A mobile robot, a recharging method, a mobile robot system, and a storage medium.

Abstract

This application discloses a mobile robot, including a first controller and a first charging device. A first processor is communicatively connected to the first controller. When a first mobile robot and a second mobile robot are on the same floor, and the first mobile robot can cross floors with the second mobile robot's assistance: the first processor determines that the remaining battery power of the first mobile robot reaches a first preset recharge threshold while the remaining battery power of the second mobile robot does not reach a second preset recharge threshold; sends a charging command to the second mobile robot; and controls the first charging device to establish a charging connection with a first charging pile or the second mobile robot via the first controller. This application also discloses a recharge method, a mobile robot system, and a storage medium.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of recharging two cooperating mobile robots, and particularly to a mobile robot, a recharging method, a mobile robot system, and a storage medium. Background Technology

[0002] Currently, since robotic vacuum cleaners cannot move up and down stairs or steps, they cannot clean across floors or between staggered floors in residential buildings. To address this need, a combined solution has been designed whereby a robotic vacuum cleaner is responsible for cleaning each floor, and a transport robot is responsible for transporting the robotic vacuum cleaner up and down the stairs.

[0003] However, when two robots are used together, their combined battery levels can affect the overall operation. Improper recharging can lead to low efficiency when used together. Summary of the Invention

[0004] In view of this, embodiments of this application provide at least one mobile robot, a recharging method, a mobile robot system, and a storage medium. This can improve the working efficiency of two mobile robots that can cooperate to cross floors.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a first mobile robot, comprising:

[0007] First controller;

[0008] A first charging device, communicatively connected to the first controller; and

[0009] A first processor is communicatively connected to the first controller, wherein the first processor is configured when the first mobile robot and the second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors:

[0010] When it is determined that the remaining battery power of the first mobile robot has reached a first preset recharge threshold and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, a charging command is sent to the second mobile robot.

[0011] The first controller controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot.

[0012] Secondly, embodiments of this application provide a second mobile robot, comprising:

[0013] Second controller;

[0014] A second charging device, communicatively connected to the second controller; and

[0015] The second processor is communicatively connected to the second controller, wherein the second processor is configured when the first mobile robot and the second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors:

[0016] Receive charging-related instructions; wherein, the charging-related instructions are sent by the first mobile robot when it determines that the remaining power of the first mobile robot has reached a first preset recharge threshold, and the remaining power of the second mobile robot has not reached a second preset recharge threshold;

[0017] The charging-related instructions are executed, and the second controller controls the second charging device to establish a charging connection with the first mobile robot or the second charging device.

[0018] Thirdly, this application provides a recharging method applied to a first mobile robot. The first mobile robot includes: a first controller, a first charging device communicatively connected to the first controller; and a first processor communicatively connected to the first controller. The first processor is configured to work when the first mobile robot and a second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors.

[0019] When it is determined that the remaining battery power of the first mobile robot has reached a first preset recharge threshold and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, a charging command is sent to the second mobile robot.

[0020] The first controller controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot.

[0021] Fourthly, this application provides a recharging method applied to a second mobile robot, the second mobile robot including: a second controller, a second charging device communicatively connected to the second controller; and a second processor communicatively connected to the second controller, wherein the second processor is used when the first mobile robot and the second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors:

[0022] Receive charging-related instructions; wherein, the charging-related instructions are sent by the first mobile robot when it determines that the remaining power of the first mobile robot has reached a first preset recharge threshold, and the remaining power of the second mobile robot has not reached a second preset recharge threshold;

[0023] The charging-related instructions are executed, and the second controller controls the second charging device to establish a charging connection with the first mobile robot or the second charging device.

[0024] Fifthly, embodiments of this application provide a first mobile robot, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement some or all of the steps in the above-described method.

[0025] In a sixth aspect, embodiments of this application provide a second mobile robot, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement some or all of the steps in the above-described method.

[0026] In a seventh aspect, embodiments of this application provide a mobile robot system, including: a charging station, a first mobile robot as described in one or more of the above embodiments, and a second mobile robot as described in one or more of the above embodiments, wherein the first mobile robot and the second mobile robot are located on the same floor, and the charging station includes a first charging station and a second charging station located on the same floor as the first charging station; wherein,

[0027] The first and second mobile robots can work together to cross floors;

[0028] The first charging station is used to charge the first mobile robot.

[0029] The second charging station is used to charge the second mobile robot.

[0030] Eighthly, embodiments of this application provide a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above-described method.

[0031] This application provides a mobile robot, a recharging method, a mobile robot system, and a storage medium, including: a first controller and a first charging device. A first processor is communicatively connected to the first controller. When a first mobile robot and a second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors: if the remaining battery power of the first mobile robot reaches a first preset recharging threshold and the remaining battery power of the second mobile robot does not reach a second preset recharging threshold, the first processor sends a charging command to the second mobile robot, and controls the first charging device to establish a charging connection with a first charging pile or the second mobile robot through the first controller. In other words, in this application embodiment, for two mobile robots that can cooperate to cross floors, when one mobile robot reaches the preset recharging threshold, a charging-related command is sent to the processor of the other mobile robot, thereby enabling the charging device of one mobile robot to charge within the same floor, ensuring that the two mobile robots remain on the same floor and improving the working efficiency of the two cooperating mobile robots. Attached Figure Description

[0032] Figure 1 A schematic diagram of an optional mobile robot system provided in this application embodiment. Figure 1 ;

[0033] Figure 2 A schematic diagram of the structure of an optional first mobile robot provided in this application embodiment. Figure 1 ;

[0034] Figure 3 A schematic diagram of the structure of an optional second mobile robot provided in this application embodiment. Figure 1 ;

[0035] Figure 4 A flowchart illustrating an optional recharge method provided in this application embodiment;

[0036] Figure 5 A flowchart illustrating an example of an optional recharge method provided in this application.

[0037] Figure 6 A flowchart illustrating an example two of an optional recharge method provided in this application.

[0038] Figure 7 A flowchart illustrating an example three of an optional recharge method provided in this application.

[0039] Figure 8 A flowchart illustrating an example four of an optional recharge method provided in this application.

[0040] Figure 9 A flowchart illustrating an optional recharge method provided in this application embodiment. Figure 1 ;

[0041] Figure 10 A flowchart illustrating an optional recharge method provided in this application embodiment. Figure 2 ;

[0042] Figure 11 A schematic diagram of the structure of an optional first mobile robot provided in this application embodiment. Figure 2 ;

[0043] Figure 12 A schematic diagram of the structure of an optional second mobile robot provided in this application embodiment. Figure 2 ;

[0044] Figure 13 A schematic diagram of an optional mobile robot system provided in this application embodiment. Figure 2 ;

[0045] Figure 14 This is a schematic diagram of the structure of an optional computer storage medium provided in an embodiment of this application. Detailed Implementation

[0046] To make the technical solutions and advantages of this application clearer, the technical solutions of this application will be further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. It is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0049] Figure 1A schematic diagram of an optional mobile robot system provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the mobile robot system 100 may include a first mobile robot 11 and a second mobile robot 12, wherein a communication connection is established between the first mobile robot 11 and the second mobile robot 12.

[0050] It should be noted that the first mobile robot 11 and the second mobile robot 12 can establish charging connections with their respective charging piles to achieve charging, or one of them can have the ability to charge the other, or both of them can have the ability to charge each other. Here, the embodiments of this application do not limit this.

[0051] For example, the mobile robot system 100 may include a mobile robot for carrying and a mobile robot for cleaning, wherein the mobile robot for carrying carries the mobile robot for cleaning up and down stairs, thereby enabling them to cooperate to cross floors.

[0052] Wherein, when the first mobile robot is a mobile robot for handling, the second mobile robot is a mobile robot for cleaning; when the first mobile robot is a mobile robot for cleaning, the second mobile robot is a mobile robot for handling. Here, the embodiments of this application do not limit this.

[0053] Regarding the aforementioned first mobile robot 11, Figure 2 A schematic diagram of the structure of an optional first mobile robot provided in this application embodiment. Figure 1 ,like Figure 2 As shown, the first mobile robot 200 may include: a first controller 21, a first charging device 22, a device for communication with the first controller 21, and a first processor 23, which is also for communication with the first controller 21. It should be noted that the first charging device 22 is a device for powering the battery of the first mobile robot 200, and may also have the ability to charge other mobile robots.

[0054] Regarding the aforementioned first mobile robot 12, Figure 3 A schematic diagram of the structure of an optional second mobile robot provided in this application embodiment. Figure 1 ,like Figure 3 As shown, the second mobile robot 300 may include: a first controller 31, a first charging device 32, a device for communication with the first controller 31, and a first processor 33, which is also for communication with the first controller 31. It should be noted that the first charging device 32 is a device for powering the battery of the second mobile robot 300, and may also have the ability to charge other mobile robots.

[0055] To address the issue of low work efficiency caused by improper charging of two cooperating mobile robots, this application provides a recharging method applied to a first mobile robot. The first and second mobile robots cooperate to cross floors, and when both are located on the same floor, this method is based on the above. Figure 1 Mobile robot system 100, Figure 4 A flowchart illustrating an optional recharge method provided in this application embodiment is shown below. Figure 4 As shown, the recharge method may include:

[0056] S401: When the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold and the remaining power of the second mobile robot has not reached the second preset recharge threshold, it sends a charging-related instruction to the second mobile robot and controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot by controlling the first controller.

[0057] In this embodiment of the application, the first mobile robot and the second mobile robot are located on the same floor. That is, during the operation of the mobile robot system, when it is necessary to cross floors, the first mobile robot and the second mobile robot cooperate with each other to cross the floors. Both the first mobile robot and the second mobile robot are located on the floor after crossing, so that the two mobile robots are always located on the same floor.

[0058] For this mobile robot system, when the remaining power of the first mobile robot reaches the first preset recharge threshold and the remaining power of the second mobile robot does not reach the second preset recharge threshold, that is, when the first mobile robot reaches the preset recharge threshold before the second mobile robot, the first processor sends charging-related instructions to the second processor, and the first controller controls the first charging device to establish a charging connection.

[0059] The first preset recharge threshold can be equal to the second preset recharge threshold, or the first preset recharge threshold can be different from the second preset recharge threshold. Here, the embodiments of this application do not specifically limit this.

[0060] Among them, the charging-related instructions can be a recharge instruction or an inquiry instruction on whether the first mobile robot can be charged. Here, this application embodiment does not limit this.

[0061] The aforementioned first processor, by controlling the first controller, enables the first charging device to establish a charging connection with either the first charging pile or the second mobile robot. When the charging-related instruction is a return-to-charge instruction, it can control the first charging device to establish a charging connection with the first charging pile corresponding to the first mobile robot, thereby enabling the first charging pile to charge it. When the charging-related instruction is an inquiry instruction regarding whether it can charge the first mobile robot, it can control the first charging device to establish a charging connection with the second charging device, thereby enabling the second charging device to charge the first charging device, thus achieving charging of the first mobile robot by the second mobile robot. This embodiment of the application does not limit the scope of the invention.

[0062] S402: The second processor executes charging-related instructions and controls the second charging device to establish a charging connection with the second charging pile or the first mobile robot through the second control.

[0063] After the first mobile robot sends a charging-related instruction to the second mobile robot via S401, the second mobile robot receives and executes the charging-related instruction. In the case of a charging-related instruction that is a return-to-charge instruction, the second charging device and the first charging device each establish a charging connection with their corresponding charging piles. Alternatively, the second mobile robot and the first mobile robot cooperate to cross floors and establish a charging connection with their corresponding charging piles.

[0064] In cases where the charging-related instruction is an inquiry about whether the first mobile robot can be charged, the second mobile robot determines whether to charge the first mobile robot based on its remaining battery power. This results in either the second charging device charging the first charging device, or the first and second charging devices establishing charging connections with their respective charging stations. This embodiment of the present application does not limit the scope of the invention.

[0065] In this way, the above-mentioned recharging method can ensure that the first mobile robot and the second mobile robot are always on the same floor, realizing the crossing of floors and improving the working efficiency of the two mobile robots that cooperate with each other.

[0066] In an optional embodiment, where the first mobile robot, the second mobile robot, the first charging station, and the second charging station are all located on the same floor, the first mobile robot further includes a first walking device, and S401 may include:

[0067] If the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction.

[0068] In response to the first return-to-charge command, the first processor controls the first mobile robot to return to the first charging pile through the first controller, so that the first charging device establishes a charging connection with the first charging pile.

[0069] The first processor sends a second recharge command to the second processor;

[0070] According to the second recharge command, the second processor controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the second controller, so as to realize the charging of the first mobile robot on the same floor.

[0071] Understandably, when the remaining battery power of the first mobile robot reaches the first preset recharge threshold and the remaining battery power of the second mobile robot does not reach the second preset recharge threshold, in order to ensure that the first mobile robot is charging while the first mobile robot and the second mobile robot are always on the same floor, the first mobile robot generates a first recharge command for itself and a second recharge command for the second mobile robot. In this way, the first processor responds to the first recharge command and controls the first mobile robot to return to the first charging pile, thereby enabling the first charging device to establish a charging connection with the first charging pile and realize the charging of the first mobile robot.

[0072] Furthermore, the first processor sends a second recharge command to the second processor. In response to the second recharge command, the second processor controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the second controller. In other words, without needing to cross floors, the first mobile robot and the second mobile robot each establish a charging connection with their corresponding charging piles to achieve charging.

[0073] Thus, the first and second recharge instructions generated by the first processor enable the two processors to control their respective charging devices to establish a charging connection with their corresponding charging piles through their controllers. This allows the first and second mobile robots located on the same floor to charge together without having to cross floors, thereby improving the working efficiency of the mobile robot system.

[0074] In an optional embodiment, if the two mobile robots are not located on the same floor as the first and second charging stations, step S401 may include:

[0075] When the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold, and the first charging pile and the second charging pile, which are on the same floor, are not on the same floor as the first mobile robot, it generates a third recharge instruction and a fourth recharge instruction.

[0076] The first processor sends a fourth return-to-charge command to the second mobile robot. In response to the third return-to-charge command, the first controller controls the first mobile robot and the second mobile robot to cooperate to cross the floors and return to the first charging pile, so that the first charging device can establish a charging connection with the first charging pile.

[0077] According to the fourth recharge command, the second processor controls the second mobile robot to cooperate with the first mobile robot to cross the floors, and then controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot.

[0078] Understandably, when the remaining battery power of the first mobile robot reaches the first preset recharge threshold, and the remaining battery power of the second mobile robot does not reach the second preset recharge threshold, and the first and second charging piles located on the same floor are not on the same floor as the first mobile robot, in order to ensure that the first mobile robot is charged while the first and second mobile robots are always located on the same floor, the first processor generates a third recharge instruction for itself and a fourth recharge instruction for the second mobile robot.

[0079] In this way, the first processor sends the fourth return-to-charge command to the second processor. In response to the third return-to-charge command, the first processor controls the second processor through the first controller, and the second processor controls the third processor through the second controller. This enables the first and second mobile robots to cooperate to cross floors and reach the floor where the charging pile is located. After that, the first processor controls the first mobile robot to return to the first charging pile through the first controller, so that the first charging device can establish a charging connection with the first charging pile. The second processor controls the second mobile robot to return to the second charging pile through the second controller, so that the second charging device can establish a charging connection with the second charging pile.

[0080] Thus, through the third and fourth recharge commands generated by the first mobile robot, the two mobile robots cooperate to cross floors and establish a charging connection with their corresponding charging piles. This allows the first and second mobile robots, located on the same floor, to cross floors and charge together on the same floor, improving the working efficiency of the mobile robot system.

[0081] Furthermore, assuming the first mobile robot, the second mobile robot, the first charging station, and the second charging station are all located on the same floor, in an optional embodiment, when the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction, which may include:

[0082] When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a first recharge instruction and a second recharge instruction.

[0083] Understandably, when the remaining battery power of the first mobile robot reaches the first preset recharge threshold and the remaining battery power of the second mobile robot does not reach the second preset recharge threshold, it is necessary to determine whether the second mobile robot has the ability to charge the first mobile robot. If the determination finds that the second mobile robot does not have the ability to charge the first mobile robot, the first mobile robot generates a first recharge command and a second recharge command, thereby enabling the first mobile robot, the second mobile robot, the first charging pile, and the second charging pile located on the same floor to complete the charging of the first mobile robot and the second mobile robot.

[0084] In this way, by further determining whether the second mobile robot has the ability to charge the first mobile robot, the first and second recharge commands are generated only if the second mobile robot does not have the ability to charge the first mobile robot. Through this determination, the charging method of the first mobile robot can be quickly determined, thereby improving the working efficiency of the mobile robot system.

[0085] Furthermore, for situations where the two mobile robots are not located on the same floor as the first and second charging stations, in an optional embodiment, when the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction, which may include:

[0086] When the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold, and the first and second charging piles located on the same floor are not on the same floor as the first mobile robot, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a third recharge command and a fourth recharge command.

[0087] Understandably, if the remaining battery power of the first mobile robot reaches the first preset recharge threshold, and the remaining battery power of the second mobile robot does not reach the second preset recharge threshold, and the first and second charging piles, which are on the same floor, are not on the same floor as the first mobile robot, it is necessary to determine whether the second mobile robot has the ability to charge the first mobile robot. If the determination finds that the second mobile robot does not have the ability to charge the first mobile robot, the first mobile robot generates a third recharge command and a fourth recharge command, so that the first and second mobile robots, which are not on the same floor as the charging piles, first cross the floor and then establish a charging connection with their respective charging piles, thus completing the charging of the first and second mobile robots together across the floor.

[0088] In this way, by further determining whether the second mobile robot has the ability to charge the first mobile robot, and only generating the third and fourth charging instructions if it does not, the charging method for the first mobile robot to cross floors can be quickly determined, thus improving the working efficiency of the mobile robot system.

[0089] Additionally, in an optional embodiment, for cases where the second mobile robot charges the first mobile robot, S401 may include:

[0090] When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot has the ability to charge the first mobile robot, it sends an inquiry instruction to the second mobile robot to ask whether to charge the first mobile robot.

[0091] The second processor determines whether to charge the first mobile robot based on the remaining battery power of the second mobile robot.

[0092] The second processor generates a response message for the query command based on whether or not to charge the first mobile robot.

[0093] The second processor sends a response message to the query command to the first processor;

[0094] The first processor controls the charging mode of the first charging device based on the response message of the query command, so that the first mobile robot can be charged on the same floor as the second mobile robot.

[0095] Understandably, if the first mobile robot reaches the preset recharge threshold before the second mobile robot, and the second mobile robot has the ability to charge the first mobile robot, the first processor needs to ask the second processor for an inquiry command to charge it. After receiving the inquiry command, the second processor determines whether to charge the first charging device based on its own remaining power, thereby generating a response message for the inquiry command and sending it to the first mobile robot.

[0096] After receiving a response message to the query command, the first processor can control the charging method of the first charging device according to the response message, so as to realize the charging of the first mobile robot on the same floor as the second mobile robot.

[0097] The charging method described above can be either establishing a charging connection with a charging pile to achieve charging, or establishing a charging connection with a second charging device, so that the second charging device charges the first charging device. Here, the embodiments of this application do not limit this.

[0098] In this way, the charging mode of the first charging device is determined by querying the command and the response message of the query command. The charging mode of the first charging device is determined according to the remaining power of the second mobile robot. The most efficient charging mode is selected for charging on the same floor, thereby enabling the first mobile robot and the second mobile robot to be charged on the same floor.

[0099] To control the charging mode of the first charging device based on the response message of the query command, in one optional embodiment, the first processor controls the charging mode of the first charging device through the first controller based on the response message of the query command, enabling the charging of the first mobile robot on the same floor as the second mobile robot. This can include:

[0100] When the first processor determines that the response message of the query command instructs the second charging device to charge the first charging device, it controls the first charging device to establish a charging connection with the second charging device, thereby enabling the second charging device to charge the first charging device.

[0101] When the first processor determines that the response message of the query command indicates that the second charging device is not charging the first charging device, it will charge the first mobile robot on the same floor as the second charging pile, depending on whether the first charging pile and the second charging pile are on the same floor as the first mobile robot.

[0102] Understandably, the response message of the query command can indicate whether the second mobile robot is charging the first mobile robot. In the case where the second charging device is charging the first charging device, the first processor controls the first charging device to establish a charging connection with the second charging device through the first controller, thereby enabling the second mobile robot to charge the first mobile robot.

[0103] If the second charging device does not charge the first charging device, it is necessary to further determine whether the first charging pile and the second charging pile, which are located on the same floor, are on the same floor as the two mobile robots. Based on this, the charging of the first mobile robot can be achieved on the same floor as the second mobile robot.

[0104] In this way, the first mobile robot can be controlled according to the response message of the query command, so that either the second mobile robot can charge the first mobile robot, or the first mobile robot can be charged if the charging pile and the mobile robot are on the same floor. By prioritizing the charging method between mobile robots, the power consumption caused by the mobile robot crossing floors can be reduced, and the working efficiency of the mobile robot system can be improved.

[0105] To control the charging method of the first charging device based on whether the charging pile and the mobile robot are on the same floor, in one optional embodiment, the first processor, based on whether the first charging pile and the second charging pile, which are on the same floor as the first mobile robot, are located on the same floor, enables the charging of the first mobile robot to be performed on the same floor as the second mobile robot. This can include:

[0106] When the first processor determines that the first charging pile and the second charging pile, which are on the same floor as the first mobile robot, are on the same floor, it generates the first recharge instruction and the second recharge instruction.

[0107] In response to the first return-to-charge command, the first processor controls the first mobile robot to return to the first charging pile through the first controller, so that the first charging device establishes a charging connection with the first charging pile.

[0108] The first processor sends a second recharge command to the second processor;

[0109] According to the second recharge command, the second processor controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the first controller, so as to realize the charging of the first mobile robot on the same floor.

[0110] Understandably, in the case where the charging station and two mobile robots are on the same floor, since the second mobile robot cannot charge the first mobile robot, in order to enable the first mobile robot to be charged while the second mobile robot is on the same floor, the first processor generates a first recharge instruction and a second recharge instruction.

[0111] It should be noted that, similar to the method described above where the first processor generates the first recharge instruction and the second recharge instruction when the remaining battery power of the first mobile robot reaches the first preset recharge threshold and the remaining battery power of the second mobile robot does not reach the second preset recharge threshold, the details will not be repeated here.

[0112] Thus, when the response message of the query command instructs the second charging device not to charge the first charging device, and the charging pile is on the same floor as the first mobile robot, the first charging device and the second charging device establish charging connections with their respective charging piles to enable charging of the two mobile robots. This ensures that the two mobile robots are always on the same floor and improves the working efficiency of the mobile robot system.

[0113] In addition, to control the charging method of the first mobile robot based on whether the charging station and the mobile robot are on the same floor, in an optional embodiment, the first processor, based on whether the first charging station and the second charging station located on the same floor are on the same floor as the first mobile robot, enables the charging of the first mobile robot to be carried out on the same floor as the second mobile robot, which may include:

[0114] When the first processor is on the same floor as the first charging pile and the second charging pile, but not on the same floor as the first mobile robot, it generates the third and fourth recharge instructions.

[0115] The first processor sends a fourth return-to-charge command to the second processor. In response to the third return-to-charge command, the first controller controls the first mobile robot and the second mobile robot to cooperate to cross the floors and return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile.

[0116] According to the fourth recharge command, the second processor controls the second mobile robot to cooperate with the first mobile robot to cross the floor and return to the first charging pile through the first controller. After the first charging device establishes a charging connection with the first charging pile, the second processor controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the first controller.

[0117] Understandably, in cases where the charging station and the two mobile robots are not on the same floor, since the second charging device cannot charge the first charging device, the first processor generates a third and a fourth recharge command in order to enable the first mobile robot to be charged when the second mobile robot is on the same floor as the first mobile robot.

[0118] It should be noted that, similar to the aforementioned method where the first processor generates the third and fourth recharge instructions when the remaining battery power of the first mobile robot reaches the preset recharge threshold and the remaining battery power of the second mobile robot does not reach the preset recharge threshold, the details will not be repeated here.

[0119] Thus, when the response message of the query command instructs the second charging device not to charge the first charging device, and the charging pile and the first mobile robot are not on the same floor, after the first and second mobile robots cooperate to cross the floors, the first and second charging devices establish charging connections with their respective charging piles to achieve charging of the two mobile robots. This ensures that the two mobile robots are always on the same floor and improves the working efficiency of the mobile robot system.

[0120] In an optional embodiment, for the case where the second mobile robot charges the first mobile robot, the method may further include:

[0121] When the second processor determines that the second mobile robot is charging the first mobile robot, it determines the target amount of electricity to be charged to the first mobile robot.

[0122] It is understandable that, in the case of the second charging device charging the first charging device, it is also necessary to determine how much charge the second charging device should provide to the first charging device before stopping.

[0123] Here, when it is determined that the second charging device is charging the first charging device, the second processor determines the target amount of charge that the second charging device will give to the first charging device. In other words, the second charging device will charge the first charging device until the target amount is reached before stopping.

[0124] In this way, by determining the target power level, the second mobile robot knows the stopping conditions for charging the first mobile robot, so as to charge the first charging device to the appropriate power level, thereby making reasonable use of the remaining power of the second mobile robot and improving the working efficiency of the mobile robot system.

[0125] To enable the second mobile robot to determine whether to charge the first mobile robot based on its remaining battery power, in one optional embodiment, the second processor determines whether to charge the first charging device based on the remaining battery power of the second mobile robot, including:

[0126] The second processor determines the difference between the remaining battery power of the second mobile robot and the second preset recharge threshold.

[0127] The second processor determines whether to charge the first charging device based on the difference in battery level.

[0128] Understandably, in addition to setting a preset power threshold and comparing the remaining power with the first preset power threshold to determine whether to charge the first charging device, the second processor can first determine the difference between the remaining power of the second mobile robot and the second preset recharge threshold, and then use the difference to determine whether to charge the first charging device.

[0129] Here, the difference in power level can be compared with a second preset power level threshold to determine whether to charge the first charging device. Other methods can also be used to determine whether to charge the first charging device. This application embodiment does not limit this method.

[0130] In this way, by determining whether to charge the first charging device based on the difference in power, sufficient power can be reserved for the two mobile robots to recharge, further ensuring that the two mobile robots are on the same floor and have enough power to recharge.

[0131] Additionally, regarding determining the target battery level, in one optional embodiment, when the second processor determines that the second mobile robot is charging the first mobile robot, determining the target battery level for charging the first mobile robot may include:

[0132] When the second processor determines that the second mobile robot is charging the first mobile robot, it determines the target power level based on the power difference.

[0133] Understandably, when it is determined that the second mobile robot is charging the first mobile robot, the second processor can also determine the target power based on the power difference. In other words, the target power of the second charging device charging the first charging device can be determined based on the power difference, wherein the power difference is greater than the target power.

[0134] In this way, by determining the target power based on the power difference, a more reasonable target power can be determined, so that the second charging device can charge the first charging device to a reasonable power level. This effectively utilizes the power difference determined by the second processor, ensuring that the two mobile robots are on the same floor and can recharge simultaneously.

[0135] To enable the second mobile robot to determine whether to charge the first mobile robot based on the difference in battery power, in one optional embodiment, the second processor determines whether to charge the first charging device based on the difference in battery power, which may include:

[0136] The second processor determines the duration for which the difference in power consumption is used for the simultaneous operation of the first and second mobile robots, based on the power consumption of the first and second mobile robots.

[0137] When the second processor determines that the working time is greater than or equal to a preset time threshold, it determines to charge the first mobile robot.

[0138] If the second processor determines that the working time is less than a preset time threshold, it decides not to charge the first mobile robot.

[0139] Understandably, the second processor knows not only the power consumption of the second mobile robot but also the power consumption of the first mobile robot. Therefore, the second processor can calculate the working time that the difference in power consumption can sustain the first and second mobile robots to work simultaneously based on the two power consumption values.

[0140] The working time is then compared with a preset time threshold. If it is greater than or equal to the threshold, it means that the second charging device can maintain a longer working time after charging the first charging device. Therefore, the second mobile robot decides to charge the first mobile robot. If it is less than the threshold, it means that the second charging device can maintain a shorter working time after charging the first charging device. Therefore, the second mobile robot decides not to charge the first mobile robot.

[0141] In this way, by determining whether the second charging device should charge the first charging device in the above manner, the second charging device can charge the first charging device under appropriate conditions, thereby improving the rationality of charging and thus improving the working efficiency of the mobile robot system.

[0142] To enable the second mobile robot to determine the target battery level based on the difference in battery level, in one optional embodiment, when the second mobile robot is charging the first mobile robot, determining the target battery level based on the difference in battery level may include:

[0143] When the second processor determines that the first mobile robot needs charging, it determines the target power level based on the working time and the power consumption of the first mobile robot.

[0144] Understandably, when it is determined that the first mobile robot needs to be charged, the second processor, after determining that the difference in power can sustain the operation of both the first and second mobile robots for the duration of operation, can calculate the power required to sustain the operation of the first mobile robot for the duration of operation based on the operation duration and the power consumption of the first mobile robot, and determine it as the target power.

[0145] It should be noted that the power consumption of the first mobile robot is related to its working mode, and the power consumption of the second mobile robot is related to its working mode. Here, the current working mode of the first mobile robot and the current working mode of the second mobile robot are generally selected. Of course, possible future working modes of the first and second mobile robots can also be selected. Here, this application embodiment does not limit this.

[0146] In this way, the target power is determined by the determined working time and the power consumption of the first mobile robot. The determined target power can ensure that the first and second mobile robots can maintain simultaneous operation for the working time, thereby maximizing the use of the difference in power. Under the condition that the mobile robot system can make reasonable use of the total power of both, it can ensure that the two mobile robots are on the same floor, thus improving the working efficiency of the mobile robot system.

[0147] The following examples illustrate the recharge method described in one or more of the above embodiments.

[0148] In this example, the first mobile robot is a sweeping robot, and the second mobile robot is a transport robot. The sweeping robot corresponds to the first charging station, and the transport robot corresponds to the second charging station. The first and second charging stations are located on the same floor. To achieve optimal working efficiency when the sweeping robot and the transport robot work together, the following points should be noted:

[0149] 1) The principle and logic of binding sweeping robots and moving machines to the same floor;

[0150] 2) With the sweeper and the transporter capable of charging each other in one or two directions, overall power management is implemented;

[0151] 3) Based on the original recharge energy threshold (equivalent to the first preset recharge threshold and the second preset recharge threshold mentioned above), define an additional remaining energy sufficient for the two robots to run for a duration T, in order to further determine whether to perform a joint recharge or energy replenishment.

[0152] This example uses the following different operating modes, and the recharge methods are as follows:

[0153] 1. When the conveyor and sweeper are running independently:

[0154] Each robot follows its own recharge logic. When the recharge level falls below a certain threshold (e.g., 15%), the robot automatically returns to its respective charging station. It should be noted that the recharge threshold for the robot vacuum and the transport robot can be different. For example, the recharge threshold for the robot vacuum is 15%, while the recharge threshold for the transport robot is 20%.

[0155] 2. When the conveyor and the sweeper are operating together:

[0156] (1) The conveyor and the sweeper are powered separately and cannot be charged by each other.

[0157] Figure 5 A flowchart illustrating an example of an optional recharge method provided in this application is shown below. Figure 5 As shown, this recharge method can include two modes: standalone operation and combined operation;

[0158] Specifically, for standalone operation:

[0159] S501: The sweeper's battery level has reached the recharge threshold, and / or the transporter's battery level has reached the recharge threshold;

[0160] S5021: Recharge according to their respective recharge logic.

[0161] Specifically, regarding joint operations:

[0162] S501: The sweeper's battery level has reached the recharge threshold, and / or the transporter's battery level has reached the recharge threshold;

[0163] S5022: Both robots return to charge together.

[0164] On floors other than base stations (equivalent to the aforementioned charging stations), the robot vacuum has power while the transporter does not. According to the original independent operation logic, the robot vacuum continues cleaning while the transporter returns to charge. However, if the robot vacuum needs to return to charge or clean again, the transporter may need to return to the floor where the robot vacuum is located to recharge, as it is charging on another floor. This significantly increases the frequency of the transporter going up and down stairs and also introduces other potential risks (such as the robot vacuum waiting for the transporter for too long, causing it to shut down outside and unable to continue working with the transporter).

[0165] Therefore, when the robot vacuum and the transport robot work together, they need to be kept on the same floor at all times. This is referred to as the "robot vacuum and transport robot bound to the same floor" logic. If either robot reaches its recharge threshold, both robots will return to charge together. Furthermore, the robot vacuum can remember its currently cleaned and uncleaned areas. After replenishing its status, the two robots will work together to move up and down stairs and continue cleaning.

[0166] (2) The transporter can charge the sweeper.

[0167] Figure 6 A flowchart illustrating an example two of an optional recharge method provided in this application is shown below. Figure 6 As shown, the recharge method may include:

[0168] S601: Has the robot vacuum or conveyor reached the recharge capacity threshold? Proceed to S6021 or S6022;

[0169] S6021: The power of the conveyor has reached the recharge threshold; execute S603;

[0170] S603: The transporter carries the sweeper back to the floor where the charging station is located for recharging; End.

[0171] S6022: The sweeper's battery level has reached the charging threshold, and an inquiry command is sent to the transporter asking whether to charge the sweeper; S604 is executed.

[0172] S604: The transporter determines whether to charge the sweeper based on the difference in power; execute S605;

[0173] S605: When the transporter is charging the sweeper, the transporter charges the sweeper to the target charge level; execute S607;

[0174] S606: If the transporter does not charge the sweeper, the transporter will carry the sweeper back to the floor where the charging station is located for recharging; execute S607;

[0175] S607: The sweeper continues cleaning, and the transporter continues to wait on the same floor; return to execute S601.

[0176] In this scenario, the transporter takes on the function of an additional mobile base station. Whether the sweeper and the transporter need to recharge depends on their battery levels. The recharge process continues until the battery level can no longer support the simultaneous and stable operation of both. (A certain threshold can be set. If the battery level (equivalent to the difference mentioned above) is insufficient to support the simultaneous and stable operation of both for a certain period of time, such as 5 minutes or 10 minutes, defined as duration T, then the recharger will be recharged directly.)

[0177] Similarly, during normal operation, when the robot vacuum's battery reaches the recharge threshold, it is necessary to determine the remaining battery of the transporter. Based on the original recharge threshold, how long can the remaining battery power support both robots to run simultaneously? If it is less than the duration T, they will directly recharge together. If it is greater than or equal to the duration T, the robot vacuum will be charged to continue cleaning the floor.

[0178] (3) The sweeper can charge the transporter.

[0179] Figure 7 A flowchart illustrating an optional recharge method, example three, provided in this application, is shown below. Figure 7 As shown, the recharge method may include:

[0180] S701: Has the robot vacuum or moving machine reached the recharge capacity threshold? Proceed to S7021 or S7022;

[0181] S7021: The robot vacuum's battery level has reached the recharge threshold; execute S703;

[0182] S703: The transporter carries the sweeper back to the floor where the charging station is located for recharging; End.

[0183] S7022: When the battery level of the transporter reaches the charging threshold, it sends an inquiry command to the sweeper asking whether to charge the transporter; then executes S704.

[0184] S704: The sweeper determines whether to charge the transporter based on the difference in battery power; execute S705;

[0185] S705: When the sweeper is charging the conveyor, the sweeper charges the conveyor to the target charge level; execute S707;

[0186] S706: When the sweeper is charging the transporter, the transporter carries the sweeper back to the floor where the charging station is located for recharging; execute S707;

[0187] S707: The sweeper continues cleaning, and the transporter continues to wait on the same floor; return to execute S701.

[0188] In this scenario, the robotic vacuum cleaner acts as an additional mobile base station. Whether the robotic vacuum cleaner and the transporter need to return to their charging stations depends on the robotic vacuum cleaner's battery level, until its battery can no longer support the simultaneous stable operation of both (as defined above, duration T).

[0189] During normal operation, when the battery level of the transporter reaches the recharge threshold, it is necessary to determine the remaining battery level of the sweeper. Based on the original recharge threshold, how long can the remaining battery level support both machines to run simultaneously? If it is less than the duration T, they will be recharged together. If it is greater than or equal to the duration T, the transporter will be charged to continue cleaning the floor.

[0190] (4) The conveyor and sweeper can be charged in both directions.

[0191] Figure 8 A flowchart illustrating an example four of an optional recharge method provided in this application is shown below. Figure 8 As shown, the recharge method may include:

[0192] S801: Has the sweeper or transporter reached the recharge capacity threshold? Proceed to S8021 or S8022;

[0193] S8021: The sweeper's battery level has reached the charging threshold, and an inquiry command is sent to the transporter asking whether to charge the sweeper; S803 is executed.

[0194] S803: The transporter determines whether to charge the transporter based on the difference in power; execute S804;

[0195] S804: When the transporter is charging the sweeper, the transporter charges the sweeper to the target charge level; execute S808;

[0196] S8022: The battery level of the transporter reaches the charging threshold, and an inquiry command is sent to the sweeper asking whether to charge the transporter; S805 is executed.

[0197] S805: The sweeper determines whether to charge the transporter based on the difference in battery power; execute S806;

[0198] S806: When the sweeper is charging the conveyor, the sweeper charges the conveyor to the target charge level; execute S808;

[0199] S807: If the transporter does not charge the sweeper or the sweeper does not charge the transporter, the transporter will carry the sweeper back to the floor where the charging station is located for recharging; End.

[0200] S808: The sweeper continues cleaning, and the transporter continues to wait on the same floor; return to execute S801.

[0201] In this scenario, the transporter and the sweeper manage the overall power consumption. When one machine reaches its recharge capacity threshold, it determines how long the overall power consumption can support simultaneous operation based on its original individual recharge capacity threshold. If it is less than the duration T, they recharge together; if it is more than the duration T, energy is transferred.

[0202] The above examples eliminate the possibility of one of the sweepers running out of power and being unable to return to its charging station when cleaning across multiple floors (both the sweeper and the transporter are working), or shutting down due to external power depletion and being unable to continue automatic operation. With the sweeper and transporter having one-way or two-way charging functions, power utilization is maximized, reducing the increased frequency of going up and down stairs due to recharging, and consequently reducing power consumption and the impact of going up and down stairs on human movement.

[0203] As can be seen, the principle of binding on the same floor can eliminate the situation where, when the robot vacuum cleaner is cleaning across floors (both the robot vacuum cleaner and the transporter are working), the battery of either machine is insufficient and it cannot return to its charging station, or it shuts down when the external battery is depleted and cannot continue to work automatically. When the two machines are working independently, they follow their own battery charging logic to ensure their stable operation. When the robot vacuum cleaner and the transporter have one-way or two-way charging functions, the power utilization is maximized, and the frequency of going up and down stairs due to recharging is reduced. The corresponding power consumption and the impact of going up and down stairs on human movement are also reduced.

[0204] This application provides a mobile robot, a first controller, and a first charging device. A first processor is communicatively connected to the first controller. When a first mobile robot and a second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors: if the remaining battery power of the first mobile robot reaches a first preset recharge threshold while the remaining battery power of the second mobile robot does not reach a second preset recharge threshold, the first processor sends a charging command to the second mobile robot and controls the first charging device to establish a charging connection with a first charging pile or the second mobile robot via the first controller. In other words, in this application embodiment, for two mobile robots that can cooperate to cross floors, when one mobile robot reaches the preset recharge threshold, a charging-related command is sent to the processor of the other mobile robot. This allows the charging device of one mobile robot to charge while both mobile robots are on the same floor, ensuring that the two mobile robots remain on the same floor and improving the working efficiency of the two cooperating mobile robots.

[0205] The above recharging method will now be explained from the perspective of the various devices deployed in the mobile robot system.

[0206] First, the recharging method is described from the perspective of the first mobile robot.

[0207] This application provides a recharging method applied to a first mobile robot. The first mobile robot includes: a first controller, a first charging device communicatively connected to the first controller, and a first processor communicatively connected to the first controller. Figure 9 A flowchart illustrating an optional recharge method provided in this application embodiment. Figure 1 ,like Figure 9 As shown, the recharge method may include:

[0208] S901: When the first mobile robot and the second mobile robot are on the same floor and the first mobile robot can cross floors with the help of the second mobile robot: when it is determined that the remaining power of the first mobile robot has reached the first preset recharge threshold and the remaining power of the second mobile robot has not reached the second preset recharge threshold, the first processor sends a charging command to the second mobile robot and controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot through the first controller.

[0209] In an optional embodiment, the first mobile robot further includes a first walking device; S901 may include:

[0210] When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction.

[0211] In response to the first return-to-charge command, the first mobile robot is controlled by the first controller to return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile;

[0212] A second recharge command is sent to the second mobile robot, which instructs the second mobile robot to charge at the second charging station on the same floor as the first mobile robot.

[0213] In an optional embodiment, S901 may include:

[0214] When the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold, and the first charging pile and the second charging pile, which are on the same floor, are not on the same floor as the first mobile robot, it generates a third recharge instruction and a fourth recharge instruction.

[0215] A fourth return-to-charge command is sent to the second mobile robot. In response to the third return-to-charge command, the first mobile robot and the second mobile robot cooperate to cross the floors and return to the first charging pile, so that the first charging device can establish a charging connection with the first charging pile. The fourth return-to-charge command is used to instruct the second mobile robot and the first mobile robot to cooperate to cross the floors, so that the second charging device of the second mobile robot can charge the second charging pile on the same floor as the first mobile robot.

[0216] In one optional embodiment, when the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction, including:

[0217] When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a first recharge instruction and a second recharge instruction.

[0218] In one optional embodiment, when the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, and the first and second charging piles located on the same floor are not on the same floor as the first mobile robot, a third recharge instruction and a fourth recharge instruction are generated, including:

[0219] When the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold, and the first and second charging piles located on the same floor are not on the same floor as the first mobile robot, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a third recharge command and a fourth recharge command.

[0220] In an optional embodiment, S901 may include:

[0221] When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot has the ability to charge the first mobile robot, it sends an inquiry instruction to the second mobile robot to ask whether to charge the first mobile robot.

[0222] Based on the response message of the query command, the charging mode of the first charging device is controlled by the first controller, so that the first mobile robot can be charged on the same floor as the second mobile robot.

[0223] In one optional embodiment, based on the response message of the query command, the charging mode of the first charging device is controlled by the first controller, and the charging of the first mobile robot is achieved on the same floor as the second mobile robot, including:

[0224] When the response message of the query command instructs the second mobile robot to charge the first mobile robot, the first controller controls the first charging device to establish a charging connection with the second charging device of the second mobile robot, thereby enabling the second mobile robot to charge the first mobile robot.

[0225] If the response message of the query command indicates that the second mobile robot is not charging the first mobile robot, the charging of the first mobile robot will be carried out on the same floor as the second mobile robot, depending on whether the first and second charging piles are located on the same floor as the first mobile robot.

[0226] In one optional embodiment, depending on whether the first charging pile and the second charging pile, both located on the same floor as the first mobile robot, are located on the same floor as the second mobile robot, charging of the first mobile robot can be achieved by having the first mobile robot charged on the same floor as the second mobile robot, including:

[0227] When it is determined that the first charging pile and the second charging pile are on the same floor as the first mobile robot, a first recharge command and a second recharge command are generated.

[0228] In response to the first return-to-charge command, the first mobile robot’s first walking device is controlled by the first controller, so that the first mobile robot returns to the first charging pile, thereby establishing a charging connection between the first charging device and the first charging pile.

[0229] A second recharge command is sent to the second mobile robot, which instructs the second mobile robot to charge at the second charging station on the same floor as the first mobile robot.

[0230] In one optional embodiment, depending on whether the first charging pile and the second charging pile, both located on the same floor as the first mobile robot, are located on the same floor as the second mobile robot, charging of the first mobile robot can be achieved by having the first mobile robot charged on the same floor as the second mobile robot, including:

[0231] If it is determined that the first and second charging piles, which are on the same floor, are not on the same floor as the first mobile robot, a third and fourth recharge command are generated.

[0232] A fourth return-to-charge command is sent to the second mobile robot. In response to the third return-to-charge command, the first controller controls the first mobile robot and the second mobile robot to cooperate to cross the floors and return to the first charging pile, so that the first charging device can establish a charging connection with the first charging pile. The fourth return-to-charge command is used to instruct the second mobile robot and the first mobile robot to cooperate to cross the floors, so that the second charging device can charge the second charging pile on the same floor as the first mobile robot.

[0233] Next, the above-mentioned recharging method will be described from the perspective of the second mobile robot.

[0234] This application provides a recharging method applied to a second mobile robot. The second mobile robot includes: a second controller, a second charging device communicatively connected to the second controller; and a second processor communicatively connected to the second controller. Figure 10 A flowchart illustrating an optional recharge method provided in this application embodiment. Figure 2 ,like Figure 10 As shown, the recharge method may include:

[0235] S1001: Receives charging-related commands;

[0236] Among them, the charging-related instructions are sent by the first mobile robot when it determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold.

[0237] S1002: Execute charging-related instructions and control the second charging device to establish a charging connection with the second charging pile or the first mobile robot through the second controller.

[0238] In an optional embodiment, S1002 may include:

[0239] When the charging-related command is determined to be the second recharge command, the second controller controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot. The second controller controls the second charging device to enable the first mobile robot to be charged on the same floor as the first mobile robot.

[0240] In an optional embodiment, S1002 may include:

[0241] When the charging-related command is determined to be the fourth recharge command, the second mobile robot is controlled by the second controller to cooperate with the first mobile robot to cross the floor. Then, the second charging device is controlled by the second controller to establish a charging connection with the second charging pile on the same floor as the first mobile robot.

[0242] In an optional embodiment, S1002 may include:

[0243] When the charging-related instruction is determined to be an inquiry instruction asking whether to charge the first mobile robot, the decision to charge the first mobile robot is made based on the remaining battery power of the second mobile robot.

[0244] Based on whether to charge the first mobile robot, generate a response message for the query command;

[0245] A response message to the inquiry command is sent to the first mobile robot, and the charging of the first mobile robot is realized on the same floor as the first mobile robot.

[0246] In an optional embodiment, the above method further includes:

[0247] When it is determined that the first mobile robot needs to be charged, the target amount of electricity to be charged to the first mobile robot is determined.

[0248] In one optional embodiment, a response message to an inquiry command is sent to the first mobile robot, and charging of the first and second mobile robots is achieved on the same floor as the first mobile robot, including:

[0249] Send a response message to the query command to the first mobile robot;

[0250] When the response message of the query command indicates that the first mobile robot should be charged, the second controller controls the second charging device to establish a charging connection with the first mobile robot, and the second charging device is charged to the target power level on the same floor as the first mobile robot.

[0251] If the response message of the query command indicates that the first mobile robot is not being charged, then, according to the received command, the charging of the first and second mobile robots will be carried out on the same floor as the first mobile robot.

[0252] In one optional embodiment, the device, according to received instructions, charges both the first and second mobile robots on the same floor as the first mobile robot, including:

[0253] The system receives and responds to a second recharge command from the first mobile robot, and controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the second controller, thereby enabling the first mobile robot to be charged on the same floor.

[0254] In one optional embodiment, charging of the first and second mobile robots on the same floor as the first mobile robot is performed according to received instructions, including:

[0255] The system receives and responds to the fourth recharge command from the first mobile robot. After controlling the second mobile robot to cooperate with the first mobile robot to cross floors, it controls the second charging device through the second controller to establish a charging connection with the second charging pile on the same floor as the first mobile robot, so as to realize the charging of the first mobile robot on the same floor.

[0256] In one optional embodiment, determining whether to charge the first mobile robot based on the remaining battery power of the second mobile robot includes:

[0257] Determine the difference between the remaining battery power of the second mobile robot and the second preset recharge threshold.

[0258] Based on the difference in battery level, determine whether to charge the first mobile robot.

[0259] In one optional embodiment, when it is determined that the first mobile robot needs charging, determining the target amount of electricity to be charged to the first mobile robot includes:

[0260] When it is determined that the first mobile robot should be charged, the target power level is determined based on the power difference.

[0261] In one optional embodiment, determining whether to charge the first mobile robot based on the difference in battery power includes:

[0262] Based on the power consumption of the first mobile robot and the power consumption of the second mobile robot, determine the working time for the first mobile robot and the second mobile robot to work simultaneously using the difference in power.

[0263] When the working time is determined to be greater than or equal to a preset time threshold, it is determined to charge the first mobile robot.

[0264] If the working time is less than a preset time threshold, it is determined not to charge the first mobile robot.

[0265] In one optional embodiment, when determining to charge the first mobile robot, the target battery level is determined based on the difference in battery level, including:

[0266] When it is determined that the first mobile robot should be charged, the target power level is determined based on the working time and the power consumption of the first mobile robot.

[0267] Furthermore, based on the same concept as the aforementioned embodiments, this application provides a recharging device, installed in a first mobile robot. The first mobile robot and a second mobile robot cooperate to cross floors. The first mobile robot and the second mobile robot are located on the same floor. Figure 2 As shown, the first mobile robot 200, wherein:

[0268] When the first mobile robot and the second mobile robot are on the same floor and the first mobile robot can cross floors with the help of the second mobile robot: when it is determined that the remaining power of the first mobile robot has reached the first preset recharge threshold and the remaining power of the second mobile robot has not reached the second preset recharge threshold, the first processor sends a charging command to the second mobile robot and controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot through the first controller.

[0269] In one optional embodiment, if the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction.

[0270] In response to the first return-to-charge command, the first mobile robot is controlled by the first controller to return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile;

[0271] A second recharge command is sent to the second mobile robot, which instructs the second mobile robot to charge at the second charging station on the same floor as the first mobile robot.

[0272] In one optional embodiment, the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold, and the first charging pile and the second charging pile located on the same floor are not on the same floor as the first mobile robot, and generates a third recharge instruction and a fourth recharge instruction.

[0273] A fourth return-to-charge command is sent to the second mobile robot. In response to the third return-to-charge command, the first controller controls the first mobile robot and the second mobile robot to cooperate to cross the floors and return to the first charging pile, so that the first charging device can establish a charging connection with the first charging pile. The fourth return-to-charge command is used to instruct the second mobile robot and the first mobile robot to cooperate to cross the floors, so that the second charging device of the second mobile robot can charge the second charging pile on the same floor as the first mobile robot.

[0274] In one optional embodiment, when the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a first recharge instruction and a second recharge instruction.

[0275] In one optional embodiment, when the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold, and the first charging pile and the second charging pile located on the same floor are not on the same floor as the first mobile robot, and the second mobile robot does not have the ability to charge the first mobile robot, the processor generates a third recharge instruction and a fourth recharge instruction.

[0276] In one optional embodiment, when the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot has the ability to charge the first mobile robot, the first processor sends an inquiry instruction to the second mobile robot to ask whether to charge the first mobile robot.

[0277] Based on the response message of the query command, the charging mode of the first charging device is controlled by the first controller, so that the first mobile robot can be charged on the same floor as the second mobile robot.

[0278] In one optional embodiment, when the first processor determines that the response message of the query command instructs the second mobile robot to charge the first mobile robot, the first controller controls the first charging device to establish a charging connection with the second charging device of the second mobile robot, thereby enabling the second mobile robot to charge the first mobile robot.

[0279] If the response message of the query command indicates that the second mobile robot is not charging the first mobile robot, the charging of the first mobile robot will be carried out on the same floor as the second mobile robot, depending on whether the first and second charging piles are located on the same floor as the first mobile robot.

[0280] In one optional embodiment, when the first processor determines that the first charging pile and the second charging pile, which are located on the same floor as the first mobile robot, are on the same floor, it generates a first recharge instruction and a second recharge instruction.

[0281] In response to the first return-to-charge command, the first mobile robot’s first walking device is controlled by the first controller, so that the first mobile robot returns to the first charging pile, thereby enabling the first charging device to establish a charging connection with the first charging pile.

[0282] A second recharge command is sent to the second mobile robot, which instructs the second mobile robot to charge at the second charging station on the same floor as the first mobile robot.

[0283] In one optional embodiment, when the first processor determines that the first charging pile and the second charging pile, which are on the same floor, are not on the same floor as the first mobile robot, it generates a third recharge instruction and a fourth recharge instruction.

[0284] A fourth return-to-charge command is sent to the second mobile robot. In response to the third return-to-charge command, the first controller controls the first mobile robot and the second mobile robot to cooperate to cross the floors and return to the first charging pile, so that the first charging device can establish a charging connection with the first charging pile. The fourth return-to-charge command is used to instruct the second mobile robot and the first mobile robot to cooperate to cross the floors, so that the second charging device can charge the second charging pile on the same floor as the first mobile robot.

[0285] This application provides a recharging device, installed in a second mobile robot. The first and second mobile robots cooperate to cross floors. When the first and second mobile robots are on the same floor, such as... Figure 3 As shown, the second mobile robot 300 includes:

[0286] When the first mobile robot and the second mobile robot are on the same floor, and the first mobile robot can cross floors with the help of the second mobile robot: the second processor receives charging-related instructions; wherein, the charging-related instructions are sent by the first mobile robot when it determines that the remaining power of the first mobile robot has reached a first preset recharge threshold, and the remaining power of the second mobile robot has not reached a second preset recharge threshold; the second processor executes the charging-related instructions and controls the second charging device to establish a charging connection with the second charging pile or the first mobile robot through the second controller.

[0287] In one optional embodiment, when the second processor determines that the charging-related instruction is a second recharge instruction, it controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the second controller, and controls the second charging device through the second controller to realize the charging of the first mobile robot on the same floor as the first mobile robot.

[0288] In one optional embodiment, when the second processor determines that the charging-related instruction is the fourth recharge instruction, it controls the second mobile robot to cooperate with the first mobile robot to cross the floor through the second controller, and then controls the second charging device through the second controller to establish a charging connection with the second charging pile on the same floor as the first mobile robot.

[0289] In one optional embodiment, when the second processor determines that the charging-related instruction is an inquiry instruction on whether to charge the first mobile robot, it determines whether to charge the first mobile robot based on the remaining power of the second mobile robot.

[0290] Based on whether to charge the first mobile robot, generate a response message for the query command;

[0291] A response message to the inquiry command is sent to the first mobile robot, and the charging of the first mobile robot is realized on the same floor as the first mobile robot.

[0292] In one alternative embodiment, when the second processor determines to charge the first mobile robot, it determines the target amount of electricity to be charged to the first mobile robot.

[0293] In one alternative embodiment, the second processor sends a response message to the query command to the first mobile robot;

[0294] When the response message of the query command indicates that the first mobile robot should be charged, the second controller controls the second charging device to establish a charging connection with the first mobile robot, and the second charging device is charged to the target power level on the same floor as the first mobile robot.

[0295] If the response message of the query command indicates that the first mobile robot is not being charged, then, according to the received command, the charging of the first and second mobile robots will be carried out on the same floor as the first mobile robot.

[0296] In one optional embodiment, the second processor receives and responds to the second recharge command from the first mobile robot, and controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the second controller, so as to realize the charging of the first mobile robot on the same floor as the first mobile robot.

[0297] In one optional embodiment, the second processor receives and responds to the fourth recharge command from the first mobile robot. After the second mobile robot cooperates with the first mobile robot to cross floors through the second controller, the second processor controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot, thereby enabling the first mobile robot to be charged on the same floor as the first mobile robot.

[0298] In one optional embodiment, the second processor determines the difference between the remaining battery power of the second mobile robot and a second preset recharge threshold.

[0299] Based on the difference in battery level, determine whether to charge the first mobile robot.

[0300] In one alternative embodiment, when the second processor determines to charge the first mobile robot, it determines the target power level based on the power difference.

[0301] In one optional embodiment, the second processor determines the duration for which the difference in power consumption is used for the simultaneous operation of the first and second mobile robots, based on the power consumption of the first and second mobile robots.

[0302] When the working time is determined to be greater than or equal to a preset time threshold, it is determined to charge the first mobile robot.

[0303] If the working time is less than a preset time threshold, it is determined not to charge the first mobile robot.

[0304] In one optional embodiment, when the second processor determines to charge the first mobile robot, it determines the target power level based on the working time and the power consumption of the first mobile robot.

[0305] This application provides a first mobile robot. Figure 11 This is a schematic diagram of the structure of an optional first mobile robot provided in an embodiment of this application, such as... Figure 11 As shown, this application embodiment provides a first mobile robot 1100, including:

[0306] The processor 111 and the storage medium 112 storing processor-executable instructions; the storage medium 112 performs operations via the communication bus 113 in dependence on the processor 111, and when the instructions are executed by the processor, the recharge method described in one or more of the above embodiments is executed.

[0307] It should be noted that in practical applications, the various components of the mobile robot are coupled together via the communication bus 113. It can be understood that the communication bus 113 is used to achieve communication between these components. In addition to the data bus, the communication bus 113 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 11 The general labeled all buses as communication bus 113.

[0308] This application provides a second mobile robot. Figure 12 This is a schematic diagram of an optional second mobile robot provided in an embodiment of this application, such as... Figure 12 As shown, this application embodiment provides a first mobile robot 1200, including:

[0309] The processor 121 and the storage medium 122 storing processor-executable instructions; the storage medium 122 performs operations via the communication bus 123 in dependence on the processor 121, and when the instructions are executed by the processor, the recharge method described in one or more of the above embodiments is executed.

[0310] It should be noted that in practical applications, the various components of the mobile robot are coupled together via the communication bus 123. It can be understood that the communication bus 123 is used to achieve communication between these components. In addition to the data bus, the communication bus 123 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 12 The general labeled all buses as communication buses 123.

[0311] This application provides a first mobile robot system. Figure 13 A schematic diagram of an optional mobile robot system provided in this application embodiment. Figure 2 ,like Figure 13 As shown, the mobile robot system 1300 may include: a charging station 131, a first mobile robot 1100 as described in one or more of the above embodiments, and a second mobile robot 1200 as described in one or more of the above embodiments. The first mobile robot 1100 and the second mobile robot 1200 are located on the same floor. The charging station 131 includes a first charging station 1311 and a second charging station 1312 located on the same floor as the first charging station 1311.

[0312] The first mobile robot 1100 and the second mobile robot 1200 can work together to cross floors;

[0313] The first charging station 1311 is used to charge the first mobile robot 1100;

[0314] The second charging station 1312 is used to charge the second mobile robot 1200.

[0315] Figure 14 A schematic diagram of an optional computer storage medium provided for an embodiment of this application, such as... Figure 14 As shown, the computer storage medium 1400 stores executable instructions 141. When the executable instructions are executed by one or more processors, the processors execute the recharge method described in one or more of the above embodiments.

[0316] The computer-readable storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.

[0317] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0318] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0319] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0320] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0321] The above description is merely an optional embodiment of this application and is not intended to limit the scope of protection of this application.

Claims

1. A first mobile robot, characterized in that, include: First controller; The first charging device is communicatively connected to the first controller; as well as A first processor is communicatively connected to the first controller, wherein the first processor is configured when the first mobile robot and the second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors: When it is determined that the remaining battery power of the first mobile robot has reached a first preset recharge threshold and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, a charging command is sent to the second mobile robot. The first controller controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot.

2. The mobile robot according to claim 1, characterized in that, When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction. In response to the first return-to-charge command, the first mobile robot is controlled by the first controller to return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile. A second recharge command is sent to the second mobile robot, which instructs the second mobile robot to charge at a second charging station on the same floor as the first mobile robot.

3. The mobile robot according to claim 1, characterized in that, When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the first charging pile and the second charging pile located on the same floor are not on the same floor as the first mobile robot, it generates a third recharge instruction and a fourth recharge instruction. A fourth return-to-charge command is sent to the second mobile robot. In response to the third return-to-charge command, the first controller controls the first mobile robot and the second mobile robot to cooperate to cross floors and return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile. The fourth return-to-charge command is used to instruct the second mobile robot and the first mobile robot to cooperate to cross floors, so that the second charging device of the second mobile robot can charge the second charging pile on the same floor as the first mobile robot.

4. The mobile robot according to claim 2, characterized in that, When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a first recharge instruction and a second recharge instruction.

5. The mobile robot according to claim 3, characterized in that, When the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold, and the first and second charging piles located on the same floor are not on the same floor as the first mobile robot, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a third recharge instruction and a fourth recharge instruction.

6. The mobile robot according to claim 1, characterized in that, When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot has the ability to charge the first mobile robot, it sends an inquiry instruction to the second mobile robot to ask whether to charge the first mobile robot. Based on the response message of the query command, the charging mode of the first charging device is controlled by the first controller, so that the first mobile robot can be charged on the same floor as the second mobile robot.

7. The mobile robot according to claim 6, characterized in that, When the first processor determines that the response message of the query command instructs the second mobile robot to charge the first mobile robot, it controls the first charging device to establish a charging connection with the second charging device of the second mobile robot through the first controller, so as to realize that the second mobile robot charges the first mobile robot. If the response message of the query instruction indicates that the second mobile robot is not charging the first mobile robot, the charging of the first mobile robot will be carried out on the same floor as the second mobile robot, depending on whether the first charging pile and the second charging pile are on the same floor as the first mobile robot.

8. The mobile robot according to claim 7, characterized in that, When the first processor determines that the first charging pile and the second charging pile, which are on the same floor as the first mobile robot, are on the same floor, it generates a first recharge command and a second recharge command. In response to the first return-to-charge command, the first controller controls the first walking device of the first mobile robot to return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile. A second recharge command is sent to the second mobile robot, which instructs the second mobile robot to charge at a second charging station on the same floor as the first mobile robot.

9. The mobile robot according to claim 7, characterized in that, When the first processor determines that the first charging pile and the second charging pile, which are on the same floor, are not on the same floor as the first mobile robot, it generates a third recharge command and a fourth recharge command. A fourth return-to-charge command is sent to the second mobile robot. In response to the third return-to-charge command, the first controller controls the first mobile robot and the second mobile robot to cooperate to cross floors and return to the first charging pile, so that the first charging device can establish a charging connection with the first charging pile. The fourth return-to-charge command is used to instruct the second mobile robot and the first mobile robot to cooperate to cross floors, so that the second charging device can charge the second charging pile on the same floor as the first mobile robot.

10. A second mobile robot, characterized in that, include: Second controller; The second charging device is communicatively connected to the second controller; as well as The second processor is communicatively connected to the second controller, wherein the second processor is configured when the first mobile robot and the second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors: Receive charging-related instructions; wherein, the charging-related instructions are sent by the first mobile robot when it determines that the remaining power of the first mobile robot has reached a first preset recharge threshold, and the remaining power of the second mobile robot has not reached a second preset recharge threshold; The charging-related instructions are executed, and the second controller controls the second charging device to establish a charging connection with the second charging pile or the first mobile robot.

11. The mobile robot according to claim 10, characterized in that, When the second processor determines that the charging-related instruction is a second recharge instruction, it controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the second controller. The second controller controls the second charging device to realize the charging of the first mobile robot on the same floor as the first mobile robot.

12. The mobile robot according to claim 10, characterized in that, When the second processor determines that the charging-related instruction is the fourth recharge instruction, it controls the second mobile robot to cooperate with the first mobile robot to cross the floors through the second controller, and then controls the second charging device through the second controller to establish a charging connection with the second charging pile on the same floor as the first mobile robot.

13. The mobile robot according to claim 10, characterized in that, When the second processor determines that the charging-related instruction is an inquiry instruction on whether to charge the first mobile robot, it determines whether to charge the first mobile robot based on the remaining power of the second mobile robot. Based on whether to charge the first mobile robot, a response message for the query command is generated; A response message to the inquiry command is sent to the first mobile robot, and the charging of the first mobile robot is realized on the same floor as the first mobile robot.

14. The mobile robot according to claim 13, characterized in that, When the second processor determines that the first mobile robot needs to be charged, it determines the target amount of electricity to be charged to the first mobile robot.

15. The mobile robot according to claim 14, characterized in that, The second processor sends a response message to the query command to the first mobile robot; When the response message of the query command indicates that the first mobile robot should be charged, the second controller controls the second charging device to establish a charging connection with the first mobile robot, and the second charging device is charged to the target power level on the same floor as the first mobile robot. If the response message of the inquiry instruction indicates that the first mobile robot is not being charged, then, according to the received instruction, the charging of the first mobile robot and the second mobile robot will be carried out on the same floor as the first mobile robot.

16. The mobile robot according to claim 15, characterized in that, The second processor receives and responds to the second recharge command from the first mobile robot, and controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot through the second controller, so as to realize the charging of the first mobile robot on the same floor as the first mobile robot.

17. The mobile robot according to claim 15, characterized in that, The second processor receives and responds to the fourth recharge command from the first mobile robot. After the second mobile robot cooperates with the first mobile robot to cross floors through the second controller, the second processor controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot, so as to realize the charging of the first mobile robot on the same floor.

18. The mobile robot according to claim 15, characterized in that, The second processor determines the difference between the remaining battery power of the second mobile robot and the second preset recharge threshold. Based on the difference in battery level, determine whether to charge the first mobile robot.

19. The mobile robot according to claim 18, characterized in that, When the second processor determines that the first mobile robot needs charging, it determines the target power level based on the difference in power level.

20. The mobile robot according to claim 19, characterized in that, The second processor determines the working time for the first mobile robot and the second mobile robot to work simultaneously based on the power consumption of the first mobile robot and the power consumption of the second mobile robot. When the working time is determined to be greater than or equal to a preset time threshold, it is determined to charge the first mobile robot; If the working time is less than a preset time threshold, it is determined that the first mobile robot will not be charged.

21. The mobile robot according to claim 20, characterized in that, When the second processor determines that the first mobile robot needs charging, it determines the target power level based on the working time and the power consumption of the first mobile robot.

22. A recharge method, characterized in that, The invention is applied to a first mobile robot, which includes: a first controller, a first charging device, and a first processor, which is communicatively connected to the first controller. The first processor is configured to work when the first mobile robot and a second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors. When it is determined that the remaining power of the first mobile robot has reached the first preset recharge threshold and the remaining power of the second mobile robot has not reached the second preset recharge threshold, a charging command is sent to the second mobile robot, and the first controller controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot.

23. The method according to claim 22, characterized in that, When the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, it sends a charging-related instruction to the second mobile robot, and controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot through the first controller, including: If the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction. In response to the first return-to-charge command, the first mobile robot is controlled by the first controller to return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile. A second recharge command is sent to the second mobile robot, which instructs the second mobile robot to charge at a second charging station on the same floor as the first mobile robot.

24. The method according to claim 22, characterized in that, When the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, it sends a charging-related instruction to the second mobile robot, and controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot through the first controller, including: When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the first charging pile and the second charging pile located on the same floor are not on the same floor as the first mobile robot, it generates a third recharge instruction and a fourth recharge instruction. A fourth return-to-charge command is sent to the second mobile robot. In response to the third return-to-charge command, the first mobile robot and the second mobile robot cooperate to cross floors and return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile. The fourth return-to-charge command is used to instruct the second mobile robot and the first mobile robot to cooperate to cross floors, so that the second charging device of the second mobile robot can charge the second charging pile on the same floor as the first mobile robot.

25. The method according to claim 23, characterized in that, When the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, it generates a first recharge instruction and a second recharge instruction, including: When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a first recharge instruction and a second recharge instruction.

26. The method according to claim 24, characterized in that, When the first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold, and the first and second charging piles located on the same floor are not on the same floor as the first mobile robot, it generates a third recharge instruction and a fourth recharge instruction, including: When the first processor determines that the remaining power of the first mobile robot has reached the first preset recharge threshold, and the remaining power of the second mobile robot has not reached the second preset recharge threshold, and the first and second charging piles located on the same floor are not on the same floor as the first mobile robot, and the second mobile robot does not have the ability to charge the first mobile robot, it generates a third recharge instruction and a fourth recharge instruction.

27. The method according to claim 22, characterized in that, The first processor determines that the remaining battery power of the first mobile robot has reached a first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached a second preset recharge threshold. It then sends a charging-related instruction to the second mobile robot and controls the first charging device to establish a charging connection with the first charging pile or the second mobile robot via the first controller, including: When the first processor determines that the remaining battery power of the first mobile robot has reached the first preset recharge threshold, and the remaining battery power of the second mobile robot has not reached the second preset recharge threshold, and the second mobile robot has the ability to charge the first mobile robot, it sends an inquiry instruction to the second mobile robot to ask whether to charge the first mobile robot. Based on the response message of the query command, the charging mode of the first charging device is controlled by the first controller, so that the first mobile robot can be charged on the same floor as the second mobile robot.

28. The method according to claim 27, characterized in that, The step of controlling the charging mode of the first charging device through the first controller according to the response message of the query instruction, and realizing the charging of the first mobile robot on the same floor as the second mobile robot, includes: When the response message of the query command instructs the second mobile robot to charge the first mobile robot, the first controller controls the first charging device to establish a charging connection with the second charging device of the second mobile robot, thereby enabling the second mobile robot to charge the first mobile robot. If the response message of the query instruction indicates that the second mobile robot is not charging the first mobile robot, the charging of the first mobile robot will be carried out on the same floor as the second mobile robot, depending on whether the first charging pile and the second charging pile are on the same floor as the first mobile robot.

29. The method according to claim 28, characterized in that, The step of enabling the charging of the first mobile robot on the same floor as the second mobile robot, based on whether the first and second charging piles are located on the same floor, includes: When it is determined that the first charging pile and the second charging pile are on the same floor as the first mobile robot, a first recharge command and a second recharge command are generated. In response to the first return-to-charge command, the first controller controls the first walking device of the first mobile robot to return to the first charging pile, so that the first charging device establishes a charging connection with the first charging pile. A second recharge command is sent to the second mobile robot, which instructs the second mobile robot to charge at a second charging station on the same floor as the first mobile robot.

30. The method according to claim 28, characterized in that, The step of enabling the charging of the first mobile robot on the same floor as the second mobile robot, based on whether the first and second charging piles are located on the same floor, includes: When it is determined that the first and second charging piles, which are on the same floor, are not on the same floor as the first mobile robot, a third and a fourth recharge command are generated. A fourth return-to-charge command is sent to the second mobile robot. In response to the third return-to-charge command, the first controller controls the first mobile robot and the second mobile robot to cooperate to cross floors and return to the first charging pile, so that the first charging device can establish a charging connection with the first charging pile. The fourth return-to-charge command is used to instruct the second mobile robot and the first mobile robot to cooperate to cross floors, so that the second charging device can charge the second charging pile on the same floor as the first mobile robot.

31. A recharge method, characterized in that, The second mobile robot is applied to a second mobile robot, which includes: a second controller, a second charging device, and a second processor, which is communicatively connected to the second controller. The second processor is configured to operate when the first mobile robot and the second mobile robot are on the same floor, and the first mobile robot can cooperate with the second mobile robot to cross floors. Receive charging-related instructions; wherein, the charging-related instructions are sent by the first mobile robot when it determines that the remaining power of the first mobile robot has reached a first preset recharge threshold, and the remaining power of the second mobile robot has not reached a second preset recharge threshold; The charging-related instructions are executed, and the second controller controls the second charging device to establish a charging connection with the second charging pile or the first mobile robot.

32. The method according to claim 31, characterized in that, The execution of the charging-related instructions, controlling the second charging device to establish a charging connection with the second charging pile or the first mobile robot via the second controller, includes: When the charging-related instruction is determined to be a second recharge instruction, the second controller controls the second charging device to establish a charging connection with the second charging pile on the same floor as the first mobile robot. The second controller then controls the second charging device to charge the first mobile robot on the same floor as the first mobile robot.

33. The method according to claim 31, characterized in that, The execution of the charging-related instructions, controlling the second charging device to establish a charging connection with the second charging pile or the first mobile robot via the second controller, includes: When the charging-related instruction is determined to be the fourth recharge instruction, the second mobile robot is controlled by the second controller to cooperate with the first mobile robot to cross floors. Then, the second charging device is controlled by the second controller to establish a charging connection with the second charging pile on the same floor as the first mobile robot.

34. The method according to claim 31, characterized in that, The execution of the charging-related instructions, controlling the second charging device to establish a charging connection with the second charging pile or the first mobile robot via the second controller, includes: When the charging-related instruction is determined to be an inquiry instruction asking whether to charge the first mobile robot, the decision to charge the first mobile robot is made based on the remaining battery power of the second mobile robot. Based on whether to charge the first mobile robot, a response message for the query command is generated; A response message to the inquiry command is sent to the first mobile robot, and the charging of the first mobile robot is realized on the same floor as the first mobile robot.

35. The method according to claim 34, characterized in that, The method further includes: When the second processor determines that the first mobile robot needs to be charged, it determines the target amount of electricity to be charged to the first mobile robot.

36. The method according to claim 35, characterized in that, Sending a response message to the inquiry command to the first mobile robot, and enabling charging of both the first and second mobile robots on the same floor as the first mobile robot, includes: Send a response message to the query command to the first mobile robot; When the response message of the query command indicates that the first mobile robot should be charged, the second controller controls the second charging device to establish a charging connection with the first mobile robot, and the second charging device is charged to the target power level on the same floor as the first mobile robot. If the response message of the inquiry instruction indicates that the first mobile robot is not being charged, then, according to the received instruction, the charging of the first mobile robot and the second mobile robot will be carried out on the same floor as the first mobile robot.

37. The method according to claim 36, characterized in that, The step of charging the first mobile robot and the second mobile robot on the same floor as the first mobile robot according to the received instruction includes: The system receives and responds to a second recharge command from the first mobile robot, and controls the second charging device to establish a charging connection with a second charging pile on the same floor as the first mobile robot through the second controller, thereby enabling the first mobile robot to be charged on the same floor as the first mobile robot.

38. The method according to claim 36, characterized in that, The step of charging the first mobile robot and the second mobile robot on the same floor as the first mobile robot according to the received instruction includes: The system receives and responds to the fourth recharge command from the first mobile robot. After the second mobile robot cooperates with the first mobile robot to cross floors, the second charging device establishes a charging connection with the second charging pile on the same floor as the first mobile robot, thereby enabling the first mobile robot to be charged on the same floor.

39. The method according to claim 36, characterized in that, The step of determining whether to charge the first mobile robot based on the remaining battery power of the second mobile robot includes: Determine the difference between the remaining battery power of the second mobile robot and the second preset recharge threshold. Based on the difference in battery level, determine whether to charge the first mobile robot.

40. The method according to claim 39, characterized in that, When determining to charge the first mobile robot, the step of determining the target charge level for the first mobile robot includes: When it is determined that the first mobile robot needs to be charged, the target power level is determined based on the difference in power level.

41. The method according to claim 40, characterized in that, The step of determining whether to charge the first mobile robot based on the difference in battery power includes: Based on the power consumption of the first mobile robot and the power consumption of the second mobile robot, the difference in power consumption is used to determine the working time for the first mobile robot and the second mobile robot to work simultaneously. When the working time is determined to be greater than or equal to a preset time threshold, it is determined to charge the first mobile robot; If the working time is less than a preset time threshold, it is determined that the first mobile robot will not be charged.

42. The method according to claim 41, characterized in that, When determining that the first mobile robot needs charging, the target battery level is determined based on the difference in battery level, including: When it is determined that the first mobile robot needs to be charged, the target power level is determined based on the working time and the power consumption of the first mobile robot.

43. A first mobile robot, comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 22 to 30.

44. A second mobile robot, comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 31 to 41.

45. A mobile robot system, characterized in that, include: The charging station, the first mobile robot as described in claim 43, and the second mobile robot as described in claim 44, wherein the first mobile robot and the second mobile robot are located on the same floor, and the charging station includes a first charging station and a second charging station located on the same floor as the first charging station; wherein... The first and second mobile robots can work together to cross floors; The first charging station is used to charge the first mobile robot; The second charging station is used to charge the second mobile robot.

46. ​​A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 22 to 30, or implements the steps of the method according to any one of claims 31 to 41.

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