Multi-robot cooperation system

Abstract

The utility model provides a multi-robot collaboration system which comprises a main robot, the main robot comprises a machine body, a walking system, a control system and a cleaning module and further comprises a sensing system, the sensing system comprises multiple sensors, part of the sensors in the sensing system are arranged on the front portion of the machine body of the main robot, and the part of the sensors are arranged on the front portion of the machine body of the main robot. The main robot is located within the height range of a machine body of the main robot; the sub-robot comprises a robot body, a walking system, a control system, a cleaning module and a sensing system, and in the walking state, the maximum height of the sub-robot is smaller than the maximum height of the main robot and larger than the sensing height of one or more of the sensors. By means of the system, the working efficiency and the coverage rate of the robot in the complex and changeable working environment can be improved, and the user experience feeling is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent robot technology, and in particular to a multi-robot collaborative system. Background Art

[0002] With the development of science and technology and the improvement of people's living standards, robots are increasingly used in various places, such as homes, shopping malls, hospitals, and offices to improve work efficiency. However, the working environment faced by robots is usually complex and changeable. Therefore, how to ensure the working efficiency and coverage of robots in complex and changeable working environments and improve user experience is very critical. Utility Model Content

[0003] The present application provides a multi-robot collaborative system to solve the problem of how to ensure the working efficiency and coverage of robots in a complex and changeable working environment and improve the user experience.

[0004] On the one hand, the present application provides a multi-robot collaborative system, including: a main robot, the main robot including a body, a walking system, a control system, a cleaning module, and a perception system, the perception system including a plurality of sensors, wherein some sensors in the perception system are arranged at the front of the body of the main robot and are located within the height range of the body of the main robot; a sub-robot, the sub-robot including a body, a walking system, a control system, a cleaning module, and a perception system, wherein, in a walking state, the maximum height of the sub-robot is less than the maximum height of the main robot and greater than the perception height of one or more of the partial sensors.

[0005] In some embodiments provided by the present application, the multi-robot includes a main robot and at least one sub-robot; the sub-robot is at least used to perform supplementary operations in an area where the main robot cannot operate; the main robot is configured with a sub-robot posture perception unit, and the sub-robot posture perception unit is used to determine the posture information of the sub-robot relative to the main robot, so that the main robot assists the sub-robot in performing repositioning based on the posture information; the method includes:

[0006] When the main robot assists the sub-robot in performing repositioning and the sub-robot position perception unit of the main robot cannot perceive the sub-robot, the main robot performs a search action and / or the sub-robot performs a response action, so that the main robot tries to perceive the sub-robot.

[0007] Exemplarily, when the position of the sub-robot and the position of the main robot meet the repositioning requirements of the sub-robot posture perception unit, the main robot assists the sub-robot in performing repositioning.

[0008] Optionally, when the sub-robot is within the detection range of the sub-machine position and posture sensing unit and there are no obstacles blocking the sub-machine position and posture sensing unit from detecting the sub-robot, the main robot assists the sub-robot in performing repositioning.

[0009] In some embodiments, when the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking the sub-machine posture perception unit from detecting the sub-robot, the main robot assists the sub-robot in performing repositioning.

[0010] Exemplarily, before the main robot assists the sub-robot in performing repositioning, the method further includes:

[0011] The sub-robot and / or the main robot moves to a position that meets the repositioning requirements of the sub-robot position perception unit.

[0012] Optionally, the sub-robot and / or the main robot moves to a position that satisfies the relocation requirement of the sub-robot position and posture perception unit, including:

[0013] When the master robot confirms that the sub-robot has performed repositioning, the master robot moves to a main machine operation area on the side of a sub-machine operation area where the sub-robot is currently performing an operation.

[0014] Optionally, the sub-robot moves from the sub-machine operation area where the operation is currently being performed to the main machine operation area around the sub-machine operation area; or, the sub-robot moves to the boundary between the sub-machine operation area and the main machine operation area.

[0015] Exemplarily, the search action includes:

[0016] The main robot moves to a first target position in the operation map until the main robot senses the sub-robot before triggering a first preset stop condition, or the main robot triggers the first preset stop condition; wherein,

[0017] The first preset stop condition at least includes the main robot moving to a first target position;

[0018] The first target position is the position of the sub-robot in the operation map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the operation map.

[0019] Optionally, the search action includes:

[0020] The main robot moves around the reference position within a specified range relative to the reference position until the main robot senses the sub-robot before triggering the second preset stop condition, or the main robot triggers the second preset stop condition; wherein,

[0021] The second preset stop condition includes at least one of the following conditions: the position of the main robot exceeds the specified range; the moving time of the main robot exceeds the preset moving time; the moving distance of the main robot exceeds the preset distance threshold;

[0022] The reference position is the position of the main robot in the work map when the main robot assists the sub-robot in performing repositioning, or the position of the sub-robot in the work map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the work map.

[0023] In some embodiments, before the main robot performs the search action, the method further includes:

[0024] The master robot performs repositioning;

[0025] When it is determined based on the repositioning information that there is no deviation in the position and posture information of the master robot, the master robot performs a search action;

[0026] When it is determined based on the repositioning information that there is a deviation in the position and posture information of the master robot, the master robot adjusts the position and posture so that the adjusted position and posture meets the repositioning requirement of the slave robot position and posture sensing unit.

[0027] Exemplarily, the response action includes:

[0028] The sub-robot moves to the second target position in the operation map until the sub-robot is sensed by the main robot before triggering the first preset stop condition, or the sub-robot triggers the third preset stop condition; wherein,

[0029] The third preset stop condition at least includes the sub-robot moving to the second target position;

[0030] The second target position is the position of the main robot in the operation map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the operation map.

[0031] Optionally, the response action includes:

[0032] Within a specified range relative to the reference position, the sub-robot moves around the reference position until the sub-robot is sensed by the main robot before triggering the fourth preset stop condition, or the sub-robot triggers the fourth preset stop condition; wherein,

[0033] The fourth preset stop condition includes at least one of the following conditions: the position of the sub-robot exceeds the specified range; the movement time of the sub-robot exceeds the preset movement time; the movement distance of the sub-robot exceeds the preset distance threshold;

[0034] The reference position is the position of the main robot in the work map when the main robot assists the sub-robot in performing repositioning, or the position of the sub-robot in the work map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the work map.

[0035] In some embodiments, after the main robot performs a search action and / or the sub-robot performs a response action, and the main robot does not sense the sub-robot, the main robot and / or the sub-robot issues a reminder, and the reminder is used to request a user or a third-party device to assist in finding the sub-robot.

[0036] In some other embodiments provided by the present application, the multi-robot includes a main robot and at least one sub-robot; the sub-robot is at least used to perform supplementary operations in an area where the main robot cannot operate; the main robot is equipped with a sub-robot posture perception unit, and the sub-robot posture perception unit is used to determine the posture information of the sub-robot relative to the main robot, so that the main robot accompanies the sub-robot to perform operations or switch areas based on the posture information; the method includes:

[0037] When the main robot accompanies the sub-robot to perform work or switch areas, and the main robot cannot sense the sub-robot, the sub-robot stops moving and the main robot moves to sense the sub-robot again;

[0038] When the main robot senses the sub-robot again, the sub-robot continues to perform the work or switch areas with the accompaniment of the main robot.

[0039] Exemplarily, when it is confirmed based on the operation map that the sub-robot is outside the detection range of the sub-robot posture perception unit, the main robot moves to the location of the sub-robot until the main robot senses the sub-robot; and / or,

[0040] When it is confirmed based on the work map that the sub-robot is blocked by an obstacle and the main robot cannot perceive the sub-robot, the main robot performs obstacle avoidance movement for the obstacle until the main robot perceives the sub-robot.

[0041] Optionally, the method further comprises:

[0042] When it is confirmed based on the work map that the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking the sub-robot, and the main robot cannot perceive the sub-robot, the main robot performs a search action, and / or the sub-robot performs a response action, so that the main robot tries to perceive the sub-robot.

[0043] Optionally, the method further comprises:

[0044] After the main robot performs a search action and / or the sub-robot performs a response action, and the main robot does not sense the sub-robot, the main robot and / or the sub-robot issues a reminder, and the reminder is used to request a user or a third-party device to assist in finding the sub-robot.

[0045] The present application provides a multi-robot collaboration method, wherein the multi-robot includes a main robot and at least one sub-robot; the sub-robot is at least used to perform supplementary operations in areas where the main robot cannot operate; the main robot is configured with a sub-robot posture perception unit, and the sub-robot posture perception unit is used to determine the posture information of the sub-robot relative to the main robot; the method includes: when the main robot is building a map, or cleaning without a map, or triggering the preliminary positioning of the sub-robot, the main robot performs preliminary positioning on the sub-robot to determine the position of the sub-base station corresponding to the sub-robot; wherein, when the preliminary positioning of the sub-robot is performed, the sub-robot is located in the sub-base station.

[0046] Optionally, when the preliminary positioning of the sub-robot is triggered, after the main robot is freed from hijacking, the main robot is relocated first, and then the preliminary positioning of the sub-robot is performed; wherein, the main robot is placed in a preset positioning area by hijacking, and the preset positioning area is the area where the sub-robot posture perception unit has a detection range for the sub-robot.

[0047] The present application provides a multi-robot collaboration method, wherein the multi-robot includes a main robot and at least one sub-robot; the sub-robot is at least used to perform supplementary operations in an area where the main robot cannot operate; the main robot is equipped with a sub-robot posture perception unit, and the sub-robot posture perception unit is used to determine the posture information of the sub-robot relative to the main robot. The method includes: the main robot accompanies the sub-robot to perform operations or switch areas based on the posture information; wherein the switching area refers to switching the sub-robot operation area, or the sub-robot goes from the sub-base station to the sub-robot operation area, or the sub-robot goes from the sub-robot operation area to the sub-base station.

[0048] The present application provides a multi-robot collaboration method, wherein the multi-robot includes a main robot and at least one sub-robot; the sub-robot is at least used to perform supplementary operations in an area where the main robot cannot operate; the main robot is equipped with a sub-robot posture perception unit, and the sub-robot posture perception unit is used to determine the posture information of the sub-robot relative to the main robot. The method includes: in the case that the sub-robot is trapped, the main robot goes to the trapped position of the sub-robot and sends an escape path to the sub-robot, so that the sub-robot can escape based on the escape path.

[0049] The present application provides a multi-robot collaborative system, comprising:

[0050] at least one processor; and a memory communicatively coupled to the at least one processor;

[0051] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform a multi-robot collaboration method.

[0052] The multi-robot collaborative system provided by the present application, since the driving wheels of the cleaning robot usually fall a certain distance when the fuselage is lifted, when the fuselage is in the walking state, that is, the fuselage walks on the surface to be cleaned, the driving wheels of the cleaning robot are compressed, in this state, the distance between the top of the main robot and the surface to be cleaned can be considered as the maximum height of the main robot, similarly, in this state, the distance between the top of the sub-robot and the surface to be cleaned can be considered as the maximum height of the sub-robot, in this state, the distance between the lowest point of the sensor's sensing range in the direction perpendicular to the surface to be cleaned and the surface to be cleaned can be the sensing height of the sensor of the main robot. Since the sub-robot is lower than the main robot in the walking state, it can enter the low areas that the main robot cannot enter, and perform supplementary cleaning on these low areas, thereby increasing the cleaning coverage area and improving the user experience. Since the height of the sub-robot in the walking state is greater than the sensing height of some sensors of the main robot, the host can use these sensors to sense the position and posture of the sub-machine, which can better help the sub-machine to locate.

[0053] When the main robot assists the sub-robot in performing repositioning and the sub-robot position perception unit of the main robot cannot perceive the sub-robot, the main robot performs a search action and / or the sub-robot performs a response action, so that the main robot tries to perceive the sub-robot, thereby reducing user intervention, improving the intelligence of the multi-robot collaborative system, and improving the work efficiency and coverage of the robot system in a complex and changeable working environment, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 is a schematic diagram of the structure of the main robot;

[0056] Figure 2 is a schematic diagram of the structure of the sub-robot;

[0057] Figure 3 A schematic diagram of a scene of the main robot and the sub-robot operation area;

[0058] Figure 4 Another schematic diagram of the main robot and sub-robot operation area;

[0059] Figure 5It is a structural diagram of a multi-robot collaborative system;

[0060] Figure 6 is a system schematic diagram of a multi-robot collaborative system provided by an embodiment of the present application;

[0061] Figure 7 is a schematic diagram of the size relationship between a main robot and a sub-robot provided in one embodiment of the present application;

[0062] Figure 8 It is a schematic diagram of the size relationship between the main robot and the sub-robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0064] The present application provides a multi-machine collaboration system, including a main robot, a sub-robot, and a base station, etc. The appearance style of the main robot and the sub-robot as a whole is not limited. For example, the main robot can be provided with a storage space for carrying a sub-robot, and the sub-robot can be stored inside the main robot. And / or, the main robot can be provided with a connecting device that drives the sub-robot to move, and the sub-robot can be connected to the main robot in hardware through the connecting device. And / or, the sub-robot has no hardware connection with the main robot and is separated in physical space. In addition to these, the main robot and the sub-robot can also have other appearance styles, which can be set according to the needs of the application scenario, and will not be repeated here one by one.

[0065] A communication connection can be established between the main robot and the sub-robot. For example, a communication connection can be established between the main robot and the sub-robot through wired, wireless, etc. The main robot and the sub-robot can communicate directly, for example, the main robot and the sub-robot can communicate directly through a transmission line, Bluetooth, infrared, WIFI, etc. The main robot and the sub-robot can also communicate indirectly, and the main robot and the sub-robot can communicate indirectly through an intelligent terminal (such as a mobile phone), a server, etc. The main robot and the sub-robot can also have other communication methods, which can be set according to the application scenario, and will not be repeated here.

[0066] The device types of the main robot and the sub-robot can be cleaning robots, weeding robots, food delivery robots, etc. The device types of the main robot and the sub-robot can be the same or different. In an example scenario, the main robot and the sub-robot can both be cleaning robots. The cleaning robot can be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc.

[0067] The embodiments of this specification are described by taking the example that both the main robot and the sub-robot are cleaning robots. Other types of equipment can be used as a reference and will not be described in detail.

[0068] The cleaning robot may include a body, a walking system, a cleaning module, a control system, a sensing system, etc. Among them, there is an installation cavity in the body for some structures to be installed. The shape of the body is not limited, and can be but not limited to circular, D-shaped, triangular, or other shapes.

[0069] refer to Figure 1 , the walking system is arranged on the body 10, and is used to drive the body 10 to realize the self-moving walking function on the surface to be cleaned. The walking system generally includes a driver and a walking part, and the driver drives the walking part to move. There can generally be two walking parts, and the two walking parts are symmetrically arranged on the body 10. The walking parts can be but are not limited to driving wheels, track wheels or steering wheels with adjustable steering. For example: the steering wheel is a Mecanum wheel. In addition, the walking system can be swingably arranged on the body 10 so that the cleaning robot has an obstacle crossing function during walking. Among them, the surface to be cleaned can be but is not limited to the surface or scene of objects such as the ground, desktop, glass, wall, etc. For the convenience of expression, the surface to be cleaned below is described by taking the ground as an example. The width direction of the body is perpendicular to the direction of travel of the body.

[0070] The cleaning module includes a dry cleaning module or a wet cleaning module, or includes both a dry cleaning module and a wet cleaning module. Regarding the arrangement of the dry cleaning module and the wet cleaning module on the body 10, when the cleaning robot performs a cleaning task, it can sweep first and then mop the floor, and in the forward direction of the cleaning robot, the wet cleaning module is located behind the dry cleaning module.

[0071] The dry cleaning module includes a main brush 102, a dust box (not shown) and a fan (not shown). A main brush chamber is provided at the bottom of the body 10. The main brush 102 is rotatably provided in the main brush chamber. The dust suction port on the main brush chamber is connected to the dust inlet of the dust box, and the air outlet of the dust box is connected to the fan. During the rotation of the main brush 102, the garbage around and in front of it is moved to the dust suction port. The garbage at the dust suction port is sucked into the dust box under the negative pressure generated by the fan to achieve the cleaning function of the surface to be cleaned.

[0072] The wet cleaning module includes a first driving structure and a cleaning assembly 101. The cleaning assembly 101 may include a cleaning disc and a cleaning member disposed on the bottom of the cleaning disc. The first driving structure drives the cleaning disc to move, so as to drive the cleaning member to reciprocate and vibrate or rotate. The cleaning member forms friction with the ground during the movement to clean the ground.

[0073] The cleaning module also includes a side brush 103 located on one or both sides of the front part of the body 10. Along the forward direction of the cleaning robot, the side brush 103 is located in front of the dry cleaning module, and at least part of the side brush 103 extends out of the edge of the body 10. The side brush 103 rotates under the drive of the driving mechanism. During the rotation of the side brush 103, the garbage located in front of and around it is moved toward the inside of the body 10, so that the main brush 102 of the dry cleaning module located at the rear can clean up the garbage and be sucked into the dust box by the fan.

[0074] The perception system includes a two-dimensional laser radar or a three-dimensional laser radar located above the fuselage, and also includes a buffer, a line laser sensor, a visual sensor located at the front of the body 10, and an edge sensor located on the side wall of the body 10, an ultrasonic sensor and a downward sensor located at the bottom of the body 10, an inertial measurement unit and an odometer located inside the robot and other sensing devices.

[0075] Among them, the buffer can perform obstacle detection by colliding with the obstacle. The edge sensor can detect the distance of the obstacle so that the robot can perform edge cleaning for the obstacle based on the information detected by the edge sensor. The two-dimensional laser radar or three-dimensional laser radar, line laser sensor can collect the distance information of the obstacle; the visual sensor can also be used to identify the image of the environment in which the cleaning robot is located; the control system can determine the distance of the obstacle, the outline of the obstacle and the type of obstacle based on the information collected by the two-dimensional laser radar or three-dimensional laser radar, line laser sensor, and visual sensor, and then realize map building, and control the cleaning robot to perform obstacle avoidance / obstacle crossing / edge cleaning, etc. The downward sensor is used for cliff detection. The inertial measurement unit can be a device for measuring the three-axis attitude angle (or angular rate) and acceleration of the object to obtain the motion attitude information of the cleaning robot in real time. The odometer can be used to determine the position of the cleaning robot in the map, that is, to locate the cleaning robot. The ultrasonic sensor is used to identify the carpet signal, and the control system controls the cleaning parts of the wet cleaning module of the cleaning robot to perform lifting action according to this signal, or controls the cleaning robot to return to the base station to disassemble the cleaning parts of the wet cleaning module, wherein the base station is used to power the cleaning robot or clean the cleaning parts of the cleaning robot. Of course, the above-mentioned perception system is only for illustration and does not constitute a limitation of the embodiments of this specification.

[0076] The main robot may have the same structural configuration as the sub-robot, or the sub-robot and the main robot may have different configurations. In some implementations, the main robot may have a more complex structural configuration than the sub-robot, thereby making the sub-robot less expensive and smaller in size.

[0077] For example, refer to Figure 1 The cleaning module of the main robot 100 may include a cleaning component 101, a main brush 102 and a side brush 103. The perception system of the main robot 100 may include a buffer, a two-dimensional laser radar or a three-dimensional laser radar, a line laser sensor, a visual sensor, an edge sensor, a downward sensor, an ultrasonic sensor, an inertial measurement unit, an odometer and other sensor devices. Figure 2 , the cleaning module of the sub-robot 200 may include a main brush 102 and a side brush 103, and the sub-robot 200 is not provided with a wet cleaning module; the perception system of the sub-robot 200 may include sensor devices such as a buffer, an inertial measurement unit, a downward sensor, and an odometer, and is not provided with a two-dimensional laser radar or a three-dimensional laser radar, a line laser sensor, a visual sensor, an ultrasonic sensor, etc. In view of the fact that the sub-robot 200 is not provided with a wet cleaning module, the sensors involved in the perception system are also relatively simplified, making the sub-robot structure simpler, smaller in size, and lower in height. Accordingly, the sub-robot 200 can perform supplementary cleaning on areas that are more difficult for the main robot to clean, such as the bottom areas of obstacles such as sofas, beds, and cabinets, thereby improving the overall cleaning flexibility and coverage of the cleaning robot and improving the user experience.

[0078] Figure 6 It is a system schematic diagram of a multi-robot collaborative system provided by an embodiment of the present application.

[0079] Specifically, Figure 6 As shown, the system may include:

[0080] The main robot MR (Main Robot, hereinafter referred to as the host), the main robot may include a body, a walking system, a control system, a cleaning module, and may also include a perception system, the perception system includes a variety of sensors, wherein some sensors in the perception system are arranged in the front part of the body of the main robot and are located within the height range of the body of the main robot;

[0081] The sub-robot CR (Collaborative Robot, sub-robot, hereinafter referred to as sub-machine) includes a body, a walking system, a control system, a cleaning module, and a perception system. In the walking state, the maximum height of the sub-robot is less than the maximum height of the main robot and greater than the perception height of one or more sensors in the partial sensors.

[0082] In some embodiments, the body contour of the main robot may be approximately D-shaped, and the shape of the sub-robot may be different from that of the main robot, for example, it may be square or round, etc., which is not limited in the present application.

[0083] Among them, since the driving wheels of the cleaning robot usually fall a certain distance when the fuselage is lifted, when the fuselage is in the walking state, that is, the fuselage walks on the surface to be cleaned, the driving wheels of the cleaning robot are compressed. In this state, the distance between the top of the main robot and the surface to be cleaned can be considered as the maximum height of the main robot. Similarly, in this state, the distance between the top of the sub-robot and the surface to be cleaned can be considered as the maximum height of the sub-robot. In this state, the distance between the lowest point of the sensor's sensing range in the direction perpendicular to the surface to be cleaned and the surface to be cleaned can be considered as the sensing height of the sensor of the main robot. Since the sub-robot is lower than the main robot in the walking state, it can enter the low areas that the main robot cannot enter, and perform supplementary cleaning on these low areas, thereby increasing the cleaning coverage area and improving the user experience. Since the height of the sub-robot in the walking state is greater than the sensing height of some sensors of the main robot, the host can use these sensors to sense the position and posture of the sub-machine, which can better help the sub-machine to locate.

[0084] Specifically, for example, in some embodiments, the main robot may have a laser sensor, and the laser sensor may be a distance sensor LDS (Laser Distance Sensor, LDS for short) or a direct time of flight sensor dTOF (direct Time OF Flight, dTOF for short). Correspondingly, the maximum height of the sub-robot is greater than the height of the laser beam emitted by the laser sensor and less than the maximum height of the main robot. That is, it is located above the height of the laser emitting end of the laser sensor, so that the laser of the laser sensor can irradiate the sub-robot, thereby realizing its positioning.

[0085] In some embodiments, a window may be provided at the front of the main robot body, and the partial sensors sense information outside the body through the window. For example, laser sensors, AI cameras, etc. may sense environmental information, object distance information, etc. outside the body through the window. The AI ​​camera may be an RGB camera.

[0086] In some embodiments, some of the sensors are located within the outline of the body of the main robot. That is, in the direction parallel to the upper surface of the main robot, some of the sensors are located within the outline of the body. For example, the viewing window is opened on the side wall of the main robot, and some of the sensors are located behind or inside the viewing window. In this way, the sensors, especially the laser sensors (such as LDS), can be embedded, which can effectively reduce the height of the robot compared to the prior art in which the LDS protrudes from the top of the robot. In this way, for some suspended obstacles, the main robot can also enter them to perform cleaning tasks. At the same time, by opening a wider viewing window, the loss of the sensor's perception range can be minimized.

[0087] In some application examples, for a suspended obstacle whose height from the ground is greater than both the height of the main robot when walking and the height of the sub-robot when walking, the main robot and the sub-robot can be controlled to enter under the suspended obstacle to perform the cleaning task.

[0088] For suspended obstacles whose height from the ground is less than the height of the main robot when it is walking, but greater than the height of the sub-robot when it is walking, the sub-robot can be controlled to enter under the obstacle to perform cleaning tasks, while the main robot autonomously performs other tasks and monitors or guides the sub-robot when it performs tasks. Correspondingly, the main robot can prompt the user through the cloud that the area of ​​the suspended obstacle is an area where the sub-machine can perform tasks, such as displaying a map through an App, marking the area on the map as an area where the sub-machine can perform tasks and / or the main machine cannot perform tasks. The specific marking method is not limited in this application.

[0089] For suspended obstacles whose height from the ground is less than the height of the sub-robot when it is walking, and whose height from the ground is also less than the height of the main robot when it is walking, the main robot and the sub-robot can be controlled not to enter under it, but to perform other tasks. And corresponding prompts can be sent to the user, such as prompting the user through the App or prompting the user through voice. The map can also be displayed through the App, and the area marked on the map as an area where neither the sub-machine nor the main machine can perform tasks. The specific marking method is not limited in this application.

[0090] In addition, in the APP interface of the user terminal, the user can be provided with controls for setting the working frequency or duration of the sub-machine. The user can set the working frequency of the sub-machine through the controls provided in the interface. For example, the host performs a cleaning task 7 times, and the sub-machine performs a cleaning task once. It can also be set that every time the host performs a task, the sub-machine follows it to perform the task. It can also be set to any other frequency, or high and low frequency options can be provided for the user to choose. This allows the user to choose the frequency at which the sub-machine performs the task.

[0091] Of course, the control unit of the system can also automatically set the working frequency of the sub-machine according to the actual cleaning situation. In this way, the sub-robot can be reasonably used to clean the low or narrow areas that the main robot cannot clean, because the areas that the main robot cannot clean may not need to be cleaned too frequently, and the sub-robot can be allowed to perform tasks according to the actual situation or user needs, which can save cleaning time and energy and reduce the loss of the sub-machine and its accessories.

[0092] In some embodiments, the cleaning module of the main robot includes a dry cleaning module and a wet cleaning module, the cleaning module of the sub-robot includes a dry cleaning module and a wet cleaning module, and the number or types of cleaning parts of the wet cleaning module of the main robot are different from the number and types of cleaning parts of the wet cleaning module of the sub-robot.

[0093] In some embodiments, the wet cleaning module of the main robot includes two rotating rag discs, and the wet cleaning module of the sub-robot includes a flat rag disc. In this way, the main robot and the sub-robot can be differentiated, and differentiated cleaning can be achieved while saving the cost of the sub-robot.

[0094] In some embodiments, the flat rag tray includes a flat water tank and a rag, and the rag is detachably attached to a side of the flat water tank.

[0095] In some embodiments, the system further comprises a main robot base station and a sub-robot base station, wherein the function of the sub-robot base station is less than that of the main robot base station.

[0096] Furthermore, the main robot base station is used to clean the wet cleaning module of the main robot, to collect dust for the main robot, and to charge the main robot, and the sub-robot base station is only used to charge the sub-robot and / or collect dust.

[0097] In some embodiments, the system may further include a combined base station, which is used to clean the wet cleaning module of the main robot, collect dust for the main robot, charge the main robot, and only charge and / or collect dust for the sub-robot. This can effectively save costs.

[0098] In some embodiments, the combined base station includes a robot cabin for accommodating or partially accommodating the main robot. A cleaning tray is provided at the bottom of the robot cabin, and the cleaning tray is used to clean the wet cleaning components of the main robot. A host charging terminal and a dust suction port are also provided in the robot cabin, and the dust suction port is connected to the dust holding space in the combined base station. The host charging terminal is used to charge the main robot. The combined base station is also provided with a sub-machine charging terminal, and the sub-machine charging terminal is used to charge the sub-robot.

[0099] In some embodiments, the slave device charging terminal is arranged outside the robot cabin.

[0100] In some embodiments, the maximum width of the body of the main robot is greater than the maximum width of the body of the sub-robot.

[0101] In some embodiments, when the sub-robot is located in front of the main robot and the distance from the front of the main robot is greater than a specific distance, the maximum width of the sub-robot is smaller than the maximum horizontal field of view width of the partial sensor of the main robot at the specific distance.

[0102] Figure 7 Schematic diagram of the size relationship between the main robot and the sub-robot provided in one embodiment of the present application. Figure 7 As shown, in this example, the wet cleaning module of the main robot may include two rotatable rag discs, at least one of which can switch between a retracted state and an outward swing state, and when the rag disc is in the outward swing state, in the width direction of the main robot, the sum of the maximum width d1 of the main robot body and the width d2 of the part of the rag disc that exceeds the maximum width of the body is greater than the maximum width d3 of the sub-robot, wherein the width direction is a direction perpendicular to the forward direction of the main robot.

[0103] Figure 8 Schematic diagram of the size relationship between the main robot and the sub-robot provided in one embodiment of the present application. Figure 8 As shown, the wet cleaning module of the main robot includes two rotatable larger rag discs and one rotatable smaller rag disc, wherein the smaller rag disc is in the width direction of the main robot, and the sum of the maximum width d1 of the main robot body and the width d4 of the portion of the smaller rag disc exceeding the maximum width of the body is greater than the maximum width d3 of the sub-robot, wherein the width direction is the vertical direction of the forward direction of the main robot, and the diameter of the smaller rag disc is smaller than the diameter of the larger rag disc.

[0104] In some embodiments, the maximum height of the main robot is greater than 75 mm and less than 95 mm, and the maximum height of the sub-robot is greater than 50 mm and less than 75 mm. This can ensure the height difference between the main robot and the sub-robot, and provide a certain amount of installation space for sensors and cleaning parts, so as to achieve differentiated cleaning while avoiding excessive compression of the installation space, which leads to increased costs and reduced reliability.

[0105] In some embodiments, the maximum width of the main robot is greater than 300 mm and less than 400 mm, and the maximum width of the sub-robot is greater than 200 mm and less than 300 mm. By setting the width, differentiated cleaning can be achieved while avoiding a reduction in the coverage area of ​​the cleaning member due to too small a width.

[0106] In some embodiments, the partial sensors of the main robot include one or more of a laser sensor, an AI camera, and a line laser sensor, and the sensing ends of the partial sensors are facing the window.

[0107] In some embodiments, the perception system of the sub-robot includes one or more of an inertial measurement unit, a buffer, and an odometer.

[0108] In some embodiments, the main robot is provided with a signal transmitter, and the sub-robot is provided with a signal receiver matching the signal transmitter, and the sub-robot receives the signal of the signal transmitter through the signal receiver to follow the main robot, and the main robot guides the sub-robot through the signal transmitted by the signal transmitter. The signal transmitter includes one or more of a wifi signal reflector, an infrared signal transmitter, or a Bluetooth signal transmitter, and the signal receiver includes one or more of a wifi signal receiver, an infrared signal receiver, or a Bluetooth signal receiver.

[0109] In some embodiments, the signal transmitter is disposed at the rear of the main robot, and the signal receiver is located at the front of the sub-robot.

[0110] In some embodiments, the partial sensors include laser sensors, and in the walking state, the maximum height of the sub-robot is less than the height of the laser beam emitted by the laser radar and greater than the perception height of one or more sensors among the partial sensors.

[0111] The robot can work based on the work map. The work map can be constructed through rapid mapping, and can be updated in real time as the robot cleans, and can be updated by receiving information input by the user or other terminals. The work map can be stored in advance for reuse in subsequent cleaning, so that there is no need to rebuild the map every time cleaning, which affects cleaning efficiency. While working with the reused work map, the robot can also update the work map based on the information collected in real time, the information input by the user or other terminals, to improve cleaning accuracy and flexibility.

[0112] In the embodiments of this specification, if the main robot is equipped with a relatively rich perception system, the sub-robot can reuse the work map pre-stored or updated in real time in the main robot. After receiving the work map of the main robot, the sub-robot can work based on the work map. There are a large number of areas in the area where the sub-robot works that the main robot cannot travel to, so that the information detected by the main robot for this part of the area is relatively limited. For example, the bottom space of an obstacle that the main robot cannot enter, the perception system on the main robot detects less or almost no information. Therefore, the sub-robot can supplement the work map based on the information detected by its own perception information during the process of working in this area. The real-time updated work map of the main robot and the cleaning path of the main robot, the real-time updated work map of the sub-robot and the cleaning path of the sub-robot can all be displayed to the user in real time through the display interface.

[0113] The operation area on the operation map can be divided into a host operation area and a sub-machine operation area, wherein the host operation area is the operation area of ​​the main robot, and the sub-machine operation area is the operation area of ​​the sub-robot. The host operation area and the sub-machine operation area can be divided by the main robot based on the information collected by its perception system; they can also be further divided on the basis of the operation map obtained by the main robot, combined with the supplementary information collected by the sub-robot based on its perception system; of course, they can also be further divided in combination with the information collected by other devices and the information entered by the user.

[0114] The host operation area can be an area where the main robot can move to or an area that is easier to clean. The sub-machine operation area can be an area where the main robot cannot move to but the sub-robot can move to, or the sub-machine operation area is an area that is difficult for the main robot to clean but easier for the sub-robot to clean. For example, if the distance between two obstacles is less than a preset value, so that the main robot cannot move or the cleaning logic of the main robot is more complicated, but the sub-robot can move or the cleaning logic is relatively simple, then the area between the two obstacles can be used as a narrow channel; accordingly, the narrow channel can be used as the sub-machine operation area. Alternatively, the area where the height of the bottom of the obstacle is lower than the overall height of the main robot but higher than the overall height of the sub-robot, such as the bottom area of ​​a sofa or a cabinet, can be used as the sub-machine operation area. Alternatively, in the case where the sub-robot is not equipped with a wet cleaning module, the sub-machine operation area can also be a carpet area, and accordingly, the main robot does not need to be additionally equipped with a wet cleaning module lifting structure. Accordingly, the division parameters of the sub-machine operation area can be preset, and the sub-machine operation area can be determined based on the division parameters. The division parameters may include the bottom height of the obstacle, the distance between obstacles, whether it is a carpet area, etc.

[0115] Accordingly, the sub-robot can be used at least to perform supplementary operations on areas where the main robot cannot operate. Areas where the main robot cannot operate can be areas where the main robot cannot move to but the sub-robot can move to, or areas that are difficult for the main robot to clean but easy for the sub-robot to clean. The above method can be used to determine areas where the main robot cannot operate as sub-robot operation areas, so that the sub-robot performs mapping and cleaning for the sub-robot operation areas, and completes supplementary operations on areas where the main robot cannot move to or is difficult to operate.

[0116] The work area on the work map can be divided into multiple work zones according to the room. Figure 3, the work areas in the work map can include area A, area B, area C, area D, area E, and area F. Area A and area B are bedrooms, area C is the living room, area D is the kitchen, and area E is the bathroom. Of course, the work areas on the work map can also be divided in combination with other factors. For example, they can be flexibly divided according to the needs of the user. Each work area can also be divided into a host work area and a sub-machine work area. Different rooms are usually separated by walls. It is difficult to plan the path when the robot is connected for cleaning. There may also be large differences in the obstacles, obstacle distribution, and degree of dirt involved in different rooms. The work areas divided by the user also have different user requirements under each work area. The above factors may make the cleaning parameter configuration of each work area have great differences. By dividing the work area into zones for cleaning, it is convenient for the robot to perform cleaning path planning. At the same time, it is also convenient to perform differentiated cleaning and improve cleaning flexibility.

[0117] For the convenience of distinguishing descriptions, the operation partition currently cleaned by the sub-robot is referred to as the first operation partition, and the operation partition to be cleaned by the sub-robot is referred to as the second operation partition.

[0118] After the main robot has cleaned the main machine operation area of ​​any operation partition, it can control the sub-robot to clean the sub-machine operation area of ​​the operation partition. For example, in the case where there is no division of the main machine operation area and the sub-machine operation area in area A, the main robot can divide the main machine operation area and the sub-machine operation area in area A based on the collected information during the cleaning process. Alternatively, in the case where there are already main machine operation areas and sub-machine operation areas in area A, the main robot can also change the divided main machine operation areas and sub-machine operation areas in real time due to changes in obstacles during the cleaning process, so that the division of the main machine operation areas and sub-machine operation areas is more real-time. Accordingly, after the main robot cleans the main machine operation area in area A, the sub-robot cleans the sub-machine operation area in area A based on the operation map shared by the main robot.

[0119] When the sub-robot is cleaning the sub-machine operating area in area A, the main robot can accompany the sub-robot in area A until the sub-robot finishes cleaning the sub-machine operating area in area A. For example, the main robot can accompany the sub-robot to perform cleaning in the main machine operating area around the sub-machine operating area cleaned by the sub-robot. If the sub-machine operating area is divided into sub-machine partitions, the main robot can accompany the sub-robot to perform cleaning in the main machine operating area around the sub-machine partition cleaned by the sub-robot. The main machine operating area around the sub-machine operating area / sub-machine partition refers to the main machine operating area adjacent to the sub-machine operating area / sub-machine partition. When the main robot accompanies the sub-robot to perform cleaning in area A, the sub-robot can be controlled more conveniently, and when an abnormal situation occurs during the cleaning process of the sub-robot, the main robot can respond quickly to improve the user experience.

[0120] The principle of the main robot and the sub-robot being closest to each other can be combined to control the position of the main robot in the sub-machine operation area / the main machine operation area around the sub-machine partition to more effectively control the sub-robot. Alternatively, the sensor detection range of the main robot can be combined to control the position of the main robot in the sub-machine operation area / the main machine operation area around the sub-machine partition to facilitate the main robot to more effectively detect the sub-robot and thus more effectively control the sub-robot.

[0121] Alternatively, when the sub-robot cleans the sub-machine operation area in area A, the main robot can clean other operation areas outside area A. The main robot and the sub-robot perform cleaning of different operation areas respectively, which can further improve the cleaning efficiency of the main robot and the sub-robot as a whole for the operation area in the operation map.

[0122] Of course, after the main robot has cleaned all the work areas, it can also control the sub-robot to clean the sub-machine work area corresponding to the work area. Alternatively, the main robot and the sub-robot clean synchronously, and both the main robot and the sub-robot can record the cleaned area. If the main robot updates the sub-cleaning area during the cleaning process, the sub-robot can perform additional cleaning on the updated area.

[0123] Accordingly, in some embodiments, when the sub-robot cleans the sub-machine operation area of ​​the first operation area, the main robot is in the first operation area. The main robot can clean synchronously with the sub-robot in the first operation area, the main robot can also accompany the sub-robot to clean in the first operation area, the main robot is at any position in the first operation area, waiting for the sub-robot to work, and so on. When the sub-robot cleans the sub-machine operation area of ​​the first operation area, the main robot is in the first operation area, which can make it easier for the main robot and the sub-robot to work, improve the cleaning accuracy and efficiency of the sub-robot, and improve the timeliness of handling abnormal situations of the sub-robot.

[0124] In some embodiments, when the sub-robot cleans the sub-machine operation area of ​​the first operation area, the main robot is in the second operation area, or the main robot is located at the base station. The main robot and the sub-robot respectively perform cleaning of different operation areas, or return to the base station, which can further improve the flexibility of the main robot and the sub-robot operations, as well as the overall cleaning efficiency of the operation area in the operation map.

[0125] In some embodiments, when the sub-robot cleans the first sub-machine partition, the main robot is in the host operation area around the first sub-machine partition. In the case where the operation partition is divided into sub-machine partitions, the sub-machine partition currently cleaned by the sub-robot can be regarded as the first sub-machine partition, and the sub-machine partition to be cleaned by the sub-robot can be described as the second sub-machine partition. The main robot is in the host operation area around the first sub-machine partition, which can refer to the main robot being located in the operation partition adjacent to the first sub-machine partition. The operation partition adjacent to the first sub-machine partition can include both the first operation partition and other operation partitions, which are not limited here. The main robot can perform cleaning synchronously in the host operation area around the first sub-machine partition, or it can accompany the sub-robot to perform cleaning. The accompanying method can refer to the scheme described in the above embodiment. By setting the main robot to be in the host operation area around the first sub-machine partition when the sub-robot cleans the first sub-machine partition, the main robot can respond to the needs of the sub-robot more quickly, or quickly provide auxiliary information to the sub-robot, improve the cleaning accuracy and efficiency of the sub-robot, and improve the speed of handling abnormal situations.

[0126] Considering that the indoor working environment of the cleaning robot is usually more complicated, and the sub-machine operating area is usually an area that the main robot cannot enter, the complexity of the sub-machine operating area may be higher than that of the main robot. The perception system configured on the sub-robot is not rich enough, and its perception ability of the surrounding environment is worse than that of the main robot. Therefore, the optimization of the cleaning path of the sub-robot in the sub-robot operating area is very critical to the efficient cleaning of the sub-robot.

[0127] For example, the sub-machine operation area of ​​a certain operation partition can be extracted, and the connected domain analysis can be performed separately to obtain different connected domains, and each connected domain can be regarded as a sub-machine partition.

[0128] Alternatively, the sub-machine operation area can be divided into different sub-machine partitions based on different division parameters of the sub-machine operation area. For example, the carpet is used as a sub-machine partition, the sub-machine operation area determined based on the bottom height of the obstacle is used as a sub-machine partition, and the narrow channel is used as a sub-machine partition.

[0129] Alternatively, the main robot is equipped with a visual sensor and a 3D structured light sensor, and can determine the obstacle type based on the obstacle shape, AI, etc. The obstacle type may include a bed, a sofa, a cabinet, etc. The sub-areas may be divided according to the obstacle type, with the bottom space of the sofa as a sub-machine partition and the bottom space of the cabinet as a sub-machine partition.

[0130] Alternatively, the obstacle type, the division parameters of the sub-machine operation area, any two of the connected domains, or the three are integrated to divide the sub-machine partitions. For example, if there is a narrow passage between the sofa and the cabinet, if the bottom space of the sofa, the bottom space of the cabinet, and the narrow passage between the two belong to the same connected domain, then the bottom space of the sofa, the bottom space of the cabinet, and the narrow passage between the two can be regarded as a sub-machine partition. If there is a narrow passage between the sofa and the carpet, and the bottom space of the sofa, the carpet area, and the narrow passage between the two belong to the same connected domain, because the cleaning logic of the carpet may be different from that of the ordinary floor, then only the narrow passage between the sofa and the carpet and the bottom space of the sofa can be regarded as a sub-machine partition, and the carpet can be regarded as a sub-machine partition alone. The above division method is only for illustration and does not constitute a direct limitation on the embodiments of this specification.

[0131] Alternatively, the sub-robot may also walk back and forth between the boundaries of the sub-machine operation area of ​​a certain operation partition until the sub-machine operation area of ​​the certain operation partition is preliminarily covered. Then, the area not preliminarily covered in the sub-machine operation area of ​​the certain operation partition is obtained, and for the area not preliminarily covered, the sub-machine partition is divided based on at least one of the obstacle type, the division parameter of the sub-machine operation area, and the connected domain.

[0132] Of course, the division of the sub-machine partitions may also be performed in other ways. For example, the sub-machine partitions may also be divided in combination with user input information, which is not limited here.

[0133] After the main robot cleans an operation partition A, based on the latest map information of the operation partition A, the sub-machine operation partitions in the operation partition A can be divided into at least one sub-machine partition by referring to the above sub-machine partition division method.

[0134] Alternatively, during the process of the main robot cleaning the operation partition A, the above-mentioned sub-machine partition division method can be referred to to generate the sub-machine partition in real time. Accordingly, in the case where the sub-machine partition is generated during the process of the main robot cleaning the operation partition A, the main robot cleans the uncleaned main machine operation area in the operation partition A, and the sub-robot cleans the generated sub-machine partition. For example, for the bottom space of a specific obstacle (such as a bed or a cabinet), after determining the area covered by the obstacle, the bottom space of the obstacle can be used as a sub-machine partition; after determining the carpet, the carpet can be used as a sub-machine partition, and so on. Accordingly, when the main robot is working in a certain operation partition A, after determining a sub-machine partition, the sub-robot can be controlled to work in the sub-machine partition, without waiting for the main robot to complete the cleaning of the operation partition A, and then controlling the sub-robot to perform the cleaning of the sub-machine operation area in the A area, thereby further improving the cleaning efficiency and flexibility.

[0135] Accordingly, in some embodiments, when a sub-machine partition is generated during the process of the main robot cleaning the first operation partition, the main robot cleans the uncleaned host operation area in the first operation partition, and the sub-robot cleans the generated sub-machine partition, thereby further improving cleaning efficiency and flexibility.

[0136] Alternatively, the sub-machine partitions may be pre-defined in the operation map as specific sub-machine partitions. For example, the area specified by the user is used as a specific sub-machine partition. Alternatively, the sub-machine partitions that meet the specified characteristics are pre-defined as specific sub-machine partitions. The specified characteristics may be carpets, the bottom space of obstacles that do not move for a long time, narrow passages formed by obstacles that do not move for a long time, and so on. The sub-robot can flexibly perform cleaning on the specific sub-machine partition without linking the main robot. For a specific sub-machine partition, there is no need to consider whether the main robot is cleaning or has completed cleaning the operation partition where the sub-machine partition is located. The sub-robot can go to the specific sub-machine partition to perform cleaning according to the pre-configured cleaning parameters and cleaning instructions.

[0137] The cleaning parameters of the sub-machine partition may include the number of cleaning times, cleaning intensity, cleaning type, cleaning frequency, cleaning time, etc. The cleaning intensity may include deep cleaning, ordinary cleaning, quick cleaning, etc. The cleaning types include single mopping, single sweeping, sweeping and mopping, etc. The cleaning frequency may be how often the sub-machine partition is cleaned. The probability of the bottom space of some obstacles being contaminated is small, so the bottom space of the obstacle can be set to be cleaned once a week. Since carpets are easy to absorb dust, they can be set to be cleaned once a day. The probability of contamination of narrow passages is not much different from the host operating area around them, so when the main robot cleans the host operating area around the narrow passage, the narrow passage can be cleaned synchronously. Configuring different cleaning parameters for different sub-machine partitions can further improve the cleaning flexibility and improve the cleaning quality. The cleaning parameters of different sub-machine partitions can be configured in combination with the sub-machine partition division method, or in combination with historical cleaning data and user input information.

[0138] The cleaning instruction may be issued by the main robot during the cleaning process. For example, during the cleaning process of operation partition A, the main robot may move to a specific sub-machine partition, retrieve the cleaning parameter information of the specific sub-machine partition, and determine whether the specific sub-machine partition needs to be cleaned in combination with the degree of dirtiness of the specific sub-machine partition collected in real time. If it is determined that the specific sub-machine partition needs to be cleaned, the position and environmental characteristics of the specific sub-machine partition may also be collected to update the operation map of the specific sub-machine partition, so that the sub-robot can clean the specific sub-machine partition more accurately.

[0139] The cleaning instructions can also be issued by the main robot when it is not performing a cleaning task, a sub-robot, other terminal devices or users. When the dirtiness or cleaning frequency of a specific sub-machine partition meets the requirements, the main robot, sub-robot, other terminal devices or users can issue instructions to make the sub-robot go to the specific sub-machine partition to perform cleaning, thereby improving the flexibility of cleaning the sub-machine operating area and further improving the user experience.

[0140] In the case where the main robot generates a sub-machine partition during the cleaning process so that the sub-robot goes to clean; or in the case where the main robot controls the sub-robot to go to a specific sub-machine partition after analyzing the specific sub-machine partition during the cleaning process, the cleaning information of the main robot and the sub-robot can be recorded in the operation map. After the main robot and the sub-robot complete the cleaning of a certain operation partition, the operation map can be analyzed to determine whether there is an uncleaned sub-machine operation area. If so, a comprehensive analysis can be performed on the uncleaned sub-machine operation area. The analysis method can refer to the scheme described in the above embodiment, such as combining the connected domain, obstacle type, and division parameters of the sub-machine operation area to determine whether the uncleaned sub-machine operation area needs to be divided into sub-machine partitions and the cleaning path needs to be planned, etc., to complete the supplementary cleaning of the uncleaned sub-machine operation area, while improving the cleaning flexibility and further improving the cleaning coverage.

[0141] Accordingly, in some embodiments, when there is a specific sub-machine partition in the operation map, the sub-robot cleans the specific sub-machine partition according to the cleaning instructions and / or pre-configured cleaning parameters to further improve the cleaning flexibility.

[0142] After cleaning the sub-machine operation area in the first operation partition, the sub-robot can go to the second operation partition to clean the sub-machine operation area as needed. For example, after cleaning the sub-machine operation area in the first operation partition, the sub-robot can send a cleaning completion signal to the main robot, and the main robot can determine whether the sub-robot needs the second operation partition to clean the sub-machine operation area after receiving the cleaning completion signal sent by the sub-robot. Of course, after cleaning the sub-machine operation area in the first operation partition, the sub-robot can determine whether it needs to go to the second operation partition to clean the sub-machine operation area based on the operation map fed back by the main robot. After confirming the need to go, the sub-robot can be controlled to go to the second operation partition. For example, the sub-robot can go to the second operation partition by itself based on the planned path, or it can go to the second operation partition under the guidance of the main robot.

[0143] The sub-robot can first perform cleaning on one sub-machine partition, and after the cleaning is completed, it can perform cleaning on another sub-machine partition. For the convenience of description, the sub-machine partition currently being cleaned can be regarded as the first sub-machine partition, and the sub-machine partition to be cleaned can be regarded as the second sub-machine partition. For example, after cleaning the first sub-machine partition, the sub-robot can send a cleaning completion signal to the main robot, and the main robot can determine whether the sub-robot needs to clean the second sub-machine partition after receiving the cleaning completion signal sent by the sub-robot. Of course, after cleaning the first sub-machine partition, the sub-robot can determine whether it needs to go to the second sub-machine partition for cleaning based on the work map. After confirming that it is necessary to go, the sub-robot can be controlled to go to the second sub-machine partition. For example, the sub-robot can go to the second sub-machine partition by itself based on the planned path, or it can go to the second sub-machine partition under the guidance of the main robot.

[0144] Although the sub-robot is equipped with a perception system, its perception system may be relatively simple, making the sub-robot not as accurate and efficient as the main robot in moving, cleaning, or responding to special situations. For example, although the sub-robot can also be equipped with an odometer, since the sub-robot is not equipped with a visual sensor, laser sensor, etc., the odometer configured in the sub-robot is usually a wheel odometer, and the accuracy of the wheel odometer is relatively difficult to guarantee compared to the odometer that combines visual and laser radar data. If the distance between two operating partitions or two sub-machine partitions is far and / or the environment is relatively complex, the sub-robot is prone to deviation in the process of going to the second operating partition or the second sub-machine partition based on path planning. In some embodiments, the sub-robot can also be relocated for some special scenarios so that the sub-robot can clarify its global position information in the operating map, improve the cleaning accuracy and efficiency of the sub-robot, and improve the sub-robot's ability to respond to special situations.

[0145] In some embodiments, the main robot can be used to assist in repositioning the sub-robot to determine the global position information of the sub-robot in the work map. The global positioning information may refer to the position information of the robot in the work map. In view of the rich perception system of the main robot, the positioning of the main robot is more accurate. The positioning of the sub-robot based on the main robot can make the positioning of the sub-robot more accurate, and there is no need to configure a complex perception system on the sub-robot, which can make the sub-robot more flexible.

[0146] For example, the main robot can first determine the current position range of the sub-robot. For example, the sub-robot can determine the current position range of the sub-robot based on the initial position of the cleaning path or the travel path and the cleaning path or the travel path, and send it to the main robot. Alternatively, after the main robot confirms the work partition / sub-machine partition that the sub-robot is cleaning, or receives a signal that a certain work partition / sub-machine partition has been cleaned, it can roughly confirm the work partition / sub-machine partition where the sub-robot is located, and the work partition / sub-machine partition where the sub-robot is located can be used as the current position range of the sub-robot. Alternatively, the main robot can be based on the interaction with the sub-robot, or the main robot detects the sub-robot through a laser radar or a visual sensor. After detecting the sub-robot, based on the signal interaction information and the detection information, it preliminarily determines the current position range of the sub-robot. After confirming that the main robot has arrived at the current position range of the sub-robot, the main robot is used to assist in repositioning the sub-robot. The current position range of the sub-robot determined based on the above method can facilitate the main robot to quickly move to the vicinity of the sub-robot to assist in repositioning the sub-robot.

[0147] The main robot may be provided with a sub-robot posture perception unit for obtaining the position and orientation of the sub-robot. The sub-robot posture perception unit may include a signal transmitting device or a signal receiving device provided on the main robot. Accordingly, the sub-robot may be provided with a signal receiving device or a signal transmitting device that interacts with the sub-robot posture perception unit. The main robot / sub-robot determines the position and orientation of the sub-robot based on the interaction information between the signal transmitting device and the signal receiving device.

[0148] Alternatively, refer to Figure 2 , the sub-robot posture perception unit includes a contour acquisition sensor and a distance measurement sensor arranged on the main robot. The sub-robot has a first contour for characterizing its first orientation and a second contour for characterizing its second orientation, and the shape of the first contour is different from the shape of the second contour. Among them, the contour detection sensor is used to detect the contour information of the sub-robot to determine the orientation of the sub-robot relative to the main robot based on the contour information. The distance detection sensor is used to detect the distance of the sub-robot relative to the main robot. Accordingly, when the main robot assists the sub-robot in performing repositioning, the repositioning can be performed based on the distance and orientation of the sub-robot relative to the main robot.

[0149] The first direction may be the moving direction of the sub-robot, and the second direction may be the retreating direction of the sub-robot; or, the second direction may be the moving direction of the sub-robot, and the first direction may be the retreating direction of the sub-robot.

[0150] For example, the body of the sub-robot may be D-shaped. The sub-robot may move in an arc shape and move backward in a straight line. The contour acquisition sensor may be a two-dimensional laser radar or a three-dimensional laser radar, a visual sensor, a line laser sensor, etc., to collect the contour of the sub-robot, and then determine the orientation of the sub-robot relative to the main robot based on the contour of the sub-robot. The ranging sensor may be a two-dimensional laser radar or a three-dimensional laser radar to collect the position of the sub-robot relative to the main robot. Of course, the body shape may also be a Lello triangle, etc., which is not limited here.

[0151] The main robot is usually equipped with a sensor for detecting the outline of obstacles. The main robot's outline acquisition sensor and outline processing algorithm can be reused to quickly determine the sub-robot's orientation based on the detected sub-robot's outline, thereby improving the accuracy and efficiency of determining the sub-robot's orientation. At the same time, it can also further avoid setting up a signal device for determining the sub-robot's orientation on the sub-robot, reduce the complexity of the sub-robot equipment, compress the size and height of the sub-robot, and improve the flexibility of the sub-robot's movement, thereby improving the cleaning coverage.

[0152] The above method can be used to determine the posture of the sub-robot relative to the main robot, that is, the position and orientation of the sub-robot relative to the main robot. The position and orientation of the sub-robot relative to the main robot can be used as the local positioning information of the sub-robot. The global positioning information of the main robot is stored in the main robot. The global positioning information may include at least the position and direction of the main robot in the operation map. By combining the position and direction of the main robot in the operation map, and the position and orientation of the sub-robot relative to the main robot, the position and direction of the sub-robot in the operation map can be determined, and then the global positioning information of the sub-robot can be determined, thereby realizing the repositioning of the sub-robot. The above method can be used to quickly and accurately determine the posture of the sub-robot relative to the main robot, and then the global positioning information of the main robot can be used to assist in the repositioning of the sub-robot, which can make the repositioning of the sub-robot simpler and more efficient.

[0153] Of course, the sub-robot may also be repositioned in combination with the distance and orientation of the sub-robot relative to the main robot and the global positioning information of other devices.

[0154] In some other embodiments, the main robot obtains the global positioning information of the sub-robot based on the global positioning information of the main robot and the local positioning information of the sub-robot; the local positioning information refers to the distance and orientation of the sub-robot relative to the main robot. Alternatively, the sub-robot obtains the global positioning information of the sub-robot based on the global positioning information of the main robot and the local positioning information of the sub-robot; the local positioning information refers to the distance and orientation of the sub-robot relative to the main robot. Based on this implementation, the efficiency and accuracy of repositioning can be further improved.

[0155] Of course, the sub-robot can also detect nearby landmarks, and then compare the detected information with the work map to determine its own position and orientation in the work map, thereby completing repositioning.

[0156] In some embodiments, before the sub-robot performs an action of leaving the first sub-machine partition, or when the sub-robot arrives at the second sub-machine partition, the main robot assists the sub-robot in performing repositioning.

[0157] The sub-robot may execute the action of leaving the first sub-machine partition after receiving the instruction to leave the first sub-machine partition. Alternatively, the sub-robot may first run to the boundary of the first sub-machine partition and the main machine operating area after receiving the instruction to leave the first sub-machine partition, and then execute the action of leaving the first sub-machine partition. The detection range of the main robot to the sub-machine partition is limited. In this way, it is more convenient for the main robot to interact with the sub-robot and improve the accuracy of repositioning. Before executing the action of leaving the first sub-machine partition, repositioning may be performed first. The instruction to leave the first sub-machine partition may be issued by the controller of the sub-robot after self-determination, or by the main robot, or by the user, other terminals, etc., which is not limited here. The instruction to leave the first sub-machine partition may be issued when the sub-robot wants to switch to a cleaning sub-partition, or when the sub-robot wants to return to the base station, and so on.

[0158] The sub-robot arrives at the second sub-machine partition, which may mean, for example, arriving at an initial position of the second sub-partition for starting to perform cleaning, or may also mean arriving at a boundary of the second sub-partition.

[0159] The sub-robot is prone to posture deviation during the cleaning process or the moving process. Before the sub-robot leaves the first sub-machine partition, or when the sub-robot arrives at the second sub-machine partition, it is necessary to first perform repositioning and then move to the next sub-partition based on the planned path, or return to the base station, so as to improve the accuracy of the sub-robot's movement.

[0160] In some embodiments, the sub-robot performs the action of leaving the first sub-machine partition, including: after the sub-robot cleans the first sub-machine partition, the sub-robot performs the action of leaving the first sub-machine partition to go to the second sub-machine partition. Accordingly, after repositioning, the sub-robot goes from the first sub-machine partition to the second sub-machine partition based on the planned path.

[0161] In some embodiments, the sub-robot performs the action of leaving the first sub-machine partition, including: the sub-robot receives an instruction to return to the base station, performs the action of leaving the first sub-machine partition to return to the base station. The scenario in which the sub-robot receives the instruction to return to the base station includes at least one of the following: the first sub-machine partition is the last sub-machine partition of the cleaning task; the sub-robot is low on power when cleaning the first sub-machine partition; the sub-robot triggers the return to the base station to collect dust or clean the rag when cleaning the first sub-machine partition. Accordingly, after repositioning, the sub-robot returns to the base station based on the planned path.

[0162] In some embodiments, before the sub-robot performs an action of leaving the first working zone, or when the sub-robot reaches the sub-machine working area of ​​the second working zone, the main robot assists the sub-robot in performing repositioning.

[0163] The sub-robot may execute the action of leaving the first operating partition after receiving the instruction to leave the first operating partition. Alternatively, the sub-robot may first run to the boundary between the sub-machine operating area currently being cleaned and the main machine operating area after receiving the instruction to leave the first operating partition, and then execute the action of leaving the first operating partition. In this way, it is more convenient for the main robot to interact with the sub-robot and improve the accuracy of repositioning. Before executing the action of leaving the first sub-machine partition, repositioning may be performed first. The instruction to leave the first sub-machine partition may be issued by the controller of the sub-robot after self-determination, or may be issued by the main robot, or may be issued by the user, other terminals, etc., which is not limited here. The instruction to leave the first operating partition may be issued when the sub-robot wants to switch the cleaning operating partition, or may be issued when the sub-robot wants to return to the base station, and so on.

[0164] The sub-robot arrives at the sub-machine working area of ​​the second working partition, which may mean, for example, arriving at the initial position in the sub-machine working area of ​​the second working partition to start cleaning, or may also mean arriving at the boundary of the sub-machine working area of ​​the second working partition.

[0165] The sub-robot performs the action of leaving the first working area, including: after the sub-robot cleans the first working area, the sub-robot performs the action of leaving the first working area to go to the second working area. Accordingly, after repositioning, the sub-robot goes from the first working area to the second working area based on the planned path.

[0166] The sub-robot performs the action of leaving the first operation partition, including: the sub-robot receives the instruction to return to the base station, and performs the action of leaving the first operation partition to return to the base station. The scenario in which the sub-robot receives the instruction to return to the base station includes at least one of the following: the first operation partition is the last operation partition of the sub-robot's cleaning task; the sub-robot is low on power when cleaning the first operation partition; the sub-robot is triggered to return to the base station to collect dust or clean the rag when cleaning the first operation partition. Accordingly, after repositioning, the sub-robot returns to the base station based on the planned path.

[0167] The repositioning method can refer to the above embodiment and will not be described in detail here. The main robot can be used to assist in repositioning the sub-robot to further improve the accuracy of the sub-robot repositioning, thereby improving the cleaning effect of the sub-robot.

[0168] When the sub-robot goes to the second operation area or the second sub-machine area, the travel path may be long or the surrounding environment may be complex. The perception system configured by the sub-robot is relatively simple, which makes it easy for the sub-robot to deviate when going to the second operation area or the second sub-machine area. If repositioning is not performed, the sub-robot may deviate when cleaning the sub-machine operation area of ​​the second operation area or the second sub-machine area, affecting the cleaning effect. After repositioning, the sub-robot can be controlled to perform cleaning, which can further ensure the cleaning effect of the sub-robot.

[0169] The sub-machine operation area may have complex environmental characteristics and less environmental characteristic information. When the sub-robot performs cleaning on the sub-machine operation area of ​​the first operation partition or the first sub-machine partition, and the perception system configured by the sub-robot is relatively simple, the sub-robot may deviate during the cleaning process. Repositioning the sub-robot and then controlling the sub-robot to go to the second operation partition or the second sub-machine partition based on the planned path can further improve the accuracy of the sub-robot's movement to the second operation partition or the second sub-machine partition, and reduce the possibility of the sub-robot initially deviating.

[0170] Based on the above method, after repositioning, the sub-robot can move on its own more conveniently when heading to the next location or performing cleaning again. Compared with the main robot leading the sub-robot, frequent interactions between the sub-robot and the main robot can be avoided, or hardware connection between the main robot and the sub-robot can be avoided, thereby improving the simplicity and flexibility of the sub-robot's movement.

[0171] In some implementations, the main robot and the sub-robot can also be set to clean in the same work area. At this time, using the main robot to reposition the sub-robot will not excessively affect the cleaning work of the main robot, thereby improving the cleaning effect while ensuring the overall cleaning efficiency.

[0172] Alternatively, before the sub-robot docks with the base station, the sub-robot may be repositioned to determine the global position information of the sub-robot in the work map, and then the sub-robot may be controlled to dock with the base station for charging, thereby improving the efficiency of docking the sub-robot with the base station.

[0173] refer to Figure 4 The sub-machine operation area is usually an area where the main robot cannot move. In particular, the main robot's perception system is usually unable to detect low spaces, which makes the environmental information of the sub-machine operation area at least partially missing. The perception system configured by the sub-robot is relatively simple and cannot detect rich and accurate environmental information for the sub-machine operation area, making it easy for the sub-robot to get trapped or repeatedly clean for a long time during the cleaning process of the sub-machine operation area.

[0174] In some embodiments, when the sub-robot is trapped or the cleaning time of the first sub-machine partition exceeds a preset time threshold, the sub-robot performs repositioning.

[0175] For example, after the sub-robot confirms that it is trapped based on its operating parameters, it can send a trapped prompt message to the main robot; or the main robot can determine that the sub-robot is trapped based on the sub-robot's operating parameters. The main robot can go to the area where the sub-robot is trapped to assist the sub-robot in repositioning. After the sub-robot completes the repositioning, it can control the sub-robot to go to the location of the main robot based on the sub-robot's position and orientation relative to the main robot to achieve autonomous escape. If the sub-robot cannot achieve autonomous escape, a reminder will be sent to the user. By first escaping autonomously, the flexibility of overall cleaning and user experience can be further improved.

[0176] When the duration that the sub-robot stays in the first sub-machine partition exceeds the preset duration threshold, the sub-robot can be repositioned. The preset duration threshold can be determined based on the cleaning area of ​​the sub-machine partition, the environmental features corresponding to the sub-machine partition, the historical cleaning duration, user input information, etc. When there are fewer environmental features in the operation map, the environmental features can be determined in combination with the obstacle type corresponding to the sub-machine partition, the division parameters of the sub-machine operation area, etc. For example, the sub-machine partition corresponds to the bottom space of the obstacle. At this time, the environmental features of the bottom space of the obstacle are usually less. The preset duration threshold of the sub-machine partition can be determined in combination with the possible environmental features of the bottom space of different obstacles to improve the accuracy of the preset duration threshold estimation.

[0177] For the first sub-machine partition whose environmental information can be detected by the main robot such as narrow passages and carpets, the area to be cleaned of the first sub-machine partition can be determined based on the information detected by the main robot. For the first sub-machine partition determined based on the bottom height of the obstacle, the area to be cleaned of the first sub-machine partition can be determined based on the obstacle type and the area of ​​the obstacle parallel to the surface to be cleaned detected by the main robot, such as the first sub-machine partition formed by the empty bottom of the cabinet can be determined in this way; or, the area to be cleaned of the first sub-machine partition can also be determined in combination with the obstacle boundary information detected by the main robot and / or the sub-robot, such as the first sub-machine partition formed by the concave of the cabinet. The bottom space of some obstacles may have a more complex environment, and the preset time threshold can be extended for special obstacles with a more complex bottom space in combination with the obstacle type. Determining the preset time threshold in combination with the area to be cleaned of the sub-machine partition and the obstacle type corresponding to the sub-machine partition can improve the accuracy of the judgment of whether the sub-robot has cleaning abnormalities, avoid excessive repositioning or long-term non-repositioning, and affect the cleaning efficiency and user experience.

[0178] In some embodiments, when the main robot confirms that the sub-robot performs relocation, the main robot moves to the host operation area around the first sub-machine partition to assist the sub-robot in performing relocation. After the main robot moves to the host operation area around the first sub-machine partition, it can interact with the sub-robot conveniently to improve the accuracy and efficiency of relocation. The host operation area around the first sub-machine partition can refer to the above embodiment and will not be described here.

[0179] In some other embodiments, the sub-robot moves from the first sub-machine partition to the main machine operation area around the first sub-machine partition, so that the main robot assists the sub-robot in completing the repositioning. The main robot's perception system has a limited detection range of the sub-machine operation area. The sub-robot moves to the main machine operation area to perform repositioning, which can make it more convenient to interact with the sub-robot and improve the accuracy and efficiency of repositioning. The main machine operation area around the first sub-machine partition can refer to the above embodiment and will not be described here.

[0180] In other embodiments, after repositioning, the sub-robot can continue to clean the first sub-machine partition based on the re-planned cleaning path to accurately and comprehensively complete the cleaning of the sub-machine partition. Of course, if it is confirmed that the first sub-machine partition has been cleaned, it can also perform the action of returning to the base station or going to the next sub-machine operation area.

[0181] In some embodiments, when it is confirmed that the sub-robot is out of hijacking, the main robot can be used to assist the sub-robot in repositioning. In the case of being trapped, switching areas, etc., the user can intervene and move the sub-robot out of the trapped area, or the user switches the cleaning area of ​​the sub-robot by moving it, thereby creating a scene where the sub-robot is hijacked. After the user has freed the sub-robot, or moved the sub-robot to a designated sub-area that currently needs to be cleaned, the user can put the sub-robot on the ground to free the sub-robot from hijacking and continue cleaning. At this point, the global positioning information of the sub-robot in the map is unknown, and the main robot can be used to assist the sub-robot in repositioning, and after repositioning, the cleaning operation can be performed. After confirming that the sub-robot is out of hijacking, the main robot can be used to assist the sub-robot in repositioning, so that the repositioning of the sub-robot can be completed more efficiently and accurately, and the accuracy and efficiency of the sub-robot's cleaning can be improved.

[0182] Based on the scheme provided by the above embodiment, the embodiment of this specification also provides a multi-robot collaboration method, wherein the multi-robot includes a main robot and a sub-robot, the operation area of ​​the multi-robot includes a main machine operation area and a sub-machine operation area, the sub-machine operation area includes at least one sub-machine partition, and the method is applied to the sub-robot. The method includes: before executing the action of leaving the first sub-machine partition or arriving at the second sub-machine partition, sending a relocation request to the main robot so that the main robot assists in relocation; or, in the case of receiving the relocation instruction of the main robot, performing relocation with the assistance of the main robot, the relocation instruction is issued by the main robot when confirming that the sub-robot needs to execute the action of leaving the first sub-machine partition or confirming that the sub-robot arrives at the second sub-machine partition; wherein the first sub-machine partition is the sub-machine partition currently cleaned by the sub-robot, and the second sub-machine partition is the sub-machine partition to be cleaned by the sub-robot; after relocation, travel based on the planned path. For the specific implementation method, reference can be made to the above embodiment, which will not be repeated here.

[0183] Based on the scheme provided by the above embodiment, the embodiment of this specification also provides a multi-robot collaboration method, wherein the multi-robot includes a main robot and a sub-robot, the operation area of ​​the multi-robot includes a main machine operation area and a sub-machine operation area, the sub-machine operation area includes at least one sub-machine partition, and the method is applied to the main robot. The method includes: in the case of confirming that the sub-robot needs to perform an action of leaving the first sub-machine partition, or confirming that the sub-robot arrives at the second sub-machine partition, assisting the sub-robot to perform repositioning, so that the sub-robot moves based on the planned path after repositioning; or, after receiving the repositioning request of the sub-robot, assisting the sub-robot to perform repositioning, so that the sub-robot moves based on the planned path after repositioning, the repositioning request is issued by the sub-robot before the action of leaving the first sub-machine partition is performed or when it arrives at the second sub-machine partition; wherein the first sub-machine partition is the sub-machine partition currently cleaned by the sub-robot, and the second sub-machine partition is the sub-machine partition to be cleaned by the sub-robot. For the specific implementation method, reference can be made to the above embodiment, which will not be repeated here.

[0184] In the embodiment of the present specification, the main robot can be controlled to assist the sub-robot in performing repositioning based on the determination that the position of the sub-robot and the position of the main robot meet the repositioning requirements of the sub-machine posture perception unit. It can be determined whether the position of the sub-robot and the position of the main robot meet the repositioning requirements of the sub-machine posture perception unit based on the operation map and the information detected in real time by the main robot and the sub-robot but not stored in the operation map.

[0185] With reference to the above-mentioned embodiment, the sub-robot posture perception unit of the main robot assisting the sub-robot in performing repositioning has a detection range, and the detection range may include, for example, detection distance, detection direction, detection angle range, detection height, and the like.

[0186] For example, the sub-machine posture perception unit can be a visual sensor set on the front side of the fuselage. Affected by the acquisition parameters of the visual sensor itself and the setting position of the visual sensor, the visual sensor has a preset detection distance, detection angle range, detection direction, and detection height. In order to facilitate the collection of obstacle distribution information that affects the robot's movement, the visual sensor usually only needs to collect the ground image within the preset range in front and the information between the ground and the robot height. The detection direction of the visual sensor is usually set to the direction of travel of the fuselage, and the horizontal detection angle range is as close to 180 degrees as possible, or a larger angle range, but due to the structure of the sensor itself, the horizontal angle range is difficult to reach 360 degrees. Given that the working space of the cleaning robot is usually a family house, the size of each room in the family house is limited, so that all areas in the room may be within the detection range of the visual sensor; of course, when the room area is large, or affected by the parameters of the visual sensor itself, some areas in the room are not within the detection range of the visual sensor.

[0187] The sub-machine posture perception unit can also include a laser radar. The laser radar of some cleaning robots is set above the fuselage and can rotate 360 ​​degrees. The collection distance of the laser radar can generally cover all areas of the room. However, the laser radar has a fixed detection height. If the obstacle is lower than the detection height, the laser radar cannot detect it.

[0188] The sub-machine posture perception unit can also be a signal sending device that matches the signal receiving device of the sub-robot, or a signal receiving device that matches the signal transmitting device of the sub-robot. In some scene examples, Bluetooth, infrared and other sensors can be used as signal receiving devices and signal transmitting devices to determine the posture information of the sub-machine. Usually, the collection distance of Bluetooth, infrared and other sensors is limited, and due to the influence of the installation position, the collection direction is also fixed, and the collection angle range is difficult to reach 360 degrees.

[0189] In addition, when the main robot's laser radar is used as the sub-machine posture perception unit, it is necessary to control the movement of the sub-robot. If the obstacles around the sub-robot are complex and it is difficult for the sub-robot to move, the main robot cannot assist the sub-robot in repositioning. Alternatively, when the main robot's visual sensor is used as the sub-machine posture perception unit, the visual sensor is more sensitive to the brightness of the ambient light. Although the visual sensor can sense the sub-robot, there is a lot of noise when there are many interference factors in the ambient light, which may also cause deviations in contour recognition and affect the accuracy of repositioning. Alternatively, when using the Bluetooth installed on the main robot as the sub-machine posture perception unit, it may be necessary to control both the main robot and the sub-robot to perform certain actions before the sub-robot can be repositioned.

[0190] Therefore, affected by the detection range of the sub-machine posture perception unit, the distribution of obstacles around the robot, the ambient light intensity, the main robot assisting the sub-robot repositioning algorithm, etc., when the position of the sub-robot and / or the main robot does not meet the repositioning requirements of the sub-machine posture perception unit, when the main robot assists the sub-robot in performing repositioning, it is easy for the sub-robot to get stuck, the sub-machine posture perception unit cannot accurately detect the sub-robot's information, and other problems, resulting in the failure of the main robot to assist the sub-robot in repositioning, or inaccurate repositioning results. If the sub-robot repositioning fails, the main robot needs to analyze the cause of the failure and make complex adjustments; if the sub-robot is stuck, user intervention is required; and when the repositioning is inaccurate, the subsequent movement of the sub-robot and the cleaning accuracy are difficult to guarantee, resulting in poor sub-robot operation accuracy and cleaning coverage, poor multi-robot interaction flexibility, and poor user experience.

[0191] In the embodiment of the present specification, after determining that the position of the sub-robot and the position of the main robot meet the repositioning requirements corresponding to the sub-robot posture perception unit, the main robot assists the sub-robot in performing repositioning, which can further ensure the operating accuracy and cleaning coverage of the sub-robot, and improve the interactive flexibility of multiple robots, thereby improving the user experience.

[0192] The sub-machine posture perception unit has different sensor types and auxiliary relocation algorithms, so the relocation requirements of the sub-machine posture perception unit are also different. Therefore, the relocation requirements of the sub-machine posture perception unit can be determined in advance for the sensor type and auxiliary relocation algorithm of the sub-machine posture perception unit configured by the main robot, and the relocation requirements can be pre-stored. For example, it can be stored in the main robot and / or the sub-robot. Before auxiliary relocation, the main robot and / or the sub-robot determines whether the position of the sub-robot and the position of the main robot meet the requirements based on the pre-stored relocation requirements.

[0193] The position that meets the relocation requirement of the sub-machine posture perception unit may include: the sub-robot is within the detection range of the sub-machine posture perception unit of the main robot, and there are no obstacles blocking the sub-machine posture perception unit from detecting the sub-robot.

[0194] When it is determined that the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking it, the main robot assists the sub-robot in performing repositioning. If the sub-robot is not within the detection range of the sub-machine posture perception unit, or there is an obstacle blocking it, the main robot or the sub-robot is controlled to move so that the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking it. The detection range of some sub-machine posture perception units may be limited, and the external environment is relatively complex and changeable. When it is determined based on the operation map information that the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking it, the sub-robot is repositioned, which can further improve the efficiency of the sub-robot repositioning and improve the user experience.

[0195] The position that meets the relocation requirement of the sub-machine posture perception unit may also include: the environmental characteristics of the sub-robot location, and / or the environmental characteristics of the main robot location, and / or the environmental characteristics of the area between the main robot and the sub-robot meet the relocation requirement of the sub-machine posture perception unit. Environmental characteristics may include ambient light brightness, obstacle distribution characteristics, etc.

[0196] In the case where the environmental characteristics of the location of the sub-robot, and / or the environmental characteristics of the location of the main robot, and / or the environmental characteristics of the area between the main robot and the sub-robot do not meet the relocation requirements, the sub-robot and / or the main robot can be controlled to move until the corresponding environmental characteristics meet the relocation requirements of the sub-machine posture perception unit. For example, in the case where the obstacle distribution at the location of the sub-robot is relatively complex, or the obstacle distribution in the area between the main robot and the sub-robot is relatively complex, the sub-robot and / or the main robot can be controlled to move so that the sub-robot and / or the main robot moves to a relatively open area, which is convenient for the sub-robot and / or the main robot to perform relocation actions, etc.

[0197] For example, the brightness of a low space is generally weak. If the sub-machine posture perception unit relies on the ambient light brightness to perceive the sub-robot, the sub-robot should be relocated after it exits the low space. The distribution of obstacles near narrow passages is usually more complex. If the sub-machine posture perception unit requires the sub-robot to move to achieve relocation, relocation can be performed after the sub-robot exits the narrow passage. Environmental features can be determined based on the work map, and can also be determined in combination with the ambient light brightness information detected in real time by the main robot. The conditions that the environmental features around the sub-robot need to meet are determined based on the type of the sub-machine posture perception unit and the algorithm for the main robot to assist the sub-robot in relocation, and are not limited here.

[0198] If an abnormality occurs during the relocation process, the sub-robot and / or the main robot are controlled to move. The processing logic is usually complicated and cumbersome, and the abnormality during the relocation process will also affect the user experience. In the embodiments of this specification, by performing relocation when the environmental characteristics of the sub-robot's location, and / or the main robot's location, and / or the area between the main robot and the sub-robot meet the relocation requirements, the probability of abnormalities during the relocation process can be reduced, the relocation success rate can be effectively improved, and the user experience can be improved.

[0199] In some embodiments, the position of the sub-robot that meets the repositioning requirements of the sub-machine posture perception unit and the position of the main robot can be determined. Before the main robot assists the sub-robot in performing repositioning, the sub-robot and / or the main robot can move to a position that meets the repositioning requirements of the sub-machine posture perception unit.

[0200] The operation map stores information such as the posture information of the sub-robot and the main robot, as well as information such as the obstacle distribution. The sub-robot and / or the main robot can determine the position of the sub-robot and the position of the main robot that meet the relocation requirements of the posture perception unit of the sub-machine based on the map information, so that the sub-robot and / or the main robot move to the position that meets the relocation requirements of the posture perception unit of the sub-machine. The obstacle information in the operation map can be updated in real time with the obstacle information determined by the main robot and the sub-robot during the movement, and the position that meets the relocation requirements of the posture perception unit of the sub-machine can also be adjusted in real time with the update of the operation map to ensure that the position that meets the relocation requirements of the posture perception unit of the sub-machine is consistent with the actual operation environment. Of course, during the movement process, the position that meets the relocation requirements of the posture perception unit of the sub-machine can also be adjusted in combination with the information collected by the robot in real time, such as the ambient light brightness and other information.

[0201] In some embodiments, when the main robot confirms that the sub-robot performs repositioning, the main robot can also move to the main machine operation area around the sub-machine operation area where the sub-robot is currently performing operations. Alternatively, the sub-robot can move from the sub-machine operation area where the sub-machine is currently performing operations to the main machine operation area around the sub-machine operation area; or the sub-robot moves to the boundary between the sub-machine operation area and the main machine operation area. The main robot and the sub-robot perform preliminary movements in the above manner, which can initially reduce the distance between the main robot and the sub-robot, and reduce the obstruction of obstacles. In this way, the complexity of the movement path planning of the main robot and the sub-robot can also be reduced. Due to the complex and changeable working environment, after the sub-robot and / or the main robot moves to the preliminarily determined position, it can also analyze based on the real-time collected information, further adjust the position that meets the repositioning requirements of the sub-machine posture perception unit, and move to the adjusted position to ensure that the position of the sub-robot and the position of the main robot meet the repositioning requirements of the sub-machine posture perception unit.

[0202] Some types of obstacle detection sensors installed on cleaning robots, such as lidar, line laser, etc., cannot identify or are difficult to accurately identify obstacles with weak light emission signals or reflection signals that are different from those of conventional objects (such as mirrors, glass, etc.). Alternatively, if the obstacle detection sensor is a visual sensor, in darker areas, if the cleaning robot is not equipped with a fill light device, the visual sensor cannot accurately identify obstacles. For the above obstacles, the cleaning robot can use other contact sensors such as collision plates for additional identification.

[0203] The sub-machine operation area is usually a low space or a narrow space, so that the sub-machine posture perception unit of the main robot in the sub-machine operation area cannot detect many positions. Therefore, as described in the above embodiment, before performing relocation, it is necessary to control the sub-robot to move to a position that meets the relocation requirements of the sub-machine posture perception unit, and then perform relocation. For example, the sub-robot is controlled to move to the boundary of the sub-machine operation area and the main machine operation area or a position close to the boundary, but the boundary or the position close to the boundary is usually cleaned along the edge by the main robot or the sub-robot. During the cleaning process, the main robot or the sub-robot may not be in direct contact with the boundary, so that some obstacles that are not identified by non-contact sensors such as laser radar, line laser, and visual sensor are not marked on the operation map. Alternatively, although the main robot or the sub-robot uses contact to identify the above obstacles during the cleaning process, the outline of the obstacle identified by the collision plate is usually not accurate enough, so that some obstacles identified based on the collision plate are marked on the operation map, but there is a deviation between the identification information and the actual obstacle information.

[0204] In addition, due to the performance of the obstacle detection sensor itself or the built-in algorithm, there are some obstacles that the cleaning robot cannot accurately identify. For example, the outline, position, and type of the obstacle identified by the cleaning robot may deviate from the actual outline, position, and type of the obstacle.

[0205] The perception system configured for the sub-robot is relatively simple, which makes the robot more likely to have position deviations during its movement. Therefore, the sub-robot in the operation map is also more likely to have position deviations. Of course, affected by the complex operation environment, it is not ruled out that the main robot's position may also deviate.

[0206] Therefore, there may be a certain deviation between the obstacle information in the operation map and the actual operation environment, and there may also be deviations in the posture information of the sub-robot and the main robot in the operation map. After controlling the sub-robot and / or the main robot to move to a position that meets the relocation requirements of the sub-machine posture perception unit, at least due to the influence of the external environment on the detection of the sub-machine posture perception unit, the difference between the environmental information in the operation map and the environmental information of the actual operation area, and the difference between the posture information of the main robot and the sub-robot in the operation map and the actual posture information of the main robot and the sub-robot, when it is determined based on the operation map that the sub-robot is within the detection range of the sub-machine posture perception unit and there is no obstacle blocking, the sub-robot is actually not within the detection range of the sub-machine posture perception unit, and / or there is an obstacle blocking, etc., resulting in the main robot's sub-machine posture perception unit not being able to perceive the sub-robot, and the main robot cannot assist in the relocation of the sub-robot.

[0207] For example, when the sub-robot is moving, position deviation may occur. When the main robot moves to the vicinity of the sub-robot based on the position information updated by the sub-robot on the operation map and assists the sub-robot in relocation, the actual position of the sub-robot deviates from the position marked on the operation map. The sub-robot is actually outside the detection range of the visual sensor of the main robot. The image collected by the visual sensor of the main robot does not contain the sub-robot. Accordingly, the main robot cannot assist the sub-robot in relocation based on the visual sensor. Alternatively, there are obstacles around the sub-robot. When the main robot assists the sub-robot in relocation, the sub-robot is blocked by the obstacles. Although the sub-robot is within the detection range of the visual sensor, there are obstacles blocking the sub-robot. Therefore, the image collected by the visual sensor of the main robot does not contain the sub-robot. Accordingly, the main robot cannot assist the sub-robot in relocation based on the visual sensor. Alternatively, the area near the sub-robot is darker, and the sub-robot posture perception unit of the main robot cannot perceive the sub-robot. The main robot cannot assist in relocation of the sub-robot, etc.

[0208] In the embodiments of the present specification, when the main robot assists the sub-robot in performing repositioning and the sub-robot position perception unit of the main robot cannot perceive the sub-robot, the main robot can perform a search action and / or the sub-robot can perform a response action to enable the main robot to try to perceive the sub-robot.

[0209] For example, after controlling the sub-robot and / or the main robot to move to a position that meets the repositioning requirements of the sub-robot position perception unit, the main robot can assist the sub-robot in performing repositioning. If the sub-robot position perception unit of the main robot cannot perceive the sub-robot at this time, the main robot can perform a search action, and / or the sub-robot performs a response action, so that the main robot tries to perceive the sub-robot.

[0210] The action modes involved in the search action and the response action may include one or a combination of the following: rotation in situ, forward linear movement, backward linear movement, curved movement, etc. For example, the search action may be for the main robot to move back and forth near the position of the sub-robot displayed in the work map, trying to sense the sub-robot. The response action may be for the sub-robot to move back and forth near the position of the main robot displayed in the work map, so that the main robot tries to sense the sub-robot. When the main robot is performing the search action, the sub-robot may wait in situ; or when the sub-robot is performing the response action, the main robot may wait in situ; of course, when the main robot is performing the search action, the sub-robot may perform the response action at the same time. The search action and the response action can be configured as needed, and are not limited here.

[0211] The main robot can send signals to the sub-robot through communication so that the main robot and the sub-robot can perform corresponding actions. For example, the main robot can send a signal to the sub-robot to leave the sub-machine operation area that cannot be sensed at present and go to the preset position. Since the communication method usually adopts a wireless network or other methods that can cross obstacles for long-distance interaction, the influence of obstacles and distance is reduced through communication, and the interaction between the main robot and the sub-robot is realized, and the action information that needs to be executed is transmitted to each other. For example, the main robot can start timing when the sub-robot cannot be sensed. After the timing meets the preset first duration, it uses the communication connection to exchange information with the sub-robot, sends the sub-robot a response action that needs to be executed or waits in place.

[0212] The actual working environment is relatively complex and changeable, and the working map cannot guarantee to accurately and comprehensively reflect various information of the actual working environment. Therefore, even if the sub-robot is confirmed to be within the detection range of the sub-machine posture perception unit based on the working map and there are no obstacles blocking it, and then the main robot is controlled to assist the sub-robot in performing repositioning, it cannot be guaranteed that the perception unit of the sub-machine posture perception unit can smoothly perceive the sub-robot. In the embodiments of this specification, the main robot performs a search action, and / or the sub-robot performs a response action. In the case of information deviation between the working map and the actual working environment, or information is missing in the working map, the multi-robot collaborative system can autonomously complete repositioning, reduce user intervention, improve the intelligence of the multi-robot collaborative system, and improve the user experience.

[0213] In some embodiments of the present specification, a multi-robot collaboration method is also provided, wherein the multi-robot includes a main robot and at least one sub-robot; the sub-robot can be used at least to perform supplementary operations in areas where the main robot cannot operate. The main robot is equipped with a sub-machine posture perception unit, and the sub-machine posture perception unit is used to determine the posture information of the sub-robot relative to the main robot, so that the main robot assists the sub-robot in performing repositioning based on the posture information. The method includes: when the main robot assists the sub-robot in performing repositioning, and the sub-machine posture perception unit of the main robot cannot perceive the sub-robot, the main robot performs a search action, and / or the sub-robot performs a response action, so that the main robot attempts to perceive the sub-robot, so as to realize the multi-robot collaboration system to autonomously complete repositioning, reduce user intervention, improve the intelligence of the multi-robot collaboration system, and improve the user experience. The specific implementation method refers to the above embodiment and will not be repeated here.

[0214] In some embodiments, the main robot may first perform its own relocation, and when it is confirmed that there is no deviation in the posture information of the main robot, the main robot then performs a search action, and / or the sub-robot then performs a response action to re-sense the sub-robot. When it is determined based on the relocation information that there is a deviation in the posture information of the main robot, the main robot adjusts the posture so that the adjusted posture meets the relocation requirements of the posture perception unit of the sub-machine. For example, when it is confirmed that there is a deviation in the posture information of the main robot, the posture information of the relocated main robot can be updated to the operation map, and then the main robot can be controlled to move and / or rotate based on the operation map, so that when the adjusted posture of the main robot meets the relocation requirements of the posture perception unit of the sub-machine, the main robot can be controlled to assist the sub-robot in performing relocation.

[0215] The main robot has a rich perception system, and the main robot can quickly calibrate its own posture. When it is determined that the main robot has posture deviation, the main robot can quickly calibrate its own posture to eliminate the problem that the main robot cannot perceive the sub-robot, thereby improving the accuracy and efficiency of assisting the sub-robot in repositioning. If it is determined that there is no deviation in the posture information of the main robot, it can also facilitate the subsequent accurate movement of the main robot or the movement of the sub-robot based on the position of the main robot, thereby making it easier for the main robot and the sub-robot to collaborate, quickly perceive the sub-robot, and improve the interaction efficiency during the repositioning process.

[0216] In some embodiments, the searching action of the main robot may include the main robot moving toward a first target position until the main robot senses the sub-robot before triggering a first preset stop condition, or the main robot triggers the first preset stop condition.

[0217] The first target position may include the position of the sub-robot in the operation map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the operation map. Alternatively, the designated position may also be other positions, for example, the designated position may also be a position point in any relatively open area in the operation map.

[0218] When the main robot controls the sub-robot to work, it can lead the sub-robot to the sub-machine operation area or sub-machine partition. After reaching the sub-machine operation area or sub-machine partition, the sub-robot can be released at the starting position of the sub-machine operation area or sub-machine partition, so that the sub-robot can work on the sub-machine operation area or sub-machine partition from the starting position. Accordingly, the starting position can be used as the release position.

[0219] When the main robot releases the sub-robot to perform work, it is usually necessary to clarify the sub-robot's global position information so that the sub-robot can accurately perform the work in the sub-machine operation area based on the cleaning path. When the environment around the release position has not changed significantly, the main robot is controlled to move to the release position to sense the sub-robot, which can increase the probability of the main robot sensing the sub-robot. Accordingly, in the process of controlling the main robot to move to the release position, the sub-robot can also be controlled to move to the release position.

[0220] When the main robot releases the sub-robot, the positions of the main robot and the sub-robot may or may not overlap. When the main robot releases the sub-robot and the positions of the main robot and the sub-robot do not overlap, the main robot and the sub-robot correspond to the release positions respectively. Accordingly, the main robot can move to the release position of the main robot, and the sub-robot can move to the release position of the sub-robot.

[0221] The main robot can move to the target location based on the planned path. Before moving, the main robot can pre-plan the path based on the work map and move to the target location based on the planned path. During the movement of the main robot, the planned path can also be adjusted in real time based on the real-time updated work map and real-time detection information. For example, during the movement of the main robot, the main robot determines the obstacle blocking the sub-robot through the collision plate, and can adjust the travel path in real time based on the information of the detected obstacle.

[0222] During the movement of the main robot to the first target position, if the main robot senses the sub-robot before the first preset stop condition is triggered, the movement stops. The main robot can determine whether the position of the sub-robot and the position of the main robot meet the repositioning requirements of the sub-machine posture sensing unit. If they meet, the main robot assists the sub-robot in performing repositioning. If not, the main robot and the sub-robot can move and / or rotate until the repositioning requirements of the sub-machine posture sensing unit are met.

[0223] Alternatively, the main robot stops moving when the main robot triggers a first preset stop condition. The first preset stop condition may be that the main robot moves to a first target position, or that the main robot moves for more than a preset moving time or moves a distance that exceeds a preset distance threshold.

[0224] In some embodiments, the master robot may perform the following search actions:

[0225] S101: The main robot may first rotate at a specified angle in place, and then move to a target position in the operation map after rotating at the specified angle;

[0226] S102: The main robot may move a preset distance toward the first target position based on the planned path, then stop, and rotate a specified angle in situ; after rotating the specified angle, the main robot continues to move toward the target position based on the planned path;

[0227] S103: Repeat the steps of moving a preset distance, stopping, rotating in place by a specified angle, and continuing to move, until the main robot senses the sub-robot before triggering the first preset stop condition, or the main robot triggers the first preset stop condition;

[0228] S104: If the main robot moves to the first target position, the main robot may also rotate in situ at the first target position by a specified angle.

[0229] The posture information deviation of the main robot or the sub-robot causes the sub-robot to be within the acquisition distance of the sub-machine posture perception unit, but the acquisition angle interval and / or acquisition direction of the sub-machine posture perception unit fails to cover the position of the sub-robot. By controlling the main robot to rotate in situ, the sub-robot can be sensed by the sub-machine posture perception unit. Alternatively, due to the obstruction of obstacles, the acquisition angle interval and / or acquisition direction of the sub-machine posture perception unit fails to cover the position of the sub-robot. By rotating in situ, the acquisition angle interval and / or acquisition direction of the sub-machine posture perception unit can cover the position of the sub-robot, so that the main robot can sense the sub-robot. The main robot can achieve rapid adjustment of the perception system by rotating in situ, and can achieve relocation abnormal recovery in simple scenarios by using simple body control operations without complex algorithms.

[0230] At the same time, based on the planned path and on-the-spot rotation coordinated search, the perception system on the main robot can be effectively utilized to perform 360-degree detection around the main robot, thereby improving the efficiency of the main robot in searching for the sub-robot.

[0231] In addition, compared with controlling the movement of the sub-robot, in this embodiment, by controlling the movement of the main robot, the relatively rich perception system of the main robot can be utilized to collect obstacle information and flexibly adjust the search path, so that the main robot can re-perceive the sub-robot more quickly and accurately.

[0232] The specified angle in the above-mentioned action can be determined according to the horizontal detection angle of the sub-machine posture perception sensor. In view of the limited horizontal detection angle of the posture perception sensor of some sub-machines, when starting to move, after moving a certain distance, and when reaching the first target position, the main robot is controlled to rotate by a specified angle, so as to avoid being affected by the horizontal detection angle of the posture perception sensor of the sub-machine and missing the perception of the sub-robot.

[0233] If the detection angle of the sub-robot posture perception sensor is 360 degrees, the main robot can continue to move based on the planned path until the main robot senses the sub-robot before triggering the first preset stop condition, or the main robot triggers the first preset stop condition, without having to perform the actions of rotating in place at a specified angle and stopping after moving a preset distance.

[0234] Of course, in view of the fact that during the detection process, the sub-robot can also be detected in combination with other sensing sensors on the main robot, for example, when a laser radar is used as the sub-machine posture sensing sensor, a visual sensor can also be used to detect the sub-robot, so as to quickly detect the sub-robot, and when the position of the sub-robot is preliminarily determined, the main robot or the sub-robot is controlled to move based on the preliminarily determined position of the sub-robot, so that the laser radar can quickly sense the sub-robot. In view of the fact that the horizontal detection angle of the visual sensor does not reach 360 degrees, even if the detection angle of the sub-machine posture sensing sensor is 360 degrees, the above-mentioned actions of rotating in situ by a specified angle and stopping after moving a preset distance in S101 to S104 can be performed during the movement of the main robot based on the planned path.

[0235] For example, the main robot may be controlled to move to the position of the sub-robot in the operation map. When the main robot moves to the position of the sub-robot in the operation map, the sub-robot may wait at the location.

[0236] As described in the above embodiment, there may be obstacles at the boundary between the sub-machine operation area and the main machine operation area that the main robot cannot identify based on the non-contact mode. Due to the running path, the main robot or sub-robot is unable to identify the obstacle in advance by contact or there is a deviation in the identification, so that the above-mentioned obstacle cannot be identified in the operation map or the obstacle information identified is biased, resulting in the above-mentioned obstacle blocking the sub-robot. By controlling the main robot to move to the position of the sub-robot in the operation map, the main robot can determine whether there is an obstacle between the position of the sub-robot and the position of the main robot through collision on the travel path. If the main robot determines that there is an obstacle through collision, it can move along the obstacle and determine the contour information of the obstacle through contact, wherein the specific obstacle avoidance algorithm is not limited here.

[0237] When the main robot is driving around obstacles, the sub-robot's posture perception unit can be used to perceive the sub-robot in real time. After perceiving the sub-robot, the main robot assists the sub-robot in repositioning. Alternatively, other perception sensors on the main robot can be mobilized to synchronously perceive the sub-robot. After perceiving the sub-robot, the sub-robot and the main robot are controlled to move so that the sub-robot's posture perception unit can perceive the sub-robot.

[0238] Alternatively, if there is a deviation in the posture information of the main robot and / or the sub-robot, the main robot may go to the location of the sub-robot to confirm whether there is a posture deviation in the main robot and / or the sub-robot. For example, when the main robot moves to the location of the sub-robot, the main robot does not touch any object; at this time, it may be that the posture information of the sub-robot is deviated and the sub-robot is not at the location in the operation map; of course, it may also be that the posture information of the main robot is deviated and the main robot has not moved to the location of the sub-robot in the operation map.

[0239] Exemplarily, the main robot can be controlled to move a preset distance in the direction of the sub-robot's location, and then the main robot can be controlled to stop and rotate on the spot to sense the sub-robot; when the sub-robot cannot be sensed, the main robot can be moved a preset distance again, and the main robot can be controlled to stop and rotate on the spot to sense the sub-robot, and the above-mentioned moving and rotating search actions can be continuously performed until the sub-robot is sensed.

[0240] Using the position of the sub-robot as the first target position can facilitate the main robot to more quickly determine whether there are obstacles blocking the sub-robot, and determine whether there is a position deviation of the main robot or the sub-robot, so as to perform other search actions based on the determined factors, or control the sub-robot to perform response actions.

[0241] Of course, the main robot may also adopt other actions to move to the first target position. When the main robot moves toward the position of the sub-robot or when the main robot moves to the position of the sub-robot, if the main robot does not sense the sub-robot, the main robot may be controlled to relocate or issue a reminder, etc.

[0242] In some embodiments, the response action of the sub-robot may include the sub-robot moving to the second target position until the sub-robot is sensed by the main robot before triggering the third preset stop condition, or the sub-robot triggers the third preset stop condition.

[0243] The second target position may be the position of the main robot in the operation map when the main robot assists the sub-robot in performing relocation, or the release position of the sub-robot marked in the operation map. Alternatively, the second target position may also be other positions, for example, the second target position may also be a position point in any relatively open area in the operation map.

[0244] The sub-robot can move to the target location based on the planned path. Before the sub-robot moves, it can pre-plan the path based on the work map, or the main robot can send the planned path and move to the target location based on the planned path. During the movement of the sub-robot, the planned path can be adjusted in real time based on the real-time updated work map and real-time detection information. For example, during the movement of the sub-robot, the obstacle blocking the sub-robot is determined by the collision plate, and the travel path can be adjusted in real time based on the information of the detected obstacle.

[0245] During the movement of the sub-robot to the second target position, if it is sensed by the main robot before the third preset stop condition is triggered, the sub-robot stops moving. The main robot can determine whether the position of the sub-robot and the position of the main robot meet the repositioning requirements of the sub-machine posture sensing unit. If they meet, the main robot assists the sub-robot in performing repositioning. If not, the main robot and the sub-robot can move and / or rotate until the repositioning requirements of the sub-machine posture sensing unit are met.

[0246] Alternatively, the sub-robot stops moving when the sub-robot triggers a first preset stop condition. The first preset stop condition may be that the sub-robot moves to the second target position, or that the movement time of the sub-robot exceeds a preset movement time or the movement distance exceeds a preset distance threshold.

[0247] For example, the sub-robot can move to the location of the main robot in the operation map. During the movement of the sub-robot to the location of the main robot, the main robot can wait or rotate in place. The main robot can rotate in place continuously or at a preset interval. The rotation angle can be 360 ​​degrees or the above specified angle.

[0248] Due to the integrity of the main robot's own positioning device, the position of the main robot in the work map is accurate. The position of the main robot in the work map can be used as the target position for the sub-robot to move. The range including the main robot's position and a specified distance nearby can also be used as the target area for the sub-robot to move, to ensure that the sub-robot can reach the area and be sensed by the main robot.

[0249] Since the sub-machine operation area is usually a low area or narrow passage area that the main robot cannot enter, if the sub-robot is in the sub-machine operation area during relocation, and the obstacle blocking the sub-robot is located in the sub-machine operation area, the main robot cannot move to the sub-machine operation area, and therefore cannot identify the obstacle by contact and eliminate the obstruction of the obstacle. At this time, by controlling the sub-robot to move toward the main robot, it can be more convenient to get rid of the obstacle.

[0250] Alternatively, during relocation, the sub-robot is in the main operation area, and the obstacle blocking the sub-robot is also in the main operation area. At this time, although the main robot can move to the location of the sub-robot based on the operation map, the information of the obstacle blocking the sub-robot is unknown, and the location of the sub-robot is usually close to the sub-machine operation area. Therefore, the obstacles blocking the sub-robot and the obstacles in the sub-machine operation area may form a new low space and narrow passage, hindering the main robot from moving to the location of the sub-robot. Since the sub-robot is lightweight in design, it is less affected by obstacles and has relatively more traversable areas. Controlling the sub-robot to move to the location of the main robot can greatly improve the flexibility of robot collaboration and more conveniently get rid of obstacles.

[0251] In addition, when the sub-robot is determined to be in the main working area based on the working map during relocation, if there is a deviation in the posture information of the sub-robot, the sub-robot is very likely to still be in the sub-machine working area. Even if the main robot moves to the position of the sub-robot and finds that there is a deviation in the posture information of the sub-robot, there is an area in the sub-machine working area that is not within the detection range of the sub-machine posture perception unit; or, due to obstacles, there is an area in the sub-machine working area that the sub-machine posture perception unit cannot detect. The sub-machine posture perception unit moves at the position of the sub-robot, and it is still difficult to perceive the sub-robot. In this case, even if the main robot further performs other search actions, it may be difficult to perceive the sub-robot. In this embodiment, by controlling the movement of the sub-robot, even if there is a deviation in the posture information of the sub-robot, the sub-machine working area is usually limited in area, and the sub-robot still has a greater probability of moving out of the sub-machine working area, thereby being perceived by the main robot.

[0252] When the sub-robot moves toward the main robot, the sub-robot position perception unit of the main robot can continuously perceive the sub-robot. Of course, other perception sensors on the main robot can also be mobilized to synchronously perceive the sub-robot.

[0253] Alternatively, in other embodiments, the sub-robot and the main robot may be controlled to move to a release position in the work map.

[0254] For example, the main robot can send a signal to the sub-robot to move to the release position, and control the main robot and the sub-robot to move to the release position. The movement of the main robot and the sub-robot can refer to the above embodiment, which will not be repeated here.

[0255] The main robot and the sub-robot can be controlled to go to the release position. If the main robot still does not sense the sub-robot after the main robot and the sub-robot have reached the release position, it can be confirmed that the posture information of the sub-robot and / or the main robot has deviated. The main robot can be controlled to perform repositioning first. If there is no posture information deviation after the main robot is repositioned, it can be confirmed that the posture information of the sub-robot has deviated, thereby quickly finding out the reason why the sub-robot cannot be sensed.

[0256] Of course, the first target position and the second target position can also be location points in any relatively open area in the work map. The main robot and the sub-robot can move to the first target position and the second target position respectively. Please refer to the release position for details, which is not limited here.

[0257] In some embodiments, the search action may also include: within a specified range relative to the reference position, the main robot moves around the reference position until the main robot senses the sub-robot before triggering the second preset stop condition, or the main robot triggers the second preset stop condition.

[0258] The second preset stop condition includes at least one of the following conditions: the position of the main robot exceeds the specified range; the moving time of the main robot exceeds the preset moving time; the moving distance of the main robot exceeds the preset distance threshold;

[0259] The reference position is the position of the main robot in the work map when the main robot assists the sub-robot in performing repositioning, or the position of the sub-robot in the work map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the work map.

[0260] The specified range relative to the reference position may refer to a circular area with the reference position as the center and a specified length as the radius; or a square with the reference position as the center and a side length of the specified length; or an irregular shape, which is not limited here. Within the specified range, the main robot and / or the sub-robot are controlled to move around the reference position, such as moving in a straight line forward, backward, left, right, or in an arc, which is not limited here. The sub-robot position perception unit of the main robot can continuously perceive the sub-robot during the movement.

[0261] The deviation range of the posture information of the main robot or the sub-robot is usually limited. By limiting the reference position and the moving range and controlling the movement of the main robot and / or the sub-robot, the problem of not being able to perceive the sub-robot due to the deviation of the posture information can be quickly eliminated. The size of obstacles blocking the sub-robot is also limited. In the case of obstacles blocking the sub-robot, the main robot and the sub-robot can move within the above range to get rid of the obstacles more flexibly.

[0262] The action mode of the main robot relative to the reference position can also refer to the above S101-S104, first rotating in place by a specified angle, then moving, after moving a preset distance, controlling the main robot to stop, rotating in place by a specified angle; when the sub-robot cannot be sensed, the preset distance is moved again, the main robot is controlled to stop, and rotating in place by a specified angle to sense the sub-robot; the above moving and rotating search actions are continuously performed until the sub-robot is sensed. Of course, the main robot can also perform other action modes, which are not limited here.

[0263] In some embodiments, the response action may also include: the sub-robot moves around the reference position within a specified range relative to the reference position until the sub-robot is sensed by the main robot before triggering the fourth preset stop condition, or the sub-robot triggers the fourth preset stop condition.

[0264] Among them, the fourth preset stop condition may include at least one of the following conditions: the position of the sub-robot exceeds the specified range; the moving time of the sub-robot exceeds the preset moving time; the moving distance of the sub-robot exceeds the preset distance threshold.

[0265] The reference position may be the position of the main robot in the work map when the main robot assists the sub-robot in performing repositioning, or the position of the sub-robot in the work map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the work map.

[0266] The movements of the sub-robot relative to the reference position can refer to the movements of the main robot relative to the reference position, which will not be described here.

[0267] When the main robot performs a search action at the relative reference position, the sub-robot can wait in place or perform a response action relative to the reference position; when the sub-robot performs a response action at the relative reference position, the main robot can wait in place or rotate in place or perform other search actions relative to the reference position.

[0268] Alternatively, the sub-robot can also perform a simple repositioning and update the repositioned position to the work map, so that the main robot can search for the sub-robot based on the updated work map, thereby reducing the distance between the main robot and the sub-robot by moving the main robot toward the sub-robot, thereby restoring perception. For example, the sub-robot is provided with a wheeled positioning device, which can correct the position of the sub-robot in the work map, but due to the positioning accuracy of the device itself, the correction effect is poor, and only a position close to the actual position of the sub-robot can be sent to the work map. Therefore, the main robot needs to move to the corrected position to actually find the sub-robot and complete the restoration of perception. Since the sub-robot performs a simple position update in the work map, this method is more effective than the method in which the main robot directly searches for the sub-robot based on the work map, reducing the invalid travel path when the main robot searches for the sub-robot, and improving the efficiency of the main robot in finding and restoring perception.

[0269] In the above embodiment, the main robot may first perform a search action, and after failing to sense the sub-robot, perform another search action, or the sub-robot may perform a response action; or the sub-robot may first perform a response action, and then perform another response action, or the main robot may perform a search action; or the sub-robot may perform a response action while the main robot is performing a search action. The combination of the above actions and the execution order may be selected as needed without limitation.

[0270] In some embodiments, after the main robot performs a search action and / or the sub-robot performs a response action, and the main robot does not sense the sub-robot, the main robot and / or the sub-robot may also issue a reminder, wherein the reminder is used to request a user or a third-party device to assist in finding the sub-robot.

[0271] For example, after the preset search action and response action are completed, if the main robot does not sense the sub-robot, the main robot and / or the sub-robot can also issue a reminder; or, the main robot and / or the sub-robot can also issue a reminder after executing the search action and response action for a certain length of time.

[0272] For example, the main robot sends an abnormality reminder message to the user terminal, and after the user receives the abnormality reminder message through the user terminal, he directly goes to the operation area to find the sub-robot. Alternatively, the main robot sends an abnormality reminder message to a third-party device connected to the main robot, such as a surveillance camera, and the surveillance camera assists the main robot in finding the position of the sub-robot in the operation map based on the abnormality reminder message.

[0273] Through abnormal reminders, scenarios where the main robot and sub-robot cannot perceive their own actions are handled, avoiding the main robot and sub-robot from entering an endless loop of perception and search, reducing energy loss during useless searches, and utilizing users and third parties to improve collaboration efficiency.

[0274] It can be seen from the above embodiments that the sub-machine operating area is usually in the blind spot of the main robot's obstacle information collection, or the ambient light in the sub-machine operating area is dim, resulting in the main robot having less obstacle information for the sub-machine operating area and it is difficult to ensure accuracy. Therefore, the sub-robot cannot actually continue to move along the initially planned path. During the movement, the sub-robot needs to perform obstacle avoidance, obstacle bypassing and cleaning operations based on the obstacle information detected in real time.

[0275] Alternatively, when the sub-robot switches areas, although the obstacle information on the planned path is relatively accurate, the area passed through when switching areas is usually an area where users frequently move around, and the positions of obstacles change frequently. The sub-robot cannot actually continue to move along the initially planned path. If the main robot is not near the sub-robot and detects the changes of obstacles on the sub-robot's path in real time, the sub-robot needs to perform operations such as obstacle avoidance and obstacle cleaning based on the obstacle information detected in real time.

[0276] However, the accuracy of the information collected by the sub-robot itself about obstacles is difficult to ensure, and the sub-robot's own posture collection information is relatively simple. When the sub-robot adjusts its path in real time according to the collected obstacle information, the sub-robot's adjusted path and the sub-robot's real-time posture information are prone to large deviations, resulting in the sub-robot being unable to accurately perform cleaning coverage or accurately move to the target position.

[0277] Correspondingly, a multi-robot collaboration method is also provided in an embodiment of the present specification, wherein the multi-robot includes a main robot and at least one sub-robot, wherein the sub-robot can be used at least to perform supplementary operations in an area where the main robot cannot operate, and the main robot is configured with a sub-robot posture perception unit, and the sub-robot posture perception unit is used to determine the posture information of the sub-robot relative to the main robot, so that the main robot accompanies the sub-robot to perform operations or switch areas based on the posture information.

[0278] The sub-robot performing the operation may include the sub-robot performing the cleaning task and the mapping task. The robot switching area may include the robot moving from one cleaning area to another cleaning area, or returning from the cleaning area to the base station, or going from the base station to the cleaning area.

[0279] The main robot may accompany the sub-robot to perform work or switch areas based on the posture information, and the sub-robot may be located within the sensing range of the sub-robot posture sensing unit of the main robot during the movement of the sub-robot, so that the sub-robot posture sensing unit of the main robot continuously and in real time senses the sub-robot, or senses the sub-robot at preset intervals, etc. The main robot may guide the sub-robot to move based on the posture information of the sub-robot relative to the main robot; or the sub-robot moves based on the posture information of the sub-robot relative to the main robot. The posture information of the main robot is relatively accurate, and the sub-robot moves based on the posture information of the sub-robot relative to the main robot, which can improve the accuracy of the movement of the sub-robot. Accordingly, when the obstacle on the path of the sub-robot changes, the sub-robot can accurately determine the posture of the sub-robot during the process of avoiding obstacles or driving around obstacles based on the collected obstacle information, and after the sub-robot performs avoiding obstacles or driving around obstacles, so that the sub-robot can accurately and real-time adjust the path of travel, and ensure the accuracy of the adjustment of the path of the sub-robot and the cleaning coverage rate.

[0280] For example, the main robot can accompany the sub-robot to perform cleaning tasks in the main machine operation area around the sub-machine operation area cleaned by the sub-robot. If the sub-machine operation area is divided into at least one sub-machine partition, the main robot can accompany the sub-robot to perform cleaning tasks in the main machine operation area around the sub-machine partition cleaned by the sub-robot. The main robot accompanies the sub-robot to perform cleaning tasks in the operation area, which can more conveniently control the sub-robot, and when an abnormal situation occurs during the cleaning process of the sub-robot, the main robot can respond quickly to improve the user experience.

[0281] For another example, the main robot can first clean and / or collect the area that the work partition can travel to, form a preliminary work map, and then control the sub-robot to travel to the area not collected in the preliminary work map, and correct the positioning error of the sub-robot through the main robot's perception of the sub-robot, so as to add the information of the area not collected by the main robot to the preliminary work map, so as to realize the construction of the work area map. Through the cooperation of the main robot and the sub-robot, the work map of the work area is made more accurate and complete.

[0282] When the main robot arrives at any operation partition to perform cleaning and / or mapping tasks, and the main robot accompanies the sub-robot to clean and / or map, the main robot usually moves in the main machine operation area, and the sub-robot moves in the sub-machine operation area. The sub-robot and the main robot have a certain distance range. Affected by obstacles, the detection range of the sub-machine posture perception unit, etc., the main robot may not be able to perceive the sub-robot. Accordingly, when the main robot accompanies the sub-robot to perform operations or switch areas, and the main robot cannot perceive the sub-robot, the sub-robot stops moving and the main robot moves to re-perceive the sub-robot. When the main robot re-perceives the sub-robot, the sub-robot continues to perform operations or switch areas with the accompaniment of the main robot.

[0283] In the case where the main robot cannot sense the sub-robot, if the sub-robot continues to move, the probability of path deviation is high, which makes it easy for the sub-robot to update the information in the map, thereby increasing the difficulty of the main robot to re-sense the sub-robot. In this embodiment, in the case where the main robot cannot sense the sub-robot, the sub-robot is controlled to stop moving. The main robot can quickly find the sub-robot based on the position of the sub-robot when the sub-robot perception signal is lost, the operation map, and the real-time detection information, thereby reducing the complexity of the main robot's perception of the sub-robot and improving the efficiency of the main robot's perception of the sub-robot. After the main robot senses the sub-robot, the sub-robot continues to perform the operation or switch areas accompanied by the main robot.

[0284] When the main robot accompanies the sub-robot in cleaning and the main robot cannot sense the sub-robot, the sub-robot can also stop cleaning or clean at a low speed while stopping moving. When the sub-robot is cleaning, if the main robot cannot sense the sub-robot, it may take some time for the main robot to sense the sub-robot. During the waiting process of the sub-robot, the cleaning module of the sub-robot can be controlled to stop cleaning or clean at a low speed when the sub-robot stops moving, thereby reducing the power consumption of the sub-robot.

[0285] When it is confirmed based on the operation map that the sub-robot is outside the detection range of the sub-machine posture perception unit, the main robot moves to the location of the sub-robot until the main robot senses the sub-robot; and / or, when it is confirmed based on the operation map that the sub-robot is blocked by an obstacle and the main robot cannot sense the sub-robot, the main robot performs obstacle avoidance for the obstacle until the main robot senses the sub-robot. The environment of the operation area is relatively complex, and there may be sudden obstacles that block the main robot's perception of the sub-robot, or the sub-robot may be moved away from its original position due to external factors. At this time, the main robot can preliminarily determine the factors that caused the sub-robot to fail to be sensed based on the detected information, and plan a travel path if the factors can be determined, so as to quickly and accurately sense the sub-robot and improve the flexibility of the main robot accompanying the sub-robot.

[0286] For example, during the accompanying movement between the main robot and the sub-robot, there may be a situation where the main robot and the sub-robot deviate from the predetermined accompanying trajectory. At this time, it may be that the sub-robot deviates, it may be that the main robot deviates, or it may be that both the main robot and the sub-robot deviate, so that the distance between the two is widened, which in turn causes the two to exceed the perception range limited by the distance and lose perception. At this time, the main robot can be controlled to stop moving, and the sub-robot continues to move based on the operation map until the sub-robot reaches the perception range of the main robot. Alternatively, the main robot is controlled to move at a reduced speed, for example, the moving speed of the main robot is controlled to be less than the moving speed of the sub-robot, until the sub-robot moves to the perception range of the main robot based on the operation map. Alternatively, the moving speed of the main robot is controlled to remain unchanged, and the moving speed of the sub-robot is increased, so that the moving speed of the main robot is less than the moving speed of the sub-robot, until the sub-robot moves to the perception range of the main robot based on the operation map. By adjusting the relative position between the main robot and the sub-robot through simple speed adjustment, and restoring the main robot's perception of the sub-robot, the movements of the main robot and the sub-robot can be made simpler and more flexible.

[0287] When the main robot stops moving, it can be controlled to rotate in place. For example, when the main robot stops moving for a preset stop time, it rotates in place to sense the sub-robot; when the sub-robot cannot be sensed, it rotates in place again after a preset stop time to sense the sub-robot until the sub-robot is sensed. For another example, when the main robot slows down for a preset deceleration time, it stops and rotates in place to sense the sub-robot; when the sub-robot cannot be sensed, it slows down again for a preset deceleration time, and stops and rotates in place to sense the sub-robot, and the above-mentioned deceleration and rotation search actions are continuously performed until the sub-robot is sensed. When the main robot stops moving or slows down, the sub-robot can also accelerate.

[0288] Alternatively, the main robot can return along the original path after confirming that the sub-robot is trapped. For example, when the sub-robot is following the main robot, it is stuck by an obstacle, and the main robot continues to move, causing the distance between the two to increase. When the distance does not meet the perception condition, the main robot cannot perceive the sub-robot. Returning along the original path can shorten the distance between the main robot and the sub-robot, thereby restoring perception and helping the sub-robot escape.

[0289] When the sub-robot is unable to move forward, it can send a trapped signal to the main robot through the communication device. The main robot receives the trapped signal and returns along the original path based on the trapped signal to restore perception in time and assist the sub-robot to escape. This method can achieve timely recovery of perception through a simple backward operation. Alternatively, the main robot can also determine that the sub-robot may be trapped based on the fact that the sub-robot's position in the operation map no longer changes, and thus return in time to reduce equipment damage caused by the sub-robot being trapped.

[0290] Optionally, after the main robot returns along the original path to find the sub-robot, it can also help the sub-robot out of trouble. For example, by sensing the data collected by the sub-robot, analyzing the working area where the sub-robot is located, and precisely controlling the movement path of the sub-robot, the sub-robot can be assisted to escape. Alternatively, by controlling the main robot to hit the plate, the position change of the sub-robot is triggered, thereby assisting the sub-robot to escape. Alternatively, by controlling other sub-robots that are not trapped to hit the plate, the position change of the trapped sub-robot is triggered, thereby assisting the sub-robot to escape. The main robot can use the above method or a combination of multiple methods to assist the sub-robot to escape, realize the automated processing of multi-robot collaborative problems, reduce manual participation, and improve the degree of intelligence.

[0291] In some embodiments, when it is confirmed based on the operation map that the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking the sub-robot, and the main robot cannot perceive the sub-robot, the main robot performs a search action and / or the sub-robot performs a response action, so that the main robot attempts to perceive the sub-robot. The main robot performs a search action and / or the sub-robot performs a response action, which can utilize the search action and response action in the above-mentioned relocation, which will not be described in detail here.

[0292] In some embodiments, when the main robot still cannot sense the sub-robot after searching through one or a combination of the above methods, or when the main robot cannot sense the sub-robot for a preset second time period, the main robot and / or the sub-robot issues an abnormal reminder to allow the user or a third-party device to assist in the search.

[0293] For example, the main robot sends an abnormality reminder message to the user terminal, and after the user receives the abnormality reminder message through the user terminal, he directly goes to the operation area to find the sub-robot. Alternatively, the main robot sends an abnormality reminder message to a third-party device connected to the main robot, such as a surveillance camera, and the surveillance camera assists the main robot in finding the position of the sub-robot in the operation map based on the abnormality reminder message.

[0294] Through abnormal reminders, scenarios where the main robot and sub-robot cannot perceive their own actions are handled, avoiding the main robot and sub-robot from entering an endless loop of perception and search, reducing energy loss during useless searches, and utilizing users and third parties to improve collaboration efficiency.

[0295] Based on the solutions provided in the above embodiments, in some embodiments of this specification, the multi-robot collaborative system may include a main robot, a sub-robot, a main base station corresponding to the main robot, and a sub-base station corresponding to the sub-robot. The main base station and the sub-base station may be separate structures or two-in-one structures. The structures of the main robot, the sub-robot, the main base station, and the sub-base station may refer to the solutions described in the various embodiments of this specification, and will not be described in detail here. The docking between the main robot and the main base station, and the docking between the sub-robot and the sub-base station may also refer to the solutions described in the various embodiments of this specification, and will not be described in detail here.

[0296] The multi-robot collaborative system may further include a cloud server that communicates with the main robot and the sub-robot respectively, and an intelligent terminal that communicates with the cloud server. The cloud server is one of the servers for implementing indirect communication between the main robot and the sub-robots described in the above embodiment. The intelligent terminal may be, for example, a mobile phone, an intelligent speaker, and the like.

[0297] A communication connection may be established between the main robot and the cloud server, and a communication connection may also be established between the sub-robot and the cloud server. Accordingly, the main robot and the sub-robot may be indirectly connected to each other through the cloud server. The main robot and the sub-robot may also be indirectly connected to the intelligent terminal through the cloud server.

[0298] Taking the smart terminal as a mobile phone as an example, the mobile phone can be installed with a cleaning APP (Application) for controlling the main robot and sub-robot, or a cleaning applet embedded in other APPs. Taking the cleaning APP as an example, a control interface can be displayed on the cleaning APP. The control interface can display cleaning information such as the operation map, the cleaning parameter configuration of the main robot and / or sub-robot. The control method of the cleaning applet can refer to the cleaning APP, and the control method of other smart terminals can refer to the control method of the mobile phone, which will not be repeated here.

[0299] The work map can be a map generated by the main robot based on the perception system. The information collected by the sub-robot based on the perception system, such as obstacle information, cleaning path information, etc., can be displayed in the work map or not. The cleaning path of the main robot and the cleaning path of the sub-robot can be displayed separately, such as line color, line type, etc. The work map can display the area that the sub-robot can enter, that is, the sub-machine working area, and can be distinguished from the main robot's working area. For example, the sub-machine working area can be distinguished from the main machine working area by color, text label, frame selection, etc., so that users can understand the sub-machine working area and adjust the sub-machine working area according to needs.

[0300] Given that the accuracy of the obstacle information and travel path collected by the sub-robot's perception system cannot be guaranteed, the obstacle information and cleaning path information collected by the sub-robot are not displayed in the operation map, which can prevent the information obtained by the sub-robot from misleading the main robot and the operation of the sub-robot. However, if the information collected by the sub-robot's perception system is not displayed in the operation map, the information located by the sub-robot based on its own positioning sensor can be displayed in the operation map, so that the main robot and the user can understand the approximate location of the sub-robot in real time.

[0301] Of course, the information collected by the main robot is more accurate, and the obstacle information of the sub-machine operating area and the position information of the sub-robot collected by the main robot can be updated to the operation map for display.

[0302] The operation map can also display information input by the user or collected by other terminals, without limitation. The operation map can be uploaded to the cloud server, and the sub-robot can download the operation map from the cloud server and perform operations based on the operation map. The sub-robot can download part of the data in the operation map as needed, such as only downloading the map information corresponding to the sub-machine operation area to avoid the sub-robot from downloading and running a relatively large operation map, resulting in a large amount of data processing, freezing or freezing, and other abnormal situations. Alternatively, the operation map may not be downloaded. The sub-machine operation area is usually an area that the main robot has not entered, resulting in the main robot's obstacle detection information for the sub-machine operation area may be missing or biased, and the obstacle detection of the sub-robot may only rely on the collision plate, and the accuracy of the obstacle detection information is also difficult to guarantee. Therefore, the sub-robot does not rely on the operation map for cleaning the sub-machine operation area.

[0303] For example, the control interface can be configured with cleaning parameter configuration control options such as area selection and cleaning mode, among which area selection can include control options such as selection, global and zoning, cleaning mode can include control options such as intelligent hosting and custom cleaning, and custom cleaning can include robot cleaning settings and base station settings and other control options. The sub-interface of cleaning settings can be configured with cleaning modes (such as sweeping, mopping, sweeping and mopping, sweeping first and then mopping, custom cleaning and other control options), and for each cleaning mode, cleaning parameter control options such as suction settings, rag humidity, route preferences, etc. can also be configured in a targeted manner. The sub-interface of base station settings can be configured with control options such as cleaning mops, drying, and dust collection, and for cleaning mops, drying, and dust collection, related cleaning parameter control options can also be configured in a targeted manner. The control interface can also be configured with control options such as operation map selection, cleaning time, special cleaning surfaces (such as carpets, special floors), voice settings, AI obstacle avoidance settings, and so on.

[0304] The control interface can be displayed separately for the main robot and the sub-robot, that is, the sub-robot control interface and the main robot control interface can be displayed on the cleaning APP. The sub-robot control interface displays the cleaning information related to the sub-robot, and the main robot control interface displays the cleaning information related to the main robot.

[0305] Alternatively, the main robot and the sub-robot correspond to the same control interface, and the operation map is displayed in the control interface. The cleaning parameter configurations of the main robot and the sub-robot can be displayed through different sub-interfaces. For example, the control interface can display the control options of the sub-robot and the main robot. After the user triggers the control option of the sub-robot, the cleaning parameter configuration sub-interface of the sub-robot is entered. After triggering the control option of the main robot, the cleaning parameter configuration sub-interface of the main robot is entered. Since there are differences in the cleaning methods corresponding to the main robot and the sub-robot and the docking methods with the base station, the corresponding cleaning parameter configurations can be performed for the main robot and the sub-robot respectively.

[0306] After unpacking the machine, the user can take out the main robot, sub-robot, main base station, and sub-base station, and download the cleaning APP on the mobile phone. After that, enter the network configuration operation of the cleaning APP, main robot, and sub-robot on the mobile phone. During the network configuration process, the network configuration operation can be performed for the main robot and the sub-robot separately. For example, the user can operate on the cleaning APP on the mobile phone and the main robot to complete the network configuration of the main robot; and operate on the cleaning APP on the mobile phone and the sub-robot to complete the network configuration of the sub-robot; by configuring the network separately, the convenience of the user's network configuration operation can be improved, and confusion in operation can be avoided during the network configuration operation, which affects the user's experience. After the network configuration operation, the main robot, sub-robot, and the cleaning APP on the mobile phone can establish communication connections with the cloud server respectively, and the main robot, sub-robot, and the cleaning APP on the mobile phone can indirectly realize communication connections through the cloud server respectively.

[0307] After the network configuration is completed, the control interface can be displayed on the cleaning APP, and the user can control the machine and view the cleaning status of the machine based on the control interface. During actual operation, the main robot and sub-robot may lose communication with the cloud server due to power failure, damage to the communication module, etc., that is, the main robot and / or sub-robot are offline.

[0308] In some implementations, the main robot and the sub-robot share the same control interface, and the control interface of the cleaning APP is bound to the main robot. When the main robot is offline, the control interface of the cleaning APP cannot be accessed, and at least the main robot offline can be displayed on the homepage of the cleaning APP to remind the user that the main robot is offline. Since the cleaning of the sub-robot requires the control or assistance of the main robot, the main robot and the sub-robot can be set to share the same control interface, and the control interface of the cleaning APP can be bound to the main robot to improve the simplicity of control, avoid the sub-robot losing control when the main robot is offline, and moving arbitrarily (such as the sub-robot colliding or moving at will) to cause abnormal situations (such as the sub-robot encountering fragile objects / pets, moving into a restricted area, etc.), and improve the user experience.

[0309] In some other embodiments, the main robot and the sub-robot share the same control interface, and the control interface of the cleaning APP can be bound to the main robot and the sub-robot respectively. When the main robot is offline or the sub-robot is offline, the control interface of the cleaning APP can be entered, but the control interface of the cleaning APP shows that the main robot is offline or the sub-robot is offline. The main robot and the sub-robot share the same control interface, and the control interface of the cleaning APP can be bound to the main robot and the sub-robot respectively. While simplifying the control interface, the control flexibility of the main robot and the sub-robot can be improved. When one of the machines is offline, the user can still control the other machine to work as needed. When the user needs two machines to work in conjunction, operations can be performed on the offline machine under the offline option of a machine displayed on the control interface to establish a communication connection between the offline machine and the cloud server.

[0310] Of course, if the main robot and the sub-robot have corresponding control interfaces respectively, when the main robot is offline, only the control interface of the main robot can be inaccessible, and when the sub-robot is offline, only the control interface of the sub-robot can be inaccessible. Of course, in this case, a reminder that the sub-robot is offline can also be displayed on the control interface of the main robot; or, a reminder that the main robot is offline can be displayed on the control interface of the sub-robot.

[0311] Regardless of whether the main robot and the sub-robot share the same control interface, when the sub-robot is offline and the main robot is also offline, the homepage of the cleaning APP can be opened normally, and reminders that the main robot and the sub-robot are offline will be displayed on the homepage of the cleaning APP.

[0312] After the network configuration is completed, preliminary positioning can be performed for the sub-robot. When performing preliminary positioning for the sub-robot, the sub-robot can be controlled to be located in the sub-base station. Through preliminary positioning, the main robot can quickly determine the associated positions of the sub-base station and the main base station when building a map or cleaning without a map. Since the sub-robot is located at the sub-base station most of the time, when the sub-robot performs cleaning, it is also likely to be led by the main robot to the sub-machine operation area. Predetermining the location of the sub-base station can facilitate the main robot to control the cleaning of the sub-robot during the subsequent cleaning process.

[0313] After the network configuration is completed, the main robot can perform mapping operations. After completing the mapping, the main robot and the sub-robot perform cleaning operations based on the work map. During the mapping process, the main robot can sense the sub-robot. After sensing the sub-robot, it can obtain the sub-robot's position information. If the sub-robot is located at the sub-base station, the sub-base station's location information can be determined based on the sub-robot's position information, thereby completing the preliminary positioning of the sub-robot and the sub-base station.

[0314] The main robot can also perform cleaning operations without building a map. In the absence of an operation map, the main robot can perceive the sub-robot during the cleaning process. After perceiving the sub-robot, it can obtain the sub-robot's position information. Based on the sub-robot's position information, the location information of the sub-base station can be determined, thereby completing the preliminary positioning of the sub-robot and the sub-base station.

[0315] When the main robot has not built a map, if the user triggers the preliminary positioning of the sub-robot, the main robot can also perform the positioning of the sub-robot first. After the network configuration is completed, the user can first choose to determine the location of the sub-base station, the posture of the sub-robot, and the location of the main robot. For example, the user can trigger the preliminary positioning of the sub-robot in the cleaning app or voice command. The main robot can find the sub-robot through the perception system, such as laser radar, line laser, visual sensor, infrared, WIFI signal, etc. After sensing the sub-robot, it obtains the posture information of the sub-robot and then determines the location of the sub-base station.

[0316] In some embodiments, when the preliminary positioning of the sub-robot is triggered, the main robot performs preliminary positioning on the sub-robot after it is freed from hijacking; wherein the main robot is placed in a preset positioning area by hijacking, and the preset positioning area is the detection range of the sub-robot's posture perception unit for the sub-robot.

[0317] Among them, in the case of triggering the preliminary positioning of the sub-robot, after the main robot is freed from hijacking, the main robot is first relocated, and then the sub-robot is preliminarily positioned. The user can hijack the main robot and move it to the vicinity of the sub-base station. After the main robot is freed from hijacking, it can first relocate itself. After its own relocation is completed, the main robot searches for the sub-robot through the perception system. After sensing the sub-robot, the posture information of the sub-robot is obtained by using the posture perception unit of the sub-machine, and then the position information of the sub-base station is determined to complete the preliminary positioning of the sub-robot and the sub-base station. The positioning of the sub-robot is when the posture of the main robot is accurate. After being freed from hijacking, the main robot first relocates to accurately determine its own posture, so that the posture of the sub-robot and the position information of the sub-base station can be more accurately determined. Given that the map may not have been built at this time, the main robot cannot determine the global posture in the operation map. The main robot can sense the position of the main base station to determine the relative position of the main robot and the main base station as the global posture of the main robot.

[0318] Of course, after escaping from the hijacking, the main robot can also first search for the sub-robot through the perception system. After sensing the sub-robot, it can perform preliminary positioning of the sub-robot. After that, the main robot can reposition itself and return to the main base station.

[0319] The main robot can also return to the main base station after completing the preliminary positioning of the sub-robot and the sub-base station, thereby completing the associated positioning of the main base station and the sub-base station in the operation map. By moving the main robot near the sub-robot, the preliminary positioning of the sub-robot and the sub-base station can be completed more quickly.

[0320] Of course, in the above implementation, the main robot can use visual perception, lidar, etc. to determine whether the sub-robot is located at the sub-base station; or, the sub-robot knows whether it is located at the sub-base station, and the sub-robot can transmit the information of whether it is located at the sub-base station to the cloud server, and the main robot determines that the sub-robot is located at the sub-base station based on the information fed back by the cloud server; of course, it is also possible to determine whether the sub-robot is located at the sub-base station by other means, which are not limited here.

[0321] The location information of the main base station, the location information of the sub-base station, and the posture information of the sub-robot can be stored in the operation map. When the main robot builds a map, cleans without a map, or triggers the preliminary positioning of the sub-robot, the main robot performs preliminary positioning on the sub-robot, associates and determines the location information of the main base station, the location information of the sub-base station, and the posture information of the sub-robot, which can facilitate the main robot to accurately control the sub-robot to perform cleaning and return to the sub-base station during the subsequent cleaning process.

[0322] As described in the above embodiments, the front side of the main robot can be configured with a laser radar, a line laser, and an AI visual sensor, the rear of the main robot can be configured with an infrared sensor, and the front side of the sub-robot can be configured with an infrared sensor. The main robot and the sub-robot can respectively establish a communication connection with the router in the room in order to establish a communication connection with the cloud server. Accordingly, the main robot can use at least one of the laser radar, line laser, and AI visual sensor on the front side to detect the sub-robot and determine the posture information of the sub-robot. The infrared sensor of the main robot can also establish communication with the infrared sensor of the sub-robot. For example, the infrared sensor of the main robot can be used as a signal transmitting device, and the infrared sensor of the sub-robot can be used as a signal receiving device; in view of the communication distance of the infrared sensor, the main robot and the sub-robot can use the signal transmitting device and the signal receiving device to determine whether the main robot is near the sub-robot.

[0323] The relative distance between the main robot and the sub-robot can also be determined by the WIFI signal strength of the main robot and the WIFI signal strength of the sub-robot. The WIFI signal strength at different locations in the working area is different. The main robot and the sub-robot can roughly determine their own positions in the working area based on the WIFI signal strength. Accordingly, the relative distance between the main robot and the sub-robot can be roughly determined based on the difference between the WIFI signal strength of the main robot and the WIFI signal strength of the sub-robot. Accordingly, the sub-robot can send its own WIFI signal strength to the main robot. The sub-robot WIFI signal receiver is the signal transmitting device, and the main robot WIFI signal receiver is the signal receiving device.

[0324] The main robot and the sub-robot can interact with each other using infrared sensors to roughly determine the position of the sub-robot; or the main robot and the sub-robot can use infrared sensors and the strength of WIFI signals to roughly determine the position of the sub-robot; or the main robot and the sub-robot can use the strength of WIFI signals to roughly determine the position of the sub-robot. On this basis, the main robot can further use at least one of the front laser radar, line laser, and AI visual sensor to detect the sub-robot, and can use at least one of the front laser radar, line laser, and AI visual sensor to accurately determine the position information of the sub-robot.

[0325] When the sub-robot needs to go to the sub-machine operating area to perform cleaning, the main robot can go to the sub-base station, and the sub-robot moves out of the sub-base station. For example, the main robot can send a command for the sub-robot to perform cleaning to the cloud server, and the sub-robot then receives the command based on the cloud server and moves out of the sub-base station. Alternatively, the user sends a command for the sub-robot to perform cleaning through a cleaning APP, which is uploaded to the cloud server, and the cloud server then sends the command to the main robot and the sub-robot. Of course, other methods can also be used to enable the main robot and the sub-robot to determine that they need to go to the sub-machine operating area to perform cleaning. The sub-robot can move out of the sub-base station after receiving the command, or it can move out of the sub-base station when the main robot moves near the sub-base station.

[0326] Afterwards, the main robot can lead the sub-robot to the sub-machine operation area. After moving out of the sub-base station, the sub-robot and the main robot can attempt infrared docking. After docking, the sub-robot can follow behind the main robot, and the main robot leads the sub-robot to the sub-machine operation area. Before attempting infrared docking, the main robot can first assist the sub-robot in performing repositioning, so that the main robot and the sub-robot can accurately determine the relative posture relationship, thereby facilitating the main robot and the sub-robot to quickly and accurately dock by infrared.

[0327] After reaching the vicinity of the initial cleaning position of the sub-machine operating area, the main robot stops moving, and the sub-robot also stops moving. For example, the main robot can send a stop moving instruction to the sub-robot through the cloud server, and so on. Before the sub-robot performs the cleaning operation, the main robot can first assist the sub-robot in performing repositioning, and / or control the sub-robot to accurately move to the initial cleaning position, and then send a start cleaning instruction to the sub-robot through the cloud server. In this way, the cleaning path of the sub-robot after starting cleaning can be made more accurate, and the sub-robot can be prevented from running off the track when starting cleaning, which affects the user experience. Of course, given that the sub-robot has been following behind the main robot, the sub-robot's position information is relatively accurate, and the sub-robot can directly start cleaning the sub-machine operating area without assisting the sub-robot in repositioning or controlling the sub-robot to move to the initial cleaning position.

[0328] When the sub-robot is cleaning in the sub-machine operation area, the main robot can wait near the sub-machine operation area. The main robot can also clean the main machine operation area or return to the main base station. After the sub-robot is finished cleaning, it can stop moving. The main robot can go to the location where the sub-robot has finished cleaning. The main robot can lead the sub-robot back to the base station, or lead the sub-robot to switch to another sub-machine operation area. Of course, before the main robot leads the sub-robot to move, the main robot can also perform auxiliary repositioning on the sub-robot first, and then lead the sub-robot to move, to ensure the accuracy of the sub-robot's following, to prevent the sub-robot from deviating during the initial movement, which would bring a poor experience to the user.

[0329] The working environment outside the sub-machine operation area is usually more complex, and the sub-robot has almost no intelligent obstacle detection sensors, and the posture sensor is also relatively simple (for example, only an inertial navigation sensor is configured as a posture sensor). Even if the entire operation map is shared with the sub-robot, it is difficult for the sub-robot to accurately handle abnormalities based on the operation map and accurately move to the sub-base station or another sub-machine operation area, resulting in a high probability of abnormal situations occurring on the way to or from the sub-machine operation area. The main robot leading the sub-robot to or from the sub-machine operation area can effectively reduce the occurrence of abnormal situations.

[0330] In some embodiments, the main robot can accompany the sub-robot to perform operations or switch areas based on the posture information of the sub-robot relative to the main robot determined by the sub-machine posture perception unit; wherein the switching area refers to switching the sub-machine operation area, or the sub-robot moving from the sub-base station to the sub-machine operation area, or the sub-robot moving from the sub-machine operation area to the sub-base station.

[0331] When the main robot leads the sub-robot to move, or the main robot accompanies the sub-robot to perform cleaning, the infrared docking between the sub-robot and the main robot is interrupted, then the sub-robot stops moving, the main robot moves, and searches for the sub-robot. The sensor used to search for the sub-robot is not limited, such as infrared sensor, line laser, AI visual sensor, laser radar, etc. After searching, the sub-robot and the main robot perform infrared docking, and then the main robot leads the sub-robot to move, or the sub-robot performs cleaning. The sub-robot perception system is relatively simple. In the event of infrared docking interruption, the sub-robot moves on its own, which may easily deviate, or the sub-robot may collide with fragile objects, pets, etc. After the infrared docking between the sub-robot and the main robot is interrupted, the sub-robot is controlled to remain stationary, the main robot moves, and searches for the sub-robot, which can effectively reduce the occurrence of abnormal situations.

[0332] The infrared docking between the sub-robot and the main robot is interrupted, usually because the sub-robot is trapped or blocked by obstacles. Given that the communication distance of infrared docking is limited and the relative distance between the main robot and the sub-robot is relatively close, the main robot can use the communication distance of infrared docking as the reference distance and try to find the sub-robot based on its rich perception system. For example, the main robot can be used as the reference position and the reference distance as the radius to find the sub-robot. Of course, given that there may be a time delay for the main robot to find that the infrared docking is interrupted, that is, it takes several seconds after the infrared docking is interrupted for the controller of the main robot to determine that the infrared docking is interrupted, and the main robot can stop moving and then perform the search action, so that the sub-robot is outside the communication distance of infrared docking. When the position of the main robot is used as the reference position and the communication distance of infrared docking is used as the reference distance, the search area can be appropriately expanded so that the main robot can find the sub-robot, avoiding the situation where the sub-robot is very close to the main robot but is blocked by obstacles, causing the main robot to give up the search, thereby improving the user experience.

[0333] Of course, in the case of using WIFI strength to determine the distance between the main robot and the sub-robot, when the difference in WIFI strength between the main robot and the sub-robot exceeds a preset value, it can be considered that the distance between the main robot and the sub-robot is abnormal, and the distance between the main robot and the sub-robot corresponding to the preset value is used as the above-mentioned reference distance.

[0334] In abnormal situations such as the sub-robot being offline or trapped, the main robot can issue a reminder, or a voice reminder can be issued on the control interface of the cleaning APP, so that the user can intervene and eliminate the abnormal situation.

[0335] Alternatively, when the sub-robot is offline, the main robot can try to wake up the sub-robot. After several attempts, if the sub-robot still cannot be woken up, the main robot will issue a voice reminder or a reminder on the control interface of the cleaning APP.

[0336] In the case where the sub-robot is trapped, the main robot can go to the location where the sub-robot is trapped. For example, at least travel to the preset positioning area, which is the area where the sub-robot's posture perception unit detects the sub-robot. Obstacle information near the sub-robot is collected, and based on the collected obstacle information, the path for the sub-robot to escape is determined. The escape path can be sent to the sub-robot by using a cloud server or other means, and the sub-robot can then escape based on the escape path. Before escaping, the main robot can also assist the sub-robot in repositioning so that the sub-robot can accurately escape along the escape path, thereby improving the efficiency of escaping.

[0337] After confirming that the sub-robot has completed the cleaning task and returned to the base station, the main robot can also issue a reminder message to the sub-robot to perform manual cleaning of the dust box and rag. The reminder message can be directly issued by the main robot through voice; it can also be uploaded by the main robot to the cloud server, and then transmitted to the cleaning APP on the mobile phone, and then issued by the cleaning APP on the mobile phone, such as displaying it to the user on the control interface; or it can be transmitted from the cloud server to the sub-robot, and then issued by the sub-robot.

[0338] When the sub-robot is equipped with a dry cleaning module and / or a wet cleaning module but the sub-base station is not equipped with a dust collection and / or rag cleaning function, the garbage and rag in the dust box of the sub-robot usually need to be emptied and cleaned by the user. When the sub-robot completes the cleaning task and returns to the base station, the main robot promptly reminds the user to dump the garbage and / or clean the rag, which can improve the timeliness of garbage dumping and rag cleaning, prevent bacterial growth, and thus enhance the user experience.

[0339] refer to Figure 5 , the present application also provides a multi-robot collaborative system, comprising:

[0340] At least one processor 501; and a memory 502 communicatively connected to the at least one processor 501;

[0341] The memory 502 stores instructions that can be executed by the at least one processor 501, and the instructions are executed by the at least one processor 501 so that the at least one processor 501 can execute the multi-robot collaboration method.

[0342] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0343] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-robot collaborative system, characterized in that: include: A main robot, the main robot includes a body, a walking system, a control system, a cleaning module, and a perception system, the perception system includes a plurality of sensors, wherein some sensors in the perception system are arranged in the front part of the body of the main robot and are located within the height range of the body of the main robot; The sub-robot includes a body, a walking system, a control system, a cleaning module, and a perception system, wherein, in a walking state, the maximum height of the sub-robot is less than the maximum height of the main robot and greater than the perception height of one or more sensors in the partial sensors.

2. The collaboration system according to claim 1, wherein: A window is provided at the front of the body of the main robot, and the partial sensors sense information outside the body through the window.

3. The collaboration system according to claim 1 or 2, characterized in that: The partial sensors are located within the outline of the body of the main robot.

4. The collaboration system according to claim 1, wherein: The cleaning module of the main robot includes a dry cleaning module and a wet cleaning module, and the cleaning module of the sub-robot includes a dry cleaning module and a wet cleaning module. The number or type of cleaning components of the wet cleaning module of the main robot is different from the number and type of cleaning components of the wet cleaning module of the sub-robot.

5. The collaboration system according to claim 4, characterized in that: The wet cleaning module of the main robot includes two rotating rag discs, and the wet cleaning module of the sub-robot includes a flat rag disc.

6. The collaboration system according to claim 5, characterized in that: The flat rag tray comprises a flat water tank and a rag, and the rag is detachably attached to the side of the flat water tank.

7. The collaboration system according to claim 1, wherein: The system further includes a main robot base station and a sub-robot base station, wherein the function of the sub-robot base station is less than that of the main robot base station.

8. The collaboration system according to claim 7, characterized in that: The main robot base station is used to clean the wet cleaning module of the main robot, to collect dust for the main robot, and to charge the main robot, and the sub-robot base station is only used to charge the sub-robot and / or collect dust.

9. The collaboration system according to claim 1, wherein: The system also includes a combined base station, which is used to clean the wet cleaning module of the main robot, to collect dust for the main robot, to charge the main robot, and to only charge and / or collect dust for the sub-robot.

10. The collaboration system according to claim 9, characterized in that: The combined base station includes a robot cabin for accommodating or partially accommodating the main robot. A cleaning tray is provided at the bottom of the robot cabin, and the cleaning tray is used to clean the wet cleaning components of the main robot. A host charging terminal and a dust suction port are also provided in the robot cabin, and the dust suction port is connected to the dust holding space in the combined base station. The host charging terminal is used to charge the main robot. The combined base station is also provided with a sub-machine charging terminal, and the sub-machine charging terminal is used to charge the sub-robot.

11. The collaboration system according to claim 10, characterized in that: The slave device charging terminal is arranged outside the robot cabin.

12. The collaboration system according to claim 1, wherein: The maximum width of the body of the main robot is greater than the maximum width of the body of the sub-robot.

13. The collaboration system according to claim 1, wherein: When the sub-robot is located in front of the main robot and the distance from the front of the main robot is greater than a specific distance, the maximum width of the sub-robot is smaller than the maximum horizontal field of view width of the partial sensor of the main robot at the specific distance.

14. The collaboration system according to any one of claims 1, 4 and 5, characterized in that: The wet cleaning module of the main robot includes two rotatable rag discs, at least one of which can switch between a retracted state and an outward swing state. When the rag disc is in the outward swing state, in the width direction of the main robot, the sum of the maximum width of the main robot body and the width of the part of the rag disc that exceeds the maximum width of the body is greater than the maximum width of the sub-robot, wherein the width direction is a direction perpendicular to the forward direction of the main robot.

15. The collaboration system according to any one of claims 1, 4 and 5, characterized in that: The wet cleaning module of the main robot includes two rotatable larger rag discs and one rotatable smaller rag disc, wherein the smaller rag disc is in the width direction of the main robot, and the sum of the maximum width of the main robot body and the width of the portion of the smaller rag disc that exceeds the maximum width of the body is greater than the maximum width of the sub-robot, wherein the width direction is the vertical direction of the forward direction of the main robot, and the diameter of the smaller rag disc is smaller than the diameter of the larger rag disc.

16. The collaboration system according to claim 1, wherein: In the walking state, the maximum height of the main robot is greater than 75 mm and less than 95 mm, and the maximum height of the sub-robot is greater than 50 mm and less than 75 mm.

17. The collaboration system according to claim 1 or 12, characterized in that: The maximum width of the main robot is greater than 300 mm and less than 400 mm, and the maximum width of the sub-robot is greater than 200 mm and less than 300 mm.

18. The collaboration system according to claim 2, characterized in that: The partial sensors of the main robot include one or more of a laser sensor, an AI camera, and a line laser sensor, and the sensing ends of the partial sensors face the window.

19. The collaboration system according to any one of claims 1, 2 and 18, characterized in that: The perception system of the sub-robot includes one or more of an inertial measurement unit, a buffer, and an odometer.

20. The collaboration system according to claim 1, wherein: The main robot is provided with a signal transmitter, and the sub-robot is provided with a signal receiver matching the signal transmitter. The sub-robot receives the signal from the signal transmitter via the signal receiver to follow the main robot, and the main robot guides the sub-robot via the signal transmitted by the signal transmitter.

21. The collaboration system according to claim 20, characterized in that: The signal transmitter is arranged at the rear of the main robot, and the signal receiver is located at the front of the sub-robot.

22. The collaboration system according to any one of claims 1, 2 and 18, characterized in that: The partial sensors include laser sensors. In a walking state, the maximum height of the sub-robot is greater than the height of a laser beam emitted by the laser sensor and is less than the maximum height of the main robot.

23. The collaboration system according to claim 22, characterized in that: The laser sensor is a laser distance sensor LDS or a direct time of flight sensor dTOF.

24. The collaboration system according to claim 1, wherein: The body outline of the main robot is approximately D-shaped, and the shape of the sub-robot is different from that of the main robot.

25. The collaboration system according to claim 1, wherein: The main robot is connected to the cloud server by signal, the sub-robot is connected to the main robot by signal through the cloud server, the main robot is connected to its corresponding base station by signal, and the base station is connected to the cloud server through the main robot.

26. The collaboration system according to claim 20, characterized in that: The signal transmitter includes one or more of a wifi signal reflector, an infrared signal transmitter, or a bluetooth signal transmitter, and the signal receiver includes one or more of a wifi signal receiver, an infrared signal receiver, or a bluetooth signal receiver.

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