Device control method

Abstract

The present application relates to the technical field of smart homes, and relates to a device control method, a cleaning robot, and a smart home system. The method comprises: in response to a mobile work instruction, controlling a carrying platform to move under the drive of a cleaning robot, so as to execute target work corresponding to the mobile work instruction, wherein the carrying platform is used for carrying a household item. According to the method, on the basis of a movement function of the cleaning robot, the cleaning robot is used to drive the carrying platform to move, the carrying platform can carry the household item, and then the cleaning robot cooperates with the carrying platform and / or the household item to execute the target work, thereby diversifying the work content executed by the cleaning robot.

Description

Device control method

[0001] This application claims patent application number CN202420269702.9 filed on February 2, 2024, entitled “Home mobile platform, cleaning robot and cleaning system”, patent application number CN202410400290.2 filed on April 2, 2024, entitled “Device control method, cleaning robot and smart home system”, patent application number CN202410400323.3 filed on April 2, 2024, entitled “Docking method of cleaning robot and mopping platform and smart home system”, and patent application number CN2024103997 filed on April 2, 2024 The application claims priority to the Chinese patent application No. 02.5, entitled “Device integration method of towing platform and cleaning robot and smart home system”, the application number CN202410399721.8 filed on April 2, 2024, entitled “Device obstacle avoidance method, cleaning robot, towing platform and smart home system”, and the application number CN202410399299.6 filed on April 2, 2024, entitled “Device docking method, towing platform, cleaning robot and smart home system”, the entire text of which is hereby incorporated by reference, and part or all of the content of the above-mentioned priority is incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of smart home technology, and in particular to a device control method, a cleaning robot and a smart home system. Background Art

[0003] With the continuous iteration and upgrading of intelligent technology, the application scenarios of intelligent robots have gradually broadened, and their functions and forms have become increasingly diverse. Among them, cleaning robots are a relatively common type of intelligent robot, which can clean floors through movement, mapping, obstacle avoidance, and path planning.

[0004] However, the working mode of cleaning robots is relatively simple, especially in home scenarios, and they cannot work in conjunction with other home appliances or base stations. Therefore, conventional cleaning robots can no longer meet people's demand for intelligent devices. Summary of the Invention

[0005] Based on this, it is necessary to address the above technical problems and provide a device control method, a cleaning robot and a smart home system that can move a towing platform carrying household items through a cleaning robot, thereby achieving diversified collaborative work.

[0006] In a first aspect, the present application provides a device control method, the method comprising:

[0007] In response to a movement work instruction, controlling the towing platform to move under the driving of the cleaning robot to perform a target work corresponding to the movement work instruction;

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

[0009] In a second aspect, the present application provides a device control method for a cleaning robot, which is applied to the cleaning robot, and the method includes:

[0010] When the cleaning robot or the towing platform responds to the movement work instruction, the towing platform is driven to move to perform the target work corresponding to the movement work instruction;

[0011] Wherein, the towing platform is used to carry household items.

[0012] In a third aspect, the present application provides a cleaning robot, the cleaning robot including a first device control device, the first device control device including:

[0013] A first device control module is configured to drive the towing platform to move when the cleaning robot or the towing platform responds to a movement work instruction, so as to perform a target work corresponding to the movement work instruction;

[0014] Among them, the towing platform is used to carry household items.

[0015] In a fourth aspect, the present application provides a towing platform, including a second device control device, wherein the second device control device includes:

[0016] The second equipment control module is used to respond to the moving work instruction and move under the drive of the cleaning robot to perform the target work corresponding to the moving work instruction.

[0017] Among them, the towing platform is used to carry household items.

[0018] In a fifth aspect, the present application provides a smart home system, including the cleaning robot of the third aspect and the mopping platform of the fourth aspect, as well as a terminal, a client and a server.

[0019] In a sixth aspect, the present application provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of the first or second aspect mentioned above when executing the computer program.

[0020] In a seventh aspect, the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of the first aspect or the second aspect mentioned above are implemented.

[0021] In an eighth aspect, the present application further provides a computer program product, comprising a computer program, which implements the steps of the method of the first or second aspect mentioned above when the computer program is executed by a processor.

[0022] The aforementioned device control method, cleaning robot, and smart home system, in response to a movement work instruction, control the towing platform to move under the driving force of the cleaning robot to perform the target work corresponding to the movement work instruction; wherein the towing platform is used to carry household objects. This application utilizes the movement function of the cleaning robot, using the cleaning robot to drive the towing platform to move, and the towing platform can carry household objects. The cleaning robot then cooperates with the towing platform and / or household objects to perform the target work, thereby realizing the diversity of the work content performed by the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is an application scenario diagram of a device control method according to an embodiment;

[0024] FIG2 is a schematic diagram of the structure of a cleaning robot and a dragging platform carrying household items in one embodiment;

[0025] FIG3 is a schematic flow chart of a device control method in one embodiment;

[0026] FIG4 is a schematic diagram of a process for driving the towing platform to move according to one embodiment;

[0027] FIG5 is a schematic structural diagram of a towing platform, a cleaning robot, and a base station in one embodiment;

[0028] FIG6 is a schematic diagram of a process of sending a notification of successful fusion to a cleaning robot in one embodiment;

[0029] FIG7 is a schematic diagram of a process of separating the dragging platform from the cleaning robot in one embodiment;

[0030] FIG8 is a schematic diagram of a process for docking a cleaning robot with a mopping platform according to an embodiment;

[0031] FIG9 is a schematic diagram of a process for controlling the operation of household objects in one embodiment;

[0032] FIG10 is a schematic diagram of a process of docking a cleaning robot with a mopping platform according to another embodiment;

[0033] FIG11 is a block diagram of a device control device for a towing platform according to an embodiment;

[0034] FIG12 is a block diagram of a device control device for a cleaning robot according to one embodiment;

[0035] FIG13 is a structural block diagram of a computer device for implementing a device control method in one embodiment.

[0036] Figure numerals: 100, towing platform; 110, first connecting member; 120, movable supporting structure; 130, second docking member; 140, third electrode sheet; 150, first obstacle detection device; 160, third docking member; 170, seventh electrode sheet; 180, dust collection channel; 190, second infrared receiver; 200, cleaning robot; 210, second connecting member; 220, first docking member; 230, fourth electrode sheet; 240, dust outlet; 250, first infrared receiver; 300, household item; 400, base station; 410, fourth docking member; 420, eighth electrode sheet; 430, dust inlet. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0038] The device control method provided in the embodiments of the present application can be applied to a terminal (e.g., a laptop, smartphone, tablet, smart speaker, smartwatch), a client (e.g., an app), a server, or a towing platform. For illustration, using a terminal as an example, as shown in FIG1 , a cleaning robot 200 is an intelligent robot equipped with path planning, movement, and obstacle avoidance capabilities, capable of independently completing cleaning tasks such as sweeping and mopping. The towing platform 100 is a device independent of the cleaning robot 200 and can be used to carry objects. The cleaning robot 200 and the towing platform 100 are located in the same environment, such as a home interior. The towing platform 100 can be used to carry household objects 300, and both the cleaning robot 200 and the towing platform 100 are equipped with wireless and / or wired communication capabilities. As shown in FIG2 , when the cleaning robot and the towing platform carry household objects, the household objects 300 can be smart household objects with specific functions, such as cameras, humidifiers, and purifiers, or they can be ordinary household objects to be moved, such as tableware, paper towels, umbrellas, and towels. A base station 400 may also be deployed in the same environment to charge and / or clean the cleaning robot 200 and the towing platform 100. The terminal may be located in the same environment or in a different environment and may be used to communicate with the cleaning robot 200, the towing platform 100, and the base station 400 to control their behavior.

[0039] In one embodiment, a device control method is provided, as shown in FIG3 , including:

[0040] S301 , in response to a moving work instruction, controlling the object-dragging platform to move driven by the cleaning robot.

[0041] S302: Execute the target task corresponding to the mobile task instruction.

[0042] Specifically, the terminal, client, server or cleaning robot can send the mobile work instruction to the towing platform 100. The towing platform 100 itself can also set the target work and its trigger time and / or trigger condition to generate the mobile work instruction.

[0043] Optionally, the user sends the mobile work instruction to the terminal, client or server through relevant operations (such as tapping the function button of the APP, inputting voice into the smart speaker, etc.), and the terminal or client itself can also set the target work and its trigger time and / or trigger conditions to generate the mobile work instruction.

[0044] Specifically, the towing platform 100 can respond to the movement work instruction based on a local controller, controlling the towing platform 100 to move under the guidance of the movement work instruction, thereby performing the target task. In addition to the local controller of the towing platform 100, a terminal, client, or server in communication with the towing platform 100 can also respond to the movement work instruction to perform the above steps, and this embodiment does not limit this.

[0045] When the towing platform 100 carries household items, the cleaning robot 200 can move with the towing platform 100 to carry the household items, thereby performing target tasks such as transporting, monitoring, humidifying, or purifying. When the towing platform 100 does not carry household items, the cleaning robot 200 can also move with the towing platform 100 to perform target tasks such as charging the towing platform 100. It is understood that the movement work instruction corresponds to the towing platform 100 needing to move under the guidance of the cleaning robot 200 to perform the target task.

[0046] For example, if the towing platform 100 carries a household item, a humidifier, and responds to a movement instruction, the movement instruction instructs the towing platform 100, driven by the cleaning robot 200, to use the humidifier to perform a target task of mobile humidification. Therefore, when the towing platform 100 and the cleaning robot 200 are combined, the towing platform 100 can be controlled to move under the drive of the cleaning robot 200, thereby enabling the cleaning robot 200, the towing platform 100, and the humidifier to collaboratively perform the target task.

[0047] In the above embodiment, in response to a movement work instruction, the towing platform 100 is controlled to move under the guidance of the cleaning robot 200 to perform the target task corresponding to the movement work instruction; the towing platform 100 is used to carry household items. This embodiment utilizes the movement function of the cleaning robot 200, using the cleaning robot 200 to drive the towing platform 100 to move. The towing platform 100 can carry household items, and the cleaning robot 200 then cooperates with the towing platform 100 and / or the household items to perform the target task, thereby realizing the diversity of the tasks performed by the cleaning robot 200.

[0048] In order to smoothly perform target tasks for different application scenarios, based on the above embodiments, in one embodiment, the current state between the towing platform 100 and the cleaning robot 200 can be determined first, and then different steps can be performed based on the current state, as shown in FIG4 , including the following steps:

[0049] S401: Acquire the current status between the towing platform and the cleaning robot.

[0050] Before controlling the towing platform 100 to move driven by the cleaning robot 200, the terminal, client, server or towing platform 100 can first obtain the current state between the towing platform 100 and the cleaning robot 200; wherein, the current state is combined or separated, the towing platform 100 and the cleaning robot 200 can automatically combine and separate without manual combination or separation.

[0051] Specifically, the towing platform 100 can directly detect the current status between itself and the cleaning robot 200, and the terminal, client or server can receive the current status detected and sent by the cleaning robot 200 or the towing platform.

[0052] It should be noted that the towing platform 100 or the cleaning robot 200 can detect and send the status between the towing platform 100 and the cleaning robot 200 at regular intervals, or detect and send the current status between the towing platform 100 and the cleaning robot 200 after receiving a movement work instruction.

[0053] S402, when the current state is the combined state, controlling the object-dragging platform to move under the drive of the cleaning robot.

[0054] In other words, if the current state is combined, the terminal, client, server or local controller of the towing platform 100 controls the towing platform 100 to move under the drive of the cleaning robot 200 .

[0055] For example, when the server receives the movement work instruction sent by the client, based on the result of the latest detection status reported regularly by the towing platform 100, when it is confirmed that the current state is combined, the towing platform 100 sends a movement work instruction. The towing platform 100 sends a movement notification to the cleaning robot 200 according to the movement work instruction, and the towing platform 100 moves under the drive of the cleaning robot 200.

[0056] S403: When the current state is separation, the cleaning robot and the object-dragging platform are combined.

[0057] In other words, if the current state is separation, a merging instruction is sent to the cleaning robot 200 so that the cleaning robot 200 moves to the area where the towing platform belongs and merges with the towing platform 100 .

[0058] For example, when the server receives the moving work instruction sent by the client, based on the latest detection status result reported regularly by the towing platform 100, when it is confirmed that the current state is separation, it sends a fusion instruction to the cleaning robot 200 to instruct the cleaning robot 200 to merge with the towing platform 100.

[0059] For another example, when the towing platform 100 receives a moving work instruction issued by the terminal, the towing platform 100 detects that the current state between it and the cleaning robot 200 is separation, and the towing platform 100 sends a fusion instruction to the cleaning robot 200 via wireless communication (such as Bluetooth or Wireless Fidelity (WIFI)).

[0060] Furthermore, the cleaning robot 200 determines the area to which the towing platform belongs and moves to the area to merge with the towing platform 100. The area to which the towing platform belongs represents the approximate location of the towing platform 100, which refers to a smaller area of ​​the towing platform in a home indoor environment.

[0061] For example, when the towing platform 100 uploads its own positioning information to the server in real time, the cleaning robot 200 directly obtains the area to which the towing platform belongs from the server. Alternatively, the cleaning robot 200 obtains the location information of the towing platform 100 from the room map stored in the internal memory, thereby determining the area to which the towing platform belongs.

[0062] For another example, the cleaning robot 200 keeps moving in an indoor home scene while recognizing the towing platform 100. When recognizing the towing platform 100 at a close distance, it determines that it has moved to the area to which the towing platform belongs.

[0063] In this embodiment, the current state between the towing platform 100 and the cleaning robot 200 is obtained. If the current state is combined, the towing platform 100 is controlled to move under the drive of the cleaning robot 200. If the current state is separated, a merge command is sent to the cleaning robot 200, so that the cleaning robot 200 moves to the area where the towing platform belongs and merges with the towing platform 100. By first detecting the current state between the towing platform 100 and the cleaning robot 200, it is ensured that the towing platform 100 and the cleaning robot 200 are automatically docked and merged, and then the towing platform 100 is controlled to move under the drive of the cleaning robot 200, so as to perform the target task. This ensures the rationality of equipment control and the smooth execution of the target task in different scenarios.

[0064] In one embodiment, a method for combining a towing platform and a cleaning robot is provided, which is applied to the towing platform and includes: automatically combining a first combining piece of the towing platform with a second combining piece of the cleaning robot to combine the towing platform with the cleaning robot.

[0065] Specifically, as shown in FIG5 , when the cleaning robot 200 is combined with the towing platform 100, the first coupling member 110 configured on the towing platform 100 and the second coupling member 210 configured on the cleaning robot 200 can be automatically coupled to achieve the combination of the towing platform 100 and the cleaning robot 200. The first coupling member 110 and / or the second coupling member 210 can be components that can be driven to move. For example, the first coupling member 110 can be a clamping member (such as a clamping block, a clamping column, a clamping hook, etc.), and the second coupling member 210 can be a matching clamping hole, or the first coupling member can be a clamping hole, and the second coupling member 210 can be a matching clamping member. The first coupling member 110 and the second coupling member 210 can also be magnetic members that are magnetically connected.

[0066] Optionally, the first coupling member 110 is arranged at the bottom or side of the towing platform 100, and the second coupling member 210 is arranged at the top or side of the cleaning robot 200. In this way, when the first coupling member 110 is a clamping member and the second coupling member 210 is a clamping hole, the clamping member of the towing platform 100 moves downward; when the first coupling member is a clamping hole and the second coupling member is a clamping member, the clamping member of the cleaning robot 200 moves upward, thereby realizing automatic coupling of the first coupling member 110 and the second coupling member 210.

[0067] In the above embodiment, the towing platform 100 and the cleaning robot 200 are automatically combined by the first coupling member 110 and the second coupling member 210, so that the towing platform 100 is carried by the cleaning robot 200 to perform tasks; wherein the towing platform 100 is used to carry household objects. In this embodiment, the towing platform 100 and the cleaning robot 200 are automatically combined to increase the diversity of tasks that the cleaning robot 200 can perform. That is, the cleaning robot 200 can perform tasks independently or carry different types of household objects via the towing platform 100, thereby performing tasks together with different types of household objects. Since the cleaning robot 200 does not need to directly dock with the household objects, the types of household objects are not limited, making it applicable to a wider range of application scenarios and meeting the diverse needs of users.

[0068] In order to ensure that the cleaning robot 200 and the towing platform 100 are accurately combined, based on the above embodiment, in one embodiment, the first combining piece of the towing platform is automatically combined with the second combining piece of the cleaning robot, including: controlling the first combining piece 110 of the towing platform 100 to move toward the second combining piece 210 of the cleaning robot 200 and be fixed to the second combining piece 210, or controlling the second combining piece 210 that moves to the first combining piece 110 and be fixed to the second combining piece 210.

[0069] Specifically, when the cleaning robot 200 is in a suitable combined position, the second coupling member 210 of the cleaning robot 200 can remain stationary, and accordingly, the dragging platform 100 can control the first coupling member 110 to move toward the second coupling member 210 of the cleaning robot 200, so that the first coupling member 110 contacts the second coupling member 210 and is automatically fixed thereto, or the first coupling member 110 of the dragging platform 100 remains stationary, and accordingly, the cleaning robot 200 can control the second coupling member 210 to move toward the first coupling member, so that the second coupling member 210 contacts the first coupling member 110 and is automatically fixed thereto, or, the first coupling member 110 and the second coupling member 210 can both move toward each other, thereby contacting each other and automatically fixing thereto.

[0070] Optionally, the appropriate fitting position may be directly below the towing platform 100 , so that the towing platform 100 can control the first coupling member of the towing platform 100 to move vertically downward and embed or fit into the second coupling member of the cleaning robot 200 .

[0071] Correspondingly, when the first coupling member 110 is a vertically extending cylindrical coupling member and the second coupling member 210 is a groove-shaped coupling hole corresponding to the position of the first coupling member 110, the towing platform 100 controls the first coupling member 110 of the towing platform 100 to move vertically downward and embed into the second coupling member 210 of the cleaning robot 200; when the first coupling member and the second coupling member are magnetic members that can be magnetically connected, the towing platform 100 can control the first coupling member of the towing platform 100 to move vertically downward and fit into the second coupling member of the cleaning robot 200.

[0072] In this embodiment, the towing platform 100 can control the first coupling part 110 to move toward the second coupling part 210 of the cleaning robot 200 and be fixed to the second coupling part 210, or cooperate with the second coupling part 210 that moves to the first coupling part 110 and is fixed to the second coupling part 210. The cleaning robot 200 and the towing platform 100 are automatically combined without human operation, which is suitable for smart home scenarios.

[0073] To further ensure that the cleaning robot 200 and the towing platform 100 are smoothly combined, based on the above embodiment, in one embodiment, after the first combining member 110 and the second combining member 210 are automatically combined and before the towing platform 100 moves under the drive of the cleaning robot 200, the towing platform 100 can detect whether the combination with the cleaning robot 200 is successful, as shown in FIG6 . The method further includes:

[0074] S601: Detect whether a first detection device of the towing platform is triggered.

[0075] The first detection device can be a micro switch or a photoelectric switch provided on the towing platform 100. For example, if the first detection device is a photoelectric switch, when the first coupling member 110 moves to its maximum travel until the first detection device is blocked, it indicates that the first coupling member 110 is fully extended from the towing platform 100. At this point, the first detection device emits an electrical signal indicating that the first coupling member 110 and the second coupling member 210 are fully engaged. The towing platform 100 receives the corresponding electrical signal and confirms that the coupling is successful.

[0076] In other words, the towing platform 100 determines whether the first detection device is triggered by detecting whether the corresponding electrical signal is received.

[0077] S602: When it is detected that the first detection device is triggered, a fusion success notification is sent to the cleaning robot.

[0078] The towing platform 100 sends a fusion success notification to the cleaning robot 200 to instruct the cleaning robot 200 to move with the towing platform 100 and perform work tasks.

[0079] Optionally, if the first detection device is not detected to be triggered for more than a preset number of combinations or a preset time, a combination failure notification is sent to the cleaning robot 200 and / or the terminal.

[0080] For example, the towing platform 100 controls the first coupling member 110 to move vertically downward via the first driving mechanism, while detecting whether a corresponding electrical signal is generated. If not, this indicates that the first coupling member 110 has not been successfully coupled with the second coupling member 210. The first driving mechanism then controls the second coupling member 210 to move vertically upward, and the above-described steps of combining the towing platform 100 and the cleaning robot 200 are repeated. If the steps of combining the towing platform 100 and the cleaning robot 200 exceed a preset number of combinations, or if the cumulative time during which the steps of combining the towing platform 100 and the cleaning robot 200 are repeated reaches a preset time, and the first detection device is still not detected as being triggered based on the electrical signal, the combination is determined to have failed.

[0081] Furthermore, the towing platform 100 sends a merger failure notification to the cleaning robot 200 and / or the terminal.

[0082] Optionally, if the first detection device is not detected to be triggered after exceeding a preset number of combinations or a preset time, a fault report processing is performed.

[0083] In this embodiment, it is detected whether the first detection device of the dragging platform 100 is triggered. When it is detected that the first detection device is triggered, a successful integration notification is sent to the cleaning robot 200. By exchanging data with the cleaning robot 200, the integration process can be standardized and the accurate execution of each step can be guaranteed. In this way, if a problem occurs during the integration process, subsequent operations can be quickly responded to, which is conducive to ensuring the reliability of equipment integration.

[0084] In order to enable the cleaning robot 200 to independently perform work tasks without carrying the towing platform 100, based on the above embodiment, in one embodiment, after the towing platform 100 and the cleaning robot 200 are successfully combined, they can also automatically separate from the cleaning robot 200, as shown in FIG7 . The above method further includes:

[0085] S701, responding to a disengagement instruction.

[0086] The detachment instruction can be a command sent to the towing platform 100 by any one of a terminal (e.g., a laptop, smartphone, tablet, smart speaker, smartwatch), a client (e.g., an app), a server, or the cleaning robot 200, directly instructing the towing platform 100 to detach from the cleaning robot 200. The towing platform 100 itself can also set a work task and its trigger time and / or trigger conditions to generate a detachment instruction.

[0087] Correspondingly, the cleaning robot 200 sends a separation instruction to the towing platform 100 when the cleaning robot 200 receives a target instruction for instructing the cleaning robot 200 to perform a corresponding work task. When the work task is for the cleaning robot 200 to perform an independent task alone, the cleaning robot 200 determines whether it is currently combined with the towing platform 100 for the target instruction of the independent task. If so, when it is determined that the towing platform 100 is not required to perform the independent task, the cleaning robot 200 sends a separation instruction to the towing platform 100, so that the towing platform 100 and the cleaning robot 200 are separated, ending the combined state, so that the cleaning robot 200 can perform the independent task alone; if not, the cleaning robot 200 can directly perform the independent task alone.

[0088] It should be noted that, after the towing platform 100 and the cleaning robot 200 are successfully combined, the separation command may be received while the towing platform 100 is being carried by the cleaning robot 200 to perform the work task, or may be received when the towing platform 100 and the cleaning robot 200 have just been successfully combined and have not yet been carried by the cleaning robot 200 to perform the work task, or may be received after the towing platform 100 is carried by the cleaning robot 200 to complete the work task; accordingly, if the separation command is received while the towing platform 100 is being carried by the cleaning robot 200 to perform the work task, the towing platform 100 and the cleaning robot 200 stop performing the work task and separate from the cleaning robot 200.

[0089] S702: The first coupling member of the dragging platform and the second coupling member of the cleaning robot are automatically separated to separate from the cleaning robot.

[0090] After receiving the separation instruction, the towing platform 100 actively controls the first connecting member 110 to separate from the second connecting member 210 and separates from the cleaning robot 200 .

[0091] Optionally, the towing platform 100 controls the first coupling member 110 of the towing platform 100 to move away from the second coupling member 210 and separate from the second coupling member 210 , or to separate from the second coupling member 210 moving away from the first coupling member 110 .

[0092] For example, the towing platform 100 drives the first connecting member 110 to move vertically upward via the first driving mechanism, thereby separating the first connecting member 110 from the second connecting member 210, thereby separating the towing platform 100 from the cleaning robot 200. Alternatively, the cleaning robot 200 drives the second connecting member 210 to move vertically downward via the second driving mechanism, thereby separating the first connecting member 110 from the second connecting member 210, thereby separating the towing platform 100 from the cleaning robot 200.

[0093] S703, the cleaning robot performs an independent task.

[0094] Alternatively, the independent task may be a sweeping or mopping task. Since the cleaning robot 200 itself has sweeping or mopping capabilities, it can perform the independent task without being connected to the mopping platform 100. Alternatively, the independent task may be charging the cleaning robot 200. The cleaning robot 200 can independently move to the base station 400 to perform the independent task. As can be seen from the above examples, it can be determined that the mopping platform 100 is not required for independent tasks. In actual applications, a mapping relationship between target instructions and the need for the mopping platform 100 can be pre-set.

[0095] In this embodiment, the towing platform 100 can actively separate from the cleaning robot 200 in response to a separation command, or cooperate with the cleaning robot 200 to separate, so that the cleaning robot 200 can perform corresponding independent tasks independently without having to combine with the towing platform 100, which is in line with actual application scenarios.

[0096] As an optional implementation in this embodiment, after the towing platform 100 is separated from the cleaning robot 200 and before the cleaning robot 200 performs an independent task, the towing platform 100 detects whether the second detection device of the towing platform 100 is triggered. If so, a separation success notification is sent to the cleaning robot 200.

[0097] The second detection device can be a micro switch or a photoelectric switch provided on the towing platform 100. For example, if the second detection device is a photoelectric switch, when the first coupling member 110 moves toward its minimum stroke, blocking the second detection device, it indicates that the first coupling member 110 has fully retracted into the towing platform 100. At this point, the second detection device emits an electrical signal, indicating that the first coupling member 110 and the second coupling member 210 have successfully separated. The towing platform 100 receives the corresponding electrical signal and confirms that the separation is successful.

[0098] In other words, the towing platform 100 determines whether the second detection device is triggered by detecting whether the corresponding electrical signal is received.

[0099] Furthermore, when it is detected that the second detection device is triggered, the towing platform 100 sends a separation success notification to the cleaning robot 200 to instruct the cleaning robot 200 to move independently and perform independent tasks.

[0100] Optionally, if the second detection device is not detected to be triggered for more than a preset number of combinations or a preset time, a separation failure notification is sent to the cleaning robot 200 and / or the terminal, and a fault report processing is performed.

[0101] Therefore, the towing platform 100 exchanges data with the cleaning robot 200 to standardize the disengagement process and ensure the accurate execution of each step. In this way, if a problem occurs in the disengagement process, subsequent operations can be quickly responded to, which is conducive to ensuring the reliability of equipment operation.

[0102] In one embodiment, the towing platform 100 is first docked with the cleaning robot 200 and then combined with the cleaning robot 200. That is, before the cleaning robot and the towing platform are combined, a device docking method of the cleaning robot 200 and the towing platform 100 is provided, which is applied to the towing platform 100. The method includes: when the cleaning robot 200 moves to the area to which the towing platform belongs, docking with the cleaning robot 200.

[0103] Specifically, the area to which the towing platform belongs represents the approximate location of the towing platform 100, which refers to a smaller area of ​​the towing platform 100 in a home indoor environment. The cleaning robot 200 moves to this area through its own path planning, movement and obstacle avoidance functions.

[0104] Optionally, the cleaning robot 200 has a built-in memory for storing map information of the environment in which the cleaning robot 200 is located, that is, map information of an indoor home scene, including the layout of the indoor home scene, as well as current location information of devices such as the cleaning robot 200, the towing platform 100, and the base station 400. The towing platform 100 uploads real-time location information to a server, so that the cleaning robot 200 obtains the location information of the towing platform 100 or the area to which the towing platform belongs as determined by the server from the server. Alternatively, when the cleaning robot 200 is performing an independent cleaning task or building a map, it can directly determine the location information of the towing platform 100 or the area to which the towing platform belongs in the map information through the received communication signal (such as an infrared signal), and update the map information stored in the memory to be called in response to a target instruction.

[0105] Optionally, the cleaning robot 200 directly obtains the location information of the towing platform 100 or the map information of the area to which the towing platform belongs determined by the server from the server, or directly obtains the location information of the towing platform 100 or the map information of the area to which the towing platform belongs from the built-in memory.

[0106] It is understandable that the area to which the towing platform belongs may not exist in the map information of the cleaning robot 200. Therefore, the cleaning robot 200 needs to first detect whether the area to which the towing platform belongs exists in the map information, and then execute different movement methods based on different results.

[0107] Furthermore, the cleaning robot 200 moves to the area where the towing platform belongs according to the map information when there is an area where the towing platform belongs, and moves to the area where the towing platform belongs according to a preset path when there is no area where the towing platform belongs.

[0108] For example, the cleaning robot 200 generates a target path for moving to the area where the towing platform belongs based on its own mapping and path planning functions, and moves to the area where the towing platform belongs according to the target path.

[0109] For example, the cleaning robot 200 moves along a preset path in an indoor home environment, identifying the towing platform 100 through Bluetooth signals, infrared signals, or laser radar until it reaches the area where the towing platform is located. Alternatively, the cleaning robot 200 can move randomly or along a wall until it reaches the area where the towing platform is located.

[0110] In order to ensure accurate docking between the cleaning robot 200 and the towing platform 100, based on the above embodiment, in one embodiment, as shown in FIG8 , the following steps are included:

[0111] S801 : Send a docking signal to the cleaning robot, so that the cleaning robot determines relative position information between the cleaning robot and the towing platform according to the docking signal, and moves toward the towing platform according to the relative position information.

[0112] The docking signal sent by the towing platform 100 may be a Bluetooth signal, an infrared signal, etc., which is not limited in this embodiment.

[0113] Optionally, the cleaning robot 200 receives a Bluetooth signal, identifies the RSSI (Received Signal Strength Indicator) of the Bluetooth signal, determines the relative distance between the cleaning robot 200 and the towing platform 100 based on the RSSI, and identifies the signal phase of the Bluetooth signal, determines the relative direction (for example, the first relative direction, the second relative direction) between the cleaning robot 200 and the towing platform 100 based on the signal phase, thereby obtaining the relative position information between the cleaning robot 200 and the towing platform 100.

[0114] Optionally, the cleaning robot 200 is equipped with multiple infrared receiving tubes, and an infrared signal transmitting tube is configured on one side of the towing platform 100. The infrared signal transmitting tube of the towing platform 100 can transmit infrared signals of a specific frequency, and the infrared receiving tube can receive the infrared signals of the specific frequency. Therefore, based on the intensity difference corresponding to each infrared receiving tube, the relative distance between the cleaning robot 200 and the towing platform 100 can be determined. Based on the direction in which the infrared signal transmitting tube of the towing platform 100 transmits the infrared signal, the relative direction (including the first relative direction and the second relative direction) between the cleaning robot 200 and the towing platform 100 can be determined, thereby obtaining the relative position information between the cleaning robot 200 and the towing platform 100.

[0115] When the cleaning robot 200 determines the relative direction in the relative position information, it moves in the relative direction to move toward the towing platform 100. When the cleaning robot 200 determines the relative distance in the relative position information, it can accurately determine the moving distance to move to a suitable docking distance.

[0116] Optionally, during the docking process between the cleaning robot 200 and the towing platform 100 , the cleaning robot 200 may continuously receive infrared signals emitted by the infrared signal emitting tube of the towing platform 100 through the infrared receiving tube, thereby updating the relative position information.

[0117] S802, while maintaining the limit state through the brake limit, positioning and electrical connection are performed with the cleaning robot.

[0118] It is understood that, as shown in FIG5 , since the towing platform 100 can be moved by an external force via a movable support structure 120 , wherein the movable support structure 120 specifically includes legs and universal wheels at the ends of the legs, when the towing platform 100 is in a limited position during docking, this can prevent the cleaning robot 200 from changing the position of the towing platform 100 during the docking process, thereby preventing docking failure. The towing platform 100 maintains the limited position via a brake limit switch, i.e., the brake limit switch of the towing platform 100 is activated during the docking process.

[0119] Specifically, the cleaning robot 200 and the towing platform 100 can be positioned and matched through structural members. As shown in Figure 5, the cleaning robot 200 is equipped with a first docking member 220, and the towing platform 100 is equipped with a second docking member 130. The first docking member 220 and / or the second docking member 130 are equipped with elastic members for enabling the first docking member 220 and / or the second docking member 130 to move in the horizontal direction, so that the cleaning robot 200 and the towing platform 100 can be positioned and matched, thereby improving the success rate and efficiency of the cleaning robot 200 docking with the towing platform 100 during movement. After the cleaning robot 200 and the towing platform 100 are positioned and matched, the cleaning robot 200 and the towing platform 100 are positionally defined, so that the first coupling member 110 of the towing platform 100 is exactly and strictly coupled with the second coupling member 210 of the cleaning robot 200 at the corresponding position, which can improve the success rate of the cleaning robot 200 and the towing platform 100.

[0120] Optionally, the cleaning robot 200 and the towing platform 100 are positioned and matched by electrode sheets respectively provided on the cleaning robot 200 and the towing platform 100. The cleaning robot 200 and / or the towing platform 100 are provided with elastic members capable of moving the electrode sheets in the horizontal direction, so that the towing platform 100 and the cleaning robot 200 are positioned and matched.

[0121] In this embodiment, the cleaning robot 200 receives a docking signal sent by the towing platform 100, and determines the relative position information between the cleaning robot 200 and the towing platform 100 based on the docking signal. Based on the relative position information, the cleaning robot 200 moves toward the towing platform 100, and performs positioning cooperation and electrical connection with the towing platform 100 in a limited state. When the cleaning robot 200 and the towing platform 100 are in the same area, the cleaning robot 200 can achieve automatic docking between the towing platform 100 without manual operation, which is suitable for smart home scenarios and can also improve the stability and efficiency of the docking process.

[0122] In one embodiment, before maintaining the limited state by braking in step S802, the process includes:

[0123] The brake limit is turned on to position the movable support structure of the towing platform; wherein the movable support structure is used to support and drive the towing platform to move.

[0124] The movable support structure 120 is used to support and drive the towing platform 100. After receiving the brake limit command, the towing platform 100 activates the brake limit to position the movable support structure 120, ensuring that the movable support structure 120 is in a limited state, thereby preventing the towing platform 100 from moving through the movable support structure 120.

[0125] It should be noted that, in the present application, after the brake limit switch of the towing platform 100 is turned on, the brake limit switch can be automatically turned off after the cleaning robot 200 is electrically connected to the towing platform 100. Preferably, the brake limit is turned off after the cleaning robot 200 is combined with the towing platform 100, so that the cleaning robot 200 carries the towing platform 100 to perform work tasks, and the brake limit is turned off after the cleaning robot 200 and the towing platform 100 are combined. This can avoid the problem of failure of the combination of the cleaning robot 200 and the towing platform 100 due to the change in the position of the towing platform 100 during the combination process; after the brake limit switch of the towing platform 100 is turned on, the brake limit can also be turned off by relevant user operations. For example, when the cleaning robot 200 is not docked and combined with the towing platform 100, the user moves the towing platform 100, and the towing platform 100 detects the movement through the built-in gyroscope, and then automatically turns off the brake limit, so that the user can manually push the towing platform 100 to move.

[0126] In one embodiment, after the towing platform 100 and the cleaning robot 200 are positioned, matched, and electrically connected, if it is detected that the third electrode sheet 140 of the towing platform 100 contacts the fourth electrode sheet 230 of the cleaning robot 200 , it is confirmed that the docking with the cleaning robot 200 is successful.

[0127] Generally, the contact between the fourth electrode 230 of the cleaning robot 200 and the third electrode 140 of the towing platform 100 can be determined by measuring the voltage change of the third electrode 140 of the towing platform 100, as detected by an ADC (Analog-to-Digital Converter). Alternatively, the contact between the electrodes can be detected based on the level of the chip's I / O (Input / Output) pins, thereby identifying whether the docked device is the towing platform 100. When the electrodes are in contact, the cleaning robot 200 is electrically connected to the towing platform 100, and the cleaning robot 200 confirms successful docking with the towing platform 100 through the detected electrical signal.

[0128] By detecting that the fourth electrode sheet 230 of the cleaning robot 200 is in contact with the third electrode sheet 140 of the towing platform 100, successful docking with the towing platform 100 is confirmed. This not only improves the accuracy and simplicity of determining successful docking, but also allows for single-line communication and information transmission using the electrode sheet. It also enables energy exchange between the towing platform 100 and the cleaning robot 200 via the electrode sheet, allowing the cleaning robot 200 to subsequently carry the towing platform 100 to perform work tasks. For example, the towing platform 100 has a battery that can store electrical energy. The towing platform 100 can use its own stored electrical energy to charge the cleaning robot 200 through the electrode sheet, or the cleaning robot 200 can use its stored electrical energy to charge the towing platform 100 through the electrode sheet.

[0129] In order to accurately detect the current state between the towing platform 100 and the cleaning robot 200, based on the above embodiment, in one embodiment, the above S401 can be implemented by at least one of the following two detection methods:

[0130] (1) Acquire the trigger status of the status detection device on the towing platform 100 and / or the cleaning robot 200, and determine the current status between the towing platform 100 and the cleaning robot 200 according to the trigger status.

[0131] Wherein, when the trigger state of the state detection device is triggered, the current state is combined.

[0132] The status detection device may be a micro switch or a photoelectric switch, and is automatically triggered when the combined piece of the dragging platform 100 and the combined piece of the cleaning robot 200 are automatically combined.

[0133] For example, if the status detection device is a photoelectric switch and is installed on the towing platform 100, when the first connecting member 110 of the towing platform 100 moves to its maximum travel until the status detection device is blocked, it indicates that the first connecting member 110 is fully extended from the towing platform 100. At this time, the status detection device is triggered and sends an electrical signal, indicating that the second connecting member 210 and the first connecting member 110 of the towing platform 100 are fully connected. The terminal, client, server, or towing platform 100 receives the corresponding electrical signal and confirms that the connection is successful.

[0134] In other words, the terminal, client, server or towing platform 100 determines the triggering state of the status detection device by receiving the corresponding electrical signal, and then when the status detection device is triggered, determines that the current state between the towing platform 100 and the cleaning robot 200 is combined; when the status detection device is not triggered, determines that the current state between the towing platform 100 and the cleaning robot 200 is separated.

[0135] (2) Obtaining the connection status between the first electrode sheet on the towing platform 100 and the second electrode sheet on the cleaning robot 200, and determining the current state between the towing platform 100 and the cleaning robot 200 according to the connection status.

[0136] Among them, when the connection state is connected, the current state is combined.

[0137] During the integration of the towing platform 100 and the cleaning robot 200, when the first electrode sheet on the first connecting member 110 of the towing platform 100 and the second electrode sheet on the second connecting member 210 of the cleaning robot 200 come into contact, the first electrode sheet and the second electrode sheet are electrically connected, indicating that the first connecting member 110 and the second connecting member 210 are properly integrated. The terminal, client, server, or towing platform 100 obtains the electrical connection status and determines that the integration is successful.

[0138] Among them, the towing platform 100 can determine whether the cleaning robot 200 is in contact with the electrode sheets of the towing platform 100 through the voltage changes collected by the ADC (Analog-to-Digital Converter), or it can detect whether the electrode sheets are in contact based on the high and low levels of the chip I / O (Input / Output) pins, and identify the device type of the electrically connected device.

[0139] In other words, the terminal, client, server or towing platform 100 determines the connection status of the first electrode sheet and the second electrode sheet, and then determines that the current state between the towing platform 100 and the cleaning robot 200 is combined when they are connected, and determines that the current state between the towing platform 100 and the cleaning robot 200 is separated when they are not connected.

[0140] Optionally, after the first electrode sheet and the second electrode sheet are electrically connected, wired communication and information exchange can be performed through a physical channel.

[0141] Optionally, when the first electrode sheet and the second electrode sheet are connected, the object-dragging platform 100 and the cleaning robot 200 can transmit electricity based on the electrode sheets to achieve mutual charging.

[0142] Optionally, the cleaning robot 200 may determine the current state between the cleaning robot 200 and the towing platform 100 through the above detection method, and then send the current state to the terminal, client, server or towing platform 100.

[0143] Therefore, by detecting whether the electrode plates of the two are in contact, it is determined whether the combination with the cleaning robot 200 is successful. The towing platform 100 and the cleaning robot 200 can not only accurately determine whether the combination is successful, but also enable energy and information exchange between the towing platform 100 and the cleaning robot 200 during the combined operation, thereby improving the work efficiency of the towing platform 100 and the cleaning robot 200 in performing work tasks.

[0144] In this embodiment, the towing platform 100 or the cleaning robot 200 can adopt one or more detection methods to detect the current status between the towing platform 100 and the cleaning robot 200, thereby improving the accuracy of the detection results. In addition, when the detection device or electrode sheet is damaged and causes a detection failure, the current status between the towing platform 100 and the cleaning robot 200 can also be detected by a detection method without any failure, thereby improving the reliability of the combined detection.

[0145] In order to improve the stability of the household object, the towing platform 100 and the cleaning robot 200 in collaboratively executing the target task, based on the above embodiment, in one embodiment, the household object 300 is a smart home object with specific functions. The smart home object is communicatively connected with the towing platform 100. The communication connection is implemented based on a communication interface, and the communication interface can be a wired interface. The wired communication can be achieved by contacting the fifth electrode sheet of the smart home object and the sixth electrode sheet of the towing platform 100, or it can be a wireless interface. This embodiment does not impose any restrictions on this.

[0146] When the towing platform 100 and the cleaning robot 200 are combined, the towing platform 100 is controlled to move under the influence of the cleaning robot 200 in response to the movement work instruction. Furthermore, the towing platform 100 transmits the movement work instruction to the household object 300 via the communication interface between the towing platform 100 and the household object 300 to control the household object 300 to start working. Alternatively, the towing platform 100 generates a household object work instruction for the household object 300 based on the movement work instruction, and then transmits the household object work instruction to the household object via the communication interface between the towing platform 100 and the household object to control the household object to start working.

[0147] Specifically, executing the target work corresponding to the mobile work instruction can be achieved through either of the following two working methods:

[0148] (1) When the object-pulling platform 100 starts to move driven by the cleaning robot 200, the household object 300 is controlled to start working through the communication interface between the object-pulling platform 100 and the household object 300.

[0149] For example, if the household object is a camera and the target task corresponding to the movement work instruction is whole-house monitoring, when the towing platform 100 starts moving under the guidance of the cleaning robot 200, the camera is controlled via the communication interface to start recording. As the camera moves along with the cleaning robot 200, it records the indoor environment of the home in the movement path, thereby performing the monitoring target task.

[0150] (2) When the object-pulling platform 100 is driven by the cleaning robot 200 to move to the target location or target room, the household object 300 is controlled to start working through the communication interface between the object-pulling platform 100 and the household object 300.

[0151] For example, household item 300 is a humidifier, and the target task corresponding to the mobile task instruction is humidifying a designated area. When the mopping platform 100, driven by the cleaning robot 200, moves to the target location, the humidifier is controlled via the communication interface to begin humidification, causing the humidifier to humidify the designated area at the target location. When the mopping platform 100, driven by the cleaning robot 200, moves to the target room, the humidifier is controlled via the communication interface to begin humidification. The mopping platform 100 can also continue to move within the target room, driven by the cleaning robot 200, causing the humidifier to perform mobile humidification within the target room.

[0152] It should be noted that the target location or target room may be a target location or target room selected by the user on a room map in a dedicated application (Application, app) of the cleaning robot on a mobile terminal.

[0153] It is understandable that the towing platform 100 can control the working status of the household object 300 in real time based on the communication interface between the household object 300, such as controlling the household object 300 to start or stop working, and controlling the household object 300 to change the working mode.

[0154] Therefore, in this embodiment, the towing platform 100 can control the household object 300 to maintain a working state during the movement through the communication interface between the towing platform 100 and the household object 300, and can also control the household object 300 to maintain a working state at the target location or target room, thereby realizing real-time control of the working state and working mode of the household object 300. It can not only perform target work according to different needs of users, but also quickly respond to problems encountered in the execution of target work and perform subsequent operations, which is conducive to improving the diversity of target work and improving the efficiency of executing target work.

[0155] Based on the above embodiments, in one embodiment, the above device control method further includes: obtaining a work instruction and determining the type of the work instruction; in a case where the type of the work instruction is an in-place work type, responding to the in-place work instruction, controlling the household object 300 to start working through the communication interface between the towing platform 100 and the household object 300; in a case where the type of the work instruction is a mobile work type, responding to the mobile work instruction.

[0156] It can be understood that the in-place work instruction is different from the move work instruction. The move work instruction is used to instruct the towing platform 100 to control the household object 300 to start working when it moves under the drive of the cleaning robot 200, while the in-place work instruction is used to instruct the towing platform 100 to directly control the household object 300 to start working at the original place, where the original place is the location of the towing platform 100. At this time, the towing platform 100 does not need to move. Therefore, before executing the in-place work instruction, there is no need to judge the current status between the towing platform 100 and the cleaning robot 200.

[0157] For example, the household object 300 is an air purifier, and the target work corresponding to the in-situ work instruction is air purification. When the towing platform 100 responds to the in-situ work instruction, it controls the air purifier to start working through the communication interface, so that the air purifier can perform air purification in the in-situ state.

[0158] Therefore, in this embodiment, the towing platform 100 can control the household object to remain in a working state in place through the communication interface between it and the household object 300. When the household object cannot be remotely controlled through the terminal, client or server, the towing platform 100 can be controlled through the terminal, client or server, and the towing platform 100 then controls the household object 300 to work, thereby realizing remote control of the household object 300, improving the diversity of target work and user convenience.

[0159] In order to further enhance the diversity of the functions of the towing platform 100 , based on the above embodiments, in one embodiment, the towing platform 100 can also be controlled to supply power to household items.

[0160] For example, the towing platform 100 has a battery that can store electrical energy, and the towing platform 100 has a wireless charging function. When the towing platform 100 carries household items, the electromagnetic wireless charging function can be used to power the household items.

[0161] Optionally, a fifth electrode sheet is provided on the household object 300. When the towing platform 100 carries the household object 300, the sixth electrode sheet on the towing platform 100 is connected to the fifth electrode sheet on the household object 300, and then the towing platform 100 can supply power to the household object 300 through the electrode sheet.

[0162] In this embodiment, since the towing platform 100 can power the household object 300, the household object 300 does not need to rely on mains power. It can be moved to any position to perform the target work under the drive of the cleaning robot 200 through the towing platform 100, thereby improving the working flexibility of the household object 300.

[0163] Optionally, since the towing platform 100 and the cleaning robot 200 are combined, the towing platform 100 and the cleaning robot 200 can also supply power to each other through the electrode sheets, and the cleaning robot 200 can also supply power to household objects through the towing platform 100 to maintain the coordinated operation of the cleaning robot 200, the towing platform 100 and the household objects.

[0164] In one embodiment, as shown in FIG9 , an optional device control method for a towing platform 100 is provided, comprising the following steps:

[0165] S901, receiving a moving work instruction, and obtaining the current state between the towing platform and the cleaning robot according to the moving work instruction.

[0166] The towing platform 100 can detect the current status between itself and the cleaning robot 200 through a status detection device and / or a charging electrode.

[0167] S902: When the current state is separation, a merge instruction is sent to the cleaning robot, so that the cleaning robot moves to the area where the towing platform belongs and merges with the towing platform.

[0168] S903: When the current state is the combined state, a movement notification is sent to the cleaning robot, so that the dragging platform moves under the drive of the cleaning robot.

[0169] S904, when the cleaning robot starts to move or moves to the target location / target room, it controls the household object to start working through the communication interface between the cleaning robot and the household object.

[0170] Optionally, before controlling the household object to start working, the object-pulling platform 100 sends a self-check instruction to the household object to receive a self-check pass notification fed back by the household object.

[0171] Optionally, during the process of controlling the operation of the household object, the object-pulling platform 100 supplies power to the household object.

[0172] In one embodiment, during the process of executing the target work corresponding to the mobile work instruction in step S302, when an obstacle is detected, an obstacle avoidance notification is sent to the cleaning robot, so that the cleaning robot moves the carrying and dragging platform in the obstacle avoidance movement direction according to the obstacle avoidance notification.

[0173] Since the towing platform 100 has an obstacle detection function, when the cleaning robot 200 carries the towing platform 100 and performs target work, the towing platform 100 can autonomously detect obstacles during the movement.

[0174] Furthermore, when the towing platform 100 detects an obstacle, it sends an obstacle avoidance notification to the cleaning robot 200. It is understood that the towing platform 100 can send the obstacle avoidance notification to the cleaning robot 200 through wireless communication, such as WIFI, Bluetooth, etc., or through wired communication.

[0175] Therefore, the cleaning robot 200 can perform obstacle avoidance processing based on the obstacle avoidance notification. Specifically, the cleaning robot 200 carries the towing platform 100 and moves in the obstacle avoidance direction. The obstacle avoidance direction refers to the direction away from the obstacle.

[0176] Optionally, the cleaning robot 200 carries the towing platform 100 and rotates so that the forward direction is the obstacle avoidance movement direction, and moves a certain distance in the obstacle avoidance movement direction to bypass the detected obstacle, thereby continuing to perform the target work.

[0177] This embodiment utilizes the mobility function of the cleaning robot 200, using the cleaning robot 200 to drive the towing platform 100 to move. The towing platform 100 can carry household objects 300, and then the cleaning robot 200 cooperates with the towing platform 100 and / or the household objects 300 to perform the target task. At the same time, during the movement, due to the height limitation of the cleaning robot 200 itself, it can only detect obstacles on the ground (such as table legs, sofas, etc.). Therefore, by receiving obstacle avoidance notifications from the towing platform to avoid obstacles, it can detect obstacles at the height of the towing platform and / or exceeding the height of the towing platform (such as suspended furniture such as wall shelves, wall cabinets or tabletops), thereby ensuring the safety of the cleaning robot and the towing platform in collaboratively performing different work tasks in the smart home scenario.

[0178] Based on the above embodiment, in one embodiment, sending the obstacle avoidance notification to the cleaning robot in the above embodiment can be achieved in the following manner:

[0179] If the obstacle detection device of the towing platform is triggered, it is determined that an obstacle at the height of the towing platform is detected, and / or an obstacle exceeding the height of the towing platform is detected, and an obstacle avoidance notification is sent to the cleaning robot;

[0180] Among them, obstacles that exceed the height of the towing platform are obstacles encountered by household items.

[0181] Specifically, the obstacle detection device may be a collision switch, an infrared sensor, a line laser, a camera, a lidar, etc. One or more obstacle detection devices may be provided. When multiple obstacle detection devices are provided, the multiple obstacle detection devices may be of the same type or different types.

[0182] For example, the towing platform 100 is equipped with an infrared receiver and an infrared transmitter. The infrared transmitter emits an infrared signal, which is reflected back to the towing platform 100 when it encounters an obstacle. Therefore, when the towing platform 100 receives the return infrared signal through the infrared receiver, it can determine whether there is an obstacle in the path ahead and the relative distance between the towing platform 100 and the obstacle based on the infrared signal strength.

[0183] For example, the towing platform 100 is equipped with a laser radar. The towing platform 100 emits pulsed lasers through the laser radar, and then the laser radar receiver senses the reflected light waves. Based on the principle of laser ranging, it can determine whether there are obstacles in the path ahead and the relative distance between the towing platform 100 and the obstacles.

[0184] Specifically, the obstacle detection device can be located outside the towing platform 100 and at the same height as the towing platform 100. When the towing platform 100 encounters an obstacle, the obstacle detection device is triggered, allowing the towing platform 100 to determine that an obstacle at the towing platform's height has been detected. The obstacle detection device can also be located above the towing platform 100, for example, at the same height as the household item 300 carried by the towing platform 100. When the household item 300 encounters an obstacle, the obstacle detection device is triggered, allowing the towing platform 100 to determine that an obstacle exceeding the towing platform's height has been detected.

[0185] Furthermore, when the cleaning robot 200 encounters an undetectable obstacle, depending on the position of the obstacle detection device on the towing platform 100, the towing platform 100 can detect obstacles at the height of the towing platform 100, and when the towing platform 100 carries a household object 300, it can detect obstacles that exceed the height of the towing platform 100, that is, the obstacles encountered by the household object 300, and send an obstacle avoidance notification to the cleaning robot 200.

[0186] Therefore, the towing platform 100 detects obstacles of different heights through the obstacle detection device, and the obstacle avoidance notification sent to the cleaning robot 200 can enable the cleaning robot 200 to identify obstacles of corresponding heights for obstacle avoidance when carrying the towing platform 100 and carrying household objects 300 through the towing platform 100, thereby ensuring that the cleaning robot 200 can smoothly carry out the target task of carrying the towing platform 100.

[0187] Optionally, the obstacle detection device includes at least one first obstacle detection device 150 , and the first obstacle detection device 150 is disposed at at least one of the front end, the rear end, and the side end of the towing platform 100 .

[0188] Specifically, the first obstacle detection device 150 can be respectively arranged at the front end, side end and rear end of the towing platform 100; optionally, the first obstacle detection device 150 is a collision switch, which determines whether an obstacle at the height of the towing platform is encountered by detecting whether a physical collision occurs.

[0189] For example, the first obstacle detection device 150 is disposed at the front end of the towing platform 100. When the cleaning robot 200 carries the towing platform 100 and moves forward, and the towing platform 100 contacts an obstacle in front, the collision switch at the front end is triggered. The towing platform 100 determines that an obstacle at the height of the towing platform is detected, and the cleaning robot 200 carries the towing platform 100 and moves in the obstacle-avoiding direction.

[0190] It should be noted that, in this application, the front in front and back refers to the direction in which the cleaning robot 200 moves when carrying the dragging platform 100 in normal operation (mopping or sweeping the floor), and the rear refers to the direction opposite to the direction in which the cleaning robot 200 moves when carrying the dragging platform 100 in normal operation (mopping or sweeping the floor).

[0191] In this embodiment, obstacles at the towing platform height are detected by the first obstacle detection device 150 disposed at at least one of the front end, rear end, and side end of the towing platform 100. The first obstacle detection device 150 can be disposed at different positions on the towing platform 100 according to actual needs, thereby detecting obstacles at the towing platform height in different directions. This allows the cleaning robot 200 to more accurately determine the obstacle avoidance movement direction based on the position information of the triggered first obstacle detection device 150.

[0192] In one embodiment, the obstacle detection device includes a second obstacle detection device. The obstacle detection device of the towing platform 100 may be triggered under the following conditions: the second obstacle detection device detects a change in the angle between the towing platform 100 and the ground.

[0193] Specifically, the angle change between the towing platform 100 and the ground is detected by detecting the angle change of a second obstacle detection device (such as an inertial measurement unit (IMU), an angular velocity detection sensor, or a gyroscope) provided on a circuit board inside the towing platform 100.

[0194] When the towing platform 100 or household object 300 collides with an obstacle, the force generated by the collision causes the towing platform 100 or household object 300 to tilt, thereby changing the angle between the towing platform 100 or household object 300 and the ground. As shown in Figure 2, since the household object 300 is fixed to the towing platform 100 via a fixing member, when the angle of the household object 300 changes, the angle of the towing platform 100 will also change accordingly. The second obstacle detection device of the towing platform 100 detects the change in the angle between the household object 300 and the ground, thereby detecting the collision between the household object 300 and the obstacle.

[0195] It should be further explained that, since the first coupling member 110 of the towing platform 100 is elastic, after the towing platform 100 and the cleaning robot 200 are combined through the first coupling member 110 and the second coupling member 210, the angle between the towing platform 100 and the cleaning robot 200 can change. Therefore, when the household object 300 or the towing platform 100 collides, the angle between the cleaning robot 200 and the ground will not change, thereby ensuring the stable operation of the cleaning robot 200.

[0196] Based on the above embodiments, in one embodiment, the obstacle detection devices include at least two types: a first type is a non-contact detection device, and a second type is a contact detection device. When the non-contact detection device is abnormal, the contact detection device triggers the obstacle detection function to detect obstacles at the height of the towing platform 100 and / or obstacles exceeding the height of the towing platform 100.

[0197] Specifically, non-contact detection devices can be infrared sensors, cameras, laser sensors or ultrasonic sensors, etc. When an obstacle is identified, the obstacle detection function can be directly triggered; contact detection devices can be collision switches or photoelectric switches, etc., which require physical collision with the obstacle to trigger the obstacle detection function.

[0198] Under normal circumstances, obstacle detection is performed by non-contact detection devices. When the non-contact detection device detects abnormalities or is damaged due to environmental interference, obstacle detection can be performed by contact detection devices to ensure the realization of the obstacle avoidance function.

[0199] It should be noted that the installation positions of multiple types of obstacle detection devices can be flexibly set as needed. For example, all of them can be installed at the corresponding height of the towing platform 100, or all of them can be installed at the corresponding height of the household object 300, or one can be installed at the corresponding height of the towing platform 100 and the other can be installed at the corresponding height of the household object 300. They can also be installed at the connection between the towing platform 100 and the household object 300.

[0200] In this embodiment, the towing platform 100 can be equipped with multiple types of obstacle detection devices to detect obstacles at the height of the towing platform 100 and / or obstacles exceeding the height of the towing platform 100, thereby improving the accuracy of obstacle detection by the towing platform 100. In addition, when a non-contact detection device malfunctions, a contact detection device can be used to detect an obstacle, thereby improving the stability of obstacle detection by the towing platform 100.

[0201] Based on the above embodiment, in one embodiment, after sending the obstacle avoidance notification to the cleaning robot 200, the method further includes: if the obstacle detection device switches from the triggered state to the untriggered state, sending a safety notification to the cleaning robot 200;

[0202] The safety notification is used to instruct the cleaning robot 200 to stop moving in the obstacle avoidance direction and rotate to a target angle.

[0203] When the cleaning robot 200 carries the towing platform 100 and moves in the obstacle avoidance direction, when the obstacle detection device on the towing platform 100 switches from a triggered state to an untriggered state, the towing platform 100 sends a safety notification to the cleaning robot 200 to instruct the cleaning robot 200 to rotate to a target angle.

[0204] For example, after the cleaning robot 200 carries the tow platform 100 a certain distance in the obstacle avoidance direction, the household object 300 returns to its original state from the collision tilt. The triggered obstacle detection device generates an electrical signal that is transmitted to the controller built into the tow platform 100, allowing the tow platform 100 to determine that it has moved in the obstacle avoidance direction to a safe distance away from the obstacle. Subsequently, the cleaning robot 200 rotates to a target angle, thereby bypassing the obstacle and continuing to carry the tow platform 100 to perform the target task. The target angle can be a preset angle by the cleaning robot 200.

[0205] Optionally, when the object-hauling platform 100 determines that the obstacle has been detected for a preset time, it sends a fault notification to the cleaning robot 200 to instruct the cleaning robot 200 to stop moving.

[0206] Among them, the fault reporting process can directly issue a fault alarm through voice, buzzer and / or status light, or send an abnormal notification to the terminal to facilitate the user to perform subsequent operations.

[0207] Therefore, the cleaning robot 200 can continue to perform the target task after carrying the towing platform 100 to avoid obstacles, and respond in time when it is unable to continue to perform the target task, so as to maintain the stability and reliability of performing the target task.

[0208] Optionally, the obstacle avoidance notification includes position information of a triggered obstacle detection device on the towing platform 100 , or an obstacle avoidance movement direction determined by the position information.

[0209] For example, the obstacle detection device provided at the front end of the towing platform 100 is triggered, and the towing platform 100 sends an obstacle avoidance notification carrying the position information of the obstacle detection device to the cleaning robot 200. Then, the cleaning robot 200 determines that the obstacle avoidance movement direction is backward based on the position information of the obstacle detection device, and carries the towing platform 100 backward.

[0210] For another example, the obstacle detection device provided at the rear end of the towing platform 100 is triggered, and the towing platform 100 determines that the obstacle avoidance movement direction is forward, and then sends a forward obstacle avoidance notification to the cleaning robot 200 to instruct the cleaning robot 200 to carry the towing platform 100 forward.

[0211] Optionally, in actual applications, multiple obstacle detection devices on the towing platform 100 may be triggered at the same time. The towing platform 100 can synchronously send the position information of all triggered obstacle detection devices to the cleaning robot 200, so that the cleaning robot 200 can comprehensively analyze the position information of all triggered obstacle detection devices and determine the obstacle avoidance movement direction.

[0212] Based on the above embodiment, in one embodiment, sending an obstacle avoidance notification to the cleaning robot 200 includes: sending the notification via a communication electrode disposed between the towing platform 100 and the cleaning robot 200; wherein, when the towing platform is carried by the cleaning robot 200, the communication electrode is disposed between a first coupling member of the towing platform 100 and a second coupling member of the cleaning robot 200 to form an electrical connection. The communication electrode includes a first electrode sheet and a second electrode sheet.

[0213] Specifically, when the cleaning robot 200 is combined with the towing platform 100, the second electrode sheet on the second connecting member of the cleaning robot 200 contacts the first electrode sheet on the first connecting member of the towing platform 100, thereby realizing an electrical connection between the towing platform 100 and the cleaning robot 200, forming a physical communication channel for information exchange.

[0214] Furthermore, the towing platform 100 can send an obstacle avoidance notification to the cleaning robot 200 through the communication electrode. Other signal instructions can also be transmitted between the towing platform 100 and the cleaning robot 200 through the communication electrode.

[0215] In this embodiment, a method is provided for transmitting messages between the towing platform 100 and the cleaning robot 200 through a physical communication channel when the towing platform 100 and the cleaning robot 200 are combined. This method does not require network access and is not affected by network fluctuations, thereby improving the stability and reliability of message transmission.

[0216] In one embodiment, a method for interfacing a towing platform 100 with a base station is provided. The method is applied to the towing platform 100 to execute a target task corresponding to a movement task instruction, including: when the towing platform 100 is carried by the cleaning robot 200 to the area of ​​the base station 400, positioning and electrically connecting the towing platform 100 with the base station 400 are performed, so that the base station 400 cooperates with the towing platform 100 and / or the cleaning robot 200 to execute the corresponding target task, wherein the target task includes a charging task; the charging task includes: the base station 400 charging the cleaning robot 200 through the towing platform 100, and the towing platform 100 obtains power from the base station 400 while charging the cleaning robot 200.

[0217] It can be understood that the area to which the base station belongs represents the approximate location of the base station, which refers to a smaller area of ​​the base station 400 in the home indoor environment. The cleaning robot 200 moves to this area through its own path planning, movement and obstacle avoidance functions, and can further automatically dock with the base station 400, and enable the towing platform 100 to be positioned, coordinated and electrically connected with the base station 400.

[0218] Specifically, when the cleaning robot 200 carries the towing platform 100 and moves to the area of ​​the base station, it moves toward the base station 400 with the towing platform 100 until it moves to a suitable position so that the towing platform 100 and the base station 400 are positioned, matched, and electrically connected.

[0219] Specifically, the towing platform 100 and the base station 400 can be positioned and matched by structural components. As shown in FIG5 , the towing platform 100 is configured with a third docking component 160, and the base station 400 is configured with a fourth docking component 410. One of the third docking component 160 and the fourth docking component 410 is a docking slot, and the other is a docking connector. The docking connector is inserted into the docking slot to enable the towing platform 100 and the base station 400 to be positioned and matched, thereby improving the success rate and efficiency of the electrical connection between the towing platform 100 and the base station 400.

[0220] Optionally, the towing platform 100 and the base station 400 are positioned and matched by electrode sheets respectively provided on the towing platform 100 and the base station 400. The towing platform 100 and / or the base station 400 are configured with elastic members that can move the electrode sheets in the horizontal direction, so that the towing platform 100 and the base station 400 are positioned and matched.

[0221] Specifically, during the process of positioning, matching, and electrical connection between the towing platform 100 and the base station 400, the towing platform 100 can detect whether the seventh electrode sheet 170 on the third docking member 160 of the towing platform 100 is in contact with the eighth electrode sheet 420 on the fourth docking member 410 of the base station 400, thereby determining whether the seventh electrode sheet 170 of the towing platform 100 and the eighth electrode sheet 420 of the base station 400 are electrically connected. The towing platform 100 can then determine whether the electrical connection between the towing platform 100 and the base station 400 is established, and transmit the result of the electrical connection between the towing platform 100 and the base station 400 to the cleaning robot 200.

[0222] Among them, the towing platform 100 can determine whether the two electrode sheets are in contact through the voltage changes collected by the ADC (Analog-to-Digital Converter), or it can detect whether the electrode sheets are in contact based on the high and low levels of the chip I / O (Input / Output) pins, and identify whether the device being electrically connected is the base station 400.

[0223] Optionally, during the process of positioning, cooperating, and electrically connecting the towing platform 100 and the base station 400, the towing platform 100 can send the collected voltage of the seventh electrode sheet 170 to the cleaning robot 200. The cleaning robot 200 determines whether the electrode sheets of the towing platform 100 and the base station 400 are in contact based on the voltage collected by the towing platform 100, thereby determining whether the towing platform 100 and the base station 400 are electrically connected.

[0224] Specifically, after the mopping platform 100 and the base station 400 are aligned and electrically connected, the cleaning robot 200 stops moving toward the base station 400, allowing the base station 400 to cooperate with the mopping platform 100 and / or the cleaning robot 200 to perform the target task corresponding to the movement task instruction. The target task can be a charging task or a cleaning task, and the cleaning task can be dust collection, mopping, or changing water.

[0225] Optionally, the towing platform 100 is further provided with a dust collection channel 180. After the towing platform 100 and the base station 400 are aligned and electrically connected, the dust outlet 240 of the cleaning robot 200 is connected to the dust inlet 430 of the base station 400 through the dust collection channel 180. The base station 400 collects dust for the cleaning robot 200 through the towing platform 100. The dust and garbage in the dust box of the cleaning robot 200 pass through the dust outlet 240, the dust collection channel 180 of the towing platform 100, and then through the dust inlet 430 and is adsorbed into the base station 400. For example, in one scenario, when the towing platform 100 carries a humidifier, the cleaning robot 200 carries the towing platform 100 to humidify the whole house while sweeping the floor. When the cleaning robot 200 detects that the dust box is full of garbage, the cleaning robot 200 generates a movement work instruction, stops sweeping the floor, and carries the towing platform 100 to the area where the base station belongs, so that the towing platform 100 and the base station 400 are positioned, matched and electrically connected, so that the base station 400 collects dust for the cleaning robot 200 through the towing platform 100.

[0226] Optionally, the base station 400 is connected to the mains power supply, and the towing platform 100 has a battery. After the towing platform 100 and the base station 400 are electrically connected through the electrode sheet, electrical signals can be transmitted through a physical channel, so that energy exchange is carried out between the towing platform 100 and the base station 400 through the electrode sheet; the base station 400 charges the towing platform 100 through the electrode sheet.

[0227] Optionally, the end of the towing platform 100 that is docked with the cleaning robot 200 has a third electrode sheet 140. Accordingly, the cleaning robot 200 is electrically connected to the third electrode sheet 140 of the towing platform 100 through the fourth electrode sheet 230. The base station 400 charges the cleaning robot 200 through the towing platform 100. The towing platform 100 obtains electrical energy from the base station 400 while charging the cleaning robot 200.

[0228] For example, in another scenario, while the cleaning robot 200 is performing a sweeping task alone, the towing platform 100 detects that its battery level is below 20% and sends a movement command to the cleaning robot 200. This movement command is to charge the towing platform 100. The cleaning robot 200 recognizes the movement command and, based on this movement command, determines that it needs to dock with the towing platform 100 and the base station 400. The robot then stops sweeping and moves to the towing platform's area to dock and merge with the towing platform 100. The robot then moves the towing platform 100 to the base station's area, aligning and electrically connecting the towing platform 100 and the base station 400, allowing the base station 400 to charge the towing platform 100. In actual applications, a mapping relationship between movement commands and target tasks requiring docking with the base station 400 can be pre-set.

[0229] It should be noted that the above-mentioned corresponding target tasks can be executed separately or simultaneously. In particular, the base station 400 can cooperate with the towing platform 100 and / or the cleaning robot 200 to perform the target task corresponding to the mobile task instruction through wireless or wired communication to exchange information. The wired communication includes communication through the contact between the seventh electrode sheet 170 and the eighth electrode sheet 420, and communication between the third electrode sheet 140 and the fourth electrode sheet 230.

[0230] In the above embodiment, the cleaning robot 200 carries the towing platform 100 and moves to the area of ​​the base station. The towing platform 100 and the base station 400 are positioned, coordinated, and electrically connected, so that the base station 400 cooperates with the towing platform 100 and / or the cleaning robot 200 to perform the target task. This embodiment utilizes the mobility of the cleaning robot 200, allowing the towing platform 100 to be positioned, coordinated, and electrically connected with the base station 400 when the cleaning robot 200 and the towing platform 100 are combined, so that the base station 400 cooperates with the towing platform 100 and / or the cleaning robot 200 to perform the corresponding target task, thereby making the use of the towing platform 100 and the cleaning robot 200 more flexible and intelligent.

[0231] Optionally, the rear end of the towing platform 100 blocks the first infrared receiver 250 at the rear end of the cleaning robot 200, and a second infrared receiver 190 is provided at the rear end of the towing platform 100. Before positioning, cooperating and electrically connecting with the base station 400, the method further includes: when the cleaning robot 200 moves toward the base station 400 and the relative distance between the cleaning robot 200 and the base station 400 is less than a preset threshold, cooperating with the cleaning robot 200 to perform a precise docking operation with the base station 400.

[0232] Among them, cooperating with the cleaning robot 200 to perform a precise docking operation with the base station 400 includes: after the towing platform 100 is carried by the cleaning robot 200 and rotated to the target angle, the second infrared receiver 190 at the rear end receives the infrared signal sent by the base station 400 in the area where the base station belongs, and sends docking information to the cleaning robot 200 according to the infrared signal, so that the cleaning robot 200 determines the second relative direction between it and the base station 400 according to the docking information, and moves to the area where the towing platform 100 and the base station 400 are positioned, matched and electrically connected according to the second relative direction.

[0233] The target angle is a preset value, which may be 180 degrees. For example, the cleaning robot 200 rotates 180 degrees with the towing platform 100 so that the second infrared receiver 190 on the towing platform 100 faces the base station 400. The towing platform 100 then receives the infrared signal transmitted by the base station 400 via the second infrared receiver 190 and sends docking information to the cleaning robot 200 based on the infrared signal. Furthermore, the cleaning robot 200 determines the relative position information between the towing platform 100 and the base station 400 based on the docking information and moves toward the base station 400 based on the relative position information to the area where the towing platform 100 and the base station 400 are positioned, matched, and electrically connected. The area where the towing platform 100 and the base station 400 are positioned, matched, and electrically connected is the area where the fourth docking member 410 of the base station 400 is located.

[0234] It should be noted that, without the need to merge with the towing platform 100, the cleaning robot 200 can dock with the base station 400 alone. The first infrared receiver 250 of the cleaning robot 200 can receive the infrared signal sent by the base station 400 in the docking area, and determine the relative position information between the cleaning robot 200 and the base station 400 based on the infrared signal, and move toward the base station 400 based on the relative position information.

[0235] In this embodiment, since the rear end of the towing platform 100 is further configured with a mounting structure that supports the third docking member 160 and the dust collection channel 180, when the cleaning robot 200 is combined with the towing platform 100, the first infrared receiver 250 at the rear end of the cleaning robot 200 is blocked by the mounting structure at the rear end of the towing platform 100. At this time, the second infrared receiver 190 at the rear end of the towing platform 100 can receive the infrared signal sent by the base station 400, so that the cleaning robot 200 can also confirm the relative position information between the cleaning robot 200 and the base station 400 based on the docking information, thereby improving the flexibility of use of the towing platform 100 and the cleaning robot 200. At the same time, since the receiving angle of the second infrared receiver 190 is small, environmental interference can be reduced, and the relative position information between the cleaning robot 200 and the base station 400 can be accurately determined based on the docking information, thereby improving the efficiency of positioning, coordination, and electrical connection between the towing platform 100 and the base station 400.

[0236] In this application, the front of the front and the back refers to the direction in which the cleaning robot 200 moves when carrying the towing platform 100 and working normally (mopping or sweeping the floor), and the rear refers to the direction opposite to the direction in which the cleaning robot 200 moves when carrying the towing platform 100 and working normally (mopping or sweeping the floor); in addition, the front end of the cleaning robot 200 can also be provided with an obstacle avoidance sensor, a front collision component and a side brush.

[0237] In one embodiment, a device control method is provided, which is applied to a cleaning robot 200. The method includes: when the cleaning robot 200 or the towing platform 100 responds to a movement work instruction, controlling the cleaning robot 200 to drive the towing platform 100 to move to perform a target work corresponding to the movement work instruction; wherein the towing platform is used to carry household items.

[0238] Based on the above embodiment, in one embodiment, the current state between the cleaning robot 200 and the towing platform 100 can be determined first, and then different steps are performed based on the current state. The above device control method also includes: when the current state is separation, the cleaning robot and the towing platform are combined.

[0239] In one embodiment, a method for combining a towing platform 100 and a cleaning robot 200 is provided, which is applied to the cleaning robot 200 and includes: automatically combining a second combining piece of the cleaning robot with a first combining piece of the towing platform to combine with the towing platform.

[0240] In order to ensure that the cleaning robot 200 is accurately combined with the towing platform 100, the first coupling member 110 of the towing platform 100 can be matched with the second coupling member 210 of the cleaning robot 200 and fixed to the first coupling member 110, or the second coupling member 210 can be controlled to move toward the first coupling member 110 and fixed to the first coupling member 110, so that the second coupling member 210 and the first coupling member 110 are automatically combined.

[0241] Optionally, the second combining member is controlled to move vertically upward so that the second combining member is embedded in or fits into the first combining member.

[0242] For example, when the second coupling member is a vertically extending columnar coupling member and the first coupling member is a slot-shaped coupling hole corresponding to the position of the second coupling member, the second coupling member of the cleaning robot moves vertically upward and embeds into the first coupling member of the dragging platform.

[0243] To further ensure smooth integration of the cleaning robot 200 and the towing platform 100, based on the above embodiment, in one embodiment, the towing platform 100 may detect whether integration with the cleaning robot 200 is successful after the first coupling member 110 and the second coupling member 210 are automatically integrated and before the towing platform 100 is carried by the cleaning robot 200 to perform a work task.

[0244] Correspondingly, the cleaning robot 200 receives the merger success notification sent by the dragging platform 100 .

[0245] In order to enable the cleaning robot 200 to perform independent tasks without carrying the towing platform 100, based on the above embodiment, in one embodiment, after the cleaning robot 200 is combined with the towing platform 100, it can also automatically separate from the towing platform 100. Specifically, the second coupling member 210 of the cleaning robot 200 is automatically separated from the first coupling member 110 of the towing platform 100, and the cleaning robot 200 is separated from the towing platform 100 to perform the independent task.

[0246] Optionally, the cleaning robot is separated from the first coupling member of the dragging platform that moves in a direction away from the second coupling member, or the second coupling member is controlled to move in a direction away from the first coupling member and separate from the first coupling member.

[0247] In this embodiment, the cleaning robot 200 can actively separate from the towing platform 100, or cooperate with the towing platform 100 to separate, so that the cleaning robot 200 can perform corresponding independent tasks independently without being combined with the towing platform 100, which is in line with actual application scenarios.

[0248] In one embodiment, before the cleaning robot is combined with the towing platform, it can also move to the area where the towing platform belongs and dock with the towing platform.

[0249] To ensure accurate docking between the cleaning robot 200 and the towing platform 100, based on the above embodiment, in one embodiment, the relative position information between the two can be determined based on the docking signal, and then the docking process is performed based on the relative position information, as shown in FIG10 , including the following steps:

[0250] S1001, receiving a docking signal sent by the towing platform, and determining relative position information between the cleaning robot and the towing platform according to the docking signal.

[0251] S1002: Move toward the towing platform according to the relative position information, and perform positioning cooperation and electrical connection with the towing platform in a limited state.

[0252] The towing platform 100 is equipped with a brake limit switch, and the towing platform 100 maintains the limit state by turning on the brake limit switch.

[0253] Optionally, in the above embodiment, if it is detected that the fourth electrode sheet 230 of the cleaning robot 200 is in contact with the third electrode sheet 140 of the towing platform 100 , it is confirmed that the docking with the towing platform 100 is successful.

[0254] In one embodiment, a device obstacle avoidance method for a cleaning robot 200 and a towing platform 100 is provided, which is applied to the cleaning robot 200 and includes the following steps:

[0255] Receive the obstacle avoidance notification sent by the towing platform, and move the towing platform in the obstacle avoidance direction according to the obstacle avoidance notification.

[0256] Based on the above embodiment, in one embodiment, after the towing platform 100 moves in the obstacle avoidance direction according to the obstacle avoidance notification, the device obstacle avoidance method further includes: rotating the target angle when receiving a safety notification from the towing platform 100; or stopping movement when no safety notification from the towing platform 100 is received within a preset time.

[0257] If the towing platform 100 does not send a safety notification within a preset time, it means that the obstacle detection device on the towing platform 100 has been in a triggered state. When the preset time is reached, the cleaning robot 200 determines that an obstacle avoidance failure event has occurred. To prevent the cleaning robot 200 from continuously moving in the obstacle avoidance direction while carrying the towing platform 100 and failing to complete the target task, the cleaning robot 200 stops moving, replans the obstacle avoidance direction, or performs fault reporting processing.

[0258] In one embodiment, a device docking method for a cleaning robot 200 and a base station is provided. The method is applied to the cleaning robot 200 to perform a target task corresponding to a mobile work instruction, including: carrying a towing platform 100 to move to the area of ​​the base station, so that the base station 400 cooperates with the towing platform 100 and / or the cleaning robot 200 to perform the target task corresponding to the mobile work instruction while being positioned, coordinated, and electrically connected to the towing platform 100. The target task includes a charging task; the charging task includes: the base station 400 charging the cleaning robot 200 through the towing platform 100, and the towing platform 100 obtaining power from the base station 400 while charging the cleaning robot 200.

[0259] Specifically, the cleaning robot 200 can set a movement work instruction and its trigger time and / or trigger conditions to generate the movement work instruction. The trigger condition can be that the power level of the mopping platform 100 and / or the cleaning robot 200 is lower than a preset power threshold (e.g., 20%), or the dust box of the cleaning robot 200 is full.

[0260] The cleaning robot 200 can first determine the area to which the base station belongs before moving. For example, if the movement work instruction includes the location information of the base station 400, the cleaning robot 200 recognizes the movement work instruction, determines the area to which the base station belongs based on the location information, and then moves to the area to which the base station belongs. For another example, if the base station 400 uploads its own location information to the server in real time, the cleaning robot 200 responds to the movement work instruction and directly obtains the area to which the base station belongs from the server and then moves to the area to which the base station belongs. For another example, the cleaning robot 200 has a built-in memory for storing map information of the environment in which the cleaning robot 200 is located, that is, map information of the indoor home scene, including the layout of the indoor home scene and the current location information of devices such as the cleaning robot 200, the mopping platform 100, and the base station 400. In response to the movement work instruction, the cleaning robot 200 moves to the area to which the base station belongs based on the map information and the location information of the base station 400 on the map. It should be noted that the above method for determining the area to which the base station belongs is only an example in this embodiment and does not constitute a limitation of this embodiment.

[0261] The cleaning robot 200 can also use its search function to continuously move within a home environment until it reaches the base station area. For example, the cleaning robot 200 can continuously move within a home environment while identifying the base station 400 using Bluetooth signals, infrared signals, or lidar. If the base station 400 is detected at close range, the robot determines that it has moved to the base station area. Alternatively, the cleaning robot 200 can move randomly or along a wall until it reaches the base station area.

[0262] Specifically, when the cleaning robot 200 carries the towing platform 100 and moves to the area of ​​the base station, it moves toward the base station 400 with the towing platform 100 until it moves to a suitable position so that the towing platform 100 and the base station 400 are positioned, matched, and electrically connected.

[0263] Optionally, the first infrared receiver 250 at the rear end of the cleaning robot 200 is blocked by the rear end of the towing platform 100. Before the base station 400 is positioned, matched, and electrically connected to the towing platform 100, the method further includes: performing a precise docking operation with the base station when moving toward the base station until the relative distance between the base station and the base station is less than a preset threshold.

[0264] The precise docking operation with the base station includes: rotating the towing platform 100 to a target angle so that the towing platform 100 receives an infrared signal sent by the base station via the second infrared receiver 190 at the rear end in the area where the towing platform 100 is located; receiving docking information sent by the towing platform 100 based on the infrared signal; determining a second relative direction between the towing platform 100 and the base station based on the docking information, and moving the towing platform 100 to an area where the towing platform 100 is positioned, matched, and electrically connected to the base station based on the second relative direction.

[0265] The specific process of the above steps can be found in the description of the above method embodiment. The implementation principles and technical effects are similar and will not be repeated here.

[0266] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0267] Based on the same inventive concept, the embodiment of the present application also provides a cleaning robot 200 and a towing platform 100 for implementing the above-mentioned device control method. The implementation solution for solving the problem provided is similar to the implementation solution described in the above-mentioned method. Therefore, the specific limitations of one or more cleaning robot 200 and towing platform 100 embodiments provided below can be found in the above-mentioned limitations on the device control method and will not be repeated here.

[0268] In one embodiment, a towing platform 100 is provided, as shown in FIG11 , including a second device control device 10 , wherein the second device control device 10 includes:

[0269] The second device control module 11 is used to respond to the movement work instruction and move under the drive of the cleaning robot 200 to perform the target work corresponding to the movement work instruction.

[0270] The object-carrying platform 100 is used to carry household items.

[0271] In one embodiment, a cleaning robot 200 is provided, as shown in FIG12 , including a first device control device 20 , wherein the first device control device 20 includes:

[0272] The first device control module 21 is configured to control the cleaning robot 200 to drive the towing platform 100 to move when the cleaning robot 200 or the towing platform 100 responds to a movement work instruction, so as to perform a target work corresponding to the movement work instruction.

[0273] The object-carrying platform 100 is used to carry household items.

[0274] Each module in the cleaning robot 200 and the towing platform 100 described above can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the cleaning robot 200 and the towing platform 100 in hardware form, or stored in the memory in the cleaning robot 200 and the towing platform 100 in software form, so that the processor can call and execute the corresponding operations of each module.

[0275] In one embodiment, a smart home system is provided, including a cleaning robot 200 and a towing platform 100, a terminal, a client, or a server; the terminal, the client, the server, or the towing platform 100 controls the towing platform 100 to move under the drive of the cleaning robot 200 in response to a movement work instruction to perform a target task corresponding to the movement work instruction.

[0276] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in Figure 13. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner. The wireless manner may be achieved through WIFI, a mobile cellular network, near field communication technology (NFC), or other technologies. When the computer program is executed by the processor, a device control method is implemented. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or may be a key, trackball, or touchpad provided on the computer device housing, or may be an external keyboard, touchpad, or mouse.

[0277] Those skilled in the art will understand that the structure shown in FIG13 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0278] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned device control method are implemented.

[0279] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps of the above-mentioned device control method when executed by a processor.

[0280] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0281] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0282] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A device control method, characterized in that: The method comprises: In response to a movement work instruction, controlling the towing platform to move under the driving of the cleaning robot to perform a target work corresponding to the movement work instruction; Wherein, the towing platform is used to carry household items.

2. The method according to claim 1, characterized in that Before controlling the object-dragging platform to move driven by the cleaning robot, the method further includes: Acquire the current status between the object-dragging platform and the cleaning robot; Accordingly, controlling the object-dragging platform to move driven by the cleaning robot includes: If the current state is combined, the object-dragging platform is controlled to move under the drive of the cleaning robot.

3. The method according to claim 2, characterized in that The obtaining of the current state between the object-dragging platform and the cleaning robot includes: Acquiring a trigger state of a state detection device on the towing platform and / or the cleaning robot, and determining a current state between the towing platform and the cleaning robot according to the trigger state; and / or, Acquiring a connection state between a first electrode sheet on the towing platform and a second electrode sheet on the cleaning robot, and determining a current state between the towing platform and the cleaning robot according to the connection state; Wherein, when the trigger state of the state detection device is triggered, the current state is combined; when the connection state is connected, the current state is combined.

4. The method according to claim 2, characterized in that After obtaining the current state between the object-dragging platform and the cleaning robot, the method further includes: If the current state is separation, the cleaning robot is integrated with the object-dragging platform.

5. The method according to claim 4, characterized in that Applied to a towing platform, the cleaning robot is integrated with the towing platform, including: The first combining piece of the dragging platform is automatically combined with the second combining piece of the cleaning robot to form a body with the cleaning robot.

6. The method according to claim 5, characterized in that The automatic combination of the first combining member of the dragging platform and the second combining member of the cleaning robot includes: The first combining piece of the dragging platform is controlled to move toward the second combining piece of the cleaning robot and be fixed to the second combining piece, or to cooperate with the second combining piece that moves to the first combining piece and be fixed to the second combining piece.

7. The method according to claim 6, characterized in that The controlling the first coupling member of the dragging platform to move toward the second coupling member of the cleaning robot includes: The first combining part of the object-dragging platform is controlled to move vertically downward and be embedded in or attached to the second combining part of the cleaning robot.

8. The method according to any one of claims 5 to 7, characterized in that After the merging with the cleaning robot and before controlling the towing platform to move driven by the cleaning robot, the method further includes: detecting whether a first detection device of the towing platform is triggered; If so, a fusion success notification is sent to the cleaning robot.

9. The method according to claim 8, characterized in that After combining with the cleaning robot, the method further includes: If the first detection device is not detected to be triggered within a preset number of combinations or a preset time, a combination failure notification is sent to the cleaning robot and / or the terminal.

10. The method according to claim 8, characterized in that After sending the notification of successful fusion to the cleaning robot, the method further includes: In response to the separation instruction, the first coupling member of the towing platform is automatically separated from the second coupling member of the cleaning robot, thereby separating from the cleaning robot, so that the cleaning robot performs an independent task.

11. The method according to claim 10, characterized in that The automatic separation of the first coupling member of the dragging platform and the second coupling member of the cleaning robot comprises: The first combining member of the towing platform is controlled to move in a direction away from the second combining member and separate from the second combining member, or to separate from the second combining member moving in a direction away from the first combining member.

12. The method according to claim 11, characterized in that After the separation from the cleaning robot and before the cleaning robot performs an independent task, the method further includes: detecting whether a second detection device of the towing platform is triggered; If so, a separation success notification is sent to the cleaning robot.

13. The method according to claim 4, characterized in that Applied to a towing platform, before the cleaning robot is combined with the towing platform, the method further includes: When the cleaning robot moves to the area where the object-dragging platform belongs, docking with the cleaning robot.

14. The method according to claim 13, characterized in that The docking with the cleaning robot includes: sending a docking signal to the cleaning robot, so that the cleaning robot determines relative position information between the cleaning robot and the towing platform according to the docking signal, and moves toward the towing platform according to the relative position information; When the limit state is maintained by the brake limit, positioning cooperation and electrical connection are performed with the cleaning robot.

15. The method according to claim 14, characterized in that Before maintaining the limited state by braking, the method further includes: The brake limiter is activated to position the movable support structure of the towing platform; wherein the movable support structure is used to support and drive the towing platform to move.

16. The method according to claim 14 or 15, characterized in that After positioning and electrically connecting with the cleaning robot, the method further includes: If it is detected that the third electrode sheet of the dragging platform contacts the fourth electrode sheet of the cleaning robot, it is confirmed that the docking with the cleaning robot is successful.

17. The method according to claim 14 or 15, characterized in that After the cleaning robot is combined with the object-dragging platform, the method further includes: closing the brake limit.

18. The method according to any one of claims 1 to 4, characterized in that The household object is in communication with the object-moving platform, and the target task corresponding to the moving task instruction is executed, including: When the object-pulling platform starts to move under the drive of the cleaning robot, the household object is controlled to start working through the communication interface between the object-pulling platform and the household object; or When the object-dragging platform is moved to a target location or a target room under the drive of the cleaning robot, the household object is controlled to start working through the communication interface between the object-dragging platform and the household object.

19. The method according to any one of claims 1 to 4, characterized in that The executing the target work corresponding to the mobile work instruction includes: The object-pulling platform is controlled to supply power to the household object.

20. The method according to any one of claims 1 to 4, characterized in that In response to the mobile work order, the method further comprises: Obtaining a work instruction and determining the type of the work instruction; In case the type of the work order is a mobile work type, respond to the mobile work order.

21. The method according to claim 20, characterized in that The household object is in communication with the object-hauling platform. After determining the type of the work instruction, the method further includes: In a case where the type of the work instruction is an in-place work type, in response to the in-place work instruction, the household object is controlled to start working through the communication interface between the towing platform and the household object.

22. The method according to claim 1, wherein When applied to a towing platform, during the process of executing the target work corresponding to the moving work instruction, the method further includes: When an obstacle is detected, an obstacle avoidance notification is sent to the cleaning robot, so that the cleaning robot carries the towing platform and moves in the obstacle avoidance direction according to the obstacle avoidance notification.

23. The method according to claim 22, characterized in that The sending an obstacle avoidance notification to the cleaning robot includes: If the obstacle detection device of the towing platform is triggered, it is determined that an obstacle at the height of the towing platform is detected, and / or an obstacle exceeding the height of the towing platform is detected, and an obstacle avoidance notification is sent to the cleaning robot; Among them, the obstacles that exceed the height of the towing platform are obstacles encountered by the household objects.

24. The method according to claim 23, wherein The obstacle detection device includes at least one first obstacle detection device, which is arranged at at least one of the front end, the rear end, and the side end of the towing platform to detect obstacles at the height of the towing platform, including: Obstacles at the height of the towing platform are detected by the first obstacle detection device.

25. The method according to claim 23, characterized in that The obstacle detection device includes a second obstacle detection device, and the obstacle detection device of the towing platform is triggered, including: the second obstacle detection device detecting a change in the angle between the towing platform and the ground.

26. The method according to claim 23 or 24, characterized in that After sending the obstacle avoidance notification to the cleaning robot, the method further includes: If the obstacle detection device switches from a triggered state to an untriggered state, a safety notification is sent to the cleaning robot; The safety notification is used to instruct the cleaning robot to stop moving in the obstacle avoidance direction and rotate to a target angle.

27. The method according to claim 23 or 24, characterized in that The obstacle avoidance notification includes position information of a triggered obstacle detection device on the towing platform, or an obstacle avoidance movement direction determined by the position information.

28. The method according to any one of claims 22 to 24, characterized in that The sending an obstacle avoidance notification to the cleaning robot includes: The signal is transmitted via a communication electrode provided between the towing platform and the cleaning robot; wherein, when the towing platform is carried by the cleaning robot, the communication electrode is provided between the first coupling member of the towing platform and the second coupling member of the cleaning robot to form an electrical connection.

29. The method according to any one of claims 1 to 4, characterized in that Applied to the towing platform, the target work corresponding to the moving work instruction is executed, including: When the towing platform is carried by the cleaning robot to the area of the base station, positioning and electrically connecting with the base station are performed, so that the base station cooperates with the towing platform and / or the cleaning robot to perform corresponding target tasks, wherein the target tasks include charging tasks; The charging task includes: the base station charges the cleaning robot through the towing platform, and the towing platform obtains power from the base station while charging the cleaning robot.

30. The method according to claim 29, wherein The rear end of the towing platform blocks the first infrared receiver at the rear end of the cleaning robot, and the rear end of the towing platform is provided with a second infrared receiver. Before positioning and electrically connecting with the base station, the method further includes: When the cleaning robot moves toward the base station until the relative distance between the cleaning robot and the base station is less than a preset threshold, cooperate with the cleaning robot to perform a precise docking operation with the base station; The step of cooperating with the cleaning robot to perform a precise docking operation with the base station includes: After the towing platform is carried by the cleaning robot and rotated by the target angle, the towing platform receives an infrared signal sent by the base station through a second infrared receiver at the rear end in the area where the base station belongs, and sends docking information to the cleaning robot according to the infrared signal, so that the cleaning robot determines a second relative direction between the towing platform and the base station according to the docking information, and moves to an area where the towing platform and the base station are positioned, matched, and electrically connected according to the second relative direction.

31. A device control method, characterized in that: Applied to a cleaning robot, the method comprises: When the cleaning robot or the towing platform responds to the movement work instruction, the towing platform is driven to move to perform the target work corresponding to the movement work instruction; Wherein, the towing platform is used to carry household items.

32. The method according to claim 31, characterized in that Before the object-dragging platform and the cleaning robot are currently in a combined state, the method further includes: When the current state is separation, the cleaning robot is integrated with the mopping platform.

33. The method according to claim 32, characterized in that The cleaning robot is integrated with the object-dragging platform, and includes: The second combining piece of the cleaning robot is automatically combined with the first combining piece of the dragging platform to be integrated with the dragging platform.

34. The method according to claim 33, wherein The automatic combination of the second combining member of the cleaning robot and the first combining member of the dragging platform includes: The first coupling member of the dragging platform moves to the second coupling member of the cleaning robot and is fixed to the first coupling member, or the second coupling member is controlled to move toward the first coupling member and be fixed to the first coupling member.

35. The method according to claim 33 or 34, characterized in that After the combination with the towing platform, the method further includes: Receiving a successful fusion notification sent by the towing platform; After receiving the successful fusion notification sent by the towing platform, the method further includes: The second combining part of the cleaning robot is automatically separated from the first combining part of the towing platform, and the cleaning robot is separated from the towing platform to perform an independent task.

36. The method according to claim 35, characterized in that The automatic separation of the second coupling member of the cleaning robot from the first coupling member of the dragging platform comprises: The first combining member of the towing platform is separated from the first combining member that moves in a direction away from the second combining member, or the second combining member is controlled to move in a direction away from the first combining member and separate from the first combining member.

37. The method according to any one of claims 32 to 34, characterized in that Before the cleaning robot is combined with the object-dragging platform, the method further includes: Move to the area where the towing platform belongs and dock with the towing platform.

38. The method according to claim 37, wherein The docking with the towing platform includes: receiving a docking signal sent by the towing platform, and determining relative position information between the cleaning robot and the towing platform according to the docking signal; According to the relative position information, the device moves toward the towing platform, and performs positioning cooperation and electrical connection with the towing platform in a limited state; wherein the towing platform maintains the limited state by a brake limit.

39. The method according to claim 38, characterized in that After positioning and electrically connecting with the towing platform in the limited state, the method further includes: If it is detected that the fourth electrode sheet of the cleaning robot is in contact with the third electrode sheet of the towing platform, it is confirmed that the docking with the towing platform is successful.

40. The method according to any one of claims 31 to 34, characterized in that During the process of driving the towing platform to move, the method further includes: Receive the obstacle avoidance notification sent by the towing platform, and move the towing platform in the obstacle avoidance direction according to the obstacle avoidance notification.

41. The method according to claim 40, wherein After the towing platform is moved in the obstacle avoidance direction according to the obstacle avoidance notification, the method further includes: When receiving a safety notification from the towing platform, the target angle is rotated; or, When no safety notification is received from the towing platform within a preset time, the towing platform stops moving.

42. The method according to any one of claims 31 to 34, characterized in that Executing the target work corresponding to the mobile work instruction includes: The towing platform is moved to the area of the base station, so that the base station cooperates with the towing platform and / or the cleaning robot to perform the target task corresponding to the movement work instruction, wherein the target task includes a charging task, while being positioned, matched and electrically connected to the towing platform; The charging task includes: the base station charges the cleaning robot through the towing platform, and the towing platform obtains power from the base station while charging the cleaning robot.

43. The method according to claim 42, characterized in that The first infrared receiver at the rear end of the cleaning robot is blocked by the rear end of the towing platform. Before the base station is positioned, matched, and electrically connected to the towing platform, the method further includes: When the user moves toward the base station until the relative distance between the user and the base station is less than a preset threshold, performing a precise docking operation with the base station; The performing of the precise docking operation with the base station includes: The towing platform is rotated to a target angle so that the towing platform receives an infrared signal sent by the base station through a second infrared receiver at the rear end in the area where the base station is located; docking information sent by the towing platform in response to the infrared signal is received; a second relative direction between the towing platform and the base station is determined based on the docking information; and the towing platform is moved to an area where the towing platform and the base station are positioned, matched, and electrically connected according to the second relative direction.

44. A cleaning robot, characterized in that: The device comprises a first device control device, wherein the first device control device comprises: A first device control module is configured to drive the cleaning robot or the towing platform to move in response to a movement work instruction, so as to perform a target work corresponding to the movement work instruction; Wherein, the towing platform is used to carry household items.

45. A towing platform, characterized in that: A second device control device is included, wherein the second device control device includes: a second device control module, configured to respond to a movement work instruction and move under the driving of the cleaning robot to perform a target work corresponding to the movement work instruction; Among them, the towing platform is used to carry household items.

46. A smart home system, characterized in that It includes the cleaning robot described in claim 44 and the towing platform described in claim 45, as well as a terminal, a client and a server.

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