Positioning calibration method, multi-robot cooperative system, working method, and robot

Abstract

A positioning calibration method, a multi-robot cooperative system, a working method, and a robot. The multi-robot cooperative system comprises a first robot (1) and a second robot (2) each executing a task within a site, and a base station (3) for providing services for the first robot (1) and the second robot (2). The working method of the multi-robot cooperative system comprises: the first robot (1) establishes a site map, performs, on the basis of the site map, real-time positioning, and executes a task; and the second robot (2) receives the site map and a task instruction sent by the first robot (1), and executes a task corresponding to the task instruction, wherein the second robot (2) can plan a route from the current position to the base station (3) and move to the base station (3) for positioning; or the first robot (1) searches for the second robot (2) to position the found second robot (2); or the first robot (1) follows the second robot (2) to position the second robot (2). The solution solves the problem that the second robot (2) cannot finish a task due to a positioning error.

Description

Positioning calibration method, multi-robot collaborative system, working method and robot

[0001] Cross-references

[0002] This application claims priority from the Chinese patent applications listed in the table below, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of robotics, and in particular to a robot control method, system, and client device, a positioning and calibration method, a multi-robot collaborative system, a working method, and a robot. Background Art

[0004] Robots, such as cleaning robots, lawnmowing robots, logistics robots, and detection robots, have been widely used. In most application scenarios, a single-sized robot is used to handle tasks in all areas of the site. As robots become increasingly intelligent, the number of sensors installed on them will increase, resulting in a larger robot size. However, some sites are complex, with both relatively open spaces and relatively narrow or low areas. The large size of the robot prevents it from entering low areas lower than the body or narrow areas with a width less than the body width to perform tasks. The robot cannot traverse all areas of the site to perform tasks. Therefore, a smaller robot is needed to enter low and / or narrow areas.

[0005] However, integrating a smaller robot requires extensive modifications to the original robot, significantly increasing overall costs. A smaller robot must retain the functionality of the original robot while maintaining a compact size, which significantly increases the design complexity and can even cost more than the original robot. In addition to the original robot and base station, the entire product package also requires an extremely expensive small robot, making it unsuitable for widespread home use. Designing a cost-effective solution suitable for home use while significantly expanding the robot's mission coverage has become a technical challenge.

[0006] Furthermore, to reduce the cost of small robots, the number of sensors and / or related functions may be reduced, for example, by eliminating mapping capabilities or providing poor positioning accuracy. This can severely impact the success rate of small robots in completing tasks. Due to unsuccessful or inaccurate positioning, small robots may be unable to complete tasks or complete tasks poorly, resulting in a poor user experience.

[0007] In addition, there are few technical solutions for the collaborative work of two robots, one large and one small, one with strong functions and one with weak functions. How to improve the efficiency and accuracy of the collaborative work of the two robots is an urgent problem to be solved in this field. Summary of the Invention

[0008] The present application provides a robot positioning and calibration solution, in which one robot in a multi-robot collaborative system performs positioning and calibration for another robot, so as to solve or improve the problems existing in the prior art.

[0009] In a first embodiment of the present application, a method for operating a multi-robot collaborative system is provided. The multi-robot collaborative system includes a first robot and a second robot, each performing a task in a field, and a base station for providing services to the first and second robots. The base station includes a docking bay that can selectively accommodate either the first robot or the second robot. Accordingly, the method includes:

[0010] The first robot establishes a site map, locates itself in real time and performs tasks according to the site map;

[0011] The second robot receives the site map and task instruction sent by the first robot, and performs the task corresponding to the task instruction;

[0012] Among them, the second robot achieves positioning through one of the following methods: the second robot plans a route from the current position to the base station and moves to the base station to achieve positioning; or the first robot searches for the second robot, and after the first robot finds the second robot, it determines the position information of the second robot and achieves positioning according to the position information of the first robot; or the first robot follows the second robot to achieve positioning for the second robot.

[0013] In a second embodiment of the present application, a positioning calibration method is provided. The method is applicable to a first robot in a multi-robot collaborative system, wherein the multi-robot collaborative system also includes a second robot. Specifically, the positioning calibration method includes:

[0014] When the second robot needs to be positioned and calibrated, the first robot searches for the second robot;

[0015] After finding the second robot, the first robot senses second position information of the second robot to perform positioning calibration on the second robot.

[0016] In a third embodiment of the present application, a positioning calibration method is provided. The method is applicable to a second robot in a multi-robot collaborative system, wherein the multi-robot collaborative system also includes a first robot. Specifically, the method includes:

[0017] When the second robot needs positioning and calibration, it waits in place for the first robot to find it;

[0018] The second robot performs a set action;

[0019] After the first robot finds the second robot, the second robot communicates with the first robot to perform positioning calibration.

[0020] In a fourth embodiment of the present application, a positioning calibration method is provided, which is applicable to a second robot in a multi-robot collaborative system, wherein the multi-robot collaborative system also includes a first robot. Specifically, the positioning calibration method includes:

[0021] The second robot performs tasks within a specific area;

[0022] After the task is completed, determine the time between the task completion time and the last positioning calibration time;

[0023] If the duration does not exceed the set duration threshold, the second robot returns to the base station for positioning calibration;

[0024] If the duration exceeds the set duration threshold, the second robot sends a signal to the first robot to enable the first robot to perform positioning calibration on the second robot.

[0025] In a fifth embodiment of the present application, a positioning calibration method is provided, which is applicable to a second robot in a multi-robot collaborative system, wherein the multi-robot collaborative system also includes a first robot. Specifically, the positioning calibration method includes:

[0026] The second robot performs a task in a specific area;

[0027] After the task is completed, if there is a base station in the room where the specific area is located, the second robot returns to the base station for positioning calibration;

[0028] If there is no base station in the room where the specific area is located, the second robot sends a signal to the first robot, so that the first robot performs positioning calibration on the second robot.

[0029] In a sixth embodiment of the present application, a working method of a multi-robot collaborative system is provided, comprising:

[0030] After the first robot completes the task, it sends a task execution instruction to the second robot to control the second robot to start from the base station and perform the collaborative task;

[0031] The first robot and the second robot go to a specific area;

[0032] The first robot waits outside the specific area, and the second robot enters the specific area to perform a task;

[0033] When the positioning calibration trigger condition is met, the first robot performs positioning calibration on the second robot so that the second robot continues to move based on the position information after positioning calibration.

[0034] In a seventh embodiment of the present application, a method for operating a multi-robot collaborative system is provided, which is applicable to a first robot in the multi-robot collaborative system, wherein the multi-robot collaborative system also includes a second robot; the method comprising:

[0035] The first robot determines a specific area;

[0036] If there is a base station in the room where the specific area is located, the first robot sends a first task execution instruction to the second robot, instructing the second robot to perform the task in the specific area and return to the base station for positioning calibration after completing the task;

[0037] If there is no base station in the room where the specific area is located, the first robot sends a second task execution instruction to the second robot to instruct the second robot to perform the task in the specific area and send a positioning calibration request to the first robot after completing the task.

[0038] In an eighth embodiment of the present application, a multi-robot collaborative system is provided. The multi-robot collaborative system includes a first robot and a second robot. The first robot is configured to perform the steps of the positioning calibration method provided in the first embodiment above to perform positioning calibration on the second robot.

[0039] Furthermore, the second robot is used to execute the steps of the positioning calibration method provided in the second embodiment to cooperate with the first robot in performing positioning calibration.

[0040] In a ninth embodiment of the present application, a robot is provided. The robot includes a body and a control device. The body is provided with a drive wheel device, a collection device, a positioning device, and a communication device for communicating with a cooperating robot. The control device is disposed on the body and electrically connected to the drive wheel device, the collection device, and the communication device, and is configured to implement the steps of the positioning and calibration method provided in the second embodiment, or the steps of the positioning and calibration method provided in the third embodiment, or the steps of the positioning and calibration method provided in the fourth or fifth embodiment, or the steps of the multi-robot collaborative working method provided in the sixth or seventh embodiment.

[0041] In the above technical solution provided in this application, the second robot has two positioning methods, one is to return to the base station autonomously to achieve positioning, and the other is to be assisted by the first robot for positioning. This solves the problem that the second robot cannot complete the task due to positioning error, improves the accuracy of the collaborative operation of the multi-robot collaborative system, and can give full play to the advantages of the multi-robot collaborative system.

[0042] In addition, this application also provides other embodiments to mainly solve the problem that multiple robots cannot charge simultaneously during collaborative operation when sharing a base station. Specifically:

[0043] In the tenth embodiment of the present application, a multi-robot collaborative system is further provided. The multi-robot collaborative system includes a first robot, a second robot, and a base station device for providing services to the first robot and the second robot; wherein,

[0044] The base station device includes: a base station and a charging base arranged on one side of the base station; and the base station is provided with a dust collection mechanism and / or a charging terminal, the dust collection mechanism is used to provide dust collection services, and the charging terminal is used to provide charging services;

[0045] When one of the first robot and the second robot is docked in the base station, if the other robot needs to be charged, the other robot moves to a position in electrical contact with the charging base for charging; wherein, the one robot can collect dust and / or charge when docked in the base station.

[0046] Furthermore, the charging base is arranged on the left or right side of the base station. Also, a power supply port is arranged on the end of the charging base; when the other robot moves to a position of electrical contact with the charging base, the charging port on the other robot contacts and is electrically connected to the power supply port on the charging base.

[0047] Furthermore, the base station further comprises a docking cabin, in which the charging terminal and the dust collection port included in the dust collection mechanism are provided;

[0048] The charging terminal is configured to electrically connect to a charging port on the first robot when the first robot is docked in the docking compartment, so as to charge the first robot;

[0049] The dust collection port included in the dust collection mechanism is used to dock with the dust collection port on the first robot when the first robot is docked in the docking cabin, so that the dust collection mechanism can collect garbage in the dust box on the first robot;

[0050] Furthermore, the power supply port on the charging base is used to electrically connect with the charging port on the second robot.

[0051] In an eleventh embodiment of the present application, a base station device is provided. The base station device includes:

[0052] A base station, on which a dust collection mechanism and / or a charging terminal are provided; the dust collection mechanism is used to provide dust collection services, and the charging terminal is used to provide charging services;

[0053] A charging base is provided on one side of the base station; wherein, when one of the first robot and the second robot is docked in the base station, if the other robot needs to be charged, the other robot moves to a position in electrical contact with the charging base for charging; wherein, the one robot can collect dust and / or charge when docked in the base station.

[0054] In the technical solutions provided in the tenth and eleventh embodiments of the present application, the first robot and the second robot can be charged simultaneously through a base station device including a base station and a charging seat. When the first robot is collecting dust and / or charging in the base station, the second robot can be charged synchronously through the charging seat therein without waiting for the first robot to complete dust collection, charging, etc., thereby avoiding the long waiting problem that may occur when multiple robots share a base station for charging in other embodiments. This can effectively improve the work efficiency of the collaborative operation of the first robot and the second robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] FIG1 is a schematic diagram of a multi-robot collaborative system including a first robot and a second robot according to an embodiment of the present application;

[0057] FIG2 is a schematic diagram of a first robot according to an embodiment of the present application;

[0058] FIG3 is a schematic diagram of a second robot from a first perspective according to an embodiment of the present application;

[0059] FIG4 is a schematic diagram of a second robot from a second perspective according to an embodiment of the present application;

[0060] FIG5 is a schematic diagram of a second robot from a third perspective according to an embodiment of the present application;

[0061] FIG6 is a schematic top view of a second robot according to an embodiment of the present application;

[0062] FIG7 is a schematic diagram of a calibration side wall of a second robot according to an embodiment of the present application;

[0063] FIG8 shows the height difference between the collection height of the first collection device of the first robot and the top surface height of the second robot in an embodiment of the present application;

[0064] FIG9 shows a schematic diagram of a base station in a multi-robot collaborative system provided by an embodiment of the present application;

[0065] FIG10 shows a schematic diagram of a docking cabin of a base station provided in an embodiment of the present application;

[0066] FIG11 shows a schematic diagram of the back structure of a base station provided in an embodiment of the present application;

[0067] FIG12 is a schematic diagram showing a bulkhead corresponding to an entrance of a docking compartment of a base station provided in an embodiment of the present application;

[0068] FIG13 is a schematic diagram showing an elastic member provided at a dust collection port of a sub-unit on a base station according to an embodiment of the present application;

[0069] FIG14 shows a schematic diagram of the second robot docking in the docking cabin of the base station;

[0070] FIG15 is a schematic diagram showing the first robot docking in the docking cabin of the base station;

[0071] FIG16 shows a schematic structural diagram of a slave charging terminal provided in a base station;

[0072] FIG17 is a schematic diagram showing the angle between the axis of the positioning column included in the handset charging terminal provided in the base station and the ground;

[0073] FIG18 shows an exploded schematic diagram of a base station;

[0074] FIG19 is a schematic diagram showing the driving wheel of the second robot being located in the driving wheel positioning groove of the slave robot;

[0075] FIG20 is a schematic diagram showing the universal wheels of the second robot positioned on the universal wheel support structure of the slave robot;

[0076] Figures 21a and 21b show two exemplary schematic diagrams of a first robot and a second robot working in collaboration;

[0077] 22a to 22d show several other exemplary schematic diagrams of the first robot and the second robot working together;

[0078] Figures 23a and 23b show two exemplary schematic diagrams of positioning calibration performed by a first robot on a second robot;

[0079] FIG24 a shows a schematic diagram of multiple docking locations outside a base station;

[0080] FIG24 b shows a schematic diagram of an application page in an application corresponding to a multi-robot collaborative system, showing multiple dockable positions outside a base station;

[0081] FIG25 shows a schematic diagram of a first robot in a base station and a second robot beside the base station;

[0082] FIG26 shows an example diagram of a pilot signal provided by a base station;

[0083] FIG27 is a schematic diagram of a first robot workflow corresponding to a first collaborative operation method according to an embodiment of the present application;

[0084] FIG28 is a schematic diagram of a second robot workflow corresponding to the first collaborative operation method according to an embodiment of the present application;

[0085] FIG29 is a schematic diagram showing a method of removing channels with a width less than or equal to 12 pixels using the erosion and dilation seed method mentioned in an embodiment of the present application;

[0086] FIG30 is a schematic diagram showing the removal of a channel with a width of 13 to 20 pixels using the erosion and dilation seed method mentioned in an embodiment of the present application;

[0087] FIG31 is a schematic diagram of a flow chart of a positioning calibration method according to an embodiment of the present application;

[0088] FIG32 shows an example of an embodiment of the present application whereby a clustered point cloud is compared with a preset graphic of a second robot to determine whether an object with a shape similar to that of the second robot is found;

[0089] FIG33 shows a method of determining whether an object with a shape similar to that of a second robot is found by comparing the positional distribution of high-intensity points with at least two components on the second robot in one embodiment of the present application;

[0090] FIG34 is a schematic diagram illustrating calculating the orientation of the second robot by matching the collected laser points on the rear side of the second robot with the designed shape of the second robot in one embodiment of the present application;

[0091] FIG35 is a schematic diagram illustrating, in one embodiment of the present application, extracting the straight line on which the rectangular plate is located and calculating the orientation of the second robot by using the collected laser points on the rear side of the second robot;

[0092] FIG36 is a schematic diagram of the appearance of a second robot according to an embodiment of the present application;

[0093] FIG37 is a schematic diagram of a flow chart of a positioning calibration method according to another embodiment of the present application;

[0094] FIG38 shows a schematic diagram of a simple bedroom layout including a bed and nightstands;

[0095] Figure 39 shows the bedroom mapping effect for bed category 1;

[0096] Figure 40 shows the bedroom mapping effect for bed category 2;

[0097] Figure 41 shows the bedroom mapping effect for bed category three;

[0098] FIG42 shows an effect diagram showing the distinction between the first robot working area and the second robot working area;

[0099] FIG43 shows a bedroom mapping effect or a work area differentiation display effect when the bed and the bedside table are both in category 1;

[0100] 44 to 47 show schematic structural diagrams of base station devices;

[0101] Figure 48 is a schematic structural diagram of a second robot shown in another embodiment of the present application. DETAILED DESCRIPTION

[0102] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0103] In some processes described in the specification, claims and the above-mentioned figures of this application, multiple operations that appear in a specific order are included. These operations may not be executed in the order in which they appear in this document or may be executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit "first" and "second" to different types. In addition, the following embodiments are only some of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0104] The multi-robot collaborative system mentioned in each embodiment of the present application, as shown in Figure 1, may include a first robot 1 and a second robot 2. The first robot 1 and the second robot 2 may be cleaning robots, mowing robots, detection robots, or logistics robots, among others. The first robot 1 and the second robot 2 may be the same type of robot, such as both cleaning robots, one of which is larger than the other. Alternatively, the first robot 1 and the second robot 2 may be different types of robots, such as one mowing robot and the other cleaning robot. Alternatively, cleaning robots include, but are not limited to, sweeping robots, mopping robots, and sweep-and-mop robots; one of the first robot 1 and the second robot 2 may be a sweeping robot and the other may be a mopping robot. Furthermore, the second robot 2 in the multi-robot collaborative system mentioned herein may be one or more, and this is not specifically limited in the embodiments of the present application. Furthermore, in addition to the first robot 1 and the second robot 2, the multi-robot collaborative system may also include a base station (not shown). The base station may provide services for the first and second robots, such as docking, charging, recharging (e.g., liquid recharging), drainage (e.g., sewage drainage, dust box garbage discharge), and cleaning.

[0105] In one embodiment, there is one base station, which can provide services to the first robot and the second robot respectively. In other embodiments, there may be multiple base stations, which can be placed at different locations in the area to facilitate providing services to the robots nearby. Alternatively, one of the multiple base stations can be dedicated to providing services to the first robot, while another or more base stations can provide services to the second robot.

[0106] The first robot 1 and the second robot 2 have certain capabilities for autonomous positioning, autonomous path planning, autonomous obstacle identification, autonomous obstacle avoidance, autonomous movement along the planned path, and execution of corresponding tasks. It should be noted that in addition to the aforementioned capabilities, the first robot 1 also has the ability to autonomously identify low, narrow spaces in the environment, while the second robot 2 does not. The second robot 2 must perform its corresponding task in low, narrow spaces according to the task instructions issued by the first robot 1. The first robot 1 may be equipped with a first acquisition device with high positioning accuracy. This first acquisition device may include, but is not limited to, a laser radar (such as LDS (Laser Direct Structuring), Time of Flight (TOF), area array, structured light, etc.), a visual sensor (such as a camera), an infrared sensor, etc., enabling the first robot 1 to perform mapping, positioning, navigation, and path planning functions. Path planning is the process by which the first robot 1 executes the optimal or feasible path from a starting point to a certain end point, while navigation is the process by which the first robot 1 executes the planned path to accurately reach the destination (end point). Specifically, for example, while walking within a certain field, the first robot 1 can use a first acquisition device to collect environmental information of its surroundings in real time, thereby establishing a field map of the entire field based on the environmental information. The field map includes, but is not limited to, information such as the relative position information of any point in the field, boundary information, and information about various obstacles. Based on the established field map, the first robot 1 can locate its position in the corresponding field in real time. Furthermore, it can perform path planning to plan a path from one location in the field to another, and initiate navigation to execute the planned path, thereby accurately moving to the destination (i.e., another location). The second robot 2 can be equipped with a second acquisition device that is small in size, low in cost, and has low positioning accuracy. Such a device may include a gyroscope, a wheel odometer, etc., so that the second robot 2 has basic positioning functions, navigation, and path planning. Specifically, the second robot 2 can use a second acquisition device to collect its own state change information (such as position, posture, and other information) in real time. For example, it can use a wheel odometer to count the number of rotations of its own drive wheel and calculate the travel distance based on the circumference of the drive wheel and the driving time, thereby determining its current position based on the calculated travel distance. For another example, it can use a gyroscope to detect its own walking direction to determine its own posture. Furthermore, based on the real-time collected state change information, the accumulated state change amount can be determined, and the accumulated state change amount can be used to indirectly obtain its own position change, thereby achieving positioning. The second robot 2 does not have mapping capabilities, and in order to achieve miniaturization, the second robot 2 is equipped with a small number of sensors for positioning, resulting in the second robot having no global positioning capability and only relative positioning.For example, the first robot 1 creates a map and sends the created map to the second robot 2. Assuming that the second robot 2 starts from the base station, the second robot 2 can use the coordinates of the base station in the map as the starting point, and obtain the walking direction and walking distance through the information collected by the second collection device, and then obtain the relative coordinates relative to the starting point coordinates. Based on the starting point coordinates and the relative coordinates relative to the starting point coordinates, the global coordinates of the second robot 2 in the global coordinate system (such as the map coordinate system) can be determined. For another example, the second robot 2 receives the first global coordinates of the second robot 2 in the global coordinate system (such as the map coordinate system) sent by the first robot 1. The second robot 2 uses the first global coordinates as the starting point and determines the relative coordinates of the second robot 2 relative to the first global coordinates through the information collected by the second collection device. Based on the first global coordinates and the relative coordinates relative to the first global coordinates, the second global coordinates of the second robot in the global coordinate system can be determined.

[0107] It should be noted that the communication interaction between the first robot and the second robot can be wireless communication. The wireless communication method may include, but is not limited to, short-range communication methods such as Bluetooth, ZigBee, infrared, and WiFi (Wireless Fidelity); long-range wireless communication methods such as LoRa; and wireless communication methods based on mobile networks. When connected via a mobile network, the mobile network standard may include, but is not limited to, 2G (GSM), 2.5G (GPRS), 3G (WCDMA, TD-SCDMA, UTMS), 4G (LTE), 4G+ (LTE+), 5G, WiMax, etc. The information sent by the first robot to the second robot may include, but is not limited to, control commands, map information, and positioning information. Control commands may include, but are not limited to, task execution commands, return to the base station commands, commands instructing the second robot to perform a specified action, etc. The second robot may send, but is not limited to, positioning requests, location information reporting, task execution progress, etc. to the first robot.

[0108] As you can see, in a collaborative multi-robot system, multiple robots of varying sizes are responsible for tasks in different areas of a facility. A more capable robot, such as the first robot 1 mentioned above, needs to empower a less capable second robot 2, such as providing maps and assisting with positioning.

[0109] As shown in Figure 2, the first robot 1 includes a first body 11. A removable first dust box (not shown in Figure 2) is provided on the first body 11. The first dust box can be removed from the first body 11, for example, from the top of the first body 11. Along its direction of travel, the first robot has a front, a rear, a left, and a right side. A first collection device (not shown in Figure 2) and a first striker plate 12 are provided on the front side of the first body 11. The first striker plate 12 has a hollow structure at the position corresponding to the first collection device, allowing the first collection device to be exposed for collecting environmental information. A first charging port 13 is provided on the rear side of the first body 11. As shown in Figure 2, the first charging port 13 may include two spaced-apart electrical connection terminals. A first dust collection port 14 is provided on one side of the first charging port 13. The first dust collection port 14 is connected to the outlet of the first dust box via a passage. A first cleaning component (not shown in Figure 2) is provided on the bottom of the first body 11. The first cleaning component may include, but is not limited to, at least one of the following: a roller brush, a side brush, a rag tray, etc. Assume that the first cleaning component includes a roller brush, a side brush, and a rag tray. The roller brush is located in front of the rag tray, and the side brush can be located to the left and / or right front of the roller brush, with the side brush partially extending outside the first housing. Two rag trays can be provided, both of which can rotate relative to the first housing 11. At least one of the two rag trays can also swing relative to the first housing 11 while rotating to change the amount by which the rag on the tray extends beyond the first housing 11. For example, at least one of the two rag trays can normally be in an outward swinging position and retract when encountering an obstacle (such as a wall, table leg, bed edge, etc.). Alternatively, at least one of the two rag trays can normally be in a retracted position and, when encountering an obstacle (such as a wall, table leg, bed edge, etc.), can be in an outward swinging position. In the outward swinging position, the rag on the rag tray extends beyond the first housing 11 by a distance L1, while in the retracted position, the rag on the tray extends beyond the first housing 11 by a distance L2, with L1 being greater than L2.

[0110] The bottom of the first body 11 is also provided with a suction port (not explicitly shown in Figure 2), and the entrance of the first dust box is connected to the suction port through a channel. A first side sensing device is provided on the left and / or right side of the first body 11 for sensing side environmental information to achieve specific functions, such as sensing the edge of an obstacle and cleaning along the edge of the obstacle through the first side sensing device; or for sensing the guidance signal sent by the base station when the first robot returns to the base station, entering the base station and docking in place by sensing the guidance signal of the base station. At least one downward-looking sensor can also be provided at the bottom of the first body 11 for detecting ground conditions to identify steps, potholes, etc. to prevent the first robot from falling.

[0111] As shown in Figures 3, 4, and 5, the second robot 2 includes a second body 21, which is equipped with a removable second dust box 22. The second dust box 22 can be installed and removed from the top of the second body 21. Of course, in other embodiments, the second dust box 22 can also be installed and removed from the bottom of the second body 21, etc., which is not specifically limited in this embodiment. Along the direction of travel of the second robot 2, the second robot 2 has a front side, a rear side, a left side, and a right side. The front side of the second body 2 is equipped with a forward-looking buffer assembly 23. This forward-looking buffer assembly 23 can be used to detect obstacles in front and avoid collisions. For example, the forward-looking buffer assembly 23 may include an infrared sensor with a transmitting end and a receiving end. The forward-looking buffer assembly 23 may include a single infrared sensor with infrared signal transmission and reception, or may include multiple infrared sensors, which is not specifically limited in this embodiment. A second charging port 24 may be provided on the rear side of the second body 21. This second charging port 24 can be located on two charging reeds spaced apart on the side wall of the second body 21. Alternatively, the second charging port 24 may comprise two blind holes spaced a certain distance apart, with electrical connection terminals disposed at the bottoms or walls of the two blind holes. A second side sensing device 25 may be disposed on the left and / or right sides of the second body 21 to sense the side environment to implement specific functions. For example, the second side sensing device 25 may be used to detect the edge of an obstacle and clean along that edge; or, when the second robot 2 returns to the base station, to sense guidance signals from the base station within a set distance (e.g., one meter) to determine the approximate location of the base station. A rear sensing device 26 may also be disposed between the two blind holes to sense the rear environment. For example, it may work with the second side sensing device 25 to sense guidance signals from the base station, allowing the robot to accurately enter the base station and dock. A second dust collection port 27 is also disposed on the rear side of the second body 21, which may be located to the left or right of the second charging port 24. Similarly, at least one downward-looking sensor 28 may be disposed on the bottom of the second body 21 to monitor the ground surface to identify steps, potholes, and other obstacles to prevent the second robot from falling. A second cleaning component may be provided at the bottom of the second body 21. This second cleaning component may include a suction port 29 solely for vacuuming, or it may be a roller brush, rag, or the like, though this embodiment does not specifically limit this. If the second cleaning component is a suction port 29 solely for vacuuming, as shown in the example of Figure 5 , the suction port 29 may be rectangular, polygonal, or fan-shaped, though this embodiment does not specifically limit this. The front side of the suction port 29 is provided with a rubber strip 291 oriented downward and backward. The rear side of the suction port 29 is provided with a downwardly extending stop bar 292, which is provided with at least one vertical slit, dividing the stop bar into multiple segments. The end segments at each end are inclined toward the front of the suction port 29 to direct airflow into the suction port 29 on the left and right sides of the suction port 29. Of course, a side brush 210 may also be provided at the bottom of the second body 21. The side brush 210 may be located at the front left or right side of the bottom of the second body 21.

[0112] Furthermore, the shape of the second robot 2 can be an irregular circle, or a shape with a square front and an arc-shaped rear side, or an ellipse, or a special shape that is easy for the first robot to recognize, etc., and this embodiment does not specifically limit this. A second collision plate 212 can be provided on the front side of the second robot 2. Assuming the outer shape of the second robot 2 as shown in Figure 3, the second collision plate 212 can be a shape that adapts to the outer contour of the front half of the second body 21. The forward-looking buffer assembly 23 can be provided on the second collision plate 212. The second robot 2 has a calibration side wall 213, which can be used when the first robot 1 positions the second robot 2. Since the position and orientation of the calibration side wall 213 on the second robot are uniquely determined, the first robot can determine the posture of the second robot by recognizing the calibration side wall 213. That is, the first robot 1 can quickly recognize the calibration side wall 213, and can quickly determine the posture (i.e., orientation) of the second robot based on the orientation of the calibration side wall 213 on the second robot 2.

[0113] The calibration sidewall 213 can be located on the front, left, right, or rear side of the second robot 2. In one embodiment, as shown in FIG3 , the calibration sidewall 213 is located on the rear side of the second robot 2. The sidewall pattern, texture, material, or shape of the calibration sidewall 213 is different from the other sidewalls of the second robot 2 except for the calibration sidewall 213.

[0114] As shown in Figures 3, 4, 5, and 6, a specific example is shown in which the second body 21 includes an upper surface shell 216; the upper surface shell 216 is in the shape of a circular segment, and the side wall of the second robot 2 extends downward from the edge of the circular segment; the portion extending from the straight segment in the circular segment is the calibration side wall 213. As shown in Figure 6, the width D of the second body 21 in the left-right direction is 1.2 to 8 times the length d of the calibration side wall along the width direction of the second body 21. For example, if the width D of the second body in the left-right direction is 25 cm, the length d of the calibration side wall can be 3 to 20 cm. Currently, the accuracy of point cloud information of sensors for smaller objects is not high. Therefore, in order to quickly identify the second robot, it is preferred that the length d of the calibration side wall is greater than or equal to 5 cm. In this way, the first robot can more quickly and accurately identify the second robot and locate the second robot.

[0115] It should be noted that the minimum length d of the calibration sidewall 213 along the width of the second body 21 is preferably 5 cm. In other words, the length d of the calibration sidewall 213 should be no less than 5 cm. If it is less than 5 cm, the first robot 1 will have lower recognition accuracy when searching for and identifying the second robot 2 due to the short length of the calibration sidewall 213 of the second robot 2. To improve recognition efficiency, the length d of the calibration sidewall 213 should be no less than 5 cm.

[0116] For example, as shown in Figure 6, the shape of the second robot 2, viewed from above, is a segment of a circle. The calibration sidewall 213 is the sidewall corresponding to the straight edge of the segment of a circle. From the perspective of the central angle, the central angle θ corresponding to the calibration sidewall 213 can be between 50 and 80 degrees. For example, the central angle corresponding to the calibration sidewall 213 is 67 degrees. As shown in Figure 7, the surface of the calibration sidewall 213 can be processed, including but not limited to etching, painting, etc., to form a diffuse reflection area 214. The upper half of the calibration sidewall 213, corresponding to the middle area between the two blind holes, is a mirror-transmitting area 215. The rear sensing device 26 is located below this mirror-transmitting area 215 and transmits a sensing signal (e.g., infrared light) through this mirror-transmitting area 215. The remaining area of ​​the calibration sidewall 213 is an opaque area, i.e., a diffuse reflection area, to reduce interference and improve recognition accuracy. Here, the rear sensing device 26 is located near the top of the second robot 2. In fact, the setting position of the rear side sensing device 26 is related to the height of the guidance signal sent by the second robot 2 and the base station. The higher the height of the guidance signal sent by the base station, the higher the setting position of the rear side sensing device 26 of the second robot 2. If the height of the guidance signal sent by the base station is relatively low, the setting position of the rear side sensing device 26 of the corresponding second robot can be in the middle of the height direction of the second robot 2. The purpose is to allow the second robot to sense the guidance signal sent by the base station so that it can accurately enter the docking cabin of the base station and dock in place according to the guidance signal. The second charging port 24 and the second dust collection port 27 can be set at the calibration side wall 213.

[0117] In one feasible technical solution, the width D of the second body 21 of the second robot 2 in the left-right direction can be 200-300 mm. For example, the width D of the second body can be 260 mm. The width of the first robot 1 can be 1.5-3 times the width D of the second robot 2, which is not specifically limited in this embodiment. The height H of the second body 21 of the second robot 2 can be 55-60 mm. For example, H can be 58 mm. It should be noted here that the height H is the height of the second robot when it is placed on the ground. The height h of the second body 21 excluding the drive wheels 211 can be 40-50 mm. For example, h can be 45 mm. Ideally, the smaller the size of the second robot 2, the better. It can enter more narrow and low spaces. However, the smaller the size, the smaller the volume of the second dust box, which will affect the cleaning ability of the second robot 2. Through research by the inventors of this application, it was found that the size of the second robot 2 is within the above-mentioned size range, which can well balance this contradiction and meet the cleaning needs of most narrow and low space areas, avoiding the situation where the dust box is full and needs to return to the base station for dust collection in the middle of a low or narrow area.

[0118] The height of the first robot 1 can be 80-100 cm, for example, 90 cm. It is important to note the installation height of the first acquisition device on the first robot 1. As shown in Figure 8, the acquisition end of the first acquisition device should be 5-10 mm lower than the top surface of the second robot 2. For example, if the laser emission height of the first robot 1 is 48.5 mm, the top surface height of the second robot should be 57 mm.

[0119] In this embodiment, the upper surface height of the second robot 2 is low enough to allow it to pass freely through low areas such as under beds, sofas, and bookcases, while also meeting its basic movement and cleaning functions. The detection signal emission height of the first acquisition device of the first robot 1 must be lower than the upper surface height of the second robot 2. Considering structural tolerances, a certain amount of redundancy (5-10mm) needs to be left in the design. The difficulty of this solution lies in that if the detection signal emission height of the first acquisition device of the first robot 1 is too low, during the movement of the first robot 1, it is easy for the first robot 1 to collect points on the ground where the first robot 1 is moving (the detection signal hits the ground, and the ground reflection point has no fixed calibration position in the global coordinate system), rather than the more stable wall point (the detection signal propagates to the wall, and the position of the wall reflection is relatively stable in the global coordinate system), affecting the normal function of the first robot 1 positioning, calibration and mapping. If the detection signal emission height of the first robot 1 is too high, the detection signal cannot hit the surface of the second robot 2, and the second robot 2 cannot be identified, and the first robot 1's linked repositioning and calibration function cannot be realized. In this embodiment, the first acquisition device is set at a height 5 to 10 mm lower than the upper surface of the second robot 2. The first acquisition device can detect the information of the second robot, and this information is neither too much nor too little, which is sufficient to accurately identify the second robot and achieve the best detection and recognition effect. If the first acquisition device is set at a lower height than the above position, the information collected from the second robot will be reduced, thereby affecting the recognition accuracy; if it is higher than the above position, although more information on the upper surface of the second robot can be collected, there will be some unnecessary interference points in this information (such as information about an obstacle near the second robot), which requires the first robot to filter these interference points, increasing the recognition complexity of the first robot. In addition, if the position of the first acquisition device is too high, in addition to causing the first robot to be too large, it will also affect the accuracy of the first robot in detecting ground obstacles.

[0120] 5 , the bottom of the second robot 2 may be provided with two drive wheels 211 and a universal wheel 2150. In a specific embodiment, the universal wheel 2150 may be located in front of the two drive wheels 211. The two drive wheels 211 may be located in the middle and rear portion of the bottom of the second robot 2.

[0121] Furthermore, a first trigger device (not shown in the figure) is further provided on the right or left side of the second body 21 of the second robot 2. As shown in Figure 3, the first trigger device can be provided next to the second side sensing device 25, located on the side wall of the non-impact plate area of ​​the second body 21, or located on the second impact plate 212 adjacent to the second side sensing device 25. A second trigger device is provided at the corresponding position of the base station. For example, the first trigger device can be an infrared emitting device, and the second trigger device can be an infrared receiving device. The first embodiment is: after the second robot 2 enters the base station and the second charging port 24 is electrically connected to the charging terminal of the base station, the infrared emitting device of the second robot 2 starts to emit an infrared signal. After the infrared receiving device at the corresponding position on the base station receives the infrared signal, the dust collection function on the base station is activated to extract the garbage in the second dust box 22 of the second robot 2. The second implementation method is: after the second robot 2 enters the base station, the second robot can determine whether to trigger the first trigger device to send a first trigger signal (such as an infrared signal) based on the current amount of garbage in the second dust box; if the amount of garbage in the second dust box is greater than the garbage amount threshold, the first trigger device is triggered to send a first trigger signal, so that the base station starts the dust collection function to remove the garbage in the second dust box 22 of the second robot 2; if the amount of garbage in the second dust box is less than the garbage amount threshold, the first trigger device does not work.

[0122] The first robot can communicate with the base station via wireless communication or through the charging terminal to trigger the base station to activate the dust collection function to remove the garbage in the first dust box of the first robot. Alternatively, the first robot can also be provided with a third triggering device similar to the first triggering device. Of course, the edge sensor on the side of the second robot can be reused to send a second triggering signal (such as an infrared signal) when dust collection is required after entering the base station. The second triggering device at the corresponding position on the base station will activate the dust collection function after receiving the second triggering signal.

[0123] As shown in Figure 9, the multi-robot collaborative system provided in this embodiment also includes a base station 3. The base station 3 has a docking cabin close to the ground for accommodating the first robot or the second robot to enter. The base station 3 is provided with a dust collection port and a charging terminal. The first robot 1 and the second robot can share the dust collection port and the charging terminal on the base station. For example, after the first robot 1 enters the base station and docks in the docking cabin, the first dust collection port on the first robot 1 docks with the dust collection port on the base station 3, and the first charging port on the first robot is electrically connected to the charging terminal.

[0124] When the second robot enters the base station and docks in the docking cavity, the second dust collection port on the second robot 2 docks with the dust collection port on the base station 3, and the second charging port (such as a charging reed) on the second robot is electrically connected to the charging terminal.

[0125] The above embodiment illustrates a method in which the first robot 1 and the second robot 2 share the dust collection port and charging terminal of the base station. In practice, the first robot 1 and the second robot 2 can share the dust collection port of the base station 3 but not the charging terminal; alternatively, the first robot 1 and the second robot 2 can share the charging terminal but not the dust collection port of the base station.

[0126] Furthermore, the first robot 1 and the second robot 2 do not share the dust collection port of the base station 3 nor the charging terminal. For details, please refer to the following implementation plan.

[0127] When first robot 1 and second robot 2 work together, first robot 1 is more powerful than second robot 2 and plays a leading role in the collaborative work. Therefore, first robot 1 can be called the master. Second robot 2 is less powerful and requires support in the collaborative work with first robot 1. Therefore, second robot 2 can be called the slave. To distinguish certain features, the following uses the terms master or slave to designate corresponding structural features, such as dust collection port and dust collection duct.

[0128] In an embodiment where the first robot 1 and the second robot 2 share neither the dust collection port nor the charging terminal of the base station 3, as shown in Figures 9, 10, 11, 12, and 13, the base station 3 has two dust collection ports: a slave dust collection port 31 and a main unit dust collection port 32. Accordingly, the base station 3 has two dust collection pipes and a three-way switching valve for switching between the two dust collection pipes. The two dust collection pipes are a slave dust collection pipe 34 and a main unit dust collection pipe 35. The base station 3 also has two charging terminals: a slave charging terminal 36 and a main unit charging terminal 37.

[0129] As shown in Figure 14 , the second robot 2 enters the base station 3 . The second charging port 24 of the second robot 2 is electrically connected to the handset charging terminal 36 of the base station 3 , enabling charging and / or communication. The second dust collection port 27 of the second robot 2 is connected to the handset dust collection port 31 of the base station 3 . The three-way switching valve 33 is switched, connecting the handset dust collection duct 34 to the dust collection blower on the base station 3 . The dust collection blower on the base station 3 is activated, and the dust in the second dust box 22 of the second robot 2 is drawn through the handset dust collection port 31 by the suction airflow into the handset dust collection duct 34 and finally collected in the dust box of the base station 3 . While the second robot 2 is charging and collecting dust, the first robot can perform cleaning tasks or wait near the base station 3 . As can be seen in Figure 14 , due to the low height and small width of the second robot 2 , the main unit charging terminal 37 in the base station 3 is located above the second robot 2 .

[0130] As shown in Figure 15, the first robot 1 enters the base station 3. The first charging port 13 of the first robot 1 is electrically connected to the main charging terminal 37 of the base station 3, enabling charging and / or communication. The first dust collection port 14 of the first robot 1 is connected to the main dust collection port 32 of the base station. The three-way switching valve 33 is switched so that the main dust collection pipe 35 is connected to the dust collection fan. The dust collection fan of the base station is activated. The garbage in the first dust box of the first robot 1 is sucked through the main dust collection port 32 into the main dust collection pipe 35 under the action of the suction airflow and finally collected in the dust box of the base station 3. Similarly, while the first robot 1 is charging or collecting dust, the second robot 2 can perform cleaning tasks or wait near the base station.

[0131] Specifically, assuming that the first robot triggers the base station to start the dust collection function through wireless communication, or the charging port, or the third trigger device mentioned above. After the first robot enters the base station, the base station receives the dust collection request issued by the first robot through wireless communication or the charging port, or the second trigger device on the base station receives the second trigger signal sent by the third trigger device on the first robot, if the three-way switching valve is currently connected to the dust collection pipe of the slave unit, the base station controls the three-way switching valve to switch so that the dust collection pipe of the main unit is connected to the dust collection fan; if the three-way switching valve is currently connected to the dust collection pipe of the main unit, no switching is required.

[0132] As mentioned in the implementation scheme above, the second robot triggers the base station via the first trigger device to activate the dust collection function. When the second robot enters the base station, the first trigger device activates and sends a first trigger signal. Upon receiving this first trigger signal, the second trigger device on the base station controls the three-way switching valve to connect the slave unit's dust collection pipe to the dust collection blower, if the three-way switching valve is currently connected to the master unit's dust collection pipe. If the three-way switching valve is currently connected to the slave unit's dust collection pipe, no switching is required.

[0133] In this embodiment, the slave's charging terminal 36 also serves as a positioning post for the first robot 1, enabling the main robot's positioning function. By adding a charging terminal to the existing positioning post of the first robot 1, the first robot's positioning, the second robot's positioning, and the second robot's charging functions can be simultaneously achieved. As can be seen, in this embodiment, a single positioning post structure can achieve multiple functions, eliminating the need for additional base station structures, making the base station structure simple and compact. Furthermore, the use of positioning posts for positioning allows for more accurate alignment of the first and second robots. The positioning posts can be two, as shown in the example of Figure 16 . Two positioning posts 361 are arranged parallel to each other and spaced a certain distance apart, extending from the inner bulkhead of the base station docking compartment 310 toward the hatch.

[0134] Specifically, as shown in Figure 10 , the base station 3 has a docking bay 310. The first robot 1 or the second robot 2 enters the docking bay 310 through the entrance. A host charging terminal 37 is provided on the wall of the docking bay 310 opposite the entrance. The host charging terminal 37 includes two spaced-apart host electrical connection terminals. A guidance signal transmitter 311 is provided between the two host electrical connection terminals. The guidance signal transmitter 311 emits a guidance signal to guide the first robot 1 or the second robot 2 into the docking bay 310. The guidance signal transmitter 311 may be an infrared guidance signal, a laser guidance signal, or the like. As shown in Figure 16 , the handset charging terminal 36 includes two positioning posts 361 and elastic charging terminals 362 disposed at the ends of the two positioning posts 361. As shown in Figure 10 , two positioning posts 361 are provided below the host charging terminal 37, extending toward the entrance. The two positioning posts 361 correspond to the two adapter holes 15 on the first robot 1 and the two adapter holes on the second robot 2. Elastic charging terminals 362 are provided on the ends of the two positioning posts 361 facing the inlet or on the side walls of the two positioning posts 361 . The elastic charging terminals 362 can be extended and retracted along the axis of the positioning posts 361 or in the cross-sectional direction.

[0135] The two adapting holes 15 on the first robot 1 may be two blind holes, and the openings of the two blind holes may be provided with guiding slopes. As the first robot 1 retreats into the docking compartment, the two positioning posts 361 may first contact the guiding slopes, which act to correct the docking posture of the first robot 1 until the first robot 1 is docked. That is, the two electrical connection terminals of the first charging port 13 of the first robot 1 are respectively matched or stably connected with the two electrical connection terminals of the host charging terminals 37 on the base station 3.

[0136] Similarly, the two adapter holes of the second robot 2 can also be two blind holes, and the openings of these two blind holes are provided with guiding slopes. Unlike the two adapter slots of the first robot 1, the two adapter holes of the second robot 2 can also be called second charging ports 24, and the second charging port 24 includes two electrical connection terminals respectively provided in the two adapter holes. In the process of the second robot 2 retreating into the docking cabin, the two positioning posts 361 may first contact the guiding slopes at the openings of the two adapter holes of the second robot, and then correct the docking posture of the second robot 2 under the action of the guiding slopes. In the process of the second robot 2 retreating, the elastic charging terminal 362 on the positioning post 361 first gradually approaches, then contacts, and then abuts the electrical connection terminal in the adapter hole. When abutting, the elastic charging terminal 362 on the positioning post 361 contacts the electrical connection terminal in the adapter hole of the second robot and deforms under a certain downward pressure, which can effectively solve the problem of poor electrical contact.

[0137] When positioning the first robot for charging, the two positioning posts 361 are inserted into the two matching holes 15 on the first robot, as shown in Figure 2. When the first robot is charging, the two electrical connection terminals of the first charging port 13 mate with the two electrical connection terminals of the host charging terminals 37 on the base station 3.

[0138] The two positioning posts 361 are used to position the second robot for charging. The second robot then enters the base station's docking bay backward. The two positioning posts 361 are inserted into the two matching holes in the second robot's second charging port 24, as shown in Figure 3. When the second robot is charging, the two elastic charging terminals on the two positioning posts 361 abut against the two electrical connection terminals in the two matching holes.

[0139] The elastic charging terminal 362 has a free-state extending length and a minimum extending length corresponding to elastic deformation when pressed downward.

[0140] If the elastic charging terminal 362 is disposed at the end of the positioning post 361, the blind hole depth of the two blind holes on the first robot 1 can be equal to or greater than the sum of the free-state extension lengths of the positioning post 361 and the elastic charging terminal 362. The hole depth of the two blind holes on the second robot 2 can be equal to or less than the sum of the free-state extension lengths of the positioning post 361 and the elastic charging terminal 362. After the second robot 2 is docked, the positioning post 361 may not be fully inserted into the corresponding blind hole of the second robot 2 and may be partially exposed. However, the electrical connection terminal at the bottom of the blind hole abuts the elastic charging terminal 362, and an external force is applied to the elastic charging terminal 362 to deform it. This improves the reliability of the electrical connection between the second robot's electrical connection terminal and the elastic charging terminal 362.

[0141] If the elastic charging terminals 362 are located on the sidewalls of the positioning posts 361, the cross-sectional dimensions of the two blind holes on the first robot 1 can be equal to or greater than the sum of the cross-sectional dimensions of the positioning posts 361 and the free-extension length of the elastic charging terminals 362. The cross-sectional dimensions of the two blind holes on the second robot 2 can be equal to or less than the sum of the cross-sectional dimensions of the positioning posts 361 and the free-extension length of the elastic charging terminals, but greater than the sum of the cross-sectional dimensions of the positioning posts 361 and the minimum extension length of the elastic charging terminals 362.

[0142] As shown in Figures 12 and 13, an upper water barrier 38 is provided between the main unit charging terminal 37 and the slave unit charging terminal 36, and a lower water barrier 39 is provided below the slave unit charging terminal 36. The upper water barrier 38 blocks liquid splashed from the cleaning rag on the first robot's rag tray, ensuring a reliable electrical connection between the first charging port 13 of the first robot 1 and the main unit charging terminal 37 of the base station 3. Similarly, the lower water barrier 39 blocks liquid splashed from the cleaning rag on the first robot's rag tray.

[0143] Furthermore, as shown in Figure 16, two positioning posts 361 are arranged in parallel. A dust collection port 31 for the handset is provided on one side of each positioning post 361. The handset dust collection port 31 extends toward the entrance via an elastic member 3110. As shown in Figure 13, an elastic member 3110 is provided at two diagonally opposite corners of the handset dust collection port 31, providing elasticity. The edges of the handset dust collection port 31 are provided with a rubber seal for sealing. When the second robot 2 is docked in the docking bay, the handset dust collection port 31 is extended, and the second dust collection port 27 mates with the handset dust collection port 31. The rubber seal seals the second dust collection port 27 inside, preventing air leakage during suction from the dust collection blower, which could affect suction and prevent garbage from leaking out. When the first robot 1 is docked in the docking bay, the handset dust collection port 31 is pressed against the inner wall to avoid blocking contact between the first charging port 13 of the first robot 1 and the charging terminal 37 of the main unit.

[0144] As shown in Figure 12, the main unit dust collection port 32 is located on the other side of the slave unit's dust collection port 31, opposite the two positioning posts 361. A lower water barrier 39 can also be positioned between the slave unit's dust collection port 31 and the main unit's dust collection port 32. The main unit's dust collection port 32 is sealed with a rubber seal around its edge. Once the first robot is docked in the docking bay, the rubber seal seals the first robot's dust collection port inside, preventing air leakage from the dust collection blower, which could affect suction and prevent waste from leaking out.

[0145] Furthermore, as shown in Figure 17, the positioning posts 361 extend downward, toward the entrance. The two positioning posts 361 of the handset charging terminal 36 are positioned at an angle. The angle β between the axis of the positioning posts 361 and the horizontal plane (e.g., the ground or the bottom of the docking bay) is 1 to 5 degrees.

[0146] Furthermore, as shown in Figures 9 and 18, base station 3 includes a base mounting bracket 312, within which is mounted a removable base 313. A filter tray 314 is mounted on removable base 313. Filter tray 314 is provided with filter holes and a structure to assist with cleaning with a rag. Wastewater generated during rag cleaning can pass through the filter holes and enter removable base 313. A water outlet is provided on the sidewall of removable base 313, which is connected to the base station 3's wastewater tank via a pipe for recovering wastewater generated during rag cleaning.

[0147] Furthermore, as shown in Figure 9 , a slave unit drive wheel positioning groove 315 is provided on the side of the filter tray 314 corresponding to the docking bay entrance. This positioning groove 315 also has a filter hole at its bottom. If liquid is deposited on the drive wheel 211 of the second robot 2, it can pass through the filter hole at the bottom of the positioning groove 315 and enter the removable base 313, reducing the humidity of the drive wheel 211 and facilitating its rapid drying. After the second robot 2 is fully charged or dust-collected at the base station 3, it can leave the base station without contaminating the area outside the base station due to water on the drive wheel 211.

[0148] Furthermore, as shown in Figures 9 and 18, the base station 3 also includes a removable guide ramp 316. One side of the guide ramp 316 is connected to the entrance side of the base mounting bracket 312, forming a ramp at the entrance of the docking compartment to facilitate robot entry. A handset universal wheel support structure 317 is provided on the guide ramp 316. The support points at the bottom of the two handset drive wheel positioning grooves 315 and the support points of the handset universal wheel support structure 317 are located in a plane parallel to the two positioning posts 361 of the base station 3. In other words, after the second robot 2 enters the base station and docks, it assumes an inclined position, with the inner side of the docking compartment higher and the entrance side lower. Figure 19 shows a schematic diagram of the second robot 2 docked, with its drive wheels 211 located within the handset drive wheel positioning grooves 315. Figure 20 shows a schematic diagram of the second robot 2 docked, with its universal wheels 2150 located on the handset universal wheel support structure 217. The planes where the three supporting points are located are parallel to the two positioning posts 361 of the base station 3 , which can prevent the charging terminal of the slave from being poorly connected to the second charging port 24 of the second robot 2 when the second robot 2 is charging.

[0149] In addition, a set of strip guide structures 318 are provided on both sides of the universal wheel support structure 317 of the sub-machine. The distance between the two sets of strip guide structures decreases from the filter disc 314 in the direction of the robot moving away from the base station, forming a "U"-shaped structure, but the bottom of the "U" shape is open and not closed. Specifically, as shown in Figure 9, a guide structure 318 includes: a plurality of cylindrical guide wheels 320 and a mounting seat 321 arranged on the guide ramp 316. The wheel axles of the two ends of the plurality of cylindrical guide wheels 320 extend a section and are respectively installed in the mounting seats 321 at corresponding positions, forming a bamboo-like strip guide structure. In actual implementation, the axial length of each section of the cylindrical guide wheel 320 can be the same or different. For example, the axial length of the cylindrical guide wheel 320 closer to the inside of the docking cabin can be longer. After the second robot 2 enters the guide ramp 316 based on the guidance signal transmitted by the base station 3, if the drive wheel 211 on one side of the second robot 2 rubs against the cylindrical guide wheel 320, the cylindrical guide wheel 320 will rotate, causing the drive wheel of the second robot 2 to slip, preventing the second robot 2 from passing over the cylindrical guide wheel and driving the second robot 2 to move along the arrangement direction of the cylindrical guide wheel 320, helping the second robot 2 to find its correct direction and successfully enter the docking bay and dock. Because the second robot 2 is relatively low in overall height and size, and when entering the docking bay and docking, the second robot 2 is in an inclined posture with the inner side higher and the outer side lower. To prevent the bar guide structure 318 from affecting the movement and docking of the second robot 2, as shown in Figure 9, the two sets of bar guide structures do not extend to the outermost side of the guide ramp 316 (i.e., the side where the robot enters), but instead extend to the middle of the guide ramp 316. This facilitates the second robot's ascent and prevents the drive wheels of the second robot from getting stuck.

[0150] The universal wheel support structure 317 is located outside the base station 3, on the guide ramp 316. After the second robot 2 enters the docking compartment, if the two drive wheels of the second robot 2 enter the sub-unit drive wheel positioning groove 315 in the docking compartment, and the universal wheels of the second robot 2 are located on the universal wheel support structure 317, it means that the second robot 2 is docked in place, ensuring that the second robot 2 can smoothly complete recharging and dust collection. In addition, the bottom of the sub-unit drive wheel positioning groove 315 is provided with a filter hole to drain water and increase the grip of the drive wheel, providing an anti-skid effect, preventing the second robot's drive wheel from slipping, and preventing liquid on the second robot's drive wheel from contaminating the ground outside the base station.

[0151] Furthermore, as shown in Figures 9 and 18, the filter disc 314 is also provided with a cleaning structure 322. This cleaning structure 322 may include a rag cleaning structure, such as the bumps and dots shown in Figure 18. As shown in Figure 9, this cleaning structure may also include a small rag cleaning structure 323, which may also include bumps and dots. This small rag cleaning structure 323 may be located in a corner of the filter disc 314, outside of the rag cleaning structure. This small rag cleaning structure 323 can be used to clean the small rag and bristles on the first robot.

[0152] The base station provided in this embodiment takes into account the docking, charging, dust collection, etc. of the first robot and the second robot. By setting two sets of strip guide structures on the base station, the problem of the second robot with a narrow body having no guidance when returning to the base station is solved, and the guidance accuracy of the second robot returning to the base station is improved, so that the second robot can quickly and smoothly return to the base station and dock in place. The universal wheel support structure ensures the stability of the second robot body, and the drive wheel positioning groove assists the second robot to reach the specified position, ensuring that the second robot can charge and collect dust normally.

[0153] In this embodiment, the first and second robots share a base station. Two sets of bar-shaped guide structures guide the second robot uphill back to the base station for dust collection and charging, without hindering the first robot's return. As shown in Figure 18 , the wheel spacing between the first robot's two drive wheels is greater than that of the second robot's two drive wheels, and the chassis height of the first robot 1 is also higher than that of the second robot 2. Therefore, when the first robot 1 drives uphill into the base station, its chassis and drive wheels will not contact the bar-shaped guide structures. After the first robot 1 is docked, its drive wheels are approximately at the two ends of the entrance side of the base bracket 312, as indicated by the two dashed lines on the chassis bracket 312 in Figure 18 . The first robot 1 is guided into the docking compartment by rollers 324 on the left and right walls of the base station 3.

[0154] The following will describe the collaborative operation process of the first robot and the second robot in conjunction with a specific scenario. In addition to the description, the relationship between the site, work area and specific area involved in this application will be explained first.

[0155] The "site" refers to the entire working environment in which the first robot and / or the second robot is to operate, such as a home site, an office site, etc. The site includes one or more work areas. For example, taking a home site as an example, the home site may include multiple room areas, such as a living room, a bedroom, a kitchen, and a bathroom. Specific areas are areas within the work area that are not suitable for the first robot to operate, such as low areas, narrow areas, and other special areas (such as carpet areas) within the work area. Specific areas will be described in detail in other embodiments.

[0156] Assume that the first robot 1 and the second robot 2 are in a completely new site to be operated. The user sends an instruction to the first robot 1 to perform a task through the human-computer interaction function provided by the first robot 1 (such as voice, display screen, etc., or smart devices such as mobile phones and tablets that communicate with the first robot 1). In response to the instruction triggered by the user, the first robot 1 will first map the completely new site to be operated to understand the working environment before performing the task in the site for the first time. It should be noted that if the site to be operated is not a completely new environment, that is, a site where the first robot has already worked, the first robot does not need to re-map it after receiving the instruction. The specific process of mapping by the first robot 1 is as follows: the first robot 1 starts from the position at which it is located when it receives the instruction, and begins to walk in the site to be worked. During the walking process, it uses the first acquisition device on itself (such as a visual sensor, a lidar) to collect information about the surrounding environment, and then, based on the collected environmental information, uses SLAM (Simultaneous Localization and Mapping) technology to construct a map to obtain a corresponding site map; wherein, the position at which the first robot 1 receives the instruction can be in the docking cabin of the base station 3, or in a set position near the base station 3, or in any position in the site to be worked, and this embodiment does not specifically limit this.

[0157] After the map is created, if the hardware configuration of the second robot 2 is high, such as large memory capacity and high computing power, the first robot 1 can directly send the created site map to the second robot 2. If the hardware configuration of the second robot 2 is low due to factors such as cost, size, and battery capacity, the first robot 1 needs to process the created site map accordingly.

[0158] If the hardware configuration of the second robot 2 is relatively low, and considering that the memory capacity of the second robot 2 is often relatively small, if the constructed site map is directly sent to the second robot 2 for map synchronization, the second robot 2 may easily run out of storage space. Therefore, in the present application scheme, after the first robot 1 has completed the site map, it will perform some processing operations on the site map and send the processed site map to the second robot 2. The processing operations include, but are not limited to, binarization and cropping. The purpose of cropping is to remove some invalid parts of the map to retain the valid and usable parts to the greatest extent possible. Specifically, the constructed site map can be first binarized to mark the passable areas in the site map with a first value, such as 1, and the impassable areas with a second value, such as 0. After binarization, the entire map is traversed to obtain the maximum horizontal coordinate value, maximum vertical coordinate value, minimum horizontal coordinate value, and minimum vertical coordinate value of the passable area. Based on the four coordinate values ​​obtained above, a cropping area is determined, and the site map is cropped according to the cropping area.

[0159] It should be noted that the site map sent by the first robot 1 to the second robot 2 does not include the location information of the base station 3. The location information of the base station 3 is sent separately by the first robot 1 to the second robot 2. In addition, the site map may not include obstacle information (such as the location coordinates, shape, size, etc. of the obstacle). The obstacle information may also be sent separately by the first robot 1 to the second robot 2. The first robot 1 may send the site map, the location information of the base station 3, and the obstacle information to the second robot 2 simultaneously, or they may send them separately. For example, the first robot 1 may send the location information of the base station 3 and the obstacle information to the second robot 2 as additional information at the same time as sending the site map to the second robot 2. For another example, the first robot 1 can sequentially send the site map, the location information of the base station 3, and the obstacle information to the second robot 2. The order in which these three items are sent is not limited in this embodiment. Specifically, the site map can be sent to the second robot 2 first, followed by the location information of the base station 3 and the obstacle information. Alternatively, the location information of the base station 3 can be sent to the second robot 2 first, followed by the site map and the obstacle information, and so on. This allows the first robot 1 to return to the base station 3 when needed based on the location information of the base station 3. Alternatively, in another feasible technical solution, when creating the site map, the first robot 1 automatically marks the location coordinates of the base station in the site map. After receiving the site map sent by the first robot 1, the second robot 2 can obtain the location coordinates of the base station using the base station markers in the site map. As described above, the solution provided by this embodiment enables the second robot 2 to obtain the required site map even if it does not have its own mapping capabilities by having the first robot 1 send the corresponding site map to the second robot 2. This eliminates the need for the second robot 2 to deploy various functional components for mapping, resulting in a smaller size.

[0160] The aforementioned site to be operated may include at least one work area. For example, if the site to be operated is a home, and the site includes at least one room, each room can be considered a work area. When a first robot 1 and a second robot 2 collaborate on a corresponding site (e.g., cleaning the site), since the second robot 2 has a weaker capability, the first robot 1, with its stronger capability, issues a task execution instruction to the second robot 2 based on actual needs, thereby dispatching the second robot 2 to perform the work task in a specific area of ​​the site. A specific area is an area within the work area of ​​the site that is not suitable for the first robot to operate. For details on specific areas, please refer to the relevant content below. In some embodiments, a specific area may be, but is not limited to, a low area, a narrow area, or an area that is unsuitable for the first robot to operate due to special task requirements, identified by the first robot 1 while moving through the site. For example, assuming the first robot is a mopping robot or a washing and mopping robot, and the second robot is a vacuuming robot, the carpet area in the house cannot be wet mopped, and the cleaning task in this area can only be vacuuming. Therefore, this carpet area is an area that is unsuitable for the first robot to operate due to special task requirements.

[0161] Specifically, based on the established site map, the first robot 1 can perform tasks while traveling along the planned path within the corresponding site. During this process, the robot can identify specific areas unsuitable for work based on collected environmental information. If so, the robot can send this information to the second robot 2 according to a pre-set delivery strategy, dispatching the robot to the specific area to perform the task. If not, after completing the entire site task, the first robot 1 can return directly to the base station 3 for dust collection and / or charging.

[0162] The environmental information collected by the first robot 1 may include boundary information, area information, obstacle information, ground information, etc. Accordingly, identifying whether there is a specific area that is unsuitable for work based on the collected environmental information includes at least one of the following:

[0163] When it is determined based on the area information that the width of one or more areas in the venue is smaller than the width of the first robot body and larger than the width of the second robot body, the one or more areas are determined to be narrow areas and are specific areas that are not suitable for the first robot to operate;

[0164] When it is determined based on the obstacle information that the height of one or more obstacles in the field is lower than the height of the first robot body and higher than the height of the second robot body, the area where the one or more obstacles are located is determined to be a low area and a specific area unsuitable for the first robot to operate;

[0165] When the ground information is identified and analyzed by an algorithm based on the ground information (such as the ground image taken by a camera) (such as analyzing the material, texture and other characteristics of the ground), and the ground type of one or more areas is identified as a special ground (such as a carpeted floor), it can be determined that the one or more areas are specific areas that are not suitable for the first robot to work due to special task requirements, and so on.

[0166] For details on how to identify specific areas, please refer to the relevant content in other embodiments of this application.

[0167] Furthermore, when identifying a specific area of ​​the site that is unsuitable for work, the first robot 1 can issue task execution instructions to the second robot 2 according to the following issuance strategies. After the issuance is completed, the first robot 1 can also perform other adapted actions:

[0168] The first dispatch strategy: a strategy for dispatching to all specific areas. After completing all tasks on the site, the first robot 1 generates a task execution instruction based on the area information of all identified specific areas within the site and dispatches it to the second robot 2. This task execution instruction contains the area information of all specific areas (such as the area coordinates of each specific area). After dispatching, the first robot 1 can directly return to the base station 3 for dust collection, charging, etc., and / or follow the second robot 2 to the specific area.

[0169] The second delivery strategy: a specific area-based delivery strategy. A site contains multiple work areas. For example, Figure 21a shows a home site example. The areas within the site are divided by room, such as a living room and a bedroom. After completing a task in a work area, the first robot 1 generates a task execution instruction based on the identified area information for the specific work area and delivers it to the second robot 2. The first robot 1 can then proceed to another work area to perform a task, or it can wait in the work area for the second robot 2 to complete its task.

[0170] Among them, when the first robot 1 is performing a task in another work area, if it receives a positioning calibration request sent by the second robot 2, it can record the current position as the task breakpoint and immediately return to find the second robot 2 to perform positioning calibration on the second robot. After positioning and calibrating the second robot, it returns to the breakpoint position and continues to complete the unfinished task. Alternatively, the first robot can also determine whether the conditions for returning to the base station are met based on its current situation. If so, it will search for the second robot 2 to perform positioning calibration on the second robot 2. After positioning and calibrating the second robot, the first robot will return to the base station to charge, collect dust and / or clean the rag; if not, it can send a wait command to the second robot 2 to instruct the second robot 2 to pause moving and wait in place.

[0171] The conditions for returning to the base station include but are not limited to: the dust box of the first robot is full, the dirtiness of the rag of the first robot is greater than the dirtiness threshold, the battery of the first robot is low, the duration of the task performed by the first robot exceeds the preset duration, the area cleaned by the first robot exceeds the preset area threshold, etc.

[0172] By adopting the aforementioned first and second sending strategies, it can be ensured that the first robot 1 and the second robot 2 do not work in the same working area, thereby effectively preventing interference or collision between the working paths of the first robot 1 and the second robot 2, and will not give the user a sense of clutter of multiple robots moving in the venue.

[0173] The third dispatch strategy is the immediate dispatch strategy. During a task, each time the first robot 1 identifies a specific area, it immediately generates a task execution instruction based on the area information and sends it to the second robot 2. This allows the second robot 2 to immediately proceed to the specific area to perform the task, shortening the overall task execution time.

[0174] Furthermore, in response to the received task execution instruction, the second robot 2 will go to the corresponding specific area to perform the task according to the specific area information contained in the task execution instruction. The area information of the specific area carried in the task execution instruction includes: location information, and the work area to which it belongs. If there are multiple specific areas, the task execution instruction may also include sorting information of multiple specific areas, and so on. Of course, in response to the task execution instruction, when the second robot 2 arrives at a specific area, it can move in the specific area in a "bow" shape while performing the task. When there are multiple characteristic areas, the second robot 2 goes to each specific area in sequence according to the sorting information of the multiple specific areas to perform the task. The description of the implementation of the sorting of multiple specific areas is described in detail in the corresponding embodiment below, and please refer to the content below.

[0175] When the second robot 2 goes to a specific area to perform a task, the first robot 1 can perform the following example actions:

[0176] For example, if the first robot 1 has not completed the task in the work area to which the specific area belongs, it can continue to perform its own task in the work area to which the specific area belongs. At this time, the first robot 1 and the second robot 2 work together in the same work area at the same time, which can effectively improve the task execution efficiency and task execution effect of a single work area.

[0177] For another example, if the first robot 1 completes the task in the work area to which the specific area belongs, but there are still unfinished tasks in other work areas, it can continue to enter another work area to perform tasks. At this time, the first robot 1 and the second robot 2 simultaneously perform tasks in different work areas in the site in a coordinated manner, preventing the cleaning paths of the two robots from interfering with each other and causing machine collisions, which can effectively improve the operating efficiency of the entire site.

[0178] For another example, the first robot 1 can wait at the edge of a specific area for a call from the second robot 2. This allows the first robot 1 to promptly respond to the call from the second robot 2 and provide timely assistance to the second robot 2. For example, the first robot 1 can promptly reposition the second robot 2, thereby improving the efficiency and accuracy of the repositioning of the second robot 2. The selection of the waiting position of the first robot 1 at the edge of the specific area will be discussed in detail in other embodiments below and will not be detailed here.

[0179] It should be noted that, in the case of multiple specific areas, the sorting of the multiple specific areas can also be planned and sorted by the second robot itself to determine the order of operations in the multiple specific areas, and this application does not specifically limit this. For a description of the sorting of multiple specific areas, please refer to the relevant content in other embodiments of this application. In addition, after the second robot reaches a specific area, the path (such as a "bow" shaped path) based on which the operation task is performed in the specific area can be planned by the second robot itself or planned by the first robot and sent to the second robot.

[0180] Because the second robot 2's positioning, navigation, and path planning functions have low accuracy, when the second robot 2 travels to a specific area to perform a task according to the received task execution instruction, it uses a wheel odometer on itself to calculate the distance traveled to locate the robot. The error of the wheel odometer makes it inevitable that there will be deviations in positioning, and the longer the travel time, the more serious the deviation will be. Specifically, for every 2 meters or so traveled by the second robot 2, the error of the wheel odometer is generally about 5 centimeters. To improve the positioning accuracy of the second robot 2, in the present application solution, the positioning calibration of the second robot 2 can be achieved by, but not limited to, the following methods:

[0181] Method 1: Actively return to the base station for positioning calibration

[0182] During specific implementation, the second robot 2 can determine whether it can return to the base station for positioning calibration based on but not limited to at least one of its current walking time, whether the working area contains a base station, and the distance between the current position and the base station, and actively return to the base station for positioning calibration when it is determined that it can.

[0183] The ability to return to the base station for positioning calibration after the task is completed includes one or more of the following combinations: the current walking time is less than a set time threshold, the base station is included in the working area, and the distance between the current location and the base station is less than a set distance threshold. The set time threshold (such as 8 minutes, 10 minutes, or 15 minutes, etc.) and the set distance threshold can be obtained through theoretical calculations and extensive testing and experimentation, and the specific values ​​are not limited in this embodiment.

[0184] For example, as shown in Figure 21a, after completing the cleaning task for the living room area, the first robot 1 sends a task execution instruction to the second robot 2 located near the base station 3. The task execution instruction indicates that the sofa area and the coffee table area in the living room area need to be cleaned sequentially. In response to the received task execution instruction, the second robot 2 first moves to the sofa area to perform the cleaning task. After completing the cleaning task for the sofa area, it can directly return to a fixed position within or near the base station 3 (such as the zero-point position near the base station 3 where the second robot 2 is initially located) to perform repositioning and calibration. At this time, after repositioning and calibration, the current position of the second robot 2 is the position information of the base station 3 or the position information of the zero-point position. After repositioning and calibration, the second robot 2 can plan a path from its current position to the coffee table area and proceed to the coffee table area according to the planned path to perform the cleaning task. After completing the cleaning task for the coffee table area, it returns to the base station again for repositioning and calibration, and waits at the base station for the first robot 1 to issue another task execution instruction. The above positioning calibration method is that the second robot 2 returns to the base station 3 to perform a positioning calibration every time it completes the cleaning task of a specific area (such as the sofa area). This positioning calibration method can ensure that the second robot 2 has higher operating accuracy.

[0185] The principle behind the second robot 2's return to the base station 3 for positioning calibration is that the second robot 2 stores a site map containing the base station, the base station's location information, and other information. After returning to the base station, if the second robot 2 docks within the base station, it can directly reset its own position coordinates to those of the base station. Since the base station's location coordinates are accurate, the current position coordinates of the second robot 2 after the reset are also accurate, thus achieving positioning calibration. The base station represents the second robot's location. Similarly, if the second robot docks at a fixed location near the base station, such as the zero-point location near the base station 3 where the second robot 2 was initially located, it can directly reset its own position coordinates to those of the fixed location (e.g., the zero-point location). Because the fixed location is preset, and the corresponding coordinates are known, accurate, and stored within the second robot, the current position coordinates of the second robot 2 after the reset are also accurate. This also achieves positioning calibration. The fixed location represents the second robot's location. Of course, if the second robot docks at a fixed location near the base station, and the first robot is not docked within the base station, the second robot can also dock within the base station based on guidance signals provided by the base station for positioning calibration.

[0186] To ensure both the accuracy of the second robot 2's operations and the high cleaning efficiency of the first robot 1, the robot 2 can return directly to the base station 3 for repositioning and calibration after completing each task in the specific area only when it is determined that the specific area indicated by the task execution instruction is in the same working area as the base station 3, as shown in Figure 21a. The reason for this is that since the specific area to be operated is in the same working area as the base station 3, the distance between the specific area and the base station 2 is often relatively close. In this case, the second robot's positioning deviation is also relatively small, allowing it to find the base station 2 more smoothly and quickly, thereby returning to the base station 3 for positioning and calibration. If the specific area to be operated is not in the same area as the base station 3, the second robot 2 may have a large positioning deviation after completing the task in the specific area, making it impossible for the second robot 2 to successfully return to the base station 3. In this case, other methods must be used for positioning and calibration, such as using the first robot 1 to perform positioning and calibration. For detailed implementation descriptions, please refer to the relevant content in other embodiments.

[0187] Alternatively, as shown in Figure 21b , the second robot can complete all specific areas within a work area before returning to base station 3 for repositioning and calibration. For example, as shown in Figure 21b , after cleaning the sofa area, the second robot 2 can proceed to the coffee table area and return to base station 3 for repositioning and calibration.

[0188] Alternatively, when the second robot 2 performs a task on a specific area, it can adopt an adaptive positioning calibration method in combination with the working time. For example, as shown in Figure 22a, after the second robot 2 receives the task execution instruction sent by the first robot 1, it starts to move forward and starts timing. Assuming that the second robot 2 goes to the sofa area to perform the cleaning task according to the received task execution instruction and arrives at position F, the timing duration at this time is greater than or equal to the set duration threshold, it indicates that the positioning error of the second robot 2 may have a large deviation, and the second robot 2 may not be able to return to the base station 3. However, since the sofa area has not been cleaned yet, the cleaning task of the sofa area will continue to be performed. After reaching position G and completing the cleaning task of the sofa area, the second robot 2 can send a positioning calibration request to the first robot 1 and wait in place at point G to wait for the first robot 1 to go and perform positioning calibration on it.

[0189] In actual applications, it is also possible that an abnormality occurs in the second robot, causing the second robot to work for more than the set time threshold in a specific area (such as the sofa area mentioned above), and the cleaning task cannot be completed. For example, the second robot is trapped in a specific area, and multiple collisions with the plate occur in a specific area, or the drive wheel is stuck, etc. Therefore, in this embodiment, when the second robot determines that an abnormality has occurred, it can send a positioning calibration request to the first robot. Alternatively, the first robot determines whether an abnormality has occurred in the second robot, and when the first robot determines that an abnormality has occurred in the second robot, it determines that the second robot needs to be positioned and calibrated. Specifically, the conditions that trigger the second robot to require positioning calibration may include but are not limited to the following:

[0190] 1. When the second robot performs a task in a single specific area or a single working area for a time period greater than or equal to the first set time period, the second robot requires positioning calibration;

[0191] 2. When the second robot's task execution efficiency in the current area is lower than the set value, the second robot needs to be recalibrated. The task execution efficiency is equal to the ratio of the area of ​​the current area that has been cleaned to the time it takes to complete the task.

[0192] 3. When the second robot detects a stuck drive wheel during movement, the second robot requires positioning calibration. There are two ways to detect a stuck drive wheel: First, when the second robot's drive wheel is stuck forward or backward, the current fed back by the drive motor corresponding to the drive wheel increases. Therefore, whether the drive wheel is stuck can be identified by detecting the magnitude of the current corresponding to the drive motor. Second, when the drive wheel is rotating differentially, if the rotation angle of the wheel odometer integral differs significantly from that of the gyroscope, it can also be determined that the second robot's drive wheel is stuck.

[0193] 4. When the number of times the collision plate of the second robot is triggered is greater than or equal to a set number of times or the duration of the collision plate being triggered is greater than or equal to a second set duration, it is determined that the second robot needs positioning calibration;

[0194] 5. When the sensor on the second robot for monitoring the parameters of the driving wheels has accumulated enough time to reach a point where calibration is required, determining that the second robot needs positioning calibration;

[0195] 6. When the second robot does not return to the base station within a third set time after completing the task, it is determined that the second robot needs positioning calibration.

[0196] For another example, as shown in FIG22b , after cleaning the sofa area, if the working time is less than the set time threshold, it indicates that the positioning error of the second robot 2 is not too large and it has the ability to return to the base station 3. In this case, the second robot 2 can directly return to the base station 3 for positioning calibration.

[0197] For another example, as shown in Figure 22c, after cleaning the sofa area, if the working time is less than the set time threshold, the second robot 2 can continue to go to the coffee table area to perform the cleaning task. For example, if the working time reaches the set time threshold when it reaches point C on the way to the coffee table area, it indicates that the positioning error of the second robot 2 may have a large deviation. Next, the second robot 2 is likely to be unable to accurately reach the coffee table area and perform the cleaning task on the coffee table area, and is also unable to return to the base station 3. At this time, the second robot 2 can send a positioning calibration information to the first robot 1, and wait in place at point C to wait for the first robot 1 to come and perform positioning calibration on it.

[0198] For example, as shown in Figure 22d, after cleaning the sofa area, the robot continues to move to the coffee table area to perform the cleaning task. If it reaches position D during the cleaning of the coffee table area, although the working time is greater than or equal to the set time threshold, the cleaning task of the coffee table area is not completed, so it will continue to clean the coffee table area. After completing the cleaning of the coffee table area at position E, it sends a positioning calibration request to the first robot 1 and waits in place at point E for the first robot 1 to perform positioning calibration on it.

[0199] Regarding the implementation of when the first robot 1 triggers returning to search for the second robot 2 in order to perform positioning calibration on the second robot 2 in response to the received positioning calibration request, reference may be made to the embodiments below.

[0200] Method 2: The first robot 1 performs positioning calibration on the second robot 2

[0201] The first robot 1 performs positioning calibration on the second robot 2, including: performing passive positioning calibration on the second robot 2, and performing active positioning calibration on the second robot 2.

[0202] The passive positioning calibration of the second robot 2 may be triggered upon receipt of a positioning calibration request from the second robot 2. For a description of when the second robot 2 triggers the sending of the positioning calibration request to the first robot 1, please refer to the relevant content in the above description of "Method 1".

[0203] Active positioning and calibration of the second robot 2 can be performed by the first robot 1 actively searching for the second robot 2 to perform a positioning and calibration on the second robot 2 when the first robot 1 returns to the base station 3 for charging, dust collection, and / or cleaning. Alternatively, the first robot 1 can follow the second robot 2 after completing all the tasks in the entire site, and during the following process, the second robot 2 performs a positioning and calibration on the second robot 2 every time the second robot 2 completes a task in a specific area or work area. Of course, it can also be that the first robot 1 positions and calibrates the second robot 2 every time the second robot 2 completes a task in at least one specific area in a room. For example, the first robot 1 waits for the second robot 2 at the door of the room where the second robot 2 is located. After the second robot completes the task in at least one specific area in the room, it moves towards the door of the room to find the first robot for positioning and calibration.

[0204] For example, as shown in Figure 23a, after completing all cleaning tasks in the living room and bedroom areas, the first robot 1 prepares to return to the base station 3 for dust collection, charging, and / or cleaning. Before executing path planning to return to the base station 3, the robot 1 communicates with the second robot 2 to determine that the second robot 2 is currently performing cleaning tasks in the sofa area. For example, the first robot 1 sends a first command to the second robot 2. After receiving the first command, the second robot 2 obtains its current location information and sends this location information to the first robot 1, so that the first robot can determine the second robot's current location based on the location information. The location information sent by the second robot to the first robot may include, but is not limited to, coordinate information and / or an area identifier. Based on the sofa area currently located by the second robot 2, the first robot 1 plans a return path through the sofa area. On the way back to the base station 3 along the return path, the robot 1 passes through the area where the second robot 2 is located, searches for the second robot 2, performs a positioning calibration on the found second robot 2, and then returns to the base station 3.

[0205] For another example, as shown in Figure 23b, after completing all cleaning tasks in the living room and bedroom areas, the first robot 1 finds and follows the second robot 2. Alternatively, the first robot 1 finds and follows the second robot 2 after completing a cleaning task in a user-defined area. For example, if the second robot 2 enters the sofa area to perform a cleaning task, the first robot 1 can wait near the position where the second robot 2 was when it finished cleaning the sofa area, such as at position M, and perform positioning calibration on the second robot 2 after the second robot 2 completes the cleaning of the sofa area. Alternatively, while the first robot 1 is performing its task, the second robot waits at the base station (at one of the four locations shown in Figure 24a, or in the base station's docking bay). The technical solution provided in this embodiment may also include an application app corresponding to the multi-robot collaborative system. Users can use a client device (such as a smartphone, computer, smart wearable device, etc.) to set a docking position next to the base station on the application page (as shown in Figure 24b) and designate one of the four positions shown in Figure 24a as the docking position for the first or second robot when it needs to dock next to the base station. After the first robot 1 completes all cleaning tasks in the living room and bedroom areas, it sends a task execution instruction to the second robot. After receiving the task execution instruction sent by the first robot, the second robot goes to the target area to perform the task. The first robot goes to the target area where the second robot is currently performing the task and waits outside the target area (such as waiting at the coordinate position of the starting point of the target area); after the second robot completes the task in the target area, the first robot calibrates the second robot. After the positioning and calibration are completed, the second robot continues to go to the next target area to perform the task. At this time, the first robot can follow the second robot and wait outside the area while the second robot performs the task until the second robot completes the tasks in all specific areas. The first robot and the second robot return to the base station together.

[0206] It should be added here that the communication between the first robot and the second machine can adopt but is not limited to: WiFi, Bluetooth, Zigbee, 4G / 5G communication technology, etc. For more detailed communication methods, please refer to the relevant content of other embodiments.

[0207] In one feasible solution, the normal position of the second robot is within the range of the omnidirectional signal (or guidance signal) of the base station, so that the second robot can quickly enter the base station for positioning directly based on the omnidirectional signal of the base station when needed. For example, the range of 1m near the base station is the omnidirectional signal coverage range, and the second robot can dock within the omnidirectional signal range, such as docking at a position near the base station. Figure 24a only shows an example of four fixed preset positions near the base station. The position where the second robot docks can be any of the four positions. In addition, this embodiment is not limited to the four positions in the figure. Of course, in another feasible solution, the normal position of the second robot may not be within the omnidirectional signal range of the base station. In this case, the first robot needs to provide assistance to enter the base station or the second robot needs to detect itself to return to the base station along the edge, resulting in a slow return to the base station. It is even possible that the second robot cannot return to the base station due to a large positioning error. The second robot, using assistance from the first robot, enters the base station, including: planning a path based on the base station's location information and map information (site map) transmitted by the first robot, and proceeding to the base station along the planned path. When the second robot reaches a set distance from the base station, it may cyclically rotate in opposite directions, such as rotating left and then backward, to detect whether it is within the base station's omnidirectional signal range using a second side sensing device located on its side. Once the robot is within the base station's omnidirectional signal range, it then uses the base station's omnidirectional signal to enter the base station. The set distance is determined based on the base station's omnidirectional signal coverage range. For example, if the base station's omnidirectional signal coverage range is 1 meter, the set distance may be close to but not greater than 1 meter. While the second robot cyclically rotates in opposite directions, if a trigger condition for changing rotation direction is determined to be met during rotation in one direction, it initiates rotation in the other direction. The trigger condition for changing rotation direction includes: reaching a 180-degree rotation angle in the current direction or colliding with a collision plate. Upon collision with the collision plate, the second robot immediately performs a 180-degree U-turn. The aforementioned cyclical rotational movement in mutually reciprocating directions may be specifically as follows: the second robot first turns right, and after a trigger condition for changing direction is met, the second robot turns left; after a trigger condition for changing direction is met again, the second robot turns left; after a trigger condition for changing direction is met again, the second robot turns right again; and so on, until the second robot is facing the docking bay of the base station. The second robot's self-detection to return to the base station along the edge includes: since most base stations are placed against a wall, the second robot can sense the wall using a second side edge sensing device provided thereon, thereby returning to the base station along the wall.

[0208] As described above, the second robot normally has a fixed position (such as a position in Figure 24a or a position within the omnidirectional signal coverage area). After the first robot starts working, the second robot quickly enters the base station from this fixed position and waits for the first robot to issue a task. Because the second robot has already completed positioning within the base station, that is, the base station is the second robot's position, the first robot does not need to calibrate the second robot's position. Therefore, after the first robot issues a task, the second robot can quickly respond and depart from the base station to the specific area indicated by the first robot to perform the task. The second robot is within the omnidirectional signal range of the base station, and the second robot can enter the base station through the omnidirectional signal, without the need for the first robot to provide positioning information and map information. Of course, in some special scenarios, the second robot may not be within the omnidirectional signal range of the base station, but may be located at a location outside the omnidirectional signal range. When the first robot performs a task, the first robot will send the base station's location information and map information to the second robot, allowing the second robot to plan a path based on the base station's location information and map information. The second robot will then follow the planned path to the base station and enter the base station using the base station's omnidirectional signal.

[0209] In most cases, the base station is placed against a wall, and the second robot can also return to the base station along the edge.

[0210] Furthermore, when the first and second robots return to the base station together, the first robot may have priority access to the base station, allowing the second robot to use the base station after the first robot has finished using it or after the first robot has vacated it. For example, as shown in Figure 25 , when the first robot 1 is using base station 3, i.e., when the first robot 1 is docked in the docking bay of base station 3, the second robot 2 may first dock next to base station 3, preferably within the omnidirectional signal range of base station 3. Assuming that the four locations shown in Figure 24a are all within the omnidirectional signal range of base station 3, the second robot 2 may dock at one of these four locations.

[0211] In one feasible technical solution, if both the first and second robots are low on battery, the robot with the lower battery level has higher access to the base station, allowing the lower robot to recharge promptly. Alternatively, a preset battery threshold is set, and the robot with the lower battery level has priority access to the base station for charging. If both the first and second robots have lower battery levels, the first robot has priority access to the base station. In a specific implementation, the user can select the base station access permission level for the first and second robots through the settings function on the client application. The higher the permission level, the higher the priority. Furthermore, if the first robot 1 is charging within the base station 3 and the second robot 2 needs to return to the base station to reposition itself before continuing its next task, upon receiving information that the second robot 2 is outside the base station, waiting to enter, the first robot 1 will interrupt charging and exit the base station to allow the second robot to enter. After the second robot has completed its repositioning and exited the base station, the first robot will then reenter the base station to charge.

[0212] For example, if the first robot 1 is charging within the base station 3 and the second robot 2 needs to collect dust because its second dust box is full before continuing its mission, upon notifying the first robot 1 that the second robot 2 is outside the base station, waiting to enter, the first robot 1 will interrupt charging and exit the base station to allow the second robot to enter. After the second robot has relocated and exited the base station, the first robot will reenter the base station to charge. This is because dust collection takes a very short time (e.g., 10 seconds), so prioritizing dust collection effectively improves cleaning efficiency. Similarly, if the second robot 2 is charging within the base station and the first robot 1 needs to collect dust, the second robot 2 will promptly exit the base station to allow the first robot to enter and collect dust. Furthermore, if the remaining battery power of the second robot is less than or equal to a threshold while the remaining battery power of the first robot is greater than the threshold, or if the remaining battery power of the second robot is less than that of the first robot, the second robot can remain within the base station to charge after completing dust collection. If the remaining battery power of the second robot is greater than the threshold, the second robot can exit the base station after completing dust collection, allowing the first robot to enter and continue charging.

[0213] It should also be noted that when the first or second robot exits the base station to allow the other robot to enter, the robot exiting the base station can park at one of the four positions shown in Figure 24a and wait. Similarly, a robot outside the base station, waiting to enter the base station, can also park at one of the four positions shown in Figure 24a and wait for the robot inside the base station to exit.

[0214] Assuming they are not in operation, as shown in FIG25 , the first robot 1 is located within the base station, and the second robot 2 is located next to the base station (which can be any of the four positions in FIG24 a). The first robot 1 sets out first to perform its task. Before the second robot 2 is awakened by the first robot and prepares to proceed to the area indicated by the first robot to perform its task, in one embodiment, the second robot 2 must first enter the docking bay of the base station, then exit the docking bay and proceed to the area indicated by the first robot to perform its task. Alternatively, in another embodiment, the second robot 2 can determine whether to enter the docking bay of the base station first based on its remaining power. For example, if the remaining power is low and requires recharging, the second robot 2 can first enter the docking bay of the base station to charge. Conversely, if the remaining power is high and no recharging is required, the second robot can continue to proceed to the base station.

[0215] For the specific implementation description of the first robot performing positioning calibration on the second robot involved in the aforementioned examples, please refer to the relevant content described in other embodiments.

[0216] When the second robot completes the corresponding task and needs to return to the base station, it can implement different return strategies according to different situations to return to the base station. Specifically:

[0217] The first return strategy involves the second robot planning its own path to return to the base station. Specifically, after completing its task and being able to accurately return to the base station, the second robot can perform path planning based on its current location and the stored location information of the base station, following the planned path to return to the base station.

[0218] The second robot's ability to accurately return to the base station after completing the task requires that the second robot's positioning accuracy meets the requirements. This positioning accuracy includes, but is not limited to, the following: the second robot's corresponding working time upon completing the task is less than a set time threshold, and the first robot can successfully locate and calibrate the second robot's position after completing the task.

[0219] The second return strategy: return to the base station along the edge or output an alarm message. When the second robot is unable to accurately return to the base station after completing its task and cannot be found by the first robot, the second robot can use the sensing device installed on its body to sense the edge of the obstacle (such as the wall) and move along the edge back to the base station; alternatively, the first robot can interact with the client used by the user to output an alarm message indicating that the second robot is lost through the application APP corresponding to the multi-robot collaborative system on the client, prompting the user to manually search for the second robot. After finding it, the user can directly place the second robot back near the base station. Of course, the user can also directly place the second robot only within the range where it can sense the guidance signal emitted by the base station or within the range that the first robot can find, so that the second robot can return to the base station based on the guidance signal or plan a path to return to the base station after positioning and calibration with the first robot. The first robot's inability to find the second robot may be caused by reasons such as the second robot being blocked or entering an area that the first robot cannot detect.

[0220] Among them, whether the second robot completes the work task and returns to the base station along its own planned path, or returns to the base station along the edge, or returns to the base station from the initial position before performing the work task (position 1 or position 2 as shown in Figure 24a), during the process of the second robot returning to the base station, it can use the second side sensing device set on the left and / or right side of its second body to sense the guidance signal sent by the base station so as to accurately enter the base station and dock in place.

[0221] For example, as shown in FIG26 , the base station 3 is provided with a guidance signal transmitter. The guidance signal transmitter can be located between the charging terminals (e.g., the main unit charging terminal or the slave unit charging terminal) on the base station 3. The guidance signal transmitter can emit two fan-shaped guidance signals. The two fan-shaped guidance signals have overlapping portions. Signal area sig3 is the guidance signal area formed by the overlapping portions of the two fan-shaped guidance signals. During the process of returning to the base station, the second robot 2 rotates in two different directions (e.g., cyclically rotates first to the left and then to the right). After sensing entry into the guidance signal area (including signal area sig1, signal area sig3, and signal area sig2) provided by the base station 3 using the second side sensing device provided on its second body, the robot determines the deviation from the base station 3 based on the received signal and adjusts its posture in real time based on the deviation. After sensing entry into signal area sig3, the robot 2 can move toward the base station 3 along the signal direction of signal area sig3 to enter the base station 3. During the movement toward the base station 3, the side of the second robot 2 where the second charging port is located is facing the base station 3.

[0222] Dust collection and charging for both the first and second robots are performed through the base station. The base station's dust collection function is activated only after the first or second robot has completed a task (e.g., cleaning) and returned to the base station. Because dust collection is faster than charging, the base station typically activates the dust collection function for the first or second robot for about 10 seconds to completely remove all dust from the first robot's first dust box or the second robot's second dust box. Based on this, in the present application, dust collection can be performed before charging for the first and second robots. Specifically, the dust collection priority of the first robot is higher than the charging priority of the second robot. During charging, the robots can be charged alternately based on the principle of charging the lower battery first. If both the first and second robots are low on battery, the first robot's charging priority can be higher than the second robot's. Alternatively, the charging priority of the two robots can be determined by comparing the remaining battery power with a battery threshold. For example, if the first robot's remaining battery power is lower than the battery threshold, while the second robot's remaining battery power is higher than the battery threshold, the first robot will have priority charging and can enter the base station for charging first.

[0223] For example, when the first robot completes all cleaning tasks and returns to the base station, and enters the base station to collect dust and charge, assuming that the second robot completes the cleaning task of a specific area and also returns to the base station to collect dust and charge, at this time, the first robot communicates with the second robot to determine that the second robot needs to collect dust. If the first robot has completed dust collection but has not completed charging, the first robot will exit the base station to a fixed position near the base station (such as position 3 shown in Figure 24a) to end charging, and send instructions to the second robot to allow the second robot to enter the base station for dust collection. After the second robot finishes collecting dust, it will communicate with the first robot to inform it that the dust collection is completed. If the remaining power of the second robot is lower than or equal to the power threshold, the second robot can continue to stay in the base station for charging according to the instructions of the first robot; if the remaining power of the second robot is higher than the power threshold, the second robot will exit the base station according to the instructions of the first robot. Specifically, it can exit to a preset fixed position near the base station (such as position 1 or position 2 shown in Figure 24a) to wait, and the first robot will enter the base station again. This time, the base station will only charge the first robot and will no longer collect dust. After charging, the first robot exits the base station and instructs the second robot to enter the base station again for charging.

[0224] For another example, initially the first robot is located in the base station, and the second robot is docked at a fixed position near the base station (such as position 1 shown in Figure 24a). When the first robot leaves the base station to perform a cleaning task, it will send a notification of leaving the base station to the second robot. At this time, if the second robot is low on power, it can enter the base station. Since the second robot enters the base station without performing a cleaning task, the base station only charges the second robot and does not collect dust.

[0225] In another embodiment, when the first robot leaves the base station to perform a cleaning task, it sends a notification to the second robot that it has left the base station. Upon receiving the notification, the second robot moves from a fixed location near the base station (e.g., location 1) into the base station's docking bay, awaiting a call from the first robot to perform a task. This is done so that the second robot can locate itself before performing a task. Once the first robot leaves the base station, the second robot can enter the base station to complete its positioning, allowing it to quickly respond to the task execution instructions sent by the first robot.

[0226] It should be noted that after the second robot completes all cleaning tasks instructed by the second robot, it determines whether to return to the base station for dust collection based on the return to base station dust collection command sent by the first robot. If the first robot does not send the return to base station dust collection command to the second robot, the second robot cannot determine whether to collect dust on its own.

[0227] The embodiments of the present application provide that the collaborative operation strategies of the first robot and the second robot in the multi-robot collaborative system may include the following three methods. The first method: as described above, the first robot collects and identifies the specific area in the site suitable for the second robot to work while performing the task, and sends the area information of the specific area to the second robot so that the second robot can go to the specific area to perform the task. The second method: as described above, the first robot collects and identifies the specific area in the site suitable for the second robot to work while performing the task. When the task of a certain work area in the site (such as a room in the site) is completed, the area information of all the specific areas in the identified work area is sent to the second robot. The third method: based on the site map, the first robot identifies the specific area in the site suitable for the second robot to work, marks the specific area in the site map, sends the site map with the marked specific area to the second robot, or extracts the area information of the specific area from the site map when the second robot is required to work in the specific area and sends the area information of the specific area to the second robot. The fourth method: The user can define a specific area on the site map through the interactive device set on the first robot or through a client that communicates with the first robot (such as a mobile phone, tablet computer, computer, smart wearable device, etc.). The first robot can mark the specific area defined by the user in the site map, and send the site map marked with the specific area to the second robot, or extract the area information of the specific area from the site map when the second robot is required to work in the specific area and send the area information of the specific area to the second robot.

[0228] Corresponding to the first collaborative operation method described above, as shown in FIG27 , the working process of the first robot may be: identifying a specific area in the environment suitable for the second robot to work while moving. More specifically, the following steps may be included:

[0229] S11. Collect environmental information while traveling.

[0230] The first robot can move along a planned path, performing tasks such as cleaning the floor as it moves. For example, the first robot can obtain information about all obstacles in the environment through lidar scanning while moving, and can also collect spatial information (such as height information) between the bottom of obstacles and the moving surface (such as the floor) through infrared sensors.

[0231] S12. Based on the environmental information, identify a specific area suitable for the second robot to work.

[0232] For example, the first robot collects spatial information based on the scanning information of the lidar and the infrared sensor, and can identify specific areas in the site that are not suitable for the first robot to work, but are suitable for the second robot to enter and work, such as low areas, narrow areas, or low and narrow areas.

[0233] It should be noted that after identifying a specific area, the first robot can also perform dilation on the specific area, expanding the boundaries of the specific area by a set distance to increase the area. This helps improve cleaning efficiency and prevents missed cleaning. If there are obstacles in the specific area (such as walls or table legs), the first robot can dilate the boundaries of the detected obstacles to prevent the second robot, which has weaker obstacle avoidance capabilities, from encountering them. Alternatively, the first robot can dilate the specific area, while the second robot can dilate the boundaries of the obstacles. For example, the first robot sends a site map containing obstacle information (i.e., impassable areas) to the second robot. After receiving the site map, the second robot can perform collision processing on the obstacle boundaries (or impassable areas) in the map to avoid encountering obstacles during movement. Alternatively, the second robot can perform both dilation of the specific area and the obstacle boundaries. For example, after receiving the site map from the first robot, the second robot dilates the obstacle boundaries (or impassable areas) in the map. After receiving the specific area information from the first robot, the second robot then dilates the specific area.

[0234] S13. Save the area information of the specific area, and send it to the second robot when the second robot is required to work in the specific area.

[0235] If there are multiple specific areas of area information saved, the multiple specific areas can be sorted. For example, based on the current position information of the second robot, the distance of each specific area from the second robot is calculated. Based on at least one of the time before and after the specific area is discovered, the distance, the area size of each specific area, etc., the multiple specific areas are comprehensively sorted. For example, the ones with closer distances are sorted first, and the specific areas with the same distances, the ones with larger or smaller areas are sorted first, and so on. In this way, when the second robot is needed to work in a specific area or when the second robot meets the conditions for working in a specific area, the second robot is instructed to go to each specific area to perform tasks in sequence according to the sorting results. Alternatively, the first robot sends the sorting results and the area information of each specific area to the second robot, and the second robot plans the task execution path based on the sorting results.

[0236] For example, the first robot can first save the area information of a specific area. After the first robot completes its mission, it can fit the saved area information of at least one specific area to obtain a work area map for the second robot. The first robot obtains the position information of the second robot and sends the position information and the work area map of the second robot to the second robot. Based on the received position information, the second robot can determine its current position information. Based on the second robot's work area map and current position information, it can plan a path and proceed to the at least one specific area according to the planned path to perform the mission.

[0237] Alternatively, after the first robot completes its mission, the first robot obtains the second robot's position and posture information and sends the second robot's position and posture information, the saved regional information of at least one specific area, and the site map to the second robot. Based on the received position and posture information, the second robot determines its current position and posture information. The second robot then plans a path based on its own position and posture information, the site map, and the regional information of the at least one specific area, so as to sequentially proceed to the at least one specific area along the planned path to perform the mission.

[0238] For example, the second robot is currently performing a task in its area. After completing the current task, the second robot sends a task completion message to the first robot. After receiving the task completion message, the first robot sends the saved area information of the specific area to the second robot, instructing the second robot to proceed to the specific area to perform the task.

[0239] If the second robot is currently in a standby state, the first robot saves the specific area's regional information and sends it to the second robot, instructing the second robot to proceed to the specific area to perform a task. The purpose of saving the specific area's regional information is to enable the first robot to locate the second robot based on the saved specific area information if an abnormality occurs while the second robot is en route to the specific area or performing a task within the specific area.

[0240] Of course, if the site is not too large and the geographical structure is not complex, it is also possible not to save the specific area's regional information. The first robot can directly send the identified specific area's regional information to the second robot. In this way, if the second robot encounters an abnormality while en route to the specific area or while performing a task within the specific area, the first robot can search the entire site for the second robot. In other words, step 13 can also be performed by directly sending the identified specific area's regional information to the second robot, instructing the second robot to work in the specific area.

[0241] Corresponding to the first collaborative operation method described above, as shown in FIG28 , the working process of the second robot may include the following steps:

[0242] S21: After receiving the task execution instruction sent by the first robot, the second robot determines whether the task execution instruction contains regional information of a specific area; if so, executes step S22; otherwise, continues to wait for receiving instructions;

[0243] S22. Determine whether the task execution instruction includes a site map and the position information of the second robot. If so, plan a path based on the site map, the position information of the second robot, and the area information of the specific area, and go to the specific area according to the planned path to perform the task; otherwise, continue to wait for receiving instructions.

[0244] Corresponding to the second collaborative operation method described above, the working process of the first robot may include the following steps:

[0245] S31. Based on the site map, determine a specific area in the site map that is suitable for the second robot to work.

[0246] S32. Mark a specific area on the site map.

[0247] S33: Send the site map marked with the specific area to the second robot, or extract the area information of the specific area from the site map when the second robot is required to work in the specific area and send the area information of the specific area to the second robot.

[0248] The specific area includes a narrow channel area. Accordingly, the above step S31 "identifying a specific area in the site suitable for the second robot to work based on the site map" may specifically include:

[0249] S311 . Extract at least one candidate area in the site map that meets a narrow channel width requirement based on the map data of the site map.

[0250] The site map can be a fusion map of multiple types of maps. For example, the site map is a fusion map obtained by fusing a SLAM (Simultaneous Localization and Mapping) map, a structured light map, and a high-precision map (also known as a high-resolution map). The SLAM map and the high-precision map are obtained based on environmental information collected by visual sensors. The structured light map is obtained based on environmental information collected by a structured light sensor (such as a lidar).

[0251] In practice, the site map can be binarized to contain only two types of paths: free and obstructed. Using the erosion-dilation seeding method, at least one candidate region in the site map that meets the narrow channel width requirement is extracted.

[0252] Assume the goal is to extract the narrow channel of 70 to 100 cm (14 to 20 pixels) in the image

[0253] In specific implementation, the obs region of the binarized site map is first dilated by 6 pixels (equivalent to eroding the free region by 6 pixels), removing channels with a width less than or equal to 12 pixels (60 cm), to obtain the first image. As shown in Figure 29, the hatched area is the obs region, and the remaining area is the free region. After dilating the obs region by 6 pixels, the area shown by the dashed line in the left image of Figure 29 is obtained. The two crossed-out channels in the left image of Figure 29 are the channels with a width less than or equal to 12 pixels (60 cm) that were removed, resulting in the right image of Figure 29. The remaining free region is then eroded by 4 pixels to remove narrow channels with a width of 13 to 20 pixels (as shown in the left image of Figure 30). The free region is then dilated by 4 pixels to obtain the second image (i.e., the right image of Figure 30). Finally, the first and second images are compared to obtain the third image. The third figure is the disappearing seed 3 of the narrow channel with a width of 13 pixels to 20 pixels (see Figure 30), and then it is expanded by 6 pixels to restore to the original state to obtain at least one candidate area that meets the narrow channel width requirement (70 to 100 cm). The seed 3 area in Figure 30 is the candidate area that meets the narrow channel width requirement.

[0254] S312: Extract at least one candidate narrow channel centerline in the site map based on the map data of the site map.

[0255] Specifically, the ridge method can be used to extract all possible narrow channel centerlines in the binarized site map. For example, based on the binarized site map, a corresponding distance map is generated. Any point on the map represents the shortest distance from that point on the binary map to the obstacle. The local maximum position of the distance map is extracted in four directions. The four directions are from top to bottom, from left to right, from left to right along the left diagonal, and from left to right along the right diagonal. The extraction principle is that the distance map value corresponding to any point on the narrow channel centerline should be the local maximum on the tangent line of that point.

[0256] From top to bottom: For each column of the distance map, the search for the local maximum position is performed from top to bottom. The logic is to find rising and falling trends, which form a local maximum point. Local maximum points may be consecutive. The midpoint of these points is generally used as the narrow channel candidate center point, while ensuring connectivity with the narrow channel candidate center point extracted from the previous column.

[0257] In addition to the ridge method, the erosion method, OpenCV's built-in skeleton algorithm, the watershed algorithm, and the velograph algorithm can also be used to extract the centerlines of all possible narrow channels. Among them, the ridge method can extract the centerline of a dead end (i.e., a narrow channel with a single entrance).

[0258] The erosion method works as follows: extract the maximum value in the distance map and binarize the distance map each time, using a threshold from the maximum value to 0. Any point on the distance map greater than the threshold is assigned a value of 255, and vice versa. Then, contours are found on the processed distance map, and lines are extracted from the found contours. The principle is that as channels are continuously eroded, they are eroded into lines.

[0259] The principle of the built-in skeleton algorithm of OpenCV is roughly as follows: use the ZHANGSUEN or GUOHALL algorithm to extract the binary image skeleton. The algorithm principle is that each iteration continuously eliminates part of the free area based on the value of the eight-neighborhood of each point until the free area eliminated in the current iteration is the same as that in the previous iteration.

[0260] The principle of the watershed algorithm is roughly as follows: unconnected obstacles are regarded as different areas, and the watershed algorithm is used to expand the unconnected obstacles until the unconnected obstacles are connected, and the connection edge is the center line of the candidate narrow channel.

[0261] The principle of the Vero graph algorithm is roughly as follows: generate a Vero graph, perform contour operations on the Vero graph, extract all the lines in the contour as candidate narrow channel center lines, and further screen based on channel width requirements.

[0262] It should be added here that the specific principles of the above algorithms can be found in existing literature and will not be elaborated here.

[0263] S313 . Filter, based on the at least one candidate region, at least one target narrow channel centerline that meets the narrow channel width requirement from the at least one candidate narrow channel centerline.

[0264] S314 , the point on the center line of the target narrow channel is transmitted to both sides to the walls or obstacles in the site map to obtain the narrow channel width corresponding to the point on the center line of the target narrow channel.

[0265] Specifically, a point on the center line of the target narrow channel is launched to both sides in a direction perpendicular to the tangent of the point until it hits a wall or obstacle, that is, the width of the narrow channel corresponding to the point.

[0266] The operation of step S314 is performed on all points on the center line of the target narrow channel to obtain the narrow channel widths corresponding to all points.

[0267] S315 , obtaining a target point on the center line of the target narrow channel that meets the narrow channel width requirement and corresponding narrow channel contour points emitted from the target point to both sides on the wall or obstacle.

[0268] S316: Obtain a narrow channel area based on the acquired narrow channel contour points.

[0269] The narrow channel area can be obtained by connecting the narrow channel contour points.

[0270] Furthermore, a grayscale image of the same size as the site map (e.g., fusion image) can be generated based on all identified narrow channel areas. The narrow channel areas will be filled with corresponding marker symbols. These marker symbols can be numbers, color blocks, etc. For example, in the grayscale image, narrow channel areas will be filled with the number 3, while special narrow channels (e.g., cul-de-sacs) will be filled with the number 4. A narrow channel area is a channel with two entrances but a small width, while a special narrow channel is a channel with a single entrance and a small width.

[0271] If there are multiple narrow channel areas obtained, the method also includes: if there are two or more overlapping narrow channel areas, deduplication to retain one narrow channel area; if a first narrow channel area is within a second narrow channel area, removing the first narrow channel; if there are two narrow channel areas whose end distance is less than a first distance threshold and there are no walls or obstacles in the area between the ends, connecting the two narrow channel areas into one narrow channel area.

[0272] Furthermore, the specific area may also include a low area. The low area can be obtained by extracting, from the map data of the site map, areas where the height is greater than or equal to the height of the second robot and less than the height of the first robot. If there are two adjacent low areas, the distance between the two low areas is less than a second distance threshold, and there are no walls or obstacles between the two low areas, the two adjacent low areas are connected to form a single low area.

[0273] In a specific implementation, the first distance threshold and the second distance threshold can be set according to actual conditions, and this document does not limit the specific values. In addition, the first robot obtains a site map by autonomous mapping, manual mapping, or autonomous mapping assisted by manual mapping.

[0274] Furthermore, the specific area may also include special areas with special task requirements, such as carpet areas. Special areas can be extracted based on the marking information of the site map and marked as special areas to obtain special areas. Among them, the first robot can perform ground feature recognition and analysis on the ground information (such as identifying and analyzing the material, texture and other features of the ground) through the corresponding algorithm based on the ground information contained in the collected environmental information to determine the ground type, and thus determine whether the area corresponding to the ground is a special area based on the ground type. For example, if the ground type of a ground in the venue is a carpet floor, the area where the ground is located is a carpet area. Afterwards, when the first robot establishes a site map based on the collected environmental information, it can simultaneously mark the corresponding area in the site map as special based on this recognition result.

[0275] Corresponding to the fourth collaborative operation method described above, the working process of the first robot may include the following steps:

[0276] S41. Marking a specific area defined by the user through an interactive device or a client in the site map.

[0277] The first robot is equipped with the interactive device, which may include but is not limited to a touch screen or display, operating controls, a voice interaction device, etc. The user can use the interactive device to display a site map on the touch screen or display of the first robot to define a specific area. The specific area may be a narrow or short passageway, or not.

[0278] Alternatively, the user can define a specific area on a site map displayed on a client (e.g., an application app corresponding to the multi-robot collaborative system) through an interactive device on a client device (which can be a mobile phone, tablet computer, computer, or smart wearable device). The client device can send the user-defined specific area to the first robot, which, upon receiving the information, marks the user-defined specific area on the site map.

[0279] Of course, in addition to defining a specific area on the map through the client, the user can also control the first robot and / or the second robot through some functional controls on the client, such as controlling one of the robots to return to the base station, or controlling one of the robots to go to a certain location, etc.

[0280] S42: Send the site map marked with the specific area to the second robot, or extract the area information of the specific area from the site map and send the area information of the specific area to the second robot when the second robot is required to work in the specific area.

[0281] In summary, in a multi-robot collaborative system, the first robot and the second robot can collaborate to be responsible for tasks in different areas of the venue respectively; for example, the first robot is responsible for tasks in the regular area of ​​the venue; the second robot is responsible for tasks in a specific area of ​​the venue, so as to achieve the effect of full coverage of the venue, and the collaboration of two robots can also improve the efficiency of task execution.

[0282] It should be noted that when the first robot is working (i.e., performing a task), the states of the second robot may include the following:

[0283] 1. Wait at the base station to receive the task execution instruction sent by the first robot.

[0284] 2. After completing a task, the second robot will return to the base station and dock at a set location next to the base station, waiting for the first robot to issue a task. It should be noted that if the first robot is within the base station, the second robot can dock at a set location next to the base station. If the first robot is not within the base station, the second robot can dock directly within the base station or at a set location next to the base station. Preferably, when the first robot is not within the base station, the second robot docks within the base station. This allows the second robot to quickly respond to the first robot's task execution instructions because the second robot has already completed positioning within the base station.

[0285] 3. Perform a task in a specific area and be in a data receiving state to receive the task execution instruction sent by the first robot. After completing the task in the current specific area, go to the next specific area indicated by the task execution instruction.

[0286] When the first robot starts working, it can control the second robot to power on and enter a standby state to wait for task execution instructions. Alternatively, after the first robot is working, when it encounters a specific area where the second robot needs to work, it can control the second robot to power on and receive task execution instructions.

[0287] Based on the collaborative operation strategy between the first and second robots in the multi-robot collaborative system described above, the second robot receives a task assigned by the first robot to execute in a specific area. After receiving the task from the first robot, the second robot uses its own positioning capabilities to plan a path and navigate in real time along the path to reach the specific area designated by the first robot and enter that area to perform the task. As mentioned above, to reduce size and cost, the second robot is equipped with a data acquisition device with lower positioning accuracy, providing it with basic positioning capabilities. However, over time, the second robot's basic positioning function will accumulate errors, which increase with time, ultimately rendering it unable to plan a path based on its own positioning capabilities, unable to navigate correctly, and thus unable to complete the task. The second robot can plan an accurate path based on its own position information, the site map, and information about the specific area. However, while navigating along the path, it relies on real-time information collected by sensors on the second robot with lower positioning accuracy. Assuming the second robot is equipped with a gyroscope and a wheel odometer, the second robot determines its distance traveled using parameters collected by the wheel odometer and its posture using parameters collected by the gyroscope. During the navigation process, the second robot performs positioning based on the deviated posture information and travel distance information, which may cause deviation and eventually lead to the second robot being unable to reach a specific area.

[0288] To this end, an embodiment of the present application provides a positioning calibration method to calibrate the position and posture of the second robot in a site map through the interactive perception of the first robot and the second robot. It should be noted that the position and posture mentioned in this article include position and posture (such as orientation), and the position and posture information includes position information and posture information.

[0289] FIG31 is a flow chart of a positioning calibration method according to an embodiment of the present invention. The execution subject of this method may be the first robot, and more specifically, may be the control device of the first robot. As shown in FIG31 , the method includes:

[0290] S51. When the second robot needs to be positioned and calibrated, search for the second robot.

[0291] S52: After finding the second robot, sense the position information of the second robot to perform positioning calibration on the second robot.

[0292] This solution uses the environmental information collected by the first robot's collection device (such as laser sensors, visual sensors, infrared sensors, etc.) to generate a map, and identifies specific areas in the map, such as narrow and low areas, and then issues a task to the second robot to clean the specific area. Since the second robot lacks sensors (such as lidar, cameras, etc.) that can accurately locate by collecting environmental information, positioning deviations and positioning errors may occur during the execution of the cleaning task (the coordinate position and orientation of the second robot in the map as considered by the program running in the second robot have a large deviation from its actual situation, such as: position deviation exceeds 0.5 meters, and orientation deviation exceeds 10 degrees). In this state, the second robot cannot effectively perform the cleaning task, and it is necessary to trigger the second robot to reposition and calibrate, send a signal to the first robot, and let the first robot come to the task area to find the second robot.

[0293] In the above S51, as mentioned above, the first robot stores the area information of the specific area sent to the second robot, and the first robot can know which specific area the second robot is currently in. Therefore, based on the area information of the specific area where the second robot is currently located, the first robot can go to the specific area to look for the second robot. There can be one or more second robots. When there are multiple second robots, and at least some (more than 2) of the multiple second robots need to be positioned and calibrated, the first robot can first determine the search order, and then search for each second robot that needs to be positioned and calibrated in turn according to the search order. Among them, the search order determined by the first robot includes but is not limited to at least one of the following:

[0294] The search order is determined according to the distance between the second robots to be positioned and calibrated; for example, the shorter the distance, the earlier the search order;

[0295] Planning the shortest search path based on the distances between the second robots that need to be positioned and calibrated and the distances between the second robots; determining the search order based on the shortest search path;

[0296] Determine the search order according to the order of the positioning calibration requests received from the second robots that need to be positioned;

[0297] For example, if there are multiple second robots, the first robot can record the area information of a specific area sent to each second robot to facilitate subsequent search for the second robot. Assume there are two second robots 2, namely, second robot 21 and second robot 22. When the first robot is performing a task within a work area R in a site, it first identifies area r1 within work area R as a specific area. It can then send the area information of area r1 to second robot 21, instructing the second robot 21 to proceed to area r1 to perform the task, and add a local record to record the correspondence between the second robot 21 and area r1. Subsequently, the first robot 1 continues to perform the task within work area R. If it again identifies area r1 within work area R as a specific area, and if the second robot 21 has not yet completed the task for area r1, it can send the area information of area r2 to another second robot 22, instructing the second robot 22 to proceed to area r2 to perform the task, and add a local record to record the correspondence between the second robot 22 and area r2. When it is determined that both the second robot 21 and the second robot 22 need positioning and calibration, the second robot 21 and the second robot 22 can be searched in sequence according to the determined search order and the recorded correspondence between the second robots and the areas to perform positioning and calibration on the two second robots.

[0298] Alternatively, when the second robot needs positioning calibration, it sends its position and posture information to the first robot. While there may be some deviation in the position and posture information sent by the second robot to the first robot, even if there is such a deviation, it will be within a controllable range and not significantly different. The first robot can still find the second robot based on this position and posture information by estimating the position and posture deviations.

[0299] In the above S52, the first robot can first obtain its own first posture information, and then determine the relative posture information of the second robot relative to the first robot based on the information related to the second robot collected by the collection device; finally, the first robot determines the second posture information of the second robot based on the first posture information and the relative posture information; and sends the second posture information to the second robot, so that the second robot can perform positioning calibration based on the second posture information.

[0300] In an achievable embodiment, the above step S51 “searching for the second robot” may include:

[0301] S511: Determine the area where the second robot is located.

[0302] S512: Move toward the area.

[0303] S513: Collect environmental information to search for the second robot.

[0304] In S511-S512 above, the first robot may obtain the location information of the second robot's current location through communication with the second robot, and based on the location information of the second robot's current location, locate the map area to which the second robot's current location belongs on the site map to determine the second robot's location. Then, based on the second robot's location, the first robot may invoke its own path planning function to plan an optimal or feasible path from its current location to the second robot's location based on the site map, and then invoke its own navigation function to move toward the second robot's location along the planned path. During this movement, the first robot may collect environmental information to search for the second robot.

[0305] In one possible implementation, the above-mentioned S513 “collecting environmental information to search for the second robot” may specifically include:

[0306] An object suspected to be the second robot is discovered based on the collected environmental information, and when the object performs a set action, it is determined that the second robot is found, and the object is the second robot.

[0307] "Suspected" includes, but is not limited to, similarity in shape and size. For example, if the shape of an object identified based on the collected environmental information matches that of a second robot to a degree greater than or equal to a preset matching threshold, the object is determined to be suspected to be the second robot; and / or if the size of an object identified differs from that of the second robot to a degree less than a preset difference threshold, the object is determined to be suspected to be the second robot.

[0308] Regarding how to determine whether an object suspected to be a second robot appears, reference may also be made to the relevant contents described in other embodiments of the present application, such as the contents related to steps S54 to S56 below.

[0309] Furthermore, the set action can be specified by the first robot. For example, after the first robot finds an object that is suspected to be the second robot, it sends a command to the second robot to instruct the second robot to perform the set action. That is, the method provided in this embodiment can also include the following steps:

[0310] S5131: When an object suspected to be the second robot is found based on the collected environmental information, instruct the second robot to perform the set action;

[0311] S5132: When the object is found to be performing the set action, it is determined that the second robot is found, and the object is the second robot.

[0312] The set action can be: linear reciprocating motion, rotational motion in place, circular motion, etc., which is not limited in this embodiment. Taking the set action as rotational motion in place as an example, when the first robot identifies the second robot, it can issue an instruction to let the second robot rotate in place. The first robot collects environmental data through the acquisition device and can identify whether there is an object rotating in place in the environment. The point cloud features of the second robot's rotational motion can be used as features to identify the second robot. In the above step S5132, after the first robot instructs the second robot to perform the set action, the first robot's acquisition device continues to collect environmental information. Based on the environmental information collected by the acquisition device, the first robot can identify whether an object in the environment is performing the set action; if it is identified that the object is performing the set action, it can be confirmed that the object is the second robot; otherwise, the object is not the second robot to be found.

[0313] In another possible implementation, the above-mentioned S513 “collecting environmental information to search for the second robot” may specifically include:

[0314] S5131′, when an object suspected to be the second robot is sent based on the collected environmental information, an interactive signal is sent to the object suspected to be the second robot;

[0315] S5131′: If a feedback signal is received from an object suspected to be the second robot in response to an interaction signal, it is determined that the second robot is found, and the object is the second robot.

[0316] The interactive signal may be a voice signal, a communication signal (such as a network signal), or the like.

[0317] For example, if the first robot uses its voice function to play the voice message "Hello, ### machine" to an object suspected of being the second robot, and then receives a voice message "Hello" from the object within a set time, the object is determined to be the second robot. For another example, if the first robot sends a communication signal containing a first value to an object suspected of being the second robot, and then receives another communication signal containing a second value from the object within a set time, the object is determined to be the second robot.

[0318] Assuming that the collected environmental information includes at least one frame of point cloud information, the method provided in the embodiment of the present application may further include the following steps:

[0319] S54: clustering the points in a frame of point cloud information.

[0320] S55, comparing the graphics corresponding to the multiple points clustered into the same category with the preset graphics corresponding to the second robot;

[0321] S56: If the comparison is similar, it is determined that an object suspected to be the second robot appears.

[0322] More specifically, the first robot is provided with a laser radar for collecting environmental information, and the at least one frame of point cloud information is collected by the laser radar.

[0323] In the example shown in Figure 32, multiple points clustered into the same category, namely the square points shown in Figure 32, have a corresponding pattern similar to the pre-set pattern of the second robot represented by the round black dot. This indicates the presence of an object suspected to be the second robot. In practice, the patterns corresponding to these multiple points can be constructed using free-form curve fitting. This involves connecting these multiple points one by one using a free-form curve to generate a pattern, i.e., an image, corresponding to these multiple points.

[0324] In another feasible solution, the first robot is provided with a collection device for collecting environmental information by emitting detection signals. The second robot is provided with at least two components, and the reflection intensity of the detection signal by the at least two components is higher than the reflection intensity of the detection signal by the second robot shell; the environmental information collected by the collection device includes at least one frame of point cloud information. For example, the collection device provided on the first robot includes a laser radar. The second robot is provided with two charging reeds, and the two charging reeds are arranged at a certain distance. The charging reed is metal, and the second robot shell is mostly made of plastic or other materials. Metal has a strong reflection intensity for laser. Accordingly, the method provided in this embodiment may also include the following steps:

[0325] If a frame of point cloud information contains high-intensity value points whose reflection intensity is greater than a preset value, and the distribution of the high-intensity value points is similar to the position distribution of the at least two components, it is determined that an object suspected to be the second robot appears.

[0326] In the example shown in Figure 33, the solid black dots (circled by 40 in the figure) represent points with high reflection intensity, while the hollow dots represent points with low reflection intensity on the rear side of the second robot. Comparing the reflection intensity of the point cloud can be used as a feature to identify the second robot. As can be seen in Figure 33, the distribution of the two sets of points with high reflection intensity is similar to the location of the two charging reeds on the second robot, both spaced a certain distance apart. Therefore, it can be determined that the object is similar to the second robot.

[0327] Furthermore, in this embodiment, step S5131 of “instructing the second robot to perform the set action when an object suspected to be the second robot is found based on the collected environmental information” may include the following steps:

[0328] Sa. When an object suspected to be the second robot is found based on the collected environmental information, the posture is adjusted so that the relative position relationship with the object meets the set requirements.

[0329] Specifically, the set requirement may be: the first robot faces the center of mass position of the object, and the distance between the first robot and the center of mass position is a set distance. The center of mass position of the object is determined by information related to the object in the collected environmental information. For example, the first robot can calculate the center of mass position of the object based on the information of the object in the environmental information collected by the collection device. If the environmental information is point cloud information, the outer contour information of an object with a shape similar to that of the second robot can be identified through the point cloud, and then the center of mass position of the object is calculated based on the outer contour information. This center of mass position is an approximate position.

[0330] When the front end of the first robot faces the center of mass position and the midline of the line connecting the wheel centers of the driving wheels on both sides of the first robot points to the center of mass position, the first robot faces the center of mass position.

[0331] Sb. After the relative position relationship with the object meets the set requirements, instruct the second robot to perform the set action.

[0332] Furthermore, in the above step Sa, “adjusting the posture so that the relative position relationship with the object meets the set requirements” may include the following steps:

[0333] S57, determining the position and posture of the first robot;

[0334] S58. Determine, based on the position of the first robot, whether the first robot is facing the center of mass position and the distance between the first robot and the center of mass position is the set distance;

[0335] If not, the posture of the first robot is adjusted so as to face the center of mass position and be at the set distance from the center of mass position.

[0336] Specifically, when the front end of the first robot is facing the center of mass position and the midline of the line connecting the centers of the driving wheels on both sides of the first robot is pointing to the center of mass position, the first robot is facing the center of mass position. The set distance can be 0.4 to 0.6 meters, for example, the set distance can be 0.5 meters.

[0337] Taking the acquisition device on the first robot including a laser radar as an example, the laser direction is related to the laser's visible range. If the laser's visible range can cover the normal vector of the center of the two wheels of the first robot (that is, the direction of the machine's movement) within plus or minus 60 degrees, the normal vector of the center of the two wheels is set as the laser direction by default, and the normal vector is adjusted to point to the center of mass of the second robot.

[0338] The above step S51 "searching for the second robot" may further include:

[0339] When moving toward the area, after identifying the environmental information and discovering an object suspected to be the second robot, the robot moves toward the object to a suitable position and stops moving;

[0340] The suitable position is: a position at which the first robot is at a set distance from the object, or a position at which the first robot is closest to the object as detected by the periphery of the area blocked by the ring.

[0341] Furthermore, step S51 “searching for the second robot” may further include:

[0342] When the object is not found by identifying the environmental information during movement toward the area, after reaching the area, searching for the second robot around the periphery of the area and / or entering the area;

[0343] If the second robot is not found after searching for a preset time, the search is stopped and a prompt message indicating that the positioning and calibration task of the second robot has failed is output.

[0344] It should be noted that if the second robot is located in a narrow, low area that the first robot cannot enter, the first robot will, after reaching the vicinity of the area, search for the second robot around the perimeter of the area. If the second robot is located in an area that the first robot can enter, the first robot can enter the area to search for the second robot.

[0345] The second robot may have a calibration sidewall, which can improve the efficiency of identifying the second robot and determining its posture. Because of the calibration sidewall, the first robot can quickly identify the calibration sidewall, and because of the orientation of the calibration sidewall on the second robot, the posture (i.e., orientation) of the second robot can be quickly determined. That is, the "sensing the posture information of the second robot" in step S52 above may include:

[0346] S521: Collect information about the second robot.

[0347] S522: Determine whether the second robot information contains the information of the calibration side wall.

[0348] S523: If yes, determine the position and posture information of the second robot according to the information of the calibration sidewall;

[0349] S523: If not, the first robot adjusts its position and / or instructs the second robot to adjust its position, so that the first robot can collect information about the calibration side wall.

[0350] In S523 above, the collected laser points on the rear side of the second robot (such as the square points in Figure 34) are matched with the designed shape of the second robot, as shown in Figure 34. The black dots represent the theoretical designed shape of the second robot, and the square points represent the point cloud of the rear side of the second robot collected by the laser. Through this matching, the position and orientation of the second robot can be calculated.

[0351] Alternatively, the second robot's orientation can be calculated by extracting the straight line containing the rectangular plate from the collected laser points behind the second robot. The second robot's orientation is perpendicular to the straight line containing the long plate. This is shown in Figure 35, where solid points represent points with high reflection intensity, and hollow points represent points with low reflection intensity behind the second robot. The straight line segments in Figure 35 are extracted from the hollow point cloud behind the second robot. The straight line containing the hollow points between the solid points is the straight line containing the rectangular plate. The orientation of the second robot can be calculated based on the direction of this straight line.

[0352] As shown in Figure 36, the second robot 2 includes a circular segment-shaped upper shell with sidewalls extending downward from the edges of the segment. The straight line extending from the segment serves as the calibration sidewall 213. The width of the second robot 2 is 1.2 to 8 times the width of the calibration sidewall 213. Two charging reeds 230 may be provided at the bottom of the calibration sidewall 221.

[0353] The matching relationship between the height of the collection end of the first collection device on the first robot and the recognizable area of ​​the second robot's appearance is a prerequisite for the first robot's coordinated positioning calibration. The height of the collection end of the first collection device is lower than the height of the upper surface of the second robot by 5 to 10 mm.

[0354] Furthermore, the method provided in the embodiment of the present application further includes at least one of the following:

[0355] S591: When the second robot requests calibration, it is determined that the second robot needs positioning calibration.

[0356] For example, when the second robot requests calibration, the second robot sends a positioning calibration request to the first robot. When the first robot receives the positioning calibration request sent by the second robot, it can determine that the second robot needs positioning calibration.

[0357] S592: When there is a deviation between the position and posture information reported by the second robot and the position and posture information of the second robot estimated by the first robot, it is determined that the second robot needs positioning calibration.

[0358] Specifically, the posture information reported by the second robot and the posture information of the second robot estimated by the first robot are compared; if the deviation between the reported posture information and the estimated posture information is within a set range, it is determined that the second robot does not need positioning calibration; if the deviation between the reported posture information and the estimated posture information is not within the set range, it is determined that the second robot needs positioning calibration.

[0359] S593: When a time threshold has passed since the last positioning calibration of the second robot, determine that the second robot needs positioning calibration.

[0360] S594: Before instructing the second robot to go to the target area to perform a task, the second robot needs to be positioned and calibrated, so that the second robot can go to the target area to perform the task after completing the positioning calibration.

[0361] Furthermore, the method provided in the embodiment of the present application may also include: when the second robot needs to be positioned and calibrated, if the first robot is performing a task, then starting to search for the second robot after completing the task; if the first robot is in standby state, then starting to search for the second robot.

[0362] After the second robot completes the positioning calibration, the first robot may continue to monitor the behavior of the second robot to confirm whether the positioning calibration of the second robot is accurate. For example, the method provided in this embodiment may further include the following steps:

[0363] After the second robot is positioned and calibrated, the first robot monitors the second robot to confirm whether the positioning and calibration of the second robot are accurate;

[0364] If it is accurate, the monitoring is stopped and the positioning calibration of the second robot is successful;

[0365] If it is inaccurate, the second robot is calibrated again.

[0366] The above-mentioned “performing positioning calibration on the second robot again” is to execute the above-mentioned step S52 “sensing the position and posture information of the second robot to perform positioning calibration on the second robot” again.

[0367] If the second robot is performing positioning calibration on the way to the next target area, the step of "the first robot monitoring the second robot to confirm whether the positioning calibration of the second robot is accurate" may include:

[0368] S501: When the second robot moves toward the target area, the first robot follows the second robot and confirms whether the positioning calibration of the second robot is accurate based on environmental information collected during the following process.

[0369] S502: If accurate, stop following, and the positioning calibration of the second robot is successful;

[0370] S503: If it is inaccurate, instruct the second robot to stop moving, so as to perform positioning calibration on the second robot again.

[0371] In step S501 above, the prerequisites for the first robot to follow the second robot include, but are not limited to, that the first robot has completed its own task, such as completing the task for the entire site or completing the task for the second robot's work area (which is one of at least one work area in the scene). Of course, in other embodiments, the first robot may follow the second robot even if it has not completed its own task. For example, after following the second robot for a certain period of time and determining that the second robot is accurately positioned, the first robot may stop following and execute path planning based on the site map to return to the area where it needs to work to continue its task.

[0372] Furthermore, in the above step S501, “determining whether the positioning calibration of the second robot is accurate based on the environmental information collected during following” may include:

[0373] S5a, obtaining a travel trajectory of the second robot based on the environmental information collected during following;

[0374] S5b, determining an expected trajectory of the second robot toward the target area;

[0375] S5c: If the deviation between the travel trajectory of the second robot and the expected trajectory meets the preset deviation requirement, the positioning calibration is accurate;

[0376] S5d: If the deviation between the second robot's moving trajectory and the expected trajectory does not meet the preset deviation requirement, the positioning calibration is inaccurate.

[0377] Furthermore, the site map may include: a general area accessible to the first robot, a specific area suitable for operation by the second robot, and an obstacle area inaccessible to both the first and second robots. Accordingly, the method provided in this embodiment may further include: displaying the site map; or sending the site map to a client to display the site map on the client interface. The general area, the specific area, and the obstacle area may all be displayed in different colors and / or textures.

[0378] Of course, the site map can be displayed in the client interface, and users can see the different areas displayed in different ways through the client to clearly distinguish between the areas. This part is described in detail below.

[0379] FIG37 is a flow chart showing a positioning calibration method according to another embodiment of the present application. The method according to this embodiment may be performed by a second robot in a multi-robot collaborative system, or more specifically, by a control device of the second robot. Specifically, the method includes:

[0380] S61: When the second robot needs positioning and calibration, it waits in place for the first robot to find it;

[0381] S62: The second robot performs a set action;

[0382] S63: After the first robot finds the second robot, the second robot communicates with the first robot to perform positioning calibration.

[0383] In S62 above, the second robot may execute the setup action after receiving an instruction from the first robot, or it may execute the setup action in situ when positioning calibration is required. For example, after receiving an instruction from the first robot to execute the setup action, the second robot executes the setup action until instructed to stop by the first robot. Alternatively, when positioning calibration is required, the second robot executes the setup action in situ while waiting for the first robot to locate it.

[0384] In the above S63, the second robot communicates with the first robot and can receive the second position information of the second robot sent by the first robot. After receiving the second position information sent by the first robot, the second robot performs positioning calibration based on the second position information.

[0385] In actual applications, if there is no object in the environment that is suspicious of the second robot, and the first robot can actually accurately identify the second robot based on the collected environmental information, then the second robot does not need to perform step S62. Step S62 is added to cope with the following scenarios:

[0386] Scenario 1: Objects in the environment that resemble the second robot are easily mistaken for the second robot.

[0387] Scenario 2: There are multiple second robots in the environment, and the first robot cannot determine which robot it is looking for.

[0388] Step S62 is added. When there is an object with a similar shape to the second robot, or when there are multiple second robots, the recognition accuracy can be improved by instructing the second robot to perform a set action.

[0389] Furthermore, the method provided in the embodiment of the present application may further include at least one of the following:

[0390] S641: When the second robot performs a task in an area for a time period greater than or equal to a first set time period, determining that the second robot needs positioning calibration;

[0391] S642: When the task execution efficiency of the second robot in an area is lower than a set value, determine that the second robot needs positioning calibration;

[0392] S643: When the second robot detects that a driving wheel is stuck while moving, determining that the second robot needs positioning calibration;

[0393] S644: When the number of times the collision plate of the second robot is triggered is greater than or equal to a set number of times or the duration of the collision plate being triggered is greater than or equal to a second set duration, it is determined that the second robot needs positioning calibration;

[0394] S645: When the sensor on the second robot for monitoring the parameters of the driving wheels has accumulated work time and reaches a time when calibration is required, determine that the second robot needs positioning calibration;

[0395] S646: When the second robot does not return to the base station within a third set time after completing the task, it is determined that the second robot needs positioning calibration.

[0396] Furthermore, the method provided in the embodiment of the present application may further include the following steps:

[0397] S65: receiving a task execution instruction sent by the first robot;

[0398] S66: If the task execution instruction includes the position information of the second robot, the map data of the site map, and the area information of the specific area, planning a travel path based on the position information of the second robot, the map data of the site map, and the area information of the specific area, and proceeding to the specific area along the planned path;

[0399] S67: After arriving at the specific area, perform the task in the specific area.

[0400] Another embodiment of the present application provides a solution for clearly presenting the regular area (the first robot's workable area), the specific area (the second robot's workable area) and the obstacle area in the client APP, so as to bring better usage and interaction experience to users.

[0401] The solution provided in this embodiment is to distinguish and present in the APP the narrow and low areas identified by the first robot based on the environmental information collected during its movement. Narrow and low areas include: narrow areas, low areas, and areas that are both narrow and low. Among them, low areas are generally areas covered by furniture such as sofas, beds, and cabinets. Such furniture has supporting legs and the side structure is lower than the height of the first robot's body from the ground. Based on the detection capability of the sensor used by the first robot for positioning, calibration and mapping (such as a laser radar, the mapping results of which are presented to the user through the APP) for narrow and low areas, the identified low areas can be divided into three categories, and the bedroom layout in Figure 38 is used to illustrate. Similarly, it can also be applied to other types of low areas.

[0402] Category 1: The first robot cannot detect the interior of the low area. The bottom of each side of this type of furniture is below the detectable height of the first robot's sensors, and the sensors can only detect its side outline. When mapping, the first robot identifies its side outline as an obstacle outline. In this case, with the horizontal door closed (simplified mapping), the bottom of the bed corresponds to the low area. The mapping effect is shown in Figure 39. The black outline is the obstacle outline, the light gray area is the area detected by the first robot, and the dark gray area is the area not detected by the first robot. It also corresponds to the low area identified by the first robot in conjunction with other sensors during operation.

[0403] Category 2: The first robot can detect the interior of the low area but cannot pass through it; the second robot can pass through it. The bottom of each side of this type of furniture is higher than the detectable height of the sensor, but lower than the height of the first robot. When building the map, the first robot will build its bottom into a passable area except for the leg area, but in fact the first robot cannot pass through this area. The mapping effect at this time is shown in Figure 40, where the black outline is the obstacle outline and the gray area is the area detected by the first robot. The four black dots are the outlines corresponding to their legs, and the rectangular area formed by their connection (such as the area corresponding to the dotted rectangular box in Figure 40) roughly corresponds to the low area that the first robot cannot pass through. Depending on the amount of leg retraction at the bottom of the furniture, the actual detected area is greater than or equal to this area.

[0404] Category 3: The first robot can detect some low areas. This type of furniture has different heights above the ground, either on different sides or on different parts of a single side. Some heights fall under Category 1, while others fall under Category 2. When mapping the area, the first robot only considers the bottom part of the area passable. The resulting map is shown in Figure 41. The black outline represents the obstacle, and the light gray area represents the area detected by the first robot. The light gray area at the bottom of the bed is where the first robot cannot operate.

[0405] Therefore, to eliminate ambiguity, the user is clearly informed of the working areas of the first and second robots, as shown in Figure 42. The light gray area represents the general area (i.e., the working area of ​​the first robot), and the dark gray area represents the specific area (i.e., the working area of ​​the second robot). The corresponding working tracks are displayed in the corresponding working areas. The color settings here are for illustrative purposes only. Actual apps may also use different color settings for differentiation.

[0406] If multiple identified low areas are close together, such as the nightstand and bed in Figure 38, they are merged. Figure 43 shows the mapping and work area differentiation effects for the same category 1.

[0407] The above description uses a 2D map as an example. When it comes to a 3D map, furniture is presented in a differentiated manner according to whether the first robot can pass through, only the second robot can pass through, or neither the first robot nor the second robot can pass through.

[0408] The present application also provides a multi-robot collaborative system, comprising a first robot and a second robot. The first robot has a higher positioning calibration accuracy than the second robot. The first robot is configured to execute the steps of the positioning calibration method corresponding to the respective execution entities to perform positioning calibration on the second robot.

[0409] Furthermore, the second robot is used to execute the steps of the positioning and calibration method corresponding to the above-mentioned corresponding execution body to perform positioning and calibration on the second robot.

[0410] The multi-robot collaborative system may further include a base station. The base station has a docking location. When one of the first and second robots docks at the docking location, the other robot performs a task or stops near the base station, awaiting docking. Alternatively, the base station may have two docking locations: one for docking the first robot and the other for docking the second robot, providing service to the docked robots.

[0411] Specifically, the multi-robot collaborative system provided in this embodiment includes a first robot and a second robot, each performing a task in a field, and a base station for providing services to the first and second robots. The base station has a docking bay that can selectively accommodate either the first robot or the second robot. The operating method of the multi-robot collaborative system may include:

[0412] The first robot establishes a site map, locates itself in real time and performs tasks according to the site map;

[0413] The second robot receives the site map and task instruction sent by the first robot, and performs the task corresponding to the task instruction;

[0414] Among them, the second robot realizes non-real-time positioning through one of the following methods: the second robot plans a route from the current position to the base station and moves to the base station to realize positioning; or the first robot searches for the second robot, and after the first robot finds the second robot, it determines the position information of the second robot and realizes positioning according to the position information of the first robot; or the first robot follows the second robot to realize positioning for the second robot.

[0415] Specifically, at least one of the following situations triggers the first robot to search for the second robot to locate it:

[0416] When a time threshold has passed since the last positioning calibration of the second robot, the second robot sends a signal to the first robot to enable the first robot to search for the second robot;

[0417] After completing the current task, the second robot sends a signal to the first robot to enable the first robot to search for the second robot;

[0418] The first robot searches for the second robot on its way back to the base station.

[0419] The above content regarding "the conditions for the second robot to return to the base station for positioning, the triggering event for the second robot to send a signal, how the first robot finds the second robot and how to locate the second robot, the triggering event for the first robot to return to the base station, and how the first robot finds the second robot on the way back" and so on, can all be referred to the corresponding content above and will not be repeated here.

[0420] The above content introduces that when the second robot completes the task, the time from the last positioning calibration does not exceed the time threshold, or the second robot's current execution area is in the same room as the base station, or the second robot's cumulative travel distance does not exceed the set distance, etc., the second robot will decide whether to return to the base station for positioning or call the first robot for positioning. In fact, the positioning method of the second robot can also be determined by the first robot. That is, another embodiment of the present application provides a multi-robot collaborative working method, which is suitable for the first robot in a multi-robot collaborative system. The specific method includes:

[0421] Identify specific areas;

[0422] If there is a base station in the room where the specific area is located, a first task execution instruction is sent to the second robot to instruct the second robot to autonomously return to the base station for positioning calibration after completing the task in the specific area;

[0423] If there is no base station in the room where the specific area is located, a second task execution instruction is sent to the second robot to instruct the second robot to send a positioning calibration request to the first robot after completing the specific area task.

[0424] The first task execution instruction includes not only information about the specific area, a site map, and the base station location, but also instructs the second robot to autonomously return to the base station for positioning after completing the task. Similarly, the second task execution instruction includes not only information about the specific area, a site map, and the base station location, but also instructs the second robot to send a positioning calibration request to the first robot after completing the task.

[0425] In a specific implementation, the first robot has a mapping capability. During the mapping process, the first robot can obtain information about the rooms in the venue, the base station location coordinates, and the room information where the base station is located. After identifying a specific area, the first robot can determine whether the specific area is located in the same room as the base station based on the area information of the specific area. If so, it sends a first task execution instruction to the second robot; otherwise, it sends a second task execution instruction. Regarding "how the second robot autonomously returns to the base station for positioning calibration after completing a specific area task" and "how the first robot performs positioning calibration after the second robot completes a specific area task", please refer to the relevant content above and will not be repeated here.

[0426] The present application also provides an embodiment in which a first robot works in conjunction with a second robot. Specifically, the method includes:

[0427] After the first robot completes the task, it sends a task execution instruction to the second robot to control the second robot to start from the base station and perform the collaborative task;

[0428] The first robot and the second robot go to a specific area;

[0429] The first robot waits outside the specific area, and the second robot enters the specific area to perform a task;

[0430] When the positioning calibration trigger condition is met, the first robot performs positioning calibration on the second robot so that the second robot continues to move based on the position information after positioning calibration.

[0431] In some embodiments, after the first robot completes the cleaning task of the entire site (such as the entire house, the entire floor, etc.), the first robot may return to the base station for dust collection and / or charging. Alternatively, the first robot may determine the current amount of dust collected and / or the remaining power in the first dust box. If the amount of dust collected reaches the set amount threshold and / or the remaining power is less than the power threshold, it will return to the base station for dust collection and / or charging; otherwise, it may send a task execution instruction directly to the second robot. The second robot may be docked in the docking cabin of the base station, or at a set position next to the base station, etc. If the second robot is in the docking cabin, it will depart directly from the docking cabin after receiving the task execution instruction. If the second robot is located at a set position next to the base station, the second robot enters the docking cabin for positioning, and is triggered from the base station after positioning is completed.

[0432] Typically, after the first robot leaves the base station to perform its task, the second robot will enter the base station, ready to respond to the first robot's call. The second robot's entry into the base station allows it to perform at least one of the following tasks: charging, dust collection, and positioning. This ensures that the second robot is in optimal conditions (e.g., sufficient battery life, high positioning accuracy, and sufficient dust collection space) to respond to the first robot's call to perform its task. This also helps shorten response times and improve overall collaborative work efficiency.

[0433] For example, after the first robot completes dust collection and / or charging at the base station, it issues a task execution instruction to the second robot. This task instruction carries the area information for all, one, or a portion of the specific areas identified by the first robot during the task. The first robot departs from the base station and heads for the first specific area. The second robot then enters the base station for positioning and, after completing positioning, heads for the first specific area designated by the first robot. Here, the second robot enters the base station for positioning itself, eliminating the need for the first robot to perform positioning. This allows the first robot, after completing integration and / or charging at the base station, to depart directly from the base station for the first specific area to select a waiting location, etc. After the first robot reaches the vicinity of the first specific area, it selects a waiting location by collecting information about the surrounding environment and stops at that location. The second robot then heads for the first specific area, begins cleaning the first specific area from its starting point, and returns to its starting point after completing the cleaning task for that area. The second robot sends a positioning request to the first robot, requesting that it perform a positioning calibration. Alternatively, upon detecting that the second robot has returned to its starting point, the first robot approaches the second robot and performs a positioning calibration on it.

[0434] After the second robot is positioned and calibrated, the second robot goes to the second specific area first, and the first robot goes to the second specific area later. Similarly, after the second robot arrives at the second specific area, it performs cleaning tasks in the second specific area. The first robot selects a waiting position outside the second specific area to wait by collecting information about the surrounding environment. After the second robot completes the task in the second specific area, the first robot positions and calibrates the second robot. The specific steps are the same as the first positioning and calibration above. If there are a third and fourth specific areas, the above working logic continues until the tasks in all specific areas are completed, and the first robot and the second robot return to the base station. After arriving at the base station, the first robot and the second robot can determine whether the first robot or the second robot has priority to enter the base station through the relevant content of the base station usage rights mentioned above. Please refer to the above for the specific content, which will not be repeated here.

[0435] The waiting position selected by the first robot can be an open position that is a certain distance away from the specific area where the second robot is currently performing a task (which will not affect the work of the second robot). One reason for making the selected waiting position a certain distance away from the specific area where the task is currently being performed is that since the positioning accuracy of the second robot is relatively low, the present application solution will expand the specific area so that the actual operating area of ​​the second robot when performing a task in the specific area is larger than the area of ​​the specific area, so as to ensure that the second robot can clean the specific area without missing any. In addition, the reasons for the selected waiting position being an open position include: facilitating the first robot to perform positioning calibration on the second robot and avoiding collisions. For example, since the waiting position is open, when the first robot finds an object suspected to be the second robot, it further instructs the object to perform a set action in order to accurately determine whether the object is the second robot. If the object is indeed the second robot, the second robot will not easily collide with other obstacles because there are no other obstacles around it.

[0436] For example, the selected waiting position can be a location near the starting point of the specific area and at a certain distance and space from the specific area. The distance from the specific area can be determined based on the extended size of the specific area. Of course, the selected waiting position can also be other locations, such as near the end point of the specific area (such as the location of the second robot after completing the task in the specific area). In this case, after completing the task in the specific area, the second robot can directly send a positioning request to the first robot without returning to the starting point of the specific area.

[0437] In real-world scenarios, a venue might consist of a single room or multiple rooms. This embodiment can be divided by room. For example, the first robot can perform a positioning calibration for the second robot after the second robot completes all tasks in a specific area of ​​a room. In this case, the first robot's waiting position can be in a relatively central and open area of ​​the room or near the door.

[0438] It can be concluded that in this embodiment, "satisfying the positioning calibration trigger condition" may include but is not limited to at least one of the following:

[0439] The first robot completes the task in the specific area and returns to the starting point of the specific area, thus satisfying the positioning calibration trigger condition;

[0440] If there is only one specific area in a room, the positioning calibration trigger condition is satisfied when the first robot completes the task in the specific area;

[0441] If a room has multiple specific areas, the positioning calibration trigger condition is met after the first robot completes execution of all specific areas in the room.

[0442] Here's another point to note: When not in operation, the first robot is docked in the base station's docking bay, while the second robot is located next to the base station. Generally, the second robot does not actively enter the base station to charge. It will only return to the base station to charge, for example, after receiving a message from the first robot indicating it has left the base station or completing a task assigned by the first robot. Therefore, if the first robot fails to assign tasks to the first robot for an extended period and / or remains docked in the base station's docking bay for an extended period, the second robot will not be able to passively charge. This prolonged standby state will drain the second robot's battery. Over time, the second robot's remaining battery level will become very low. In this case, the second robot must actively initiate charging. Specifically, the second robot can send a message to the first robot informing it that it needs to charge from the base station. Upon receiving this message, the first robot will exit the base station, allowing the second robot to recharge. Alternatively, in other embodiments, the second robot can be charged at a designated location each day to prevent it from draining its battery due to prolonged standby. The designated location is preferably chosen when the user is not at home. For example, at 10 a.m. every day, even if the first robot is in the base station, it will drive out of the base station and instruct the second robot to enter the base station for charging.

[0443] A more specific scenario involves a user's home or office with multiple floors. Typically, the user places the base station on a single floor and rarely moves it. However, the user might move the first and / or second robots to different floors for cleaning. In this scenario, the first robot needs to be able to identify whether the second robot is on the same floor as the first. Only when the first and second robots are on the same floor can the second robot accurately complete the task instructed by the first robot and send a task execution instruction to the second robot.

[0444] The first robot recognizes the second robot through information collected by the first collection device (in layman's terms, the first robot sees the second robot), indicating that the first robot and the second robot are on the same floor. Alternatively, the first robot receives map information of the second robot's current floor from the second robot and determines whether the first robot and the second robot are on the same floor by matching the floor map information.

[0445] In addition, the base station can identify whether the currently docked machine is the first robot or the second robot by the size of the charging current. Alternatively, the first robot and the base station can communicate wirelessly or through a charging terminal, informing the base station that the first robot has entered the docking compartment. Alternatively, the base station is provided with a second trigger device, and the second robot is provided with a first trigger device. After the second robot enters the docking compartment, the first trigger device sends a first signal to trigger the second trigger device. After the second trigger device is triggered by the first signal, the base station can identify that the currently docked machine is the second robot. Similarly, the first robot can be provided with a third trigger device. After the first robot enters the docking compartment, the third trigger device sends a second signal to trigger the second trigger device on the base station. After the second trigger device is triggered by the second signal, the base station can identify that the currently docked machine is the first robot.

[0446] Another embodiment of the present application provides a robot comprising a body and a control device. The body is provided with a drive wheel assembly, a data acquisition device, a positioning device, and a communication device for communicating with a cooperating robot. The control device is disposed on the body and electrically connected to the drive wheel assembly, data acquisition device, and communication device, and is configured to implement the steps of the aforementioned positioning and calibration methods.

[0447] Specifically, the robot may be the first robot mentioned above, or the second robot mentioned above. In the case of the first robot, the control device may execute the steps of the positioning calibration method corresponding to the aforementioned execution subject to perform positioning calibration on the second robot. In the case of the second robot, the control device is configured to execute the steps of the positioning calibration method corresponding to the aforementioned execution subject to perform positioning calibration on the second robot.

[0448] In addition, the first robot and the second robot may be provided with at least one of the following but not limited to: a battery, an execution device (such as a roller brush assembly, a rag, a suction motor, etc.), a charging device, an interactive device, etc.

[0449] Finally, the technical solutions provided in the embodiments of this application are described in combination with specific application scenarios.

[0450] Scene 1

[0451] A user has a robot vacuum cleaner (hereinafter referred to as the first robot) and a smaller robot vacuum cleaner (hereinafter referred to as the second robot) at home, including the living room, bedroom, and other areas. The user activates the first robot to clean the floor, while the second robot is docked at a base station. The first robot first cleans the living room, identifying narrow, low areas within the living room that the second robot can access. After the first robot finishes cleaning the living room, it sends a task execution instruction to the second robot. This task execution instruction contains information about all narrow, low areas in the living room suitable for the second robot to enter. After receiving this task execution instruction, the second robot, starting from the base station, sequentially cleans each narrow, low area in the living room, from closest to farthest. The first robot follows the second robot in performing its task. When the second robot enters a narrow, low area (such as the sofa area) to perform its task, the first robot waits outside the narrow, low area for the second robot. After the second robot completes its task in that narrow, low area, the first robot performs a positioning calibration on the second robot. After calibration, the second robot continues to the next narrow and low area, and the first robot follows until all narrow and low areas in the living room area are cleaned. The second robot can then return to the base station, and the first robot continues to the next bedroom area to perform the cleaning task.

[0452] Scene 2

[0453] A user has a robot vacuum cleaner (hereinafter referred to as the first robot) and a smaller robot vacuum cleaner (hereinafter referred to as the second robot) at home, including the living room, bedroom, and other areas. The user activates the first robot to clean the floor, while the second robot is docked at the base station. The first robot first cleans the living room and, while cleaning, identifies narrow, low areas within the living room that the second robot can access. Upon identifying the sofa area within the living room as a narrow, low area accessible to the second robot, the first robot immediately sends a task execution instruction to the second robot, which contains the area information for the sofa area. At the time of sending the task execution instruction, the first robot has not yet completed cleaning the living room. After receiving the task execution instruction, the second robot departs from the base station and proceeds to the sofa area within the living room to perform its cleaning task. The first robot can follow the second robot. While the second robot enters the sofa area to perform its task, the first robot can wait outside the sofa area for the second robot. After the second robot completes its task within the sofa area, the first robot performs a positioning calibration on the second robot. After calibration, the second robot can wait in place for the first robot to send task instructions again or return to the base station. The first robot can continue to clean other uncleaned areas in the object area. When it recognizes again that the coffee table area in the living room is a narrow and low area that the second robot can enter, it sends a task execution instruction including the coffee table area to the second robot, and follows the second robot when the second robot goes to the coffee table area to perform the cleaning task according to the received task execution instruction.

[0454] Continue to go to the next narrow and low area, and the first robot follows until all narrow and low areas in the living room area are cleaned. The second robot can return to the base station, and the first robot continues to go to the next bedroom area to perform the cleaning task.

[0455] Scenario 3

[0456] A user has a robot vacuum cleaner (hereinafter referred to as the first robot) and a smaller robot vacuum cleaner (hereinafter referred to as the second robot) at home. The user activates the first robot to clean the floor of the house. The second robot docks at the base station. While cleaning, the first robot identifies narrow, low areas that the second robot can enter. After the first robot completes cleaning the entire house, it sends a task execution instruction to the second robot. This task execution instruction contains information about all narrow, low areas in the house that are suitable for the second robot to enter. After receiving this task execution instruction, the second robot starts from the base station and sequentially cleans each narrow, low area in the house, from nearest to farthest. The first robot follows the second robot in performing its tasks. When the second robot enters a narrow, low area to perform its tasks, the first robot waits outside that area for the second robot. After the second robot completes its tasks in that area, the first robot performs positioning calibration on the second robot. After calibration, the second robot continues to the next narrow, low area, and the first robot follows. After all narrow, low areas have been cleaned, the second and first robots return to the base station together.

[0457] Scene 4

[0458] The user has a sweeping robot (hereinafter referred to as the first robot) and a small sweeping robot (hereinafter referred to as the second robot) at home. The user starts the first robot, and the first robot starts to perform cleaning tasks from the base station to clean the floor of the house. After a period of time or after the first robot leaves the base station, the second robot enters the base station to wait for the execution task sent by the first robot. When the first robot identifies a narrow and low area that the second robot can enter during the cleaning process, it controls the second robot to turn on and receive the area information of the narrow and low area sent by the first robot. Because the second robot is at the base station, the first robot does not need to send the second robot's position information to the second robot at this time. The second robot can accurately obtain its own position information, and according to the map sent by the first robot and the area information of the narrow and low area, it plans a path and moves along the path to the narrow and low area and enters the narrow and low area to perform tasks.

[0459] When the second robot determines that positioning calibration is required while performing a task, it will remain in standby mode and send a positioning calibration request to the first robot. After receiving the positioning calibration request, if the first robot is not currently performing a task, it will search for the second robot that is also in standby mode. After finding an object that is suspected to be the second robot, it will send an instruction to the second robot to perform the set action. After the first robot identifies the object that is performing the set action, it determines that the object is the second robot. After finding the second robot, the second robot's second position information is determined based on the first robot's first position information and the information related to the second robot collected by the first robot. The first robot sends the second position information to the second robot so that the second robot can perform positioning calibration based on the second position information.

[0460] After positioning and calibration, the second robot continues its mission. While the second robot is performing its mission, the first robot follows the second robot for a certain period of time. If the second robot's trajectory matches expectations, the first robot stops following it. Otherwise, the first robot sends a stay-at-home command to the second robot. The first robot then recalibrates its positioning with the second robot.

[0461] In addition, there are many other application scenarios. Please refer to the corresponding contents of Figures 21a to 23b above.

[0462] As described in the above embodiments, the second robot is provided with a second acquisition device with lower positioning accuracy, such as a gyroscope, a wheel odometer, etc., so that the second robot has basic positioning functions, navigation and path planning functions. For example, the second robot is provided with a wheel odometer, and the second robot can be positioned based on the travel distance measured by the wheel odometer. The second robot detects its own walking direction through a gyroscope to determine its own posture. In the process of implementing the technical solution of this application, the inventor found that adding another ranging sensor to the second robot has little effect on the volume of the second robot, but can expand the repositioning means of the second robot. If we call the repositioning solution provided in the above embodiment (that is, the first robot searches for the second robot, and locates the second robot after finding the second robot) a near-field positioning solution, then this embodiment can add a remote positioning solution.

[0463] Specifically, the present application provides a second robot, which is provided with a third acquisition device, and the third acquisition device is used to collect information about the surrounding environment of the second robot. For example, the third acquisition device can be a ranging sensor, such as a radar, a single-line laser sensor, an area array TOF, etc., which can measure the distance information of the surrounding environment of the second robot, and can also obtain environmental contour information based on the collected distance information of the surrounding environment.

[0464] The second robot with the third acquisition device provided in this embodiment can have two positioning modes, one is autonomous correction mode positioning, and the other is remote positioning. Among them, autonomous correction mode positioning refers to: using the distance information of the surrounding environment collected by the third acquisition device to perform positioning calibration. Remote positioning refers to: completing positioning calibration with the help of the remote end (such as the service end or the first robot), that is, the second robot sends the environmental contour information collected by the third acquisition device to the remote end (such as the service end or the first robot), and the remote end matches the environmental contour information sent by the second robot with the site map of the site where the second robot is located to determine the posture of the second robot. The remote end feeds back the determined posture of the second robot to the second robot, and the remote positioning is completed. For more specific content and scenarios, please refer to the detailed description below.

[0465] The structure and appearance of the second robot provided in this embodiment can be the same or similar to the second robots provided in the above embodiments. For example, the front end of the second robot can be provided with a collision plate, and the third collection device can be disposed on the collision plate. The external shape of the second robot can be circular, or a shape with a square front and an arc-shaped rear as shown in Figure 3, or an irregular circle, an ellipse, or other special shapes, etc., which are not specifically limited in this embodiment.

[0466] The second robot can determine the first posture based on the information collected by the second acquisition device; the second robot can determine the second posture based on the information collected by the third acquisition device; then, the second robot chooses whether to use autonomous correction or remote positioning according to the first posture and the second posture.

[0467] The following uses a method embodiment to describe in detail the positioning calibration method of the second robot. This application also provides a positioning calibration method, which is applicable to the second robot in a multi-robot collaborative system, that is, the execution subject of the method provided in the embodiment of this application is the second robot. Specifically, the method includes:

[0468] S71. Determine the first posture based on the information collected by the second collection device;

[0469] S72. Determine a second posture based on information collected by the third collection device;

[0470] S73: Determine whether positioning calibration is required by comparing the first posture with the second posture.

[0471] S74: If positioning calibration is required and the difference between the first posture and the second posture is less than a set threshold, autonomous correction positioning is selected and the autonomous correction positioning is started.

[0472] Specifically, the autonomous correction positioning method is as follows: the second robot directly corrects its own posture based on the distance information of the second robot's surrounding environment collected by the third acquisition device. The second posture determined based on the distance information obtained by the third acquisition device is used as the current posture of the robot. Because the second acquisition device includes sensors such as wheel odometers and gyroscopes that have cumulative errors, their measurement accuracy tends to decrease over time. The third acquisition device is a ranging sensor such as radar, single-line laser sensor, area array TOF, etc., which does not have the problem of the second acquisition device, and the measurement accuracy of the third acquisition device is higher than that of the second acquisition device. Therefore, in the self-correction method, the second robot can directly determine the second posture based on the information collected by the high-precision third acquisition device.

[0473] S75: If positioning calibration is required and the difference between the first posture and the second posture is greater than the set threshold, remote positioning is selected and started.

[0474] Among them, remote positioning may include:

[0475] The third collecting device obtains environmental contour information based on the distance information of the surrounding environment, and sends the environmental contour information to the server. The server calculates the posture of the second robot based on the received information (i.e., the environmental contour information), and feeds back the calculated posture of the second robot to the second robot; the second robot uses the posture fed back by the server as its current posture; or

[0476] The environmental contour information obtained by the third acquisition device is sent to the first robot, and the first robot calculates the posture of the second robot based on the received information (i.e., the environmental contour information), and feeds back the calculated posture of the second robot to the second robot; the second robot uses the posture fed back by the first robot as its current posture.

[0477] The specific value of the above-mentioned threshold value can be determined based on actual testing, experience and / or understanding and calculation, and this embodiment does not limit the specific value.

[0478] The above-mentioned step S74 corresponds to a scenario, for example, where the driving wheel of the second robot slips. Assuming that the second robot is calculated to be 1.5 meters away from the front wall based on the information collected by the second acquisition device, and the second robot is calculated to be 2 meters away from the front wall based on the distance information collected by the third acquisition device, there is a difference of 0.5m. The difference of 0.5m is less than the set threshold (such as 2 meters or 5 meters, etc.). The second robot chooses to use autonomous correction positioning and starts autonomous correction positioning.

[0479] As can be seen, the technical solution provided by this embodiment does not require the first robot to find the second robot. The second robot can choose to locate itself by self-correction or by remote positioning. In the case of remote positioning, the server can assist in positioning, or the first robot can assist in positioning.

[0480] In summary, compared with the above embodiment, the second robot in this embodiment also has the ability to provide data. Although it does not have computing power or its computing power is not high, the server or the first robot can help with calculations.

[0481] The server may be a server on the network side or a cloud. The server or the first robot may calculate the position and posture of the second robot based on the information collected by the third collection device of the second robot, which may specifically include:

[0482] The server or the first robot matches the environmental contour information received from the third acquisition device with the site map to calculate the position and posture of the second robot.

[0483] It should be noted here that there are two situations when remote positioning is performed by the server.

[0484] One scenario involves the server storing a site map of the second robot's workspace. This site map can be uploaded to the server by either the first robot or the second robot. In practical applications, the network-side server needs to service multi-robot collaborative systems (including the first and second robots) across multiple sites. For example, user A purchases a multi-robot collaborative system consisting of the first and second robots and uses it at home. User B purchases another multi-robot collaborative system and uses it at work. When user A's multi-robot collaborative system is in operation, the first robot in the system maps user A's home, generating a site map. The first robot in user A's home can upload this site map to the server. When user B's multi-robot collaborative system is in operation, the first robot in the system maps user B's company, generating a site map. The first robot in user B's company can upload this site map to the server. To distinguish site maps corresponding to different users, the server requires the first robot to include the user's ID when uploading its own site map. After receiving the user ID and site map, the server associates and stores the user ID with the site map. In this way, when the second robot requests the server for remote positioning, it needs to carry the user ID in the request, so that the server can query the locally stored site map corresponding to the user ID according to the user ID, and then remotely locate the second robot based on the site map.

[0485] Alternatively, if the server does not store a site map, the second robot, when requesting remote positioning from the server, must send not only the information collected by the third acquisition device but also a site map of the site. After receiving the environmental contour information and site map obtained by the third acquisition device, the server matches the information collected by the third acquisition device with the site map to determine the second robot's position and posture.

[0486] It should be noted that when the first or second robot uploads a site map to the network server, it must obtain user permission. This means that the user can choose to approve or deny uploading their home or business site map to the server through the second robot's interactive device or client. To prevent personal information leakage, the site map can be encrypted using some encryption technology.

[0487] Of course, users can also set their mobile phone, desktop computer, laptop computer or tablet computer as the server, and let the mobile phone, desktop computer, laptop computer or tablet computer with computing power help calculate the position of the second robot. In this case, there will be no personal information leakage.

[0488] Alternatively, a company might have multiple floors and / or suites. In this case, an intranet server could be set up within the company. For example, a multi-robot collaborative system could be deployed on a single floor and / or suite. The first and second robots in each multi-robot collaborative system on different floors and / or suites could connect to and communicate with the server. Because it's an intranet, personal information leakage is unlikely.

[0489] Furthermore, in addition to the above-mentioned step S75 (the difference between the first posture and the second posture is greater than the set threshold), the following steps may also be included:

[0490] S76. After completing at least one task within a specific area, choose to use remote positioning; and / or

[0491] S77. After completing all tasks within a specific area of ​​a room, choose to use remote positioning; and / or

[0492] S78. When the duration of executing a task in a specific area exceeds a duration threshold, remote positioning is selected.

[0493] In S76 above, the number of specific areas can be manually set or factory-set. For example, a user can configure the number of specific areas, such as one, two, three, or more, through the client's interactive device. Alternatively, the manufacturer can set the number of specific areas based on experience or test results. In this way, after the second robot completes tasks within the set number of specific areas, it initiates a remote positioning operation.

[0494] In the above S77, as mentioned above, there may be one or more specific areas in a room. After the second robot completes the tasks in all specific areas in a room, it starts a remote positioning.

[0495] The duration threshold in the above S78, such as 5 minutes, 10 minutes, 15 minutes, etc., is not specifically limited in this embodiment.

[0496] In the solutions provided in the previous embodiments, the first robot searches for the second robot for positioning and calibration. If the second robot cannot be found, it can either travel along the edge of the road back to the base station for positioning or alert the user to locate it. This embodiment provides a solution for calibrating the second robot's position if the first robot cannot find it. For example, if the second robot enters a specific area for work and becomes trapped within it, the first robot cannot find it. In this case, the second robot can initiate remote positioning and transmit the environmental profile information obtained by the third data collection device to the first robot or the server. The first robot can pause its current task or perform positioning and calibration for the second robot at the base station or on its way to the base station.

[0497] Furthermore, the second robot can choose whether to have the first robot or the server perform positioning calibration based on the current working status of the first robot. For example, if the first robot is currently in a task execution state, the second robot can choose to have the server perform positioning calibration when initiating remote positioning. If the first robot is currently in a non-task execution state, such as when the first robot is inside a base station (e.g., charging, cleaning, resupplying, etc.) or on its way to a base station, the second robot can choose to have the first robot perform positioning calibration when initiating remote positioning.

[0498] In the aforementioned embodiments, embodiments are described in which the first robot 1 and the second robot 2 share a base station for charging, etc. However, this method of sharing a base station for charging, etc., makes it impossible for the first robot 1 and the second robot 2 to charge at the same time during the collaborative operation. For example, during the collaborative operation, if the first robot enters the base station and docks in the docking area to charge (or collect dust, etc.), if the second robot also needs to be charged at this time, it can only stop near the base station and wait for the first robot to complete charging (or dust collection, etc.) and then enter the docking cabin of the base station for charging; wherein, the second robot is generally unable to work while waiting for charging due to low power. Obviously, this will lead to reduced efficiency in the use of robot products and a poor customer experience. Moreover, since the charging time is much longer than the dust collection time in the scheme of charging and dust collection using a shared base station, the mother-and-child machine (including the first robot 1 and the second robot 2) has higher charging requirements for the shared base station. For example, if the first robot 1 is docked in the docking compartment of the base station for charging, and the second robot 2 needs to collect dust, it will need to wait for a long time (the purpose is to wait for the first robot 1 to complete charging) before entering the docking compartment of the base station for dust collection. Therefore, in response to the problem of the first robot 1 and the second robot 2 sharing a base station for charging, the present application newly provides a base station device that enables the first robot 1 and the second robot 2 to be charged at the same time, so that the first robot 1 and the second robot 2 do not interfere with each other. The relevant description of the base station device will be described in detail below in conjunction with the multi-robot collaborative system described in Figures 44 to 47.

[0499] In addition, the present application further provides a multi-robot collaborative system, as shown in Figures 44 to 47 , which includes: a first robot 1, a second robot 2, and a base station device for providing services to the first robot 1 and the second robot 2, wherein the services include charging. The base station device includes a base station 3 and a charging base 5 provided on one side of the base station 3.

[0500] In specific implementation, the base station 3 and the charging seat 5 both provide charging services. In addition, the base station 3 can also provide one or more services including docking, dust collection, cleaning (such as cleaning the rag and brush on the robot), supply (such as liquid supply), and discharge (such as sewage discharge, garbage discharge in the dust box (also known as dust collection)).

[0501] As described above with reference to Figures 9 to 13 and 18 regarding base station 3, base station 3 is equipped with a dust collection mechanism (including a dust collection port, dust collection duct, dust collection fan, dust collection box, etc.), which can collect dust from the robot's dust box. Also, base station 3 is equipped with a charging terminal for providing charging services for the robot. Furthermore, base station 3 also includes a docking compartment 310 and a cleaning mechanism 322 (including a rag cleaning mechanism, etc.). The docking compartment 310 is used to provide docking services for the robot. Specifically, the robot described in this application, such as the first robot or the second robot, docks within the base station, specifically referring to the robot docking within the docking compartment. The dust collection port, charging terminal, etc. can all be located within the docking compartment, allowing the robot to charge and collect dust upon entering the docking compartment. The cleaning mechanism 322 can be used to clean items such as rags and brushes on the robot. Furthermore, base station 3 may also be equipped with a sewage disposal mechanism, a water supply mechanism, etc., not shown in the accompanying drawings. The sewage discharge mechanism may include a sewage discharge chamber, a sewage outlet connected to the sewage discharge chamber, and a discharge outlet. The sewage outlet may also be provided in the docking cabin, so that after the robot enters the docking cabin, sewage in its sewage bucket can enter the sewage discharge chamber through the sewage outlet and be discharged from the discharge outlet. The water supply mechanism can provide services such as liquid replenishment for the robot.

[0502] In one example, as shown in Figures 44 and 45 , the charging cradle 5 can be located on the right side of the base station 3. Alternatively, in another example, as shown in Figures 46 and 47 , the charging cradle 5 can be located on the left side of the base station 3. When the charging cradle 5 is located on the right or left side of the base station 3, it is electrically connected to the base station 3. The electrical connection methods include, but are not limited to, an electrical connection method involving a jack and a plug or a magnetic electrical connection method. The magnetic electrical connection achieves electrical connection by magnetically adsorbing the charging cradle and the base station together.

[0503] In this embodiment, the electrical connection between the charging station 5 and the base station 3 is a socket-and-plug combination. For example, a socket (such as a three-phase socket as shown in FIG44 ) may be provided on the left and / or right side of the charging station 5. Accordingly, a plug matching the socket provided on the charging station may be provided on the left and / or right side of the base station 3. When the user places the charging station 5 on the right side of the base station 3 according to a home installation environment, for example, the plug provided on the right side of the base station 3 is inserted into the socket provided on the left side of the charging station 5, thereby electrically connecting the charging station 5 to the base station 3.

[0504] During the collaborative operation of the first robot 1 and the second robot 2, one of the first robot 1 and the second robot 2 can enter the base station 3 and dock in the docking compartment of the base station 3 to perform charging, dust collection, cleaning rags, sewage discharge, liquid replenishment, etc. When one of the robots is docked in the docking compartment of the base station 3, if the other robot needs to be charged, the other robot can be moved to a position where it is in electrical contact with the charging seat 5 for charging, and after charging is completed, the other robot can go out and continue working. It can be seen from this that the present application can achieve that when multiple robots work collaboratively, multiple robots can enter the base station device and charge at the same time without interfering with each other, thereby avoiding the long waiting time problem that may occur when multiple robots share the base station 3 for charging in other embodiments.

[0505] As shown in FIG45 or FIG47 , the charging base 5 is provided with a power supply port 51. Specifically, the power supply port 51 is provided at the front end of the charging base 5. When one robot (e.g., the first robot 1) is charging in the base station 3 and another robot (e.g., the second robot 2) also needs to be charged, the other robot can be moved to a position in contact with the charging base 5. The charging port on the other robot will contact and electrically connect with the power supply port 51 on the charging base 5, thereby charging the other robot.

[0506] The docking compartment of the base station 3 may be provided with a charging terminal for electrically connecting to a charging port on the robot to charge the robot. For example, the base station 3 may have only one charging terminal, through which both the first robot 1 and the second robot 2 can be charged. This is similar to the situation described in the other embodiments above where the first robot 1 and the second robot 2 can share the charging terminal of the base station 3. For another example, the base station 3 may be provided with two charging terminals, a main charging terminal 37 and a slave charging terminal 36. The main charging terminal 37 is used to charge the first robot 1 entering the base station 3, and the slave charging terminal 36 is used to charge the second robot entering the base station 3. For details of this example, see the situation described in the other embodiments above where the first robot 1 and the second robot 2 do not share the charging terminal of the base station 3.

[0507] Furthermore, the docking compartment of the base station 3 may further include a dust collection port included in a dust collection mechanism, which is configured to interface with the dust collection port on the robot, thereby enabling the dust collection mechanism to collect trash from the robot's dust box. For example, the docking compartment may include only one dust collection port, which can be used to interface with the dust collection port on the first robot 1 or the dust collection port on the second robot 2. This allows the dust collection mechanism to collect trash from both the first robot 1 and the second robot 2 dust boxes, i.e., the first robot 1 and the second robot 2 can share the dust collection port on the base station 3, as described in other embodiments above. For another example, the docking compartment may include two dust collection ports: a main unit dust collection port and a slave unit dust collection port. The main unit dust collection port is configured to interface with the dust collection port on the first robot 1, while the slave unit dust collection port is configured to interface with the dust collection port on the second robot 2. This allows the dust collection mechanism to collect trash from both the first robot 1 and the second robot 2 dust boxes, i.e., the first robot 1 and the second robot 2 can not share the dust collection port on the base station 3, as described in other embodiments above.

[0508] In one specific embodiment, the charging base 5 is used to charge the second robot 2, while the base station 3 charges the first robot 1. Specifically, the power supply port 51 on the charging base 5 is configured to electrically connect to the charging port on the second robot 2. The charging port of the second robot 2 (i.e., the second charging port 24 described in other embodiments) can be, but is not limited to, a charging pad (as shown in FIG48 ). In this application, the second robot 2 is the slave, and the first robot 1 is the master. Further, referring to FIG45 or FIG47 , the docking bay of the base station 3 has charging terminals, which may include the master charging terminals 37 described in other embodiments (the master charging terminals are not clearly indicated in FIG47 ). The master charging terminals 37 are configured to electrically connect to the charging port on the first robot 1 to charge the first robot 1. Specifically, when the first robot 1 is docked in the docking bay of the base station 3, the charging port on the first robot 1 can electrically connect to the charging terminals (the master charging terminals) within the docking bay.

[0509] It should be noted that the first robot 1, second robot 2, and base station 3 described in this embodiment are not limited to the functional components described above, but may also include other functional components. For detailed descriptions of the specific structures and functions of the first robot, second robot, and base station in this embodiment, please refer to the relevant content in other embodiments.

[0510] In addition, based on the above, the present application also provides a base station device. Specifically, as shown in Figures 44 to 47, the base station device includes: a base station 3 and a charging station 5. The base station 3 has a docking bay for selectively accommodating either a first robot or a second robot. The charging station 5 is located on one side of the base station 3, for example, on the left or right side of the base station 3. Figures 44 and 45 show examples of the charging station 5 being located on the right side of the base station 3, while Figures 46 and 47 show examples of the charging station 5 being located on the left side of the base station 3. Figures 44 and 46 both show examples of a first robot 1 entering the base station 3 and docking within the docking bay of the base station 3, and a second robot 2 being in electrical contact with the charging station 5. When one of the first and second robots is docked within the docking bay of the base station, if the other robot needs to be charged, the other robot moves to a position in electrical contact with the charging station 5 for charging. The one robot can be charged while docked within the docking bay.

[0511] For detailed descriptions of the base station 3 and the charging stand 5 as well as the first robot and the second robot, please refer to the relevant contents described in other embodiments.

[0512] In summary, combined with the relevant contents described in Figures 44 to 47, it can be seen that the present application can charge the first robot and the second robot simultaneously through the base station device. When the first robot is charging, collecting dust, draining sewage, replenishing liquids, or cleaning rags, etc. in the base station, the second robot can be charged synchronously through the charging seat therein, without having to wait for the first robot to finish charging, collecting dust, draining sewage, replenishing liquids, or cleaning rags. Once charging is completed, the second robot can go out and continue working. It can be seen that the present application solution can effectively improve the working efficiency of the first robot and the second robot in collaborative operation.

[0513] The following will introduce and illustrate how the aforementioned base station device can simultaneously provide services (especially charging services) for the first robot 1 and the second robot 2 in conjunction with specific scenarios.

[0514] Scene 1

[0515] During a collaborative operation between a first robot 1 and a second robot 2 in a certain location (such as a bedroom as shown in Figures 21a to 23b), the first robot 1 detects that the remaining charge of its battery has fallen below a set threshold, making it unable to continue operating and requiring it to return to the base station device for charging. To this end, the first robot 1 initiates a return to the base station device and enters base station 3 within the base station device to begin charging. After a period of time, the second robot 2 also detects that the remaining charge of its battery has fallen below the set threshold and also returns to the base station device for charging. When the second robot 2 returns to the base station device, the first robot 1 has not yet completed charging within base station 3. For example, the first robot 1 estimates that it will take another 0.5 hours to fully charge within base station 3. At this point, the second robot 2 will move to a position where it is in electrical contact with the charging base 5 within the base station device and be charged through the charging base 5, without having to wait 0.5 hours for the first robot 1 to fully charge before it can be charged. In this way, after 0.5 hours, the first robot 1 can go out to continue working after it is fully charged. At the same time, assuming that the second robot 2 needs 3 hours to be fully charged, the second robot 2 can also be fully charged 2.5 hours after the first robot 1 goes out to continue working, and thus continue to work in collaboration with the first robot 1.

[0516] If there is no charging base 5, and the first robot 1 and the second robot 2 share the base station 3 for charging, then in the scenario where both the first robot 1 and the second robot 2 need to be charged, the second robot 2 will need to wait for 0.5 hours before it can enter the base station 3 to charge. Moreover, during this 0.5-hour waiting period, the second robot 2 cannot operate due to low power, and the first robot 1 is also unable to operate because it is still charging. Therefore, there will be a 0.5-hour operation window. Moreover, the second robot 2 may originally only need 3 hours to be fully charged. Now, with the addition of a 0.5-hour waiting time, the overall charging time will be extended to 3.5 hours. Therefore, the second robot 2 needs to wait for 3.5 hours after the first robot 1 is fully charged and continues to work before it can complete charging and go out to work with the first robot 1.

[0517] To summarize the scenario described above, this case, through a base station device including a base station 3 and a charging seat 5, can provide charging services for both the first robot 1 and the second robot 2 at the same time when both need charging. This saves the waiting time required to charge one of the robots (such as the second robot 2) using the shared base station 3, which can obviously reduce the overall charging time of one of the robots, thereby increasing the collaborative working time of the first robot 1 and the second robot 2, and thus improving working efficiency.

[0518] Scene 2

[0519] During the collaborative operation of the first robot 1 and the second robot 2 at a certain site, the amount of garbage in the dust box of the first robot 1 reaches a set amount and needs to return to the base station device to discharge the garbage. To this end, the first robot 1 returns to the base station device and enters the base station 3 in the base station device to collect dust. After a period of time, the second robot 2 detects that the remaining power of its battery is lower than the set threshold and also returns to the base station device to charge. When the second robot 2 returns to the base station device, the first robot 1 has not yet completed dust collection in the base station 3 (that is, the garbage in the dust box of the first robot 1 has not yet been discharged through the base station 3). At this time, the second robot 2 will move to a position of electrical contact with the charging base 5 in the base station device to charge through the charging base 5, without having to wait for the first robot 1 to complete dust collection before charging.

[0520] From the above, through the base station device including the base station 3 and the charging seat 5, the corresponding required services can be provided to the two robots at the same time when the first robot 1 needs to collect dust and the second robot 2 needs to be charged at the same time. This saves the time that the second robot 2 needs to spend waiting for the first robot 1 to complete dust collection when charging with the shared base station 3, which can obviously reduce the overall charging time of the second robot 2, thereby increasing the time that the first robot 1 and the second robot 2 can work together, thereby improving work efficiency.

[0521] It should be noted here that the specific reasons why the effects described in Scenario 2 can be achieved, as well as the specific reasons why the effects described in Scenario 3 and Scenario 4 below can be achieved, can be found in the relevant content of Scenario 1 above.

[0522] Scenario 3

[0523] During a collaborative operation between a first robot 1 and a second robot 2 at a certain site, the amount of sewage in the sewage tank of the first robot 1 reaches a set amount, and it needs to return to the base station device to discharge the sewage. To this end, the first robot 1 returns to the base station device and enters the base station 3 in the base station device to discharge the sewage. After a period of time, the second robot 2 detects that the remaining power of its battery is lower than the set threshold and also returns to the base station device to recharge. When the second robot 2 returns to the base station device, the first robot 1 has not yet completed the discharge of sewage in the base station 3 (that is, the sewage in the sewage tank of the first robot 1 has not yet been discharged through the base station 3). At this time, the second robot 2 will move to a position where it is in electrical contact with the charging base 5 in the base station device to be charged through the charging base 5, without having to wait for the first robot 1 to complete the discharge before charging.

[0524] From the above, through the base station device including the base station 3 and the charging seat 5, the corresponding required services can be provided to the two robots at the same time when the first robot 1 needs to discharge sewage and the second robot 2 needs to be charged at the same time. This saves the time that the second robot 2 needs to spend waiting for the first robot 1 to complete sewage discharge when charging with the shared base station 3, which can obviously reduce the overall charging time of the second robot 2, thereby increasing the collaborative working time of the first robot 1 and the second robot 2, and thus improving the working efficiency.

[0525] Scene 4

[0526] During collaborative operation between the first robot 1 and the second robot 2 at a certain location, the first robot 1 detects that the rag, brush, etc. on it are dirty and needs to return to the base station device for cleaning. To this end, the first robot 1 returns to the base station device and enters the base station 3 in the base station device for cleaning. After a period of time, the second robot 2 detects that the remaining power of its battery is lower than the set threshold and also returns to the base station device for charging. When the second robot 2 returns to the base station device, the first robot 1 has not yet completed cleaning in the base station 3 (that is, the rag, brush, etc. of the first robot 1 have not yet been cleaned by the base station 3). At this time, the second robot 2 will move to a position where it is in electrical contact with the charging base 5 in the base station device to be charged through the charging base 5, without having to wait for the first robot 1 to complete cleaning before charging.

[0527] From the above, through the base station device including the base station 3 and the charging seat 5, the corresponding required services can be provided to both robots at the same time when the first robot 1 needs to be cleaned with a rag and / or a brush and the second robot 2 needs to be charged at the same time. This saves the time that the second robot 2 needs to spend waiting for the first robot 1 to complete cleaning when charging with the shared base station 3, which can obviously reduce the overall charging time of the second robot 2, thereby increasing the time that the first robot 1 and the second robot 2 can work together, thereby improving work efficiency.

[0528] It should be noted that the above scenarios 1 to 4 only describe one of the following: the first robot 1 performing charging, dust collection, sewage disposal, cleaning, etc. within the base station 3. Of course, the first robot 1 can also perform multiple of the following: charging, dust collection, sewage disposal, cleaning, etc. within the base station 3. In addition to the scenario examples described in scenarios 1 to 4, other scenario examples may also be included. For example, if the second robot 2 is performing one or more of the following: charging, dust collection, sewage disposal, cleaning, etc. within the base station 3, and the first robot 1 needs to be charged, the first robot 1 can be charged simultaneously through the charging base 5.

[0529] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A working method of a multi-robot collaborative system, characterized in that: The multi-robot collaborative system includes a first robot and a second robot each performing a task in a field, and a base station for providing services to the first robot and the second robot, the base station having a docking bay that can selectively accommodate either the first robot or the second robot. The method includes: The first robot establishes a site map, locates itself in real time and performs tasks according to the site map; The second robot receives the site map and task instruction sent by the first robot, and performs the task corresponding to the task instruction; Among them, the second robot achieves positioning through one of the following methods: the second robot plans a route from its current position to the base station and moves to the base station to achieve positioning; or the first robot searches for the second robot, and after the first robot finds the second robot, it determines the position information of the second robot and achieves positioning based on the position information of the first robot; or the first robot follows the second robot to locate the second robot in real time.

2. The method according to claim 1, characterized in that The second robot is provided with a calibration side wall; and after the first robot finds the second robot, determining the position information of the second robot, includes: An object suspected to be the second robot is discovered based on the collected environmental information, and when the object performs a set action, it is determined that the second robot is found, and the object is the second robot; collecting information of the second robot; determining whether the second robot information contains information on calibrating the side wall; If yes, determining the position and posture information of the second robot according to the information of the calibration sidewall; If not, the first robot adjusts its position and / or instructs the second robot to adjust its position, so that the first robot can collect information about the calibration side wall.

3. The method according to claim 2, characterized in that The width of the second robot is 1.2 to 8 times the size of the calibration side wall in the width direction; The first robot is provided with a first collecting device, and the height of the collecting end of the first collecting device is lower than the height of the upper surface of the second robot by 5 to 10 mm.

4. The method according to claim 2, characterized in that Also includes at least one of the following: When a time threshold has passed since the last positioning calibration of the second robot, the second robot sends a signal to the first robot to enable the first robot to search for the second robot; After completing the current task, the second robot sends a signal to the first robot to enable the first robot to search for the second robot; The first robot searches for the second robot on its way back to the base station.

5. The method according to any one of claims 1 to 4, characterized in that Also includes at least one of the following: When the time between the second robot and the last positioning calibration is within a threshold, the second robot plans a route from the current position to the base station and moves to the base station to achieve positioning; When the current position of the second robot is in the same room as the base station, the second robot plans a route from the current position to the base station and moves to the base station to achieve positioning; When the current position of the second robot is less than a set distance from the position of the base station, the second robot plans a route from the current position to the base station and moves to the base station to achieve positioning.

6. The method according to claim 1, characterized in that Also includes: When the second robot is outside the base station and waiting to enter the base station for positioning calibration, the first robot interrupts charging and drives out of the base station to allow the second robot to enter; After the second robot drives into the base station to complete positioning calibration and drives out of the base station, the first robot drives into the base station again for charging.

7. A positioning calibration method, characterized in that: Applicable to a first robot in a multi-robot collaborative system, the multi-robot collaborative system also including a second robot; the method comprising: When the second robot needs to be positioned and calibrated, the first robot searches for the second robot; After finding the second robot, the first robot senses the position information of the second robot to perform positioning calibration on the second robot.

8. The method according to claim 7, characterized in that Find the second robot, including: determining an area where the second robot is located; moving toward the area and collecting environmental information; An object suspected to be the second robot is discovered based on the collected environmental information, and when the object performs a set action, it is determined that the second robot is found, and the object is the second robot.

9. The method according to claim 8, characterized in that An object suspected to be the second robot is discovered based on the collected environmental information, and when the object performs a set action, it is determined that the second robot is found, and the object is the second robot, including: When an object suspected to be the second robot is found based on the collected environmental information, instructing the second robot to perform the set action; When the object is found to be performing the set action, it is determined that the second robot is found, and the object is the second robot.

10. A positioning calibration method, characterized in that: A second robot adapted for use in a multi-robot collaborative system, the multi-robot collaborative system also including a first robot; the method comprising: When the second robot needs positioning and calibration, it waits in place for the first robot to find it; The second robot performs a set action; After the first robot finds the second robot, the second robot communicates with the first robot to perform positioning calibration.

11. The method according to claim 10, characterized in that Also includes at least one of the following: When the second robot performs a task in an area for a time period greater than or equal to a first set time period, determining that the second robot needs positioning calibration; When the task execution efficiency of the second robot in an area is lower than a set value, determining that the second robot needs positioning calibration; When the driving wheel of the second robot is detected to be stuck during movement, determining that the second robot needs positioning and calibration; When the number of times the collision plate of the second robot is triggered is greater than or equal to a set number of times or the duration for which the collision plate is triggered is greater than or equal to a second set duration, it is determined that the second robot needs positioning calibration; When the sensor on the second robot for monitoring the driving wheel parameters has accumulated work time and reaches a time when calibration is required, determining that the second robot needs positioning calibration; When the second robot does not return to the base station within a third set time period after completing the task, it is determined that the second robot needs positioning calibration.

12. The method according to claim 10 or 11, characterized in that Also includes: receiving a task execution instruction sent by the first robot; If the task execution instruction includes the position information of the second robot, the map data of the site map, and the area information of the specific area, then planning a travel path according to the position information of the second robot, the map data of the site map, and the area information of the specific area, and proceeding to the specific area along the planned path; After arriving at the specific area, the task is performed within the specific area.

13. A positioning calibration method, characterized in that: A second robot adapted for use in a multi-robot collaborative system, the multi-robot collaborative system also including a first robot; the method comprising: The second robot performs a task in a specific area; After the task is completed, if there is a base station in the room where the specific area is located, the second robot returns to the base station for positioning calibration.

14. The method according to claim 13, characterized in that Also includes: If there is no base station in the room where the specific area is located, the second robot sends a signal to the first robot, so that the first robot performs positioning calibration on the second robot.

15. A working method of a multi-robot collaborative system, characterized in that: include: After the first robot completes the task, it sends a task execution instruction to the second robot to control the second robot to start from the base station and perform the collaborative task; The first robot and the second robot go to a specific area; The first robot waits outside the specific area, and the second robot enters the specific area to perform a task; When the positioning calibration trigger condition is met, the first robot performs positioning calibration on the second robot so that the second robot continues to move based on the position information after positioning calibration.

16. The method according to claim 15, characterized in that Satisfying the positioning calibration trigger condition may include any of the following: The first robot completes the task in the specific area and returns to the starting point of the specific area, thus satisfying the positioning calibration trigger condition; If there is only one specific area in a room, the positioning calibration trigger condition is satisfied when the first robot completes the task in the specific area; If a room has multiple specific areas, the positioning calibration trigger condition is met after the first robot completes execution of all specific areas in the room.

17. A working method of a multi-robot collaborative system, characterized in that: Suitable for a first robot in a multi-robot collaborative system, the multi-robot collaborative system also including a second robot; the method comprising: The first robot determines a specific area; If there is a base station in the room where the specific area is located, the first robot sends a first task execution instruction to the second robot to instruct the second robot to perform the task in the specific area and return to the base station for positioning calibration after completing the task.

18. The method according to claim 17, characterized in that Also includes: If there is no base station in the room where the specific area is located, the first robot sends a second task execution instruction to the second robot to instruct the second robot to perform the task in the specific area and send a positioning calibration request to the first robot after completing the task.

19. A multi-robot collaborative system, characterized in that: comprising a first robot and a second robot; The first robot is used to execute the steps of the positioning calibration method described in any one of claims 7 to 9 to perform positioning calibration on the second robot.

20. The system according to claim 19, wherein: The second robot is used to perform the steps of the positioning calibration method according to any one of claims 10 to 12.

21. The system according to claim 19 or 20, characterized in that It also includes base stations; The base station has a docking position, and when one of the first robot and the second robot docks at the docking position, the other robot performs a task or stops near the base station and waits for docking.

22. A robot, characterized in that: include: A body on which a driving wheel device, a collection device, a positioning device, and a communication device for communicating with a cooperating robot are provided; A control device is provided on the machine body and is electrically connected to the driving wheel device, the acquisition device and the communication device, and is used to implement the steps in the positioning and calibration method described in any one of claims 7 to 9, or the steps in the positioning and calibration method described in any one of claims 10 to 12, or the steps in the positioning and calibration method described in any one of claims 13 to 14, or the steps in the working method of the multi-robot collaborative system described in any one of claims 15 to 18.

23. A positioning calibration method, characterized in that: A second robot in a multi-robot collaborative system is provided with a second collection device and a third collection device, and the multi-robot collaborative system further includes a first robot; the method includes: Determining a first pose based on information collected by the second collection device; determining a second posture based on information collected by a third collection device; Determining whether positioning calibration is required by comparing the first posture and the second posture; If positioning calibration is required and the difference between the first posture and the second posture is less than a set threshold, autonomous correction positioning is selected and started; If positioning calibration is required and the difference between the first posture and the second posture is greater than the set threshold, remote positioning is selected and started.

24. The method according to claim 23, wherein Also includes: After completing at least one mission within a specific area, choose to use remote positioning; and / or After completing all tasks within a specific area of ​​a room, choose to use remote positioning; and / or When the duration of executing a task in a specific area exceeds a time threshold, remote positioning is selected.

25. The method according to claim 24, characterized in that Also includes: Obtaining the working status of the first robot; If the first robot is currently in a task execution state, the server is selected to perform positioning calibration when remote positioning is started; If the first robot is currently in a non-task execution state, the first robot may be selected to perform positioning calibration when remote positioning is started.

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