrode sheet 130 of the cleaning robot 100 is in contact with the second electrode sheet 240 of the towing platform 200 .

[0212] In one embodiment, Fig.13 On the basis of Fig.17 As shown, the mobile module 140 may include:

[0213] The detection unit 141 is used to detect whether there is an area to which the towing platform belongs in the map information of the environment where the cleaning robot 100 is located.

[0214] The moving unit 142 is used to move to the area where the towing platform belongs according to the map information when the area where the towing platform belongs exists, and to move to the area where the towing platform belongs according to a preset path when the area where the towing platform belongs does not exist.

[0215] In one embodiment, Fig.18 As shown, a towing platform 200 is provided, including a docking module 250, wherein:

[0216] The second docking module 250 is used to dock with the cleaning robot 100 when the cleaning robot 100 moves to the area where the towing platform belongs based on the received target instruction, so that the towing platform 200 is carried by the cleaning robot 100 to perform work tasks.

[0217] The object-carrying platform 200 is used to carry household objects 300 .

[0218] In one embodiment, Fig.18 On the basis of Fig.19 As shown, the second docking module 250 may include:

[0219] The signal sending unit 251 is used to send a docking signal to the cleaning robot 100, so that the cleaning robot 100 determines the relative position information between the cleaning robot 100 and the towing platform 200 according to the docking signal, and moves to the towing platform 200 according to the relative position information.

[0220] The second device docking unit 252 is used to perform positioning cooperation and electrical connection with the cleaning robot 100 while maintaining a limited state through a brake limit.

[0221] In one embodiment, Fig.18 On the basis of Fig. 20 As shown, the above-mentioned towing platform 200 may further include:

[0222] The instruction receiving module 260 is used to receive the brake limit instruction sent by the cleaning robot 100.

[0223] The brake positioning module 270 is used to activate the brake limit and position the movable support structure 210 of the towing platform 200 .

[0224] The movable support structure 210 is used to support and drive the towing platform 200 to move.

[0225] The braking notification module 280 is used to send a braking limit success notification to the cleaning robot 100 .

[0226] In one embodiment, the brake positioning module 270 may also be used to activate the brake limit to position the movable support structure 210 of the towing platform 200 when it is detected that the towing platform 200 is in a stationary state for more than a preset time.

[0227] In one embodiment, Fig. 20 On the basis of Fig.21 As shown, the above-mentioned towing platform 200 may further include:

[0228] The driving detection module 290 is used to detect whether the driving mechanism of the brake limit of the towing platform 200 is operating normally.

[0229] In one embodiment, the second device docking unit 252 may include:

[0230] The docking determination subunit is used to confirm that the docking with the cleaning robot 100 is successful when it is detected that the second electrode sheet 240 of the towing platform 200 is in contact with the first electrode sheet 130 of the cleaning robot 100 .

[0231] Each module in the cleaning robot 100 and the towing platform 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 the processor in the cleaning robot 100 and the towing platform 200 in the form of hardware, or can be stored in the memory in the cleaning robot 100 and the towing platform 200 in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0232] In one embodiment, a smart home system is provided, including a cleaning robot 100 and a towing platform 200; the cleaning robot 100 moves to an area to which the towing platform belongs in response to a target instruction; the cleaning robot 100 docks with the towing platform 200 so that the cleaning robot 100 carries the towing platform 200 to perform work tasks; wherein the towing platform 200 is used to carry household objects 300.

[0233] 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. 22 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 docking method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse, etc.

[0234] Those skilled in the art will understand that Fig. 22 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.

[0235] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the docking method between the cleaning robot and the object-mopping platform are implemented.

[0236] 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 docking method between the cleaning robot and the object-mopping platform are implemented.

[0237] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for docking the cleaning robot and the mopping platform.

[0238] 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.

[0239] 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.

[0240] 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 docking a cleaning robot and a towing platform, characterized in that: Applied to a cleaning robot, the method comprises: In response to the target command, move to the area to which the towing platform belongs; docking 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.

2. The method according to claim 1, characterized in that: The docking with the towing platform includes: receiving a docking signal sent by the towing platform, and determining relative position information between the cleaning robot and the towing platform according to the docking signal; According to the relative position information, the towing platform is moved to position and cooperate with and electrically connect with the towing platform in a limited position state; wherein the towing platform maintains the limited position state by a brake limit.

3. The method according to claim 2, characterized in that The relative position information includes a relative direction and a relative distance, and the moving toward the towing platform according to the relative position information includes: According to the relative direction and the relative distance, move to a docking area in the area to which the towing platform belongs; When the relative distance is less than a preset threshold, a precise docking operation with the towing platform is performed.

4. The method according to claim 3, characterized in that After moving toward the towing platform according to the relative position information, the method further includes: If it is detected that the docking with the towing platform is not successful within the preset time or an obstacle is detected, the towing platform moves away from the towing platform by a preset distance according to the relative direction, and returns to the step of moving toward the towing platform according to the relative position information.

5. The method according to any one of claims 2 to 4, characterized in that: Before positioning and electrically connecting with the towing platform in the limited position, the method further includes: A brake limit instruction is sent to the towing platform to instruct the towing platform to open the brake limit.

6. The method according to claim 5, characterized in that After sending the brake limit instruction to the towing platform, the method further includes: A brake limit success notification sent by the towing platform is received to confirm that the towing platform is in a limit state.

7. The method according to any one of claims 2 to 4, characterized in that: Before receiving the docking signal sent by the towing platform, the method further includes: A signal sending instruction is sent to the towing platform to instruct the towing platform to send a docking signal.

8. The method according to any one of claims 2 to 4, characterized in that: After positioning and electrically connecting with the towing platform in the limited position, the method further includes: If it is detected that the first electrode sheet of the cleaning robot is in contact with the second electrode sheet of the towing platform, it is confirmed that the docking with the towing platform is successful.

9. The method according to any one of claims 1 to 4, characterized in that: The moving to the area where the towing platform belongs includes: Detecting whether there is an area to which the towing platform belongs in the map information of the environment where the cleaning robot is located; If it exists, move to the area where the towing platform belongs according to the map information; If it does not exist, it moves to the area where the towing platform belongs according to the preset path.

10. A method for docking a cleaning robot and a towing platform, characterized in that: Applied to a towing platform, the method 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 so that the towing platform is carried by the cleaning robot to perform the work task; Wherein, the towing platform is used for carrying household objects.

11. The method according to claim 10, characterized in that The docking with the cleaning robot comprises: Sending a docking signal to the cleaning robot, so that the cleaning robot determines relative position information between the cleaning robot and the towing platform according to the docking signal, and moves toward the towing platform according to the relative position information; While maintaining the limit state through the brake limit, positioning cooperation and electrical connection are performed with the cleaning robot.

12. The method according to claim 11, characterized in that Before maintaining the limit state by braking limit, the method further includes: Receive a brake limit instruction sent by the cleaning robot.

13. The method according to claim 12, characterized in that After receiving the brake limit instruction sent by the cleaning robot and before maintaining the limit state by brake limit, the method further includes: The brake limiter is turned on to position the movable support structure of the towing platform; wherein the movable support structure is used to support and drive the towing platform to move.

14. The method according to claim 13, characterized in that After the brake limit is turned on, the method further includes: A brake limit success notification is sent to the cleaning robot.

15. The method according to claim 11, characterized in that Before maintaining the limit state by braking limit, the method further includes: If it is detected that the towing platform is in a stationary state for more than a preset time, the brake limit is activated to position the movable supporting structure of the towing platform.

16. The method according to claim 13 or 15, characterized in that Before the brake limit is turned on, the method further includes: Detecting whether the brake limit driving mechanism of the towing platform operates normally; Correspondingly, the opening of the brake limit comprises: When it is detected that the driving mechanism of the brake limit of the towing platform operates normally, the brake limit is opened.

17. The method according to any one of claims 11 to 15, characterized in that The sending a docking signal to the cleaning robot comprises: Receive a signal sending instruction sent by the cleaning robot, and send a docking signal to the cleaning robot according to the signal sending instruction.

18. The method according to any one of claims 11 to 15, characterized in that After positioning, matching and electrically connecting with the cleaning robot, the method further includes: If it is detected that the second electrode sheet of the towing platform is in contact with the first electrode sheet of the cleaning robot, it is confirmed that the docking with the cleaning robot is successful.

19. A cleaning robot, characterized in that: The cleaning robot comprises: A moving module, used for moving to the area to which the towing platform belongs in response to the target instruction; A first docking module is used to dock 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.

20. A towing platform, characterized in that: The towing platform comprises: a second docking module, which docks with the cleaning robot when the cleaning robot moves to the area to which the towing platform belongs based on the received target instruction, so that the towing platform is carried by the cleaning robot to perform the work task; Wherein, the towing platform is used for carrying household objects.

21. A smart home system, characterized in that: It comprises the cleaning robot as claimed in claim 19 and the towing platform as claimed in claim 20.

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