Method for controlling cleaning system, cleaning system, cleaning base station, sub-robot, multi-robot cooperation system and method, method for forbidden area processing under multi-robot cooperation, interactive control method and apparatus, robot, system, medium, and product

Abstract

A method for controlling a cleaning system, a cleaning system, a cleaning base station (100), a sub-robot (13, 702), a multi-robot cooperation system and method, a method for forbidden area processing under multi-robot cooperation, an interactive control method and apparatus, a robot, a system, a medium, and a product. When a main robot (200, 701) and / or a sub-robot (13, 702) is needed for service, the manners in which said robots enter and exit a cleaning base station (100) are controlled, thus improving the working efficiency of the main robot and sub-robot. On the basis of maintaining the functional structure of existing base stations, the cleaning base station (100) achieves parking and charging functions of the sub-robot (13, 702). For an area provided with a virtual wall which the main robot (200, 701) and the sub-robot (13, 702) cannot enter for cleaning, depending on requirements, the main robot (200, 701) controls the main robot (200, 701) or the sub-robot (13, 702) to perform cleaning, and when cleaning suspended obstacles, the two robots are flexibly controlled to effectively clean a special area.

Description

Control method of cleaning system, cleaning system, cleaning base station, sub-robot, multi-robot collaborative system, method, restricted area processing method under multi-robot collaboration, interactive control method, device, robot, system, medium and product

[0001] This application claims the Chinese patent application filed on April 3, 2024, with application number 202410396093.8 and application name “Restricted area processing method, device, robot and system under multi-robot collaboration”, the Chinese patent application filed on April 2, 2024, with application number 202410396649.3 and application name “Cleaning system and control method of cleaning system”, and the Chinese patent application filed on April 3, 2024, with application number 202410405012.6 and application name The present application claims priority to the Chinese patent application entitled “Multi-robot collaboration method and collaboration system”, the Chinese patent application numbered 202410404744.3, filed with the Patent Office of China on April 3, 2024, and entitled “Interactive control method, robot and collaboration system under multi-robot collaboration”, and the Chinese patent application numbered 202410404593.1, filed with the Patent Office of China on April 3, 2024, and entitled “A cleaning base station, sub-robot and cleaning system”, all of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of cleaning equipment, and in particular to a control method for a cleaning system, a cleaning system, a cleaning base station, a sub-robot, a multi-robot collaborative system, a method, a restricted area processing method under multi-robot collaboration, an interactive control method, a device, a robot, a system, a medium and a product. Background Art

[0003] In order to meet the battery life requirements, the cleaning robot of the cleaning system is fully configured in all aspects, which makes the cleaning robot relatively large in size. As a result, in some narrow and low areas and areas with many obstacles, there will be problems of poor cleaning coverage and low cleaning efficiency.

[0004] To address this issue, a cleaning system that uses multiple robots to work together to clean is proposed. This system includes a main robot and at least one sub-robot. Both the main robot and the sub-robot can perform cleaning tasks independently, and the sub-robot is smaller than the main robot, thereby improving cleaning coverage and efficiency. Currently, to save space, cleaning systems that use multiple robots to work together use a small base station that can only serve one cleaning robot at a time.

[0005] However, the existing solutions do not involve how the main robot and sub-robot enter and exit the base station. If the order and nodes of the main robot and sub-robot entering and exiting the base station are not controlled, the main robot and sub-robot may be blocked or interfere with each other when entering and exiting the base station, reducing the timeliness of the base station's service to the main robot and sub-robot, affecting the work efficiency of the main robot and sub-robot, and thus reducing the overall work efficiency of the cleaning system.

[0006] In related technologies, intelligent cleaning systems mostly use self-propelled cleaning robots to perform cleaning operations, and use cleaning base stations that cooperate with the cleaning robots to realize charging, cleaning and dust collection of the cleaning robots. However, with the diversification of application scenarios, intelligent cleaning systems are also developing in the direction of multi-machine collaborative operation. For example, on the basis of the original cleaning robot (hereinafter referred to as the main robot for the convenience of distinguishing it from the sub-robot), sub-robots can be added to cooperate with the original cleaning robot to realize cleaning operations in more areas and more working conditions. This puts higher functional requirements on the cleaning base station used in conjunction with the main robot and the sub-robot. Therefore, how to realize the docking and charging of the sub-robot in the base station based on the original cleaning base station of the main robot has become an urgent problem that needs to be solved.

[0007] However, with the development of science and technology, robotics, and the improvement of people's living standards, robots are being widely used in various fields. In particular, they are becoming increasingly common in people's lives. Robots are also increasingly used in various places, such as homes, shopping malls, hospitals, and offices, to improve work efficiency. However, the working environment faced by robots is generally complex and changeable. Therefore, how to ensure the efficiency and coverage of robots in complex and changing working environments, and improve the user experience, is crucial.

[0008] Among them, using robots to replace manual labor to automate work has become an important development direction. In particular, cleaning robots are becoming more and more common in people's lives and are deeply loved by people. However, the complexity of the actual application environment brings challenges to the use of cleaning robots.

[0009] In related technologies, a virtual restricted area is usually used to mark the robot's restricted area or to identify obstacles to determine the robot's restricted area, so that the cleaning robot can clean areas other than the restricted area to meet the cleaning needs of different complex environments.

[0010] However, the cleaning effect of the above cleaning methods is poor, which affects the user experience.

[0011] It should be noted that cleaning robots can include multiple robots, such as a main robot and sub-robots, which can work together to perform cleaning tasks to improve cleaning efficiency. In some scenarios, there may be some special areas. How to coordinate multiple robots to achieve effective cleaning in these special areas is a technical problem that needs to be solved.

[0012] Summary of the Invention

[0013] In view of the above problems, the present application provides a cleaning system and a control method of the cleaning system, which are used to control the master robot to enter the base station to improve its working efficiency.

[0014] In the first aspect, the present application provides a control method for a cleaning system, which includes a base station, a main robot and at least one sub-robot, wherein the sub-robot goes to a working area or returns to the base station under the guidance of the main robot, and the base station supports providing services to the main robot and one of the sub-robots at a time, and the services include a first type of service and a second type of service; the time consumed by the first type of service is greater than the time consumed by the second type of service; the method includes: when the main robot and the sub-robot both have the first type of service requirements and / or both have the second type of service requirements, the main robot and the sub-robot take turns entering the base station according to the target order, so that the base station provides services for the corresponding robots.

[0015] This embodiment does not limit the first and second types of services; they can be determined based on the types of services provided by the base station. For example, the first type of service may include a charging service; the second type of service may include at least one of the following: dust collection service, water replenishment service, and cleaning component cleaning service. The cleaning component cleaning service may include, for example, a cleaning cloth cleaning service or a cleaning cloth rolling service, depending on the components of the cleaning component to be cleaned.

[0016] This embodiment does not limit the target sequence. For example, the target sequence can be a pre-set sequence; or it can be a sequence that can further improve the subsequent work efficiency of the main robot and the sub-robot.

[0017] For example, the order in which the main robot and the sub-robot arrive at the base station. Using this order, the main robot and the sub-robot can enter the base station first, so that the robot that arrives at the base station first can use the services provided by the base station first, thereby avoiding the cleaning robot that arrives at the base station first from waiting for a long time at the base station, so that it can start subsequent work as soon as possible, thereby improving work efficiency by reducing waiting time.

[0018] Alternatively, the main robot and the sub-robot are arranged in an order obtained by sorting the values ​​of the working parameters corresponding to the service requirements. For example, when both have charging requirements, the order is obtained by sorting the main robot and the sub-robot in ascending order according to the remaining power. When both have dust collection requirements, the order is obtained by sorting the main robot and the sub-robot in ascending order according to the amount of dust that can be collected. That is, the more urgent the service demand, the higher the robot is ranked, and the more priority it has in entering the base station to use the services provided by the base station. The more urgent the service demand, the worse the robot's own cleaning state and the lower its work efficiency. By accepting the base station service in the order obtained by sorting the values ​​of the working parameters corresponding to the service demand, the robot with the worse cleaning state can receive the base station service in a timely manner, thereby recovering to a better working state as soon as possible, thereby improving the subsequent work performance and work efficiency of the main robot and the sub-robot. It should be noted that under this implementation method, the robot ranked lower can perform the cleaning task while waiting, thereby further improving work efficiency.

[0019] Alternatively, the main robot and sub-robots can be sorted in descending order based on the amount of cleaning tasks to be performed. That is, robots with larger amounts of cleaning tasks to be performed are ranked higher, allowing them to access the base station and use the services provided by the base station first. This allows them to start subsequent cleaning tasks as soon as possible, reducing their waiting time and further improving the subsequent work efficiency of the main robot and sub-robots.

[0020] In this embodiment, when both the main robot and the sub-robot have a first type of service demand and / or a second type of service demand, the main robot and the sub-robot take turns entering the base station according to the target order, so that the base station can provide services to the corresponding robots. This avoids the problem of conflict between the main robot and the sub-robot when entering and exiting the base station due to both having service demands, and further avoids the situation where both the main robot and the sub-robot are unable to enter the base station due to this problem. In this way, when both the main robot and the sub-robot have a service demand for the base station, they can receive the service of the base station in an orderly and smooth manner, avoiding congestion or interference with each other, and improving the timeliness of the base station's service provision to the main robot and the sub-robot, so that the main robot and the sub-robot can subsequently perform cleaning tasks in a better state, thereby improving the subsequent work efficiency of the main robot and the sub-robot.

[0021] In some embodiments, the main robot includes a sweeping component and a mopping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor, and the mopping component can be, for example, a rag or a roller cloth, for wet mopping and cleaning the floor; the sub-robot includes a sweeping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor. Different cleaning components are set on the main robot and the sub-robot, and corresponding cleaning functions can be realized respectively, thereby expanding the application scenarios of the cleaning system.

[0022] In the second aspect, the present application provides a control method for a cleaning system, which includes a base station, a main robot and at least one sub-robot, wherein the sub-robot goes to the working area or returns to the base station under the guidance of the main robot, and the base station supports providing services to the main robot and one of the sub-robots at a time, and the services include a first type of service and a second type of service; the time consumed by the first type of service is greater than the time consumed by the second type of service; the method includes: when the main robot has a first type of service requirement and the sub-robot has a second type of service requirement, the sub-robot first enters the base station so that the base station provides the second type of service for the sub-robot; after the sub-robot exits the base station, the main robot enters the base station so that the base station provides the first type of service for the main robot.

[0023] This embodiment does not limit the first and second types of services; they can be determined based on the types of services provided by the base station. For example, the first type of service may include a charging service; the second type of service may include at least one of the following: dust collection service, water replenishment service, and cleaning component cleaning service. The cleaning component cleaning service may include, for example, a cleaning cloth cleaning service or a cleaning cloth rolling service, depending on the components of the cleaning component to be cleaned.

[0024] Since the time consumption of the first type of service is much greater than that of the second type of service, the docking order of the main robot, the sub-robot and the base station can be scheduled according to the urgency of the task, so that the robot with a short time consumption can use the base station first, so that the robot with a short time consumption can be put into subsequent work as soon as possible to meet the needs of efficient cleaning. In addition, compared with the solution of letting the robot with a short time consumption wait for the robot with a long time consumption to finish using the base station before using the base station, this embodiment can reduce the total waiting time of the sub-robot using the base station, so that the sub-robot can reduce the time of work suspension caused by the use of the base station on the basis of using the base station, thereby improving the work efficiency of the sub-robot.

[0025] Optionally, after the sub-robot exits the base station, the main robot can guide the sub-robot to the working area to ensure that the sub-robot can smoothly perform subsequent cleaning tasks.

[0026] In some embodiments, the main robot includes a sweeping component and a mopping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor, and the mopping component can be, for example, a rag or a roller cloth, for wet mopping and cleaning the floor; the sub-robot includes a sweeping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor. Different cleaning components are set on the main robot and the sub-robot, and corresponding cleaning functions can be realized respectively, thereby expanding the application scenarios of the cleaning system.

[0027] According to a third aspect, the cleaning system includes a base station, a main robot and at least one sub-robot, wherein the sub-robot goes to the working area or returns to the base station under the guidance of the main robot, and the base station supports providing services to the main robot and one of the sub-robots at a time, and the services include a first type of service and a second type of service; the time consumption of the first type of service is greater than the time consumption of the second type of service; the method includes: in the process of the base station providing the first type of service to the main robot, if the sub-robot has a second type of service requirement, the main robot exits the base station and the sub-robot enters the base station, so that the base station provides the second type of service to the sub-robot; after the sub-robot exits the base station, the main robot enters the base station again, so that the base station continues to provide the first type of service to the main robot.

[0028] This embodiment does not limit the first and second types of services; they can be determined based on the types of services provided by the base station. For example, the first type of service may include a charging service; the second type of service may include at least one of the following: dust collection service, water replenishment service, and cleaning component cleaning service. The cleaning component cleaning service may include, for example, a cleaning cloth cleaning service or a cleaning cloth rolling service, depending on the components of the cleaning component to be cleaned.

[0029] Because the second type of service takes much less time than the first type, the main robot exits the base station first, allowing the sub-robot to enter the base station to receive the second type of service. The main robot then only needs to wait at the base station for a short time before reentering the base station to receive the first type of service. This allows the shorter robots to use the base station with less impact on the longer robots, allowing them to begin their subsequent work as quickly as possible without forcing the longer robots to wait for extended periods. Compared to a solution that requires shorter robots to wait at the base station until the longer robots have completed their service before reentering the base station, this approach reduces the waiting time of the shorter robots, specifically the sub-robots in this solution, at the base station, improving the efficiency of the shorter robots without significantly impacting the longer robots.

[0030] Optionally, after the sub-robot exits the base station, the main robot guides the sub-robot to the work area corresponding to the cleaning task to ensure that the sub-robot successfully performs the cleaning task. For example, the main robot can guide the sub-robot to the work area corresponding to the cleaning task before re-entering the base station; it can also guide the sub-robot to the work area corresponding to the cleaning task when re-entering the base station so that the base station provides the first type of service to the main robot; it can also guide the sub-robot to the work area corresponding to the cleaning task after re-entering the base station so that the base station provides the first type of service to the main robot. In specific implementation, for example, the processing method can be determined based on the working distance corresponding to the cleaning task of the main robot and the sub-robot, and / or the amount of unfinished cleaning tasks of the main and sub-robots, so as to improve the work efficiency of both while ensuring the sub-robots successfully perform cleaning tasks.

[0031] In some embodiments, the main robot includes a sweeping component and a mopping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor, and the mopping component can be, for example, a rag or a roller cloth, for wet mopping and cleaning the floor; the sub-robot includes a sweeping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor. Different cleaning components are set on the main robot and the sub-robot, and corresponding cleaning functions can be realized respectively, thereby expanding the application scenarios of the cleaning system.

[0032] In a fourth aspect, the present application provides a control method for a cleaning system, which includes a base station, a main robot and at least one sub-robot, wherein the sub-robot goes to a working area or returns to the base station under the guidance of the main robot, and the base station supports providing services to the main robot and one of the sub-robots at a time, and the services include a first type of service and a second type of service; the time consumed by the first type of service is greater than the time consumed by the second type of service; the method includes: when the sub-robot has a first type of service requirement and the main robot has a second type of service requirement, the main robot first enters the base station, so that the base station provides the second type of service to the main robot; after the main robot exits the base station, the sub-robot enters the base station, so that the base station provides the first type of service to the sub-robot.

[0033] This embodiment does not limit the first and second types of services; they can be determined based on the types of services provided by the base station. For example, the first type of service may include a charging service; the second type of service may include at least one of the following: dust collection service, water replenishment service, and cleaning component cleaning service. The cleaning component cleaning service may include, for example, a cleaning cloth cleaning service or a cleaning cloth rolling service, depending on the components of the cleaning component to be cleaned.

[0034] Since the time consumption of the first type of service is much greater than that of the second type of service, the docking order of the main robot, the sub-robot and the base station can be scheduled according to the urgency of the task, so that the robot with a short time consumption can use the base station first, so that the robot with a short time consumption can be put into subsequent work as soon as possible to meet the needs of efficient cleaning. In addition, compared with the solution of letting the robot with a short time consumption wait for the robot with a long time consumption to finish using the base station before using the base station, this embodiment can reduce the total waiting time of the main robot using the base station, so that the main robot can reduce the time of work suspension caused by the use of the base station on the basis of using the base station, thereby improving the work efficiency of the main robot.

[0035] Optionally, after the main robot exits the base station, it can continue to perform cleaning tasks to improve the cleaning efficiency of the main robot.

[0036] In some embodiments, the main robot includes a sweeping component and a mopping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor, and the mopping component can be, for example, a rag or a roller cloth, for wet mopping and cleaning the floor; the sub-robot includes a sweeping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor. Different cleaning components are set on the main robot and the sub-robot, and corresponding cleaning functions can be realized respectively, thereby expanding the application scenarios of the cleaning system.

[0037] In the fifth aspect, the present application provides a control method for a cleaning system, which includes a base station, a main robot and at least one sub-robot, wherein the sub-robot goes to the working area or returns to the base station under the guidance of the main robot, and the base station supports providing services to the main robot and one of the sub-robots at a time, and the services include a first type of service and a second type of service; the time consumption of the first type of service is greater than the time consumption of the second type of service; the method includes: in the process of the base station providing the first type of service for the sub-robot, if the main robot has a second type of service requirement, the sub-robot exits the base station and the main robot enters the base station, so that the base station provides the second type of service to the main robot; after the main robot exits the base station, the sub-robot enters the base station again, so that the base station continues to provide the first type of service to the sub-robot.

[0038] This embodiment does not limit the first and second types of services; they can be determined based on the types of services provided by the base station. For example, the first type of service may include a charging service; the second type of service may include at least one of the following: dust collection service, water replenishment service, and cleaning component cleaning service. The cleaning component cleaning service may include, for example, a cleaning cloth cleaning service or a cleaning cloth rolling service, depending on the components of the cleaning component to be cleaned.

[0039] Because the second type of service takes much less time than the first type of service, the sub-robot exits the base station first, allowing the main robot to enter the base station to receive the second type of service provided by the base station. The sub-robot then only needs to wait at the base station for a short time before re-entering the base station to receive the first type of service. This method allows the shorter robots to use the base station with less impact on the longer robots, allowing them to quickly begin their subsequent work without forcing the longer robots to wait for an extended period. Compared to a solution that requires shorter robots to wait at the base station until the longer robots have completed their service within the base station before re-entering the base station, this implementation reduces the waiting time of the shorter robots (i.e., the main robot in this solution) at the base station, improving the efficiency of the shorter robots without significantly impacting the longer robots.

[0040] Optionally, after the main robot exits the base station, it continues to perform the cleaning task to improve the cleaning efficiency of the main robot.

[0041] In some embodiments, the main robot includes a sweeping component and a mopping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor, and the mopping component can be, for example, a rag or a roller cloth, for wet mopping and cleaning the floor; the sub-robot includes a sweeping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor. Different cleaning components are set on the main robot and the sub-robot, and corresponding cleaning functions can be realized respectively, thereby expanding the application scenarios of the cleaning system.

[0042] In the sixth aspect, the present application provides a control method for a cleaning system, which includes a base station, a main robot and at least one sub-robot, wherein the sub-robot goes to the working area or returns to the base station under the guidance of the main robot, and the base station supports providing service to the main robot and one of the sub-robots at a time; the method includes: when the main robot has a service demand and the sub-robot has no service demand, the main robot enters the base station, and the sub-robot performs a target action, which may include, for example, standby or performing a cleaning task.

[0043] Through this implementation method, when the main robot has service needs and the sub-robot has no service needs, the main robot can use the base station to complete the corresponding service needs while ensuring the collaborative work needs between the main and sub-robots.

[0044] In some embodiments, the sub-robot waits within a preset range of the base station, or waits in place, or the main robot guides the sub-robot to the next work area and then enters the base station, where the sub-robot waits in that work area. In this implementation, the main robot optionally guides the sub-robot to continue performing the cleaning task after exiting the base station.

[0045] This possible implementation allows the sub-robot to perform cleaning tasks accompanied by the main robot. Because the sub-robot relies on the main robot for positioning and guidance, this approach ensures accurate positioning of the sub-robot during cleaning tasks, thereby improving work efficiency.

[0046] In some embodiments, after the main robot guides the sub-robot to the next working area, it enters the base station so that the base station provides services to the main robot; accordingly, the sub-robot performs cleaning tasks in the working area.

[0047] Through this implementation method, the sub-robot can continue to perform cleaning tasks while the main robot enters the base station, thereby improving the working efficiency of the sub-robot and further improving the working efficiency of the cleaning system.

[0048] In some embodiments, the main robot includes a sweeping component and a mopping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor, and the mopping component can be, for example, a rag or a roller cloth, for wet mopping and cleaning the floor; the sub-robot includes a sweeping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor. Different cleaning components are set on the main robot and the sub-robot, and corresponding cleaning functions can be realized respectively, thereby expanding the application scenarios of the cleaning system.

[0049] In the seventh aspect, the present application provides a control method for a cleaning system, which includes a base station, a main robot and at least one sub-robot, wherein the sub-robot goes to the working area or returns to the base station under the guidance of the main robot, and the base station supports providing services to the main robot and one of the sub-robots at a time; the method includes: when the sub-robot has service requirements and the main robot has no service requirements, the main robot guides the sub-robot into the base station so that the base station provides services for the sub-robot.

[0050] This embodiment does not limit the method by which the master robot guides the sub-robot into the base station. For example, the guidance method can be determined based on the distance between the master robot and the base station to ensure accurate guidance of the sub-robot to the base station. Exemplarily, when the distance between the master robot and the base station is less than or equal to a first distance threshold, the master robot guides the sub-robot into the base station within the current working area, or the master robot follows and guides the sub-robot into the base station. When the distance between the master robot and the base station is greater than the first distance threshold, the master robot follows and guides the sub-robot into the base station. This first distance threshold can, for example, be determined based on the maximum communication distance between the master robot and the sub-robot to ensure effective guidance of the sub-robot.

[0051] This implementation allows the main robot to effectively guide the sub-robot when a sub-robot requires service and the main robot does not, enabling the sub-robot to complete the corresponding service request using the base station. Furthermore, when determining the guidance method based on the distance between the main robot and the base station, if the distance between the main robot and the base station is less than or equal to a first distance threshold, the main robot can guide the sub-robot into the base station within the current working area without following the guidance. This allows the main robot to avoid power loss caused by following the sub-robot and, if the main robot continues to operate within the current working area, can also improve the main robot's cleaning efficiency. Furthermore, this method of determining the guidance method based on distance can accurately determine the guidance method, thereby ensuring that the sub-robot can successfully return to the base station to receive service while achieving energy savings and efficiency improvements.

[0052] Optionally, after the main robot follows the guide sub-robot into the base station, the main robot can continue to perform its own cleaning task to reduce the impact of the guide sub-robot on its own work efficiency.

[0053] Optionally, after the base station finishes providing services for the sub-robot, the sub-robot exits the base station; the main robot guides the sub-robot to the work area corresponding to the cleaning task to ensure that the sub-robot that has not completed the cleaning task can perform the cleaning task smoothly, thereby improving the collaborative work efficiency between the main and sub-robots.

[0054] Optionally, after the base station finishes providing services for the sub-robot, the sub-robot will be on standby inside the base station or within a preset range of the base station to ensure that the sub-robot that has completed the cleaning task can exist in a low-power manner, saving as much consumption as possible in the non-working state, so that it can subsequently perform the cleaning task in a better state, thereby improving work efficiency.

[0055] In some embodiments, the main robot includes a sweeping component and a mopping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor, and the mopping component can be, for example, a rag or a roller cloth, for wet mopping and cleaning the floor; the sub-robot includes a sweeping component, wherein the sweeping component can be, for example, a side brush, a roller brush, etc., for sweeping and cleaning the floor. Different cleaning components are set on the main robot and the sub-robot, and corresponding cleaning functions can be realized respectively, thereby expanding the application scenarios of the cleaning system.

[0056] In an eighth aspect, the present application provides a cleaning system, comprising a base station, a main robot, and at least one sub-robot, wherein the base station supports providing service to one of the main robot and the sub-robot at a time;

[0057] A master robot is configured to guide a sub-robot to perform a cleaning task and to perform the method according to any one of the first aspect, the second aspect, the third aspect, the fourth aspect, the fifth aspect, the sixth aspect, and the seventh aspect;

[0058] The sub-robot is used to perform cleaning tasks under the guidance of the main robot, and to perform any method of the first aspect, or the second aspect, or the third aspect, or the fourth aspect, or the fifth aspect, or the sixth aspect, or the seventh aspect.

[0059] The cleaning system and control method of the cleaning system provided in the present application control how the robots enter and exit the base station when both the main robot and the sub-robot have service needs, or when any of the robots has service needs, thereby improving the work efficiency of the main and sub-robots while ensuring that they use the base station services.

[0060] The present application also provides a cleaning base station, a sub-robot and a cleaning system to realize the function of the sub-robot docking and charging in the base station while maintaining the functional structure of the existing cleaning base station.

[0061] To achieve the above-mentioned objectives and other related objectives, the ninth aspect of the present application is to provide a cleaning base station for use with a main robot and a sub-robot, the cleaning base station comprising: a base station body, a receiving chamber, a first charging electrode, a second charging electrode, and at least two first positioning devices. The receiving chamber is provided at the bottom of the base station body and has an opening for the main robot and the sub-robot to interchangeably enter; at least two first positioning devices are provided within the receiving chamber and located on the wall opposite the opening to cooperate with the positioning structure of the main robot to position the main robot; the first charging electrode is provided on the wall of the receiving chamber opposite the opening and includes a first positive electrode and a first negative electrode. When the main robot reaches a first set position in the receiving chamber, the first charging electrode is electrically connected to the charging terminal of the main robot; the second charging electrode includes a second positive electrode and a second negative electrode. The second positive electrode and the second negative electrode are respectively provided at the ends of at least two of the first positioning devices and can be electrically connected to the charging terminal of the sub-robot when the sub-robot reaches a second set position.

[0062] In one embodiment of the present application, the first positioning device cooperates with the positioning structure of the sub-robot to position the sub-robot.

[0063] In one embodiment of the present application, the first positioning device protrudes into the accommodating cavity to form a first positioning protrusion, and the first positioning protrusion extends into the positioning structure of the main robot or the sub-robot along the moving direction of the main robot and the sub-robot for positioning, and the end face area of ​​the first positioning protrusion is smaller than the bottom face area of ​​the first positioning protrusion.

[0064] In one embodiment of the present application, the first positioning protrusion is at least partially a frustum, and the small end of the frustum faces the opening.

[0065] In one embodiment of the present application, when the main robot reaches the first set position of the accommodating chamber, the main robot reaches the third position of the first positioning device, and when the sub-robot reaches the second set position of the accommodating chamber, the sub-robot reaches the fourth position of the first positioning device, and the distance from the cross-sectional centroid of the first positioning protrusion at the fourth position to the wall of the accommodating chamber opposite to the opening is greater than or equal to the distance from the cross-sectional centroid of the first positioning protrusion at the third position to the wall of the accommodating chamber opposite to the opening.

[0066] In one embodiment of the present application, the second charging electrode is disposed on an end wall of the first positioning protrusion close to the opening.

[0067] In one embodiment of the present application, the first positioning device includes an elastic telescopic structure, which is telescopic along the direction of entry of the main robot, and the second charging electrode is arranged on the end wall of the first positioning device close to the opening.

[0068] In one embodiment of the present application, the first positioning protrusion is a non-retractable structure.

[0069] In one embodiment of the present application, the first positioning protrusion includes a fixed body and a movable body, the fixed body is fixedly mounted on the wall of the accommodating cavity opposite to the opening, the movable body is slidably mounted on the fixed body, and includes a sliding body and an elastic body, the sliding body can slide relative to the fixed body and is connected to the elastic body, and the elastic body stores or releases energy during the sliding process of the sliding body.

[0070] In one embodiment of the present application, the elastic body is a spring, an installation cavity is provided on the fixed body, the spring is installed in the installation cavity, the sliding body is slidably inserted into the installation cavity, and the spring is squeezed or released during the sliding process to retract the second charging electrode into the installation cavity or extend from the installation cavity.

[0071] In one embodiment of the present application, the third position and the fourth position are located on the fixed body.

[0072] In one embodiment of the present application, the positioning structure on the main robot and / or the positioning structure on the sub-robot includes a positioning groove and a flared portion located at the opening of the positioning groove to guide the first positioning device to enter, and the first positioning device includes a positioning body and a guide body, the positioning body matches the positioning groove, and the guide body guides the positioning body into the positioning groove.

[0073] In one embodiment of the present application, a soft structure for protecting the main robot and / or the sub-robot from impact is provided on the wall opposite to the opening.

[0074] In one embodiment of the present application, the cleaning base station further includes a second positioning device, which is located on the side wall or bottom of the accommodating cavity to cooperate with the positioning structure of the sub-robot to position the sub-robot.

[0075] In one embodiment of the present application, the base station body includes a dust collection system, the dust collection system includes a dust collection port, the main robot includes a first dust discharge port, and the sub-robot includes a second dust discharge port; when the main robot enters the first set position, the dust collection port matches and docks with the first dust discharge port, and when the sub-robot enters the second set position, the dust collection port matches and docks with the second dust discharge port.

[0076] In one embodiment of the present application, the dust collection port includes a first interface and a second interface, and the first interface and the second interface are connected to the suction port of the dust collection system. When the main robot enters the first set position, the first interface is matched and docked with the first dust discharge port. When the sub-robot enters the second set position, the second interface is matched and docked with the second dust discharge port.

[0077] In one embodiment of the present application, a walking guide component is installed on the base station body; the walking guide component cooperates with the walking guide component on the main robot to guide the main robot to reach the first set position of the accommodating cavity, and cooperates with the walking guide component on the sub-robot to guide the sub-robot to reach the second set position of the accommodating cavity.

[0078] In one embodiment of the present application, the walking guidance component includes at least one of an infrared positioning module and a visual positioning component, or a combination of the two.

[0079] In one embodiment of the present application, the projection of the main robot on the horizontal plane when it is in the first set position covers the projection of the sub-robot on the horizontal plane when it is in the second set position.

[0080] In one embodiment of the present application, the cleaning base station is provided with a locking structure in the accommodating cavity for locking the main robot and / or the sub-robot.

[0081] In one embodiment of the present application, guide rollers are provided in the accommodating cavity to guide the main robot to enter.

[0082] The present application also provides a cleaning base station for use with a main robot and a sub-robot. The cleaning base station comprises: a base station body, a storage cavity, and a climbing surface. The storage cavity is provided at the bottom of the base station body and has an opening for the main robot and the sub-robot to interchangeably enter. The climbing surface is connected to the ground and the storage cavity at both ends, and is provided with anti-slip ribs and an auxiliary structure to assist the sub-robot in navigating the climbing surface.

[0083] In one embodiment of the present application, the auxiliary structure includes a rotating body rotatably mounted on the climbing surface; the rotating body transports the sub-robot through the climbing surface and / or limits the sub-robot during the sub-robot climbing process.

[0084] In one embodiment of the present application, the auxiliary structure further includes a driving device, which drives the rotating body to rotate to provide transmission power for the sub-robot to climb the climbing surface.

[0085] In one embodiment of the present application, the axis of the rotating body extends along the width direction of the climbing surface, and at least two of the rotating bodies are arranged at intervals along the climbing direction of the climbing surface, and a recess is formed between adjacent rotating bodies for limiting the walking wheels of the sub-robot.

[0086] In one embodiment of the present application, the sub-robot includes two coaxially arranged walking wheels; at least two sub-climbing tracks are provided on the climbing surface, respectively corresponding to the two walking wheels, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least one first rotating body, and the second rotating body group includes at least one second rotating body, the outer peripheral surface of the first rotating body is arranged corresponding to one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the end surface of the other walking wheel, so as to limit the sub-robot.

[0087] In one embodiment of the present application, the rotating axes of the first rotating body and the second rotating body are perpendicular to the rotating axes of the walking wheels and perpendicular to the moving direction of the sub-robot, the outer peripheral surface of the first rotating body is arranged corresponding to the inner end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the inner end surface of the other walking wheel.

[0088] In one embodiment of the present application, the rotating axes of the first rotating body and the second rotating body are perpendicular to the rotating axes of the walking wheels and perpendicular to the moving direction of the sub-robot, the outer peripheral surface of the first rotating body is arranged corresponding to the outer end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the outer end surface of the other walking wheel.

[0089] In one embodiment of the present application, the sub-robot includes two coaxially arranged walking wheels; at least two sub-climbing tracks are provided on the climbing surface, respectively corresponding to the two walking wheels, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least one first rotating body, the second rotating body group includes at least one second rotating body, the end face of the first rotating body is arranged corresponding to the end face of one of the walking wheels, and the end face of the second rotating body is arranged corresponding to the end face of the other walking wheel, so as to limit the sub-robot.

[0090] In one embodiment of the present application, the rotating axes of the first rotating body and the second rotating body are parallel to the rotating axes of the walking wheels; the outer end face of the first rotating body is arranged corresponding to the inner end face of the walking wheel on one side, and the outer end face of the second rotating body is arranged corresponding to the inner end face of the walking wheel on the other side.

[0091] In one embodiment of the present application, the rotating axes of the first rotating body and the second rotating body are parallel to the rotating axes of the walking wheels; the inner end face of the first rotating body is arranged corresponding to the outer end face of the walking wheel on one side, and the inner end face of the second rotating body is arranged corresponding to the outer end face of the walking wheel on the other side.

[0092] In one embodiment of the present application, the sub-robot includes two coaxially arranged running wheels; at least two sub-climbing tracks are provided on the climbing surface, respectively corresponding to the two running wheels, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least two first rotating bodies, and the second rotating body group includes at least two second rotating bodies, and at least two first rotating bodies are arranged at intervals along the extension direction of the sub-climbing track on one side, and the axes are parallel to each other; the second rotating bodies are arranged at intervals along the extension direction of the sub-climbing track on the other side, and the axes are parallel to each other.

[0093] In one embodiment of the present application, the auxiliary structure includes one or more combinations of a roller transmission assembly, a crawler transmission assembly, a gear rack transmission assembly, and a chain transmission assembly to transmit the sub-robot upward along the climbing surface, so that the sub-robot passes through the climbing surface.

[0094] In one embodiment of the present application, the rotating body is a mechanical roller.

[0095] In one embodiment of the present application, the cleaning base station includes a cleaning tank arranged at the bottom of the accommodating cavity. When the main robot reaches the first set position, the cleaning tank corresponds to the cleaning component of the main robot to clean the cleaning component.

[0096] In one embodiment of the present application, the cleaning component includes a rag plate, and a cleaning rib component for cleaning the rag plate is provided in the cleaning tank. When the main robot reaches the first set position, the cleaning rib component corresponds to the rag plate to clean the rag plate.

[0097] In one embodiment of the present application, when the sub-robot reaches the second set position, the walking wheels of the sub-robot are located outside the cleaning tank, and the cleaning rib assembly is configured to support the part of the sub-robot that extends above the cleaning tank.

[0098] In one embodiment of the present application, when the sub-robot reaches the second set position, the walking wheels of the sub-robot are located in the cleaning tank, and a channel is provided in the cleaning tank to allow the sub-robot to pass through and reach the second set position.

[0099] In one embodiment of the present application, a limiting member for limiting the position of the sub-robot is provided in the channel.

[0100] In one embodiment of the present application, the cleaning assembly includes a first rag plate and a second rag plate, and the first rag plate and the second rag plate are arranged along the width direction of the main robot. The cleaning rib assembly includes a first cleaning rib unit and a second cleaning rib unit. The first cleaning rib unit is arranged corresponding to the first rag plate, and the second cleaning rib unit is arranged corresponding to the second rag plate. The channel is arranged on the cleaning ribs or between the cleaning ribs of the first cleaning rib unit and the second cleaning rib unit.

[0101] In one embodiment of the present application, the limiting member includes a baffle disposed in the cleaning tank, and along a plane perpendicular to the walking direction of the sub-robot, the height of the baffle is less than or equal to the height of the cleaning rib assembly.

[0102] In one embodiment of the present application, the channel is a track for the running wheels of the sub-robot to run on, and the running wheels of the sub-robot run along the track to enter the cleaning tank.

[0103] In one embodiment of the present application, the track is arranged to protrude from the bottom of the cleaning tank. Along the plane perpendicular to the walking direction of the sub-robot, the height of the track is less than or equal to the height of the cleaning rib assembly. One end of the track is connected to the side of the cleaning tank close to the opening, and the other end of the track extends into the cleaning tank along the entry direction of the sub-robot.

[0104] In one embodiment of the present application, the track also includes a wall arranged along at least one side of the sub-robot's moving direction, and the height of the top of the wall along the plane perpendicular to the sub-robot's walking direction is less than or equal to the height of the cleaning rib assembly.

[0105] In one embodiment of the present application, anti-slip ribs are provided on the track surface of the track.

[0106] In one embodiment of the present application, the cleaning rib assembly includes longitudinal ribs extending along the walking direction of the sub-robot, and the track is the longitudinal ribs.

[0107] In one embodiment of the present application, a sewage filter component is provided in the cleaning tank, and the limiting component is provided on the sewage filter component.

[0108] The tenth aspect of the present application is to provide a sub-robot for cooperating with a main robot and any of the above-mentioned cleaning base stations to complete corresponding cleaning operations, wherein the cleaning base station includes at least two first positioning devices for limiting the position of the main robot, and the sub-robot includes: a sub-machine housing, a cleaning component, running wheels, and a charging terminal. The cleaning component is installed in the sub-machine housing; the running wheels are installed at the bottom of the sub-machine housing and move on their own to enable the cleaning component to complete the corresponding cleaning operation; the charging terminal is provided on the sub-machine housing and corresponds to the position of the two first positioning devices, so that when the sub-robot reaches the second set position of the cleaning base station, it is electrically connected to the second charging electrode on the two first positioning devices.

[0109] In one embodiment of the present application, the first positioning device protrudes into the accommodating cavity of the cleaning base station and extends along the moving direction of the sub-robot. A positioning groove matching the first positioning device is provided on the sub-machine housing, and the charging terminal is provided in the positioning groove.

[0110] In one embodiment of the present application, the sub-robot also includes a dust discharge port, the cleaning base station includes a dust collection system, the dust collection system includes a dust collection port for collecting dust for the main robot, and when the sub-robot enters the second set position, the dust discharge port position of the sub-robot matches and docks with the dust collection port.

[0111] In one embodiment of the present application, the sub-robot also includes a dust discharge port, the cleaning base station includes a dust collection system, the dust collection system includes a first dust collection port for collecting dust for the main robot and a second interface for collecting dust for the sub-robot, when the sub-robot enters the second set position, the dust discharge port position of the sub-robot matches and docks with the second interface.

[0112] The third aspect of the present application is to provide a cleaning system, comprising a main robot, a sub-robot and the cleaning base station described in any one of the above items, wherein the main robot and the sub-robot share the cleaning base station for charging operations.

[0113] In the cleaning base station of the present application, the second charging electrode for charging the sub-robot is set on the first positioning device matched with the main robot, and the charging operation of the sub-robot can be realized on the existing cleaning base station matched with the main robot. On the one hand, the structure and function of the cleaning base station that matches the existing cleaning robot can be maintained on the basis of meeting the charging needs of the sub-robot. On the other hand, the integration of the first positioning device and the second charging electrode corresponding to the sub-robot can also achieve greater space utilization. At the same time, the cleaning base station can also be used only in conjunction with the existing cleaning robot (which can be understood as the main robot), and can also meet the needs of interchangeable use of the main robot and the sub-robot. It is flexible and can take into account the compatibility and matching of new and old cleaning robots on the existing market. It has strong versatility and low manufacturing cost. The cleaning system of the present application includes the cleaning base station of the present application. On the basis of having the beneficial effects of the cleaning base station of the present application, it can realize cleaning operations in more areas and under more working conditions. The sub-robot of the present application has a charging terminal that matches the cleaning base station of the present application, and can be used in conjunction with the cleaning base station of the present application to complete cleaning work in a small area. The structure does not need to avoid the first positioning device in the existing cleaning base station, and can be electrically connected through the first positioning device, which is more optimized in structure.

[0114] Furthermore, considering that the first positioning device in the existing cleaning base station is mostly a protruding structure protruding into the accommodating cavity, this setting can, on the one hand, reduce the interference of the first positioning device on the charging of the sub-robot, and on the other hand, it can also enable the sub-robot to realize charging operations without having to move to a deeper depth, thereby reducing the difficulty of the sub-robot moving in the accommodating cavity.

[0115] The present application provides a multi-robot collaboration method and collaboration system to solve the problem of how to ensure the work efficiency and coverage of robots in complex and changeable working environments, and improve user experience.

[0116] In some embodiments provided herein, the multi-robot includes a main robot and at least one sub-robot; the sub-robot is used to perform supplementary operations in an area where the main robot cannot operate; the main robot is equipped with a sub-robot posture perception unit, the sub-robot posture perception unit being used to determine the posture information of the sub-robot relative to the main robot, so that the main robot assists the sub-robot in performing repositioning based on the posture information; the method includes:

[0117] When the main robot assists the sub-robot in performing repositioning and the sub-robot position perception unit of the main robot cannot perceive the sub-robot, the main robot performs a search action and / or the sub-robot performs a response action, so that the main robot attempts to perceive the sub-robot.

[0118] Exemplarily, when the position of the sub-robot and the position of the main robot meet the repositioning requirements of the sub-robot posture perception unit, the main robot assists the sub-robot in performing repositioning.

[0119] Optionally, when the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking the sub-machine posture perception unit from detecting the sub-robot, the main robot assists the sub-robot in performing repositioning.

[0120] In some embodiments, when the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking the sub-machine posture perception unit from detecting the sub-robot, the main robot assists the sub-robot in performing repositioning.

[0121] Exemplarily, before the master robot assists the slave robot in performing repositioning, the method further includes:

[0122] The sub-robot and / or the main robot moves to a position that meets the repositioning requirements of the sub-robot posture perception unit.

[0123] Optionally, the sub-robot and / or the main robot moves to a position that meets the relocation requirement of the sub-robot posture perception unit, including:

[0124] When the master robot confirms that the slave robot has performed repositioning, the master robot moves to a master robot operation area surrounding a slave robot operation area where the slave robot is currently performing an operation.

[0125] Optionally, the sub-robot moves from the sub-machine operation area where the operation is currently being performed to the main machine operation area around the sub-machine operation area; or, the sub-robot moves to the boundary between the sub-machine operation area and the main machine operation area.

[0126] Exemplarily, the search action includes:

[0127] The master robot moves toward a first target position in the operation map until the master robot senses the slave robot before triggering a first preset stop condition, or the master robot triggers the first preset stop condition; wherein,

[0128] The first preset stopping condition at least includes the master robot moving to a first target position;

[0129] The first target position is the position of the sub-robot in the operation map when the master robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the operation map.

[0130] Optionally, the search action includes:

[0131] The master robot moves around the reference position within a specified range relative to the reference position until the master robot senses the sub-robot before triggering a second preset stop condition, or the master robot triggers the second preset stop condition; wherein,

[0132] The second preset stop condition includes at least one of the following conditions: the position of the master robot exceeds the specified range; the movement time of the master robot exceeds the preset movement time; the movement distance of the master robot exceeds the preset distance threshold;

[0133] The reference position is the position of the main robot in the work map when the main robot assists the sub-robot in performing repositioning, or the position of the sub-robot in the work map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the work map.

[0134] In some embodiments, before the main robot performs the search action, the method further includes:

[0135] The master robot performs repositioning;

[0136] When it is determined based on the repositioning information that there is no deviation in the position and posture information of the master robot, the master robot performs a search action;

[0137] When it is determined based on the repositioning information that there is a deviation in the posture information of the master robot, the master robot adjusts the posture so that the adjusted posture meets the repositioning requirement of the posture perception unit of the slave robot.

[0138] Exemplarily, the response action includes:

[0139] The sub-robot moves toward the second target position in the operation map until the sub-robot is sensed by the main robot before triggering the first preset stop condition, or the sub-robot triggers the third preset stop condition; wherein,

[0140] The third preset stopping condition at least includes the sub-robot moving to the second target position;

[0141] The second target position is the position of the master robot in the operation map when the master robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the operation map.

[0142] Optionally, the response action includes:

[0143] Within a specified range relative to the reference position, the sub-robot moves around the reference position until the sub-robot is sensed by the main robot before triggering the fourth preset stop condition, or the sub-robot triggers the fourth preset stop condition; wherein,

[0144] The fourth preset stop condition includes at least one of the following conditions: the position of the sub-robot exceeds the specified range; the movement time of the sub-robot exceeds the preset movement time; the movement distance of the sub-robot exceeds the preset distance threshold;

[0145] The reference position is the position of the main robot in the work map when the main robot assists the sub-robot in performing repositioning, or the position of the sub-robot in the work map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the work map.

[0146] In some embodiments, after the main robot performs a search action and / or the sub-robot performs a response action, and the main robot does not sense the sub-robot, the main robot and / or the sub-robot issues a reminder, and the reminder is used to request a user or a third-party device to assist in finding the sub-robot.

[0147] In some other embodiments provided herein, the multi-robot includes a main robot and at least one sub-robot; the sub-robot is used to perform supplementary work in an area where the main robot cannot operate; the main robot is equipped with a sub-robot posture sensing unit, and the sub-robot posture sensing unit is used to determine the posture information of the sub-robot relative to the main robot, so that the main robot accompanies the sub-robot to perform work or switch areas based on the posture information; the method includes:

[0148] When the main robot accompanies the sub-robot to perform work or switch areas and the main robot cannot sense the sub-robot, the sub-robot stops moving and the main robot moves to sense the sub-robot again;

[0149] When the master robot senses the sub-robot again, the sub-robot continues to perform the work or switch areas under the accompaniment of the master robot.

[0150] Exemplarily, when it is confirmed based on the operation map that the sub-robot is outside the detection range of the sub-robot posture perception unit, the main robot moves to the location of the sub-robot until the main robot senses the sub-robot; and / or,

[0151] When it is determined based on the operation map that the sub-robot is blocked by an obstacle and the main robot cannot perceive the sub-robot, the main robot performs obstacle avoidance movement with respect to the obstacle until the main robot perceives the sub-robot.

[0152] Optionally, the method further includes:

[0153] When it is confirmed based on the work map that the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking the sub-robot, and the main robot cannot perceive the sub-robot, the main robot performs a search action, and / or the sub-robot performs a response action, so that the main robot attempts to perceive the sub-robot.

[0154] Optionally, the method further includes:

[0155] After the main robot performs a search action and / or the sub-robot performs a response action, and the main robot does not sense the sub-robot, the main robot and / or the sub-robot issues a reminder, which is used to request a user or a third-party device to assist in finding the sub-robot.

[0156] The present application provides a multi-robot collaboration method, wherein the multi-robot includes a main robot and at least one sub-robot; the sub-robot is used to perform supplementary operations in areas where the main robot cannot operate; the main robot is equipped with a sub-robot posture perception unit, and the sub-robot posture perception unit is used to determine the posture information of the sub-robot relative to the main robot; the method includes: when the main robot is building a map, or cleaning without a map, or triggering the preliminary positioning of the sub-robot, the main robot performs preliminary positioning on the sub-robot to determine the position of the sub-base station corresponding to the sub-robot; wherein, when the preliminary positioning of the sub-robot is performed, the sub-robot is located in the sub-base station.

[0157] Optionally, when the preliminary positioning of the sub-robot is triggered, after the main robot is freed from hijacking, the main robot is first relocated, and then the preliminary positioning of the sub-robot is performed; wherein, the main robot is placed in a preset positioning area by hijacking, and the preset positioning area is the area where the sub-robot posture perception unit has a detection range for the sub-robot.

[0158] The present application provides a multi-robot collaboration method, wherein the multi-robot includes a main robot and at least one sub-robot; the sub-robot is at least used to perform supplementary operations in an area where the main robot cannot operate; the main robot is equipped with a sub-machine posture perception unit, and the sub-machine posture perception unit is used to determine the posture information of the sub-robot relative to the main robot. The method includes: the main robot accompanies the sub-robot to perform operations or switch areas based on the posture information; wherein the switching area refers to switching the sub-machine operation area, or the sub-robot goes from the sub-base station to the sub-machine operation area, or the sub-robot goes from the sub-machine operation area to the sub-base station.

[0159] The present application provides a multi-robot collaboration method, wherein the multi-robot includes a main robot and at least one sub-robot; the sub-robot is used to perform supplementary operations in an area where the main robot cannot operate; the main robot is equipped with a sub-robot posture perception unit, and the sub-robot posture perception unit is used to determine the posture information of the sub-robot relative to the main robot. The method includes: when the sub-robot is trapped, the main robot goes to the trapped position of the sub-robot and sends an escape path to the sub-robot, so that the sub-robot can escape based on the escape path.

[0160] This application provides a multi-robot collaborative system, comprising:

[0161] at least one processor; and a memory communicatively coupled to the at least one processor;

[0162] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform a multi-robot collaboration method.

[0163] The multi-robot collaboration method and collaboration system provided in the present application enable the main robot to try to perceive the sub-robot by performing a search action and / or a response action when the main robot assists the sub-robot in performing repositioning and the sub-robot posture perception unit of the main robot cannot perceive the sub-robot, thereby reducing user intervention, improving the intelligence of the multi-robot collaboration system, and improving the work efficiency and coverage of the robot system in complex and changeable working environments, thereby improving user experience.

[0164] The present application provides a restricted area processing method, device, robot and system under multi-robot collaboration, which are used to solve the problem that the existing cleaning effect is poor and affects the user experience.

[0165] In an eleventh aspect, the present application provides a method for handling restricted areas under multi-robot collaboration, wherein the multi-robots include a master robot and a slave robot; the slave robot receives control instructions from the master robot to perform tasks; the method includes:

[0166] During the process of the main robot performing cleaning work, if it is confirmed that there is an unshared virtual wall restricted area, the main robot generates a target cleaning path based on the unshared virtual wall restricted area, and controls the target robot to perform cleaning work on the unshared virtual wall restricted area based on the target cleaning path; the unshared virtual wall restricted area is used to indicate that the main robot or the sub-robot is prohibited from entering the cleaning virtual wall area.

[0167] In this way, the restricted area processing method under multi-robot collaboration provided by the present application is for the non-shared virtual wall area that the main robot or sub-robot is prohibited from entering to clean. The main robot can generate a target cleaning path that includes the non-shared virtual wall area, and control the target robot to perform cleaning work on the non-shared virtual wall area based on the target cleaning path, thereby effectively cleaning the blind spot of the main robot or sub-robot, ensuring that the entire area is comprehensively and thoroughly cleaned, and through reasonable division of labor and cooperation between the main robot and the sub-robot, the main robot and the sub-robot can focus on cleaning the area they are responsible for, thereby improving the overall cleaning efficiency. Since multiple robots can perform comprehensive and in-depth cleaning of the entire area, ensuring that everyone in the area is cleaned thoroughly. All unshared virtual wall restricted areas can be cleaned, thereby effectively improving the user experience and satisfaction, and the present application can also control the main and sub-robots to perform cleaning work on different areas synchronously to improve the cleaning efficiency of the entire surface to be cleaned; the present application provides users with active control over the cleaning area through the setting of unshared virtual wall restricted areas, while satisfying the user's cleaning rights to the unshared virtual wall restricted areas as much as possible. The unshared virtual wall restricted areas can control the sub-robot or the main robot to enter and sweep, thereby increasing the cleaning area, and the main and sub-robots collaborate to ensure cleaning efficiency, and also improve the flexibility and rationality of path planning, which helps to maximize the effectiveness of multi-robot collaborative cleaning, thereby improving cleaning quality and user experience.

[0168] Optionally, the unshared virtual wall restricted area includes a first virtual wall restricted area; when the master robot is performing a cleaning operation and confirms the existence of the unshared virtual wall restricted area, the master robot generates a target cleaning path based on the unshared virtual wall restricted area, and controls the target robot to perform the cleaning operation on the unshared virtual wall restricted area based on the target cleaning path, including:

[0169] During the process of the main robot performing cleaning work, if it is confirmed that there is a first virtual wall restricted area, the main robot generates a first cleaning path based on the first virtual wall restricted area, and controls the sub-robot to perform cleaning work on the first virtual wall restricted area based on the first cleaning path; the first virtual wall restricted area is used to indicate that the main robot is prohibited from entering the cleaning virtual wall area.

[0170] In this way, the present application targets the first virtual wall area that the main robot is prohibited from entering for cleaning. The main robot can generate a first cleaning path including the first virtual wall area, and control the sub-robot to perform cleaning work on the first virtual wall area based on the first cleaning path, thereby effectively cleaning the blind spot of the main robot and ensuring that the entire area is comprehensively and thoroughly cleaned. Moreover, through reasonable division of labor and cooperation between the main robot and the sub-robot, the main robot can focus on cleaning the main area, while the sub-robot is responsible for entering the first virtual wall restricted area such as a small space for cleaning, and then cleaning the first virtual wall restricted area based on the first cleaning path, avoiding the sub-robot from repeatedly cleaning the area covered by the main robot, reducing duplication and waste, and improving the overall cleaning efficiency.

[0171] Optionally, when the presence of the first virtual wall restricted area is confirmed, the master robot generates a first cleaning path based on the first virtual wall restricted area, including:

[0172] According to the cleaning map, if the existence of a first virtual wall restricted area is confirmed, the main robot generates a first cleaning path based on the first virtual wall restricted area; the first virtual wall restricted area is a cleaning area of ​​any shape planned by the user on the cleaning map that the main robot is prohibited from entering.

[0173] In this way, the present application can provide users with active control over the first virtual wall restricted area based on the user's setting of the first virtual wall restricted area on the cleaning map, while satisfying the user's right to clean the first virtual wall restricted area as much as possible. Although the main robot cannot enter and drag the first virtual wall restricted area, it can control the sub-robot to enter and sweep, thereby increasing the cleaning area and effectively cleaning the blind spot of the main robot. The user can plan the first virtual wall restricted area of ​​any shape based on the cleaning map, and change the size and position of the first virtual wall restricted area at any time, thereby improving the flexibility of the sub-robot in cleaning the first virtual wall restricted area, thereby effectively improving the user's usage experience and satisfaction. For the first virtual wall restricted area, the main robot can generate a first cleaning path including the first virtual wall restricted area, and control the sub-robot to perform cleaning work on the first virtual wall area based on the first cleaning path. At the same time, the main robot can also focus on cleaning the area it is responsible for, ensuring the cleaning efficiency of the collaboration between the main and sub-robots, and improving the flexibility and rationality of path planning, which helps to maximize the efficiency of multi-robot collaborative cleaning, thereby improving cleaning quality and user experience.

[0174] Optionally, controlling the sub-robot to perform cleaning work on the first virtual wall restricted area based on the first cleaning path includes:

[0175] After the main robot generates a first cleaning path based on the first virtual wall restricted area, the main robot orbits around the first virtual wall restricted area to clean the first working area, and controls the sub-robot to perform cleaning work on the first virtual wall restricted area based on the first cleaning path.

[0176] In this way, the main robot can perform cleaning work by bypassing the first virtual wall restricted area according to the first cleaning path. Instead of cleaning the first virtual wall restricted area, the main robot will bypass the first virtual wall restricted area to clean the remaining working area. The sub-robot will perform cleaning work on the first virtual wall restricted area based on the first cleaning path. Through this coordinated cooperation between the main robot and the sub-robot, the set first virtual wall restricted area can be accurately avoided, thereby improving the flexibility and safety of the cleaning operation.

[0177] Optionally, controlling the sub-robot to perform cleaning work on the first virtual wall restricted area based on the first cleaning path includes:

[0178] After the sub-robot receives the control instruction sent by the main robot, the sub-robot is controlled to perform cleaning work on the first virtual wall restricted area based on the first cleaning path.

[0179] In this way, the sub-robot can perform cleaning work on the first virtual wall restricted area after receiving the control instructions sent by the main robot by simply integrating a simple driver. The remote centralized control of the sub-robot by the main robot not only reduces the overall cost of multiple robots, but also improves the rationality of generating cleaning paths, expands cleaning capabilities, and makes upgrades and maintenance easier, fully demonstrating the innovation and superiority of multiple robots.

[0180] Optionally, the control instruction includes at least one of a path planning instruction, a position correction instruction, a cleaning instruction along a cleaning path, and a refill instruction.

[0181] In this way, the main robot can control the sub-robot to perform cleaning work at the correct position according to the planned path based on sending at least one of the path planning instructions, position correction instructions, cleaning instructions along the cleaning path and recharging instructions to the sub-robot. The path planning instructions, cleaning instructions along the cleaning path and position correction instructions give the main robot the ability to finely control the sub-robot, thereby ensuring the accuracy and efficiency of the sub-robot's cleaning, and giving full play to the advantages of multi-robot collaborative cleaning. The recharging instructions can also ensure the timeliness of the sub-robot's charging, enhancing the intelligence and automation level of the multi-robot.

[0182] Optionally, the unshared virtual wall restricted area further includes a second virtual wall restricted area; when the main robot is performing a cleaning operation and confirms the existence of the unshared virtual wall restricted area, the main robot generates a target cleaning path based on the unshared virtual wall restricted area, and controls the target robot to perform the cleaning operation on the unshared virtual wall restricted area based on the target cleaning path, including:

[0183] During the process of the main robot performing cleaning work, if it is confirmed that there is a second virtual wall restricted area, the main robot generates a second cleaning path based on the second virtual wall restricted area, and controls the main robot to perform cleaning work on the second virtual wall restricted area based on the second cleaning path; the second virtual wall restricted area is used to instruct the sub-robot to prohibit entering the cleaning virtual wall area.

[0184] In this way, by identifying and distinguishing various types of virtual wall restricted areas, and rationally dividing the work by having the main robot and sub-robots execute the corresponding cleaning paths respectively, the advantages of different robots are maximized, thereby fully covering all virtual wall restricted areas, improving cleaning quality and efficiency, enhancing the flexibility and adaptability of multiple robots, and helping to improve the user's cleaning experience.

[0185] Optionally, when the presence of the second virtual wall restricted area is confirmed, the master robot generates a second cleaning path based on the second virtual wall restricted area, including:

[0186] According to the cleaning map, if the existence of a second virtual wall restricted area is confirmed, the main robot generates a second cleaning path based on the second virtual wall restricted area; the second virtual wall restricted area is a cleaning area of ​​any shape planned by the user on the cleaning map that the sub-robot is prohibited from entering.

[0187] In this way, it is possible to determine whether there is a second virtual wall restricted area based on the cleaning map, and if there is a second virtual wall restricted area that prohibits the sub-robot from entering, a second cleaning path can be generated based on the second virtual wall restricted area. By introducing the innovative design of the second virtual wall restricted area, highly flexible cleaning path planning can be achieved, thereby improving the cleaning quality and efficiency, enhancing the safety of multi-robot cleaning, and achieving the purpose of optimizing user experience.

[0188] Optionally, controlling the main robot to perform cleaning work on the second virtual wall restricted area based on the second cleaning path includes:

[0189] After the main robot generates a second cleaning path based on the second virtual wall restricted area, the main robot guides the sub-robot to circle around the second virtual wall restricted area to clean the second working area, and controls the main robot to perform cleaning work on the second virtual wall restricted area based on the second cleaning path.

[0190] In this way, the main robot can control the sub-robot to perform cleaning work along the second cleaning path to bypass the second virtual wall restricted area. Instead of cleaning the second virtual wall restricted area, the sub-robot is guided to bypass the second virtual wall restricted area to clean the remaining working area. The main robot itself performs cleaning work on the second virtual wall restricted area based on the second cleaning path, and the main robot can efficiently and accurately complete the cleaning of the second virtual wall restricted area, thereby improving the cleaning effect.

[0191] Optionally, the method further includes:

[0192] After the main robot receives the modification instruction sent by the terminal device, it controls the modification of the range of the unshared virtual wall restricted area; the modification instruction is an instruction generated in response to the user's modification operation on the interface of the terminal device to modify the range of the unshared virtual wall restricted area.

[0193] In this way, the present application can modify the range of the restricted area that does not share the virtual wall based on the modification instruction sent by the terminal device, thereby improving the flexibility of the cleaning range.

[0194] Optionally, the method further includes:

[0195] After the main robot receives the viewing instruction sent by the terminal device, it controls the range of the unshared virtual wall restricted area and / or the target cleaning path to be fed back to the terminal device for visual display; the viewing instruction is an instruction generated in response to the user's viewing operation on the interface of the terminal device, which is used to view the unshared virtual wall restricted area and / or the target cleaning path corresponding to the cleaning work performed by multiple robots.

[0196] In this way, users can conveniently view the scope of the non-shared virtual wall restricted area and the target cleaning path corresponding to the cleaning work performed by the main and sub-robots at any time, which makes it easier to understand the cleaning progress and planning of the main and sub-robots, and improves the convenience of cleaning.

[0197] In a twelfth aspect, the present application provides a method for handling restricted areas under multi-robot collaboration, wherein the multi-robot includes a main robot and a sub-robot; the sub-robot receives control instructions from the main robot to perform tasks; the method includes:

[0198] During the process of the main robot performing cleaning work, if it is confirmed that there is a shared virtual wall restricted area, the main robot generates a third cleaning path based on the shared virtual wall restricted area, and controls the main robot and the sub-robot not to perform cleaning work in the shared virtual wall restricted area based on the third cleaning path; the shared virtual wall restricted area is used to indicate that both the main robot and the sub-robot are prohibited from entering the cleaning virtual wall area.

[0199] In this way, for the shared virtual wall restricted area that both the sub-robot and the main robot are prohibited from entering for cleaning, the main robot can generate a third cleaning path that does not include the shared virtual wall restricted area, and control itself and the sub-robot based on the third cleaning path not to perform cleaning work on the shared virtual wall area, but to bypass the shared virtual wall area for cleaning. By introducing the innovative design of the shared virtual wall restricted area, not only the flexibility of cleaning path planning is improved, but also the safety, coverage and efficiency of cleaning operations are comprehensively enhanced, further optimizing the user's cleaning experience.

[0200] Optionally, when it is confirmed that there is a shared virtual wall restricted area, the master robot generates a third cleaning path based on the shared virtual wall restricted area, including:

[0201] According to the cleaning map, if the existence of a shared virtual wall restricted area is confirmed, the main robot generates a third cleaning path based on the shared virtual wall restricted area; the shared virtual wall restricted area is a cleaning area of ​​any shape planned by the user on the cleaning map that the main robot and sub-robot are prohibited from entering.

[0202] In this way, it is possible to determine whether there is a shared virtual wall restricted area based on the cleaning map, and if there is a shared virtual wall restricted area that prohibits the main and sub-robots from entering, a third cleaning path can be generated based on the shared virtual wall restricted area. By introducing the shared virtual wall restricted area and combining it with the personalized needs of users, the flexibility, safety and controllability of cleaning planning are further enhanced, and the personalized cleaning experience is pushed to a new level.

[0203] Optionally, controlling the main robot and the sub-robot to not perform cleaning work on the shared virtual wall restricted area based on the third cleaning path includes:

[0204] After the main robot generates a third cleaning path based on the shared virtual wall restricted area, the main robot and the sub-robot move around the shared virtual wall restricted area according to the third cleaning path to clean the third working area.

[0205] In this way, the main robot can control itself and the sub-robot to bypass the shared virtual wall restricted area based on the third cleaning path to perform cleaning work. Instead of cleaning the shared virtual wall restricted area, it will bypass the shared virtual wall restricted area to clean the remaining work area, and then accurately avoid the set shared virtual wall restricted area, protect the safety of the shared virtual wall restricted area, and improve the flexibility of the cleaning operation.

[0206] Optionally, the control instruction includes at least one of a path planning instruction, a position correction instruction, a cleaning instruction along a cleaning path, and a refill instruction.

[0207] In this way, the main robot can control the sub-robot to perform cleaning work at the correct position according to the planned path based on sending at least one of the path planning instructions, position correction instructions, cleaning instructions along the cleaning path and recharging instructions to the sub-robot. The path planning instructions, cleaning instructions along the cleaning path and position correction instructions give the main robot the ability to finely control the sub-robot, thereby ensuring the accuracy and efficiency of the sub-robot's cleaning, and giving full play to the advantages of multi-robot collaborative cleaning. The recharging instructions can also ensure the timeliness of the sub-robot's charging, enhancing the intelligence and automation level of the multi-robot.

[0208] Optionally, the method further includes:

[0209] After the main robot receives the modification instruction sent by the terminal device, it controls the modification of the range of the shared virtual wall restricted area; the modification instruction is an instruction generated in response to the user's modification operation on the interface of the terminal device to modify the range of the shared virtual wall restricted area.

[0210] In this way, the present application can modify the range of the shared virtual wall restricted area based on the modification instruction sent by the terminal device, thereby improving the flexibility of the cleaning range.

[0211] Optionally, the method further includes:

[0212] After the main robot receives the viewing instruction sent by the terminal device, it controls the range of the shared virtual wall restricted area and / or the third cleaning path to be fed back to the terminal device for visual display; the viewing instruction is an instruction generated in response to the user's viewing operation on the interface of the terminal device, which is used to view the shared virtual wall restricted area and / or the third cleaning path corresponding to the cleaning work performed by multiple robots.

[0213] In this way, users can conveniently view the scope of the shared virtual wall restricted area and the third cleaning path corresponding to the cleaning work performed by the main and sub-robots at any time, which makes it easier to understand the cleaning progress and planning of the main and sub-robots, and improves the convenience of cleaning.

[0214] In a thirteenth aspect, the present application further provides a restricted area processing device under multi-robot collaboration, wherein the multi-robot includes a main robot and a sub-robot; the sub-robot receives control instructions from the main robot to perform tasks; the device includes:

[0215] The first processing module is used to, during the process of the main robot performing cleaning work, confirm that there is an unshared virtual wall restricted area, the main robot generates a target cleaning path based on the unshared virtual wall restricted area, and controls the target robot to perform cleaning work on the unshared virtual wall restricted area based on the target cleaning path; the unshared virtual wall restricted area is used to instruct the main robot or the sub-robot to prohibit entering the cleaning virtual wall area.

[0216] In a fourteenth aspect, the present application further provides a restricted area processing device under multi-robot collaboration, wherein the multi-robot includes a main robot and a sub-robot; the sub-robot receives control instructions from the main robot to perform tasks; the device includes:

[0217] The second processing module is used to, when the main robot is performing cleaning work and confirms the existence of a shared virtual wall restricted area, the main robot generates a third cleaning path based on the shared virtual wall restricted area and controls the main robot and the sub-robot not to perform cleaning work in the shared virtual wall restricted area based on the third cleaning path; the shared virtual wall restricted area is used to indicate that both the main robot and the sub-robot are prohibited from entering the cleaning virtual wall area.

[0218] In a fifteenth aspect, the present application further provides a robot, comprising: a processor, and a memory communicatively connected to the processor;

[0219] Memory stores computer-executable instructions;

[0220] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the eleventh and twelfth aspects.

[0221] In the sixteenth aspect, the present application also provides a multi-robot collaborative system, the system including: multiple robots and terminal devices; the multiple robots are used to execute the methods as described in any one of the eleventh and twelfth aspects; the multiple robots include a main robot and a sub-robot.

[0222] It should be understood that the thirteenth to sixteenth aspects of the present application correspond to the technical solutions of the eleventh and twelfth aspects of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated.

[0223] In summary, the present application provides a restricted area processing method, device, robot and system under multi-robot collaboration, wherein the multi-robot includes a main robot and a sub-robot; the sub-robot receives the control instructions of the main robot to perform tasks. Specifically, in the process of the main robot performing cleaning work, if it is confirmed that there is a virtual wall area that the main robot or the sub-robot cannot enter to clean, the main robot can generate a target cleaning path based on the virtual wall area to control the target robot to perform cleaning work on the virtual wall area based on the target cleaning path; in this way, for the virtual wall restricted area that the main robot or the sub-robot cannot enter to clean, the main robot can control itself or the sub-robot to enter the virtual wall restricted area for cleaning according to demand, thereby improving the cleaning effect and thereby enhancing the user experience.

[0224] The present application provides an interactive control method, a robot, and a collaborative system under multi-robot collaboration, which are used to achieve effective cleaning of special areas through collaboration between multiple robots.

[0225] In a seventeenth aspect, the present application provides an interactive control method for multi-robot collaboration, wherein the multi-robot includes a master robot and a sub-robot for cleaning a target location containing suspended obstacles; the method includes:

[0226] In response to a user's instruction to clean a suspended obstacle:

[0227] When both the main robot and the sub-robot can enter and exit the bottom of the suspended obstacle, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle to clean;

[0228] When the main robot cannot enter or exit the suspended obstacle, but the sub-robot can enter or exit the bottom of the suspended obstacle, the sub-robot goes to the bottom of the suspended obstacle to clean it, and the main robot does not clean the bottom of the suspended obstacle;

[0229] When both the main robot and the sub-robot cannot enter or exit the bottom of the suspended obstacle, the main robot and the sub-robot both stay where they are or perform other tasks.

[0230] In this way, by controlling at least one robot to go to the bottom of the suspended obstacle for cleaning when both robots can enter and exit the bottom of the suspended obstacle, the two robots can be flexibly controlled and effective cleaning of the bottom of the suspended obstacle can be achieved; when the sub-robot can enter and exit the bottom of the suspended obstacle, but the main robot cannot enter and exit the bottom of the suspended obstacle, the main robot controls the sub-robot to go to the bottom of the suspended obstacle for cleaning, so as to achieve effective cleaning of the bottom of the suspended obstacle and avoid damage to the main robot; when both robots cannot enter and exit the bottom of the suspended obstacle, by keeping them in place or performing other tasks, the robots can be prevented from cleaning the bottom of the suspended obstacle in the above scenario, thereby avoiding damage to the robots. By keeping them in place, the robots' energy consumption can be saved, and by performing other tasks, the maximum efficiency of multi-robot collaborative cleaning can be brought into play. Therefore, through the collaboration between multiple robots, effective cleaning of the bottom of the suspended obstacle can be achieved, thereby improving the user experience and satisfaction.

[0231] Optionally, when both the main robot and the sub-robot can enter and exit the bottom of the suspended obstacle, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle to clean, including:

[0232] When the height of the bottom space of the suspended obstacle is greater than the height of the main robot, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle for cleaning.

[0233] In this way, by comparing the height of the bottom space of the suspended obstacle with the height of the main robot and the height of the sub-robot, the scenario in which at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle for cleaning can be accurately determined.

[0234] Optionally, when the main robot cannot enter or exit the suspended obstacle, but the sub-robot can enter or exit the bottom of the suspended obstacle, the sub-robot goes to the bottom of the suspended obstacle to clean it, and the main robot does not clean the bottom of the suspended obstacle, including:

[0235] When the height of the bottom space of the suspended obstacle is between the height of the sub-robot and the height of the main robot, the sub-robot goes to the bottom of the suspended obstacle to clean it, and the main robot does not clean the bottom of the suspended obstacle.

[0236] In this way, by comparing the height of the bottom space of the suspended obstacle with the height of the main robot and the height of the sub-robot, the scenario in which the sub-robot cleans the bottom of the suspended obstacle while the main robot does not is accurately determined.

[0237] Optionally, when neither the main robot nor the sub-robot can enter or exit the bottom of the suspended obstacle, the main robot and the sub-robot both remain stationary or perform other tasks, including:

[0238] When the height of the bottom space of the suspended obstacle is less than or equal to the height of the sub-robot, both the main robot and the sub-robot remain in place or perform other tasks.

[0239] In this way, by comparing the height of the bottom space of the suspended obstacle with the height of the main robot and the height of the sub-robot, the scenario in which neither the sub-robot nor the main robot cleans the bottom of the suspended obstacle can be accurately determined.

[0240] Optionally, the height of the main robot is greater than or equal to 80 mm and less than or equal to 120 mm; the height of the sub-robot is greater than or equal to 40 mm and less than or equal to 80 mm.

[0241] In this way, by setting the height range of the main robot and the height range of the sub-robot, the bottom of the suspended obstacle that can be cleaned by the two robots can be accurately determined.

[0242] Optionally, at least one of the main robot and the sub-robot moves to the bottom of the suspended obstacle to clean it, including:

[0243] The sub-robot goes to the bottom of the suspended obstacle to clean, while the main robot does not clean the bottom of the suspended obstacle;

[0244] Alternatively, the main robot goes to the bottom of the suspended obstacle to clean it, while the sub-robot stays put or performs other tasks;

[0245] Alternatively, the main robot and the sub-robot jointly go to the bottom of the suspended obstacle and clean it together.

[0246] In this way, by having the sub-robot go to the bottom of the suspended obstacle to clean, the main robot does not clean the bottom of the suspended obstacle, which can save the energy consumption of the main robot. Alternatively, the main robot can also perform other tasks, so that the main robot and the sub-robot can reasonably divide the work and cooperate, and the main robot is effectively utilized; by having the main robot go to the bottom of the suspended obstacle to clean, the cleaning level of the bottom of the suspended obstacle can be improved, and by having the sub-robot stay in place, the energy consumption of the sub-robot can be saved. By having the sub-robot perform other tasks, the main robot and the sub-robot can reasonably divide the work and cooperate, which helps to maximize the efficiency of multi-robot collaborative cleaning; by having the main robot and the sub-robot go to the bottom of the suspended obstacle together and clean together, the cleaning efficiency of the bottom of the suspended obstacle can be improved. At the same time, the above method can improve the flexibility of cleaning the bottom of the suspended obstacle, and effectively improve the user experience and satisfaction.

[0247] Optionally, the sub-robot goes to the bottom of the suspended obstacle to clean, while the main robot does not clean the bottom of the suspended obstacle, including:

[0248] When the distance between the suspended obstacle and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to the bottom of the suspended obstacle and cleans it, while the main robot remains in place or performs other tasks;

[0249] When the distance between the suspended obstacle and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the suspended obstacle, and the main robot waits at the edge of the suspended obstacle, or the main robot returns and performs other tasks, or the main robot cooperates in cleaning around the suspended obstacle.

[0250] In this way, by comparing the distance between the suspended obstacle and the main robot with the communication distance, it can be determined whether the main robot guides the sub-robot to the edge of the suspended obstacle, and the communication connection between the main robot and the sub-robot can be maintained as much as possible during the sub-robot cleaning the bottom of the suspended obstacle; at the same time, the main robot remains stationary, which can save the main robot's energy consumption, or the main robot performs other tasks, so that the main robot and the sub-robot can reasonably divide the work and cooperate, and the main robot can also cooperate in cleaning the surrounding area of ​​the suspended obstacle to ensure that the entire area is comprehensively and thoroughly cleaned, thereby improving the overall cleaning efficiency.

[0251] Optionally, the method further includes:

[0252] When both the main robot and the sub-robot cannot enter or exit the bottom of the suspended obstacle, the main robot outputs a prompt message that it cannot clean.

[0253] In this way, by outputting a prompt message that cleaning is impossible, users can promptly understand the reason why suspended obstacles cannot be cleaned, thereby improving the user's usage experience and satisfaction. Furthermore, after the main robot outputs the prompt message, users can take remedial measures, such as manual cleaning, thereby improving user satisfaction.

[0254] In an eighteenth aspect, the present application provides an interactive control method for multi-robot collaboration, wherein the multi-robot includes a master robot and sub-robots for cleaning a target location including a narrow space; the method includes:

[0255] In response to a user's instruction to clean a narrow space formed by two side walls:

[0256] When both the main robot and the sub-robot can enter and exit the narrow space, at least one of the main robot and the sub-robot goes to the narrow space for cleaning;

[0257] When the main robot cannot enter or exit a narrow space, but the sub-robot can enter or exit a narrow space, the sub-robot will go to the narrow space to clean it, and the main robot will not clean the narrow space;

[0258] When neither the main robot nor the sub-robot can enter or exit a narrow space, the main robot and the sub-robot both stay where they are or perform other tasks.

[0259] In this way, by controlling at least one robot to go to the narrow space for cleaning when both robots can enter and exit the bottom of the suspended obstacle, effective cleaning of the narrow space can be achieved; when the main robot cannot enter and exit, and the sub-robot can enter and exit the narrow space, the sub-robot goes to the narrow space for cleaning, and the main robot does not clean the narrow space, which can achieve effective cleaning of the narrow space and avoid damage to the main robot; when both the main robot and the sub-robot cannot enter and exit the narrow space, the main robot and the sub-robot both stay in place or perform other tasks, which can avoid the robots from cleaning the narrow space in the above scenarios, thereby avoiding damage to the robots. By staying in place, the robot's energy consumption can be saved, and by performing other tasks, the maximum efficiency of multi-robot collaborative cleaning can be brought into play, thereby achieving effective cleaning of the narrow space through collaboration between multiple robots, improving user experience and satisfaction.

[0260] Optionally, when both the main robot and the sub-robot can enter and exit a narrow space, at least one of the main robot and the sub-robot goes to the narrow space to clean, including:

[0261] When the width of the narrow space is greater than the width of the main robot, at least one of the main robot and the sub-robot goes to the narrow space for cleaning.

[0262] In this way, by comparing the width of the narrow space with the width of the main robot and the width of the sub-robot, the scenario in which at least one of the main robot and the sub-robot goes to the narrow space for cleaning can be accurately determined.

[0263] Optionally, when the main robot cannot enter or exit a narrow space, but the sub-robot can enter or exit a narrow space, the sub-robot goes to the narrow space to clean, and the main robot does not clean the narrow space, including:

[0264] When the width of the narrow space is between the width of the sub-robot and the width of the main robot, the sub-robot goes to the narrow space for cleaning, and the main robot does not clean the narrow space.

[0265] In this way, by comparing the width of the narrow space with the width of the main robot and the width of the sub-robot, the scenario in which the sub-robot cleans the narrow space while the main robot does not clean the narrow space can be accurately determined.

[0266] Optionally, when neither the main robot nor the sub-robot can enter or exit a narrow space, both the main robot and the sub-robot remain stationary or perform other tasks, including:

[0267] When the narrow space is smaller than or equal to the width of the sub-robot, both the main robot and the sub-robot remain stationary or perform other tasks.

[0268] In this way, by comparing the width of the narrow space with the width of the main robot and the width of the sub-robot, it is accurately determined that neither the sub-robot nor the main robot cleans the narrow space.

[0269] Optionally, the width of the main robot is greater than or equal to 330 mm and less than or equal to 380 mm; the width of the sub-robot is greater than or equal to 290 mm and less than or equal to 330 mm.

[0270] In this way, by setting the width range of the main robot and the width range of the sub-robot, the narrow spaces that can be cleaned by the two robots can be accurately determined.

[0271] Optionally, at least one of the main robot and the sub-robot goes to a narrow space to clean, including:

[0272] The sub-robot goes to the narrow space to clean, while the main robot does not clean the narrow space;

[0273] Alternatively, the main robot goes to a narrow space to clean, while the sub-robot stays put or performs other tasks;

[0274] Alternatively, the main robot and sub-robot go to a narrow space together and clean together.

[0275] In this way, the sub-robot goes to the narrow space for cleaning, and the main robot does not clean the narrow space, which can save the energy consumption of the main robot; the main robot goes to the narrow space for cleaning, and the sub-robot stays in place or performs other tasks, which can improve the cleaning level of the narrow space; the main robot and the sub-robot go to the narrow space together and clean together, which can improve the cleaning efficiency of the narrow space.

[0276] Optionally, the sub-robot goes to a narrow space for cleaning, while the main robot does not clean the narrow space, including:

[0277] When the distance between the narrow space and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the narrow space and clean it, while the main robot stays in place or performs other tasks;

[0278] When the distance between the narrow space and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the narrow space, and the main robot waits at the edge of the narrow space, or the main robot returns and performs other tasks, or the main robot cooperates in cleaning the periphery of the narrow space.

[0279] In this way, by comparing the distance between the narrow space and the main robot with the communication distance, it can be determined whether the main robot guides the sub-robot to the edge of the narrow space, so that the main robot and the sub-robot can maintain communication connection as much as possible during the cleaning process of the narrow space; at the same time, the main robot remains stationary, which can save the main robot's energy consumption, or the main robot performs other tasks, so that the main robot and the sub-robot can reasonably divide the work and cooperate, and the main robot can also cooperate in cleaning the periphery of the narrow space to ensure that the entire area is comprehensively and thoroughly cleaned, thereby improving the overall cleaning efficiency.

[0280] Optionally, the method further includes:

[0281] When neither the main robot nor the sub-robot can enter or exit a narrow space, the main robot outputs a prompt message indicating that it cannot clean.

[0282] In this way, the embodiment of the present application can output a prompt message that cleaning is impossible when both the main robot and the sub-robot cannot enter or exit a narrow space, so that the user can promptly understand the reason why the narrow space cannot be cleaned, thereby improving the user's usage experience and satisfaction. Furthermore, after the main robot outputs the prompt message, the user can take remedial measures, such as manual cleaning, thereby improving the user's usage satisfaction.

[0283] In a nineteenth aspect, the present application provides an interactive control method for multi-robot collaboration, where the multi-robot includes a master robot and sub-robots for cleaning a target area including a carpet area; the method includes:

[0284] In response to a user's instruction to clean the carpet area, the main robot goes to the carpet area to clean, and the sub-robot remains in place or performs other tasks; or, the sub-robot goes to the carpet area to clean, and the main robot does not clean the carpet area; or, the main robot and the sub-robot go to the carpet area together and clean it.

[0285] In this way, when cleaning the carpet area, the main robot can control itself, the sub-robot, or both to clean the area together, which improves the flexibility of carpet cleaning, effectively improves the user experience and satisfaction, and provides users with active control over the carpet area while ensuring the user's right to clean the carpet area to the greatest extent possible. When the main robot moves to the carpet area to clean, the sub-robot can remain in place or perform other tasks. Thus, by controlling the sub-robot to remain in place, the sub-robot's energy consumption is saved, or the sub-robot performs other tasks, thereby achieving the maximum efficiency of multi-robot collaborative cleaning through reasonable division of labor and cooperation between the main robot and the sub-robots. When the sub-robot moves to the carpet area to clean, the main robot does not clean the carpet area, and the main robot can remain in place. Thus, while ensuring the effective cleaning of the carpet area, the main robot can save energy and perform other tasks, thereby achieving reasonable division of labor and cooperation between the main robot and the sub-robots, and effectively utilizing the main robot. The main robot controls itself and the sub-robot to synchronously perform cleaning tasks on the carpet area. The two robots clean the carpet area, which can improve the cleaning efficiency of the carpet area.

[0286] Optionally, the main robot cleans the carpet area, including:

[0287] The main robot lifts the mop cleaning component and adjusts the suction power to increase before cleaning the carpet area.

[0288] In this way, when cleaning the carpet area, the main robot can control the rag cleaning component to lift up to avoid secondary pollution of the carpet area, and can adjust the suction force to increase the cleaning of the carpet area, thereby enhancing the adsorption force of dirt and improving the cleaning effect of the carpet area.

[0289] Optionally, the sub-robot goes to the carpet area to clean, while the main robot does not clean the carpet area, including:

[0290] When the distance between the carpet area and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the carpet area and clean it, while the main robot stays where it is or performs other tasks;

[0291] When the distance between the carpet area and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the carpet area, and the main robot waits at the edge of the carpet area, or the main robot returns and performs other tasks, or the main robot cooperates in cleaning around the carpet area.

[0292] In this way, by comparing the distance between the carpet area and the main robot with the communication distance, it can be determined whether the main robot guides the sub-robot to the edge of the carpet area, so that the main robot and the sub-robot can maintain communication connection as much as possible during the cleaning process of the carpet area; at the same time, the main robot remains stationary, which can save the main robot's energy consumption, and the main robot performs other tasks, so that the main robot and the sub-robot can reasonably divide the work and cooperate, and the main robot can also cooperate in cleaning the surroundings of suspended obstacles to ensure that the entire carpet area is comprehensively and thoroughly cleaned, thereby improving the overall cleaning efficiency.

[0293] In a twentieth aspect, the present application provides an interactive control method for multi-robot collaboration, wherein the multi-robots include a master robot and sub-robots, and the method includes:

[0294] In response to a user's instruction to clean a target area, if the target area is an area that can be cleaned by both the master robot and the slave robot:

[0295] When the main robot has sufficient power and the sub-robot has sufficient power, at least one of the main robot and the sub-robot goes to the target area for cleaning;

[0296] When the main robot has sufficient power and the sub-robot has insufficient power, the main robot will go to the target area to clean, while the sub-robot will stay where it is or return to the base station to recharge;

[0297] When the main robot is low on power and the sub-robot is fully charged, the sub-robot will go to the target area to clean, and the main robot will not clean the target area;

[0298] When the main robot and the sub-robot are low on power, the main robot returns to the base station to charge, and the sub-robot remains where it is; or, the sub-robot goes to the base station to charge under the guidance of the main robot, and the main robot waits at the edge of the base station.

[0299] In this way, after the main robot receives the user's instruction to clean the target area, the main robot can flexibly control itself or the sub-robot to go to the target area for cleaning and return to the base station for charging based on the power status of the main robot and the sub-robot. While ensuring sufficient power, the target area is cleaned, ensuring the cleaning effect, and also increasing the usage time of the main robot and sub-robot.

[0300] Optionally, at least one of the main robot and the sub-robot moves to a target area for cleaning, including:

[0301] The sub-robot goes to the target area to clean, while the main robot does not clean the target area;

[0302] Alternatively, the main robot goes to the target area to clean it, while the sub-robots stay put or perform other tasks;

[0303] Alternatively, the main robot and the sub-robot go to the target area together and clean together.

[0304] In this way, when the main robot goes to the target area for cleaning or the sub-robot goes to the target area for cleaning, the sub-robot can stay in place or perform other tasks, and the main robot can also stay in place or perform other tasks. In this way, energy consumption can be saved, and a reasonable division of labor and cooperation can be made between the main robot and the sub-robot, so that the main robot and the sub-robot can focus on the work they are responsible for, thereby improving the overall cleaning efficiency. When the two go to the target area together and clean together, the cleaning efficiency of the target area can be improved.

[0305] Optionally, the sub-robot goes to the target area to clean, while the main robot does not clean the target area, including:

[0306] When the distance between the target area and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the target area and clean it, while the main robot stays at the same place or returns to the base station to recharge;

[0307] When the distance between the target area and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the target area, and the main robot waits at the edge of the target area, or the main robot returns to the base station to charge.

[0308] In this way, when the main robot determines that its own power is low, but the sub-robot has sufficient power, by comparing the distance between the target area and the main robot with the communication distance, it can be determined whether the main robot guides the sub-robot to the edge of the target area, so that the main robot and the sub-robot can maintain a communication connection as much as possible during the cleaning process of the target area; at the same time, the main robot remains stationary, which can save the main robot's energy consumption, or return to the base station for charging, so that the main robot can better perform subsequent tasks issued by users, and the main robot can continue to perform tasks after charging is completed, ensuring the continuity of cleaning of the main robot and the sub-robot. During the cleaning period of the sub-robot, the main robot can be charged, and the two cooperate with each other. Compared with the situation where one robot is low on power and needs to wait for the robot to be charged before continuing to clean, this application is more efficient.

[0309] Optionally, the method further includes:

[0310] When the main robot and the sub-robot are low on power, the main robot outputs a prompt message that it cannot clean.

[0311] In this way, the embodiment of the present application can output a prompt message that cleaning is impossible when the main robot and the sub-robot are low on power. In this way, the user can promptly understand the power status of the main robot and the sub-robot, avoiding the inability to clean in a timely and effective manner due to insufficient power without reminding the user, which affects the user's usage experience and satisfaction. Furthermore, after the main robot outputs the prompt message, the user can take remedial measures, such as manual cleaning or operating the main robot and sub-robot to charge, thereby improving the user's usage satisfaction.

[0312] In a twenty-first aspect, the present application provides an interactive control method for multi-robot collaboration, wherein the multi-robots include a master robot and sub-robots, and the method includes:

[0313] In response to an instruction issued by a user to clean a target area including a user demand:

[0314] When the target area is an area that can be cleaned by both the main robot and the sub-robot, the robot that meets the user's needs is controlled to clean the target area.

[0315] In this way, after the main robot receives the user's instruction to clean the target area, the main robot can control the robot that meets the user's needs to clean the target area, and divide the work performed by the two robots based on user needs to improve the user experience.

[0316] Optionally, the user needs to specify a robot; controlling the robot that meets the user needs to clean the target area includes:

[0317] When a robot is designated as a slave robot, the slave robot goes to the target area to clean, and the main robot does not clean the target area;

[0318] When a robot is designated as the master robot, the master robot goes to the target area to clean it, while the slave robots stay where they are or perform other tasks.

[0319] In this way, when there is a designated robot in the user's needs, the designated robot is controlled to clean the target area. Under the guidance of the user, the corresponding robot is controlled to clean the target area. The designated robot can usually clean the target area better and improve the user experience.

[0320] Optionally, the user needs to specify a degree of cleanliness, and controlling a robot that meets the user's needs to clean the target area includes:

[0321] When the main robot meets the cleaning requirements and the sub-robot does not, the main robot goes to the target area to clean, while the sub-robot stays where it is or performs other tasks;

[0322] When both the main robot and the sub-robot meet the cleaning degree requirements, at least one of the main robot and the sub-robot goes to the target area for cleaning.

[0323] In this way, when there is a cleanliness requirement in the user's needs, the robot that cleans the target area is determined based on the cleanliness requirement, so that the user can set the cleanliness requirement for the target area. Different cleanliness levels can be cleaned for different target areas, so as to accurately clean the target areas that the user is concerned about with a higher cleanliness level, thereby improving the user's usage experience.

[0324] Optionally, at least one of the main robot and the sub-robot moves to a target area for cleaning, including:

[0325] The sub-robot goes to the target area to clean, while the main robot does not clean the target area;

[0326] Alternatively, the main robot goes to the target area to clean it, while the sub-robots stay put or perform other tasks;

[0327] Alternatively, the main robot and the sub-robot go to the target area together and clean together.

[0328] In this way, the sub-robot goes to the target area for cleaning, and the main robot does not clean the target area, which can save the energy consumption of the main robot; the main robot goes to the target area for cleaning, and the sub-robot stays in place or performs other tasks, which can improve the cleaning level of the target area; the main robot and the sub-robot go to the target area together and clean together, which can improve the cleaning efficiency of the target area.

[0329] Optionally, the sub-robot goes to the target area to clean, while the main robot does not clean the target area, including:

[0330] When the distance between the target area and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the target area and clean it, while the main robot stays in place or performs other tasks;

[0331] When the distance between the target area and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the target area, and the main robot waits at the edge of the target area, or the main robot returns and performs other tasks, or the main robot cooperates in cleaning around the target area.

[0332] In this way, by comparing the distance between the target area and the main robot with the communication distance, it can be determined whether the main robot guides the sub-robot to the edge of the target area, and the main robot and the sub-robot can maintain a communication connection as much as possible during the cleaning process of the target area; at the same time, the main robot remains stationary, which can save the main robot's energy consumption. By having the main robot perform other tasks, the main robot and the sub-robot can reasonably divide the work and cooperate. The main robot can also cooperate in cleaning the surrounding area of ​​the target area to ensure that the entire area is comprehensively and thoroughly cleaned, thereby improving the overall cleaning efficiency.

[0333] In aspect 22, the present application provides an interactive control method for multi-robot collaboration, wherein the multi-robot includes a master robot and a sub-robot for cleaning a target location containing suspended obstacles; the method includes:

[0334] In response to a user's instruction to clean a suspended obstacle:

[0335] When both the main robot and the sub-robot can enter and exit the bottom of the suspended obstacle, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle to clean;

[0336] When the main robot cannot enter or exit, and the sub-robot can enter or exit the bottom of the suspended obstacle, the sub-robot goes to the bottom of the suspended obstacle to clean, and the main robot does not clean the bottom of the suspended obstacle.

[0337] In this way, by controlling at least one robot to go to the bottom of the suspended obstacle for cleaning when both robots can enter and exit the bottom of the suspended obstacle, the two robots can be flexibly controlled and effective cleaning of the bottom of the suspended obstacle can be achieved; when the sub-robot can enter and exit the bottom of the suspended obstacle, but the main robot cannot enter and exit the bottom of the suspended obstacle, the main robot controls the sub-robot to go to the bottom of the suspended obstacle for cleaning, which can achieve effective cleaning of the bottom of the suspended obstacle and avoid damage to the main robot.

[0338] Optionally, the method further includes:

[0339] When neither the main robot nor the sub-robot can enter or exit the bottom of the suspended obstacle, neither the main robot nor the sub-robot enters the bottom of the suspended obstacle to perform the task.

[0340] In this way, when both robots cannot enter or exit the bottom of the suspended obstacle, damage to the two robots is avoided by neither robot cleaning the bottom of the suspended obstacle.

[0341] Optionally, the method further includes:

[0342] When both the main robot and the sub-robot cannot enter or exit the bottom of the suspended obstacle, the main robot outputs a prompt message indicating that it cannot enter the bottom of the suspended obstacle to perform the task.

[0343] In this way, the main robot outputs a prompt message that it cannot enter the bottom of the suspended obstacle to perform the task, so that the user can promptly understand the reason why the suspended obstacle cannot be cleaned, thereby improving the user's usage experience and satisfaction. Furthermore, after the main robot outputs the prompt message, the user can take remedial measures, such as manual cleaning, thereby improving the user's usage satisfaction.

[0344] In a twenty-third aspect, the present application provides a robot comprising: a processor, and a memory communicatively connected to the processor;

[0345] Memory stores computer-executable instructions;

[0346] The processor executes the computer-executable instructions stored in the memory to implement any of the methods in any of the above aspects.

[0347] In aspect 24, the present application provides a collaborative system, the system comprising: a main robot and a sub-robot; the main robot is used to execute any of the methods in any of the above aspects, and the sub-robot is used to perform corresponding actions under the control of the main robot.

[0348] In aspect 25, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement any method in any of the above aspects.

[0349] In aspect 26, the present application provides a computer program product, comprising a computer program, which implements any of the methods in any of the above aspects when executed by a processor.

[0350] In summary, the present application provides an interactive control method, a robot and a collaborative system under multi-robot collaboration, wherein the multi-robot includes a main robot and a sub-robot, which are used to clean a target place containing special areas such as suspended obstacles; the method includes: responding to a user's instruction to clean the suspended obstacle: when the main robot and the sub-robot can both enter and exit the bottom of the suspended obstacle, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle to clean, and the two robots can be flexibly controlled to achieve effective cleaning of the bottom of the suspended obstacle; when the main robot cannot enter and exit, and the sub-robot can enter and exit the bottom of the suspended obstacle, the sub-robot goes to the bottom of the suspended obstacle to clean When the main robot and the sub-robot are unable to enter or exit the bottom of the suspended obstacle, the main robot and the sub-robot both stay in place or perform other tasks, which can avoid the robots from cleaning the bottom of the suspended obstacle in the above scenario, thereby avoiding damage to the robots. By staying in place, the robot's energy consumption can be saved, and by performing other tasks, the maximum efficiency of multi-robot collaborative cleaning can be brought into play. In actual applications, the collaboration between multiple robots can achieve effective cleaning of special areas such as the bottom of suspended obstacles, thereby improving user experience and satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0351] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0352] FIG1 is a schematic diagram of the architecture of a cleaning system;

[0353] FIG2 is a schematic flow chart of a first method for controlling a cleaning system provided in this application;

[0354] FIG3 is a flow chart of a second method for controlling a cleaning system provided in this application;

[0355] FIG4 is a schematic flow chart of a third cleaning system control method provided in this application;

[0356] FIG5 is a schematic flow chart of a fourth cleaning system control method provided in this application;

[0357] FIG6 is a schematic flow chart of a fifth method for controlling a cleaning system provided in the present application;

[0358] FIG7 is a schematic flow chart of a sixth method for controlling a cleaning system provided in the present application;

[0359] FIG8 is a flow chart of a seventh method for controlling a cleaning system provided in the present application;

[0360] FIG9 is a schematic flow chart of an eighth cleaning system control method provided in the present application;

[0361] FIG10 is a schematic flow chart of a ninth method for controlling a cleaning system provided in the present application;

[0362] FIG11 is a flow chart of a tenth method for controlling a cleaning system provided in the present application;

[0363] FIG12 is a schematic flow chart of an eleventh method for controlling a cleaning system provided in the present application;

[0364] FIG13 is a schematic flow chart of a twelfth method for controlling a cleaning system provided in the present application;

[0365] FIG14 is a front view of an embodiment of a cleaning base station of the present application;

[0366] FIG15 is a three-dimensional side view of FIG1;

[0367] FIG16 is a three-dimensional side view of another embodiment of the cleaning base station of the present application;

[0368] FIG17 is a three-dimensional side view of another embodiment of a cleaning base station of the present application;

[0369] FIG18 is a three-dimensional side view of another embodiment of a cleaning base station of the present application;

[0370] FIG19 is a schematic structural diagram of the first positioning device in an embodiment of the cleaning base station of the present application when the second charging electrode is in an extended state;

[0371] FIG20 is a schematic structural diagram of the first positioning device in an embodiment of the cleaning base station of the present application when the second charging electrode is retracted;

[0372] FIG21 is a schematic structural diagram of the first positioning device in another embodiment of the cleaning base station of the present application when the second charging electrode is extended;

[0373] FIG22 is a schematic structural diagram of the first positioning device in another embodiment of the cleaning base station of the present application when the second charging electrode is retracted;

[0374] FIG23 is a cross-sectional view of a first positioning device in an embodiment of a cleaning base station of the present application;

[0375] FIG24 is a top view of the climbing surface and the cleaning tank portion of an embodiment of the cleaning base station of the present application;

[0376] FIG25 is a three-dimensional view of FIG24;

[0377] FIG26 is an enlarged view of area II in FIG252;

[0378] FIG27 is a top view of the climbing surface and the cleaning tank portion of another embodiment of the cleaning base station of the present application;

[0379] FIG28 is a three-dimensional view of FIG27;

[0380] FIG29 is a top view of the climbing surface and the cleaning tank portion of another embodiment of the cleaning base station of the present application;

[0381] FIG30 is a three-dimensional view of FIG29;

[0382] FIG31 is a top view of the climbing surface and the cleaning tank portion of another embodiment of the cleaning base station of the present application;

[0383] FIG32 is a three-dimensional view of FIG34;

[0384] FIG33 is a top view of the climbing surface and the cleaning tank portion of another embodiment of the cleaning base station of the present application;

[0385] FIG34 is a three-dimensional view of FIG33;

[0386] FIG35 is a top view of the climbing surface and the cleaning tank in another embodiment of the cleaning base station of the present application;

[0387] FIG36 is a three-dimensional view of FIG35;

[0388] FIG37 is a top view of the climbing surface and the cleaning tank portion of another embodiment of the cleaning base station of the present application;

[0389] FIG38 is a three-dimensional view of FIG37;

[0390] FIG39 is a bottom-up three-dimensional diagram of the main robot in one embodiment of the cleaning system of the present application;

[0391] FIG40 is a three-dimensional rear view of the main robot in one embodiment of the cleaning system of the present application;

[0392] FIG41 is a three-dimensional top view of the main robot in one embodiment of the cleaning system of the present application;

[0393] Figure 42 is a schematic structural diagram of the main robot;

[0394] Figure 43 is a schematic diagram of the structure of the sub-robot;

[0395] FIG44 is a schematic diagram of a scene of the main robot and the sub-robot operation area;

[0396] FIG45 is a schematic diagram of another scenario of the master robot and the slave robot's operating area;

[0397] FIG46 is a schematic diagram of the structure of a multi-robot collaborative system;

[0398] FIG47 is a system schematic diagram of a multi-robot collaborative system provided by one embodiment of the present application;

[0399] FIG48 is a schematic diagram showing the size relationship between a main robot and a sub-robot provided in one embodiment of the present application;

[0400] FIG49 is a schematic diagram showing the size relationship between a main robot and a sub-robot provided in one embodiment of the present application;

[0401] FIG50 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0402] FIG51 is a flowchart of a method for handling a restricted area under multi-robot collaboration provided by an embodiment of the present application;

[0403] FIG52 is a flowchart of another method for handling restricted areas under multi-robot collaboration provided by an embodiment of the present application;

[0404] FIG53 is a schematic structural diagram of a restricted area processing device under multi-robot collaboration provided by an embodiment of the present application;

[0405] FIG54 is a schematic structural diagram of another restricted area processing device under multi-robot collaboration provided by an embodiment of the present application;

[0406] FIG55 is a schematic structural diagram of a robot provided in an embodiment of the present application;

[0407] FIG56 is a schematic structural diagram of a multi-robot collaborative system provided in an embodiment of the present application;

[0408] FIG57 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0409] FIG58 is a schematic flow chart of an interactive control method for multi-robot collaboration provided in an embodiment of the present application;

[0410] FIG59 is a flowchart of another interactive control method for multi-robot collaboration provided by an embodiment of the present application;

[0411] FIG60 is a schematic flow chart of another interactive control method for multi-robot collaboration provided in an embodiment of the present application;

[0412] FIG61 is a schematic flow chart of another interactive control method for multi-robot collaboration provided in an embodiment of the present application;

[0413] FIG62 is a flowchart of another interactive control method for multi-robot collaboration provided in an embodiment of the present application;

[0414] Figure 63 is a structural diagram of a collaborative system provided in an embodiment of the present application.

[0415] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.

[0416] Explanation of component numbers 100, cleaning base station; 11, sensor; 13, sub-robot; 10, body; 101, cleaning assembly; 102, main brush; 103, side brush; 110, first positioning device; 111, fixed body; 1111, first stop body; 112, movable body; 1121, second stop body; 113, elastic body; 114, wire; 115, mounting cavity; 116, end face; 117, second charging electrode; 120, base station body; 121, accommodating cavity; 122, auxiliary structure; 123, opening; 124, first charging electrode; 130, cleaning tank; 131, first cleaning rib unit; 1311, first longitudinal rib; 1312, first limiting member; 132, second cleaning rib unit; 1321, second longitudinal rib; 1322, The second limiting member; 140, climbing surface; 141, main climbing track; 1411, first parking position; 142, sub-climbing track; 1421, second parking position; 143, first rotating body; 1431, first recess; 144, second rotating body; 1441, second recess; 150, sewage filter element; 160, first walking guide assembly; 170, locking structure; 180, water inlet; 200, main robot (or 12, mother robot); 210, first rag plate; 250, second rag plate; 220, second walking guide assembly; 230, first positioning groove; 240, walking wheel of the main robot. DETAILED DESCRIPTION

[0417] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0418] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0419] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that the terms "upper", "lower", "left", "right", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0420] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, article, or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, article, or device comprising the element.

[0421] In addition, numerous specific details are provided in the detailed description below to better illustrate the present application. Those skilled in the art will appreciate that the present application can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.

[0422] Existing cleaning systems consist of a cleaning robot and a base station. The cleaning robot, for example, a sweeping robot or a sweep-and-mop robot, cleans the surface being cleaned. The base station supports the cleaning robot and provides services such as charging, hydration, dust collection, and self-cleaning.

[0423] In order to meet the battery life requirements, the cleaning robot is fully equipped in all aspects. For example, the battery, cleaning fluid storage device, garbage collection device, etc. are relatively large. Therefore, the cleaning robot is relatively large in size, resulting in poor cleaning coverage and low cleaning efficiency in some narrow and low areas and areas with many obstacles.

[0424] For example, in narrow, low areas with many obstacles, such as under beds, tables, sofas, and furniture corners, large cleaning robots often need to brake to avoid obstacles during operation. Furthermore, they have a large turning radius and low turning efficiency. These situations seriously affect the cleaning robot's efficiency and also create blind spots, reducing its coverage rate.

[0425] Based on this problem, a cleaning system that uses multiple robots to work together to achieve cleaning is proposed. Figure 1 is a schematic diagram of the architecture of a cleaning system 1. As shown in Figure 1, the cleaning system 1 includes a cleaning base station 100 (hereinafter referred to as the "base station"), a mother robot 12, and at least one child robot 13. It should be understood that Figure 1 is a schematic diagram of an example of a cleaning system 1 including a mother robot 12 and a child robot 13. In some embodiments, the mother robot can also be called a master robot. This application does not make a distinction between the two, and the two have the same meaning.

[0426] Both the mother robot and the child robot are cleaning robots that can independently clean the surface to be cleaned. For example, they are sweeping robots, sweeping and mopping robots, etc. It should be understood that Figure 1 is only a schematic diagram, and this application does not limit the specific types of the mother robot and the child robot.

[0427] The mother robot has a similar structure to existing cleaning robots, featuring a complete set of cleaning components (e.g., sweeping, vacuuming, and mopping) and is well-equipped in all respects. For example, the mother robot typically has sensors protruding from the top (e.g., laser direct structure (LDS)) that extend beyond the main body, resulting in a relatively high overall height, making it difficult to access low areas. This is exemplified by sensor 11 shown in Figure 1. Furthermore, the mother robot typically houses a cleaning fluid reservoir, a waste collection system, and a large battery, resulting in a relatively large width (i.e., the horizontal cross-section dimension) and making it difficult to access narrow areas.

[0428] Compared to the mother robot, the child robot has a simpler structure, with cleaning components for both sweeping and vacuuming. For example, the child robot typically lacks sensors protruding from the top of the robot body, resulting in a relatively low height. Furthermore, since the child robot lacks a mopping component, it lacks an internal cleaning fluid reservoir or has a relatively small battery capacity. Consequently, the child robot is relatively narrow, making it suitable for cleaning low and narrow areas.

[0429] In some embodiments, the cleaning components of the mother robot may include a sweeping component and a mopping component, wherein the sweeping component may be, for example, a side brush, a roller brush, etc., for sweeping the floor, and the mopping component may be, for example, a rag or a roller cloth, for wet mopping the floor; the cleaning components of the child robot may include a sweeping component, wherein the sweeping component may be, for example, a side brush, a roller brush, etc., for sweeping the floor. By setting different cleaning components on the mother robot and the child robot, corresponding cleaning functions can be realized respectively, thereby expanding the application scenarios of the cleaning system.

[0430] The mother robot and child robot can communicate via short-range communication methods such as Bluetooth, infrared, and Wi-Fi. In collaborative work scenarios, the mother robot can guide the child robot to the corresponding work area to perform cleaning tasks, enabling the child robot to clean narrow, low-lying areas, non-open areas with many obstacles, etc. It can also guide the child robot back to the base station for corresponding resupply work, and can also guide the child robot to a specific target area. The mother robot's guidance action can be the mother robot following and guiding the child robot, or the mother robot can remotely guide the child robot in the current work area.

[0431] For example, in the working scenario of a cleaning robot, a single cleaning robot cannot achieve full coverage of the area, endurance and efficiency. By adopting a multi-robot collaboration method, the mother robot works in the open area, and sends guidance information for working in non-open areas to the child robot, so that the child robot moves to the non-open area to work according to the guidance information. This can not only give play to the advantages of the large robot's endurance and efficiency in open areas, but also give play to the advantages of the small robot's high coverage, flexible movement and high efficiency in complex non-open areas, solving the problems of endurance and efficiency as well as the problem of cleaning dead corners.

[0432] To make robot positioning more accurate, multiple robots can assist in positioning each other. Specifically, for example, a mother robot collects global positioning information and sends it to a child robot, which then receives the global positioning information sent by the mother robot and collects local positioning information within the range where the child robot is located. The child robot is then positioned based on the global and local positioning information. And / or, a mother robot collects global positioning information and receives local positioning information sent by the child robot, which is then positioned based on the global and local positioning information. For example, the mother robot can perform global positioning, and the child robot can follow the mother robot and perform local positioning in a small area near the mother robot.

[0433] In addition, the mother robot can also generate an assisted cleaning movement path within the child robot's work area map based on the child robot's position. The child robot will then move to the designated location to perform cleaning work according to the assisted cleaning movement path. Specific steps may include: the mother robot moves to find the child robot based on the child robot's position, guides the child robot to the vicinity of the designated location, and then the child robot automatically enters the designated location to perform cleaning work.

[0434] The base station is used to carry the mother robot and the child robot. It also charges, collects dust, replenishes water, and cleans the cleaning components of the mother robot; and collects dust and charges the child robot. Generally speaking, charging takes much longer than collecting dust, replenishing water, and cleaning the cleaning components.

[0435] To save space, current cleaning systems that rely on multiple robots working together to clean require a small base station. This base station can only serve one cleaning robot at a time. Therefore, when both the mother robot and child robot need service, they need to take turns accessing the base station to perform the corresponding operations.

[0436] However, the existing solution does not involve how the mother robot and the child robot take turns entering the base station. If the mother robot and the child robot are not controlled to take turns entering the base station, the order in which the mother robot and the child robot enter the base station may be unreasonable, affecting the work efficiency of the mother robot and the child robot, and thus reducing the overall work efficiency of the cleaning system.

[0437] For example, if both the sub-robot and the mother robot need to enter the base station, the sub-robot will have a cleaning task later, but the mother robot will not have a cleaning task later. If there is no reasonable order control for entering the base station, the mother robot will enter the base station first, and then the sub-robot will enter the base station. This will affect the work efficiency of the sub-robot, thereby reducing the overall work efficiency of the cleaning system.

[0438] For example, if a child robot completes all cleaning tasks and enters the base station to charge, the mother robot may suddenly need to enter the base station to collect dust, and the mother robot has subsequent cleaning tasks to complete. Since the time required for the child robot to charge is much longer than the time required for the mother robot to collect dust, if there is no reasonable division of the base station entry strategy for the mother and child robots in this scenario, the mother robot with subsequent cleaning tasks may have to wait for a long time at the base station for the child robot to exit the base station before entering the base station to collect dust. This will affect the time the mother robot can devote to subsequent cleaning tasks, and thus affect the working efficiency of the mother robot and the entire cleaning system.

[0439] In view of this, the present application provides a control method for a cleaning system. The method controls the mother robot and the child robot to enter the base station in turn, so that the mother and child robots can cooperate better in the process of entering and exiting the base station, thereby improving work efficiency, better meeting user needs, and enhancing user experience.

[0440] The following specific embodiments illustrate the solutions of the present application. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following embodiments of the present application are described in conjunction with the accompanying drawings.

[0441] The following describes how the mother robot and child robot collaborate to perform cleaning tasks, and how, after both complete their cleaning tasks, they take turns entering the base station. It should be understood that the collaborative cleaning tasks mentioned here involve the child robot, guided by the mother robot, heading to the work area. Once there, the child robot can perform cleaning tasks independently, or under further guidance from the mother robot.

[0442] For example, if a base station provides charging, water replenishment, dust collection, and cleaning component cleaning services to a cleaning robot, whether the cleaning robot needs to enter the base station can be determined, for example, by the following methods:

[0443] Charging Need: For example, the cleaning robot's remaining battery life can be used to determine whether it needs to charge. For example, when the remaining battery life falls below a preset battery threshold, a charging service need is determined. This remaining battery life can be acquired, for example, by a power control module within the cleaning robot.

[0444] Water refill needs: For example, the remaining water level in the cleaning robot's water tank can be used to determine whether the cleaning robot needs water refills. For example, when the remaining water level falls below a preset water level threshold, a need for water refill service is determined. This remaining water level can be monitored by a water level monitoring module installed within the cleaning robot.

[0445] Cleaning component cleaning service: For example, it can be a rag cleaning service, or a rolling cloth cleaning service, which is specifically related to the parts to be cleaned on the cleaning component. Taking rag cleaning as an example, it can be determined whether the cleaning robot has a rag cleaning demand based on the working time of the cleaning robot and / or the rag dirtiness data. Exemplarily, when the working time of the cleaning robot is greater than or equal to the preset working time, and / or the rag dirtiness data indicates that the dirtiness of the cleaning robot's rag reaches a preset level, it is determined that there is a service demand to enter the base station to wash the rag. The following embodiments are all illustrated by taking rag washing as an example.

[0446] For example, there may be a timing module inside the cleaning robot, which is used to monitor whether the working time of the cleaning robot is greater than or equal to the preset working time, or a dirt sensor is installed to monitor the dirtiness of the rag.

[0447] Dust collection needs: For example, the cleaning robot's operating hours and / or the amount of dust in its dust box can be used to determine whether the cleaning robot has a dust collection need. For example, when the cleaning robot's operating hours are greater than or equal to a preset operating hours, and / or the amount of dust in its dust box reaches a preset amount, a service need for entering the base station for dust collection is determined.

[0448] Regarding the determination of the amount of dust in the dust box, the cleaning robot may monitor whether the amount of dust in the dust box has reached a preset amount by, for example, using an internal photoelectric tube in combination with an infrared signal, or by sensing changes in voltage values.

[0449] Corresponding to this embodiment, the mother robot can judge whether it has one or more needs to enter the base station for charging, dust collection, water replenishment, cleaning components, etc. based on the above method. In addition, the mother robot can obtain the data of the child robot and judge whether the child robot has the need to enter the base station for dust collection and charging through the above method, or the child robot itself determines whether it has the need to enter the base station for dust collection and charging, etc. The embodiment of the present application does not distinguish between these.

[0450] It should be noted that while the above example illustrates how the mother and child robots determine whether they need to enter the base station for services, using a base station as an example of providing services such as charging, hydration, dust collection, and cleaning components to cleaning robots, the service requirements for the mother and child robots entering the base station are not limited to these requirements and can be determined based on the functions provided by the base station.

[0451] The following embodiments are all illustrated by taking the example of a base station providing charging, water replenishment, dust collection, and cleaning component cleaning services for a cleaning robot.

[0452] Scenario 1: A mother robot and a child robot collaborate to perform a cleaning task. The mother robot has service requirements, while the child robot does not. For example, the mother robot may need to enter a base station for charging, dust collection, water replenishment, or cleaning components, while the child robot does not need to enter a base station for dust collection or charging.

[0453] FIG2 is a flow chart of a first method for controlling a cleaning system provided in the present application. As shown in FIG2 , the method for controlling a cleaning system provided in the present application may include the following steps:

[0454] S101. The mother robot and the child robot collaborate to perform cleaning tasks.

[0455] S102: When the mother robot has a service demand and the child robot has no service demand, the mother robot enters the base station, and the child robot performs the target action.

[0456] The target action may include, for example, standby or performing a cleaning task. Through this implementation, when the mother robot has a service request and the child robot has no service request, the mother robot can use the base station to complete the corresponding service request while ensuring the collaborative work needs between the mother and child robots.

[0457] The following is a detailed description of the specific situation in which the sub-robot performs the target action.

[0458] Case 1: Child robot is on standby

[0459] In one possible implementation, the child robot can wait in place. After the mother robot exits the base station, it can, for example, return to find the child robot and guide it to continue the cleaning task.

[0460] In one possible implementation, the child robot can accompany the mother robot back to the vicinity of the base station and wait within a preset range of the base station. After the mother robot exits the base station, it guides the child robot to continue the cleaning task. This application does not limit the specific value of the above preset range, and those skilled in the art can set it according to their needs.

[0461] Optionally, in this implementation, when the mother robot needs to enter the base station, it can determine whether the child robot needs to enter the base station during the mother robot's travel to and from the base station. For example, FIG3 is a flow chart of a control method for a second cleaning system provided by the present application. As shown in FIG3 , the method may include the following steps:

[0462] S201, the mother robot and the child robot cooperate to perform the cleaning task.

[0463] S202. When the mother robot has a service demand and the child robot has no service demand, determine whether the child robot will have a service demand during the process of the mother robot traveling to and from the base station.

[0464] For example, the mother robot can determine whether the remaining power of the child robot will reach a preset power value within a preset time period in the future, and / or whether the amount of dust in the dust box of the child robot will reach a preset dust value, so as to determine whether the child robot will have a need to enter the base station within a preset time period in the future. The present application does not limit the specific values ​​of the above-mentioned preset power value and preset dust value, and those skilled in the art can set them according to actual conditions. It should be understood that the above-mentioned preset power value is greater than the power value that causes the child robot to have a need to enter the base station. The above-mentioned preset dust value is less than the dust value that causes the child robot to have a need to enter the base station. The future preset time period can be, for example, the time it takes the mother robot to travel to and from the base station.

[0465] Alternatively, the mother robot can determine the remaining battery level of the child robot and / or whether the remaining dust container of the child robot is sufficient to meet the child robot's subsequent cleaning tasks. It should be understood that the above method of determining whether the child robot needs to enter the base station during the mother robot's journey to and from the base station is merely an example, and those skilled in the art may configure it based on actual needs.

[0466] If yes, it indicates that the sub-robot will need to enter the base station in a short time, and then step S203 is executed.

[0467] If not, it indicates that the sub-robot does not need to enter the base station in a short time, and then step S204 is executed.

[0468] It should be understood that the judgment action of step S202 can be performed by the mother robot, the child robot, or any one of the base stations as the execution subject. In the following embodiments, the judgment actions similar or identical to step S202 can be performed by the execution subject with reference to step S202.

[0469] S203: The mother robot guides the child robot to return to the base station.

[0470] The corresponding requirements mentioned here may be, for example, requirements that satisfy the judgment condition in step S202 .

[0471] Through this implementation method, it can be avoided that when the subsequent child robot needs to return to the base station again, the mother robot needs to guide the child robot back to the base station again, resulting in waste of resources and consumption of cleaning time. This can improve the efficiency of the collaborative work of the mother and child robots, and then improve the intelligence of the collaborative work of the mother and child robots, and enhance the user experience.

[0472] After the mother robot guides the child robot back to the base station, how the mother robot and the child robot take turns entering the base station is related to the service needs of both. For details, please refer to the handling method for different service needs of the two in this embodiment, and no further details will be given.

[0473] S204: The mother robot returns to the base station on its own.

[0474] In the above embodiment, if the mother robot needs to enter the base station for one or more purposes, such as charging, dust collection, water replenishment, or cleaning components, and the child robot does not need to enter the base station for dust collection or charging, the mother robot determines whether the child robot will need to enter the base station during its journey. If so, the mother robot guides the child robot back to the base station; if not, the mother robot returns to the base station on its own. This implementation avoids the situation where the mother robot enters the base station and then the child robot needs to enter the base station again shortly after, requiring the mother robot to escort the child robot back to the base station. This would cause the mother robot to waste a significant amount of time traveling to and from the base station, thereby reducing work efficiency.

[0475] In one possible implementation, the mother robot can guide the child robot to the next working area and then enter the base station, and the child robot will wait in the working area.

[0476] In one possible implementation, a child robot's cleaning task has concluded, and the child robot currently has another work area to clean. In this case, the mother robot can first guide the child robot to the next work area, and then the child robot waits for the mother robot to exit the base station. After exiting the base station, the mother robot returns to search for the child robot and guides it to continue the subsequent cleaning task. This possible implementation allows the child robot to perform cleaning tasks accompanied by the mother robot. Because the child robot relies on the mother robot for positioning and guidance, this approach ensures accurate positioning of the child robot during cleaning tasks, thereby improving work efficiency.

[0477] In the above possible implementations, if the mother robot's own cleaning task has not yet been completed, then after guiding the child robot to the subsequent work area, the mother robot can continue to perform its own cleaning task. If the mother robot's own cleaning task has been completed, then after guiding the child robot to the subsequent work area, the mother robot continues to follow the child robot and provide guidance.

[0478] In the above possible implementations, the sub-robot can, for example, wait in a low-power manner, thereby reducing its own power consumption.

[0479] Through the possible implementation described above, a child robot can perform cleaning tasks under the guidance of a mother robot. Since a child robot typically requires the mother robot to locate and guide it to subsequent work areas and return to the base station, the above approach ensures accurate positioning of the child robot during its journey to the work area and return to the base station, thereby improving work efficiency.

[0480] In one possible implementation, when a child robot has completed its cleaning tasks and no further areas remain to be cleaned, the mother robot can guide the child robot back to the vicinity of the base station. Alternatively, after the mother robot exits the base station, the child robot can enter the base station to collect dust and / or recharge, allowing the child robot to resume cleaning tasks in optimal working condition and improving the efficiency of subsequent cleaning tasks.

[0481] Case 2: The child robot continues to perform the cleaning task

[0482] One possible implementation is that the sub-robot's cleaning task has not ended. In this scenario, the sub-robot can remain in the current working area and continue to perform the cleaning task.

[0483] In one possible implementation, if a child robot has finished cleaning its current area and there are other areas to clean, the mother robot can first guide the child robot to the next area, where it can wait or perform its cleaning task. The mother robot then enters the base station, allowing the base station to provide service for the mother robot.

[0484] Through the above possible implementation methods, the sub-robot can continue to perform cleaning tasks while the mother robot enters the base station, thereby improving the working efficiency of the sub-robot and further improving the working efficiency of the cleaning system.

[0485] In this case, if the mother robot's cleaning task has not yet been completed, the mother robot can continue to perform its own cleaning task after exiting the base station. If the mother robot's cleaning task has been completed, the mother robot can move to the vicinity of the child robot after exiting the base station and continue to follow the child robot to provide guidance.

[0486] In the scenario where the mother robot continues its own cleaning task after exiting the base station, the mother robot can also first determine whether the child robot has completed the cleaning task and / or whether there is a need to enter the base station for dust collection and / or charging, and then better plan and execute subsequent cleaning tasks according to the situation of the child robot, thereby improving work efficiency.

[0487] For example, when a child robot completes a cleaning task, the mother robot moves to the child robot's vicinity to guide it and continue the subsequent cleaning task. If the child robot has not completed the cleaning task, the mother robot continues its subsequent cleaning task. For example, the mother robot can obtain the cleaning task progress data sent by the child robot and use this data to determine whether the child robot has completed the cleaning task.

[0488] When the mother robot recognizes that the sub-robot has the need to enter the base station to collect dust and / or charge, the mother robot controls the sub-robot in a manner that can be found in the description of subsequent embodiments and will not be repeated here.

[0489] In scenarios where the mother robot can first guide the child robot to the next work area, the mother robot can optionally determine whether it has the ability to guide the child robot to the next work area before guiding the child robot to the next work area. For example, if the mother robot needs to return to the base station to recharge, the mother robot can determine whether its own battery level can support guiding the child robot to the next work area before returning to the base station on its own. If the battery level is sufficient, the mother robot can first guide the child robot to the next work area. If the battery level is insufficient, the child robot can wait in place or accompany the mother robot back to the base station.

[0490] For example, the mother robot can determine whether its own power can support the current operation based on the power required to guide the child robot to the next work area, the power required to return to the base station on its own, and the current available power remaining.

[0491] Optionally, in some embodiments, before the mother robot determines whether it has the ability to guide the child robot to the next working area, it can also determine whether the maximum distance between the trajectory point on its way back to the base station and the next working area of ​​the child robot exceeds a first distance threshold. The present application does not limit the specific value of the first distance threshold, and those skilled in the art can set it according to needs. For example, the first distance threshold can be determined based on the maximum communication distance between the mother robot and the child robot to ensure effective guidance of the child robot. If not, it means that even if the mother robot does not currently guide the child robot to the next working area, it can guide the child robot to the next working area on the way back to the base station or at the base station through remote control. The mother robot can control the child robot to reach the next working area during the process of entering the base station or in the base station, without having to guide the child robot to the next working area separately. Through this implementation method, the resources and time consumption generated by the mother robot guiding the child robot can be saved, work efficiency can be improved, resource loss can be reduced, and energy saving and efficiency improvement can be achieved.

[0492] Scenario 2: A mother robot and a child robot collaborate to perform a cleaning task. The child robot requires service, but the mother robot does not. For example, a mother robot and a child robot collaborate to perform a cleaning task. The child robot needs to enter the base station for dust collection and / or charging, while the mother robot does not need to charge, collect dust, rehydrate, or clean its cleaning components.

[0493] FIG4 is a flow chart of a third method for controlling a cleaning system provided in the present application. As shown in FIG4 , the method may include the following steps:

[0494] S301, the mother robot and the child robot cooperate to perform the cleaning task.

[0495] S302: When the sub-robot has a service demand and the mother robot has no service demand, the mother robot guides the sub-robot into the base station so that the base station provides services for the sub-robot.

[0496] Through this implementation method, when the child robot has service needs and the mother robot has no service needs, the mother and child robots can adopt effective strategies to complete the corresponding service needs and collaborative work needs, avoiding the problem of low work efficiency caused by unreasonable entry into the base station strategy.

[0497] In this scenario, there are two situations:

[0498] Case 1: The sub-robot's cleaning task is not completed

[0499] If the mother robot's own cleaning task has been completed, the mother robot can guide the child robot back to the base station, and wait near the base station until the child robot exits the base station, and then guide the child robot to continue to the work area corresponding to the cleaning task.

[0500] If the mother robot's own cleaning task has not been completed, the mother robot can guide the child robot back to the base station, and wait near the base station until the child robot exits the base station, and then guide the child robot to continue to the work area corresponding to the cleaning task, and then return to perform its own cleaning task, so as to reduce the impact of guiding the child robot on its own work efficiency.

[0501] Alternatively, the mother robot can guide the child robot back to the base station and then return to perform its own cleaning task. After the child robot leaves the base station, it returns to the vicinity of the base station to guide the child robot to continue to the work area corresponding to the cleaning task, and then returns to perform its own cleaning task.

[0502] That is to say, in this case, after the base station finishes providing services for the sub-robot, the sub-robot can exit the base station; the mother robot can guide the sub-robot to the work area corresponding to the cleaning task to ensure that the sub-robot that has not completed the cleaning task can perform the cleaning task smoothly, thereby improving the collaborative work efficiency between the mother and child robots.

[0503] Since a child robot typically operates under the guidance of a mother robot, the mother robot's ability to effectively guide the child robot is related to the maximum communication distance between the two. If the distance between the mother robot and the child robot is less than or equal to the maximum communication distance, the mother robot can guide the child robot normally; if the distance between the mother robot and the child robot is greater than the maximum communication distance, the mother robot cannot guide the child robot.

[0504] Optionally, the mother robot may also determine a method for guiding the sub-robot to return to the base station based on the current distance between the mother robot and the sub-robot.

[0505] For example, the mother robot can determine whether the distance between the mother robot and the base station exceeds a first distance threshold. If the distance between the mother robot and the base station is greater than the first distance threshold, indicating that the child robot cannot reach the base station without the mother robot following and guiding, the mother robot follows and guides the child robot into the base station. Subsequently, the mother robot can wait for the child robot near the base station until the child robot exits the base station, and then guide the child robot to the work area corresponding to the cleaning task. Alternatively, the mother robot can return to the original work area on its own to perform subsequent cleaning tasks after guiding the child robot to the base station. In this case, after the child robot exits the base station, the mother robot, for example, returns to the base station to guide the child robot to the work area corresponding to the cleaning task.

[0506] If the distance between the mother robot and the base station is less than or equal to the first distance threshold, it indicates that the child robot can be guided back to the base station while the mother robot remains in the current working area. Then the mother robot can, for example, guide the child robot into the base station in the current working area, or the mother robot can follow and guide the child robot into the base station. It should be understood that when the mother robot guides the child robot into the base station in the current working area, the mother robot can guide it on the spot without performing the cleaning task, or it can guide the child robot while performing the cleaning task. In the case where the mother robot guides the child robot back to the base station while performing the cleaning task, since the mother robot can guide the child robot back to the base station while maintaining the work, the work efficiency of the mother robot can be further improved. In the case where the mother robot follows and guides the child robot into the base station, after guiding the child robot to the base station, the mother robot can return to the original working area and continue to perform the cleaning task.

[0507] Subsequently, if the sub-robot exits the base station, the mother robot can guide the sub-robot to the current position of the mother robot in the current working area, so that the sub-robot can be guided to the next working area to perform the cleaning task.

[0508] In this embodiment, the mother robot first determines whether the distance between itself and the base station exceeds a first distance threshold. If so, it follows and guides the child robot back to the base station. If not, it guides the child robot back to the base station within its current work area. This implementation allows the mother robot to effectively guide the child robot when a child robot requires service and the mother robot does not, enabling the child robot to complete the service request using the base station. Furthermore, when the guidance method is determined based on the distance between the mother robot and the base station, if the distance between the mother robot and the base station is less than or equal to the first distance threshold, the mother robot can guide the child robot into the base station within its current work area without following and guiding it. This prevents the mother robot from wasting energy by following and guiding the child robot and also improves its cleaning efficiency if the mother robot continues to operate within its current work area. Furthermore, this distance-based guidance method accurately determines the guidance method, ensuring that the child robot can successfully return to the base station to receive service while also achieving energy savings and increased efficiency.

[0509] Case 2: The sub-robot's cleaning task is completed

[0510] In this case, since the sub-robot has completed its cleaning task, after entering the base station, if its own processing needs have been met by entering the base station, the sub-robot can then wait in the base station or within the preset range of the base station to ensure that the sub-robot that has completed the cleaning task can exist in a low-power mode, saving as much energy as possible in the non-working state, so that it can perform the cleaning task in a better state and improve work efficiency. After completing the cleaning task, the mother robot returns to the base station on its own.

[0511] If the mother robot's own cleaning task has been completed, the mother robot can guide the child robot back to the base station and wait near the base station or enter a standby state to reduce the power consumption of the mother robot.

[0512] If the mother robot's cleaning task is not yet complete, it can guide the child robot back to the base station, where it can then return to its own cleaning task. This method ensures the mother robot's efficiency. For instructions on how to guide the child robot back to the base station, please refer to the previous description and will not be repeated here.

[0513] Optionally, the mother robot can also determine how to guide the child robot back to the base station based on the current distance between the mother robot and the child robot. For example, when the distance between the mother robot and the base station is less than or equal to a first distance threshold, the mother robot guides the child robot into the base station within the current working area, or the mother robot follows and guides the child robot into the base station. When the distance between the mother robot and the base station is greater than the first distance threshold, the mother robot follows and guides the child robot into the base station.

[0514] In some scenarios, after the child robot has a service demand, the mother robot does not have a service demand at the time. However, it is possible that after the child robot returns to the base station, the mother robot will have a service demand within a short period of time. In this case, the mother robot can determine whether it will have a service demand within a short period of time. If so, it will guide the child robot to return to the base station and then enter the base station to receive service. Receiving service here means entering the base station to receive any one or more services such as charging, dust collection, water replenishment, and cleaning components. It should be understood that the specific type of service received is related to the specific service demand generated by the cleaning robot. For example, if the mother robot has a charging service demand, it will enter the base station to receive the charging service. Through this implementation method, the subsequent service demand generated by the mother robot within a short period of time, the waste of resources and the consumption of cleaning time caused by repeated trips to the base station can be avoided, the efficiency of the collaborative work of the mother and child robots can be improved, and the intelligence of the collaborative work of the mother and child robots can be improved, thereby improving the user experience.

[0515] Scenario 3: The mother robot and the child robot work together to perform a cleaning task, and both the mother robot and the child robot need to return to the base station

[0516] In scenario 3, that is, when both the mother robot and the child robot have service needs using the base station, the mother robot and the child robot can enter the base station in turn, that is, in an orderly manner, so that the base station can provide services to the corresponding robots, avoiding the problem of conflicts between the mother robot and the child robot in entering and exiting the base station due to both having service needs, and thus avoiding the situation where both the mother robot and the child robot are unable to enter the base station due to this problem. In this way, when both the mother robot and the child robot have service needs using the base station, they can receive services from the base station in an orderly and smooth manner, avoiding congestion or interference with each other, and improving the timeliness of the base station's service provision to the mother robot and the child robot, so that the mother robot and the child robot can subsequently perform cleaning tasks in a better state, thereby improving the subsequent work efficiency of the mother robot and the child robot.

[0517] In one implementation, the services provided by the base station to the cleaning robot may include: a first type of service and a second type of service; wherein the first type of service consumes more time than the second type of service. This embodiment does not limit the first and second types of services, and the specific types of services can be determined based on the types of services provided by the base station. For example, the first type of service may include: a charging service; the second type of service may include at least one of the following services: a dust collection service, a water replenishment service, and a cleaning component cleaning service.

[0518] The following is an exemplary description of how the mother robot and the child robot take turns entering the base station in scenario 3 based on the first type of service and the second type of service. For example, the following scenarios may be included:

[0519] Case 1: The mother robot has the first type of service requirements and the child robot has the second type of service requirements.

[0520] In this case, the mother and child robots can take turns entering and exiting the base station according to the method shown in Figure 5. Figure 5 is a flow chart of the fourth cleaning system control method provided by this application. As shown in Figure 5, in this case, the cleaning system control method provided by this application can include the following steps:

[0521] S401, the mother robot and the child robot cooperate to perform the cleaning task.

[0522] S402: When the mother robot has a first type of service requirement and the child robot has a second type of service requirement, the child robot enters the base station so that the base station provides the second type of service for the child robot.

[0523] S403: The child robot exits the base station, and the mother robot enters the base station, so that the base station provides the first type of service for the mother robot.

[0524] Since the time consumption of the first type of service is much greater than that of the second type of service, the above method can schedule the docking order of the mother robot, the child robot and the base station according to the urgency of the task, so that the robot with a short time consumption can use the base station first, so that the robot with a short time consumption can be put into subsequent work as soon as possible to meet the needs of efficient cleaning. In addition, compared with the solution of letting the robot with a short time consumption wait for the robot with a long time consumption to finish using the base station before using the base station, this embodiment can reduce the total waiting time of the child robot using the base station, so that the child robot can reduce the time of work suspension caused by the use of the base station on the basis of using the base station, thereby improving the work efficiency of the child robot.

[0525] The following uses the example of the mother robot having a charging demand and the child robot having a dust collection demand to illustrate the control method of the cleaning system provided by this application.

[0526] FIG6 is a flow chart of a fifth method for controlling a cleaning system provided in the present application. As shown in FIG6 , the method for controlling a cleaning system provided in the present application may include the following steps:

[0527] S501, the mother robot and the child robot cooperate to perform the cleaning task.

[0528] S502: When the mother robot generates a service demand for charging and the child robot generates a service demand for dust collection, the child robot first enters the base station to collect dust.

[0529] S503: The child robot exits the base station, and the mother robot enters the base station for charging.

[0530] Since the dust collection time of the child robot is much shorter than the charging time of the mother robot, the child robot first enters the base station to collect dust, and then the mother robot enters the base station to charge. In other words, the base station first provides the second type of service to the child robot, and then provides the first type of service to the mother robot. In other words, by allowing the robot with the shortest cleaning time to use the base station first, the child robot with the shortest cleaning time can be put into subsequent work as soon as possible to meet the needs of efficient cleaning. In addition, compared to the solution of allowing the child robot with the shortest cleaning time to wait until the mother robot with the long cleaning time has finished using the base station before using the base station, this embodiment can schedule the docking order of the mother robot, child robot, and base station according to the urgency of the task, which can reduce the total waiting time of the child robot using the base station. Therefore, it can reduce the duration of work suspension caused by the use of the base station while allowing the mother and child robots to use the base station, thereby improving the working efficiency of the child robot.

[0531] Alternatively, the mother robot can first enter the base station to receive service, and then, after the mother robot exits the base station, the child robot enters the base station to receive service.

[0532] Alternatively, the two robots can be processed sequentially based on the order in which they arrive at the base station. For example, if the mother robot arrives at the base station first, the mother robot enters the base station first, while the child robot waits nearby. After the mother robot completes its service and exits the base station, the child robot enters the base station to receive service.

[0533] Alternatively, the order in which the two robots enter the base station may be determined based on whether the two robots complete the cleaning tasks.

[0534] FIG7 is a flow chart of a sixth method for controlling a cleaning system provided by the present application. As shown in FIG7 , when the mother robot needs to charge and the child robot needs to collect dust, the method may include the following steps:

[0535] S601, the mother robot and the child robot cooperate to perform the cleaning task.

[0536] S602: When the mother robot needs to be charged and the child robot needs to collect dust, determine whether the child robot has a subsequent cleaning task.

[0537] It should be understood that the execution entity of this step can be a mother robot, a child robot, or a base station, which is related to the actual situation of the cleaning system.

[0538] If the sub-robot has no subsequent cleaning task, step S603 is executed.

[0539] If the sub-robot has a subsequent cleaning task, step S604 is executed.

[0540] S603: The mother robot first enters the base station for charging, and then the child robot enters the base station for dust collection.

[0541] S604: The sub-robot first enters the base station to collect dust, and then the mother robot enters the base station to charge.

[0542] In this embodiment, a determination is first made as to whether the child robots will subsequently need to clean. The order in which they enter the base station is then determined based on this determination. If the child robot has no subsequent cleaning tasks, the mother robot enters the base station first to recharge, and then the child robot is replaced. If the child robot has a subsequent cleaning task, the child robot enters the base station first to collect dust, and then the mother robot is replaced. This implementation method allows the order in which the mother and child robots enter the base station to be determined based on the actual completion of the tasks, thus better adapting to actual circumstances, reducing waiting time for robots with subsequent cleaning tasks, and improving work efficiency.

[0543] Alternatively, when the child robot subsequently has a cleaning task, the order in which the two robots enter the base station can be further determined based on the distance from the base station to the child robot's next work area. If the distance from the base station to the child robot's next work area is greater than a first distance threshold, the mother robot can, for example, first enter the base station to receive the first type of service, then the child robot can enter the base station to receive the second type of service. The mother robot will wait near the base station until the child robot has completed the second type of service and then guide the child robot to the next work area to work. Alternatively, the child robot can first enter the base station to receive the second type of service, then the mother robot can enter the base station to receive the first type of service. The child robot can then wait near the base station until the mother robot exits the base station and then the mother robot guides the child robot to the next work area to work.

[0544] If the distance between the base station and the child robot's next work area is less than or equal to a first distance threshold, the child robot can, for example, first enter the base station to receive the second type of service. Then, the mother robot can enter the base station to receive the first type of service. Meanwhile, while the mother robot is entering the base station or receiving the first type of service within the base station, it remotely guides the child robot to the next work area. This approach reduces the waiting time of the child robot and allows the child robot to begin work as quickly as possible, improving its efficiency and enhancing the availability of the cleaning system.

[0545] If the mother robot completes the first type of service in the base station, and then the child robot enters the base station to receive the second type of service, and both the mother and child robots have subsequent cleaning tasks, the mother robot can reach the next work area on its own, and after the child robot exits the base station, it returns to the base station to guide the child robot to the target work area corresponding to the child robot's cleaning task, and then performs its own subsequent cleaning tasks. This implementation method can improve the work efficiency of the mother robot and thus improve the overall availability of the cleaning system; or the mother robot can wait for the child robot to exit the base station, guide the child robot to the target work area corresponding to the child robot's cleaning task, and then perform its own subsequent cleaning tasks; if the child robot has no subsequent cleaning tasks, the mother robot reaches the next work area on its own, and the child robot enters a standby state near the base station. The above-mentioned target work area can be any work area corresponding to the child robot's cleaning task, which is determined according to actual conditions.

[0546] If the mother robot has no subsequent cleaning tasks, but the child robot has subsequent cleaning tasks, the mother robot can guide the child robot to the target work area corresponding to the cleaning task after the child robot exits the base station until the subsequent cleaning task is completed. If neither the mother robot nor the child robot has subsequent cleaning tasks, the cleaning robot that has completed the request to enter the base station will enter the standby state next to the base station, and the robot that has completed the request to enter the base station later will enter the standby state inside or next to the base station.

[0547] Case 2: Both the mother robot and the child robot have first-type service requirements. For example, the mother robot needs to be charged, and the child robot also needs to be charged.

[0548] FIG8 is a flow chart of a seventh method for controlling a cleaning system provided by the present application. As shown in FIG8 , in this case, the method for controlling the cleaning system may include the following steps, for example:

[0549] S701. The mother robot and the child robot collaborate to perform cleaning tasks.

[0550] S702: When both the mother robot and the child robot have the first type of service requirements, the mother robot and the child robot take turns entering the base station according to the target order.

[0551] This embodiment does not limit the target sequence. For example, the target sequence may be a sequence that can further improve the subsequent work efficiency of the mother robot and the child robot.

[0552] For example, a pre-set sequence. This pre-set sequence can be factory-set by the mother-and-child robots, or it can be a user-set sequence. For example, it can be set via a preset button on the base station, a control interface, a voice interaction control, or a terminal with control authority for the cleaning system. This implementation method can make the configuration of the mother-and-child robot collaborative working mode more flexible, thereby better meeting user needs and improving the user experience.

[0553] Alternatively, the order in which the mother robot and the child robot arrive at the base station; the mother robot and the child robot use this order to enter the base station, so that the robot that arrives at the base station first can use the services provided by the base station first, thereby avoiding the cleaning robot that arrives at the base station first from waiting for a long time at the base station, and then enabling it to engage in subsequent work as soon as possible, thereby improving work efficiency by reducing waiting time.

[0554] Alternatively, the mother robot and child robot may be ordered by sorting the values ​​of the operating parameters corresponding to the service requirements. The type of the operating parameters corresponding to the service requirements is related to the service requirements. For example, if both the mother robot and child robot require charging, the order may be, for example, sorted by the remaining battery level of the mother robot and child robot in ascending order. For example, if both the mother robot and child robot require dust collection, the order may be, for example, sorted by the remaining capacity of the mother robot and child robot's dust boxes in ascending order.

[0555] The remaining power mentioned above can refer to the remaining power of the mother robot and child robot, the percentage of the remaining power of the mother robot and child robot relative to their respective total power, or the remaining operating time. The remaining power percentage refers to the ratio of the remaining power to the total power. For example, the remaining power percentage of the mother robot and child robot can be calculated separately, with the robot with the lower remaining power percentage receiving priority to charge at the base station. Alternatively, the remaining operating time of the mother robot and child robot can be calculated separately, with the robot with the shorter remaining operating time receiving priority to charge at the base station. In other words, robots with more urgent service needs are ranked higher and receive priority to access the base station services. A more urgent service need indicates a poorer cleaning status and lower work efficiency. By receiving base station services in the order determined by the values ​​of the operating parameters corresponding to the service needs, robots with poorer cleaning status can receive base station services promptly, thereby quickly restoring a better working state and improving the subsequent performance and efficiency of the mother robot and child robot. It should be noted that in this implementation, robots ranked lower can perform cleaning tasks while waiting, further improving work efficiency.

[0556] Alternatively, the mother robot and child robots can be ranked in descending order based on the amount of cleaning tasks to be performed. This amount of cleaning tasks can be the area of ​​the robot to be cleaned, or the ratio of the area of ​​the robot to its total cleaning capacity. In other words, robots with a greater amount of cleaning tasks to be performed are ranked higher, allowing them to access the base station and use the services provided by the base station first, allowing them to start subsequent cleaning tasks as soon as possible, reducing their waiting time and further improving the subsequent work efficiency of the mother robot and child robots.

[0557] Alternatively, the order in which the two robots enter the base station can be determined based on whether they have completed their cleaning tasks. If the child robot has no subsequent cleaning tasks and the mother robot has a subsequent cleaning task, the mother robot can first enter the base station to charge, then exit the base station and allow the child robot to enter the base station for charging. If the child robot has a subsequent cleaning task and the mother robot has no subsequent cleaning task, the child robot can first enter the base station to charge, then exit the base station and allow the mother robot to charge. This implementation improves the efficiency of the mother and child robots, enhances the overall usability of the cleaning system, and improves the user experience.

[0558] When the mother robot and the child robot have / have no cleaning tasks in the future, the mother and child robots can determine the order of entering the base station according to any one of the preset order, the order of arriving at the base station, the sorting of the values ​​of the working parameters corresponding to the service requirements, etc.

[0559] Alternatively, when both the mother and child robots have cleaning tasks to perform later, the order in which they enter the base station can be determined based on the distance from the base station to the child robot's next work area. For example, if the distance from the base station to the child robot's next work area is greater than a first distance threshold, the mother and child robots can determine the order in which they enter the base station based on any one of the following: a preset order, the order in which they arrive at the base station, or the order in which the values ​​of the working parameters corresponding to the service requirements are sorted. When one robot enters the base station, the other robot waits at the base station. Alternatively, the mother robot enters the base station first, and after charging is complete, the child robot enters the base station. While the child robot enters the base station, the mother robot goes to its own next work area to work. After the child robot exits the base station, the mother robot returns to the base station to guide the child robot to the next work area to work.

[0560] If the distance between the base station and the child robot's next work area is less than or equal to a first distance threshold, the child robot can enter the base station first. After charging is complete, the mother robot then enters the base station. The mother robot then guides the child robot to the next work area from the base station. This implementation improves the child robot's work efficiency and enhances the usability of the cleaning system.

[0561] If the mother robot enters the base station first to receive service, and then exits the base station while the child robot enters the base station to receive service, the mother robot can then independently move to the next work area to continue cleaning tasks; or it can wait at the base station for the child robot to complete charging, and then move together to the next work area to work. If the child robot enters the base station first to receive service, and then exits the base station while the mother robot enters the base station to receive service, if the child robot's next work area is close to the base station, the child robot can remotely guide the mother robot to the next work area while the mother robot receives service; or the child robot can wait at the base station until the mother robot completes service at the base station, and then accompany the mother robot to the next work area to work.

[0562] Case 3: Both the mother robot and the child robot have second-type service requirements. For example, the mother robot has one or more requirements such as dust collection, water replenishment, and cleaning components, and the child robot also has dust collection requirements.

[0563] FIG9 is a flow chart of an eighth method for controlling a cleaning system provided in the present application. As shown in FIG9 , the method for controlling a cleaning system may include the following steps:

[0564] S801. The mother robot and the child robot collaborate to perform cleaning tasks.

[0565] S802. When both the mother robot and the child robot have the second type of service requirements, the mother robot and the child robot take turns entering the base station according to the target order.

[0566] Through this implementation method, it can be ensured that the two enter the base station in an orderly manner. For example, the mother and child robots can take turns entering the base station in a pre-set order. Or, the order in which the mother robot and the child robot arrive at the base station. Or, the order in which the mother robot and the child robot are sorted according to the values ​​of the working parameters corresponding to the service requirements; when both have dust collection requirements, for example, the order in which the mother robot and the child robot can be sorted from small to large according to the amount of dust that can be collected. Or, the order in which the mother robot and the child robot are sorted from large to small according to the amount of cleaning tasks to be performed. Alternatively, the order in which the two robots enter the base station can be determined based on whether the two robots have completed the cleaning task; or, the order in which the two robots enter the base station can be determined based on the distance from the base station to the next working area of ​​the child robot; the specific implementation method and technical effects can be referred to the embodiment in Case 2 of Scenario 3, which will not be repeated here.

[0567] Although the above examples illustrate the case where both the mother robot and the child robot have the first type of service requirements or both have the second type of service requirements, it should be understood that when both the mother robot and the child robot have the first type of service requirements and the second type of service requirements, they can also take turns entering the base station according to the target order, which will not be described in detail.

[0568] Case 4: The child robot has a first type of service requirement, and the mother robot has a second type of service requirement. For example, the mother robot has one or more requirements such as dust collection, water replenishment, and cleaning components, and the child robot needs to charge.

[0569] FIG10 is a flow chart of a ninth method for controlling a cleaning system provided in the present application. As shown in FIG10 , the method for controlling a cleaning system provided in the present application may include the following steps:

[0570] S901. The mother robot and the child robot collaborate to perform cleaning tasks.

[0571] S902. When the child robot has a first type of service requirement and the mother robot has a second type of service requirement, the mother robot enters the base station so that the base station provides the second type of service for the mother robot.

[0572] S903. The mother robot exits the base station, and the child robot enters the base station, so that the base station provides the first type of service for the child robot.

[0573] For example, the mother robot first enters the base station to perform one or more tasks such as dust collection, water replenishment, cleaning components, etc. After the mother robot exits the base station, the child robot enters the base station to charge.

[0574] Since the time required for the mother robot to receive the second type of service is much less than the time required for the child robot to receive the first type of service, the mother robot first enters the base station and then the mother robot enters the base station, that is, the base station first provides the second type of service to the mother robot and then provides the first type of service to the child robot, the docking order of the mother robot, the child robot and the base station can be scheduled according to the urgency of the task, so that the robot with less time consumption can use the base station first, and the mother robot with less time consumption can be put into subsequent work as soon as possible to meet the needs of efficient cleaning. In addition, compared with the solution of letting the mother robot with less time consumption wait for the child robot with more time consumption to finish using the base station before using the base station, this embodiment can reduce the total waiting time of the mother robot using the base station, so that the mother and child robots can reduce the time of work suspension due to the use of the base station on the basis of using the base station, thereby improving the work efficiency of the child robot.

[0575] Alternatively, the two robots can be processed sequentially according to the order in which they arrive at the base station.

[0576] Alternatively, the order in which the two robots enter the base station can be determined based on whether they have completed their cleaning tasks. If the child robot has no cleaning tasks and the mother robot has tasks, the mother robot can enter the base station first to receive service, followed by the child robot. If the child robot has tasks and the mother robot has no tasks, the child robot can enter the base station first to receive service, followed by the mother robot. This approach allows the robot with a cleaning task to begin its cleaning task as quickly as possible, thereby improving the overall efficiency of the cleaning system.

[0577] When there are no subsequent cleaning tasks for the mother robot and the child robot, the mother robot can first enter the base station to receive service, and then the child robot enters the base station to receive service. Under this implementation method, the waiting time of the mother robot can be reduced, thereby reducing the power resource consumption caused by the waiting process.

[0578] When both the mother and child robots have cleaning tasks to perform, the mother robot can first enter the base station to receive service, followed by the child robot. After the mother robot exits the base station, it can move to the next work area and continue its cleaning task. This approach reduces the mother robot's waiting time, allowing it to quickly resume its subsequent cleaning tasks, improving its efficiency and ultimately the overall availability of the cleaning system.

[0579] Case 5: While the base station is providing the mother robot with the first type of service, the child robot suddenly needs the second type of service. For example, while the mother robot is charging at the base station, the child robot suddenly needs to collect dust.

[0580] In this case, the child robot can wait by the side until the mother robot enters the base station to receive the first type of service, then exits the base station and the child robot enters the base station to receive the second type of service.

[0581] FIG11 is a flow chart of a tenth method for controlling a cleaning system provided by the present application. As shown in FIG11 , in this case, the method for controlling a cleaning system provided by the present application may include, for example, the following steps:

[0582] S1001. The mother robot and the child robot collaborate to perform cleaning tasks.

[0583] S1002. When the mother robot has a first type of service requirement, the mother robot returns to the base station to receive service.

[0584] S1003. During the process of the base station providing the first type of service for the mother robot, if the child robot has a second type of service requirement, the mother robot exits the base station and the child robot enters the base station, so that the base station provides the second type of service for the child robot.

[0585] S1004. The child robot exits the base station and the mother robot enters the base station, so that the base station continues to provide the first type of service for the mother robot.

[0586] Because the second type of service takes much less time than the first type, the mother robot exits the base station first, allowing the child robot to enter the base station to receive the second type of service. The mother robot then only needs to wait at the base station for a short time before reentering the base station to receive the first type of service. This allows the shorter robot to use the base station with less impact on the longer-time-consuming robot, allowing it to begin subsequent work as quickly as possible without forcing the longer-time-consuming robot to wait for an extended period. Compared to a solution that requires the shorter robot to wait at the base station until the longer-time-consuming robot has completed its service before reentering the base station, this approach reduces the waiting time of the shorter robot (in this case, the child robot) at the base station, improving the efficiency of the shorter robot without significantly impacting the longer-time-consuming robot.

[0587] Alternatively, the strategy for the two robots to enter the base station may be determined based on whether the two robots have completed the cleaning task.

[0588] For example, when the mother robot is charging at the base station, the child robot suddenly needs to collect dust. FIG12 is a flow chart of the control method of the eleventh cleaning system provided by the present application. As shown in FIG12 , the method may include the following steps:

[0589] S1101. The mother robot and the child robot collaborate to perform cleaning tasks.

[0590] S1102. When the mother robot needs to charge, it returns to the base station to receive charging service.

[0591] S1103: When the base station provides charging services for the mother robot and the child robot has a dust collection demand, determine whether the mother robot and the child robot have subsequent cleaning tasks to be completed.

[0592] If the mother robot has a cleaning task to be completed and the child robot has no cleaning task to be completed, step S1104 is executed.

[0593] If the mother robot has no cleaning tasks to be completed, the child robot has cleaning tasks to be completed, or both the mother and child robots have cleaning tasks to be completed, step S1105 is executed.

[0594] S1104: After the mother robot is fully charged, the child robot enters the base station to collect dust.

[0595] S1105, the mother robot exits the base station first and the child robot enters the base station to collect dust. After the child robot completes dust collection and exits the base station, the mother robot enters the base station to charge.

[0596] In this embodiment, it is first determined whether the mother robot and the child robot have cleaning tasks to be completed, and then the subsequent entry strategy into the base station is determined based on the judgment result. This can better control the order in which the mother and child robots enter the base station according to the completion status of the cleaning tasks, thereby making it more intelligent. In addition, when the mother robot has cleaning tasks to be completed and the child robot has no cleaning tasks to be completed, the child robot will enter the base station to collect dust after the mother robot completes charging. When the mother robot has no cleaning tasks to be completed and the child robot has cleaning tasks to be completed, or when both the mother and child robots have cleaning tasks to be completed, the mother robot will first exit the base station and the child robot will enter the base station to collect dust. After the child robot completes dust collection and exits the base station, the mother robot will then enter the base station to complete charging. Since the time spent on dust collection is much shorter than the time spent on charging, under this implementation method, the dust collection efficiency of the child robot can be improved, the waiting time of the child robot can be reduced, so that the cleaning robot with cleaning tasks can quickly engage in cleaning work, thereby improving the overall efficiency of completing cleaning tasks.

[0597] Optionally, if the mother robot allows the child robot to enter the base station first to receive the second type of service, and then enter the base station to receive the first type of service, then after the child robot exits the base station, the mother robot can guide the child robot to the target working area corresponding to the cleaning task to ensure that the child robot can perform the cleaning task smoothly.

[0598] For example, the mother robot can guide the child robot to the target work area corresponding to the cleaning task before re-entering the base station to receive the first type of service. This implementation method can reduce the time the child robot waits while the mother robot is in the base station, allowing the child robot to devote more time to cleaning tasks, thereby improving work efficiency, reducing the waiting time of the child robot, and reducing resource waste.

[0599] Alternatively, the child robot may be guided to the target working area corresponding to the cleaning task when the child robot enters the base station again and the base station provides the first type of service to the mother robot.

[0600] Alternatively, the mother robot can re-enter the base station, allowing the base station to provide the mother robot with the first type of service, and then guide the child robot to the target work area corresponding to the cleaning task. In specific implementations, for example, the handling method can be determined based on the working distance corresponding to the cleaning tasks of the mother robot and the child robot, and / or the amount of unfinished cleaning tasks of the mother and child robots, so as to ensure that the child robot can successfully perform the cleaning task while improving the work efficiency of both.

[0601] Case 6: While the base station is providing the first type of service to the child robot, the mother robot suddenly needs the second type of service. For example, while the child robot is charging at the base station, the mother robot suddenly needs one or more services such as dust collection, water replenishment, and cleaning components.

[0602] In this case, the mother robot can wait until the child robot enters the base station to receive the first type of service, then exits the base station and the mother robot enters the base station to receive the second type of service.

[0603] Alternatively, the child robot exits the base station first, allowing the mother robot to enter the base station to receive service.

[0604] FIG13 is a flow chart of a twelfth method for controlling a cleaning system provided by the present application. As shown in FIG13 , the method for controlling a cleaning system provided by the present application may include the following steps:

[0605] S1201. The mother robot and the child robot collaborate to perform cleaning tasks.

[0606] S1202: When the sub-robot has the first type of service, the sub-robot returns to the base station to receive the service.

[0607] For example, the sub-robot can return to the base station to receive services under the guidance of the mother robot.

[0608] S1203. During the process of the base station providing the first type of service for the child robot, if the mother robot has a second type of service requirement, the child robot exits the base station and the mother robot enters the base station, so that the base station provides the second type of service for the mother robot.

[0609] S1204: The mother robot exits the base station, and the child robot enters the base station, so that the base station continues to provide the first type of service for the child robot.

[0610] Because the second type of service takes much less time than the first type, the child robot exits the base station first, allowing the mother robot to enter the base station to receive the second type of service. The child robot then only needs to wait a short time at the base station before reentering the base station to receive the first type of service. Subsequently, after exiting the base station, the mother robot can continue its cleaning task. This approach allows the shorter robot to use the base station with less impact on the longer-running robot, allowing it to begin subsequent work as quickly as possible without forcing the longer-running robot to wait for an extended period. Compared to a solution that requires the shorter robot to wait at the base station until the longer-running robot has completed its service before reentering the base station, this approach reduces the waiting time of the shorter robot (i.e., the mother robot in this solution) at the base station, improving the efficiency of the shorter robot without significantly impacting the longer-running robot.

[0611] Alternatively, the strategy for the two robots to enter the base station can be determined based on whether they have completed their cleaning tasks. For example, if the mother robot has no pending cleaning tasks and the child robot does, the mother robot waits at the base station for the child robot to complete the first type of service before entering the base station. If the mother robot has pending cleaning tasks and the child robot has no pending tasks, or if both the mother and child robots have pending cleaning tasks, the child robot exits the base station first, allowing the mother robot to enter the base station to receive the second type of service. After the mother robot exits the base station, the child robot can enter the base station to receive the first type of service. If both the mother robot and the child robot have pending cleaning tasks, the child robot can, for example, exit the base station first, allowing the mother robot to enter the base station to receive the second type of service. In this implementation, where the child robot leaves the base station during charging, the mother robot enters the base station to receive the second type of service, and then the child robot enters the base station to receive the first type of service. Because the child robot frees up space in the base station for the mother robot, the mother robot can quickly complete the second type of service, allowing the mother robot to quickly begin subsequent cleaning tasks, thereby improving the efficiency of the mother robot and the entire cleaning system.

[0612] Scenario 7: While the base station is providing the mother robot with the first type of service, the child robot suddenly requests the first type of service. Alternatively, while the base station is providing the child robot with the first type of service, the mother robot suddenly requests the first type of service. Alternatively, while the base station is providing the mother robot with the second type of service, the child robot suddenly requests the second type of service. Alternatively, while the base station is providing the child robot with the second type of service, the mother robot suddenly requests the second type of service.

[0613] For example, while the mother robot is charging, the child robot suddenly needs to be charged; or, while the child robot is charging, the mother robot suddenly needs to be charged. Or, while the child robot is collecting dust, the mother robot suddenly needs to collect dust, refill water, or clean the cleaning components; or, while the mother robot is collecting dust, refilling water, or cleaning the cleaning components, the child robot suddenly needs to collect dust.

[0614] In this case, the robot that returns later can wait at the base station until the robot in the base station has finished using it and exits before entering the base station. Alternatively, the robot in the base station can exit the base station first, and then the robot that returns later can enter the base station. After the robot that returns later has finished using the base station, another robot can enter the base station.

[0615] Alternatively, a different order of entering the base station can be adopted depending on whether there will be a cleaning task later. For example, if the robot in the base station has a cleaning task later, the robot in the base station will receive the service first, and then another robot will enter the base station to receive the service. If the robot in the base station has no cleaning task later, and the robot that returns to the base station later also has no cleaning task later, the robot that returns to the base station later will wait until the robot in the base station has received the service before entering the base station. If the robot in the base station has no cleaning task later, and the robot that returns to the base station later has a cleaning task later, the robot in the base station can, for example, exit the base station first, and then the robot that returns to the base station later will enter the base station to receive the service. After the robot that returns to the base station later has received the service, another robot will enter the base station to receive the service. Through this implementation method, space in the base station can be freed up for the robot that returns to the base station later, allowing the robot that returns to the base station later to enter the base station to receive the service first, and then quickly engage in subsequent cleaning tasks, thereby improving work efficiency.

[0616] Scenario 4: Both the mother robot and the child robot complete their cleaning tasks

[0617] In this scenario, both the mother and child robots need to return to the vicinity of the base station, but not both have the need to enter the base station.

[0618] Case 1: The sub-robot does not need to be charged or collect dust

[0619] In this case, the child robot accompanies the mother robot back to the base station and enters standby mode near the base station. If the mother robot needs to enter the base station, it will enter the base station to complete charging, dust collection, water replenishment, cleaning components, etc., and then wait inside the base station. If there is no need to enter the base station, it will directly enter the base station and enter standby mode, or enter standby mode outside the base station.

[0620] Case 2: The sub-robot needs to collect dust but not be charged

[0621] If the mother robot needs to collect dust, rehydrate, or clean components, the mother and child robots can take turns entering the base station in a pre-set order. Alternatively, the mother and child robots can enter the base station in the order they arrived. The last robot to enter the base station can exit the base station and enter a standby state next to the base station, or directly enter a standby state inside the base station.

[0622] If the mother robot needs to charge, the mother and child robots can take turns entering the base station in a preset order. Alternatively, the child robot can enter the base station first. After the child robot exits the base station, the child robot enters the base station and waits until the corresponding needs are met, then enters the standby state in the base station, or exits the base station and enters the standby state. This implementation method allows the child robot to enter the energy-saving standby state as quickly as possible, without having to wait outside the base station for a long time for the mother robot to exit the base station. This can reduce resource waste and improve the rationality and intelligence of the coordinated control of the mother and child robots.

[0623] If the mother robot has no need to enter the base station, the mother robot will enter the standby state next to the base station. After the child robot enters the base station and meets the corresponding needs, it will exit the base station or enter the standby state inside the base station.

[0624] Case 3: The sub-robot needs to be charged

[0625] In this case, the sub-robot may or may not have the need to collect dust.

[0626] If the mother robot needs to charge, the mother and child robots can, for example, take turns entering the base station in a preset order; alternatively, the mother and child robots can enter the base station in the order they arrived; or alternatively, the mother and child robots can determine the order of entering the base station based on the remaining power. The specific implementation method can be referred to the above embodiment and will not be repeated here. Optionally, while the mother robot is charging at the base station, it can also simultaneously complete one or more tasks, such as dust collection, water replenishment, and cleaning components.

[0627] If the mother robot needs to collect dust, rehydrate, or clean components, the mother and child robots can alternately enter the base station in a pre-set order or the order in which they arrived. Alternatively, the mother robot can enter the base station first, then exit and enter standby mode, allowing the child robot to enter the base station to charge. Once the child robot has finished charging, it either waits in the base station or exits and enters standby mode. This approach reduces the time the mother robot waits to enter the base station, allowing it to enter standby mode more quickly, thus achieving energy savings and increased efficiency.

[0628] If the mother robot has no need to enter the base station, the mother robot can, for example, enter a standby state next to the base station. After the child robot enters the base station and completes the corresponding needs, it exits the base station or stays in the base station and enters a standby state.

[0629] The above description uses a single child robot as an example to illustrate how the mother and child robots enter and exit the base station. It should be understood that when the cleaning system includes two or more child robots, and a child robot and the mother robot need to enter the base station, the aforementioned control methods can be used. If multiple child robots simultaneously require the services of the base station, the aforementioned control methods can also be used between the multiple child robots and the mother robot, and this will not be further described.

[0630] The present application also provides a cleaning system, which includes a base station, a mother robot and at least one child robot, and the base station supports providing services to the mother robot and one of the child robots at a time; for a specific schematic diagram, please refer to Figure 1, for example.

[0631] The mother robot is configured to guide the child robot to perform a cleaning task, and to execute the mother robot execution method as described in any one of the above method embodiments;

[0632] The sub-robot is used to perform cleaning tasks under the guidance of the mother robot, and to perform the method performed by the sub-robot as described in any one of the above method embodiments.

[0633] Existing cleaning robots are generally large in size and cannot perform cleaning work in low or narrow gaps. Therefore, in order to meet the needs of various application scenarios, cleaning systems are also developing in the direction of multi-machine collaborative operation, that is, a collaborative robot with a smaller volume or size is set on the basis of the cleaning robot to complete the cleaning work in low or narrow areas. At this time, for the sake of convenience, the original larger cleaning robot is often named the main robot, and the robot with a smaller volume or size used to complete the cleaning work in low or narrow areas is named the sub-robot. Taking into account the compatibility and matching of the cleaning base station, the present application provides a cleaning base station, a sub-robot and a cleaning system to realize the charging function of the sub-robot in the base station while maintaining the functional structure of the existing cleaning base station.

[0634] Referring to Figures 14 to 41 , the cleaning system of the present application includes a main robot 200, a sub-robot (not shown), and a cleaning base station 100. The main robot 200 and the sub-robot share the cleaning base station 100 for charging. The cleaning base station 100 is used in conjunction with the main robot 200 and the sub-robot. The cleaning base station 100 includes: a base station body 120, a receiving cavity 121, at least two first positioning devices 110, a first charging electrode 124, and a second charging electrode 117.

[0635] The outer shape of the base station body 120 is not limited. For example, it can be roughly rectangular as a whole, or it can be rectangular at the bottom and spherical at the top. However, it is not limited to this. However, considering the needs of indoor decoration, it is better to be beautiful and small in size. The accommodating cavity 121 is set at the bottom of the base station body 120, and has an opening 123 for the main robot 200 and the sub-robot to interchangeably enter, so that the main robot 200 and the sub-robot can walk into the accommodating cavity 121. As long as it can accommodate the cleaning components and charging terminals of the main robot 200, the size and shape of the accommodating cavity 121 are not limited. For example, it can accommodate the main robot 200 in its entirety or partially. The shape of the accommodating cavity 121 may not be consistent with the entry part of the main robot 200. For example, when the main robot 200 enters the accommodating cavity 121, When the shape of one side of the accommodating chamber 121 is an arcuate surface, the sidewalls of the accommodating chamber 121 are formed into a square or prismatic shape that can accommodate the arcuate surface. However, preferably, in order to save space and ensure accurate guidance, the shape of the portion of the accommodating chamber 121 that mates with the master robot 200 is approximately matched to that of the master robot 200. For example, when the shape of the side of the accommodating chamber 121 where the master robot 200 enters the accommodating chamber 121 is an arcuate surface, the sidewalls of the accommodating chamber 121 are also formed into an arcuate surface that approximates the arcuate surface. When the shape of the side of the accommodating chamber 121 where the master robot 200 enters the accommodating chamber 121 is a flat surface, the sidewalls of the accommodating chamber 121 facing the opening 123 are also flat. The shape of the opening 123 should be such that the master robot 200 and the sub-robot can enter the accommodating chamber 121 smoothly. For example, it can be a rectangle or other shapes, and examples are not given here.

[0636] At least two first positioning devices 110 are disposed within the accommodating cavity 121 and located on the wall opposite the opening 123 to cooperate with the positioning structure of the main robot 200 to limit the position of the main robot 200. The number of first positioning devices is preferably two, to respectively accommodate the positive and negative electrodes of the second charging electrode. Those skilled in the art will appreciate that, if more space is available and cost is not a concern, more first positioning devices 110 may be provided. The structure and shape of the first positioning device 110 can refer to the positioning device structure of existing cleaning base stations 100 and cleaning robots, including but not limited to positioning protrusions or positioning grooves that can cooperate with the positioning structure of the main robot 200. Considering that the positioning structure of the main robot 200 is configured as a protrusion, it will affect the main robot 200's ability to maneuver in narrow areas and its ability to adhere to edges during cleaning. In this embodiment, the positioning structure of the main robot 200 includes a first positioning groove 230. The first positioning device 110 on the cleaning base station 100 is a first positioning protrusion that protrudes into the accommodating cavity 121 and mates with the first positioning groove 230. However, those skilled in the art will appreciate that, without considering mobility and edge-adherence capabilities, the positioning structure on the main robot 200 may be a positioning protrusion, and the first positioning device 110 on the cleaning base station 100 may be a positioning groove matching the positioning protrusion on the main robot 200.

[0637] The first charging electrode 124 is disposed on the wall of the accommodating chamber 121 opposite the opening 123 and includes a first positive electrode and a first negative electrode. When the master robot 200 reaches the first set position of the accommodating chamber 121, the first charging electrode 124 is electrically connected to the charging terminal of the master robot 200. For example, the first charging electrode 124 can be disposed at any position beside the first positioning device 110 to facilitate electrical connection with the corresponding charging terminal on the master robot 200. Considering that the existing master robot 200 often carries a cleaning component that needs to be cleaned, it is preferably disposed above the first positioning component and close to the first positioning component in this embodiment. This proximity to the first positioning device 110 allows for higher charging docking accuracy, while also being farther away from the cleaning component, reducing the risk of water splashing upward onto the first charging electrode 124 and causing a short circuit.

[0638] The second charging electrode 117 includes a second positive electrode and a second negative electrode. The second positive electrode and the second negative electrode are respectively disposed on at least two of the first positioning devices 110 and are capable of electrically connecting to the charging terminal of the sub-robot when the sub-robot reaches the second set position. The second positive electrode and the second negative electrode can be disposed on the first positioning device 110 in any manner, including but not limited to being wrapped around the end of the first positioning device 110 facing the opening 123, so as to ensure stable contact when the sub-robot reaches the second set position. The second charging electrode 117 for charging the sub-robot is disposed on the first positioning device 110 associated with the main robot 200, enabling charging of the sub-robot on the existing cleaning base station 100 associated with the main robot 200. This allows the cleaning base station 100 to maintain its structure and functionality compatible with existing cleaning robots while meeting the sub-robot's charging needs. Furthermore, integrating the first positioning device 110 with the second charging electrode 117 corresponding to the sub-robot also achieves greater space utilization. At the same time, the cleaning base station 100 can also be used only in conjunction with an existing cleaning robot (which can be understood as the main robot 200), and can also meet the interchangeable use requirements of the main robot 200 and the sub-robot. It is flexible and versatile, and can take into account the compatibility and matching of new and old cleaning robots on the existing market. It has strong versatility and low manufacturing cost.

[0639] Please refer to Figures 19 to 20. In one embodiment of the present application, the moving direction of the main robot 200 entering the accommodating chamber is parallel to the moving direction of the sub-robot entering the accommodating chamber. The first positioning device 110 protrudes into the accommodating chamber 121 to form a first positioning protrusion. The first positioning protrusion extends into the positioning structure of the main robot 200 or the sub-robot along the moving direction of the main robot 200 and the sub-robot for positioning. The second charging electrode 117 is arranged at the end of the first positioning protrusion close to the opening 123. When the sub-robot reaches the second set position of the cleaning base station, the first positioning protrusion is inserted into the positioning structure of the sub-robot, and the charging terminal of the sub-robot is electrically connected to the second charging electrode 117 at the end of the first positioning protrusion. Because the sub-robot is designed to work with the main robot 200 to perform cleaning operations in low or narrow areas, it has a relatively small size or height. Therefore, the first positioning device 110 is configured as a raised first positioning protrusion, and the second charging electrode 117 for charging the sub-robot is located on the first positioning protrusion that matches the main robot 200. The main robot and sub-robot share the same first positioning protrusion when docked in the receiving chamber, simplifying the structure of the cleaning base station. The second charging electrode for charging the sub-robot is located on the first positioning protrusion, allowing for flexible adaptation to the size of the sub-robot and enabling charging of the sub-robot on the existing cleaning base station 100 that matches the main robot 200. Furthermore, the raised configuration of the first positioning device 110 allows the sub-robot to maintain a greater distance from the existing water injection and charging devices of the cleaning base station 100. Therefore, when charging, the sub-robot does not need to avoid existing structures in the cleaning base station 100, such as the first positioning device 110, the water injection device, and the main robot 200 charging device.

[0640] Please refer to Figures 19 and 20. In one embodiment of the present application, the first positioning device 110 protrudes into the accommodating cavity 121 to form a first positioning protrusion, and the end surface area of ​​the first positioning protrusion is smaller than the bottom surface area of ​​the first positioning protrusion. This design not only achieves precise and stable positioning, ensures the accurate parking of the main robot 200 and the sub-robot in the base station, and effectively prevents the robots from moving or offsetting during the charging process, but also the end surface area of ​​the first positioning protrusion is smaller than its bottom surface area, so that the first positioning protrusion can be more smoothly extended into the first positioning groove 230 on the main robot 200 or the second positioning groove on the sub-robot, reducing the problem of jamming or inaccurate positioning caused by excessive area. At the same time, the smaller end surface area also helps to reduce friction with the positioning structure, further improving the stability and durability of positioning.

[0641] Referring to Figures 19 and 20 , in one embodiment of the present application, the first positioning device 110 is a first positioning protrusion, which is at least partially formed into a frustum, with the small end of the frustum facing the opening 123. The shapes of the small and large end surfaces of the frustum are not limited and can be circular, elliptical, polygonal, or a combination thereof. The frustum facilitates a smooth transition when the first positioning protrusion is inserted into the positioning structure of the main robot 200 or the sub-robot, reducing the risk of jamming or inaccurate positioning due to shape mismatch or inappropriate size. Furthermore, the large end surface at the bottom of the frustum provides a more stable support, preventing the main robot 200 or the sub-robot from shaking or shifting during positioning. This stability is crucial for ensuring accurate and consistent positioning of the robots. Furthermore, the frustum-shaped positioning device has a certain degree of adaptability. Even if the positioning structure experiences certain dimensional deviations or shape changes, the frustum design can adapt and compensate to a certain extent, thereby ensuring accurate and reliable positioning.

[0642] In one embodiment of the present application, the first positioning device 110 is a first positioning protrusion. When the main robot 200 reaches the first set position of the accommodating cavity 121, the main robot 200 reaches the third position of the first positioning protrusion. When the sub-robot reaches the second set position of the accommodating cavity 121, the sub-robot reaches the fourth position of the first positioning protrusion. The distance from the centroid of the cross-section of the first positioning protrusion at the fourth position to the wall of the accommodating cavity opposite to the opening is greater than or equal to the distance from the centroid of the cross-section of the first positioning protrusion at the third position to the wall of the accommodating cavity opposite to the opening.

[0643] The second charging electrode 117 is disposed on the end wall of the first positioning protrusion near the opening 123. The direction of travel of the main robot 200 into the accommodating chamber is parallel to the direction of travel of the sub-robot into the accommodating chamber. The sub-robot is provided with a second positioning groove (not shown) at a position corresponding to the second charging electrode 117 that can mate with the first positioning protrusion. The sub-robot is provided with corresponding charging terminals on the inner wall of the second positioning groove. When the sub-robot reaches the second set position, the first positioning protrusion extends into the second positioning groove and electrically connects with the corresponding charging terminals of the sub-robot for charging. Given the corresponding matching of the first positioning protrusion and the positioning groove of the main robot 200, when the main robot 200 is docked at the first set position, the second charging electrode 117 can extend into the positioning groove of the main robot 200, thereby protecting the second charging electrode 117 and preventing liquid from splashing onto the second charging electrode 117 when the cleaning component of the main robot 200 is cleaning, causing a short circuit during charging.

[0644] Please refer to Figures 14 to 19 and 21. In one embodiment of the present application, the first positioning protrusion is a non-retractable structure and extends along the entry direction of the main robot 200 and the sub-robot. The first positioning protrusion is fixedly installed on the side wall opposite to the accommodating cavity 121 and the opening 123.

[0645] Referring to FIG. 23 , in another embodiment of the present application, the first positioning protrusion includes an elastically retractable structure that extends and retracts along the direction of entry of the master robot 200. The first positioning protrusion includes an elastically retractable structure. On the one hand, when the master robot 200 enters the first set position, the compression of the elastically retractable structure absorbs the residual kinetic energy of the master robot 200, thereby buffering the impact of the first positioning protrusion on the master robot 200. On the other hand, when the master robot 200 is docked at the first set position, the second charging electrode 117 extends into the positioning groove on the master robot 200, thereby protecting the second charging electrode 117 and preventing liquid from splashing onto the second charging electrode 117 during cleaning of the cleaning component of the master robot 200, thereby causing a short circuit during charging. It should be noted that, considering that the charging terminal is often stamped with a terminal protrusion, which has a certain elastic buffering effect, those skilled in the art will understand that, if the elastic buffering effect is not considered, the first positioning protrusion in the present application can also be set as a non-retractable structure.

[0646] In another embodiment of the present application, the cleaning base station 100 further includes a second positioning device located on the sidewall or bottom of the accommodating chamber 121 to cooperate with the positioning structure of the sub-robot to position the sub-robot. The second positioning device can be used to define the position of the sub-robot when it reaches the accommodating chamber 121, thereby improving the positioning accuracy and docking stability of the sub-robot within the accommodating chamber 121. Considering that the second positioning device provided on the sidewall of the accommodating chamber 121 for positioning the sub-robot may also affect the main robot 200 from reaching the first set position or require changes to the main robot's structure, in this embodiment, while the sidewall structure of the accommodating chamber 121 of the cleaning base station 100 remains unchanged, a second charging electrode 117 is provided on top of the raised first positioning protrusion. The sub-robot is provided with a second positioning groove at a position corresponding to the first positioning protrusion, and a corresponding charging terminal is provided in the second positioning groove. The raised first positioning protrusion is deeply inserted into the second positioning groove of the sub-robot to dock with the charging terminal of the sub-robot for charging. The raised first positioning protrusion can be a column with a structure similar to a prism. The column can be partially retractable or not. The retractable column can cushion the impact and collision when the main robot 200 and the sub-robot are in place. In the present application, the first positioning protrusion can provide a limit for the sub-robot when inserted into the second positioning groove on the sub-robot. Therefore, the second positioning device can also be omitted in the present application. The first positioning protrusion is used to match and position the main robot 200 with the first positioning groove 230 on the main robot 200 when the main robot enters the first set position, and to match and position the sub-robot with the second positioning groove on the sub-robot when the sub-robot enters the second set position. This arrangement can save the internal space of the accommodating cavity 121 and can realize the integration of the function of the first positioning protrusion. When the side wall structure of the accommodating cavity 121 of the cleaning base station 100 remains unchanged, it is only necessary to simply optimize the structure of the first positioning groove 230 on the main robot 200 and the first positioning protrusion in the base station 100. In the original positioning mode of the main robot, the second positioning groove is set on the sub-robot, so that the cleaning base station 100 can position and charge the sub-robot. At the same time, the extended first positioning protrusion can also reduce the depth of the sub-robot entering the accommodating cavity 121, reducing the difficulty of the sub-robot walking in the accommodating cavity 121.

[0647] Please refer to Figure 23. In one embodiment of the present application, the first positioning protrusion of the elastic telescopic structure includes a fixed body 111 and a movable body 112. The fixed body 111 is fixedly installed on the wall of the accommodating cavity 121 opposite to the opening 123. The structural form of the fixed body 111 is not limited, and is based on the ability to be stably fixed on the wall and to provide stable installation for the movable body 112. The fixing method of the fixed body 111 on the wall includes but is not limited to one-piece molding, bolt connection or clamping. The movable body 112 is slidably installed on the fixed body 111 and includes a sliding body and an elastic body 113. The sliding body can slide relative to the fixed body 111. The sliding body is slidably mounted on the fixed body 111. The sliding mounting method of the sliding body on the fixed body 111 is not limited, including but not limited to sliding insertion, sliding rail slider and other sliding mounting methods. Preferably, the second charging electrode 117 is provided on the end wall of the sliding body facing the opening 123. The sliding body is connected to the elastic body 113. One end of the elastic body 113 along the compression direction abuts against the side wall of the fixed body 111 or the accommodating cavity 121, and the other end abuts against the sliding body, so as to store energy when the sliding body slides toward the fixed body 111 and release energy when the sliding body slides away from the fixed body 111. The telescopic structure using the combination of the fixed body 111, the elastic body 113 and the movable body 112 is relatively simple in structure, that is, it can maintain a small volume and have a large telescopic distance. The first positioning protrusion in the application adopts a unique design that combines the fixed body 111 and the movable body 112, which significantly improves the stability and flexibility of positioning. The fixed body 111 is firmly mounted on the wall of the accommodating cavity 121 opposite to the opening 123, providing a solid foundation for the entire positioning device. The movable body 112 slides on the fixed body 111 through the sliding body, and combined with the function of the elastic body 113, it realizes the dynamic adjustment of the position of the main robot 200 or the sub-robot in the base station during the positioning process and the buffering of the energy of the main robot 200 or the sub-robot hitting the base station. In addition, the relative sliding of the sliding body can also make the first positioning protrusion adaptable to robots of different sizes and shapes, thereby improving the inclusiveness and adaptability of positioning. The elastic body 113 can store or release energy during the sliding process of the sliding body, which not only helps to smoothly complete the positioning action, but also reduces the impact and vibration that may be generated during the positioning process, further enhancing the stability and durability of the positioning.

[0648] In this application, the elastic body 113 can be any elastic structure, including but not limited to a spring, a bent leaf spring, or a polymer elastic material. See Figure 23 . In this embodiment, the elastic body 113 is a spring, which is a standard component with low cost and high quality stability. The fixed body 111 is provided with a mounting cavity 115, within which the spring is mounted. The sliding body is slidably inserted into the mounting cavity 115 and compresses or releases the spring during the sliding process. A second charging electrode 117 is provided on the end wall of the sliding body facing away from the spring and is electrically connected to the electrical unit on the base station via a wire 114. It should be noted that in order to better maintain the stability of the sliding body installation, a limiting structure can also be set between the fixed body 111 and the sliding body. The limiting structure can be any suitable structural type to prevent the sliding body from detaching from the fixed body. In this embodiment, the limiting structure includes a first stop body 1111 arranged on the movable body and a second stop body 1121 arranged on the fixed body. The second stop body 1121 is arranged on the end wall of the installation cavity 115 facing the opening. The first stop body 1111 is located at the end of the sliding body inserted into the installation cavity 115. When sliding into place, the second stop body 1121 stops the first stop body 1111 to prevent the sliding body from detaching from the fixed body 111.

[0649] In one embodiment of the present application, the third and fourth positions are located on the fixed body 111. Preferably, the fixed body 111 is approximately frustum-shaped, with the third and fourth positions both located on the frustum. This design allows for precise positioning of the positioning point, improving positioning accuracy and convenience. Furthermore, compared to solutions in which the third position is located on the sliding body, the positioning device structure is simplified, reducing manufacturing costs and maintenance difficulties.

[0650] Taking into account that in the process of the existing main robot 200 reaching the first set position of the cleaning base station 100, it first docks with the first positioning protrusion and then docks with the water injection port 180, and finally makes electrical contact with the first charging electrode 124, and the raised first positioning protrusion is the basis for positioning the main robot 200 with water injection and charging, the cleaning base station 100 of the present application is limited in structure within the accommodating cavity 121 (the accommodating cavity 121 of the existing cleaning base station 100 often has positioning protrusions, water injection port 180, the first charging electrode 124 of the main robot 200, anti-collision rubber strips, etc.), and the first positioning protrusion is set to a structure approximately in the shape of a cone, and according to the sub The entry depth of the robot when it reaches the second set position, and the entry depth of the main robot 200 when it reaches the first set position, set the opening size and depth of the first positioning groove 230 on the main robot 200 and the second positioning groove on the sub-robot. The first positioning protrusion can position the main robot 200 and the sub-robot so that when the sub-robot reaches the second set position, the second charging electrode 117 of the end wall of the first positioning protrusion is extended and can be electrically connected to the charging terminal of the sub-robot for charging. It should be understood that at this time, the sub-robot is located at the fourth position of the first positioning protrusion, and when the main robot 200 reaches the first set position, In one embodiment, the first positioning protrusion is a non-retractable structure, and the opening size and depth of the first positioning groove 230 of the main robot 200 cooperate with the cone-shaped structure of the first positioning protrusion to limit the depth of the main robot 200. When the main robot 200 reaches the first set position, the main robot 200 is in the third position of the first positioning protrusion, and the second charging electrode 117 of the end wall of the first positioning protrusion is located in the cavity of the first positioning groove 230 of the main robot 200. In another embodiment, the first positioning protrusion is a retractable structure, and the main robot 20 When the main robot 200 reaches the first set position, the bottom of the first positioning groove 230 of the main robot 200 can press the movable body 112 into the mounting cavity 115 on the fixed body 111, causing the end wall 116 of the mounting cavity 115 and the second charging electrode 117 to abut the bottom of the first positioning groove 230 on the main robot 200. In this way, when the first positioning protrusion is hit, the side wall end surface of the mounting cavity 115 can withstand the impact force, and the second charging electrode 117 can retract into the mounting cavity 115, thus protecting the second charging electrode 117. In this way, the second charging electrode 117 can be protected when the main robot 200 and the sub-robot enter the accommodating cavity 121 and collide with the first positioning protrusion.

[0651] In addition, given that the cleaning base station 100 of the present application sets the second charging electrode 117 on the end wall of the raised first positioning protrusion, when the main robot reaches the first set position of the accommodating chamber, the main robot reaches the third position of the first positioning protrusion, and when the sub-robot reaches the second set position of the accommodating chamber, the sub-robot reaches the fourth position of the first positioning protrusion. The distance from the cross-sectional centroid of the first positioning protrusion at the fourth position to the wall of the accommodating chamber opposite to the opening is greater than or equal to the distance from the cross-sectional centroid of the first positioning protrusion at the third position to the wall of the accommodating chamber opposite to the opening. Therefore, on the basis of minimizing changes to the structure of the main robot 200 itself and the structure of the cleaning base station 100, the depth of the sub-robot penetrating into the accommodating chamber 121 when reaching the second set position is less than or equal to the depth of the main robot 200 penetrating into the accommodating chamber 121 when reaching the first set position, thereby avoiding the influence of the original positioning protrusion, water injection port 180, first charging electrode 124, anti-collision rubber strip and other structures of the main robot 200 on the sub-robot reaching the position when charging in the accommodating chamber.

[0652] In one embodiment of the present application, the positioning structure on the master robot 200 includes a first positioning groove 230 and a first flared portion located at the opening of the first positioning groove 230 for guiding the end of the first positioning protrusion into the opening. The opening of the first flared portion gradually decreases along the extension direction of the first positioning protrusion until it connects with the wall of the first positioning groove 230. As long as the first positioning protrusion can be smoothly guided into the first positioning groove 230, the tapered surface of the first flared portion can be tapered in a regular or irregular manner. By providing the first flared portion on the master robot 200, the positioning error window between the master robot 200 and the cleaning base station 100 can be increased, and the position of the master robot 200 can be corrected and positioned if the master robot 200 deviates during its movement.

[0653] In one embodiment of the present application, the positioning structure on the sub-robot includes a second positioning groove and a second flared portion located at the opening of the second positioning groove, which guides the end of the first positioning protrusion into the opening. The opening of the second flared portion gradually decreases along the extension direction of the first positioning protrusion until it connects with the wall of the second positioning groove. As long as it can smoothly guide the first positioning protrusion into the second positioning groove, the tapered surface of the second flared portion can also be tapered in a regular or irregular manner. By providing the second flared portion on the sub-robot, the positioning error window between the sub-robot and the cleaning base station 100 can be increased, and the position of the sub-robot can be corrected and positioned if the sub-robot deviates in its movement.

[0654] In one embodiment of the present application, the first positioning protrusion includes a positioning body and a guide body. The positioning body matches the first positioning groove 230 and the second positioning groove. The guide body is provided at the end of the first positioning protrusion and cooperates with the first flared portion to guide the positioning body into the first positioning groove 230. The structure of the guide body is not limited, as long as it can cooperate with the first flared portion to guide the positioning body into the first positioning groove 230. For example, the guide body can be a prism or a frustum. Referring to FIG. 23 , when the first positioning projection comprises an elastically retractable structure, the first positioning projection comprises the fixed body 111 and the movable body 112, the movable body 112 being slidably mounted on the fixed body 111 and comprising a sliding body and an elastic body 113, and the sliding body being able to slide relative to the fixed body 111, the guide body can be the sliding body, the positioning body can be the fixed body 111, and the guide body can slide on the positioning body, achieving elastic retraction and thus dynamically adjusting the position of the main robot 200 or the sub-robot in the base station during positioning and buffering the energy of the main robot 200 or the sub-robot impacting the base station. Providing the guide body at the end of the first positioning projection further increases the positioning error window between the main robot 200, the sub-robot, and the first positioning projection, compared to a solution in which no guide body is provided and only the first flared portion is provided on the main robot 200 and only the second flared portion is provided on the sub-robot. This allows for correcting and positioning the sub-robot's position in the event of deviation in its movement.

[0655] In one embodiment of the present application, a soft structure is provided on the wall of the accommodating cavity 121 opposite the opening 123 to protect the main robot 200 and the sub-robot from impact. The soft structure is not limited to a single piece or a combination of multiple pieces. The material of the soft structure includes, but is not limited to, an elastomer 113 such as rubber or silicone. The soft structure is positioned away from the first positioning protrusion. For example, it can be located above the first positioning protrusion, below the first protrusion, or both above and below the first positioning protrusion. As long as it can block the main robot 200 from entering the accommodating cavity 121 and the sub-robot from entering the accommodating cavity 121, the soft structure can provide impact protection for both the main robot 200 and the sub-robot. Those skilled in the art will appreciate that, if optimal protection is not a concern, the soft structure can also provide impact protection for only the main robot 200 or the sub-robot.

[0656] In one embodiment of the present application, the base station body 120 includes a dust collection system, the dust collection system includes a dust collection port, the main robot 200 includes a first dust discharge port, and the sub-robot includes a second dust discharge port; when the main robot 200 enters the first set position, the dust collection port matches and docks with the first dust discharge port, and when the sub-robot enters the second set position, the dust collection port matches and docks with the second dust discharge port. By introducing the dust collection system into the cleaning base station 100 of the present application, the functionality and practicality of the cleaning base station 100 are significantly improved. Under the positioning of the first positioning protrusion and the first positioning groove 230 on the main robot 200 and the second positioning groove on the sub-robot, the dust collection port equipped with the dust collection system can be more accurately docked with the first dust discharge port of the main robot 200 or the second dust discharge port of the sub-robot, thereby realizing automated and efficient dust collection and processing. When the main robot 200 moves to the first set position, the dust collection port automatically matches and docks with the first dust discharge port to clean the dust; similarly, when the sub-robot moves to the second set position, the dust collection port can also smoothly dock with the second dust discharge port to complete dust collection.

[0657] Taking into account the fact that the size of the sub-robot may not be able to share an interface with the main robot 200, in one embodiment of the present application, the dust collection port includes a first interface and a second interface, both of which are connected to the suction port of the dust collection system. When the main robot 200 enters the first set position, the second interface is closed or blocked by the main robot 200, and the first interface is matched and docked with the first dust discharge port to perform dust collection operations. When the sub-robot enters the second set position, the first interface is closed or blocked by the sub-robot, and the second interface is matched and docked with the second dust discharge port. It should be noted that the closure of the first interface or the second interface can be achieved by an existing electric control valve assembly, which can be obtained through general commercial means and will not be described in detail here.

[0658] It should be noted that the cleaning base station 100 of the present application also includes the essential parts of the existing conventional cleaning base station 100, such as the walking guide assembly for guiding the main robot 200 and the sub-robot to enter and exit the accommodating chamber 121. In this embodiment, the base station body 120 is installed with a first walking guide assembly 160, and the sub-robot and the main robot are respectively installed with corresponding second walking guide assemblies 220; the first walking guide assembly 160 cooperates with the second walking guide assembly 220 on the main robot 200 to guide the main robot 200 to the first set position of the accommodating chamber 121, and cooperates with the second walking guide assembly 220 on the sub-robot to guide the sub-robot to the second set position of the accommodating chamber 121. As long as they can cooperate to guide the main robot 200 and the sub-robot to walk to the corresponding positions in the accommodating chamber 121, the specific structural form and installation method of the first walking guide assembly 160 and the second walking guide assembly 220 are not limited, including but not limited to conventional positioning and guiding assemblies of walking robots such as infrared positioning modules, laser recognition components, and visual positioning components, or a combination of multiple. In this embodiment, the first walking guide assembly 160 installed on the cleaning base station 100 is a transmitting assembly of the infrared positioning module, and the second walking guide assembly 220 on the main robot 200 and the sub-robot is a receiving assembly that matches the transmitting assembly. The transmitting assembly and the receiving assembly cooperate to guide the main robot 200 or the sub-robot into the receiving cavity 121. It should be noted that the control method for guiding the main robot 200 or the sub-robot to walk to the cleaning base station 100 by the infrared positioning assembly is an existing method and will not be repeated here.

[0659] In one embodiment of the present application, the projection of the main robot 200 on the horizontal plane when in the first set position covers the projection of the sub-robot on the horizontal plane when in the second set position. This arrangement can make the accommodating cavity 121 have a smaller volume, which is conducive to reducing the overall volume of the cleaning base station 100.

[0660] Referring to Figures 14 and 15 , in one embodiment of the present application, the cleaning base station 100 is provided with a locking structure 170 within the accommodating cavity 121 for locking the main robot 200 and / or the sub-robot. The locking structure is used to lock the sub-robot and / or the sub-robot to the cleaning base station 100 after the sub-robot has moved into position. The locking structure can be a hook or an elastic locking structure. The locking structure between existing cleaning base stations and cleaning robots can be referred to and will not be further described here.

[0661] In one embodiment of the present application, guide rollers (not shown) are provided in the accommodating cavity 121 to guide the main robot 200. The guide rollers can guide the main robot 200 to the first position of the cleaning base station 100. The arrangement and position of the guide rollers can refer to existing base station forms and will not be described in detail here.

[0662] Considering the height difference between existing accommodating chambers and the ground, the present application further provides a cleaning base station 100 for use with a master robot 200 and a sub-robot. The cleaning base station 100 comprises a base station body 120, an accommodating chamber 121, and a climbing surface 140. The outer shape of the base station body 120 is not limited. For example, the base station body 120 may be generally rectangular in shape, or may be rectangular in shape at the bottom and spherical in shape at the top. However, considering the requirements of indoor decoration, an aesthetically pleasing and compact size is preferred. The accommodating chamber 121 is provided at the bottom of the base station body 120 and has an opening 123 for the main robot 200 and the sub-robot to interchangeably enter, so that the main robot 200 and the sub-robot can walk into the accommodating chamber 121; as long as it can accommodate the cleaning components and charging terminals of the main robot 200, the size and shape of the accommodating chamber 121 are not limited, for example, the main robot 200 can be fully accommodated, or partially accommodated, and the shape of the accommodating chamber 121 may not be consistent with the entry part of the main robot 200, for example, when the main robot 200 enters the accommodating chamber 121, the main robot 200 can enter the accommodating chamber 121. When the side of the accommodating chamber 121 is shaped like an arc, the sidewalls of the accommodating chamber 121 are square or prismatic in shape to accommodate the arc. However, preferably, to save space and ensure accurate guidance, the shape of the portion of the accommodating chamber 121 that mates with the master robot 200 closely matches that of the master robot 200. For example, when the side of the accommodating chamber 121 where the master robot 200 enters is shaped like an arc, the sidewalls of the accommodating chamber 121 also form a similar arc. When the side of the accommodating chamber 121 where the master robot 200 enters is flat, the sidewalls of the accommodating chamber 121 facing the opening 123 are also flat. The shape of the opening 123 is determined to facilitate smooth entry of the master robot 200 and the sub-robot into the accommodating chamber 121. For example, it can be rectangular or other shapes, which will not be further illustrated. The climbing surface 140 connects the ground and the accommodating chamber 121 at both ends, respectively. The climbing surface 140 is provided with anti-slip ribs and an auxiliary structure 122 to assist the sub-robot in navigating the climbing surface 140.

[0663] In this application, if the height difference between the accommodating chamber 121 and the ground is relatively small, the climbing surface 140 may not be provided. However, considering that the existing cleaning base station 100 is mostly provided with a cleaning trough 130 at the bottom of the accommodating chamber 121 and collects sewage at the bottom of the cleaning trough 130, it is necessary to have a higher height. Therefore, in this embodiment, the cleaning base station 100 also includes a climbing surface 140, and the two ends of the climbing surface 140 are respectively connected to the ground and the accommodating chamber 121, thereby providing a convenient passage for the main robot 200 or the sub-robot to enter and leave the cleaning base station 100. It should be noted that in this application, the cleaning trough 130 and the climbing surface 140 can also be fixedly or detachably connected to form the chassis of the cleaning base station, and the chassis can be detachably connected to the rest of the base station body. To facilitate the entry and exit of the main robot and sub-robot, the climbing surface 140 is equipped with a main climbing track 141, a sub-climbing track 142, and an auxiliary structure 122 to assist the sub-robot in navigating the climbing surface 140. The main climbing track 141 corresponds to the running wheels of the main robot 200 and is equipped with anti-skid ribs. The sub-climbing track 142 corresponds to the running wheels of the sub-robot and is also equipped with anti-skid ribs. The anti-skid ribs are designed to increase friction and prevent the running wheels of the main robot 200 or sub-robot from slipping. The specific structure is not limited and can be a combination of one or more striped or dotted arrays. The anti-skid ribs can effectively increase the friction coefficient of the climbing surface 140, preventing the main robot 200 or sub-robot from slipping or becoming unstable during the climbing process, thereby ensuring smooth climbing. The auxiliary structure 122 can be any suitable structure and type that can help the sub-robot successfully complete the climbing process, including but not limited to a rolling stop structure, a conveyor device, etc. Anti-skid ribs and the auxiliary structure 122 that assists the sub-robot in its climb further enhance the sub-robot's stability and safety during climbing. The anti-skid ribs effectively increase the friction coefficient of the climbing surface 140, preventing the sub-robot from slipping or becoming unstable during the climb, thereby ensuring smooth climbing. The auxiliary structure 122 also provides additional support and position-limiting guidance for the sub-robot, reducing the difficulty and risk of climbing, making the sub-robot's movement within the cleaning base station 100 smoother and more efficient.

[0664] Referring to Figures 24 to 38, in one embodiment of the present application, the auxiliary structure 122 includes a rotating body rotatably mounted on the climbing surface 140. The structural form of the rotating body is not limited, and it is suitable to be able to limit the sub-robot through the outer peripheral surface or the end surface along the axial direction during the rotation. In this embodiment, the rotating body is a mechanical roller, which can be obtained through general commercial means and does not need to be prepared separately, which is relatively low in cost. The rotating body transports the sub-robot through the climbing surface 140 and / or limits the sub-robot during the sub-robot climbing. The rotating body can reduce the resistance and limiting friction during the climbing process while achieving the limit, thereby improving the movement efficiency and stability of the sub-robot. Through the rotation and positioning of the rotating body, it is possible to ensure that the sub-robot maintains the correct posture and position during the climbing process, preventing safety risks caused by deviation or tilting. This limiting function not only enhances the safety of the sub-robot climbing, but also improves the stability and reliability of the overall cleaning base station 100.

[0665] Referring to Figures 29 and 30 , in one embodiment of the present application, the sub-robot includes two coaxially arranged running wheels; when the sub-robot reaches the second position, the two running wheels are respectively located on the first longitudinal rib 1311 and the second longitudinal rib 1321 within the cleaning tank 130. The rotating bodies include a first rotating body group and a second rotating body group arranged on the climbing surface 140 at intervals along the width of the climbing surface 140. The first rotating body group includes at least two first rotating bodies 143, and the second rotating body group includes at least two second rotating bodies 144. The rotating shaft axis of the first rotating body 143 and the rotating shaft axis of the second rotating body 144 both extend along the width direction of the climbing surface 140, and at least two of the first rotating bodies 143 are arranged at intervals along the climbing direction of the climbing surface 140, and at least two of the second rotating bodies 144 are arranged at intervals along the climbing direction of the climbing surface 140. The first rotating body 143 and the second rotating body 144 are arranged to form two sub-climbing tracks 142 corresponding to the two walking wheels of the sub-robot and connected to two longitudinal ribs. In the present application, the climbing direction of the climbing surface 140 is defined as a direction extending along the climbing surface 140 from the end of the climbing surface 140 connected to the ground to the end of the climbing surface 140 connected to the accommodating chamber 121, and the projection of the climbing direction on the horizontal plane is perpendicular to the plane formed by the left and right ends of the base station side wall (see the X direction in Figure 25 for details), and the width direction of the climbing surface 140 is defined as a direction extending perpendicular to the climbing direction along the climbing surface 140 (see the Y direction in Figure 25 for details). The same will not be repeated below. The auxiliary structure 122 also includes a driving device, which includes but is not limited to a motor or a combination of a motor and a reduction assembly, and the reduction assembly includes but is not limited to one or more combinations of a gear reduction assembly, a belt reduction assembly, and a chain reduction assembly. The driving device drives the first rotating body 143 and the second rotating body 144 to rotate to transmit the walking wheels located on the sub-climbing track 142. The driving device drives the first rotating body 143 and the second rotating body 144 to rotate, so as to provide the sub-robot with uphill power for climbing on the climbing surface 140, transfer the sub-robot's running wheels to the second set position, and transfer the sub-robot during the sub-robot's downhill process, so that it can go downhill smoothly. By introducing the driving device as part of the auxiliary structure 122, the sub-robot can be transferred by the rotating rotating body while limiting the position, so that the sub-robot can easily cope with the challenges of various slopes when the driving force for climbing is insufficient. This not only improves the sub-robot's climbing ability, but also ensures its stability and reliability in complex terrain. A first recess 1431 is formed between adjacent first rotating bodies 143, and a second recess 1441 is formed between adjacent second rotating bodies 144. The first recess 1431 and the second recess 1441 are used to limit the running wheels of the sub-robot.Because the axis of the rotating body aligns with the width of the climbing surface 140, the rotating body provides greater stability, preventing the sub-robot from slipping or deviating while climbing. Furthermore, by spacing the rotating bodies and providing recesses between them, the sub-robot's running wheels can be positioned, helping to ensure the sub-robot maintains a correct trajectory while climbing and preventing it from sliding off the climbing surface 140.

[0666] In one embodiment of the present application, the sub-robot includes two coaxially arranged running wheels. When the sub-robot reaches the second position, the two running wheels of the sub-robot are located on the first longitudinal rib 1311 and the second longitudinal rib 1321 within the cleaning tank 130, respectively. The climbing surface 140 is provided with at least two sub-climbing tracks 142, corresponding to the running wheels of the two sub-robots. One end of one sub-climbing track 142 connects to the first longitudinal rib 1311, and one end of the other sub-climbing track 142 connects to the second longitudinal rib 1321, thereby forming two running tracks for the sub-robot to travel to the second set position. When climbing, the two running wheels of the sub-robot respectively run on the two sub-climbing tracks 142 provided on the climbing surface 140. When entering the cleaning tank 130, the two running wheels of the sub-robot run on the first longitudinal rib 1311 and the second longitudinal rib 1321. The sub-climbing track 142 can either protrude from the climbing surface 140 or be flush with the climbing surface 140. Anti-slip ribs can also be provided within the sub-climbing track 142 to provide a stable path for the running wheels, ensuring that the sub-robot can move in a predetermined direction during the climbing process. The rotating bodies include a first rotating body group and a second rotating body group arranged on the climbing surface 140 along the width direction of the climbing surface 140 at intervals. The first rotating body group includes at least one first rotating body 143, and the second rotating body group includes at least one second rotating body 144. The rotating bodies can be arranged such that the outer circumference of the first rotating body 143 corresponds to the end face of one of the running wheels, and the outer circumference of the second rotating body 144 corresponds to the end face of the other running wheel, as shown in Figures 35 to 38. Alternatively, the end face of the first rotating body 143 can be arranged such that the end face of one of the running wheels corresponds to the end face of the other running wheel, and the end face of the second rotating body 144 can be arranged such that the end face of the first rotating body 143 corresponds to the end face of one of the running wheels, and the end face of the second rotating body 144 corresponds to the end face of the other running wheel, as shown in Figures 24 to 30, to limit the position of the sub-robot. It should be noted that, in the present application, the outer peripheral surface of the first rotating body 143 or the outer peripheral surface of the second rotating body 144 is defined as the outermost surface formed when the rotating body rotates in space. For example, when the first rotating body 143 and the second rotating body 144 are cylinders, their outer peripheral surfaces are the side surfaces of the cylinder. The end surface of the first rotating body 143 or the end surface of the second rotating body 144 is defined as the plane at both ends of the rotating body in the axial direction. For example, for a cylinder, its end surface is the two planes at the top and bottom of the cylinder. The same will be omitted below. These two groups of rotating bodies are arranged at intervals along the width direction of the climbing surface 140, and their positions correspond to the sub-climbing track 142. When the sub-robot starts to climb, the running wheels roll forward in the sub-climbing track 142 and prevent it from deviating from the sub-climbing track 142 by contacting the outer peripheral surfaces or end surfaces of the first rotating body 143 and the second rotating body 144.The outer circumference or end faces of these rotors are in contact with the end faces of the running wheels. The first rotor 143 and the second rotor 144 rotate under the friction of the sub-robot's running wheels, which can achieve position limiting while allowing the sub-robot to climb smoothly. Because the rotors are arranged corresponding to the running wheels, they can effectively limit the lateral movement of the sub-robot along the width direction of the climbing surface 140 during the climbing process. This design significantly improves the stability, guidance and position limiting effect of the sub-robot during the climbing process by optimizing the configuration of the running wheels, the sub-climbing track 142 and the rotor group, providing a strong guarantee for its efficient and accurate execution of tasks in various application scenarios.

[0667] In the present application, the outer circumference of the first rotating body 143 and the outer circumference of the second rotating body 144 are arranged corresponding to the end face of the walking wheel, so that there are multiple schemes for limiting the walking wheel. As shown in Figures 35 and 36, in one embodiment of the present application, the rotation axes of the first rotating body 143 and the second rotating body 144 are perpendicular to the rotation axes of the walking wheels and perpendicular to the travel direction of the sub-robot. The outer circumference of the first rotating body 143 is arranged corresponding to the inner end face of one of the walking wheels, and the outer circumference of the second rotating body 144 is arranged corresponding to the inner end face of the other walking wheel. However, as shown in Figures 37 and 38, in another embodiment of the present application, the rotation axes of the first rotating body 143 and the second rotating body 144 are perpendicular to the rotation axes of the walking wheels and perpendicular to the travel direction of the sub-robot. The outer circumference of the first rotating body 143 is arranged corresponding to the outer end face of one of the walking wheels, and the outer circumference of the second rotating body 144 is arranged corresponding to the outer end face of the other walking wheel. It should be noted that the inner end face of the running wheel is defined as the end face perpendicular to the running wheel axis and facing the other running wheel, and the outer end face of the running wheel is defined as the end face perpendicular to the running wheel axis and away from the other running wheel. The same will be omitted below. The rotation axes of the first rotating body 143 and the second rotating body 144 are perpendicular to the direction of travel of the sub-robot and the rot...

Claims

1. A control method for a cleaning system, characterized in that: The cleaning system includes a cleaning base station, a main robot, and at least one sub-robot, wherein the sub-robot, under the guidance of the main robot, moves to a work area or returns to the cleaning base station. The cleaning base station supports providing services to the main robot and one of the sub-robots at a time, wherein the services include a first type of service and a second type of service; the first type of service takes longer time than the second type of service. The method includes: When the main robot and the sub-robot both have first-type service requirements and / or both have second-type service requirements, the main robot and the sub-robot take turns entering the cleaning base station according to the target order, so that the cleaning base station provides services for the corresponding robots.

2. The method according to claim 1, characterized in that The target sequence includes any of the following: Pre-set order; Alternatively, the order in which the main robot and the sub-robot arrive at the cleaning base station; Alternatively, the master robot and the sub-robots are arranged in an order based on the values ​​of the working parameters corresponding to the service requirements; Alternatively, the main robot and the sub-robots are arranged in descending order according to the amount of cleaning tasks to be performed.

3. The method according to claim 2, characterized in that The order obtained by sorting the values ​​of the working parameters corresponding to the service requirements is: the order obtained by sorting from small to large remaining power, or the order obtained by sorting from small to large collectible dust amount.

4. A control method for a cleaning system, characterized in that: The cleaning system includes a cleaning base station, a main robot, and at least one sub-robot, wherein the sub-robot, under the guidance of the main robot, moves to a work area or returns to the cleaning base station. The cleaning base station supports providing services to the main robot and one of the sub-robots at a time, wherein the services include a first type of service and a second type of service; the first type of service takes longer time than the second type of service. The method includes: When the main robot has a first type of service requirement and the sub-robot has a second type of service requirement, the sub-robot first enters the cleaning base station so that the cleaning base station provides the second type of service for the sub-robot; After the sub-robot exits the cleaning base station, the main robot enters the cleaning base station, so that the cleaning base station provides the first type of service for the main robot.

5. The method according to claim 4, characterized in that After the sub-robot exits the base station, the method further includes: The master robot guides the slave robot to the work area.

6. A control method for a cleaning system, characterized in that: The cleaning system includes a cleaning base station, a main robot, and at least one sub-robot, wherein the sub-robot, under the guidance of the main robot, moves to a work area or returns to the cleaning base station. The cleaning base station supports providing services to the main robot and one of the sub-robots at a time, wherein the services include a first type of service and a second type of service; the first type of service takes longer time than the second type of service. The method includes: During the process of the cleaning base station providing the first type of service for the main robot, if the sub-robot has a second type of service requirement, the main robot exits the cleaning base station and the sub-robot enters the cleaning base station, so that the cleaning base station provides the second type of service for the sub-robot; After the sub-robot exits the cleaning base station, the main robot re-enters the cleaning base station, so that the cleaning base station continues to provide the first type of service for the main robot.

7. The method according to claim 6, characterized in that After the sub-robot exits the cleaning base station, the method further includes: The main robot guides the sub-robot to the working area corresponding to the cleaning task.

8. A method for controlling a cleaning system, characterized in that: The cleaning system includes a cleaning base station, a main robot, and at least one sub-robot, wherein the sub-robot, under the guidance of the main robot, moves to a work area or returns to the cleaning base station. The cleaning base station supports providing services to the main robot and one of the sub-robots at a time, wherein the services include a first type of service and a second type of service; the first type of service takes longer time than the second type of service. The method includes: When the sub-robot has a first type of service requirement and the main robot has a second type of service requirement, the main robot first enters the cleaning base station so that the cleaning base station provides the second type of service for the main robot; After the main robot exits the cleaning base station, the sub-robot enters the cleaning base station, so that the cleaning base station provides the sub-robot with a first type of service.

9. The method according to claim 8, characterized in that The method further comprises: After the main robot exits the cleaning base station, it continues to perform the cleaning task.

10. A method for controlling a cleaning system, characterized in that: The cleaning system includes a cleaning base station, a main robot, and at least one sub-robot, wherein the sub-robot, under the guidance of the main robot, moves to a work area or returns to the cleaning base station. The cleaning base station supports providing services to the main robot and one of the sub-robots at a time, wherein the services include a first type of service and a second type of service; the first type of service takes longer time than the second type of service. The method includes: During the process of the cleaning base station providing the first type of service for the sub-robot, if the main robot has a second type of service requirement, the sub-robot exits the cleaning base station and the main robot enters the cleaning base station, so that the cleaning base station provides the second type of service for the main robot; After the main robot exits the cleaning base station, the sub-robot re-enters the cleaning base station, so that the cleaning base station continues to provide the first type of service for the sub-robot.

11. The method according to claim 10, characterized in that The method further comprises: After the main robot exits the cleaning base station, it continues to perform the cleaning task.

12. The method according to any one of claims 1 to 11, characterized in that The first type of service includes: charging service; the second type of service includes at least one of the following services: dust collection service, water replenishment service, and cleaning component cleaning service.

13. A method for controlling a cleaning system, characterized in that: The cleaning system includes a cleaning base station, a main robot, and at least one sub-robot, wherein the sub-robot, under the guidance of the main robot, moves to a work area or returns to the cleaning base station, and the cleaning base station supports providing services to one of the main robot and the sub-robot at a time; the method includes: When the main robot has a service demand and the sub-robot has no service demand, the main robot enters the cleaning base station, and the sub-robot performs a target action, which includes standing by or performing a cleaning task.

14. The method according to claim 13, characterized in that The sub-robot performs a target action, including: The sub-robot waits within a preset range of the cleaning base station or waits at the original location.

15. The method according to claim 13 or 14, characterized in that The method further comprises: After the main robot exits the cleaning base station, it guides the sub-robot to continue performing the cleaning task.

16. The method according to any one of claims 13 to 15, characterized in that The main robot enters the cleaning base station, and the sub-robot performs a target action, including: After the main robot guides the sub-robot to the next working area, it enters the cleaning base station to make the The cleaning base station provides services for the main robot; Accordingly, the sub-robot waits in the next working area, or performs a cleaning task.

17. A method for controlling a cleaning system, characterized in that: The cleaning system includes a cleaning base station, a main robot, and at least one sub-robot, wherein the sub-robot, under the guidance of the main robot, moves to a work area or returns to the cleaning base station, and the cleaning base station supports providing services to one of the main robot and the sub-robot at a time; the method includes: When the sub-robot has a service demand and the main robot has no service demand, the main robot guides the sub-robot into the cleaning base station so that the cleaning base station provides service for the sub-robot.

18. The method according to claim 17, characterized in that The main robot guides the sub-robot to enter the cleaning base station, comprising: When the distance between the main robot and the cleaning base station is less than or equal to a first distance threshold, the main robot guides the sub-robot into the cleaning base station in the current working area, or the main robot follows and guides the sub-robot into the cleaning base station; When the distance between the main robot and the cleaning base station is greater than a first distance threshold, the main robot follows and guides the sub-robot into the cleaning base station.

19. The method according to claim 18, characterized in that After the main robot follows and guides the sub-robot into the cleaning base station, the method further includes: The main robot continues to perform the cleaning task.

20. The method according to any one of claims 17 to 19, characterized in that The method further comprises: After the cleaning base station finishes providing services for the sub-robot, the sub-robot exits the cleaning base station; The master robot guides the slave robot to the working area.

21. The method according to any one of claims 17 to 20, characterized in that The method further comprises: After the cleaning base station finishes providing services for the sub-robot, the sub-robot waits in the cleaning base station or waits within a preset range of the cleaning base station.

22. The method according to any one of claims 1 to 21, characterized in that The main robot includes a sweeping component and a mopping component, and the sub-robot includes a sweeping component.

23. A cleaning system, characterized in that: The cleaning system includes a cleaning base station, a main robot and at least one sub-robot, wherein the cleaning base station supports providing services to one of the main robot and the sub-robot at a time; The master robot is configured to guide the sub-robot to perform a cleaning task, and to perform the method according to any one of claims 1 to 22; The sub-robot is configured to perform cleaning tasks under the guidance of the main robot, and to perform the method according to any one of claims 1 to 22.

24. A cleaning base station, characterized in that: Used in conjunction with the main robot and the sub-robot, the cleaning base station includes: Base station body; an accommodating cavity, provided at the bottom of the base station body and having an opening for the main robot and the sub-robot to interchangeably enter; At least two first positioning devices are provided in the accommodating cavity and located on the wall opposite to the opening, so as to cooperate with the positioning structure of the main robot to position the main robot; a first charging electrode, provided on a wall of the accommodating cavity opposite to the opening, comprising a first positive electrode and a first negative electrode, wherein when the master robot reaches a first set position of the accommodating cavity, the first charging electrode is electrically connected to a charging terminal of the master robot; The second charging electrode includes a second positive electrode and a second negative electrode. The second positive electrode and the second negative electrode are respectively arranged at the end of at least two of the first positioning devices, and can be electrically connected to the charging terminal of the sub-robot when the sub-robot reaches the second set position.

25. The cleaning base station according to claim 24, characterized in that The first positioning device cooperates with the positioning structure of the sub-robot to position the sub-robot.

26. The cleaning base station according to claim 24 or 25, characterized in that: The first positioning device protrudes into the accommodating cavity to form a first positioning protrusion, and the first positioning protrusion extends into the positioning structure of the main robot or the sub-robot along the moving direction of the main robot and the sub-robot for positioning, and the end surface area of ​​the first positioning protrusion is smaller than the bottom surface area of ​​the first positioning protrusion.

27. The cleaning base station according to claim 26, characterized in that At least a portion of the first positioning protrusion is a frustum, and the small end of the frustum faces the opening.

28. The cleaning base station according to claim 26 or 27, characterized in that: When the main robot reaches the first set position of the accommodating cavity, the main robot reaches the third position of the first positioning protrusion. When the sub-robot reaches the second set position of the accommodating cavity, the sub-robot reaches the fourth position of the first positioning protrusion. The distance from the cross-sectional centroid of the first positioning protrusion at the fourth position to the wall of the accommodating cavity opposite to the opening is greater than or equal to the distance from the cross-sectional centroid of the first positioning protrusion at the third position to the wall of the accommodating cavity opposite to the opening.

29. The cleaning base station according to claim 28, characterized in that The second charging electrode is arranged on the end wall of the first positioning protrusion close to the opening.

30. The cleaning base station according to claim 28 or 29, characterized in that: The first positioning protrusion includes an elastic telescopic structure, and the elastic telescopic structure is telescopic along the direction of entry of the main robot.

31. The cleaning base station according to any one of claims 26 to 29, characterized in that: The first positioning protrusion is a non-retractable structure.

32. The cleaning base station according to claim 30, characterized in that The first positioning protrusion includes a fixed body and a movable body, the fixed body is fixedly installed on the wall of the accommodating cavity opposite to the opening, the movable body is slidably installed on the fixed body, and includes a sliding body and an elastic body, the sliding body can slide relative to the fixed body and is connected to the elastic body, and the elastic body stores or releases energy during the sliding process of the sliding body.

33. The cleaning base station according to claim 32, characterized in that The elastic body is a spring, and an installation cavity is provided on the fixed body. The spring is installed in the installation cavity. The sliding body is slidably inserted into the installation cavity and squeezes or releases the spring during the sliding process to retract the second charging electrode into the installation cavity or extend from the installation cavity.

34. The cleaning base station according to claim 32 or 33, characterized in that: The third position and the fourth position are located on the fixed body.

35. The cleaning base station according to claim 26, characterized in that The positioning structure on the main robot and / or the positioning structure on the sub-robot includes a positioning groove and a flared portion located at the opening of the positioning groove to guide the first positioning device to enter. The first positioning device includes a positioning body and a guide body. The positioning body matches the positioning groove, and the guide body guides the positioning body into the positioning groove.

36. The cleaning base station according to claim 24, characterized in that A soft structure for protecting the main robot and / or the sub-robot from collision is provided on the wall opposite to the opening.

37. The cleaning base station according to claim 24, characterized in that The cleaning base station further includes a second positioning device, which is located on the side wall or bottom of the accommodating cavity to cooperate with the positioning structure of the sub-robot to position the sub-robot.

38. The cleaning base station according to claim 24, characterized in that The base station body includes a dust collection system, the dust collection system includes a dust collection port, the main robot includes a first dust discharge port, and the sub-robot includes a second dust discharge port; when the main robot enters the first set position, the dust collection port matches and docks with the first dust discharge port, and when the sub-robot enters the second set position, the dust collection port matches and docks with the second dust discharge port.

39. The cleaning base station according to claim 38, characterized in that The dust collection port includes a first interface and a second interface, and the first interface and the second interface are connected to the suction port of the dust collection system. When the main robot enters the first set position, the first interface is matched and docked with the first dust discharge port. When the sub-robot enters the second set position, the second interface is matched and docked with the second dust discharge port.

40. The cleaning base station according to claim 24, characterized in that A walking guide component is installed on the base station body; the walking guide component cooperates with the walking guide component on the main robot to guide the main robot to reach the first set position of the accommodating cavity, and cooperates with the walking guide component on the sub-robot to guide the sub-robot to reach the second set position of the accommodating cavity.

41. The cleaning base station according to claim 40, characterized in that The walking guide component includes at least one of an infrared positioning module and a visual positioning component, or a combination of the two.

42. The cleaning base station according to claim 24, characterized in that The projection of the master robot on the horizontal plane when it is in the first set position covers the projection of the slave robot on the horizontal plane when it is in the second set position.

43. The cleaning base station according to claim 24, characterized in that The cleaning base station is provided with a locking structure in the accommodating cavity for locking the main robot and / or the sub-robot.

44. The cleaning base station according to claim 24, characterized in that A guide roller is provided in the accommodating cavity for guiding the main robot to enter.

45. A cleaning base station, characterized in that: Used in conjunction with the main robot and the sub-robot, the cleaning base station includes: Base station body; an accommodating cavity, provided at the bottom of the base station body and having an opening for the main robot and the sub-robot to interchangeably enter; A climbing surface, with both ends of the climbing surface connected to the ground and the accommodating cavity respectively, and an anti-slip rib and an auxiliary structure for assisting the sub-robot to pass through the climbing surface are provided on the climbing surface.

46. ​​The cleaning base station according to claim 45, characterized in that The auxiliary structure includes a rotating body rotatably mounted on the climbing surface; the rotating body transports the sub-robot to pass through the climbing surface and / or limits the sub-robot during the sub-robot's climbing process.

47. The cleaning base station according to claim 46, characterized in that The auxiliary structure further includes a driving device, which drives the rotating body to rotate so as to provide transmission power for the sub-robot to climb the climbing surface.

48. The cleaning base station according to claim 47, characterized in that The rotating shaft axis of the rotating body extends along the width direction of the climbing surface, and at least two rotating bodies are arranged at intervals along the climbing direction of the climbing surface, and recesses for limiting the walking wheels of the sub-robot are formed between adjacent rotating bodies.

49. The cleaning base station according to claim 46, characterized in that The sub-robot includes two coaxially arranged walking wheels; at least two sub-climbing tracks are provided on the climbing surface, respectively corresponding to the two walking wheels, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least one first rotating body, and the second rotating body group includes at least one second rotating body, the outer peripheral surface of the first rotating body is arranged corresponding to the end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the end surface of the other walking wheel, so as to limit the sub-robot.

50. The cleaning base station according to claim 49, characterized in that The rotating axes of the first rotating body and the second rotating body are perpendicular to the rotating axes of the walking wheels and perpendicular to the moving direction of the sub-robot. The outer peripheral surface of the first rotating body is arranged corresponding to the inner end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the inner end surface of the other walking wheel.

51. The cleaning base station according to claim 49, characterized in that The rotating axes of the first rotating body and the second rotating body are perpendicular to the rotating axes of the walking wheels and perpendicular to the moving direction of the sub-robot. The outer peripheral surface of the first rotating body is arranged corresponding to the outer end surface of one of the walking wheels, and the outer peripheral surface of the second rotating body is arranged corresponding to the outer end surface of the other walking wheel.

52. The cleaning base station according to claim 46, characterized in that The sub-robot includes two coaxially arranged walking wheels; at least two sub-climbing tracks are provided on the climbing surface, respectively corresponding to the two walking wheels, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least one first rotating body, and the second rotating body group includes at least one second rotating body, the end face of the first rotating body is arranged corresponding to the end face of one of the walking wheels, and the end face of the second rotating body is arranged corresponding to the end face of the other walking wheel, so as to limit the sub-robot.

53. The cleaning base station according to claim 52, characterized in that The rotating axes of the first rotating body and the second rotating body are parallel to the rotating axes of the walking wheels; the outer end face of the first rotating body is arranged corresponding to the inner end face of the walking wheel on one side, and the outer end face of the second rotating body is arranged corresponding to the inner end face of the walking wheel on the other side.

54. The cleaning base station according to claim 52, characterized in that The rotating axes of the first rotating body and the second rotating body are parallel to the rotating axes of the walking wheels; the inner end face of the first rotating body is arranged corresponding to the outer end face of the walking wheel on one side, and the inner end face of the second rotating body is arranged corresponding to the outer end face of the walking wheel on the other side.

55. The cleaning base station according to claim 46, characterized in that The sub-robot includes two coaxially arranged running wheels; at least two sub-climbing tracks are provided on the climbing surface, respectively corresponding to the two running wheels, and the rotating body includes a first rotating body group and a second rotating body group arranged at intervals on the climbing surface along the width direction of the climbing surface, the first rotating body group includes at least two first rotating bodies, and the second rotating body group includes at least two second rotating bodies, and at least two first rotating bodies are arranged at intervals along the extension direction of the sub-climbing track on one side, and the axes are parallel to each other; the second rotating bodies are arranged at intervals along the extension direction of the sub-climbing track on the other side, and the axes are parallel to each other.

56. The cleaning base station according to claim 45, characterized in that The auxiliary structure includes one or more combinations of a roller transmission assembly, a crawler transmission assembly, a gear rack transmission assembly, and a chain transmission assembly to transmit the sub-robot upward along the climbing surface, so that the sub-robot passes through the climbing surface.

57. The cleaning base station according to claim 46, characterized in that The rotating body is a mechanical roller.

58. The cleaning base station according to any one of claims 45 to 57, characterized in that: The cleaning base station includes a cleaning tank arranged at the bottom of the accommodating cavity. When the main robot reaches the first set position, the cleaning tank corresponds to the cleaning component of the main robot to clean the cleaning component.

59. The cleaning base station according to claim 58, characterized in that The cleaning component includes a rag plate, and a cleaning rib component for cleaning the rag plate is provided in the cleaning tank. When the main robot reaches the first set position, the cleaning rib component corresponds to the rag plate to clean the rag plate.

60. The cleaning base station according to claim 59, characterized in that When the sub-robot reaches the second set position, the walking wheels of the sub-robot are located outside the cleaning tank, and the cleaning rib assembly is configured to support the portion of the sub-robot that extends above the cleaning tank.

61. The cleaning base station according to claim 59, characterized in that When the sub-robot reaches the second set position, the walking wheels of the sub-robot are located in the cleaning tank, and a passage is provided in the cleaning tank to allow the sub-robot to pass through and reach the second set position.

62. The cleaning base station according to claim 61, characterized in that A limiting member for limiting the position of the sub-robot is provided in the channel.

63. The cleaning base station according to claim 61, characterized in that The cleaning assembly includes a first rag plate and a second rag plate, and the first rag plate and the second rag plate are arranged along the width direction of the main robot. The cleaning rib assembly includes a first cleaning rib unit and a second cleaning rib unit. The first cleaning rib unit is arranged corresponding to the first rag plate, and the second cleaning rib unit is arranged corresponding to the second rag plate. The channel is arranged on the cleaning ribs of the first cleaning rib unit and the second cleaning rib unit or between the cleaning ribs.

64. The cleaning base station according to claim 62, characterized in that The limiting member includes a baffle disposed in the cleaning tank, and along a plane perpendicular to the walking direction of the sub-robot, the height of the baffle is less than or equal to the height of the cleaning rib assembly.

65. The cleaning base station according to any one of claims 61-64, characterized in that The channel is a track for the running wheels of the sub-robot to run on, and the running wheels of the sub-robot run along the track to enter the cleaning tank.

66. The cleaning base station according to claim 65, characterized in that The track is arranged to protrude from the bottom of the cleaning tank. Along the plane perpendicular to the walking direction of the sub-robot, the height of the track is less than or equal to the height of the cleaning rib assembly. One end of the track is connected to the side of the cleaning tank close to the opening, and the other end of the track extends into the cleaning tank along the entry direction of the sub-robot.

67. The cleaning base station according to claim 65 or 66, characterized in that The track further includes a wall surface provided along at least one side of the moving direction of the sub-robot, and the height of the top of the wall surface along the plane perpendicular to the walking direction of the sub-robot is less than or equal to the height of the cleaning rib assembly.

68. The cleaning base station according to claim 65, characterized in that Anti-skid ribs are arranged on the track surface of the track.

69. The cleaning base station according to claim 65, characterized in that The cleaning rib assembly includes longitudinal ribs extending along the walking direction of the sub-robot, and the track is the longitudinal ribs.

70. The cleaning base station according to claim 62, characterized in that A sewage filter component is provided in the cleaning tank, and the limiting component is provided on the sewage filter component.

71. A sub-robot, characterized in that: Used to cooperate with a main robot and a cleaning base station according to any one of claims 24 to 70 to complete corresponding cleaning operations, the cleaning base station comprising at least two first positioning devices for limiting the position of the main robot, and the sub-robot comprising: Handset housing; A cleaning component is installed on the sub-machine housing; A running wheel is mounted on the bottom of the sub-machine housing and moves on its own to enable the cleaning assembly to complete the corresponding cleaning operation; The charging terminal is provided on the sub-machine housing and corresponds to the positions of the two first positioning devices, so as to be electrically connected to the second charging electrodes on the two first positioning devices when the sub-robot reaches the second set position of the cleaning base station.

72. The sub-robot according to claim 71, characterized in that: The first positioning device protrudes into the accommodating cavity of the cleaning base station and extends along the moving direction of the sub-robot. A positioning groove matching the first positioning device is provided on the sub-machine housing, and the charging terminal is provided in the positioning groove.

73. The sub-robot according to claim 71 or 72, characterized in that: The sub-robot also includes a dust discharge port, the cleaning base station includes a dust collection system, and the dust collection system includes a dust collection port for collecting dust for the main robot. When the sub-robot enters the second set position, the dust discharge port position of the sub-robot matches and docks with the dust collection port.

74. The sub-robot according to claim 73, characterized in that: The sub-robot also includes a dust discharge port, and the cleaning base station includes a dust collection system. The dust collection system includes a first dust collection port for collecting dust for the main robot and a second interface for collecting dust for the sub-robot. When the sub-robot enters the second set position, the dust discharge port position of the sub-robot matches and docks with the second interface.

75. A cleaning system, comprising a main robot and a sub-robot, characterized in that: It also includes the cleaning base station according to any one of claims 24 to 70, wherein the main robot and the sub-robot share the cleaning base station for charging operations.

76. A multi-robot collaboration method, characterized in that: The multi-robot comprises a main robot and at least one sub-robot; the sub-robot is used to perform supplementary work in an area where the main robot cannot operate; the main robot is equipped with a sub-robot position sensing unit, the sub-robot position sensing unit is used to determine the position information of the sub-robot relative to the main robot, so that the main robot assists the sub-robot in performing repositioning based on the position information; the method comprises: When the main robot assists the sub-robot in performing repositioning and the sub-robot position perception unit of the main robot cannot perceive the sub-robot, the main robot performs a search action, and / or the sub-robot performs a response action, so that the main robot attempts to perceive the sub-robot.

77. The method according to claim 76, characterized in that In the case that the position of the sub-robot and the position of the main robot meet the repositioning requirements of the sub-robot posture perception unit, the main robot assists the sub-robot in performing repositioning; wherein, Based on the operation map and information detected in real time by the master robot and the slave robot but not stored in the operation map, it is determined whether the relocation requirement is met.

78. The method according to claim 76 or 77, characterized in that When the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking the sub-machine posture perception unit from detecting the sub-robot, the main robot assists the sub-robot in performing repositioning.

79. The method according to any one of claims 76 to 78, wherein When the environmental characteristics of the sub-robot's location, and / or the environmental characteristics of the main robot's location, and / or the environmental characteristics of the area between the main robot and the sub-robot meet the repositioning requirements of the sub-robot posture perception unit, the main robot assists the sub-robot in performing repositioning; wherein, the environmental characteristics include at least one of the ambient light brightness and obstacle distribution characteristics.

80. The method according to any one of claims 77 to 79, wherein Before the master robot assists the slave robot in performing repositioning, the method further includes: The sub-robot and / or the main robot moves to a position that meets the repositioning requirements of the sub-robot posture perception unit.

81. The method according to claim 80, characterized in that The sub-robot and / or the main robot moves to a position that meets the relocation requirement of the sub-robot position perception unit, including: When the master robot confirms that the slave robot has performed repositioning, the master robot moves to a master robot operation area surrounding a slave robot operation area where the slave robot is currently performing an operation.

82. The method according to claim 80, wherein The sub-robot and / or main robot moves to a position that meets the repositioning requirements of the sub-machine posture perception unit, including: the sub-robot moves from the sub-machine operation area where the operation is currently performed to the main machine operation area around the sub-machine operation area; or, the sub-robot moves to the boundary between the sub-machine operation area and the main machine operation area.

83. The method according to any one of claims 76 to 82, wherein: The search action includes: The master robot moves toward a first target position in the operation map until the master robot senses the slave robot before triggering a first preset stop condition, or the master robot triggers the first preset stop condition; wherein, The first preset stopping condition includes the main robot moving to a first target position; The first target position is the position of the sub-robot in the operation map when the master robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the operation map.

84. The method according to any one of claims 76 to 83, wherein The search action includes: The master robot moves around the reference position within a specified range relative to the reference position until the master robot senses the sub-robot before triggering a second preset stop condition, or the master robot triggers the second preset stop condition; wherein, The second preset stop condition includes at least one of the following conditions: the position of the master robot exceeds the specified range; the movement time of the master robot exceeds the preset movement time; the movement distance of the master robot exceeds the preset distance threshold; The reference position is the position of the main robot in the work map when the main robot assists the sub-robot in performing repositioning, or the position of the sub-robot in the work map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the work map.

85. The method according to any one of claims 76 to 84, wherein Before the main robot performs the search action, the method further includes: The master robot performs repositioning; When it is determined based on the repositioning information that there is no deviation in the position and posture information of the master robot, the master robot performs a search action; When it is determined based on the repositioning information that there is a deviation in the posture information of the master robot, the master robot adjusts the posture so that the adjusted posture meets the repositioning requirement of the posture perception unit of the slave robot.

86. The method according to any one of claims 76 to 85, wherein The response actions include: The sub-robot moves toward the second target position in the operation map until the sub-robot is sensed by the main robot before triggering the first preset stop condition, or the sub-robot triggers the third preset stop condition; wherein, The third preset stopping condition at least includes the sub-robot moving to the second target position; The second target position is the position of the master robot in the operation map when the master robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the operation map.

87. The method according to any one of claims 76 to 85, wherein The response actions include: Within a specified range relative to the reference position, the sub-robot moves around the reference position until the sub-robot is sensed by the main robot before triggering the fourth preset stop condition, or the sub-robot triggers the fourth preset stop condition; wherein, The fourth preset stop condition includes at least one of the following conditions: the position of the sub-robot exceeds the specified range; the movement time of the sub-robot exceeds the preset movement time; the movement distance of the sub-robot exceeds the preset distance threshold; The reference position is the position of the main robot in the work map when the main robot assists the sub-robot in performing repositioning, or the position of the sub-robot in the work map when the main robot assists the sub-robot in performing repositioning, or the release position of the sub-robot marked in the work map.

88. The method according to any one of claims 76 to 87, wherein After the main robot performs a search action and / or the sub-robot performs a response action, and the main robot does not sense the sub-robot, the main robot and / or the sub-robot issues a reminder, which is used to request a user or a third-party device to assist in finding the sub-robot.

89. A multi-robot collaboration method, characterized in that: The multi-robot comprises a main robot and at least one sub-robot; the sub-robot is used to perform supplementary work in an area where the main robot cannot operate; the main robot is equipped with a sub-robot position sensing unit, the sub-robot position sensing unit is used to determine the position information of the sub-robot relative to the main robot, so that the main robot can accompany the sub-robot to perform work or switch areas based on the position information; the method comprises: When the main robot accompanies the sub-robot to perform work or switch areas and the main robot cannot sense the sub-robot, the sub-robot stops moving and the main robot moves to sense the sub-robot again; When the master robot senses the sub-robot again, the sub-robot continues to perform the work or switch areas under the accompaniment of the master robot.

90. The method according to claim 89, wherein When it is confirmed based on the operation map that the sub-robot is outside the detection range of the sub-robot position perception unit, the main robot moves to the location of the sub-robot until the main robot senses the sub-robot; and / or, When it is determined based on the operation map that the sub-robot is blocked by an obstacle and the main robot cannot perceive the sub-robot, the main robot performs obstacle avoidance movement with respect to the obstacle until the main robot perceives the sub-robot.

91. The method according to claim 89 or 90, characterized in that The method further comprises: When it is confirmed based on the work map that the sub-robot is within the detection range of the sub-machine posture perception unit and there are no obstacles blocking the sub-robot, and the main robot cannot perceive the sub-robot, the main robot performs a search action, and / or the sub-robot performs a response action, so that the main robot attempts to perceive the sub-robot.

92. The method according to claim 91, wherein The method further comprises: After the main robot performs a search action and / or the sub-robot performs a response action, and the main robot does not sense the sub-robot, the main robot and / or the sub-robot issues a reminder, which is used to request a user or a third-party device to assist in finding the sub-robot.

93. A multi-robot collaborative system, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the multi-robot collaboration method as described in any one of claims 76-92.

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

95. The collaboration system according to claim 94, characterized in that A window is provided on the front of the body of the main robot, and some of the sensors sense information outside the body through the window.

96. The collaboration system according to claim 94 or 95, characterized in that: The partial sensors are located within the outline of the body of the main robot.

97. The collaboration system according to any one of claims 94-96, characterized in that: The cleaning module of the main robot includes a dry cleaning module and a wet cleaning module, and the cleaning module of the sub-robot includes a dry cleaning module and a wet cleaning module. The number or type of cleaning parts of the wet cleaning module of the main robot is different from the number and type of cleaning parts of the wet cleaning module of the sub-robot.

98. The collaboration system according to claim 97, characterized in that The wet cleaning module of the main robot includes two rotating rag discs, and the wet cleaning module of the sub-robot includes a flat rag disc.

99. The collaboration system according to claim 98, characterized in that The flat rag tray comprises a flat water tank and a rag, and the rag is detachably attached to the side of the flat water tank.

100. The collaborative system according to any one of claims 94-99, characterized in that: The system further includes a main robot base station and a sub-robot base station, wherein the sub-robot base station has less functionality than the main robot base station.

101. The collaboration system according to claim 100, characterized in that: The main robot base station is used to clean the wet cleaning module of the main robot, to collect dust for the main robot, and to charge the main robot. The sub-robot base station is only used to charge the sub-robot and / or collect dust.

102. The collaborative system according to any one of claims 94-101, characterized in that: The system also includes a combined base station, which is used to clean the wet cleaning module of the main robot, collect dust for the main robot, charge the main robot, and only charge and / or collect dust for the sub-robot.

103. The collaboration system according to claim 102, characterized in that: The combined base station includes a robot cabin for accommodating or partially accommodating the main robot. A cleaning tray is provided at the bottom of the robot cabin, and the cleaning tray is used to clean the wet cleaning components of the main robot. A host charging terminal and a dust suction port are also provided in the robot cabin, and the dust suction port is connected to the dust holding space in the combined base station. The host charging terminal is used to charge the main robot. The combined base station is also provided with a sub-machine charging terminal, and the sub-machine charging terminal is used to charge the sub-robot.

104. The collaboration system according to claim 103, characterized in that The slave charging terminal is arranged outside the robot cabin.

105. The collaborative system according to any one of claims 94-104, characterized in that: The maximum width of the body of the main robot is greater than the maximum width of the body of the sub-robot.

106. The collaborative system according to any one of claims 94-105, characterized in that: When the sub-robot is located in front of the main robot and the distance from the front of the main robot is greater than a specific distance, the maximum width of the sub-robot is smaller than the maximum horizontal field of view width of the partial sensor of the main robot at the specific distance.

107. The collaboration system according to any one of claims 94-106, characterized in that: The wet cleaning module of the main robot includes two rotatable rag plates, at least one of which can switch between a retracted state and an outward swing state. When the rag plate is in the outward swing state, in the width direction of the main robot, the sum of the maximum width of the main robot body and the width of the part of the rag plate that exceeds the maximum width of the body is greater than the maximum width of the sub-robot, wherein the width direction is the direction perpendicular to the forward direction of the main robot.

108. The collaboration system according to any one of claims 94-106, characterized in that: The wet cleaning module of the main robot includes two rotatable larger rag discs and one rotatable smaller rag disc, wherein the smaller rag disc is in the width direction of the main robot, and the sum of the maximum width of the main robot body and the width of the part of the smaller rag disc that exceeds the maximum width of the body is greater than the maximum width of the sub-robot, wherein the width direction is the vertical direction of the forward direction of the main robot, and the diameter of the smaller rag disc is smaller than the diameter of the larger rag disc.

109. The collaborative system according to any one of claims 94-108, characterized in that: In the walking state, the maximum height of the main robot is greater than 75 mm and less than 95 mm, and the maximum height of the sub-robot is greater than 50 mm and less than 75 mm.

110. The collaborative system according to any one of claims 94-109, characterized in that: The maximum width of the main robot body is greater than 300 mm and less than 400 mm, and the maximum width of the sub-robot body is greater than 200 mm and less than 300 mm.

111. The collaborative system according to any one of claims 94-110, characterized in that: The partial sensors of the main robot include one or more of a laser sensor, an AI camera, and a line laser sensor, and the sensing ends of the partial sensors are facing the window.

112. The collaborative system according to any one of claims 94-111, characterized in that: The perception system of the sub-robot includes one or more of an inertial measurement unit, a buffer, and an odometer.

113. The collaborative system according to any one of claims 94-112, characterized in that: The main robot is provided with a signal transmitter, and the sub-robot is provided with a signal receiver matching the signal transmitter. The sub-robot receives the signal from the signal transmitter through the signal receiver to follow the main robot, and the main robot guides the sub-robot through the signal transmitted by the signal transmitter.

114. The collaboration system according to claim 113, characterized in that The signal transmitter is arranged at the rear of the main robot, and the signal receiver is located at the front of the sub-robot.

115. The collaborative system according to any one of claims 94-114, characterized in that: The partial sensors include laser sensors. In a walking state, the maximum height of the sub-robot is greater than the height of a laser beam emitted by the laser sensor and is less than the maximum height of the main robot.

116. The collaboration system according to claim 115, characterized in that The laser sensor is a laser ranging sensor LDS or a direct time of flight sensor dTOF.

117. The collaborative system according to any one of claims 94-116, characterized in that: The main robot has a body outline that is approximately D-shaped, and the sub-robot has a shape that is different from that of the main robot.

118. The collaborative system according to any one of claims 94-117, characterized in that: The main robot is connected to the cloud server by signal, the sub-robot is connected to the main robot by signal through the cloud server, the main robot is connected to its corresponding base station by signal, and the base station is connected to the cloud server through the main robot.

119. The collaboration system according to claim 113 or 114, characterized in that: The signal transmitter includes one or more of a wifi signal reflector, an infrared signal transmitter, or a bluetooth signal transmitter, and the signal receiver includes one or more of a wifi signal receiver, an infrared signal receiver, or a bluetooth signal receiver.

120. A multi-robot collaboration method, characterized in that: The multi-robot comprises a main robot and at least one sub-robot; the sub-robot is used to perform supplementary work in an area where the main robot cannot operate; the main robot is equipped with a sub-robot position sensing unit, the sub-robot position sensing unit is used to determine the position information of the sub-robot relative to the main robot; the method comprises: When the main robot is building a map, or cleaning without a map, or triggering preliminary positioning of the sub-robot, the main robot performs preliminary positioning on the sub-robot to determine the position of the sub-base station corresponding to the sub-robot; wherein, when the preliminary positioning is performed on the sub-robot, the sub-robot is located in the sub-base station.

121. The method according to claim 120, characterized in that In the case of triggering the preliminary positioning of the sub-robot, after the main robot escapes from the hijacking, the main robot is first relocated, and then the sub-robot is preliminarily positioned; wherein, The main robot is hijacked and placed in a preset positioning area, which is the detection range of the sub-robot's posture perception unit.

122. A multi-robot collaboration method, characterized in that: The multi-robot comprises a main robot and at least one sub-robot; the sub-robot is used to perform supplementary work in an area where the main robot cannot operate; the main robot is equipped with a sub-robot position sensing unit, the sub-robot position sensing unit is used to determine the position information of the sub-robot relative to the main robot, and the method comprises: The main robot accompanies the sub-robot to perform operations or switch areas based on the posture information; wherein the switching area refers to switching the sub-machine operation area, or the sub-robot moves from the sub-base station to the sub-machine operation area, or the sub-robot moves from the sub-machine operation area to the sub-base station.

123. A multi-robot collaboration method, characterized in that: The multi-robot comprises a main robot and at least one sub-robot; the sub-robot is used to perform supplementary work in an area where the main robot cannot operate; the main robot is equipped with a sub-robot position sensing unit, the sub-robot position sensing unit is used to determine the position information of the sub-robot relative to the main robot, and the method comprises: When the sub-robot is trapped, the main robot goes to the trapped position of the sub-robot and sends an escape path to the sub-robot, so that the sub-robot can escape based on the escape path.

124. A method for handling restricted areas under multi-robot collaboration, characterized in that: The multi-robot includes a main robot and a sub-robot; The sub-robot receives the control instruction of the main robot to perform the task; the method includes: During the process of the main robot performing cleaning work, if it is confirmed that there is an unshared virtual wall restricted area, the main robot generates a target cleaning path based on the unshared virtual wall restricted area, and controls the target robot to perform cleaning work on the unshared virtual wall restricted area based on the target cleaning path; the unshared virtual wall restricted area is used to indicate that the main robot or the sub-robot is prohibited from entering the cleaning virtual wall area.

125. The method according to claim 124, characterized in that The unshared virtual wall restricted area includes a first virtual wall restricted area; when the master robot confirms the existence of an unshared virtual wall restricted area during the cleaning operation, the master robot generates a target cleaning path based on the unshared virtual wall restricted area, and controls the target robot to perform the cleaning operation on the unshared virtual wall restricted area based on the target cleaning path, including: During the process of the main robot performing cleaning work, if it is confirmed that there is a first virtual wall restricted area, the main robot generates a first cleaning path based on the first virtual wall restricted area, and controls the sub-robot to perform cleaning work on the first virtual wall restricted area based on the first cleaning path; the first virtual wall restricted area is used to indicate that the main robot is prohibited from entering the cleaning virtual wall area.

126. The method according to claim 125, characterized in that When the existence of the first virtual wall restricted area is confirmed, the master robot generates a first cleaning path based on the first virtual wall restricted area, including: According to the cleaning map, if the existence of a first virtual wall restricted area is confirmed, the main robot generates a first cleaning path based on the first virtual wall restricted area; the first virtual wall restricted area is a cleaning area of ​​any shape planned by the user on the cleaning map that the main robot is prohibited from entering.

127. The method according to claim 125 or 126, characterized in that The controlling the sub-robot to perform cleaning work on the first virtual wall restricted area based on the first cleaning path includes: After the main robot generates a first cleaning path based on the first virtual wall restricted area, the main robot orbits around the first virtual wall restricted area to clean the first working area, and controls the sub-robot to perform cleaning work on the first virtual wall restricted area based on the first cleaning path.

128. The method according to any one of claims 125 to 127, wherein: The controlling the sub-robot to perform cleaning work on the first virtual wall restricted area based on the first cleaning path includes: After the sub-robot receives the control instruction sent by the main robot, the sub-robot is controlled to perform cleaning work on the first virtual wall restricted area based on the first cleaning path.

129. The method according to any one of claims 124 to 128, wherein The control instruction includes at least one of a path planning instruction, a position correction instruction, a cleaning instruction along a cleaning path, and a recharging instruction.

130. The method according to any one of claims 124 to 129, wherein: The unshared virtual wall restricted area further includes a second virtual wall restricted area; when the main robot detects the presence of an unshared virtual wall restricted area during cleaning, the main robot generates a target cleaning path based on the unshared virtual wall restricted area, and controls the target robot to perform cleaning on the unshared virtual wall restricted area based on the target cleaning path, including: During the cleaning process of the main robot, if it is confirmed that there is a second virtual wall restricted area, the main robot generates a second cleaning path based on the second virtual wall restricted area, and controls the main robot to generate a second cleaning path based on the second virtual wall restricted area. The second cleaning path performs cleaning work on the second virtual wall restricted area; the second virtual wall restricted area is used to indicate that the sub-robot is prohibited from entering the cleaning virtual wall area.

131. The method according to claim 130, characterized in that When the presence of the second virtual wall restricted area is confirmed, the master robot generates a second cleaning path based on the second virtual wall restricted area, including: According to the cleaning map, if the existence of a second virtual wall restricted area is confirmed, the main robot generates a second cleaning path based on the second virtual wall restricted area; the second virtual wall restricted area is a cleaning area of ​​any shape planned by the user on the cleaning map that the sub-robot is prohibited from entering.

132. The method according to claim 130 or 131, characterized in that The controlling the main robot to perform cleaning work on the second virtual wall restricted area based on the second cleaning path includes: After the main robot generates a second cleaning path based on the second virtual wall restricted area, the main robot guides the sub-robot to circle around the second virtual wall restricted area to clean the second working area, and controls the main robot to perform cleaning work on the second virtual wall restricted area based on the second cleaning path.

133. The method according to any one of claims 124 to 132, wherein: The method further comprises: After the master robot receives the modification instruction sent by the terminal device, it controls the modification of the range of the unshared virtual wall restricted area; the modification instruction is an instruction generated in response to the user's modification operation on the interface of the terminal device to modify the range of the unshared virtual wall restricted area.

134. The method according to any one of claims 124 to 133, wherein: The method further comprises: After the master robot receives the viewing instruction sent by the terminal device, it controls the range of the unshared virtual wall restricted area and / or the target cleaning path to be fed back to the terminal device for visual display; the viewing instruction is an instruction generated in response to the user's viewing operation on the interface of the terminal device, for viewing the unshared virtual wall restricted area and / or the target cleaning path corresponding to the cleaning work performed by the multiple robots.

135. A method for handling restricted areas under multi-robot collaboration, characterized in that: The multi-robot includes a main robot and a sub-robot; The sub-robot receives the control instruction of the main robot to perform the task; the method includes: When the main robot is performing a cleaning operation and a shared virtual wall restricted area is detected, the main robot generates a third cleaning path based on the shared virtual wall restricted area, and controls the main robot and the sub-robot to not perform the cleaning operation on the shared virtual wall restricted area based on the third cleaning path; The shared virtual wall restricted area is used to indicate that both the main robot and the sub-robot are prohibited from entering a clean virtual wall area.

136. The method according to claim 135, characterized in that When the presence of a shared virtual wall restricted area is confirmed, the master robot generates a third cleaning path based on the shared virtual wall restricted area, including: According to the cleaning map, if it is confirmed that there is a shared virtual wall restricted area, the main robot generates a third cleaning path based on the shared virtual wall restricted area; the shared virtual wall restricted area is a cleaning area of ​​any shape planned by the user on the cleaning map that the main robot and sub-robot are prohibited from entering.

137. The method according to claim 135 or 136, characterized in that The controlling the main robot and the sub-robot to not perform cleaning work on the shared virtual wall restricted area based on the third cleaning path includes: After the main robot generates a third cleaning path based on the shared virtual wall restricted area, the main robot and the sub-robot move around the shared virtual wall restricted area according to the third cleaning path to clean the third working area.

138. The method according to any one of claims 135 to 137, wherein: The control instruction includes at least one of a path planning instruction, a position correction instruction, a cleaning instruction along a cleaning path, and a recharging instruction.

139. The method according to any one of claims 135 to 138, wherein The method further comprises: After the master robot receives the modification instruction sent by the terminal device, it controls the modification of the range of the shared virtual wall restricted area; the modification instruction is an instruction generated to modify the range of the shared virtual wall restricted area in response to the user's modification operation on the interface of the terminal device.

140. The method according to any one of claims 135 to 139, wherein The method further comprises: After the master robot receives the viewing instruction sent by the terminal device, it controls the range of the shared virtual wall restricted area and / or the third cleaning path to be fed back to the terminal device for visual display; the viewing instruction is an instruction generated in response to the user's viewing operation on the interface of the terminal device, for viewing the shared virtual wall restricted area and / or the third cleaning path corresponding to the cleaning work performed by the multiple robots.

141. A restricted area processing device under multi-robot collaboration, characterized in that: The multi-robot includes a main robot and a sub-robot; The sub-robot receives the control instruction of the main robot to perform the task; the device includes: The first processing module is used to, during the process of the main robot performing cleaning work, if it is confirmed that there is an unshared virtual wall restricted area, the main robot generates a target cleaning path based on the unshared virtual wall restricted area, and controls the target robot to perform cleaning work on the unshared virtual wall restricted area based on the target cleaning path; the unshared virtual wall restricted area is used to instruct the main robot or the sub-robot to prohibit entering the cleaning virtual wall area.

142. A restricted area processing device under multi-robot collaboration, characterized in that: The multi-robot includes a main robot and a sub-robot; The sub-robot receives the control instruction of the main robot to perform the task; the device includes: a second processing module configured to, when the main robot is performing a cleaning operation and, if a shared virtual wall restricted area is detected, generate a third cleaning path for the main robot based on the shared virtual wall restricted area, and control the main robot and the sub-robot to not perform the cleaning operation on the shared virtual wall restricted area based on the third cleaning path; The shared virtual wall restricted area is used to indicate that both the main robot and the sub-robot are prohibited from entering a clean virtual wall area.

143. A robot, characterized in that: include: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 124-140.

144. A multi-robot collaborative system, characterized in that: The system includes: multiple robots and terminal devices; the multiple robots are used to execute the method described in any one of claims 124-140, and the multiple robots include a main robot and a sub-robot.

145. An interactive control method for multi-robot collaboration, characterized in that: The multi-robot comprises a main robot and a sub-robot, and is used to clean a target location containing suspended obstacles; the method comprises: In response to a user's instruction to clean the suspended obstacle: When both the main robot and the sub-robot can enter and exit the bottom of the suspended obstacle, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle to clean; When the main robot cannot enter or exit the suspended obstacle, but the sub-robot can enter or exit the bottom of the suspended obstacle, the sub-robot goes to the bottom of the suspended obstacle to clean it, and the main robot does not clean the bottom of the suspended obstacle; When the main robot and the sub-robot are both unable to enter or exit the bottom of the suspended obstacle, the main robot and the sub-robot both remain in place or perform other tasks.

146. The method according to claim 145, characterized in that When both the main robot and the sub-robot can enter and exit the bottom of the suspended obstacle, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle to clean, comprising: When the height of the bottom space of the suspended obstacle is greater than the height of the main robot, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle for cleaning.

147. The method according to claim 145 or 146, characterized in that When the main robot cannot enter or exit the suspended obstacle, and the sub-robot can enter or exit the bottom of the suspended obstacle, the sub-robot goes to the bottom of the suspended obstacle to clean it, and the main robot does not clean the bottom of the suspended obstacle, including: When the height of the bottom space of the suspended obstacle is between the height of the sub-robot and the height of the main robot, the sub-robot goes to the bottom of the suspended obstacle to clean it, and the main robot does not clean the bottom of the suspended obstacle.

148. The method according to any one of claims 145 to 147, wherein: When the main robot and the sub-robot are unable to enter or exit the bottom of the suspended obstacle, the main robot and the sub-robot remain stationary or perform other tasks, including: When the height of the bottom space of the suspended obstacle is less than or equal to the height of the sub-robot, the main robot and the sub-robot both remain in place or perform other tasks.

149. The method according to any one of claims 145 to 148, wherein The height of the main robot is greater than or equal to 80 mm and less than or equal to 120 mm; the height of the sub-robot is greater than or equal to 40 mm and less than or equal to 80 mm.

150. The method according to any one of claims 145 to 149, wherein At least one of the main robot and the sub-robot moves to the bottom of the suspended obstacle to clean it, comprising: The sub-robot goes to the bottom of the suspended obstacle to clean, and the main robot does not clean the bottom of the suspended obstacle; Alternatively, the main robot goes to the bottom of the suspended obstacle to clean it, and the sub-robot stays at the location or performs other tasks; Alternatively, the main robot and the sub-robot go to the bottom of the suspended obstacle together and clean it together.

151. The method according to any one of claims 145 to 150, wherein: The sub-robot goes to the bottom of the suspended obstacle to clean, and the main robot does not clean the bottom of the suspended obstacle, comprising: When the distance between the suspended obstacle and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the bottom of the suspended obstacle and clean it, while the main robot remains at that location or performs other tasks; When the distance between the suspended obstacle and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the suspended obstacle, and the main robot waits at the edge of the suspended obstacle, or the main robot returns and performs other tasks, or the main robot cooperates in cleaning around the suspended obstacle.

152. The method according to any one of claims 145 to 151, wherein: The method further comprises: When the main robot and the sub-robot are both unable to enter or exit the bottom of the suspended obstacle, the main robot outputs a prompt message indicating that cleaning is impossible.

153. An interactive control method for multi-robot collaboration, characterized in that: The multi-robot comprises a main robot and a sub-robot, and is used to clean a target location including a narrow space; the method comprises: In response to a user's instruction to clean a narrow space formed by two side walls: When both the main robot and the sub-robot can enter and exit the narrow space, at least one of the main robot and the sub-robot goes to the narrow space for cleaning; When the main robot cannot enter or exit the narrow space, but the sub-robot can enter or exit the narrow space, the sub-robot goes to the narrow space to clean it, and the main robot does not clean the narrow space; When the main robot and the sub-robot are both unable to enter or exit the narrow space, the main robot and the sub-robot both remain in place or perform other tasks.

154. The method according to claim 153, characterized in that When both the main robot and the sub-robot can enter and exit the narrow space, at least one of the main robot and the sub-robot goes to the narrow space for cleaning, comprising: When the width of the narrow space is greater than the width of the main robot, at least one of the main robot and the sub-robot goes to the narrow space for cleaning.

155. The method according to claim 153 or 154, characterized in that When the main robot cannot enter or exit the narrow space, but the sub-robot can enter or exit the narrow space, the sub-robot goes to the narrow space to clean, and the main robot does not clean the narrow space, including: When the width of the narrow space is between the width of the sub-robot and the width of the main robot, the sub-robot goes to the narrow space for cleaning, and the main robot does not clean the narrow space.

156. The method according to any one of claims 153 to 155, wherein: When the main robot and the sub-robot are unable to enter or exit the narrow space, the main robot and the sub-robot remain stationary or perform other tasks, including: When the narrow space is smaller than or equal to the width of the sub-robot, the main robot and the sub-robot both stay put or perform other tasks.

157. The method according to any one of claims 153 to 156, wherein: The width of the main robot is greater than or equal to 330 mm and less than or equal to 380 mm; the width of the sub-robot is greater than or equal to 290 mm and less than or equal to 330 mm.

158. The method according to any one of claims 153 to 157, wherein: At least one of the main robot and the sub-robot moves to the narrow space for cleaning, comprising: The sub-robot goes to the narrow space to clean, and the main robot does not clean the narrow space; Alternatively, the main robot goes to the narrow space to clean, and the sub-robot stays at the location or performs other tasks; Alternatively, the main robot and the sub-robot go to the narrow space together and clean it together.

159. The method according to any one of claims 153 to 158, wherein The sub-robot goes to the narrow space to clean, and the main robot does not clean the narrow space, comprising: When the distance between the narrow space and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the narrow space and clean it, while the main robot stays at the same place or performs other tasks; When the distance between the narrow space and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the narrow space, and the main robot waits at the edge of the narrow space, or the main robot returns and performs other tasks, or the main robot cooperates in cleaning the periphery of the narrow space.

160. The method according to any one of claims 153 to 159, wherein: The method further comprises: When neither the main robot nor the sub-robot can enter or exit the narrow space, the main robot outputs a prompt message indicating that cleaning is impossible.

161. An interactive control method for multi-robot collaboration, characterized in that: The multi-robot comprises a main robot and sub-robots, and is used to clean a target location including a carpet area; the method comprises: In response to a user's instruction to clean the carpet area, the main robot goes to the carpet area to clean, and the sub-robot remains in place or performs other tasks; or, the sub-robot goes to the carpet area to clean, and the main robot does not clean the carpet area; or, the main robot and the sub-robot go to the carpet area together and clean it.

162. The method according to claim 161, characterized in that The main robot cleans the carpet area, including: The main robot lifts the rag cleaning component and adjusts the suction force to increase and then cleans the carpet area.

163. The method according to claim 161 or 162, characterized in that The sub-robot goes to the carpet area to clean, and the main robot does not clean the carpet area, including: When the distance between the carpet area and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the carpet area and clean it, while the main robot remains at that location or performs other tasks; When the distance between the carpet area and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the carpet area, and the main robot waits at the edge of the carpet area, or the main robot returns and performs other tasks, or the main robot cooperates in cleaning the periphery of the carpet area.

164. An interactive control method for multi-robot collaboration, characterized in that: The multi-robot includes a main robot and a sub-robot, and the method includes: In response to a user's instruction to clean a target area, if the target area is an area that can be cleaned by both the main robot and the sub-robot, then: When the main robot has sufficient power and the sub-robot has sufficient power, at least one of the main robot and the sub-robot goes to the target area for cleaning; When the main robot has sufficient power and the sub-robot has insufficient power, the main robot goes to the target area to clean, and the sub-robot stays where it is or returns to the base station to charge; When the main robot is low on power and the sub-robot is sufficiently powered, the sub-robot goes to the target area for cleaning, and the main robot does not clean the target area; When the main robot and the sub-robot are low on power, the main robot returns to the base station to charge, and the sub-robot remains where it is; or, the sub-robot goes to the base station to charge under the guidance of the main robot, and the main robot waits at the edge of the base station.

165. The method according to claim 164, characterized in that At least one of the main robot and the sub-robot moves to the target area for cleaning, comprising: The sub-robot goes to the target area to clean, and the main robot does not clean the target area; Alternatively, the main robot goes to the target area to clean, and the sub-robots stay where they are or perform other tasks; Alternatively, the main robot and the sub-robot go to the target area together and clean it together.

166. The method according to claim 164 or 165, characterized in that The sub-robot goes to the target area to clean, and the main robot does not clean the target area, comprising: When the distance between the target area and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the target area and clean it, while the main robot stays at the same place or returns to the base station to charge; When the distance between the target area and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the target area, and the main robot waits at the edge of the target area, or the main robot returns to the base station to charge.

167. The method according to any one of claims 164-166, characterized in that The method further comprises: When the main robot is low on power and the sub-robot is low on power, the main robot outputs a prompt message indicating that cleaning is impossible.

168. An interactive control method for multi-robot collaboration, characterized in that: The multi-robot includes a main robot and a sub-robot, and the method includes: In response to an instruction issued by a user to clean a target area including a user demand: When the target area is an area that can be cleaned by both the main robot and the sub-robot, the control satisfies the requirements. The robot that meets the user's needs cleans the target area.

169. The method according to claim 168, characterized in that The user requirement specifies a robot; and controlling the robot that meets the user requirement to clean the target area includes: When the designated robot is a sub-robot, the sub-robot goes to the target area to clean, and the main robot does not clean the target area; When the designated robot is the master robot, the master robot goes to the target area to clean, and the slave robot stays at the location or performs other tasks.

170. The method according to claim 168 or 169, characterized in that The user requirements include a cleaning degree requirement, and controlling the robot that meets the user requirements to clean the target area includes: When the main robot meets the cleaning requirement and the sub-robot does not meet the cleaning requirement, the main robot goes to the target area to clean, and the sub-robot stays at the location or performs other tasks; When both the main robot and the sub-robot meet the cleaning degree requirement, at least one of the main robot and the sub-robot goes to the target area for cleaning.

171. The method according to claim 170, characterized in that At least one of the main robot and the sub-robot moves to the target area for cleaning, comprising: The sub-robot goes to the target area to clean, and the main robot does not clean the target area; Alternatively, the main robot goes to the target area to clean, and the sub-robots stay where they are or perform other tasks; Alternatively, the main robot and the sub-robot go to the target area together and clean it together.

172. The method according to any one of claims 164-171, characterized in that The sub-robot goes to the target area to clean, and the main robot does not clean the target area, comprising: When the distance between the target area and the main robot is less than or equal to the communication distance between the main robot and the sub-robot, the sub-robot follows the target path sent by the main robot to go to the target area and clean it, while the main robot stays at the same place or performs other tasks; When the distance between the target area and the main robot is greater than the communication distance between the main robot and the sub-robot, the main robot guides the sub-robot to the edge of the target area, and the main robot waits at the edge of the target area, or the main robot returns and performs other tasks, or the main robot cooperates in cleaning the periphery of the target area.

173. An interactive control method for multi-robot collaboration, characterized in that: The multi-robot comprises a main robot and a sub-robot, and is used to clean a target location containing suspended obstacles; the method comprises: In response to a user's instruction to clean the suspended obstacle: When both the main robot and the sub-robot can enter and exit the bottom of the suspended obstacle, at least one of the main robot and the sub-robot goes to the bottom of the suspended obstacle to clean; When the main robot cannot enter or exit, and the sub-robot can enter or exit the bottom of the suspended obstacle, the sub-robot goes to the bottom of the suspended obstacle to clean it, and the main robot does not clean the bottom of the suspended obstacle.

174. The method according to claim 173, characterized in that The method further comprises: When neither the main robot nor the sub-robot can enter or exit the bottom of the suspended obstacle, neither the main robot nor the sub-robot enters the bottom of the suspended obstacle to perform a task.

175. The method according to claim 173 or 174, characterized in that The method further comprises: When both the main robot and the sub-robot cannot enter or exit the bottom of the suspended obstacle, the main robot outputs a prompt message indicating that it cannot enter the bottom of the suspended obstacle to perform a task.

176. A collaborative system, characterized in that The system includes: a main robot and a sub-robot; the main robot is used to execute the method described in any one of claims 145-175, and the sub-robot is used to perform corresponding actions under the control of the main robot.

177. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1-22, 76-93, 120-140, and 145-175 when executed by a processor.

178. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1-22, 76-93, 120-140, 145-175.

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